High-precision flexible clamping and positioning device for assembling automobile parts

Abstract

The invention discloses a high-precision flexible clamping and positioning device for assembling automobile parts, and relates to the technical field of automobile manufacturing, the high-precision flexible clamping and positioning device comprises a workbench, a control system is fixedly mounted at the front end of the workbench, a front-back moving mechanism is arranged above the workbench, a flexible clamping mechanism is arranged at the upper end of the front-back moving mechanism, and a clamping mechanism is arranged at the lower end of the flexible clamping mechanism. A visual adjusting mechanism is arranged at the upper end of the workbench; the flexible clamping mechanism comprises a long base, two sets of clamping plates and an elastic fixing assembly. According to the automobile part clamping device, the clamping force and the contact mode can be adjusted in a self-adaptive mode according to the shapes and materials of automobile parts, the parts can be firmly clamped, damage to the surfaces of the parts can be effectively avoided, the automobile part clamping device is suitable for clamping the automobile parts of different models and different shapes, and the universality and the flexibility degree of the device are improved.

Description

Technical Field

[0001] This invention relates to the field of automotive manufacturing technology, specifically to a high-precision flexible clamping and positioning device for assembling automotive parts. Background Technology

[0002] Against the backdrop of the global automotive industry's transformation towards intelligent and lightweight construction, the trend towards precision and diversification of automotive components is becoming increasingly pronounced. While new energy vehicles have approximately 30% fewer components than traditional gasoline vehicles, the assembly precision requirements for key components such as power battery modules and drive motors have increased by more than 50%, posing a significant challenge to traditional clamping and positioning technologies. Currently, the rigid clamping and positioning devices widely used by automotive manufacturers face numerous insurmountable technical bottlenecks. In existing technologies, most automotive parts clamping and positioning devices are rigid structures. While they can provide a certain clamping force and positioning accuracy, they have many limitations. First, rigid clamping devices are difficult to adapt to the clamping requirements of different models and shapes of automotive parts. In scenarios of multi-variety, small-batch production, the cost of changing models is high and the efficiency is low. Second, excessive rigid clamping force can easily cause indentations and deformation on the surface of parts, especially for softer materials such as aluminum alloys and plastics, which seriously affects product quality. Third, the positioning accuracy of existing devices is greatly affected by factors such as mechanical wear and environmental vibration, making it difficult to meet the increasingly higher requirements for the assembly accuracy of automotive parts. Summary of the Invention

[0003] The purpose of this invention is to provide a high-precision flexible clamping and positioning device for assembling automotive parts, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a high-precision flexible clamping and positioning device for assembling automotive parts, comprising a worktable, a control system fixedly installed at the front end of the worktable, a front-to-back moving mechanism provided above the worktable, a flexible clamping mechanism provided at the upper end of the front-to-back moving mechanism, and a visual adjustment mechanism provided at the upper end of the worktable. The flexible clamping mechanism includes a long seat, two sets of clamping plates, and an elastic fixing assembly. A threaded seat is slidably installed inside the long seat. A first servo motor is fixedly installed at one end of the long seat. A threaded rod is rotatably installed inside the long seat. A limiting semicircular seat is fixedly installed at the upper end of the long seat. An elongated hole is opened through the upper end of the long seat and the inner wall of the limiting semicircular seat. A connecting block is slidably installed inside the elongated hole. Multiple sets of thin-film pressure sensors are installed at one end of each of the two sets of clamping plates. The elastic fixing assembly includes two sets of fixed circular seats. One end of each set of fixed circular seats is provided with a connecting cylinder. One end of each set of connecting cylinders is provided with a movable seat. One end of each movable seat is provided with a guide tube. A guide rod is slidably provided inside each set of guide tubes. A support spring is fixedly installed on the inner wall of each set of connecting cylinders.

[0005] Preferably, the lower end of the long seat is fixed to the upper end of the movable end of the front and rear moving mechanism, the other ends of the two sets of clamping plates are respectively fixed to one end of the two sets of guide tubes, the threaded seat is threadedly connected to the threaded rod, and the first servo motor and multiple sets of thin-film pressure sensors are signal connected to the control system.

[0006] Preferably, one end of the threaded rod passes through one end of the long seat and is fixed to the output end of the first servo motor, the lower end of the connecting block is fixed to the upper surface of the threaded seat, and the upper end of the connecting block is fixed to the lower surface of a set of limiting semicircular seats.

[0007] Preferably, the other ends of the two sets of supporting springs are respectively fixed to one end of the two sets of fixed round seats, one end of the two sets of guide rods respectively passes through one end of the two sets of connecting cylinders and is respectively fixed to one end of the two sets of fixed round seats, and the other end of the other set of fixed round seats is fixed to the inner wall of the long seat.

[0008] Preferably, the vision adjustment mechanism includes two sets of bearing seats, one end of each set of bearing seats is rotatably mounted with a shaped block, a movable plate is rotatably mounted in the middle of the two sets of shaped blocks, a laser projector is fixedly mounted on the upper end of the movable plate, and two sets of high-definition industrial cameras are fixedly mounted on the upper end of the movable plate and on both sides of the laser projector.

[0009] Preferably, a second servo motor is fixedly installed at the top of the inside of the workbench, and a belt drive assembly is provided at one end of the second servo motor, while a third servo motor is fixedly installed at the other end of one group of irregular blocks.

[0010] Preferably, an angle encoder is fixedly installed on the upper end of the movable plate, one end of the drive wheel of the belt drive assembly is fixed to the output end of the second servo motor, and one end of the auxiliary wheel of the belt drive assembly is fixed to the other end of another set of irregular blocks.

[0011] Preferably, the laser projector and the two sets of high-definition industrial cameras are all connected to the control system signal, and the lower ends of the two sets of bearing seats are fixed to the upper end of the worktable.

[0012] Preferably, one end of the protrusion at one end of the movable plate passes through the other end of one group of irregularly shaped blocks and is fixed to the output end of the third servo motor. Both the second and third servo motors are connected to the control system signal.

[0013] Preferably, a height adjustment mechanism is fixedly installed at the top of the inside of the workbench, and a left and right moving mechanism is provided at the upper end of the workbench. Multiple protruding ends of the height adjustment mechanism pass through the upper end of the workbench and are fixed to the lower end of the left and right moving mechanism. The upper end of the movable end of the left and right moving mechanism is fixed to the lower end of the front and back moving mechanism. The height adjustment mechanism, the left and right moving mechanism, and the front and back moving mechanism are all connected to the control system signal.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, by setting up a flexible clamping mechanism and cooperating with an elastic fixing component, and by using a thin-film pressure sensor to monitor the clamping force in real time, the control system adjusts the clamping force accordingly. It can adaptively adjust the clamping force and contact method according to the shape and material of the automotive parts, which can not only firmly clamp the parts, but also effectively avoid damage to the surface of the parts. It is suitable for clamping various types and shapes of automotive parts, improving the versatility and flexibility of the device.

[0015] 2. In this invention, by setting up a vision adjustment mechanism, in which the second servo motor and the third servo motor control the rotation of the irregular block and the movable plate respectively, combined with the feedback of the angle encoder, the vision monitoring angle can be flexibly adjusted to adapt to the positioning requirements of different parts; the design of the moving mechanism allows the flexible clamping mechanism to move freely in three-dimensional space, enhancing the adaptability of the device to different assembly positions and improving assembly efficiency.

[0016] 3. In this invention, the positioning accuracy of automotive parts can be controlled by the up-down adjustment mechanism, the left-right movement mechanism, the front-back movement mechanism, and the vision adjustment mechanism, thereby meeting the requirements for high-precision assembly of automotive parts.

[0017] 4. In this invention, the control system integrates signals from various mechanisms and sensors to achieve intelligent control of the entire device. By receiving data from thin-film pressure sensors, angle encoders, and other sources, the system adjusts the actions of each mechanism in real time to ensure a stable and reliable assembly process. Simultaneously, it monitors and analyzes the device's operating data to facilitate fault diagnosis and process optimization. Attached Figure Description

[0018] Figure 1 This is a perspective view of a high-precision flexible clamping and positioning device for assembling automotive parts according to the present invention. Figure 2 This is a front structural schematic diagram of a high-precision flexible clamping and positioning device for assembling automotive parts according to the present invention. Figure 3 This is a partial cross-sectional view of the flexible clamping mechanism of a high-precision flexible clamping and positioning device for assembling automotive parts according to the present invention. Figure 4This is a schematic diagram of the threaded seat, connecting block, and fixed round seat of a high-precision flexible clamping and positioning device for assembling automotive parts according to the present invention. Figure 5 This is a schematic diagram of the internal structure of the elastic fixing device of a high-precision flexible clamping and positioning device for assembling automotive parts according to the present invention. Figure 6 This is a perspective view of the worktable and vision adjustment mechanism of a high-precision flexible clamping and positioning device for assembling automotive parts according to the present invention. Figure 7 This is a perspective view of a portion of the visual adjustment mechanism of a high-precision flexible clamping and positioning device for assembling automotive parts according to the present invention.

[0019] In the picture: 1. Workbench; 11. Control system; 12. Up-down adjustment mechanism; 13. Left-right movement mechanism; 14. Back-and-forth movement mechanism; 2. Flexible clamping mechanism; 21. Long seat; 22. Clamping plate; 221. Thin-film pressure sensor; 23. Elastic fixing component; 231. Fixed round seat; 232. Movable seat; 233. Guide tube; 234. Connecting cylinder; 235. Guide rod; 236. Support spring; 24. Threaded seat; 25. First servo motor; 26. Threaded rod; 27. Limiting semi-circular seat; 28. Connecting block; 29. ​​Long hole; 3. Vision adjustment mechanism; 31. Bearing seat; 32. Irregular block; 33. Second servo motor; 34. Belt drive component; 35. Movable plate; 36. Third servo motor; 37. Angle encoder; 38. Laser projector; 39. High-definition industrial camera. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1: Refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown: A high-precision flexible clamping and positioning device for assembling automotive parts includes a worktable 1, a control system 11 fixedly installed at the front end of the worktable 1, a front-to-back moving mechanism 14 arranged above the worktable 1, a flexible clamping mechanism 2 arranged at the upper end of the front-to-back moving mechanism 14, and a visual adjustment mechanism 3 arranged at the upper end of the worktable 1. The flexible clamping mechanism 2 includes a long seat 21, two sets of clamping plates 22, and an elastic fixing assembly 23. A threaded seat 24 is slidably installed inside the long seat 21. A first servo motor 25 is fixedly installed at one end of the long seat 21. A threaded rod 26 is rotatably installed inside the long seat 21. A limiting semicircular seat 27 is fixedly installed at the upper end of the long seat 21. An elongated hole 29 is formed through the upper end of the long seat 21 and the inner wall of the limiting semicircular seat 27. A connecting block 28 is slidably installed inside the elongated hole 29. Multiple sets of thin-film pressure sensors 221 are installed at one end of each set of clamping plates 22. The lower end of 1 is fixed to the upper end of the movable end of the forward and backward moving mechanism 14. The other ends of the two sets of clamping plates 22 are respectively fixed to one end of the two sets of guide tubes 233. The threaded seat 24 is threadedly connected to the threaded rod 26. The first servo motor 25 and multiple sets of thin film pressure sensors 221 are signal connected to the control system 11. One end of the threaded rod 26 passes through one end of the long seat 21 and is fixed to the output end of the first servo motor 25. The lower end of the connecting block 28 is fixed to the upper surface of the threaded seat 24. The upper end of the connecting block 28 is fixed to the lower surface of a set of limiting semicircular seats 27. The elastic fixing component 23 includes two sets of fixed round seats 231. One end of each set of fixed round seats 231 is provided with a connecting cylinder 234. One end of each set of connecting cylinders 234 is provided with a movable seat 232. One end of each movable seat 232 is provided with a guide tube 233. Guide rods 235 are slidably arranged inside each set of guide tubes 233. Support springs 236 are fixedly installed on the inner walls of each set of connecting cylinders 234. The other ends of the two sets of support springs 236 are respectively fixed to one end of each set of fixed round seats 231. One end of each set of guide rods 235 passes through one end of each set of connecting cylinders 234 and is respectively fixed to one end of each set of fixed round seats 231. The other end of the other set of fixed round seats 231 is fixed to the inner wall of the long seat 21.

[0022] In this embodiment, a control system 11 is fixedly installed at the front end of the workbench 1 as the control core of the device. A forward and backward moving mechanism 14 is provided above the workbench 1, and a flexible clamping mechanism 2 is mounted on its upper end to clamp the parts. A visual adjustment mechanism 3 is provided on the upper end of the workbench 1 to assist in the positioning of the parts. In the flexible clamping mechanism 2, the long seat 21 serves as the main structure, with a threaded seat 24 slidingly mounted inside. A first servo motor 25 is fixed to one end, and a threaded rod 26 is rotatably mounted inside. The first servo motor 25 receives signals from the control system 11 and drives the threaded rod 26 to rotate, causing the threaded seat 24 to slide within the long seat 21. A limiting semicircular seat 27 is fixed to the upper end of the long seat 21, and both have a through-hole 29. An internal sliding connecting block 28 is fixed to the limiting semicircular seat 27 and the threaded seat 24, respectively, allowing the limiting semicircular seat 27 to move with the threaded seat 24. Multiple thin-film pressure sensors 221 are mounted on one end of the two clamping plates 22 to monitor the clamping force, and the other end is connected to... The guide tube 233 of the elastic fixing component 23 is fixed. The elastic fixing component 23 consists of two sets of fixed round seats 231, connecting cylinder 234, movable seat 232, guide tube 233, guide rod 235 and support spring 236. The support spring 236 provides elastic buffering so that the clamping plate 22 can adaptively fit the surface of the parts. The guide tube 233 and the guide rod 235 cooperate to ensure the stability of movement. The lower end of the long seat 21 is fixed to the movable end of the front and rear moving mechanism 14 to realize the front and rear displacement of the clamping mechanism. The first servo motor 25 is controlled to operate, which drives the threaded rod 26 to rotate. The threaded rod 26 is threadedly connected to the threaded seat 24, so that the threaded seat 24 slides inside the long seat 21 along the axial direction of the threaded rod 26. Since the connecting block 28 fixes the threaded seat 24 to the limiting semicircular seat 27, the movement of the threaded seat 24 drives the limiting semicircular seat 27 to move synchronously, thereby pushing the two sets of clamping plates 22 to move closer to each other. During the process of the clamping plates 22 approaching the parts, multiple sets of thin film pressure sensors 221 installed at one end of the clamping plates 22 monitor the contact pressure with the surface of the parts in real time and feed the pressure data back to the control system 11. The thin-film pressure sensor 221 continuously monitors the magnitude and distribution of the clamping force. If the clamping force changes due to the assembly operation and exceeds the preset threshold range, the control system 11 will quickly adjust the output of the first servo motor 25 to change the clamping force of the clamping plate 22, so that the clamping force is kept within a suitable range, ensuring the stability and safety of the parts during the assembly process. The elastic fixing component 23 plays a key role in this process. When the clamping plate 22 contacts the surface of the component, if the surface of the component has an irregular shape, the guide tube 233 will slide on the guide rod 235, while compressing or stretching the support spring 236, so that the clamping plate 22 can adaptively fit the surface of the component and avoid damage to the component due to rigid contact. The control system 11 adjusts the speed and direction of the first servo motor 25 in real time according to the pressure data fed back by the thin film pressure sensor 221, and precisely controls the moving distance and clamping force of the clamping plate 22 until the preset clamping force standard is reached, so as to stably clamp the component.

[0023] Example 2: Figure 1, Figure 2 , Figure 6 and Figure 7 As shown, the vision adjustment mechanism 3 includes two sets of bearing seats 31. A shaped block 32 is rotatably mounted on one end of each set of bearing seats 31. A movable plate 35 is rotatably mounted between the two sets of shaped blocks 32. A laser projector 38 is fixedly mounted on the upper end of the movable plate 35. Two sets of high-definition industrial cameras 39 are fixedly mounted on the upper end of the movable plate 35 and on both sides of the laser projector 38. A second servo motor 33 is fixedly mounted on the top of the interior of the worktable 1. A belt drive assembly 34 is provided on one end of the second servo motor 33. A third servo motor 36 is fixedly mounted on the other end of one set of shaped blocks 32. The upper end of the movable plate 35 is fixed... An angle encoder 37 is installed. One end of the drive wheel of the belt drive assembly 34 is fixed to the output end of the second servo motor 33. One end of the auxiliary wheel of the belt drive assembly 34 is fixed to the other end of another set of irregular blocks 32. The laser projector 38 and two sets of high-definition industrial cameras 39 are both connected to the control system 11. The lower ends of the two sets of bearing seats 31 are both fixed to the upper end of the worktable 1. One end of the protrusion of the movable plate 35 passes through the other end of one set of irregular blocks 32 and is fixed to the output end of the third servo motor 36. The second servo motor 33 and the third servo motor 36 are both connected to the control system 11.

[0024] In this embodiment, the vision adjustment mechanism 3 is fixed to the workbench 1 by two sets of bearing seats 31. The bearing seats 31 rotatably mount irregularly shaped blocks 32. One set of irregularly shaped blocks 32 is driven to rotate by a second servo motor 33 via a belt drive assembly 34, while the other set of irregularly shaped blocks 32 is driven to rotate by a third servo motor 36. A laser projector 38 and two sets of high-definition industrial cameras 39 are fixed on the movable plate 35 to acquire image information of the parts. An angle encoder 37 provides real-time feedback of the angle information of the movable plate 35. All these components are connected to the control system 11 to achieve precise adjustment of the visual angle. By controlling the operation of the second servo motor 33, it drives one of the irregular blocks 32 to rotate through the belt drive assembly 34. At the same time, the third servo motor 36 drives the movable plate 35 to rotate. The two work together to adjust the angle and position of the laser projector 38 and the high-definition industrial camera 39 to ensure that they are in the best monitoring posture. The angle encoder 37 feeds back the angle information of the movable plate 35 to the control system 11 in real time to ensure the accuracy of the angle adjustment. The laser projector 38 projects structured light onto the surface of the component. Two sets of high-definition industrial cameras 39 capture the deformation images of the structured light on the surface of the component from different angles and transmit the image data to the control system 11. The control system 11 uses the built-in image processing algorithm to analyze and calculate the image, accurately obtain the actual position, size and posture information of the component, and compare it with the preset ideal assembly parameters to obtain position and posture deviation data.

[0025] Example 3: Figure 1 and Figure 2 As shown, a vertical adjustment mechanism 12 is fixedly installed at the top of the inside of the workbench 1. A horizontal movement mechanism 13 is provided at the top of the workbench 1. Multiple protruding ends of the vertical adjustment mechanism 12 pass through the top of the workbench 1 and are fixed to the lower end of the horizontal movement mechanism 13. The upper end of the movable end of the horizontal movement mechanism 13 is fixed to the lower end of the front-back movement mechanism 14. The vertical adjustment mechanism 12, the horizontal movement mechanism 13, and the front-back movement mechanism 14 are all connected to the control system 11 via signals.

[0026] In this embodiment, the top of the workbench 1 is provided with a vertical adjustment mechanism 12 and the top of the workbench 1 is provided with a horizontal movement mechanism 13. Through the cooperation of the vertical adjustment mechanism 12, the horizontal movement mechanism 13 and the front-back movement mechanism 14, all of which are controlled by the control system 11, the vertical adjustment mechanism 12 drives the horizontal movement mechanism 13, the front-back movement mechanism 14 and the flexible clamping mechanism 2 to move up and down. The horizontal movement mechanism 13 drives the front-back movement mechanism 14 and the flexible clamping mechanism 2 to move left and right. The front-back movement mechanism 14 drives the flexible clamping mechanism 2 to move back and forth, thereby enabling the flexible clamping mechanism 2 to be precisely positioned in three-dimensional space.

[0027] The working principle of this invention is as follows: First, after the automotive parts to be assembled are placed in the designated area of ​​the workbench 1, the vision adjustment mechanism 3 starts working first. The second servo motor 33 receives the instruction from the control system 11 and drives one of the irregular blocks 32 to rotate through the belt drive assembly 34. At the same time, the third servo motor 36 drives the movable plate 35 to rotate. The two work together to adjust the angle and position of the laser projector 38 and the high-definition industrial camera 39 to ensure that they are in the best monitoring posture. Then, the laser projector 38 projects structured light onto the surface of the parts. The two sets of high-definition industrial cameras 39 capture the deformation images of the structured light on the surface of the parts from different angles and transmit the image data to the control system 11. The control system compares the data with the preset ideal assembly parameters to obtain the position and posture deviation data. Then, based on the deviation data fed back by the vision adjustment mechanism 3, the control system 11 sends control commands to the up-down adjustment mechanism 12, the left-right movement mechanism 13, and the front-back movement mechanism 14, which drive the flexible clamping mechanism 2 to move in the Z, X, and Y axis directions. The three movement mechanisms work together to accurately move the flexible clamping mechanism 2 to a suitable initial position above the component, preparing for subsequent clamping operations. Subsequently, when the flexible clamping mechanism 2 reaches the designated position, the control system 11 controls the flexible clamping mechanism 2 to operate, which can push the two sets of clamping plates 22 closer to each other. During the process of the clamping plates 22 approaching the parts, multiple sets of thin-film pressure sensors 221 installed at one end of the clamping plates 22 monitor the contact pressure with the surface of the parts in real time and feed the pressure data back to the control system 11. The control system 11 adjusts the speed and direction of the first servo motor 25 in real time according to the pressure data fed back by the thin-film pressure sensors 221, and precisely controls the moving distance and clamping force of the clamping plates 22 until the preset clamping force standard is reached, and the parts are stably clamped. Finally, during the assembly of the parts, the vision adjustment mechanism 3 continuously works on the feedback table 1 to monitor the position status of the parts in real time. The high-definition industrial camera 39 continuously collects image information of the parts and monitors their position changes during the assembly process. If a position deviation is detected, the control system 11 immediately calculates the compensation displacement and sends instructions to the up-down adjustment mechanism 12, the left-right movement mechanism 13 and the front-back movement mechanism 14 to fine-tune the position of the flexible clamping mechanism 2 to ensure that the parts are always in the correct assembly position. After the components are assembled, the control system 11 sends a release command to the flexible clamping mechanism 2. The first servo motor 25 rotates in the opposite direction, causing the clamping plates 22 to move away from each other, thus releasing the clamp on the components. Subsequently, the up-down adjustment mechanism 12, the left-right movement mechanism 13, and the front-back movement mechanism 14 work together to move the flexible clamping mechanism 2 back to its initial position, ready for the next assembly task. Under the control of the control system 11, the vision adjustment mechanism 3 also returns to its initial monitoring angle, ready to position the next component to be assembled.

[0028] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-precision flexible clamping and positioning device for assembling automotive parts, comprising a worktable (1), characterized in that: The front end of the workbench (1) is fixedly equipped with a control system (11), and a front-to-back moving mechanism (14) is provided above the workbench (1). A flexible clamping mechanism (2) is provided at the upper end of the front-to-back moving mechanism (14), and a visual adjustment mechanism (3) is provided at the upper end of the workbench (1). The flexible clamping mechanism (2) includes a long seat (21), two sets of clamping plates (22) and an elastic fixing component (23). A threaded seat (24) is slidably installed inside the long seat (21). A first servo motor (25) is fixedly installed at one end of the long seat (21). A threaded rod (26) is rotatably installed inside the long seat (21). A limiting semicircular seat (27) is fixedly installed at the upper end of the long seat (21). An elongated hole (29) is opened through the upper end of the long seat (21) and the inner wall of the limiting semicircular seat (27). A connecting block (28) is slidably installed inside the elongated hole (29). Multiple sets of thin film pressure sensors (221) are installed at one end of each of the two sets of clamping plates (22). The elastic fixing component (23) includes two sets of fixed round seats (231), one end of each set of fixed round seats (231) is provided with a connecting cylinder (234), one end of each set of connecting cylinders (234) is provided with a movable seat (232), one end of each set of movable seats (232) is provided with a guide tube (233), the inside of each set of guide tubes (233) is provided with a guide rod (235), and the inner wall of each set of connecting cylinders (234) is fixedly installed with a support spring (236).

2. The high-precision flexible clamping and positioning device for assembling automotive parts according to claim 1, characterized in that: The lower end of the long seat (21) is fixed to the upper end of the movable end of the front and rear moving mechanism (14), the other ends of the two sets of clamping plates (22) are respectively fixed to one end of the two sets of guide tubes (233), the threaded seat (24) is threadedly connected to the threaded rod (26), and the first servo motor (25) and multiple sets of thin film pressure sensors (221) are signal connected to the control system (11).

3. A high-precision flexible clamping and positioning device for assembling automotive parts according to claim 2, characterized in that: One end of the threaded rod (26) passes through one end of the long seat (21) and is fixed to the output end of the first servo motor (25). The lower end of the connecting block (28) is fixed to the upper surface of the threaded seat (24), and the upper end of the connecting block (28) is fixed to the lower surface of a set of limiting semicircular seats (27).

4. A high-precision flexible clamping and positioning device for assembling automotive parts according to claim 3, characterized in that: The other ends of the two sets of support springs (236) are respectively fixed to one end of the two sets of fixed round seats (231), one end of the two sets of guide rods (235) passes through one end of the two sets of connecting cylinders (234) and is respectively fixed to one end of the two sets of fixed round seats (231), and the other end of the other set of fixed round seats (231) is fixed to the inner wall of the long seat (21).

5. A high-precision flexible clamping and positioning device for assembling automotive parts according to claim 1, characterized in that: The visual adjustment mechanism (3) includes two sets of bearing seats (31), one end of each set of bearing seats (31) is rotatably mounted with a shaped block (32), a movable plate (35) is rotatably mounted in the middle of the two sets of shaped blocks (32), a laser projector (38) is fixedly mounted on the upper end of the movable plate (35), and two sets of high-definition industrial cameras (39) are fixedly mounted on the upper end of the movable plate (35) and on both sides of the laser projector (38).

6. A high-precision flexible clamping and positioning device for assembling automotive parts according to claim 5, characterized in that: A second servo motor (33) is fixedly installed at the top of the inside of the workbench (1). One end of the second servo motor (33) is provided with a belt drive assembly (34), and the other end of one set of the irregular blocks (32) is fixedly installed with a third servo motor (36).

7. A high-precision flexible clamping and positioning device for assembling automotive parts according to claim 6, characterized in that: An angle encoder (37) is fixedly installed on the upper end of the movable plate (35). One end of the drive wheel of the belt drive assembly (34) is fixed to the output end of the second servo motor (33). One end of the auxiliary wheel of the belt drive assembly (34) is fixed to the other end of another set of irregular blocks (32).

8. A high-precision flexible clamping and positioning device for assembling automotive parts according to claim 7, characterized in that: The laser projector (38) and the two sets of high-definition industrial cameras (39) are both connected to the control system (11) by signal, and the lower ends of the two sets of bearing seats (31) are fixed to the upper end of the worktable (1).

9. A high-precision flexible clamping and positioning device for assembling automotive parts according to claim 6, characterized in that: One end of the protrusion of the movable plate (35) passes through the other end of one of the irregular blocks (32) and is fixed to the output end of the third servo motor (36). The second servo motor (33) and the third servo motor (36) are both connected to the control system (11) via signals.

10. A high-precision flexible clamping and positioning device for assembling automotive parts according to claim 1, characterized in that: The top of the workbench (1) is fixedly equipped with an up-down adjustment mechanism (12). The upper end of the workbench (1) is provided with a left-right movement mechanism (13). Multiple protruding ends of the up-down adjustment mechanism (12) penetrate the upper end of the workbench (1) and are fixed to the lower end of the left-right movement mechanism (13). The upper end of the movable end of the left-right movement mechanism (13) is fixed to the lower end of the front-back movement mechanism (14). The up-down adjustment mechanism (12), the left-right movement mechanism (13) and the front-back movement mechanism (14) are all connected to the control system (11) via signals.

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