Bolt tightening device, robot, and body-in-white engine hood mounting method

Abstract

The application discloses a bolt tightening device, a robot and a body-in-white engine hood mounting method. The bolt tightening device comprises at least one tightening unit and a support, the tightening unit is mounted on the support, the tightening unit comprises a position adjusting mechanism, a tightening mechanism and a bolt feeding mechanism, the position adjusting mechanism is connected with the tightening mechanism and the bolt feeding mechanism respectively, the tightening mechanism is located above the bolt feeding mechanism, the position adjusting mechanism drives the tightening mechanism to enter or exit the bolt feeding mechanism, the bolt feeding mechanism is used for receiving at least two bolts and sequentially controlling the feeding of the bolts, and the tightening mechanism is used for driving the bolts in the bolt feeding mechanism to rotate. The application realizes the automation of the body-in-white engine hood mounting. Meanwhile, the bolt feeding mechanism can receive at least two bolts, so that the bolts do not need to be taken multiple times, and the loss of beats is avoided.

Description

Technical Field

[0001] This invention relates to the field of vehicle-related technologies, and in particular to a bolt tightening device, a tightening robot, a method for installing a body-in-white engine hood, electronic equipment, storage media, and computer program products. Background Technology

[0002] Current methods for assembling the engine hood during body-in-white welding require multiple operators for installation and tightening. The existing manual assembly method for the engine hood requires three operators: Step 1: Place the mixing fixture on the vehicle; Step 2: Use a lifting tool to remove the engine hood from the rack, place the engine hood on the assembly jig, and align the hinges and mounting holes. Step 3: Manually tighten the bolts; Step 4: Manually open the engine hood and remove the mounting fixture.

[0003] However, as the engine hood becomes larger, additional lifting equipment is needed. Due to the difficulty in operating these equipment, noise levels at the work site are nearing safety limits, leading to high employee complaints. Simultaneously, manual labor is inefficient, resulting in significant time waste. Furthermore, the quality of manual installation relies heavily on fixture adjustments, which are difficult to make due to fluctuations in the engine hood's UCF or the vehicle's frame structure, making quality assurance challenging. Additionally, existing fixtures have low versatility; the standard four-model line requires four sets of fixtures, requiring significant investment for dedicated fixtures, and changing fixtures also disrupts the production cycle.

[0004] Therefore, existing technologies lack automatic supply and tightening of bolts for the engine hood of the body-in-white, and fail to automate the installation of the engine hood of the body-in-white. Summary of the Invention

[0005] Therefore, it is necessary to address the technical problem of requiring manual assembly of the engine cover of a body-in-white in existing technologies by providing a bolt tightening device, a tightening robot, a method for installing the engine cover of a body-in-white, electronic equipment, a storage medium, and a computer program product.

[0006] This invention provides a bolt tightening device, comprising: at least one tightening unit and a bracket, wherein the tightening unit is mounted on the bracket, and the tightening unit includes a position adjusting mechanism, a tightening mechanism, and a bolt supply mechanism, wherein the position adjusting mechanism is connected to both the tightening mechanism and the bolt supply mechanism, wherein: The tightening mechanism is located above the bolt supply mechanism, and the position adjustment mechanism drives the tightening mechanism to enter or exit the bolt supply mechanism. The bolt supply mechanism is used to receive at least two bolts and to control the supply of the bolts sequentially; The tightening mechanism is used to drive the bolts in the bolt supply mechanism to rotate.

[0007] Furthermore, the position adjustment mechanism includes a first position adjustment cylinder and a second position adjustment cylinder. The first drive shaft of the first position adjustment cylinder is connected to the second position adjustment cylinder, and the second drive shaft of the second position adjustment cylinder is connected to the tightening mechanism. The tightening mechanism is located above the bolt supply mechanism.

[0008] Furthermore, the bolt supply mechanism includes: a bolt straightening tube and a bolt receiving tube. The bolt straightening tube extends along the height direction, with an opening at the top and bottom, and is equipped with a first valve. The bolt receiving tube is inclined and forms a certain angle with the bolt straightening tube. The bolt receiving tube has an opening at the top for receiving bolts, and its bottom is connected to the bolt straightening tube. A second valve is provided in the middle of the bolt receiving tube.

[0009] Furthermore, the tightening mechanism includes a tightening motor and a magnetic cap. The bottom end of the tightening drive shaft of the tightening motor is fixedly connected to the magnetic cap, which is used to attract bolts in the bolt supply mechanism.

[0010] Furthermore, it also includes a spacing adjustment unit installed on the bracket, and includes a plurality of tightening units, wherein the spacing adjustment unit is connected to the plurality of tightening units respectively to adjust the spacing between the tightening units.

[0011] Furthermore, it also includes a calibration unit mounted on the bracket, the calibration unit being used to connect with the hinge of the engine hood to adjust the hinge position.

[0012] The present invention provides a tightening robot, including a robotic arm and a bolt tightening device as described above, wherein the bolt tightening device is fixed on the robotic arm.

[0013] This invention provides a method for installing an engine hood on a body-in-white, comprising: Control the tightening robot to the vibrating hopper position as described above; The bolt supply mechanism of the tightening robot is controlled to be positioned below the vibrating hopper to receive multiple bolts from the vibrating hopper; Control the gripping robot to place the engine hood onto the white car body, and control the tightening robot to move to one side of the engine hood; The position adjustment mechanism of the control tightening robot drives the tightening mechanism into the bolt supply mechanism, and after driving the first bolt in the bolt supply mechanism to rotate and tighten, the position adjustment mechanism controls the tightening mechanism to exit the bolt supply mechanism. The tightening robot is controlled to move to the other side of the engine hood. The position adjustment mechanism is controlled to drive the tightening mechanism into the bolt supply mechanism. After the second bolt in the bolt supply mechanism is rotated and tightened, the position adjustment mechanism controls the tightening mechanism to exit the bolt supply mechanism.

[0014] Furthermore, the bolt tightening device of the tightening robot also includes a spacing adjustment unit mounted on the bracket, and includes multiple tightening units. The spacing adjustment unit is connected to the multiple tightening units respectively to adjust the spacing between the tightening units. Before the position adjustment mechanism controlling the tightening robot drives the tightening mechanism into the bolt supply mechanism and drives the first bolt in the bolt supply mechanism to rotate and tighten, before the position adjustment mechanism controls the tightening mechanism to exit the bolt supply mechanism, it further includes: The target spacing is determined based on the vehicle model, and the spacing adjustment unit is controlled to adjust the spacing between the tightening units to the target spacing.

[0015] Furthermore, the bolt tightening device of the tightening robot also includes a calibration unit mounted on the bracket, the calibration unit being connected to the tightening unit to adjust the position of the tightening unit; Before the position adjustment mechanism controlling the tightening robot drives the tightening mechanism into the bolt supply mechanism and drives the first bolt in the bolt supply mechanism to rotate and tighten, before the position adjustment mechanism controls the tightening mechanism to exit the bolt supply mechanism, it further includes: controlling the calibration unit to adjust the hinge on one side of the engine hood to the first vehicle model position; Before the position adjustment mechanism controls the tightening robot to move to the other side of the engine hood, drives the tightening mechanism into the bolt supply mechanism, and drives the second bolt in the bolt supply mechanism to rotate and tighten, the method further includes controlling the calibration unit to adjust the hinge on the other side of the engine hood to the second vehicle model position.

[0016] This invention provides an electronic device, comprising: At least one processor; and, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that are executed by at least one of the processors to enable the at least one of the processors to perform the body-in-white engine hood mounting method as described above.

[0017] The present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all the steps of the body-in-white engine hood installation method as described above.

[0018] The present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the aforementioned method for installing a body-in-white engine hood.

[0019] This invention automates bolt supply and tightening by receiving and supplying bolts through a bolt supply mechanism, and by using a position adjustment mechanism to drive the tightening mechanism to rotate the bolts. This allows for integration into a tightening robot, automating the installation of the engine hood on a body-in-white. Furthermore, the bolt supply mechanism can receive at least two bolts, eliminating the need for multiple bolt handling operations and preventing lost cycle time. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a bolt tightening device according to an embodiment of the present invention; Figure 2 This is a perspective view of a bolt tightening device according to an embodiment of the present invention; Figure 3 This is a side view of a bolt tightening device according to an embodiment of the present invention; Figure 4 This is a front view of a bolt tightening device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a tightening unit according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the tightening unit in its original position according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the bolt position of the tightening unit according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the tightening position of the tightening unit according to an embodiment of the present invention; Figure 9 This is a schematic diagram of a bolt supply mechanism according to an embodiment of the present invention; Figure 10 This is a schematic diagram of a bolt supply mechanism receiving bolts according to an embodiment of the present invention; Figure 11 This is a schematic diagram of a multi-tightening unit mating spacing adjustment unit according to an embodiment of the present invention; Figure 12 This is a schematic diagram of a spacing adjustment unit according to an embodiment of the present invention; Figure 13 A schematic diagram of a tightening unit installed on a spacing adjustment unit according to an embodiment of the present invention; Figure 14This is a schematic diagram of two tightening units installed in a spacing adjustment unit according to an embodiment of the present invention; Figure 15 This is a schematic diagram of a calibration unit according to an embodiment of the present invention; Figure 16 This is a schematic diagram of tightening a visual correction unit according to an embodiment of the present invention; Figure 17 This is a schematic diagram of a tightening robot and a gripping robot working together to assemble a body-in-white, according to an embodiment of the present invention. Figure 18 This is a flowchart illustrating a method for installing an engine hood on a body-in-white according to an embodiment of the present invention. Figure 19 This is a schematic diagram illustrating the correction method in the preferred embodiment of the present invention; Figure 20 A flowchart illustrating the preferred embodiment of the present invention for installing an engine hood on a body-in-white vehicle; Figure 21 This is a schematic diagram of the hardware structure of an electronic device according to the present invention.

[0021] Marker description 1. Tightening unit; 2. Bracket; 11. Position adjustment mechanism; 111. First position adjustment cylinder; 1111. First drive shaft; 1112. First cylinder body; 1113. Connecting plate; 112. Second position adjustment cylinder; 1121. Second drive shaft; 1122. Second cylinder body; 113. Air pressure regulating device; 12. Tightening mechanism; 120. Guide structure; 121. Tightening motor; 122. Tightening drive shaft; 123. Magnetic cap; 13. Bolt supply mechanism; 131. Bolt straightening tube; 132. Bolt receiving tube; 133. First valve; 134. Second valve; 135, bolt; 136, first valve control cylinder; 137, second valve control cylinder; 3, spacing adjustment unit; 31, guide rail; 32, slider; 4, calibration unit; 41, Z-axis servo displacement cylinder; 42, Y-axis servo displacement cylinder; 43, X-axis servo displacement cylinder; 44, hinge imitation rotation mechanism; 5, tightening visual correction unit; 51, visual light source; 100, bolt tightening device; 200, tightening robot; 201, robotic arm; 300, gripping robot; 400, general-purpose material cart; 500, body-in-white; 600, engine hood. Detailed Implementation

[0022] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component. These terms are used only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to has a specific orientation, or is constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0023] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "exemplary," or "some examples," etc., are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this application. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples.

[0024] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0025] In describing some embodiments, the term "connection" and its derivative expressions may be used. For example, the term "connection" may be used in describing some embodiments to indicate that two or more components have direct physical or electrical contact with each other. The embodiments claimed herein are not necessarily limited to the content of this document.

[0026] Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0027] This document describes exemplary embodiments in conjunction with the accompanying drawings, all of which are idealized schematic diagrams. For clarity, the thickness proportions of various structural layers and regions may be enlarged in the drawings. Those skilled in the art should understand that due to objective factors such as manufacturing processes and measurement tolerances, the shape of the actual product may reasonably differ from that shown in the drawings. Therefore, the understanding of the exemplary embodiments should not be limited to the schematic shapes shown in the drawings. Any reasonable variations caused by the manufacturing process that are not substantially different from the shape shown in these drawings should be considered to fall within the scope of the embodiments disclosed in this specification. The drawings themselves are not intended to limit the precise geometry of the actual product, nor do they constitute a limitation on the scope of patent protection.

[0028] like Figure 1 The diagram illustrates a bolt tightening device according to an embodiment of the present invention, comprising: at least one tightening unit 1 and a bracket 2. The tightening unit 1 is mounted on the bracket 2. The tightening unit 1 includes a position adjustment mechanism 11, a tightening mechanism 12, and a bolt supply mechanism 13. The position adjustment mechanism 11 is connected to both the tightening mechanism 12 and the bolt supply mechanism 13. The tightening mechanism 12 is located above the bolt supply mechanism 13, and the position adjustment mechanism drives the tightening mechanism 12 to enter the bolt supply mechanism 13 or exit from the bolt supply mechanism 13; The bolt supply mechanism 13 is used to receive at least two bolts and control the supply of the bolts in sequence; The tightening mechanism 12 is used to drive the bolts in the bolt supply mechanism 13 to rotate.

[0029] Specifically, the bolt tightening device of the present invention includes: at least one tightening unit 1 and a bracket 2. The tightening unit 1 may be one or more. All tightening units 1 are mounted on the bracket 2.

[0030] Each tightening unit 1 includes a position adjustment mechanism 11, a tightening mechanism 12, and a bolt supply mechanism 13. The bolt supply mechanism 13 is fixedly connected to the position adjustment mechanism 11, and the tightening mechanism 12 is located above the bolt supply mechanism 13. The tightening mechanism 12 is driven by the position adjustment mechanism 11, which, through, for example, a cylinder, drives the tightening mechanism 12 to move in the height direction to enter or exit the bolt supply mechanism 13.

[0031] The bolt supply mechanism 13 can receive at least two bolts at the same time. When the bolt tightening device reaches the position of the vibrating hopper, at least two bolts are continuously output to the bolt supply mechanism 13 through the vibrating hopper.

[0032] Bolt supply mechanism 13 stores bolts and sequentially controls their arrival at its output end. Bolt supply is achieved when a bolt reaches the output end of bolt supply mechanism 13. Each time bolt supply mechanism 13 supplies one bolt, position adjustment mechanism 11 drives tightening mechanism 12 into bolt supply mechanism 13. Tightening mechanism 12 then drives the supplied bolt to rotate via, for example, a motor, to tighten it. Then, position adjustment mechanism 11 drives tightening mechanism 12 out of bolt supply mechanism 13. Bolt supply mechanism 13 supplies bolts again, and position adjustment mechanism 11 again drives tightening mechanism 12 into bolt supply mechanism 13. Tightening mechanism 12 then again drives the supplied bolt to rotate via, for example, a motor, to tighten it.

[0033] This invention automates bolt supply and tightening by receiving and supplying bolts through a bolt supply mechanism, and by using a position adjustment mechanism to drive the tightening mechanism to rotate the bolts. This allows for integration into a tightening robot, automating the installation of the engine hood on a body-in-white. Furthermore, the bolt supply mechanism can receive at least two bolts, eliminating the need for multiple bolt handling operations and preventing lost cycle time.

[0034] like Figures 1 to 4 As shown, another embodiment of the present invention provides a bolt tightening device 100, comprising: at least one tightening unit 1 and a bracket 2, wherein the tightening unit 1 is mounted on the bracket 2, and the tightening unit 1 includes a position adjustment mechanism 11, a tightening mechanism 12, and a bolt supply mechanism 13, wherein the position adjustment mechanism 11 is connected to the tightening mechanism 12 and the bolt supply mechanism 13 respectively, wherein: The tightening mechanism 12 is located above the bolt supply mechanism 13. The position adjustment mechanism drives the tightening mechanism 12 to enter or exit the bolt supply mechanism 13. The position adjustment mechanism 11 includes a first position adjustment cylinder 111 and a second position adjustment cylinder 112. The first drive shaft 1111 of the first position adjustment cylinder 111 is connected to the second position adjustment cylinder 112. The second drive shaft 1121 of the second position adjustment cylinder 112 is connected to the tightening mechanism 12. The tightening mechanism 12 is located above the bolt supply mechanism 13. The bolt supply mechanism 13 is used to receive at least two bolts and control the supply of the bolts in sequence. The bolt supply mechanism 13 includes a bolt straightening tube 131 and a bolt receiving tube 132. The bolt straightening tube 131 extends along the height direction, with an opening at the top and bottom, and is equipped with a first valve 133. The bolt receiving tube 132 is inclined and forms a certain angle with the bolt straightening tube 131. The bolt receiving tube 132 has an opening at the top for receiving bolts, and its bottom is connected to the bolt straightening tube 131. A second valve 134 is provided in the middle of the tube body of the bolt receiving tube 132. The tightening mechanism 12 is used to drive the bolts in the bolt supply mechanism 13 to rotate. The tightening mechanism 12 includes a tightening motor 121 and a magnetic cap 123. The bottom end of the tightening drive shaft 122 of the tightening motor 121 is fixedly connected to the magnetic cap 123. The magnetic cap 123 is used to attract the bolts in the bolt supply mechanism 13.

[0035] Specifically, such as Figure 5 As shown, the position adjustment mechanism 11 includes a first position adjustment cylinder 111 and a second position adjustment cylinder 112. The first position adjustment cylinder 111 includes a first cylinder body 1112 and a first drive shaft 1111 driven by the first cylinder body 1112. The second position adjustment cylinder 112 includes a second cylinder body 1122 and a second drive shaft 1121 driven by the second cylinder body 1122. The first drive shaft 1111 is connected to the second position adjustment cylinder 112 and is used to drive the second position adjustment cylinder 112 to move along the height direction. The second drive shaft 1121 of the second position adjusting cylinder 112 is connected to the tightening mechanism 12. The tightening mechanism 12 is located above the bolt supply mechanism 13. The second position adjusting cylinder 112 is used to drive the tightening mechanism 12 to move along the height direction, thereby entering or exiting the bolt supply mechanism 13.

[0036] like Figure 6 As shown, the first position adjusting cylinder 111 and the second position adjusting cylinder 112 are not activated. The second position adjusting cylinder 112, the bolt supply mechanism 13 and the tightening mechanism 12 are all in their original positions. At this time, bolts can be received from the vibrating hopper.

[0037] like Figure 7As shown, the first position adjusting cylinder 111 drives the first drive shaft 1111 to move downwards, causing the second position adjusting cylinder 112 to move downwards. The bolt supply mechanism 13 is fixedly connected to the first cylinder body 1112 of the first position adjusting cylinder 111 via a connecting plate 1113, and remains stationary. Since the tightening mechanism 12 is connected to the second drive shaft 1121 of the second position adjusting cylinder 112, the tightening mechanism 12 also moves downwards simultaneously. The tightening mechanism 12 enters the bolt supply mechanism 13, moves downwards to the cap-recognition position, and the tightening drive shaft 122 of the tightening mechanism 12 rotates to complete the cap recognition.

[0038] like Figure 8 As shown, the second position adjusting cylinder 112 drives the second drive shaft 1121 downward, causing the tightening mechanism 12 to move downward to the tightening position and tighten the bolt. After the bolt is tightened, the second position adjusting cylinder 112 drives the second drive shaft 1121 upward, causing the tightening mechanism 12 to move upward. Then, the first position adjusting cylinder 111 drives the first drive shaft 1111 upward, causing the second position adjusting cylinder 112 and the tightening mechanism 12 to move upward simultaneously, returning to their original positions. A guide structure 120 is provided below the tightening mechanism 12. One end of the guide structure 120 is fixed below the tightening mechanism 12, and the other end is sleeved around the first drive shaft 1111, so that the tightening mechanism 12 can maintain vertical movement when moving in the height direction.

[0039] In some embodiments, a pressure regulating device 113 is further included, which is connected to the first position adjusting cylinder 111 and the second position adjusting cylinder 112 respectively.

[0040] like Figure 9 As shown, the bolt supply mechanism in this embodiment is a clip-type bolt storage mechanism. The bolt supply mechanism 13 includes: a bolt straightening tube 131 and a bolt receiving tube 132. The bolt straightening tube 131 extends along the height direction, with an opening at the top and bottom, and is equipped with a first valve 133. The bolt receiving tube 132 is inclined and forms a certain angle with the bolt straightening tube 131. The top opening of the bolt receiving tube 132 is used to receive bolts, and the bottom end of the bolt receiving tube 132 is connected to the bolt straightening tube 131. A second valve 134 is provided in the middle of the tube body of the bolt receiving tube 132. The first valve 133 and the second valve 134 are controllable valves and can be controlled to close or open by a controller.

[0041] In some embodiments, the bolt supply mechanism 13 further includes a first valve control cylinder 136 and a second valve control cylinder 137. The first valve 133 is connected to the first valve control cylinder 136 and is controlled to open or close by the first valve control cylinder 136. The second valve 134 is connected to the second valve control cylinder 137 and is driven to open or close by the second valve control cylinder 137.

[0042] like Figure 10 As shown, in the bolt receiving state, first valve 133 and second valve 134 are closed, and bolt 135 enters bolt receiving pipe 132. Then, while keeping first valve 133 closed, second valve 134 is opened, and bolt 135 enters bolt straightening pipe 131 from bolt receiving pipe 132, and is straightened via bolt straightening pipe 131. Then, second valve 134 is closed, and another bolt can be received into bolt receiving pipe 132. At this time, it is in the bolt straightening state, and bolt supply mechanism 13 stores two bolts.

[0043] The bolt supply mechanism 13 can also be equipped with multiple valves in the bolt receiving pipe 132, which divide the space for storing multiple bolts, thereby enabling the storage of more than two bolts.

[0044] In some embodiments, the bolt supply mechanism 13 further includes a first positioning sensor disposed on the first valve 133 for detecting the positioning information of the first valve 133, and a second positioning sensor disposed on the second valve 134 for detecting the positioning information of the second valve 134.

[0045] In an automated process, by setting a first positioning sensor and a second positioning sensor, bolt positioning detection and part positioning detection can be achieved, thus avoiding abnormal situations.

[0046] The tightening mechanism 12 includes a tightening motor 121 and a magnetic cap 123. The tightening motor 121 drives the tightening drive shaft 122 to rotate, and the bottom end of the tightening drive shaft 122 is fixedly connected to the magnetic cap 123. When the tightening mechanism 12 enters the bolt supply mechanism 13, the tightening drive shaft 122 inserts into the bolt straightening tube 131. When it reaches the cap-recognizing position, the tightening drive shaft 122 rotates to make the bolt cap-recognizing, that is, the magnetic cap 123 attracts the top of the bolt 135. Then, the tightening mechanism 12 moves down again under the drive of the second position adjusting cylinder 112. After reaching the tightening position, the tightening motor 121 drives the tightening drive shaft 122 to rotate, and drives the bolt 135 to rotate through the magnetic cap 123, thus tightening the bolt.

[0047] In one embodiment, the system further includes a spacing adjustment unit 3 mounted on the bracket 2, and includes a plurality of tightening units 1. The spacing adjustment unit 3 is connected to the plurality of tightening units 1 respectively to adjust the spacing between the tightening units 1.

[0048] The spacing adjustment unit 3 is connected to multiple tightening units 1. The tightening units 1 are driven by the spacing adjustment unit 3 to move horizontally, thereby adjusting the spacing between adjacent tightening units 1 to meet the tightening requirements of different vehicle models. For example... Figure 11 As shown, the bolt tightening device 100 includes two tightening units 1.

[0049] like Figures 12-14 The diagram shows the adjustment of two tightening units 1. The spacing adjustment unit 3 includes a guide rail 31 fixed on the bracket 2 and extending horizontally, a slider 32 moving along the guide rail 31, and a drive motor (not shown in the figure). One tightening unit 1 is fixedly connected to the bracket 2, and the other tightening unit 1 is fixedly connected to a slider 32. The slider 32 is connected to the drive motor, which drives the slider 32 to move along the guide rail 31, thereby causing the tightening unit 1 connected to the slider 32 to move horizontally to adjust the spacing between two adjacent tightening units 1.

[0050] Figures 11-14 The two tightening units 1 shown are just one example. In reality, more than two tightening units 1 can be arranged horizontally, and multiple sliders 32 can move along the guide rail 31. Each slider 32 is connected to a drive motor, which drives the slider 32 to move along the guide rail 31. Multiple drive motors can be set to drive multiple sliders 32 respectively. In this configuration, one tightening unit 1 is fixedly connected to the bracket, and each of the remaining tightening units 1 is connected to a slider 32. The slider 32 is moved by the drive motor of the spacing adjustment unit 3 to adjust the spacing between adjacent tightening units 1, thus meeting the tightening needs of more vehicle models.

[0051] In one embodiment, a calibration unit 4 is also included, which is mounted on the bracket 2 and is used to connect with the hinge of the engine hood to adjust the hinge position.

[0052] like Figure 15 As shown, the calibration unit 4 includes a Z-axis servo positioning cylinder 41, a Y-axis servo positioning cylinder 42, an X-axis servo positioning cylinder 43, and a hinge-following mechanism 44. The X-axis servo positioning cylinder 43 is connected to the hinge-following mechanism 44, driving the hinge-following mechanism 44 to move in the X direction. The Y-axis servo positioning cylinder 42 is connected to the X-axis servo positioning cylinder 43, thereby driving the X-axis servo positioning cylinder 43 and the hinge-following mechanism 44 to move in the Y direction. The Z-axis servo positioning cylinder 41 is connected to the Y-axis servo positioning cylinder 42, thereby driving the Y-axis servo positioning cylinder 42, the X-axis servo positioning cylinder 43, and the hinge-following mechanism 44 to move in the Z direction. The slot 441 of the hinge-following mechanism 44 engages with the hinge of the engine hood, thereby maintaining the hinge position and preventing rotation.

[0053] like Figure 16 As shown, in some embodiments, a tightening visual correction unit 5 is also included. The tightening visual correction unit 5 includes a camera device 51, which is a 2.5D camera including a laser, used for visual correction.

[0054] This embodiment uses a bolt receiving tube and a bolt straightening tube to enable a single tightening shaft to pick up two or more bolts at the same time. The bolt straightening tube straightens the bolts, and the tightening mechanism can drive the bolts inside the bolt straightening tube to rotate through the magnetic cap, thus realizing a fully automated tightening operation including picking up and tightening bolts.

[0055] like Figure 17 The present invention illustrates a tightening robot 200, which includes a robotic arm 201 and a bolt tightening device 100 as described above, wherein the bolt tightening device 100 is fixed on the robotic arm 201.

[0056] Specifically, the tightening robot 200 works in conjunction with the gripping robot 300. The gripping robot 300 places the engine hood 600 on the white body 500 located on the general-purpose material cart 400, and the tightening robot 200 tightens the bolts on the engine hood 600.

[0057] This invention automates bolt supply and tightening by receiving and supplying bolts through a bolt supply mechanism, and by using a position adjustment mechanism to drive the tightening mechanism to rotate the bolts. This allows for integration into a tightening robot, automating the installation of the engine hood on a body-in-white. Furthermore, the bolt supply mechanism can receive at least two bolts, eliminating the need for multiple bolt handling operations and preventing lost cycle time.

[0058] like Figure 18 This is a flowchart illustrating a method for installing an engine hood on a body-in-white according to an embodiment of the present invention, comprising: Step S1801: Control the tightening robot 200 as described above to the vibrating hopper position; Step S1802: Control the bolt supply mechanism 13 of the tightening robot 200 to move below the vibrating hopper and receive multiple bolts from the vibrating hopper; Step S1803: Control the gripping robot 300 to place the engine cover onto the white car body, and control the tightening robot 200 to move to one side of the engine cover; Step S1804: Control the position adjustment mechanism 11 of the tightening robot 200 to drive the tightening mechanism 12 into the bolt supply mechanism 13, and drive the first bolt in the bolt supply mechanism 13 to rotate and tighten. Then, control the tightening mechanism 12 to exit the bolt supply mechanism 13. In step S1805, the tightening robot 200 is moved to the other side of the engine hood, the position adjustment mechanism 11 is controlled to drive the tightening mechanism 12 into the bolt supply mechanism 13, and the second bolt in the bolt supply mechanism 13 is rotated and tightened. Then, the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13.

[0059] Specifically, this invention can be applied to electronic devices with processing capabilities, such as robot controllers. The robot controller controls the tightening robot 200 and the gripping robot 300 respectively.

[0060] First, execute step S1801, controlling the tightening robot 200 as described above to the vibrating hopper position.

[0061] Specifically, the control tightening robot 200 with bolt tightening device 100 is brought to the position of the vibrating hopper.

[0062] Then, step S1802 is executed, controlling the bolt supply mechanism 13 of the tightening robot 200 to move below the vibrating hopper and receive multiple bolts from the vibrating hopper.

[0063] Specifically, when the bolt supply mechanism 13 reaches below the vibrating hopper, the bolt receiving pipe 132 of one or more tightening units 1 is aligned with the bottom of the vibrating hopper. First, the first valve 133 and the second valve 134 are closed, and the first bolt enters the bolt receiving pipe 132. Then, while keeping the first valve 133 closed, the second valve 134 is opened, and the first bolt enters the bolt straightening pipe 131 from the bolt receiving pipe 132 and is adjusted and straightened via the bolt straightening pipe 131. Then, the second valve 134 is closed, and a second bolt can be received into the bolt receiving pipe 132 again.

[0064] Then, step S1803 is executed, controlling the gripping robot 300 to place the engine hood onto the white car body, and controlling the tightening robot 200 to move to one side of the engine hood.

[0065] In step S1804, the position adjustment mechanism 11 of the tightening robot 200 is controlled to drive the tightening mechanism 12 into the bolt supply mechanism 13, and after the first bolt in the bolt supply mechanism 13 is rotated and tightened, the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13.

[0066] Specifically, one or more tightening units 1 simultaneously drive the first drive shaft 1111 downwards via the first position adjusting cylinder 1111, causing the second position adjusting cylinder 112 and the tightening mechanism 12 to move downwards. The tightening mechanism 12 enters the bolt supply mechanism 13 and reaches the cap-recognition position. At this time, the tightening drive shaft 122 inserts into the bolt straightening tube 131, and the tightening motor 121 drives the tightening drive shaft 122 to rotate to complete the cap recognition, i.e., the magnetic cap 123 attracts the top of the first bolt. Then, one or more tightening units 1 simultaneously control the first valve 133 to open and control the second position adjusting cylinder 112 to simultaneously drive the second drive shaft 1121 downwards, causing the tightening mechanism 12 to move downwards to the tightening position. The first bolt extends from the bolt straightening tube 131 and is inserted into the engine hood. Then, the tightening motor 121 is controlled to drive the tightening drive shaft 122 to rotate, and the magnetic cap 123 drives the first bolt to rotate, tightening the first bolt onto the engine hood. Then, the second position adjusting cylinder 112 drives the second drive shaft 1121 to move upward, causing the tightening mechanism 12 to move upward, return to the capping position, and close the first valve 133. Then, the first position adjusting cylinder 111 drives the first drive shaft 1111 to move upward, causing the second position adjusting cylinder 112 and the tightening mechanism 12 to move upward simultaneously, return to their original positions, and the tightening mechanism 12 disengages from the bolt supply mechanism 13.

[0067] Then, step S1805 is executed, controlling the tightening robot 200 to the other side of the engine hood, controlling the position adjustment mechanism 11 to drive the tightening mechanism 12 into the bolt supply mechanism 13, and driving the second bolt in the bolt supply mechanism 13 to rotate and tighten, and then the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13.

[0068] Specifically, after the tightening robot 200 moves to the other side of the engine hood, one or more tightening units 1 simultaneously open the second valve 134 while keeping the first valve 133 closed. The second bolt enters the bolt straightening tube 131 from the bolt receiving tube 132 and is straightened via the bolt straightening tube 131. The first position adjusting cylinder 111 of one or more tightening units 1 simultaneously drives the first drive shaft 1111 to move downward, causing the second position adjusting cylinder 112 and the tightening mechanism 12 to move downward. The tightening mechanism 12 enters the bolt supply mechanism 13 to reach the cap recognition position. At this time, the tightening drive shaft 122 is inserted into the bolt straightening tube 131, and the tightening motor 121 drives the tightening drive shaft 122 to rotate to complete the cap recognition, that is, the magnetic cap 123 attracts the top of the second bolt. Then, one or more tightening units 1 simultaneously control the first valve 133 to open and control the second position adjusting cylinder 112 to drive the second drive shaft 1121 downward, causing the tightening mechanism 12 to move downward to the tightening position. The second bolt extends from the bolt straightening tube 131 and is inserted into the engine hood. Then, the tightening motor 121 is controlled to drive the tightening drive shaft 122 to rotate, and the magnetic cap 123 drives the second bolt to rotate, tightening the second bolt to the engine hood. Then, the second position adjusting cylinder 112 drives the second drive shaft 1121 upward, causing the tightening mechanism 12 to move upward and closing the first valve 133. Then, the first position adjusting cylinder 111 drives the first drive shaft 1111 upward, causing the second position adjusting cylinder 112 and the tightening mechanism 12 to move upward simultaneously, returning to their original positions. The tightening mechanism 12 then disengages from the bolt supply mechanism 13.

[0069] In one embodiment, the bolt tightening device of the tightening robot 200 further includes a spacing adjustment unit 3 mounted on the bracket 2, and includes a plurality of tightening units 1. The spacing adjustment unit 3 is connected to the plurality of tightening units 1 respectively to adjust the spacing between the tightening units 1. Before the position adjustment mechanism 11 controlling the tightening robot 200 drives the tightening mechanism 12 into the bolt supply mechanism 13 and drives the first bolt in the bolt supply mechanism 13 to rotate and tighten, before the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13, it further includes: The target spacing is determined based on the vehicle model, and the spacing adjustment unit 3 is controlled to adjust the spacing between the tightening units 1 to the target spacing.

[0070] Specifically, before tightening the bolts, the spacing between the tightening units 1 is adjusted by the spacing adjustment unit 3 to adapt to the needs of different vehicle models. Then, the first bolts of the two tightening units 1 are tightened simultaneously, and the second bolts of the two tightening units 1 are tightened simultaneously.

[0071] In some embodiments, the position adjustment mechanism 11 controlling the tightening robot 200 drives the tightening mechanism 12 into the bolt supply mechanism 13, and after driving the first bolt in the bolt supply mechanism 13 to rotate and tighten, the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13, including: Simultaneously, the position adjustment mechanism 11 of the two tightening units 1 of the tightening robot 200 controls the tightening mechanism 12 to enter the bolt supply mechanism 13, and drives the first bolt in the bolt supply mechanism 13 to rotate and tighten. Then, the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13. The control mechanism 11 drives the tightening mechanism 12 into the bolt supply mechanism 13, and after driving the second bolt in the bolt supply mechanism 13 to rotate and tighten, the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13, including: Simultaneously, the position adjustment mechanism 11 of the two tightening units 1 of the tightening robot 200 drives the tightening mechanism 12 into the bolt supply mechanism 13, and drives the second bolt in the bolt supply mechanism 13 to rotate and tighten. Then, the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13.

[0072] This embodiment uses multiple tightening units and adjusts the spacing of the tightening shafts through a servo positioning mechanism to meet the production needs of multiple vehicle models.

[0073] In one embodiment, the bolt tightening device of the tightening robot 200 further includes a calibration unit 4 mounted on the bracket 2, the calibration unit 4 being used to connect with the hinge of the engine hood; Before the position adjustment mechanism 11 that controls the tightening robot 200 drives the tightening mechanism 12 into the bolt supply mechanism 13 and drives the first bolt in the bolt supply mechanism 13 to rotate and tighten, before the position adjustment mechanism 11 controls the tightening mechanism 12 to exit the bolt supply mechanism 13, it also includes: controlling the calibration unit 4 to adjust the hinge on one side of the engine hood to the first vehicle model position. Before the position adjustment mechanism 11 controls the tightening robot 200 to the other side of the engine hood, drives the tightening mechanism 12 into the bolt supply mechanism 13, and drives the second bolt in the bolt supply mechanism 13 to rotate and tighten, the method further includes controlling the calibration unit 4 to adjust the hinge on the other side of the engine hood to the second vehicle model position.

[0074] Specifically, during tightening, if the engine hood is misaligned, it may cause the hole to be blocked, resulting in tightening failure. By adjusting the three-way servo mechanism of the hinge calibration unit 4, the hinge is adjusted to the correct vehicle model position before tightening (the vehicle model position is the theoretical position determined by pre-simulation and other methods), so that the calibration unit 4 can meet the needs of multiple vehicle models.

[0075] Specifically, the tightening robot 200 is positioned on both sides of the engine hood, and the calibration unit 4 with the bolt tightening device 100 adjusts the hinge positioning to the vehicle model position. By reading data in advance, the spacing between the two tightening units 1 and the position of the hinge position calibration unit 4 are set according to different vehicle models, ensuring that the hinges of different vehicle models can be calibrated to the latest position during tightening, and that the two bolts of the engine hood of different vehicle models can be tightened simultaneously.

[0076] In some embodiments, the bolt tightening device 100 further includes a tightening visual correction unit 5, and before the control gripping robot 300 places the engine hood on the white car body, it further includes: correcting the vehicle body position according to the tightening visual correction unit 5.

[0077] like Figure 19 As shown, the position deviation of the white body on the trolley is large, so a fixed visual correction device (2D) is set up. At the same time, a tightening visual correction unit 5 is equipped on the tightening robot 200. Before installation, the position deviation of the body is photographed, and then the correction value is sent to the tightening robot 200 and the gripping robot 300.

[0078] Specifically, after the tightening robot 200 picks up the bolts, it takes pictures at the vehicle assembly photography position. The gripping robot 300 then photographs multiple engine hood feature holes 601 using the fixed visual correction device. The tightening visual correction unit 5 photographs multiple body feature holes 501 on the body-in-white 500. Based on the images of the engine hood feature holes 601 and the body feature holes 501, the comprehensive deviation value between the components is calculated by comparing the two sets of image data. Simultaneously, based on the position of the body feature holes 501 relative to the tightening robot 200's reference coordinate system, the vehicle body deviation value is calculated. The gripping robot 300 grips the engine hood 600 according to the comprehensive deviation value and places it so that the first center point 602 of the engine hood feature hole 601 is aligned with the second center point 502 of the body feature hole 501, and the deviation value between the first center point 602 and the second center point 502 is a preset theoretical deviation value. The tightening robot 200 adjusts its position according to the vehicle body deviation value and drives the bolt supply mechanism 13 to align with the body feature holes 501.

[0079] This embodiment utilizes a gripping robot and a tightening robot for automated assembly of the welded engine hood, capable of supporting real-time mixed-flow production of four vehicle models and meeting 30 JPH (Job Per Hour). The bolt tightening device in this embodiment is a spring-loaded bolt storage mechanism, allowing the tightening unit to retrieve two bolts at a time, thus meeting the needs of one vehicle. An engine hood hinge position calibration unit addresses the issue of hinge obstruction during assembly, and the application of a three-way servo miniature electric cylinder enables real-time mixed-flow production of multiple vehicle models. Finally, a customized 2.5D vision system corrects vehicle body deviations and matches them with the engine hood's offset, achieving high-precision operation with non-precision positioning.

[0080] like Figure 20 The diagram shown is a flowchart of a preferred embodiment of the present invention for installing an engine hood on a body-in-white, comprising: Step S2001: Tighten the robot 200 with the bolt tightening device 100 to the vibrating hopper; Step S2002: Bolt tightening device 100 takes four bolts; Step S2003: Tighten robot 200 with bolt tightening device 100 to the vehicle assembly photo position; Step S2004: Take a picture and calculate the overall deviation value and the vehicle body deviation value; Step S2005: Fitting the body deviation with the engine hood deviation; Step S2006: The grabbing robot 300 places the engine cover onto the vehicle body; Step S2007: The calibration unit 4 of the tightening robot 200 with bolt tightening device 100 adjusts the hinge positioning position to the vehicle model position. Step S2008: Tighten both bolts on one side of robot 200 simultaneously; Step S2009: Tighten the robot 200 with the bolt tightening device 100 to the other side; In step S2010, the calibration unit 4 adjusts the hinge positioning position to the vehicle model position; Step S2011: Tighten both bolts on one side of robot 200 simultaneously; Step S2012: The gripping robot 300 opens and leaves, completing the process.

[0081] This embodiment utilizes a bolt tightening device to simultaneously tighten four bolts using two tightening units, with an auxiliary spacing adjustment unit adjusting the spacing to meet the needs of different vehicle models. It boasts advantages such as high versatility and low cost. Simultaneously, a three-way calibration unit adjusts the hinge position deviation, preventing hinge obstruction issues before assembly. A customized 2.5D vision system corrects vehicle body alignment, achieving high-precision operation without precise positioning. A tightening status monitoring system detects real-time tightening torque, tightening machine status, and tightening length to ensure assembly quality. All data is traceable, with automatic detection of bolt position and servo position throughout the process, enabling real-time anomaly monitoring.

[0082] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0083] like Figure 21 The diagram shown is a hardware structure schematic of an electronic device according to the present invention, comprising: At least one processor 2101; and, A memory 2102 communicatively connected to at least one of the processors 2101; wherein, The memory 2102 stores instructions that are executed by at least one of the processors to enable the at least one of the processors to perform the body-in-white engine hood mounting method as described above.

[0084] Figure 21 Take a processor 2101 as an example.

[0085] The electronic device may also include an input device 2103 and a display device 2104.

[0086] The processor 2101, memory 2102, input device 2103 and display device 2104 can be connected by a bus or other means. The figure shows an example of connection by bus.

[0087] The memory 2102, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the body-in-white engine hood installation method in the embodiments of this application, for example, Figure 18 The method flow is shown. The processor 2101 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 2102, thereby realizing the white body engine hood installation method in the above embodiments.

[0088] The memory 2102 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created according to the use of the body-in-white hood mounting method, etc. Furthermore, the memory 2102 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 2102 may optionally include memory remotely located relative to the processor 2101, and these remote memories may be connected via a network to the apparatus performing the body-in-white hood mounting method. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0089] The input device 2103 can receive user clicks and generate signal inputs related to user settings and function control of the body-in-white engine hood mounting method. The display device 2104 may include a display screen or other display equipment.

[0090] When one or more modules are stored in the memory 2102, and are run by one or more processors 2101, the white body engine hood installation method in any of the above method embodiments is executed.

[0091] This embodiment utilizes a bolt tightening device to simultaneously tighten four bolts using two tightening shafts. An auxiliary spacing adjustment unit adjusts the spacing to meet the needs of different vehicle models, offering advantages such as high versatility and low cost. Simultaneously, a three-way calibration unit adjusts the hinge position deviation, preventing hinge obstruction issues before assembly. A customized 2.5D vision system corrects vehicle body alignment, achieving high-precision operation without precise positioning. A tightening status monitoring system detects real-time tightening torque, tightening machine status, and tightening length to ensure assembly quality. All data is traceable, with automatic detection of bolt position and servo position throughout the process, enabling real-time anomaly monitoring.

[0092] One embodiment of the present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all the steps of the aforementioned body-in-white engine hood installation method.

[0093] In the context of this disclosure, a storage medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The storage medium can be a machine-readable signal medium or a machine-readable storage medium. Optionally, the storage medium can be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), compact disc ROM (CD-ROM), magnetic tape, floppy disk, and optical data storage device.

[0094] One embodiment of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the aforementioned method for installing a body-in-white engine hood.

[0095] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A bolt tightening device (100), characterized in that, include: At least one tightening unit (1) and a bracket (2) are provided. The tightening unit (1) is mounted on the bracket (2). The tightening unit (1) includes a position adjustment mechanism (11), a tightening mechanism (12), and a bolt supply mechanism (13). The position adjustment mechanism (11) is connected to the tightening mechanism (12) and the bolt supply mechanism (13) respectively. The tightening mechanism (12) is located above the bolt supply mechanism (13), and the position adjustment mechanism drives the tightening mechanism (12) to enter or exit the bolt supply mechanism (13); The bolt supply mechanism (13) is used to receive at least two bolts and to control the supply of the bolts in sequence; The tightening mechanism (12) is used to drive the bolts in the bolt supply mechanism (13) to rotate.

2. The bolt tightening device (100) according to claim 1, characterized in that, The position adjustment mechanism (11) includes a first position adjustment cylinder (111) and a second position adjustment cylinder (112). The first drive shaft (1111) of the first position adjustment cylinder (111) is connected to the second position adjustment cylinder (112), and the second drive shaft (1121) of the second position adjustment cylinder (112) is connected to the tightening mechanism (12). The tightening mechanism (12) is located above the bolt supply mechanism (13).

3. The bolt tightening device (100) according to claim 1, characterized in that, The bolt supply mechanism (13) includes a bolt straightening tube (131) and a bolt receiving tube (132). The bolt straightening tube (131) extends along the height direction. The top end of the bolt straightening tube (131) is open, and the bottom end of the bolt straightening tube (131) is open and equipped with a first valve (133). The bolt receiving tube (132) is inclined and has a certain angle with the bolt straightening tube (131). The top end of the bolt receiving tube (132) is open for receiving bolts. The bottom end of the bolt receiving tube (132) is connected to the bolt straightening tube (131). A second valve (134) is provided in the middle of the tube body of the bolt receiving tube (132).

4. The bolt tightening device (100) according to claim 1, characterized in that, The tightening mechanism (12) includes a tightening motor (121) and a magnetic cap (123). The bottom end of the tightening drive shaft (122) of the tightening motor (121) is fixedly connected to the magnetic cap (123). The magnetic cap (123) is used to attract the bolts in the bolt supply mechanism (13).

5. The bolt tightening device (100) according to claim 1, characterized in that, It also includes a spacing adjustment unit (3) installed on the bracket (2) and includes multiple tightening units (1), wherein the spacing adjustment unit (3) is connected to the multiple tightening units (1) respectively to adjust the spacing between the tightening units (1).

6. The bolt tightening device (100) according to claim 1, characterized in that, It also includes a calibration unit (4) mounted on the bracket (2), the calibration unit (4) being used to connect with the hinge of the engine hood to adjust the hinge position.

7. A tightening robot (200), characterized in that, It includes a robotic arm (201) and a bolt tightening device (100) as described in any one of claims 1 to 6, the bolt tightening device being fixed to the robotic arm (201).

8. A method for installing an engine hood on a white body, characterized in that, include: Control the tightening robot (200) as described in claim 7 to the position of the vibrating hopper; The bolt supply mechanism (13) of the tightening robot (200) is controlled to be positioned below the vibrating hopper to receive multiple bolts from the vibrating hopper; Control the gripping robot (300) to place the engine hood onto the white car body, and control the tightening robot (200) to move to one side of the engine hood; The position adjustment mechanism (11) of the control of the tightening robot (200) drives the tightening mechanism (12) into the bolt supply mechanism (13), and drives the first bolt in the bolt supply mechanism (13) to rotate and tighten. Then, the position adjustment mechanism (11) controls the tightening mechanism (12) to exit the bolt supply mechanism (13). Control the tightening robot (200) to the other side of the engine hood, control the position adjustment mechanism (11) to drive the tightening mechanism (12) into the bolt supply mechanism (13), and drive the second bolt in the bolt supply mechanism (13) to rotate and tighten. Then, control the position adjustment mechanism (11) to control the tightening mechanism (12) to exit the bolt supply mechanism (13).

9. The method for installing a body-in-white engine hood according to claim 8, characterized in that, The bolt tightening device of the tightening robot (200) further includes a spacing adjustment unit (3) installed on the bracket (2) and includes multiple tightening units (1). The spacing adjustment unit (3) is connected to the multiple tightening units (1) respectively to adjust the spacing between the tightening units (1). Before the position adjustment mechanism (11) controlling the tightening robot (200) drives the tightening mechanism (12) into the bolt supply mechanism (13) and drives the first bolt in the bolt supply mechanism (13) to rotate and tighten, before the position adjustment mechanism (11) controls the tightening mechanism (12) to exit the bolt supply mechanism (13), it further includes: The target spacing is determined according to the vehicle model, and the spacing adjustment unit (3) is controlled to adjust the spacing between the tightening units (1) to the target spacing.

10. The method for installing a body-in-white engine hood according to claim 8, characterized in that, The bolt tightening device of the tightening robot (200) further includes a calibration unit (4) mounted on the bracket (2), the calibration unit (4) being used for hinge connection with the engine hood; Before the position adjustment mechanism (11) controlling the tightening robot (200) drives the tightening mechanism (12) into the bolt supply mechanism (13) and drives the first bolt in the bolt supply mechanism (13) to rotate and tighten, before the position adjustment mechanism (11) controls the tightening mechanism (12) to exit the bolt supply mechanism (13), it also includes: controlling the calibration unit (4) to adjust the hinge on one side of the engine hood to the first vehicle model position; Before the position adjustment mechanism (11) controls the tightening robot (200) to move to the other side of the engine hood, controls the position adjustment mechanism (11) to drive the tightening mechanism (12) into the bolt supply mechanism (13), and drives the second bolt in the bolt supply mechanism (13) to rotate and tighten, before the position adjustment mechanism (11) controls the tightening mechanism (12) to exit the bolt supply mechanism (13), the method further includes: controlling the calibration unit (4) to adjust the hinge on the other side of the engine hood to the second vehicle position.

11. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that are executed by at least one of the processors to enable the at least one of the processors to perform the body-in-white engine hood mounting method as described in any one of claims 8 to 10.

12. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform all the steps of the body-in-white engine hood installation method as described in any one of claims 8 to 10.

13. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the body-in-white engine hood mounting method as described in any one of claims 8 to 10.

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