A robotized flexible bolting system for automotive chassis

Abstract

The utility model provides a kind of robot automation flexible bolt tightening system for automobile chassis belongs to material processing technical field, including the hoisting mechanism of linear movement;Track, it is laid along the running direction of hoisting device, and support plate is slidably arranged on track;Clamping mechanism, it is fixed on support plate and is used to clamp hoisted material;Robot unit, it is fixed on support plate and is used to fix bolt on material;Hoisting mechanism is hoisted material when running by clamping mechanism and clamps material, and support plate can be moved with material by clamping mechanism, and support plate can process material when moving;The utility model can preinstall bolt on vehicle frame in advance, and then bolt can be tightened during the process of hoisting vehicle frame.

Description

Technical Field

[0001] This utility model relates to the field of material processing equipment technology, specifically to a robotic automated flexible bolt tightening system for automobile chassis. Background Technology

[0002] In the automotive manufacturing and logistics sectors, the chassis, as the core load-bearing component of the vehicle structure, directly affects the vehicle's safety and reliability through its assembly precision. Bolt tightening is a crucial step in the chassis assembly process, traditionally relying on manual labor or fixed robotic arms for this task. Manual operation mode: After the chassis is transferred to the designated workstation by a hoisting device, the operator tightens the bolts by hand using a tightening tool. This mode has drawbacks such as high labor intensity, low work efficiency, and poor consistency of tightening torque. In addition, manual operation is susceptible to fatigue and other factors, making it difficult to meet the needs of large-scale automated production.

[0003] Fixed robotic arm mode: After the chassis is positioned, the robotic arm, following a preset trajectory, drives the tightening shaft to tighten the bolts. While this mode improves work efficiency, the robotic arm's movement trajectory is fixed, lacking the ability to dynamically adapt to chassis position deviations. When the chassis experiences a slight displacement (typically a few millimeters to tens of millimeters) due to inertia when the machine stops, traditional robotic arms must rely on a high-precision positioning system to compensate for the error, significantly increasing control complexity and making real-time processing difficult during continuous chassis movement. Utility Model Content

[0004] In view of this, the present invention provides a robotic automated flexible bolt tightening system for automobile chassis. The present invention can pre-install bolts on the frame and then tighten the pre-installed bolts during the lifting of the frame.

[0005] To solve the above-mentioned technical problems, this utility model provides a robotic automated flexible bolt tightening system for automobile chassis, including a lifting mechanism that moves linearly, which can drive the vehicle frame to move linearly.

[0006] The track is laid along the running direction of the hoisting device, and a support plate is slidably installed on the track. The track and the support plate can move together with the hoisting device.

[0007] The clamping mechanism, which is fixed on the support plate, is used to clamp the materials being hoisted. The clamping mechanism can be fixedly connected to the frame so that the clamping mechanism and the frame can move together.

[0008] The robot unit, which is fixed to the support plate, is used to fix bolts to the material. The robot unit can tighten the pre-installed bolts.

[0009] When the hoisting mechanism is moving the material, it clamps the material through the clamping mechanism. The clamping mechanism allows the support plate to move together with the material, and the support plate can process the material while moving.

[0010] The clamping mechanism includes a base frame mounted on a support plate. The base frame is a frame structure and is equipped with a lifting component. The base frame has an inclined surface, on which a movable plate is slidably mounted. The lifting component is connected to the movable plate, which allows the movable plate to move up and down at an inclined angle. When the movable plate moves up, it can move relative to the material on the hoisting mechanism.

[0011] The movable plate is equipped with a fixing clamp, which has a fixing clamping part for fitting the outer wall of the material. The fixing clamping part is located on the side of the fixing clamp near the material feeding direction of the frame.

[0012] The upper surface of the movable plate is also slidably provided with a movable clamping component. The sliding direction of the movable clamping component is consistent with the material hoisting and moving direction. The movable clamping component has a movable clamping part for conforming to the outer wall surface of the material. The movable clamping part and the fixed clamping part are arranged opposite to each other. The movable clamping part is fixed on the movable clamping component by an adjusting component. The adjusting component is used to adjust the vertical height position of the movable clamping part on the movable clamping component. The fixed clamping part and the movable clamping part are used to fix the material.

[0013] A slide rail is laid on the upper surface of the movable plate along the sliding direction of the hoisting mechanism. A movable clamping component is slidably mounted on the slide rail. A first telescopic component is also provided on the movable plate. The end of the first telescopic component is connected to the edge of the movable clamping component. The first telescopic component can drive the movable clamping component to move toward the fixed clamping component.

[0014] The adjusting component includes a second telescopic component mounted on the movable clamping component. The first telescopic component is placed horizontally on the movable clamping component. An adjusting plate is also fixed on the piston rod of the second telescopic component. The adjusting plate can be moved along the moving direction of the movable clamping component through the second telescopic component. An inclined guide groove is provided through the adjusting plate. A guide block is provided on the side of the movable clamping part corresponding to the guide groove. The guide block is placed in the guide groove. The movement of the adjusting plate can move the movable clamping part up and down.

[0015] The movable clamping part has several vertical guide bars, and corresponding guide channels are provided on the movable clamping part. The guide bars can be inserted into the guide channels, and the cross-sections of the guide bars and guide channels are trapezoidal structures. The movement trajectory of the movable clamping part can be limited by the guide bars and guide channels.

[0016] The robot unit includes a collaborative robot mounted on a support plate. A tightening module is fixed on the collaborative robot. A sleeve is connected to one side of the tightening module, and a tightening shaft is connected to the other side of the tightening module. The tightening shaft can drive the sleeve to rotate through the tightening module. The sleeve is used to engage with the outer wall of the bolt and drive the bolt to rotate.

[0017] The tightening module is also equipped with a vision module corresponding to the sleeve. The vision module is used for visual positioning when changing sleeves or tightening bolts. The vision module makes it easy to see the position of the bolt, so that the robotic arm can align the sleeve with the bolt.

[0018] The support plate is also equipped with a sleeve rack corresponding to the sleeve. The sleeve rack can hold multiple sleeves, which facilitates the replacement of sleeves on the collaborative robot.

[0019] The support plate is also vertically equipped with a fixing rod, and a reaction rod is hinged on the fixing rod. The other end of the reaction rod is connected to the outer wall of the tightening module through a hinge, which can be used to overcome the reaction torque generated on the collaborative robot when tightening the bolt and the tightening shaft is working.

[0020] The reaction rod consists of two rods that are detachably connected together. The ends of the two rods are respectively connected to the corresponding tightening module or fixing rod by hinge, which makes it easy to maintain or replace the tightening shaft and tightening module.

[0021] In summary, compared with the prior art, this application includes at least one of the following beneficial technical effects: 1. Dynamic synchronous processing, breaking through the rigid constraints of the stop position: The innovative "track-following" architecture uses a clamping mechanism to rigidly connect the support plate to the moving frame, allowing the bolt tightening operation to be completed synchronously during the continuous operation of the frame, completely eliminating the discrete operation mode of "stop-positioning-processing" in traditional processes.

[0022] 2. Overcoming the limitations of static clamping to achieve dynamic clamping: The tilting lifting assembly and the movable plate linkage structure allow the clamping mechanism to tilt relative to the material movement direction. When the material is running along the conveyor line, the top surface of the movable clamping part is lower than the top surface of the fixed clamping part, creating a clearance space between the movable and fixed clamping parts. This allows the bottom of the frame to move between the fixed and movable clamping parts without damaging the top or outer wall of the fixed and movable clamping parts. The clamping mechanism has two symmetrically arranged clamping mechanisms, which can prevent the frame from tilting under impact when it is fixed by a single clamping mechanism. If the frame tilts, the wear on the tightening system will be higher, thus indirectly increasing the service life of the tightening system.

[0023] 3. Intelligent visual guidance creates a flexible tightening system: The tightening module integrates a high-precision visual positioning module, which can still achieve a bolt hole position recognition accuracy of ±0.1mm when the frame is moving. Combined with the quick change mechanism of the sleeve frame, it is compatible with the full range of bolt specifications from M6 to M20, and the changeover time for multi-model mixed production lines is shortened.

[0024] The reaction rod adopts a split hinge structure. Through a dynamic torque balance algorithm, the deflection angle of the tightening reaction force is controlled within 3°, which significantly reduces the load on the collaborative robot and extends the service life of the core components.

[0025] 4. Optimize efficiency across the entire process and restructure production cycle time: The pre-installed bolt tightening process integrates the traditional three-stage process of "pre-installation-transfer-tightening" into a single step, improving overall efficiency and reducing energy consumption.

[0026] The modular design supports hot-swappable maintenance. When a single robot unit fails, adjacent workstations can quickly take over the operation through the track system, effectively improving the overall OEE (Overall Equipment Effectiveness) of the production line. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a robotic automated flexible bolt tightening system for automobile chassis according to this utility model; Figure 2 This is a schematic diagram of the structure of the robot unit of this utility model; Figure 3 This utility model Figure 2 Schematic diagram of the structure at point A; Figure 4 This is a schematic diagram of the clamping mechanism of this utility model; Figure 5 This utility model Figure 4 Schematic diagram of the structure at point B; Figure 6 This is a top view of the clamping mechanism of this utility model.

[0028] Explanation of reference numerals in the attached figures: 100. Clamping mechanism; 101. Base frame; 102. Lifting assembly; 103. Movable plate; 104. Fixed clamping component; 105. Fixed clamping part; 106. Slide rail; 107. Movable clamping component; 108. First telescopic component; 109. Movable clamping part; 110. Second telescopic component; 111. Adjusting plate; 112. Guide groove; 113. Guide block; 114. Guide bar; 115. Guide channel; 200. Track; 201. Support plate; 300. Lifting mechanism; 400. Robot unit; 401. Collaborative robot; 402. Tightening module; 403. Sleeve; 404. Vision module; 405. Sleeve holder; 406. Tightening shaft; 500, Fixed rod; 501, Reaction rod. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the following will be described in conjunction with the appendices of the embodiments of this utility model. Figure 1-5 The technical solutions of the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model are within the protection scope of this utility model.

[0030] This embodiment provides a robotic automated flexible bolt tightening system for automotive chassis, such as... Figure 1 , 2 As shown in Figure 4: It includes a linearly suspended guide rail, on which a hoisting mechanism 300 is slidably mounted. The vehicle frame can be placed on the hoisting mechanism 300, and multiple sensors are also laid on the slide rail 106. These sensors are used to sense the operating position of the hoisting device.

[0031] Corresponding to the guide rail, a track 200 is also laid on the ground. The track 200 is laid in the same direction as the guide rail. A support plate 201 is slidably mounted on the track 200. The support plate 201 is slidably mounted in the same direction as the hoisting mechanism 300. Two clamping mechanisms 100 are symmetrically mounted on the support plate 201. The clamping mechanisms 100 can clamp the frame during the hoisting process, so that the frame can move together with the clamping mechanisms 100. In turn, the support plate 201 and the frame can move together through the clamping mechanisms 100.

[0032] The support plate 201 is also equipped with a robot unit 400, which can move along with the frame and tighten the bolts on the moving frame.

[0033] Specifically, the robot unit 400 includes a collaborative robot 401 fixedly mounted on the upper surface of the support plate 201, such as... Figure 1-4 As shown: The collaborative robot 401 is connected to a tightening module 402. A tightening shaft is fixed on one side of the tightening module 402, and a sleeve 403 is connected to the other side of the tightening module 402. That is, the tightening shaft can drive the sleeve 403 to rotate through the tightening module 402. The rotation of the sleeve 403 can tighten the bolts on the frame.

[0034] Preferably, the tightening module 402 is also provided with a vision module 404, which can be used to detect the specific position of the bolt, so as to facilitate moving the sleeve 403 to the bolt to tighten the bolt.

[0035] Preferably, the sleeve 403 is a quick-release sleeve 403, and the sleeve 403 is detachably connected to the tightening module 402. The collaborative robot 401 is also provided with a sleeve frame 405 on the support plate 201, and multiple sleeves 403 are placed on the sleeve frame 405. That is, the sleeve frame 405 facilitates the replacement of the sleeves 403 on the collaborative robot 401, thereby enabling the tightening of bolts of different types.

[0036] Preferably, the collaborative robot 401 also has a vertical fixing rod 500 on the support plate 201, such as... Figure 2 As shown: A reaction rod 501 is provided on the outer surface of the fixed rod 500 by means of a hinge. The reaction rod 501 is a reaction carbon rod. The other end of the reaction rod 501 is hinged to the outer wall of the tightening module 402. It can be used to overcome the reaction torque generated on the collaborative robot when the tightening shaft is working during the tightening of the bolt, thereby increasing the service life of the collaborative robot 401.

[0037] It is worth mentioning that the end of the track 200 is also equipped with a traction mechanism. That is, after the collaborative robot 401 finishes tightening the bolts and resets, the clamping mechanism 100 is released from fixing the frame and resets. The hoisting device can then continue to transport the frame. At this time, the traction mechanism can pull the support plate 201 to reset for tightening the bolts on the next frame.

[0038] Furthermore, the clamping mechanism 100 includes a base frame 101 mounted on the support plate 201. The base frame 101 has a frame structure and its overall cross-section is a right-angled trapezoidal structure, such as... Figure 3As shown: The base frame 101 has an inclined surface, and a lifting assembly 102 is provided on the inclined surface of the base frame 101. A movable plate 103 is fixed on the lifting assembly 102. That is, the lifting mechanism can make the movable plate 103 move up and down, and the movable plate 103 tilts and moves with the inclined surface when it moves up and down. When the movable plate 103 tilts and moves upward, it can move relative to the material being hoisted and moved. The movable plate 103 has an L-shaped structure, and a fixing clamp 104 is vertically provided on the upper surface of the movable plate 103. A fixing clamp part 105 is provided on the side of the fixing clamp 104. The fixed clamping part 105 allows the material to impact the fixed clamping part 105 when it moves. The movable plate 103 is also slidably provided with a movable clamping part 107. The sliding direction of the movable clamping part 107 is consistent with the material hoisting direction. The movable clamping part 107 is provided with a movable clamping part 109 that can move up and down through an adjusting member. After the movable clamping part 109 moves upward, the movable clamping part 109 and the upper surface of the fixed clamping part 105 are on the same horizontal line. After the movable clamping part 109 moves downward, the movable clamping part 109 and the fixed clamping part 105 can form a clearance space.

[0039] The vehicle frame is placed on the hoisting mechanism 300. When the hoisting mechanism 300 is about to move to the vicinity of the clamping mechanism 100, the lifting assembly 102 can be controlled to move the movable plate 103 upward. After the movable plate 103 moves upward, the position of the fixed clamping part 105 is higher than the lowest horizontal line of the vehicle frame. Since there is a clearance space between the fixed clamping part 104 and the movable clamping part 107, the vehicle frame will directly contact the fixed clamping part 105 during operation. After the material contacts the fixed clamping part 105, the movable clamping part 109 is controlled to move upward, and the movable clamping part 107 is controlled to move towards the fixed clamping part. When the holding part 104 moves, the clamping mechanism 100 will move a short distance in the direction of the vehicle frame's movement after the frame impacts the fixed clamping part 105. At this time, the movable clamping part 109 and the fixed clamping part 105 are at the same horizontal height. Thus, the side of the movable clamping part 109 will abut against the bottom of the material. At this time, the bottom of the vehicle frame is located between the fixed clamping part 105 and the movable clamping part 109. Then, by sliding the movable clamping part 107, the fixed clamping part 105 and the movable clamping part 109 can clamp the material in motion without the material impacting the top or side of the clamping part.

[0040] Furthermore, the movable plate 103 is provided with several guide rails, and the movable clamping member 107 is fixed on the guide rails and can move back and forth along the direction of the guide rails, such as... Figure 4 , 5As shown: The movable plate 103 is also provided with a first telescopic member 108. The first telescopic member 108 can be a pneumatic telescopic rod or a pneumatic push rod. The end of the first telescopic member 108 is provided with a T-shaped locking block. The corresponding locking block is provided with a T-shaped locking groove on the movable clamping member 107. That is, the extension and retraction of the first telescopic member 108 can drive the movable clamping member 107 to move back and forth along the lifting direction of the frame. Furthermore, the T-shaped locking block and locking groove can reduce the connection accuracy between the first telescopic member 108 and the movable clamping member 107.

[0041] Specifically, the adjusting member includes a second telescopic member 110 disposed on the movable clamping member 107, the second telescopic member 110 being located on the side of the movable clamping part 109, such as... Figure 5 As shown: The second telescopic member 110 is a pneumatic push rod. An adjusting plate 111 is fixed on the piston rod of the second telescopic member 110. When the second telescopic member 110 extends or retracts, it can drive the adjusting plate 111 to move in the direction of the movable clamping member 107. The adjusting plate 111 has an L-shaped structure, that is, the corner section of the adjusting plate 111 fits against the side of the movable clamping part 109. An inclined guide groove 112 is provided through the adjusting plate 111. A guide block 113 is provided on the side of the movable clamping part 109 corresponding to the guide groove 112. The guide block 113 is located in the guide groove 112. In this way, when the adjusting plate 111 moves back and forth, the inner wall of the guide groove 112 can abut against the guide block 113, so that the guide block 113 and the movable clamping part 109 move up and down on the movable clamping member 107.

[0042] Preferably, the movable clamping member 107 is provided with a plurality of guide bars 114 vertically, and a guide channel 115 is provided on the movable clamping part 109 corresponding to the guide bars 114. The guide bars 114 can be inserted into the guide channel 115. The cross-section of the guide channel 114 and the guide bar 114 is a trapezoidal structure, so that the guide bars 114 and the guide channel 115 can provide guidance for the up and down movement of the movable clamping part 109.

[0043] Preferably, the top of the fixed clamping member 104 is also provided with a sensor, which is a photoelectric detection sensor. The sensor is used to detect whether the material has moved above the clamping device. That is, when the sensor detects that the material has moved above the clamping device, the movable plate 103 will tilt and move upward.

[0044] It is worth mentioning that the lifting assembly 102 includes a slide rail 106 disposed on the inclined surface of the base frame 101, such as... Figure 4As shown: A movable plate 103 is fixed on the slide rail 106 via a slide rail. A connecting plate is also provided on the side of the movable plate 103 near the base frame 101. A third telescopic component is also provided inside the base frame 101. The third telescopic component is a pneumatic push rod or a pneumatic telescopic rod. A T-shaped locking block is provided at the end of the piston rod of the third telescopic component. A corresponding locking block is also provided in a locking groove on the connecting plate. The locking block can be locked in the locking groove. Thus, the extension and retraction of the third telescopic component can drive the movable plate 103 to move up and down. Furthermore, the locking groove and locking block can also reduce the connection accuracy between the third telescopic component and the connecting plate.

[0045] Preferably, the top of the fixing clamping part 105 is also provided with a relief groove, such as... Figure 6 As shown: A first buffer assembly is fixed in the relief groove. The first buffer assembly can be used to reduce the impact force of the material on the fixed clamping part 105 when the material moves towards the fixed clamping part 105.

[0046] Preferably, a second buffer assembly is also fixed to the side of the third telescopic member. The second buffer assembly is located on the inclined surface of the base frame 101 and is disposed towards the bottom of the movable plate 103. That is, the pressure transmitted to the third telescopic member by the fixed clamping member 104 can be reduced by the second buffer assembly.

[0047] Furthermore, the movable plate 103 is equipped with limiting plates on both sides, and the top of both limiting plates has limiting grooves, such as... Figure 1 As shown: The corresponding limiting plate is also provided with limiting blocks on both sides of the base frame 101. After the movable plate 103 moves upward, it can drive the limiting plate to move upward, so that the limiting block can be inserted into the limiting groove. That is, the moving distance of the movable plate 103 can be limited by the limiting plate and the limiting block, so as to prevent the movable plate 103 from moving too high.

[0048] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0049] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A robotic automated flexible bolt tightening system for automobile chassis, comprising a lifting mechanism (300) that moves linearly, characterized in that: include; A track (200) is laid along the running direction of the hoisting device, and a support plate (201) is slidably provided on the track (200); A clamping mechanism (100) is fixed on a support plate (201) for clamping materials being hoisted; A robot unit (400) is fixed to a support plate (201) for securing bolts to the material; When the hoisting mechanism (300) is moving the material, it clamps the material through the clamping mechanism (100). The clamping mechanism (100) allows the support plate (201) to move together with the material. When the support plate (201) moves, it can process the material.

2. The robotic automated flexible bolt tightening system for automotive chassis as described in claim 1, characterized in that: The clamping mechanism (100) includes a base frame (101) mounted on a support plate (201), a lifting assembly (102) mounted on the base frame (101), an inclined surface on the base frame (101), and a movable plate (103) slidably mounted on the inclined surface. The lifting assembly (102) is connected to the movable plate (103) so that the movable plate (103) can move up and down in an inclined manner. When the movable plate (103) moves up, it can move relative to the material on the hoisting mechanism (300). The movable plate (103) is provided with a fixing clamp (104), and the fixing clamp (104) has a fixing clamp part (105) for fitting the outer wall surface of the material; The upper surface of the movable plate (103) is also slidably provided with a movable clamping member (107). The sliding direction of the movable clamping member (107) is consistent with the material hoisting and moving direction. The movable clamping member (107) has a movable clamping part (109) for fitting against the outer wall of the material. The movable clamping part (109) is fixed on the movable clamping member (107) by an adjusting member. The adjusting member is used to adjust the vertical height position of the movable clamping part (109) on the movable clamping member (107). The fixed clamping part (105) and the movable clamping part (109) are used to fix the material.

3. The robotic automated flexible bolt tightening system for automotive chassis as described in claim 2, characterized in that: The upper surface of the movable plate (103) is provided with a slide rail (106) along the sliding direction of the hoisting mechanism (300). A movable clamping member (107) is slidably provided on the slide rail (106). The movable plate (103) is also provided with a first telescopic member (108), the end of which is connected to the side of the movable clamping member (107).

4. The robotic automated flexible bolt tightening system for automotive chassis as described in claim 3, characterized in that: The adjusting component includes a second telescopic component (110) provided on the movable clamping component (107). An adjusting plate (111) is also fixed on the piston rod of the second telescopic component (110). The adjusting plate (111) can be moved along the moving direction of the movable clamping component (107) through the second telescopic component (110). An inclined guide groove (112) is provided through the adjusting plate (111). A guide block (113) is provided on the side of the movable clamping part (109) corresponding to the guide groove (112). The guide block (113) is placed in the guide groove (112). The movement of the adjusting plate (111) can move the movable clamping part (109) up and down.

5. The robotic automated flexible bolt tightening system for automotive chassis as described in claim 4, characterized in that: The movable clamping part (107) has several vertical guide bars (114), and a guide channel (115) is provided on the movable clamping part (109) corresponding to the guide bars (114). The guide bars (114) can be inserted into the guide channel (115), and the cross-section of the guide bars (114) and the guide channel (115) are both trapezoidal structures.

6. The robotic automated flexible bolt tightening system for automobile chassis as described in claim 1, characterized in that: The robot unit (400) includes a collaborative robot (401) mounted on a support plate (201). A tightening module (402) is fixed on the collaborative robot (401). A sleeve (403) is connected to one side of the tightening module (402), and a tightening shaft is connected to the other side of the tightening module. The sleeve (403) is used to engage with the outer wall of the bolt and drive the bolt to rotate.

7. The robotic automated flexible bolt tightening system for automobile chassis as described in claim 6, characterized in that: The tightening module (402) is also provided with a vision module (404) corresponding to the sleeve (403). The vision module (404) is used for visual positioning when changing the sleeve (403) or tightening the bolt.

8. The robotic automated flexible bolt tightening system for automotive chassis as described in claim 1, characterized in that: The support plate (201) is also provided with a sleeve frame (405) corresponding to the sleeve (403), and the sleeve frame (405) can hold multiple sleeves (403).

9. The robotic automated flexible bolt tightening system for automobile chassis as described in claim 1, characterized in that: The support plate (201) is also vertically provided with a fixing rod (500), and a reaction rod (501) is provided on the fixing rod (500) by means of a hinge. The other end of the reaction rod (501) is connected to the outer wall of the tightening module (402) by means of a hinge. The reaction rod (501) can be used to overcome the reaction torque generated on the collaborative robot when the tightening shaft is working during the tightening of the bolt.

10. The robotic automated flexible bolt tightening system for automobile chassis as described in claim 9, characterized in that: The reaction rod (501) is composed of two rods that are detachably connected together, and the ends of the two rods are respectively connected to the corresponding tightening module (402) or fixing rod (500) by hinge.

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