A flexible positioning mechanism, a flexible positioning system, and a vehicle production line.

Abstract

This utility model provides a flexible positioning mechanism, a flexible positioning system, and a vehicle production line, belonging to the field of automotive assembly and manufacturing technology. The flexible positioning mechanism includes a fixed frame, positioning devices, a male end of a docking mechanism, and a female end of a docking mechanism. Multiple positioning devices are provided, all located on the top of the fixed frame. The male end of the docking mechanism is located on one side of the fixed frame, and the female end is located on the other side. The male and female ends of the docking mechanisms are mutually compatible for snap-fit ​​connection. By integrating multiple positioning devices on the top of the fixed frame and providing mutually compatible male and female ends of the docking mechanisms on opposite sides, a modular design is achieved. A single mechanism can be positioned independently, and multiple mechanisms can be quickly assembled into a larger platform, significantly improving adaptability to different workpieces, shortening changeover time, and reducing the cost of specialized fixtures.

Description

Technical Field

[0001] This utility model relates to the field of automobile assembly and manufacturing technology, and in particular to a flexible positioning mechanism, a flexible positioning system, and a vehicle production line. Background Technology

[0002] In the current automotive manufacturing sector, especially on body welding production lines, workpiece positioning generally relies on specialized fixtures. These fixtures are designed for a single vehicle model or a very small number of similar models, with fixed structures and limited functions. When the production line needs to switch to producing vehicles of different platforms or sizes, it often requires a significant amount of time and cost to replace the entire set of fixtures, resulting in long equipment downtime, high investment costs, and a severe lack of production line flexibility. As the market demand for a wide variety of vehicles in small batches with rapid iteration increases, traditional rigid positioning methods can no longer meet the core requirements of modern intelligent manufacturing for high efficiency, high adaptability, and low-cost changeover.

[0003] To improve production line flexibility, the industry has attempted to introduce modular positioning units or adjustable fixtures. However, existing solutions generally suffer from insufficient positioning accuracy, poor docking reliability, or low automation. While some systems possess a certain degree of mobility, they lack standardized rapid docking mechanisms, making it difficult to efficiently assemble multiple units into an integrated work platform. Furthermore, most positioning devices offer only limited degrees of freedom, failing to flexibly adapt to complex spatial positioning requirements. Utility Model Content

[0004] To address the aforementioned problems, the purpose of this utility model is to provide a flexible positioning mechanism and system with high precision, modular structure, and rapid docking capability.

[0005] The first aspect of this utility model provides a flexible positioning mechanism, characterized in that it includes a fixed frame, a positioning device, a male end of a docking mechanism, and a female end of a docking mechanism; The positioning device is provided in multiple parts, and all of them are located on the top of the fixed frame; The male end of the docking mechanism is located on one side of the fixed frame, and the female end of the docking mechanism is located on the other side of the fixed frame; The male end and the female end of the docking mechanism are mutually adapted to achieve a snap-fit ​​connection.

[0006] Furthermore, the male end and the female end of the docking mechanism each have at least two parts; At least two male ends of the docking mechanism are spaced apart on one side of the fixed frame, and at least two female ends of the docking mechanism are spaced apart on the other side of the fixed frame. The male ends of the at least two docking mechanisms correspond one-to-one with the female ends of the at least two docking mechanisms for mutual adaptation and snap-fit.

[0007] Furthermore, the male end of the docking mechanism includes an upper fixed plate, a lower fixed plate, and a vertically arranged fixed shaft. The top end of the fixed shaft is fixedly connected to the upper fixed plate, and the bottom end is fixedly connected to the lower fixed plate. The docking mechanism includes a support frame, two jaws and a cylinder. The middle part of each of the two jaws is rotatably connected to the support frame. The inner ends of the two jaws are respectively connected to the output end of the cylinder. The cylinder drives the two jaws to swing around their rotation center, so that the outer ends of the two jaws move closer to each other to clamp the fixed shaft, or move away from each other to release the fixed shaft.

[0008] Furthermore, the outer ends of the two claws are arc-shaped and bend inward to fit against the outer circumferential surface of the fixed shaft to form a clamping structure.

[0009] Furthermore, the multiple positioning devices are arranged in a matrix on the top of the fixed frame.

[0010] Furthermore, the positioning device is a three-axis flexible positioning device.

[0011] Furthermore, the triaxial flexible positioning device includes a rotating device, a first-direction moving device, a second-direction moving device, and a positioning pin; The first directional moving device is disposed on the top of the rotating device and configured to perform linear sliding motion along the first direction; The second direction moving device is disposed on the first direction moving device and configured to perform linear sliding motion along a second direction perpendicular to the first direction; The positioning pin is installed on the second direction moving device and is used to position the workpiece.

[0012] Furthermore, the positioning pin is a hook pin.

[0013] Furthermore, it also includes an automated guided vehicle, with the fixed frame disposed on top of the automated guided vehicle.

[0014] The second aspect of this utility model provides a flexible positioning system, including at least two flexible positioning mechanisms as described in the above technical solutions; In this configuration, any two adjacent flexible positioning mechanisms are connected by the male end of the docking mechanism on one flexible positioning mechanism and the female end of the docking mechanism on the other flexible positioning mechanism to form an integrated positioning platform.

[0015] The third aspect of this utility model provides a vehicle production line, including a flexible positioning mechanism as described in the above technical solution or a flexible positioning system as described in the above technical solution.

[0016] This utility model has the following advantages or beneficial effects: By integrating multiple positioning devices onto the top of a fixed frame and setting mutually compatible male and female docking mechanisms on opposite sides of the frame, a modular and scalable positioning unit design is achieved. This structure not only enables a single mechanism to independently complete multi-point workpiece positioning, but more importantly, it supports the rapid interlocking of multiple identical mechanisms via the male and female ends, forming a larger overall platform with more positioning points, significantly improving the production line's adaptability to workpieces of different sizes and structures. Meanwhile, the fixed frame adopts a rectangular metal structure, ensuring overall rigidity and stability; while the standardized docking interface design greatly shortens changeover time and reduces the investment cost of dedicated fixtures. Furthermore, this mechanism facilitates integration with intelligent logistics equipment such as automated guided vehicles, providing a hardware foundation for building flexible and intelligent manufacturing systems. Thus, while ensuring high repeatability positioning accuracy, it effectively solves the technical challenges of traditional welding fixtures, such as high rigidity, slow changeover, and high cost. Attached Figure Description

[0017] The above and other features and advantages of this invention will become more apparent from a detailed description of exemplary embodiments with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of a flexible positioning mechanism according to an exemplary embodiment; Figure 2 This is a schematic diagram of the structure of a positioning device in a flexible positioning mechanism according to an exemplary embodiment; Figure 3 This is a schematic diagram of the structure of the female end of the docking mechanism in a flexible positioning system according to an exemplary embodiment; Figure 4 This is a schematic diagram of the structure of a flexible positioning system according to an exemplary embodiment.

[0019] The reference numerals in the attached figures are explained as follows: 1. Fixed frame; 2. Positioning device; 3. Male end of docking mechanism; 4. Female end of docking mechanism; 21. Rotating device; 22. First direction moving device; 23. Second direction moving device; 24. Positioning pin; 31. Upper fixing plate; 32. Lower fixing plate; 33. Fixing shaft; 41. Support frame; 42. Clamping claw; 43. Cylinder. Detailed Implementation

[0020] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0021] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0022] Figure 1 This is a schematic diagram of a flexible positioning mechanism according to an exemplary embodiment (the large circles in the figure represent the movement trajectory of the top of the positioning device). Figure 2 This is a schematic diagram of the structure of a positioning device in a flexible positioning mechanism according to an exemplary embodiment; Figure 3 This is a schematic diagram of the structure of the female end of the docking mechanism in a flexible positioning system according to an exemplary embodiment; Figure 4 This is a schematic diagram of a flexible positioning system according to an exemplary embodiment. The above schematic diagram is only for illustrating the structural relationships related to the inventive point and is not intended as an actual scale of a real product.

[0023] Example 1 like Figures 1 to 3 As shown, this utility model provides a flexible positioning mechanism for use in an automotive body welding production line. This mechanism possesses advantages such as high precision, high flexibility, modularity, and mobility, and can adapt to the rapid switching and precise positioning requirements of workpieces from various vehicle models at different workstations. The technical solution of this utility model will be described in detail below with reference to specific embodiments.

[0024] The flexible positioning mechanism comprises a fixed frame 1, multiple positioning devices 2, male and female docking mechanism ends 3 and 4 located on opposite sides of the fixed frame 1, and an optional automated guided vehicle (not shown in the figure). The fixed frame 1 is a rectangular metal structure, welded or bolted from high-strength steel, possessing excellent rigidity and stability, capable of withstanding clamping forces and vibration loads generated during positioning. The top of the fixed frame 1 serves as an installation platform for supporting and fixing the multiple positioning devices 2; the male and female docking mechanism ends 3 and 4 are integrated on its left and right sides or front and rear sides (i.e., a pair of opposite sides), enabling rapid assembly and disassembly of the multiple flexible positioning mechanisms.

[0025] On one side of the fixed frame 1, at least two male docking mechanism ends 3 are arranged at intervals. Correspondingly, on the other side of the fixed frame 1 (opposite to the side where the male ends are located), an equal number of female docking mechanism ends 4 are arranged at intervals and in corresponding positions.

[0026] In one embodiment, the male end 3 of the docking mechanism is located on one side of the fixed frame 1. Its structure includes an upper fixed plate 31, a lower fixed plate 32, and a vertically arranged fixed shaft 33. Both the upper fixed plate 31 and the lower fixed plate 32 are high-strength metal plates, connected to the top and bottom areas of the fixed frame 1 respectively by welding or bolting, forming a stable support foundation. The fixed shaft 33 is a precision-machined cylindrical steel shaft, its top end firmly connected to the center of the upper fixed plate 31, and its bottom end fixedly connected to the corresponding position of the lower fixed plate 32. Together, these three components form an I-shaped mechanical interface with high overall rigidity and excellent bending and torsional resistance. This structure not only facilitates guided insertion but also provides clear axial and radial positioning references after docking, ensuring good geometric consistency of the assembled platform.

[0027] The mating docking mechanism female end 4 is located on the opposite side of another flexible positioning mechanism. Its core components include a support frame 41, two jaws 42, and a cylinder 43. The support frame 41 is made of thick-walled steel plate or cast steel structure and is firmly installed inside the side wall or on the outer reinforcing beam of the fixed frame 1, serving as the load-bearing skeleton of the entire docking mechanism female end 4. The two jaws 42 are symmetrically arranged on both sides of the support frame 41. The middle part of each jaw 42 is rotatably connected to the support frame 41 through a pin, allowing the jaw 42 to swing around the pin in the horizontal plane. The bottom of the cylinder 43 is fixed to the support frame 41 or the fixed frame 1. The inner ends of the jaws 42 (the side closer to the cylinder 43) are hinged to the piston rod output end of the cylinder 43. When compressed air is introduced into the cylinder 43, the piston rod extends or retracts, causing the two jaws 42 to synchronously retract inward or open outward. In the initial state, the cylinder 43 is in the extended position, and the outer ends of the two jaws 42 are far apart, forming a sufficiently large opening to allow the male end of the fixed shaft 33 to be smoothly inserted. Once the fixed shaft 33 is fully in the predetermined position, the cylinder piston rod retracts, pulling the inner ends of the two jaws 42 towards the center, thereby driving their outer ends to move closer together, completing the clamping action on the fixed shaft 33. This clamping process is responsive, provides stable locking force, and the clamping force can be precisely controlled by adjusting the air pressure, avoiding damage to the surface of the fixed shaft.

[0028] Furthermore, the outer ends of the two jaws 42 are designed with an arc shape and bend inwards, so that their inner contours match the outer circumferential surface of the fixed shaft 33. When the jaws 42 are closed, the arc-shaped outer ends can tightly envelop the cylindrical surface of the fixed shaft 33, forming a ring-like clamping structure. This design not only increases the contact area, improves friction and shear resistance, but also effectively compensates for minor positional deviations caused by manufacturing or assembly, improving the repeatability of positioning after docking. At the same time, the arc-shaped edges are chamfered and polished to prevent scratching the surface of the fixed shaft during repeated insertion and removal, extending its service life. When it is necessary to separate the two flexible positioning mechanisms, simply introduce reverse air pressure into the cylinder or release the air source, and the jaws 42 will automatically open under the thrust of the cylinder 43, releasing the fixed shaft 33 and achieving rapid decoupling. The entire docking and separation process can be completed within seconds, making it easy to operate and suitable for high-cycle automated production line environments.

[0029] Multiple positioning devices 2 are distributed in a matrix on the top of the fixed frame 1, such as in a 2×2, 3×3 or other layouts. The specific number and spacing are configured according to the positioning point distribution of the target workpiece (such as the inner panel of the side door, the front body, the lower body, etc.). Each positioning device 2 is a three-axis flexible positioning device 2 with three degrees of freedom of spatial motion capability, which can independently complete the adjustment of complex spatial posture.

[0030] Specifically, each three-axis flexible positioning device 2 includes, from bottom to top, a rotating device 21, a first-direction moving device 22, a second-direction moving device 23, and a top positioning pin 24 (i.e., a hook pin). The rotating device 21, serving as the first axis, is composed of a servo motor and an RV reducer. The servo motor outputs rotational power, which, after being reduced and amplified by the RV reducer, drives the entire upper structure to rotate precisely within a range of ±180° around the vertical axis, achieving a repeatability of ±0.01 degrees. This rotation function is mainly used to accommodate angular deviations of the workpiece in the horizontal plane or differences in positioning references between different vehicle models.

[0031] The first-direction moving device 22 is mounted on top of the rotating device 21, and its direction of movement is defined as the Z-axis direction (i.e., the first direction: vertical direction). This device consists of a servo motor, a ball screw, a linear guide, and a slide table. The servo motor drives the ball screw to rotate, causing the mating nut seat to slide linearly along the linear guide. The stroke range is typically 200 to 500 mm, with a repeatability accuracy of 0.02 mm. The linear guide adopts a double-slider preload structure to ensure smooth, backlash-free movement.

[0032] The second-direction moving device 23 is mounted on the slide of the first-direction moving device 22, and its direction of movement is perpendicular to the Z-axis, defined as the Y-axis direction (i.e., the second direction: horizontal direction). This device also consists of a servo motor, a ball screw, and a linear guide, and its structure is exactly the same as that of the first-direction moving device 22, except that its mounting direction is rotated by 90 degrees. Through the coordinated movement of the Y-axis and Z-axis, precise positioning of any point in the horizontal plane can be achieved.

[0033] Both the first direction moving device 22 and the second direction moving device 23 adopt the mature linear servo slide structure in the prior art. Their internal components will not be described in detail here. Those skilled in the art can select commercially available products or conventional design schemes composed of standard components such as servo motors, ball screws, linear guides and slides to implement them according to actual application requirements.

[0034] A positioning pin 24, specifically a hook pin, is installed on the top of the second-direction moving device 23. The hook pin includes a pin assembly, a drive linear module, and a servo motor. The pin assembly consists of a hook pin cap, a hook pin linkage assembly, and a hook pin seat. The hook pin linkage assembly is installed inside the hook pin seat, while the hook pin cap is fixed to the top of the hook pin seat and has an opening in its side wall. The drive linear module includes a cylinder and a transmission assembly disposed inside the cylinder. The top of the cylinder is connected to the hook pin seat, and the upper end of the transmission assembly extends into the hook pin seat and is connected to the hook pin linkage assembly. The servo motor is installed at the bottom of the drive linear module, and its output shaft is connected to the transmission assembly via a coupling for precise control of the movement of the transmission assembly. When the servo motor starts, it converts the rotational motion into linear motion through the transmission assembly, pushing the hook pin in the hook pin linkage assembly upward, causing its upper hook to extend out from the opening in the side wall of the hook pin cap, thereby achieving the positioning and locking of the workpiece.

[0035] This servo-driven locking system abandons traditional pneumatic or spring-operated locking methods, employing a fully electric servo drive. This not only eliminates dependence on air supply, making it suitable for any workstation lacking air access, but also, through the cooperation of the servo motor and PLC controller, allows for real-time monitoring and feedback of the locking status, ensuring the locking only occurs when the locking is fully in place, effectively avoiding safety hazards such as "locking before reaching the correct position" or "delayed locking after reaching the correct position." The transmission component uses a threaded engagement structure of a lead screw and sleeve. The top of the sleeve is designed as an inward-curving column, facilitating reliable connection with the connecting rods in the locking linkage assembly. Simultaneously, the locking seat utilizes a cavity structure formed by a bottom plate, side panels, and a top cover, resulting in a compact internal layout and clear external interfaces. Furthermore, the system integrates a clamping position auxiliary detection block, exposed through a through-slot and linked to the connecting rods, facilitating non-contact detection of the clamping status by external sensors. The entire device features a modular structure, intelligent control, and convenient maintenance, making it suitable for high-speed, high-precision automated assembly or welding production lines.

[0036] The entire flexible positioning mechanism's control system is composed of a programmable logic controller (PLC). Based on the process parameters of the current production model, the PLC sends independent motion commands to each of the three-axis flexible positioning devices 2. Upon receiving the commands, the three-axis servo drive modules within each device control the servo motors of the X-axis (rotation), Z-axis (first direction), and Y-axis (second direction) to work together, causing the hook end to move precisely to the target positioning point according to a preset spatial trajectory (X, Y, Z coordinates and rotation angle). Once in position, the hook performs a clamping action, completing the positioning and fixing of the workpiece. The entire process is highly automated with short changeover times, making it suitable for flexible production modes involving multiple product types and small batches.

[0037] Furthermore, this flexible positioning mechanism can be integrated with an automated guided vehicle (AGV). The top platform of the AGV is connected to the bottom of the fixed frame 1 via bolts or quick-connect interfaces, enabling the entire positioning mechanism to move autonomously. Upon receiving a dispatch command, the AGV can transport the flexible positioning mechanism to the designated workstation and dock with the female end 4 of the docking mechanism next to the workstation. After docking, the mechanism can be put into operation; after the task is completed, it automatically unlocks and returns to the standby area. This design greatly improves equipment utilization, reduces the number of dedicated fixtures, and lowers production line modification costs.

[0038] This invention constructs a highly flexible, rapidly reconfigurable positioning mechanism suitable for intelligent welding workshops through a modular fixed frame 1, a high-precision three-axis servo positioning device 2, a reliable mechanical docking interface, and integration with automated guided vehicles. It not only meets the current automotive manufacturing needs for multi-model co-production lines but also provides a hardware foundation for the future expansion of intelligent manufacturing systems. The mechanism is compact, easy to maintain, highly accurate, and has good repeatability, demonstrating significant industrial application value and promising prospects for widespread adoption.

[0039] Example 2 like Figure 4 As shown, this utility model also provides a flexible positioning system based on the aforementioned flexible positioning mechanism. This system forms an overall positioning platform with a larger coverage area, richer positioning points, and stronger adaptability by modularly splicing multiple independent flexible positioning mechanisms. It is particularly suitable for the high-precision positioning and clamping requirements of large body assemblies (such as the lower body of the vehicle, side panel assembly, or complete body frame) in the welding, assembly, or inspection stations.

[0040] The flexible positioning system includes at least two flexible positioning mechanisms as described in Embodiment 1. Each flexible positioning mechanism comprises a rectangular metal fixed frame 1, multiple three-axis flexible positioning devices 2 (with hooks at the ends) arranged in a matrix at the top, a male docking mechanism 3 located on one side of the fixed frame 1, and a female docking mechanism 4 located on the opposite side. These mechanisms are completely identical in physical structure and control logic, and have interchangeability and standardized interfaces.

[0041] During system deployment, any two adjacent flexible positioning mechanisms can be quickly combined through mechanical docking. Specifically, the male end 3 of the docking mechanism on one flexible positioning mechanism is inserted into the female end 4 of the docking mechanism at the corresponding position on another flexible positioning mechanism, completing the mechanical locking and achieving a rigid connection between the two units. This docking process can be completed manually or automatically triggered by pneumatic or electric actuators after the automated guided vehicle has been precisely positioned.

[0042] In this way, multiple flexible positioning mechanisms can be sequentially spliced ​​together horizontally or vertically along the production line to form a continuous, flat, and structurally integrated positioning platform. The spliced ​​system not only maintains overall mechanical rigidity, preventing workpiece deformation caused by segmented supports, but also achieves coordinated operation at the electrical and control system level. The PLC or motion controller within each positioning unit communicates via an industrial bus network, receiving unified coordinate commands from the host system and synchronously controlling the spatial movement of its respective three-axis flexible positioning device 2. This ensures that all pins accurately reach the preset body positioning hole positions, completing multi-point constraint and clamping of the entire vehicle or large components.

[0043] Example 3 This invention further provides an intelligent and highly flexible vehicle production line. This production line integrates a flexible positioning mechanism as described in Embodiment 1, or employs a flexible positioning system as described in Embodiment 2, to achieve rapid switching, high-precision positioning, and reliable clamping of various vehicle body models during key process stages such as welding, assembly, inspection, or repair welding. This vehicle production line is particularly suitable for the increasingly prevalent multi-platform co-line production mode in the current automotive manufacturing industry, and can significantly improve production line adaptability, equipment utilization, and manufacturing efficiency.

[0044] In this embodiment of the invention, the term "multiple" refers to two or more, unless otherwise explicitly defined. The terms "install," "connect," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention based on the specific circumstances.

[0045] In the description of the embodiments of this utility model, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific direction or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0046] In this specification, the terms "an embodiment," "a preferred embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0047] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A flexible positioning mechanism, characterized in that, It includes a fixed frame (1), a positioning device (2), a male end of a docking mechanism (3), and a female end of a docking mechanism (4); The positioning device (2) is provided in multiple units, and all of them are located on the top of the fixed frame (1); The male end (3) of the docking mechanism is located on one side of the fixed frame (1), and the female end (4) of the docking mechanism is located on the other side of the fixed frame (1). The male end (3) of the docking mechanism and the female end (4) of the docking mechanism are adapted to each other to achieve snap-fit ​​connection.

2. The flexible positioning mechanism according to claim 1, characterized in that, The docking mechanism has at least two male ends (3) and at least two female ends (4); At least two male ends (3) of the docking mechanism are spaced apart on one side of the fixed frame (1), and at least two female ends (4) of the docking mechanism are spaced apart on the other side of the fixed frame (1). The at least two male ends (3) of the docking mechanism and the at least two female ends (4) of the docking mechanism are in one-to-one correspondence for mutual adaptation and snap-fit.

3. The flexible positioning mechanism according to claim 1, characterized in that, The male end (3) of the docking mechanism includes an upper fixing plate (31), a lower fixing plate (32) and a vertically arranged fixing shaft (33). The top end of the fixing shaft (33) is fixedly connected to the upper fixing plate (31), and the bottom end is fixedly connected to the lower fixing plate (32). The docking mechanism female end (4) includes a support frame (41), two jaws (42) and a cylinder (43). The middle part of the two jaws (42) is rotatably connected to the support frame (41). The inner ends of the two jaws (42) are respectively connected to the output end of the cylinder (43). The cylinder (43) drives the two jaws (42) to swing around its rotation center, so that the outer ends of the two jaws (42) move closer to each other to clamp the fixed shaft (33), or move away from each other to release the fixed shaft (33).

4. The flexible positioning mechanism according to claim 3, characterized in that, The outer ends of the two claws (42) are arc-shaped and bent inward to fit against the outer peripheral surface of the fixed shaft (33) to form a clamping structure.

5. A flexible positioning mechanism according to claim 1, characterized in that, Multiple positioning devices (2) are arranged in a matrix on the top of the fixed frame (1).

6. A flexible positioning mechanism according to claim 1, characterized in that, The positioning device (2) is a three-axis flexible positioning device (2).

7. A flexible positioning mechanism according to claim 6, characterized in that, The triaxial flexible positioning device (2) includes a rotating device (21), a first-direction moving device (22), a second-direction moving device (23), and a positioning pin (24); The first direction moving device (22) is disposed on the top of the rotating device (21) and configured to perform linear sliding motion along the first direction; The second direction moving device (23) is disposed on the first direction moving device (22) and configured to perform linear sliding motion along a second direction perpendicular to the first direction; The positioning pin (24) is installed on the second direction moving device (23) for positioning the workpiece.

8. A flexible positioning mechanism according to any one of claims 1 to 7, characterized in that, It also includes an automated guided vehicle, the fixed frame (1) being disposed on the top of the automated guided vehicle.

9. A flexible positioning system, characterized in that, Includes at least two flexible positioning mechanisms as described in any one of claims 1 to 8; Among them, any two adjacent flexible positioning mechanisms are connected by the male end (3) of the docking mechanism on one flexible positioning mechanism and the female end (4) of the docking mechanism on the other flexible positioning mechanism to form an integrated positioning platform.

10. A vehicle production line, characterized in that, Includes the flexible positioning mechanism as described in any one of claims 1 to 8 or the flexible positioning system as described in claim 9.

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