High-flexibility positioning assembly device for vehicle door

Abstract

The present application relates to the technical field of vehicle assembly. Disclosed is a high-flexibility positioning assembly device for a vehicle door. The device comprises a conveying plate, wherein the conveying plate is mounted on an overhead conveyor of a vehicle door assembly line, an assembly frame is fixedly connected to the bottom of the conveying plate, two rotating frames are rotationally connected to each of two sides of the assembly frame, two support plates are connected to the bottom of each rotating frame, a hinge member is connected to each rotating frame, a movable frame is fixedly connected to each of two sides of the assembly frame, rollers are rotationally connected to the bottom of each movable frame, and robotic arms are fixedly connected to each rotating frame. By means of providing the structures such as the robotic arms, rotating shafts and tools, nuts or screws of vehicle door components can be tightened, thereby omitting the step of manually tightening bolts or the nuts, and a worker is prevented from using an electric hand drill for assembly for a long time, thereby reducing fatigue injuries to the worker caused by vehicle door assembly operations.

Description

A highly flexible positioning assembly device for car doors

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202510372871.4, filed on March 27, 2025, entitled “A Highly Flexible Positioning Assembly Device for Vehicle Doors”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of automotive assembly technology, and more specifically, to a highly flexible positioning assembly device for car doors. Background Technology

[0004] In the automotive manufacturing industry, the assembly of door components is one of the key steps in the vehicle production process. Door assembly mainly relies on manual operation. Currently, door components are assembled manually using electric drills. In the high-speed assembly of a highly flexible conveyor system, manual assembly of door components requires long periods of time. The repetitive action of holding an electric drill with one hand and applying axial pressure can easily lead to worker fatigue and injury. Furthermore, the vibration generated by the electric drill when tightening the door components can cause nerve damage to the worker's hands during prolonged assembly work, resulting in decreased grip strength and affecting the stability of the door assembly. Therefore, a highly flexible positioning assembly device for car doors is proposed.

[0005] Application content

[0006] To address the aforementioned technical problems, this application provides a highly flexible positioning and assembly device for vehicle doors.

[0007] The technical solution is as follows:

[0008] A highly flexible positioning and assembly device for a car door includes a conveyor plate mounted on an external suspended conveyor. An assembly frame is fixedly connected to the bottom of the conveyor plate. Four rotating frames are rotatably connected to the assembly frame. Each rotating frame is equipped with a support plate and a hinge. A movable frame is fixedly connected to the assembly frame. The support plate and the hinge are detachably connected to the rotating frame by bolts. A robotic arm is fixedly connected to the rotating frame. The robotic arm is equipped with a vision sensor and a drive assembly. The drive assembly includes a rotating shaft connected to the output end of a motor on the robotic arm. A movable block is slidably arranged inside the rotating shaft. The movable block has an installation groove for placing a rotating rod. Three limit strips are symmetrically fixedly connected to the wall of the installation groove. An electromagnet is fixedly connected to the movable block. A limit groove is formed on the outer surface of the rotating shaft. A limit rod that slides with the limit groove is fixedly connected to the electromagnet. A spring is connected between the electromagnet and the rotating shaft. A connecting block and a rotating plate are provided on the rotating rod. A tool for tightening bolts is inserted into the connecting block. A switching assembly for switching the rotating rod is also provided on the robotic arm.

[0009] Furthermore, the switching assembly includes a connecting plate fixedly connected to the robotic arm by bolts. An electromagnet II is fixedly connected to the side of the connecting plate away from the robotic arm. A slide rod is fixedly connected to the electromagnet II. A magnetic ring is slidably connected to the slide rod. A gear II is rotatably connected to the magnetic ring. A connecting frame is fixedly connected to the side of the gear II away from the connecting plate by bolts. A fixed plate is fixedly connected to the side of the connecting frame away from the gear II. Multiple extension plates are symmetrically fixedly connected to the fixed plate. An arc sleeve is fixedly connected to the end of each extension plate away from the fixed plate. A rotating rod is rotatably mounted inside each arc sleeve via a rotating plate. The rotating plate is fixedly connected to the rotating rod and rotatably connected to the arc sleeve. A gear I is fixedly connected to the outer surface of the rotating shaft. Gear I is correspondingly mounted to gear II.

[0010] Furthermore, a pushing rod is fixedly connected inside the mounting groove, a through groove is opened inside the rotating rod, a limit groove is opened on the outer surface of the rotating rod, a limit rod is fixedly connected to the connecting block and slides with the limit groove, a spring is set between the connecting block and the rotating rod, and an abutment rod is fixedly connected to the side of the connecting block near the mounting groove. The abutment rod slides in the through groove, and the position of the through groove corresponds to that of the pushing rod.

[0011] Furthermore, when electromagnet two is energized, the magnetic poles on the side of electromagnet two that are close to the magnetic ring are the same.

[0012] Furthermore, the rotating rod has a regular hexagonal cross-section, and the end of the rotating rod near the mounting groove is chamfered. The limiting strip has a triangular cross-section, and the side of the limiting strip near the rotating rod is set as an inclined surface.

[0013] Furthermore, the assembly frame is also equipped with a stabilizing component, which includes two stabilizing frames fixedly connected to the assembly frame. The stabilizing frames are semi-circular in shape, and each stabilizing frame has a symmetrical arc groove. Each rotating frame is fixedly connected with a stabilizing rod, which is slidably disposed in adjacent arc grooves.

[0014] Furthermore, the bottom of the movable frame is rotatably connected to casters.

[0015] Furthermore, the mounting slot and the rotating rod are connected in a plug-in fit.

[0016] Based on the above, the beneficial effects of this application are as follows:

[0017] The arc groove of the stabilizer allows the stabilizer bar to pull the rotating frame, preventing the rotating frame from loosening due to the weight of the car door during rotation. This provides stable support for the car door, preventing the car door from falling off and causing damage if the rotating frame becomes loose. It also ensures the stability when the robotic arm and the rotating frame rotate synchronously.

[0018] By setting up structures such as robotic arms, rotating shafts, and tools, nuts or screws on car door components can be tightened, reducing the need for manual tightening of bolts or nuts, avoiding long-term use of electric drills for assembly, and reducing fatigue damage to workers during car door assembly.

[0019] By setting up a switching component, when different nuts or screws need to be assembled, the corresponding tool can be switched to facilitate the assembly and tightening of different door components. Attached Figure Description

[0020] Figure 1 is a three-dimensional schematic diagram of the overall structure of this application;

[0021] Figure 2 is a three-dimensional schematic diagram of the conveyor plate, assembly frame, rotating frame and other components of this application;

[0022] Figure 3 is a three-dimensional schematic diagram of the rotating frame, movable frame, rollers and other components of this application;

[0023] Figure 4 is a three-dimensional schematic diagram of the components of this application, including the robotic arm, vision sensor, and fixed plate.

[0024] Figure 5 is a three-dimensional cross-sectional view of the robotic arm, slide bar, and other components of this application.

[0025] Figure 6 is an enlarged schematic diagram of the structure at point A in Figure 5 of this application;

[0026] Figure 7 is a three-dimensional schematic diagram of the mounting groove, limit strip, electromagnet and other components of this application;

[0027] Figure 8 is an enlarged schematic diagram of the structure at point B in Figure 7 of this application;

[0028] Figure 9 is an enlarged schematic diagram of the structure at point C in Figure 5 of this application;

[0029] Figure 10 is a three-dimensional schematic diagram of the slide bar, magnetic ring, and electromagnet components of this application.

[0030] Figure 11 is a three-dimensional schematic diagram of the connecting frame, magnetic ring, gear and other components of this application;

[0031] Figure 12 is an enlarged schematic diagram of the structure at point D in Figure 11 of this application.

[0032] The reference numerals in the accompanying drawings of this application are as follows: 1, conveyor plate; 11, assembly rack; 12, rotating rack; 13, pallet; 14, hinge; 15, movable rack; 16, roller; 2, robotic arm; 3, vision sensor; 41, movable block; 42, mounting groove; 43, pushing rod; 44, limiting strip; 45, electromagnet one; 46, rotating shaft; 47, limiting groove one; 48, limiting rod one; 49, gear one; 410, spring one; 51, connecting plate; 52, electromagnet two; 53, slide rod; 54, magnetic ring; 55, gear two; 56, connecting rack; 57. 58. Fixed plate; 59. Extension plate; 510. Arc sleeve; 511. Abutment rod; 512. Rotating plate; 513. Rotating rod; 514. Spring II; 515. Connecting block; 516. Limiting groove II; 517. Limiting rod II; 518. Tool; 519. Through groove; 61. Stabilizing rod; 62. Stabilizing frame. Detailed Implementation

[0033] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0034] The embodiments provided in this application will be described in detail below:

[0035] As shown in Figures 1 to 4, a highly flexible positioning and assembly device for car doors includes a conveyor plate 1. The conveyor plate 1 is installed on a suspended conveyor of an external car door assembly line. The suspended conveyor is existing technology and can drive the conveyor plate 1 to move. An assembly frame 11 is fixedly connected to the bottom of the conveyor plate 1 by bolts. Four rotating frames 12 are rotatably connected to the assembly frame 11. The bottom of each rotating frame 12 is detachably connected to two support plates 13 by bolts. A hinge 14 is detachably connected to the side of each rotating frame 12 near the hinge with the assembly frame 11 by bolts. If different car doors need to be fixed, the support plates 13 and hinge 14 can be replaced by removing the bolts. Movable frames 15 are fixedly connected to both sides of the assembly frame 11 by bolts. Rollers 16 are rotatably connected to the bottom of the movable frames 15. A robotic arm 2 is fixedly connected to the rotating frame 12. A vision sensor 3 is fixedly connected to the outer surface of the robotic arm 2. The vision sensor 3 is electrically connected to the robotic arm 2 through a built-in controller.

[0036] It should be noted that: the car door to be assembled is placed on the tray 13, the hinge 14 is connected to the door hinge, and the vision sensor 3 is used to identify the position of the mounting holes of the car door, as well as the position of the screws and nuts on the parts placed by the worker.

[0037] As shown in Figures 4 to 8 and Figures 10 to 12, a drive assembly is provided on the robotic arm 2. The drive assembly includes a rotating shaft 46 mounted on the robotic arm 2, a motor mounted on the robotic arm 2, and the output end of the motor fixedly connected to the rotating shaft 46. A movable block 41 is slidably mounted inside the rotating shaft 46. A mounting groove 42 for placing a rotating rod 512 is opened at the end of the movable block 41 away from the robotic arm 2. A pushing rod 43 is fixedly connected inside the mounting groove 42, and three limiters are symmetrically fixedly connected to the groove wall of the mounting groove 42. An electromagnet 45 is fixedly connected to the end of the movable block 41 away from the robotic arm 2. Two symmetrical limiting rods 48 are fixedly connected to the side of the electromagnet 45 near the robotic arm 2. Two limiting grooves 47 are formed on the outer surface of the rotating shaft 46. The limiting rods 48 are L-shaped, and the end of the limiting rod 48 away from the electromagnet 45 slides inside the adjacent limiting groove 47. A spring 410 connects the electromagnet 45 and the rotating shaft 46. A connecting block 5 is provided on the rotating rod 512. 14 and rotating plate 511, rotating plate 511 is fixedly connected to rotating rod 512, rotating plate 511 is made of iron, rotating plate 511 can be magnetically attracted to electromagnet 45, rotating rod 512 is inserted into mounting groove 42, rotating rod 512 has a through groove 518 inside, rotating rod 512 has a limit groove 515 on its outer surface, limit rod 516 is fixedly connected to connecting block 514 and slides with limit groove 515, spring 513 is provided between connecting block 514 and rotating rod 512, connecting... A contact rod 510 is fixedly connected to the side of the connecting block 514 near the mounting groove 42. The contact rod 510 slides in the through groove 518, which is positioned corresponding to the push rod 43. A tool 517 for tightening bolts or nuts is inserted into the side of the connecting block 514 away from the mounting groove 42. The robotic arm 2 is also equipped with a switching assembly for switching the rotating rod 512. The tools 517 inserted into different rotating rods 512 correspond to different types and sizes of bolts or nuts, so that different tools 517 can be switched for assembly.

[0038] As shown in Figures 4 to 6 and Figures 9 to 12, the switching assembly includes a connecting plate 51 fixedly connected to the robotic arm 2 by bolts. An electromagnet 52 is fixedly connected to the side of the connecting plate 51 away from the robotic arm 2. A slide rod 53 is fixedly connected to the electromagnet 52. A magnetic ring 54 is slidably connected to the slide rod 53, and the magnetic ring 54 can only slide along the axis of the slide rod 53. A gear 55 is rotatably connected to the magnetic ring 54. An elastic bushing is provided between the magnetic ring 54 and the gear 55. A connecting bracket 56 is fixedly connected to the side of the gear 55 away from the connecting plate 51 by bolts. A fixed plate 57 is fixedly connected to the side of the frame 56 away from the gear 2 55. Multiple circumferentially equidistant extension plates 58 are symmetrically fixedly connected to the fixed plate 57. An arc sleeve 59 is fixedly connected to the end of each extension plate 58 away from the fixed plate 57. A rotating rod 512 is rotatably installed inside each arc sleeve 59 through a rotating plate 511. The rotating plate 511 is rotatably connected to the arc sleeve 59. A gear 1 49 is fixedly connected to the outer surface of the rotating shaft 46. Gear 1 49 is correspondingly arranged with gear 2 55. After gear 2 55 moves along the axis of the slide rod 53, it can mesh with gear 1 49.

[0039] It should be noted that: the cross-sectional shape of the rotating rod 512 is a regular hexagon, and the end of the rotating rod 512 near the mounting groove 42 is chamfered (i.e., six bevels). The cross-sectional shape of the limiting strip 44 is triangular, and the side of the limiting strip 44 near the rotating rod 512 is beveled. During the process of the rotating rod 512 entering the mounting groove 42, after the bevel of the rotating rod 512 abuts and is pressed against the bevel of the limiting strip 44, the limiting strip 44 will cause the rotating rod 512 to rotate, which facilitates the adjustment of the rotating rod 512 at different angles. This allows the rotating rod 512 to be restricted by the limiting strip 44, ensuring that the rotating rod 512 rotates synchronously through the limiting strip 44 during the rotation of the rotating shaft 46. The tool 517 can be an external hex wrench, a Phillips screwdriver, a flathead screwdriver, an internal hex wrench, a Torx internal hex wrench, etc., and because the tool 517 is plugged into the connecting block 514, it can be replaced according to different sizes of nuts and screws.

[0040] As shown in Figures 1 and 3, a stabilizing assembly is provided on the assembly frame 11. The stabilizing assembly includes two stabilizing frames 62 that are fixedly connected to the assembly frame 11. The stabilizing frames 62 are semi-circular in shape, and each stabilizing frame 62 has a circular arc groove that is symmetrical about the assembly frame 11. A stabilizing rod 61 is fixedly connected to each rotating frame 12. The top of the stabilizing rod 61 slides in the circular arc groove of the adjacent stabilizing frame 62.

[0041] Based on the above preferred embodiments, the following is the complete working process and working principle of the above embodiments:

[0042] The initial state is:

[0043] Electromagnet 45 is not energized, electromagnet 45 does not magnetically attract rotating plate 511, spring 410 is not stretched by electromagnet 45, electromagnet 52 is not energized, magnetic ring 54 magnetically attracts electromagnet 52, magnetic ring 54 causes gear 55 to mesh with gear 49, pushing rod 43 does not contact the abutting rod 510, abutting rod 510 does not cause connecting block 514 to stretch spring 513.

[0044] The working status is:

[0045] The car door frame to be assembled is placed on the pallet 13. In addition, the door hinge and hinge 14 are connected by bolts so that the door can be stably placed on the rotating frame 12. Driven by the overhead conveyor on the external assembly line, the conveyor plate 1 moves the assembly frame 11 on the assembly line. The assembly frame 11 moves the movable frame 15 synchronously. The movable frame 15 drives the rollers 16 to roll on the ground. The parts to be assembled on the door can be placed on the movable frame 15 so that the parts can move synchronously with the door to be assembled. This makes it easier to find the parts in time when assembling the door, thereby improving the assembly efficiency of the door. In addition, the assembly frame 11 moves the door to be assembled on the car assembly line through the rotating frame 12.

[0046] Adjust the angle of the car door:

[0047] During the assembly of the car door, the worker can pull the rotating frame 12, which will cause the car door to rotate around the hinge point between the rotating frame 12 and the assembly frame 11. Since the car door needs to be fitted with not only interior panels but also exterior door handles and rearview mirrors, it needs to be rotated by the rotating frame 12. At this time, the worker can assemble the parts on both sides of the car door. In addition, during the rotation of the rotating frame 12, the rotating frame 12 will drive the stabilizer bar 61 to rotate synchronously. At this time, the stabilizer bar 61 slides in the arc groove of the stabilizer frame 62. The arc groove of the stabilizer frame 62 allows the stabilizer bar 61 to pull the rotating frame 12, preventing the rotating frame 12 from loosening due to the weight of the car door during rotation. This provides stable support for the car door and prevents the car door from falling and being damaged if the rotating frame 12 becomes loose. It also ensures the stability of the robotic arm 2 when rotating synchronously with the rotating frame 12.

[0048] In addition, after the car door is installed on the rotating frame 12, the worker can place the car door component to be assembled on the installation position of the car door. Finally, the nuts or screws that can fix the car door component are initially placed at the installation position of the car door component. The nuts or screws placed can be manually turned by the worker during the placement process so that the nuts and screws can be initially threadedly connected with the connectors at the installation position to prevent the nuts or screws from falling off and facilitate the subsequent automatic tightening steps.

[0049] The robot arm 2 assembles the door parts by cooperating with the drive assembly to switch the assembly components:

[0050] After the robotic arm 2 is activated, the position of the car door is identified by the vision sensor 3. The vision sensor 3, through the built-in controller, controls the end of the robotic arm 2 away from the rotating frame 12 to move to the installation position of the car door component. This causes the end of the robotic arm 2 away from the rotating frame 12 to gradually approach the location of the nut or screw, such as the nut or screw on the interior panel. At the same time, the built-in controller controls the electromagnet 1 45 and electromagnet 2 52 to be energized. When electromagnet 2 52 is energized, it repels the magnetic ring 54, causing the magnetic ring 54 to move away from the connecting plate 51. The magnetic ring 54 drives gear 2 55 to move synchronously away from the connecting plate 51. After the gear 2 55 moves, it no longer meshes with gear 1 49, and the magnetic ring 54 and gear 2 55... An elastic bushing is provided between the gears. When gear 2 55 separates from gear 1 49, gear 2 55 will not rotate relative to magnetic ring 54 due to friction. This prevents gear 2 55 from rotating due to the different weights of each tool 517, improving the accuracy of subsequent tool 517 replacements. Furthermore, since the rotating plate 511 is made of iron, electromagnet 1 45 will magnetically attract the rotating plate 511 when energized. Electromagnet 1 45 will move towards the side closer to the rotating plate 511 and stretch spring 1 410. During the movement of electromagnet 1 45, it will drive the movable block 41 and the limiting rod 1 48 to move synchronously. The limiting rod 1 48 will slide inside the limiting groove 1 47. During the movement, the movable block 41 will be fitted onto the rotating rod 512 through the mounting groove 42. When the rotating rod 512 enters the mounting groove 42, it is pushed against the inclined surface of the rotating rod 512 by three symmetrically arranged limiting strips 44, causing the rotating rod 512 to rotate until the middle position of one side of the rotating rod 512 contacts the top position of the limiting strip 44 near the pushing rod 43. At this time, the force exerted by the limiting strip 44 on the rotating rod 512 points towards the axis of the mounting groove 42, that is, the limiting strip 44 will no longer push the rotating rod 512 to rotate, and the rotating rod 512 can enter the mounting groove 42 along the axis of the mounting groove 42. After the rotating rod 512 enters the mounting groove 42, the three limiting strips 44 respectively abut against the middle position of the three sides of the rotating rod 512. Since the cross-sectional shape of the rotating rod 512 is a regular hexagon, it can pass through the limiting strips. 44 prevents the rotating rod 512 inserted into the mounting slot 42 from rotating. Furthermore, during the movement of the movable block 41, the pushing rod 43 inserts into the through slot 518. Once inside the through slot 518, the pushing rod 43 pushes the abutting rod 510, which in turn moves the connecting block 514 away from the rotating plate 511. During this movement, the connecting block 514 stretches the second spring 513. It also causes the second limiting rod 516 to slide synchronously within the second limiting slot 515. The sliding of the second limiting rod 516 within the second limiting slot 515 stabilizes the connecting block 514. Simultaneously, the movement of the connecting block 514 moves the tool 517 away from the rotating plate 511.This causes a tool 517, corresponding to the position of electromagnet 45, to move a predetermined distance away from the fixed plate 57, ensuring that the tool 517 corresponding to the position of electromagnet 45 can effectively tighten the nuts or screws on the door components.

[0051] At this point, the built-in controller controls the robotic arm 2 again, causing the robotic arm 2 to drive the tool 517 to engage with the bolt or nut. Then, the built-in controller controls the motor on the robotic arm 2 to drive the rotating shaft 46 to rotate. The rotating shaft 46 drives the rotating rod 512 to rotate synchronously through the limiting strip 44 in the mounting groove 42. The rotating rod 512 drives the rotating plate 511 to rotate within the arc sleeve 59. The rotating rod 512 drives the connecting block 514 to rotate through the second limiting groove 515 and the second limiting rod 516. The connecting block 514 drives the tool 517 to rotate. The tool 517 can tighten the nuts or screws of the door components, reducing the need for manual tightening of bolts or nuts, avoiding long-term use of electric drills for assembly, and reducing fatigue damage to workers during door assembly.

[0052] It should be noted that the vision sensor 3 and the robotic arm 2 are existing technologies. The vision sensor 3 enables the built-in controller to control the robotic arm 2 to autonomously identify the installation position of the door components and locate the installation position of the door components, so that the door assembly can efficiently adapt to different models, configurations or customized production modes.

[0053] Replace tool 517:

[0054] When dealing with different nuts or screws, the built-in controller de-energizes electromagnet 2 52 and electromagnet 1 45. After electromagnet 1 45 is de-energized, it no longer magnetically attracts the rotating plate 511. Under the elastic reset action of spring 1 410, electromagnet 1 45 moves towards the side closer to the rotating shaft 46, causing the movable block 41 to no longer be fitted onto the rotating rod 512. Simultaneously, since electromagnet 2 52 is de-energized and has no magnetism, the magnetic ring 54 magnetically attracts electromagnet 2 52, and the magnetic ring 54 rests on the slide rod 53. Moving towards the side closer to electromagnet 2 52, magnetic ring 54 will drive gear 2 55 to move synchronously towards the side closer to connecting plate 51. If the teeth of gear 2 55 and gear 1 49 are not fully aligned at this time, the side of gear 2 55 closer to electromagnet 2 52 will be in contact with the side of gear 1 49 away from robotic arm 2. Under the magnetic attraction of electromagnet 2 52 by magnetic ring 54, gear 2 55 will always remain in contact with gear 1 49, and gear 2 55 will tend to move towards the side closer to gear 1 49. When gear 49 rotates slowly to align its teeth with gear 55, gear 55 can continue to move closer to electromagnet 52 until gear 49 and gear 55 mesh again. At this time, the motor on the robotic arm 2 is restarted to drive the rotating shaft 46 to rotate. When the rotating shaft 46 rotates, it will drive gear 55 to rotate on the magnetic ring 54 through gear 49. Gear 55 drives the connecting frame 56 to rotate synchronously. When the connecting frame 56 rotates, it will drive multiple extension plates 58 to rotate through the fixed plate 57. When the required tool 517 rotates to the position corresponding to electromagnet 45, electromagnet 45 and electromagnet 52 are energized again to repeat the above steps, thereby completing the connection between the rotating rod 512 and the mounting groove 42 again. This ensures that the rotating shaft 46 can drive the replaced tool 517 to rotate through the mounting groove 42 and the rotating rod 512. When workers assemble different door parts, the tool 517 can be replaced in time, and different door parts can be assembled and tightened.

[0055] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A highly flexible positioning and assembly device for a car door, comprising a conveyor plate (1) mounted on an external suspended conveyor, an assembly frame (11) fixedly connected to the bottom of the conveyor plate (1), four rotating frames (12) rotatably connected to the assembly frame (11), each rotating frame (12) being provided with a support plate (13) and a hinge (14), and a movable frame (15) fixedly connected to the assembly frame (11), characterized in that, The pallet (13) and hinge (14) are detachably connected to the rotating frame (12) by bolts. A robotic arm (2) is fixedly connected to the rotating frame (12). A vision sensor (3) and a drive assembly are provided on the robotic arm (2). The drive assembly includes a rotating shaft (46) connected to the output end of the motor on the robotic arm (2). A movable block (41) is slidably arranged inside the rotating shaft (46). The movable block (41) has a mounting groove (42) for placing the rotating rod (512). Three limit strips (44) are symmetrically fixedly connected to the groove wall of the mounting groove (42). (41) An electromagnet (45) is fixedly connected. A limit groove (47) is opened on the outer surface of the rotating shaft (46). A limit rod (48) that slides with the limit groove (47) is fixedly connected to the electromagnet (45). A spring (410) is connected between the electromagnet (45) and the rotating shaft (46). A connecting block (514) and a rotating plate (511) are provided on the rotating rod (512). A tool (517) for tightening bolts is inserted into the connecting block (514). A switching component for switching the rotating rod (512) is also provided on the robotic arm (2).

2. The highly flexible positioning and assembly device for a car door according to claim 1, characterized in that, The switching assembly includes a connecting plate (51) fixedly connected to the robotic arm (2) by bolts. An electromagnet (52) is fixedly connected to the side of the connecting plate (51) away from the robotic arm (2). A slide rod (53) is fixedly connected to the electromagnet (52). A magnetic ring (54) is slidably connected to the slide rod (53). A gear (55) is rotatably connected to the magnetic ring (54). A connecting frame (56) is fixedly connected to the side of the gear (55) away from the connecting plate (51) by bolts. A fixed plate (55) is fixedly connected to the side of the connecting frame (56) away from the gear (55). 57), a number of extension plates (58) are symmetrically fixedly connected on the fixed plate (57). Each extension plate (58) is fixedly connected to an arc sleeve (59) at the end away from the fixed plate (57). Each arc sleeve (59) is rotatably connected to a rotating rod (512) through a rotating plate (511). The rotating plate (511) is fixedly connected to the rotating rod (512), and the rotating plate (511) is rotatably connected to the arc sleeve (59). Gear 1 (49) is fixedly connected to the outer surface of the rotating shaft (46). Gear 1 (49) and Gear 2 (55) are correspondingly set.

3. The highly flexible positioning and assembly device for a vehicle door according to claim 2, characterized in that, A push rod (43) is fixedly connected inside the mounting groove (42). A through groove (518) is opened inside the rotating rod (512). A limit groove (515) is opened on the outer surface of the rotating rod (512). A limit rod (516) that slides with the limit groove (515) is fixedly connected to the connecting block (514). A spring (513) is provided between the connecting block (514) and the rotating rod (512). An abutment rod (510) is fixedly connected to the side of the connecting block (514) near the mounting groove (42). The abutment rod (510) slides in the through groove (518). The through groove (518) is positioned corresponding to the push rod (43).

4. The highly flexible positioning and assembly device for a vehicle door according to claim 2, characterized in that, When electromagnet 2 (52) is energized, the magnetic poles of electromagnet 2 (52) and magnetic ring (54) are the same on the side that are close to each other.

5. The highly flexible positioning and assembly device for a vehicle door according to claim 1, characterized in that, The rotating rod (512) has a regular hexagonal cross-section and a chamfer at one end of the rotating rod (512) near the mounting groove (42). The limiting strip (44) has a triangular cross-section and an inclined surface on the side of the limiting strip (44) near the rotating rod (512).

6. The highly flexible positioning and assembly device for a vehicle door according to claim 1, characterized in that, The assembly frame (11) is also provided with a stabilizing component, which includes two stabilizing frames (62) fixedly connected to the assembly frame (11). The stabilizing frames (62) are semi-circular in shape, and each stabilizing frame (62) has a symmetrical arc groove. Each rotating frame (12) is fixedly connected with a stabilizing rod (61), which is slidably arranged in the adjacent arc groove.

7. The high-flexibility positioning and assembly device for a vehicle door according to claim 1, characterized in that, The bottom of the movable frame (15) is rotatably connected to a roller (16).

8. The high-flexibility positioning and assembly device for a car door according to claim 1, characterized in that, The mounting slot (42) is inserted into the rotating rod (512).

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