Car door gripper mechanism and car door gripping equipment

Abstract

The invention relates to a car door gripper mechanism and car door gripping equipment, and relates to the technical field of car manufacturing auxiliary equipment.The car door gripper mechanism comprises a gripper frame, and a quick-change disc is arranged on the gripper frame and used for being connected with a robot; and the multiple grabbing mechanisms are all arranged on the grabbing hand frame, the multiple grabbing mechanisms are arranged in the circumferential direction of the grabbing hand frame, the grabbing mechanisms are used for grabbing the vehicle door assembly, and all the grabbing mechanisms can grab the vehicle door assembly at the same time. Due to the fact that all the grabbing mechanisms can grab the car door assemblies at the same time, on the same car model production line, all the car door assemblies can be grabbed at the same time, car door tongs do not need to be switched due to changes of car door assembling, time wasted when the car door tongs are switched in the welding process is shortened, production efficiency is improved, and the problem that in the prior art, in the car door switching process, the car door tongs cannot be switched is solved. In the prior art, a robot needs to pause welding operation to complete gripper replacement, so that the welding rhythm is interrupted, particularly in a single-vehicle-type multi-door integrated production line, frequent switching further aggravates production line pause, and the overall production efficiency is reduced.

Description

Technical Field

[0001] This invention relates to the field of automotive manufacturing auxiliary equipment technology, specifically to a door gripper mechanism and a door gripping device. Background Technology

[0002] With the continuous advancement of modern technology, industrial robots are being used more and more widely in the manufacturing field. As a crucial component of robots, robotic grippers play a vital role in their operational capabilities and functionality. In recent years, robotic grippers have experienced rapid development in the industrial sector and have been widely applied in the automotive industry; for example, they are used in automobile manufacturing to grip car doors.

[0003] In existing technologies, for production lines that integrate four doors of the same car model onto a single robot island, the common approach is to use independent positioning grippers in conjunction with a robot quick-change plate to achieve door switching. Specifically, each type of door is equipped with a dedicated positioning gripper, and the robot quick-change plate switches between different grippers to adapt to the differences in positioning holes and surface shapes of the door inner panel. Cylinders and locking mechanisms are used to ensure the precise positioning and stability of the grippers.

[0004] However, during the door switching process, the robot needs to pause the welding operation to complete the gripper replacement, which interrupts the welding cycle. Especially in production lines with multiple doors integrated for a single model, frequent switching will further aggravate the production line stoppage and reduce the overall production efficiency. Summary of the Invention

[0005] This application provides a door gripper mechanism and a door gripping device, which can solve the problem that in the prior art, during the door switching process, the robot needs to pause the welding operation to complete the gripper replacement, which leads to the interruption of the welding cycle. Especially in the production line with multiple doors integrated in a single model, frequent switching will further aggravate the production line stoppage and reduce the overall production efficiency.

[0006] In a first aspect, embodiments of this application provide a door gripper mechanism, which includes: A gripper frame having a quick-change disc for connecting to a robot; Multiple gripping mechanisms are all mounted on the gripper frame and arranged circumferentially along the gripper frame. The gripping mechanisms are used to grip the door assembly, and all gripping mechanisms can grip the door assembly simultaneously.

[0007] In one embodiment, the gripper frame has two connecting surfaces and mounting surfaces corresponding to the gripping mechanisms. The gripper frame includes multiple mounting rods and a number of connecting rod groups equal to the number of mounting rods. The multiple mounting rods are spaced apart circumferentially, and the connecting rod groups are arranged between adjacent mounting rods. Each connecting rod group includes two connecting rods spaced apart along the mounting rods. The two ends of each connecting rod are connected to the corresponding two mounting rods to form a polygonal frame with a corresponding number of sides. Two of the planes formed by the polygonal frame serve as the connecting surfaces, and the remaining portion has a number of planes corresponding to the gripping mechanisms serving as the mounting surfaces. The quick-change disc is provided on the outer side of one of the connecting surfaces.

[0008] In one embodiment, the gripper frame includes four mounting rods, which together with the connecting rods form a rectangular frame, and the mounting surface is perpendicular to the connecting surface.

[0009] In one embodiment, both ends of the mounting rod extend out of the plane formed by the connecting rod, wherein each of the portions of two adjacent mounting rods extending out of the plane formed by the connecting rod is provided with a limiting block, and the two adjacent mounting rods cooperate with the corresponding connecting rod to form another connecting surface.

[0010] In one embodiment, the mounting rod that forms another connecting surface is provided with the limiting block at both ends, and a bushing is provided on the outer side of the two limiting blocks located at opposite ends of the two mounting rods. The bushing is used to cooperate with the positioning pin on the storage rack to position the gripper frame on the storage rack.

[0011] In one embodiment, a portion of the mounting rods extends beyond the plane formed by the connecting rod by a shorter length than the other mounting rods extend beyond the plane formed by the connecting rod. These mounting rods are arranged adjacent to each other, and their number is equal to or one more than the number of the other mounting rods.

[0012] In one embodiment, the gripping mechanism includes two first gripping components spaced apart along a first direction, the first gripping components comprising: A first connecting structure is connected to the gripper frame; A latch, which is used to engage with the positioning hole of the door assembly to position the door assembly; A hook cylinder is connected to the first connecting structure and to the hook. The hook cylinder is used to drive the hook to move in order to cooperate in positioning the door assembly.

[0013] In one embodiment, the hook includes a pin body and an abutting platform, the abutting platform being connected to the hook cylinder for abutting against the door assembly, and the pin body being disposed on the side of the abutting platform away from the hook cylinder for extending into a positioning hole in the door assembly.

[0014] In one embodiment, the gripping mechanism further includes two second gripping components spaced apart along a second direction, the second direction being perpendicular to the first direction, and the second gripping components comprising: The second connection structure is connected to the gripper frame; A support rod, which is connected to the second connecting structure; A pressure head is located at one end of the support rod and is spaced apart from the support rod; A drive cylinder, which is mounted on the second connecting structure and connected to the pressure head, is used to drive the pressure head closer to or away from the support rod to clamp the door assembly.

[0015] Secondly, embodiments of this application also provide a door gripping device, which includes the aforementioned door gripper mechanism.

[0016] The beneficial effects of the technical solutions provided in this application include: In designing this door gripper mechanism, a quick-change disc is installed on the gripper frame for connection with the robot. Multiple gripping mechanisms are mounted on the gripper frame and arranged circumferentially. These mechanisms grip the door assemblies simultaneously. Since all gripping mechanisms can grip the door assemblies at the same time, all door assemblies can be gripped simultaneously on the same vehicle model production line. This eliminates the need to switch between different door grippers for different door assembly types, reducing the time wasted switching grippers during welding, improving production efficiency, and solving the problem in existing technologies where the robot needs to pause welding to change grippers during door switching, causing welding cycle interruptions. This is especially problematic in production lines with multiple doors integrated into a single vehicle model, where frequent switching further exacerbates production line downtime and reduces overall production efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of an embodiment of a door gripper mechanism according to the present invention.

[0019] Figure 2 This is a schematic diagram of the bottom structure of the gripper frame in an embodiment of the door gripper mechanism of the present invention.

[0020] Figure 3This is a top view schematic diagram of an embodiment of a door gripper mechanism according to the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of the gripper frame in an embodiment of the door gripper mechanism of the present invention.

[0022] Figure 5 This is a schematic diagram of the structure of the first gripping component in a first form of an embodiment of a door gripping mechanism according to the present invention.

[0023] Figure 6 This is a schematic diagram of the second form of the first gripping component in an embodiment of a door gripping mechanism of the present invention.

[0024] Figure 7 This is a schematic diagram of the structure of the first form of the second gripping component in an embodiment of a door gripping mechanism of the present invention.

[0025] Figure 8 This is a schematic diagram of the second form of the second gripping component in an embodiment of a door gripping mechanism of the present invention.

[0026] In the diagram: 1. Gripper frame; 11. Mounting rod; 12. Connecting rod assembly; 121. Connecting rod; 2. Gripping mechanism; 21. First gripping assembly; 211. First connecting structure; 212. Hook pin; 2121. Pin body; 2122. Abutting frustum; 213. Hook pin cylinder; 22. Second gripping assembly; 221. Second connecting structure; 222. Support rod; 223. Pressure head; 224. Drive cylinder; 225. Rotating shaft; 226. Transition block; 3. Quick-change disc; 4. Limit block; 5. Bushing; 6. Connecting plate; 7. First connecting piece; 8. Second connecting piece; 9. Valve island; 10. Third connecting piece; 20. Safety pin; 30. Reference hole cover plate; 40. Gasket; 60. Detection switch. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0028] This application provides a door gripper mechanism and a door gripping device, which can solve the problem in the prior art that the robot needs to pause welding operations to complete the gripper replacement during the door switching process, resulting in the interruption of the welding cycle. Especially in production lines with multiple doors integrated in a single model, frequent switching will further aggravate the production line stoppage and reduce the overall production efficiency.

[0029] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this application provides a door gripper mechanism, which includes: The gripper frame 1 is equipped with a quick-change plate 3, which is used to connect to the robot. Multiple gripping mechanisms 2 are all mounted on the gripper frame 1. The multiple gripping mechanisms 2 are arranged around the circumference of the gripper frame 1. The gripping mechanisms 2 are used to grip the door assembly, and all gripping mechanisms 2 can grip the door assembly at the same time.

[0030] In designing this door gripper mechanism, a quick-change disc 3 is provided on the gripper frame 1 for connection with the robot. Multiple gripping mechanisms 2 are mounted on the gripper frame 1 and arranged circumferentially along the gripper frame 1. The gripping mechanisms 2 are used to grip the door assembly, and all gripping mechanisms 2 can grip the door assembly simultaneously. Since all gripping mechanisms 2 can grip the door assembly simultaneously, all door assemblies can be gripped at the same time on the same vehicle model production line. There is no need to switch different door grippers due to changes in door assembly, reducing the time wasted when switching door grippers during welding, improving production efficiency, and solving the problem in the prior art where the robot needs to pause welding operations to complete the gripper change during door switching, causing welding cycle interruption. Especially in production lines with multiple doors integrated for a single vehicle model, frequent switching will further aggravate production line stoppages and reduce overall production efficiency.

[0031] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some optional embodiments, the gripper frame 1 has two connecting surfaces and mounting surfaces corresponding one-to-one with the gripping mechanism 2. The gripper frame 1 includes multiple mounting rods 11 and a number of connecting rod groups 12 equal to the number of mounting rods 11. The multiple mounting rods 11 are spaced apart circumferentially, and the connecting rod groups 12 are arranged between adjacent mounting rods 11. The connecting rod group 12 includes two connecting rods 121 spaced apart along the mounting rods 11. The two ends of the connecting rods 121 are respectively connected to the two corresponding mounting rods 11 to form a polygonal frame with a corresponding number of sides. Two of the planes formed by the polygonal frame serve as connecting surfaces, and the remaining part has a number of planes corresponding to the number of gripping mechanisms 2 as mounting surfaces. A quick-change disc 3 is provided on the outer side of one of the connecting surfaces.

[0032] This embodiment specifically describes the structural composition of the gripper frame 1. The gripper frame 1 has two connecting surfaces and mounting surfaces corresponding one-to-one with the gripping mechanism 2. The gripper frame 1 includes multiple mounting rods 11 and a number of connecting rod groups 12 equal to the number of mounting rods 11. The multiple mounting rods 11 are spaced apart circumferentially, and the connecting rod groups 12 are arranged between adjacent mounting rods 11. Each connecting rod group 12 includes two connecting rods 121 spaced apart along the mounting rods 11. The two ends of each connecting rod 121 are connected to the two corresponding mounting rods 11, forming a polygonal frame. The number of sides of the polygonal frame is the same as the number of mounting rods 11. Two of the planes formed by the polygonal frame serve as connecting surfaces, and the remaining planes, corresponding to the number of planes of the gripping mechanism 2, serve as mounting surfaces. A quick-change disc 3 is provided on the outer side of one of the connecting surfaces. The polygonal frame forms a closed-loop force structure through the circumferentially evenly distributed mounting rods 11 and connecting rod groups 12, effectively dispersing the dynamic load during door gripping, significantly improving the frame's resistance to deformation, avoiding positioning deviations caused by traditional single-point support structures, and ensuring high-precision and stable gripping during door gripping. The number of mounting surfaces corresponds strictly to the number of gripping mechanisms 2. By adjusting the orientation of the gripper frame 1, different door assemblies of the same model can be assembled quickly, greatly improving production flexibility. Furthermore, the quick-change plate 3 is located on the outside of the connecting surface, so there is no need to adjust the angle of the gripper frame 1 when connecting with the robot, achieving fast and accurate docking with the robot and improving the efficiency of the production line.

[0033] In this example, both connecting surfaces are provided with connecting plates 6, one of which is connected to the quick-change plate 3 on its outer side. The mounting rod 11 and the connecting rod 121 are connected by an L-shaped first connector 7, and the mounting rod 11 and the two connecting rods 121 are connected by a second connector 8, located at the inner angle of the connection between the mounting rod 11 and the two connecting rods 121. Both the mounting rod 11 and the connecting rod 121 are octagonal aluminum profile tubes.

[0034] like Figure 2 and Figure 4 As shown, in some optional embodiments, the gripper frame 1 includes four mounting rods 11, which together with the connecting rods 121 form a rectangular frame, with the mounting surface perpendicular to the connecting surface.

[0035] In this embodiment, the gripper frame 1 includes four mounting rods 11, which together with the connecting rods 121 form a rectangular frame, with the mounting surface perpendicular to the connecting surface. This perpendicular relationship between the mounting surface and the connecting surface allows each gripping mechanism 2 to be precisely installed in its corresponding position without additional adjustment, significantly reducing the door switching time.

[0036] like Figure 2As shown, in some optional embodiments, both ends of the mounting rod 11 extend out of the plane formed by the connecting rod 121, and each of the portions of two adjacent mounting rods 11 extending out of the plane formed by the connecting rod 121 is provided with a limiting block 4, and the two adjacent mounting rods 11 cooperate with the corresponding connecting rod 121 to form another connecting surface.

[0037] In this embodiment, both ends of the mounting rod 11 extend beyond the plane formed by the connecting rod 121. Limiting blocks 4 are provided on the portions of two adjacent mounting rods 11 extending beyond the plane formed by the connecting rod 121, and these two adjacent mounting rods 11 cooperate with the corresponding connecting rod 121 to form another connecting surface. This facilitates the positioning of the gripper frame on the storage rack.

[0038] In this example, a valve island 9 is provided on another connecting surface. A safety pin 20 is provided on one of the mounting rods 11 with a limit block 4, which is used to detect whether the gripper frame 1 is properly positioned. The mounting rod 11 with the limit block 4 also has a measuring reference hole, and a reference hole cover plate 30 is provided at the opening of the measuring reference hole. A shim 40 is provided between the limit block 4 and the gripper frame 1 for height adjustment.

[0039] like Figure 2 As shown, in some optional embodiments, both ends of the mounting rod 11 that forms another connecting surface are provided with limiting blocks 4, and bushings 5 ​​are provided on the outer sides of the two limiting blocks 4 located at opposite ends of the two mounting rods 11. The bushings 5 ​​are used to cooperate with the positioning pins on the storage rack to position the gripper frame 1 on the storage rack.

[0040] In this embodiment, both ends of the mounting rod 11 that forms another connecting surface are provided with limiting blocks 4, and bushings 5 ​​are provided on the outer sides of the two limiting blocks 4 located at opposite ends of the two mounting rods 11. The bushings 5 ​​are used to cooperate with the positioning pins on the storage rack to position the gripper frame 1 on the storage rack. This facilitates the positioning of the gripper frame on the storage rack.

[0041] In this example, the limit block 4 is connected to the gripper frame 1 via the third connector 10.

[0042] In some optional embodiments, the length of a portion of the mounting rod 11 extending out of the plane formed by the connecting rod 121 is less than the length of other mounting rods 11 extending out of the plane formed by the connecting rod 121. These portions of the mounting rods 11 are arranged adjacent to each other, and their number is equal to or one more than the number of other mounting rods 11.

[0043] In this embodiment, the length of some mounting rods 11 extending out of the connecting rod 121 to form a plane is less than the length of other mounting rods 11 extending out of the connecting rod 121 to form a plane. These mounting rods 11 are arranged adjacent to each other, and their number is equal to or one more than the number of other mounting rods 11. This provides space for the welding gun to pass through and also reduces the weight of the gripper frame 1, which is beneficial for weight reduction.

[0044] like Figure 1 , Figure 5 and Figure 6 As shown, in some optional embodiments, the gripping mechanism 2 includes two first gripping components 21 spaced apart along a first direction, each first gripping component 21 comprising: The first connecting structure 211 is connected to the gripper frame 1; Hook 212 is used to mate with the positioning hole of the door assembly to position the door assembly; Hook cylinder 213 is connected to the first connecting structure 211 and to hook 212. Hook cylinder 213 is used to drive hook 212 to move in order to cooperate with the positioning door assembly.

[0045] In this embodiment, the gripping mechanism 2 includes two first gripping components 21 spaced apart along a first direction. Each first gripping component 21 includes a first connecting structure 211, a hook 212, and a hook cylinder 213. The first connecting structure 211 is connected to the gripper frame 1. The hook 212 is used to engage with the positioning hole of the door assembly to position the door assembly. The hook cylinder 213 is connected to the first connecting structure 211 and the hook 212, and is used to drive the hook 212 to move in order to position the door assembly. The structure is simple and the positioning effect is good.

[0046] In this example, the first gripping component 21 is also equipped with a detection switch 60 to determine whether the first gripping component 21 has gripped the object properly.

[0047] like Figure 1 , Figure 5 and Figure 6 As shown, in some optional embodiments, the hook 212 includes a pin body 2121 and an abutment platform 2122. The abutment platform 2122 is connected to the hook cylinder 213 and is used to abut against the door assembly. The pin body 2121 is located on the side of the abutment platform 2122 away from the hook cylinder 213 and is used to extend into the positioning hole of the door assembly.

[0048] In this embodiment, the structure of the hook 212 is specifically described. The hook 212 includes a pin body 2121 and an abutment frustum 2122. The abutment frustum 2122 is connected to the hook cylinder 213 and is used to abut against the door assembly. The pin body 2121 is located on the side of the abutment frustum 2122 away from the hook cylinder 213 and is used to extend into the positioning hole of the door assembly. The pin body 2121 precisely extends into the positioning hole of the door assembly to achieve axial positioning, and the abutment frustum 2122 closely fits the surface of the door assembly to form radial constraint. The two work together to construct a high-precision dual positioning mechanism, effectively eliminating small displacements during the door gripping process and ensuring positioning repeatability.

[0049] like Figure 1 , Figure 7 and Figure 8 As shown, in some optional embodiments, the gripping mechanism 2 further includes two second gripping components 22 spaced apart along a second direction, the second direction being perpendicular to the first direction. The second gripping component 22 includes: The second connection structure 221 is connected to the gripper frame 1; Support rod 222, which is connected to the second connecting structure 221; The pressure head 223 is located at one end of the support rod 222 and is spaced apart from the support rod 222. A drive cylinder 224 is mounted on the second connecting structure 221 and connected to the pressure head 223, for driving the pressure head 223 to move closer to or away from the support rod 222 to clamp the door assembly.

[0050] In this embodiment, the gripping mechanism 2 further includes two second gripping components 22 spaced apart along a second direction, which is perpendicular to the first direction. Each second gripping component 22 includes a second connecting structure 221, a support rod 222, a pressure head 223, and a drive cylinder 224. The second connecting structure 221 is connected to the gripper frame 1, the support rod 222 is connected to the second connecting structure 221, the pressure head 223 is located at one end of the support rod 222 and spaced apart from it, and the drive cylinder 224 is mounted on the second connecting structure 221 and connected to the pressure head 223. The cylinder 224 is used to drive the pressure head 223 to move closer to or away from the support rod 222 to clamp the door assembly. The vertical arrangement of the second gripping components 22 and the first gripping components 21 forms a cross-positioning system. Through the positioning holes of the first gripping components 21 and the clamping action of the second gripping components 22, two pins and four clamping surfaces clamp and position the door assembly, constructing a dual positioning mechanism that significantly improves the accuracy and reliability of door gripping.

[0051] In this example, the pressure head 223 is connected to the transition block 226, and the drive cylinder 224 moves the pressure head 223 by moving the transition block 226. In one of the second gripping components 22, the transition block 226 is rotatably connected to the second connecting structure 221 via a rotating shaft 225, and the drive cylinder 224 moves the pressure head 223 by rotating the transition block 226.

[0052] In this example, both the first connecting structure 211 and the second connecting structure 221 can be configured as splicing connecting structures, and both can include components such as adjusting shims, connecting blocks, brackets, and connecting round tubes, which are spliced ​​and installed according to the actual position.

[0053] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, on the other hand, this application also provides a door gripping device, which includes the aforementioned door gripper mechanism.

[0054] In designing this door gripper mechanism, a quick-change disc 3 is provided on the gripper frame 1 for connection with the robot. Multiple gripping mechanisms 2 are mounted on the gripper frame 1 and arranged circumferentially along the gripper frame 1. The gripping mechanisms 2 are used to grip the door assembly, and all gripping mechanisms 2 can grip the door assembly simultaneously. Since all gripping mechanisms 2 can grip the door assembly simultaneously, all door assemblies can be gripped at the same time on the same vehicle model production line. There is no need to switch different door grippers due to changes in door assembly, reducing the time wasted when switching door grippers during welding, improving production efficiency, and solving the problem in the prior art where the robot needs to pause welding operations to complete the gripper change during door switching, causing welding cycle interruption. Especially in production lines with multiple doors integrated for a single vehicle model, frequent switching will further aggravate production line stoppages and reduce overall production efficiency.

[0055] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" 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; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0056] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0057] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A door gripper mechanism, characterized in that, include: A gripper frame (1) is provided with a quick-change disc (3), which is used to connect to the robot; Multiple gripping mechanisms (2) are all mounted on the gripper frame (1). The multiple gripping mechanisms (2) are arranged circumferentially along the gripper frame (1). The gripping mechanisms (2) are used to grip the door assembly, and all gripping mechanisms (2) can grip the door assembly simultaneously.

2. The door gripper mechanism as described in claim 1, characterized in that, The gripper frame (1) has two connecting surfaces and mounting surfaces corresponding to the gripping mechanism (2). The gripper frame (1) includes multiple mounting rods (11) and a number of connecting rod groups (12) equal to the number of mounting rods (11). The multiple mounting rods (11) are spaced apart circumferentially. The connecting rod groups (12) are arranged between adjacent mounting rods (11). The connecting rod group (12) includes two connecting rods (121) spaced apart along the mounting rods (11). The two ends of the connecting rods (121) are respectively connected to the two corresponding mounting rods (11) to form a polygonal frame with a corresponding number of sides. Two of the planes formed by the polygonal frame serve as the connecting surfaces, and the remaining part has a number of planes corresponding to the number of gripping mechanisms (2) serving as the mounting surfaces. The quick-change disc (3) is provided on the outer side of one of the connecting surfaces.

3. A door gripper mechanism as described in claim 2, characterized in that, The gripper frame (1) includes four mounting rods (11), which together with the connecting rod (121) form a rectangular frame, and the mounting surface is perpendicular to the connecting surface.

4. A door gripper mechanism as described in claim 2, characterized in that, Both ends of the mounting rod (11) extend out of the plane formed by the connecting rod (121), and each of the two adjacent mounting rods (11) extending out of the plane formed by the connecting rod (121) is provided with a limiting block (4), and the two adjacent mounting rods (11) cooperate with the corresponding connecting rod (121) to form another connecting surface.

5. A door gripper mechanism as described in claim 4, characterized in that, Both ends of the mounting rod (11) that forms another connecting surface are provided with the limiting block (4). The outer sides of the two limiting blocks (4) located at opposite ends of the two mounting rods (11) are provided with bushings (5). The bushings (5) are used to cooperate with the positioning pins on the storage rack to position the gripper frame (1) on the storage rack.

6. A door gripper mechanism as described in claim 2, characterized in that, The length of a portion of the mounting rod (11) extending out of the connecting rod (121) to form a plane is less than the length of the other mounting rods (11) extending out of the connecting rod (121) to form a plane. These mounting rods (11) are arranged adjacent to each other, and their number is equal to or one more than the number of other mounting rods (11).

7. A door gripper mechanism as described in claim 1, characterized in that, The gripping mechanism (2) includes two first gripping components (21) spaced apart along a first direction, and the first gripping component (21) includes: The first connecting structure (211) is connected to the gripper frame (1); Hook (212), which is used to engage with the positioning hole of the door assembly to position the door assembly; Hook cylinder (213), which is connected to the first connecting structure (211) and the hook (212), the hook cylinder (213) is used to drive the hook (212) to move in order to cooperate in positioning the door assembly.

8. A door gripper mechanism as described in claim 7, characterized in that, The hook (212) includes a pin body (2121) and an abutting platform (2122). The abutting platform (2122) is connected to the hook cylinder (213) and is used to abut against the door assembly. The pin body (2121) is located on the side of the abutting platform (2122) away from the hook cylinder (213) and is used to extend into the positioning hole of the door assembly.

9. A door gripper mechanism as described in claim 8, characterized in that, The gripping mechanism (2) further includes two second gripping components (22) spaced apart along a second direction, the second direction being perpendicular to the first direction, and the second gripping components (22) comprising: The second connecting structure (221) is connected to the gripper frame (1); Support rod (222), which is connected to the second connecting structure (221); A pressure head (223) is located at one end of the support rod (222) and is spaced apart from the support rod (222); A drive cylinder (224), which is disposed on the second connecting structure (221) and connected to the pressure head (223), is used to drive the pressure head (223) to move closer to or away from the support rod (222) to clamp the door assembly.

10. A vehicle door gripping device, characterized in that, Includes a door gripper mechanism as described in any one of claims 1-9.

Images