Universal Handling Grip and Handling Method for Rear Interior Panels of Automobiles

Abstract

This invention relates to the field of automotive parts manufacturing technology, specifically to a universal handling gripper and method for automotive rear inner panels. It includes a gripper frame, a bidirectional adjusting clamping unit, a universal positioning clamping unit, an auxiliary clamping unit, a detection structure, and a control unit. The bidirectional adjusting clamping unit is used to clamp the triangular window area of ​​the automotive rear inner panel; the universal positioning clamping unit is used to clamp the area of ​​the automotive rear door inner panel near the trunk lid latch; the auxiliary clamping unit is used to clamp the lower area of ​​the automotive rear door inner panel near the rear door; the control unit is used to control the bidirectional adjusting clamping unit, the universal positioning clamping unit, the auxiliary clamping unit, and the robot; the detection structure is used to accurately detect the automotive rear inner panel before gripping it. This application achieves precise positioning of the automotive rear inner panel in advance, improving the accuracy of gripping and avoiding damage to the automotive rear inner panel.

Description

Technical Field

[0001] This invention relates to the field of automotive parts manufacturing technology, specifically to a universal handling gripper and handling method for automotive rear inner panels. Background Technology

[0002] The rear inner panel of a car is a structure between the rear door and the trunk lid. Due to its complex structure and the significant differences in shape and positioning between different car models, OEMs currently use specialized grippers to handle the parts. When producing rear inner panel parts for different car models, robots or manual switching between specialized grippers for different models is used for model switching. This method results in low gripper utilization, which not only increases equipment costs and subsequent maintenance expenses, but also occupies a large amount of line space. In addition, the long gripper switching time for different car models reduces production time and leads to a loss of production efficiency.

[0003] To address the compatibility issue, a Chinese utility model patent with patent number "CN 213136778 U" entitled "A Flexible Gripper Mechanism for Multiple Vehicle Models" proposes a flexible gripper, comprising: a gripper frame including a first crossbeam, a second crossbeam, and a third crossbeam arranged on the same horizontal plane; two first clamping devices symmetrically arranged and fixedly mounted at both ends of the first crossbeam for clamping the wide side of vehicle model parts; two positioning devices symmetrically arranged and located below both ends of the second crossbeam for positioning and clamping the vehicle model parts, with a first driving device on the second crossbeam for driving the positioning devices to move along the length of the second crossbeam; and a second clamping device located below the third crossbeam for clamping the long side of the vehicle model parts, with a second driving device on the third crossbeam for driving the second clamping devices to move along the length of the third crossbeam. This flexible gripper primarily uses two positioning devices to position and clamp vehicle model parts, the first clamping device clamps the wide side of the vehicle model parts, and the second clamping device clamps the long side of the vehicle model parts. The positioning device, the first clamping device, and the second clamping device are all structures that can move vertically and horizontally, thus adapting to the gripping of parts from different vehicle models. However, this type of gripper involves multiple adjustable components; the positioning device, the first clamping device, and the second clamping device all require adaptive adjustments, making adjustments very cumbersome in actual use and making it difficult to achieve precise gripping. Moreover, this type of gripper detects the position of the part after gripping it. If the part's position deviates, it often damages the part's positioning holes, surfaces, etc., during gripping. There is a lack of a gripping method that can detect the part's position in advance and adaptively adjust the gripping position. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a universal handling gripper and handling method for the rear inner panel of an automobile.

[0005] The technical solution of this invention is: a universal handling gripper for automotive rear inner panels, comprising a gripper frame connected to the T-axis of a robot, and further comprising,

[0006] A bidirectional adjustable clamping unit, the bidirectional adjustable clamping unit including a first clamping structure for clamping a triangular window portion area on the rear inner panel of the vehicle, the first clamping structure being adjustable in both vertical and horizontal directions and connected to one side of the gripper frame.

[0007] A universal positioning clamping unit is located on one longitudinal side of the gripper frame. It includes a second clamping structure for clamping the inner panel of the rear door of the car near the trunk lid latch area and a positioning structure for positioning the inner panel of the rear door of the car.

[0008] An auxiliary clamping unit is mounted on the other side of the gripper frame in a position that is adjustable in both the lateral and longitudinal directions, and includes a third clamping structure for clamping the lower area of ​​the inner panel of the rear door of the vehicle near the rear door.

[0009] The control unit is located on the other side of the gripper frame in the longitudinal direction and is used to control the bidirectional adjustment clamping unit, the universal positioning clamping unit, the auxiliary clamping unit and the robot;

[0010] The universal positioning and clamping unit is equipped with a detection structure, which is used to accurately detect the rear inner panel of the car before gripping it, so as to cooperate with the robot to adjust the position of the gripper frame and make the positioning structure accurately positioned with the rear inner panel of the car.

[0011] According to the universal handling gripper for automotive rear inner panels provided in this application, the bidirectional adjusting clamping unit includes...

[0012] The first connector is connected to the gripper frame in an adjustable longitudinal position via multiple screw holes on one side of the gripper frame.

[0013] A lifting support is fixed on a first connecting member, and a vertically arranged lifting guide rail is installed on the lifting support.

[0014] A translation bracket is slidably connected to a lifting guide rail and driven to move vertically by a lifting servo motor on the lifting bracket. The translation bracket is provided with a translation rail arranged horizontally.

[0015] The translation base is slidably connected to the translation track and is driven to move horizontally by a translation servo motor on the translation bracket. The translation base is fixedly connected to the first clamping structure.

[0016] According to the universal handling gripper for automotive rear inner panels provided in this application, the first clamping structure includes:

[0017] The first stationary chuck, the upper end of which is fixedly connected to the translation base;

[0018] The first moving chuck has its upper end rotatably hinged to the translation base, and is driven by the first clamping cylinder on the translation base to clamp and release the first stationary chuck.

[0019] The lower ends of the first stationary chuck and the first moving chuck are provided with spherical protrusions that are in point contact when clamping.

[0020] According to the universal handling gripper for the rear inner panel of an automobile provided in this application, the positioning structure includes...

[0021] The second connector is connected to the gripper frame in a laterally adjustable manner through multiple screw holes on the longitudinal side of the gripper frame.

[0022] A connecting block, wherein the connecting block is vertically adjustable to the second connecting member via a lifting cylinder mounted on the second connecting member;

[0023] The positioning pin is vertically adjustable to the connecting block via a telescopic motor mounted on the connecting block.

[0024] According to the universal handling gripper for the rear inner panel of an automobile provided in this application, the positioning pin is a tapered pin structure with a smaller bottom and a larger top, or a variable diameter columnar pin structure comprising multiple cylinders with the diameter of the cylinders gradually increasing from bottom to top.

[0025] According to the universal handling gripper for the rear inner panel of an automobile provided in this application, the detection structure includes...

[0026] A laser detector, mounted on a connecting block, for emitting a laser beam vertically downwards;

[0027] A light spot acquisition module is used to acquire the size and shape of the light spot illuminated by the laser detector on the rear inner panel of the vehicle, as well as its relative positional relationship with the positioning hole on the rear inner panel of the vehicle.

[0028] The analysis module determines the vertical distance between the laser detector and the rear inner panel of the car based on the size of the light spot obtained by the light spot acquisition module, and determines whether the positioning pin and the positioning hole are aligned based on the shape of the light spot and its relative position to the positioning hole.

[0029] According to the universal handling gripper for automotive rear inner panels provided in this application, the auxiliary clamping unit includes:

[0030] The longitudinal beam is arranged longitudinally on the other side of the gripper frame, and multiple mounting holes are evenly arranged on the longitudinal beam.

[0031] A crossbeam, one end of which is fixed to the other side of the gripper frame, and the other end extends laterally away from the gripper frame. Multiple mounting holes are evenly arranged on the crossbeam.

[0032] The third connector is connected to the mounting holes on the crossbeam or longitudinal beam via a bolt structure.

[0033] According to the universal handling gripper for the rear inner panel of an automobile provided in this application, the bidirectional adjustment clamping unit, the universal positioning clamping unit and the auxiliary clamping unit are all equipped with a part detection unit; the part detection unit includes a probe that can emit light or rays vertically downward to determine whether the rear inner panel of the automobile is clamped in place.

[0034] This application also provides a universal method for handling automotive rear inner panels, which utilizes the aforementioned automotive rear inner panel handling gripper and is adjusted according to the following steps:

[0035] S1. Install the gripper frame onto the robot's T-axis, and move the entire gripper frame of the robot above the rear inner panel of the car to be gripped.

[0036] S2. The robot uses a detection structure to detect the positioning hole on the rear inner panel of the car below. The robot adjusts its position according to the detection results until the positioning structure is aligned with the positioning hole.

[0037] S3. The drive positioning structure positions the rear inner panel of the car, the second clamping structure clamps the rear inner panel of the car, the first clamping structure is adjusted to clamp the rear inner panel of the car, an auxiliary clamping unit corresponding to the rear inner panel of the car is installed, and the third clamping structure is used to clamp the rear inner panel of the car. After clamping, the robot's handling gripper frame and the rear inner panel of the car move together.

[0038] According to the universal handling method for the rear inner panel of an automobile provided in this application, in step S2, the method for the robot to adjust its position based on the detection results, using a detection structure to detect the positioning holes on the lower rear inner panel of the automobile, includes:

[0039] S21. After the gripper frame moves above the rear inner panel of the car to be gripped, the laser detector in the positioning structure emits a laser towards the rear inner panel of the car below. If the laser passes completely through the positioning hole on the rear inner panel of the car, the detection signal is off; otherwise, the detection signal is on.

[0040] S22. If the detection signal is on, the robot controls the gripper frame to move laterally by +δ / 2; acquire the detection signal again, if the detection signal is on, the robot controls the gripper frame to move laterally by -δ; acquire the detection signal again, if the detection signal is on, the robot controls the gripper frame to move laterally and longitudinally by +δ / 2 respectively; acquire the detection signal again, if the detection signal is on, the robot controls the gripper frame to move longitudinally by -δ; acquire the detection signal again, if the detection signal is on, the robot stops moving and the fault is eliminated; during the above adjustment process, if the detection signal is detected as off, the position adjustment of the gripper frame is completed; δ is the set adjustment amount.

[0041] The advantages of this application are: 1. The handling gripper of this application can adapt to the handling and transportation of the rear inner panel of different car models. By positioning the gripper frame and the rear inner panel of the car before gripping, it ensures that the rear inner panel of the car can be accurately gripped, avoiding damage to the positioning holes and surfaces of the rear inner panel of the car during gripping. The entire gripping and transportation method is very simple and the operation is extremely convenient, which greatly improves the transportation efficiency of the rear inner panel of the car and has a wide range of applications.

[0042] 2. The bidirectional adjustment clamping unit of this application can be adjusted vertically and horizontally, and can be adapted to the model and specifications of the rear inner panel of the car. The entire adjustment can be carried out automatically without manual operation. The adjustment method is extremely simple and the adjustment structure is simple.

[0043] 3. The first clamping structure of this application includes a first stationary chuck and a first movable chuck. The contact position of the first stationary chuck and the first movable chuck is a spherical protrusion structure, which can achieve point contact with the rear inner panel of the car and can clamp the parts of different models with different angles and surface states of the rear inner panel parts. Compared with the traditional surface clamping form, the spherical clamping structure can be used for clamping surfaces of different models.

[0044] 4. The positioning structure of this application is a secondary clamping positioning structure. The vertical movement of the entire connecting block can be realized by the lifting cylinder, thereby realizing the insertion and removal of the positioning pin. The height of the positioning pin can be adjusted by the telescopic motor, thereby realizing the adjustment of the positioning pin diameter. The positioning operation of the rear inner panel of the car with positioning holes of different diameters can be completed. The lifting stroke of the lifting cylinder is fixed, while the stroke of the telescopic motor is continuously variable.

[0045] 5. The positioning pin of this application is a variable diameter pin that can adapt to positioning holes of multiple specifications. By inserting it into the positioning hole to different depths, it can adapt to positioning pins of different specifications. The same positioning pin can be adapted to multiple positioning holes, which greatly improves the scope of use and has excellent versatility.

[0046] 6. The detection structure of this application can accurately position the rear inner panel of the car before gripping it. By the relative positional relationship between the laser spot and the positioning hole, it can be determined whether the current positioning structure is aligned with the positioning hole. This can guide the adjustment of the gripper frame to ensure that the positioning structure can be accurately aligned with the positioning hole and achieve accurate gripping.

[0047] 7. This application sets longitudinal beams and transverse beams on the gripper frame, and mounting holes are arranged on the longitudinal beams and transverse beams. The third clamping structure of the auxiliary clamping unit can be installed on the longitudinal beams and transverse beams through the mounting holes. According to actual needs, the lateral and longitudinal positions can be adjusted for a certain vehicle model to adapt to the clamping of the rear inner panel of the vehicle model. The operation method is simple and the adaptability is excellent.

[0048] 8. This application has a parts detection unit installed on the bidirectional adjustment clamping unit, the universal positioning clamping unit and the auxiliary clamping unit. The parts detection unit can determine whether the rear inner panel of the car has been correctly gripped after it is gripped, ensuring the normal transport of the rear inner panel of the car. The parts detection unit transmits the feedback signal to the control unit, enabling the control unit to make precise control and adjustment of the gripping and transporting, which greatly improves the safety and accuracy of the rear inner panel transporting and gripping.

[0049] 9. The handling method of this application is extremely simple. By accurately positioning the rear inner panel of the car before handling it, it is ensured that the rear inner panel of the car can be accurately gripped and handled. Moreover, the handling method of this application can be adapted to the gripping and handling of the rear inner panels of different car models, and has excellent versatility and applicability.

[0050] 10. This application uses a detection structure to detect the rear inner panel of the car to be grasped. The robot adjusts the position of the gripper frame through the detection signal. The step-by-step detection and compensation adjustment can quickly align the positioning structure with the positioning hole, thereby improving the accuracy of positioning the rear inner panel of the car before grasping and handling.

[0051] The handling gripper of this application has a simple structure and is easy to use and operate. It can be applied to the handling and transportation of the rear inner panels of various car models. In addition, this application accurately positions the rear inner panels of the car in advance, which improves the accuracy of the gripping and avoids damage to the rear inner panels of the car. It has great promotional value. Attached Figure Description

[0052] Figure 1 : Axial view of the conveying device of this application;

[0053] Figure 2 : A schematic diagram of the auxiliary clamping unit side of the conveying device of this application;

[0054] Figure 3 Side view of the bidirectional adjustment clamping unit of this application;

[0055] Figure 4 : A schematic diagram of the lifting bracket structure of the bidirectional adjustment clamping unit of this application;

[0056] Figure 5 Axial view of the bidirectional adjusting clamping unit of this application;

[0057] Figure 6 Axial view of the general positioning and clamping unit of this application;

[0058] Figure 7 This application includes a schematic diagram of the positioning pin structure (stepped variable diameter positioning pin);

[0059] Figure 8 This application includes a schematic diagram of the locating pin structure (tapered variable diameter locating pin);

[0060] Figure 9 This application includes a flowchart illustrating the movement of the detection structure.

[0061] Wherein: 1—grab frame;

[0062] 2—Bidirectional adjusting clamping unit;

[0063] 21—First connecting piece; 22—Lifting bracket; 23—Translation bracket; 24—Translation base; 25—Lifting guide rail; 26—Lifting servo motor; 27—Translation track; 28—Translation servo motor; 29—First stationary chuck; 210—First moving chuck; 211—First clamping cylinder;

[0064] 3—Universal positioning and clamping unit;

[0065] 31—Second connecting piece; 32—Connecting block; 33—Positioning pin; 34—Lifting cylinder; 35—Telescopic motor; 36—Laser detector;

[0066] 4—Auxiliary clamping unit;

[0067] 41—Longitudinal beam; 42—Crossbeam; 43—Third connector;

[0068] 5—Control unit; 6—Parts inspection unit. Detailed Implementation

[0069] Embodiments of the present invention are described in detail below, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0070] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., 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 this invention 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. Therefore, they should not be construed as limitations on this invention.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0072] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0073] This application relates to a universal handling gripper for automotive rear interior panels. This gripper is used for precise gripping and handling of automotive rear interior panels. It features a universal gripper structure that can be adapted to different vehicle models to achieve precise gripping. Furthermore, by precisely positioning the rear interior panel to be gripped before gripping, this gripper ensures accurate gripping and handling, avoiding damage to positioning holes and surfaces on the rear interior panel during the gripping process, thus improving gripping accuracy and safety.

[0074] Specifically, such as Figures 1-8 As shown, the handling gripper of this application includes a gripper frame 1, which is an aluminum alloy base plate. The gripper frame 1 is a square plate structure with a flange mounting hole in the middle. The T-axis of the robot is connected to the gripper frame 1 through the flange mounting hole. In actual use, the movement of the gripper frame 1 is achieved by the robot.

[0075] The gripper frame 1 is equipped with a bidirectional adjustment clamping unit 2, a universal positioning clamping unit 3, an auxiliary clamping unit 4, and a control unit 4, such as... Figures 1-5As shown, the bidirectional adjustment clamping unit 2 includes a first clamping structure for clamping the triangular window area on the rear inner panel of the car. The first clamping structure is vertically and laterally adjustable and connected to one side of the gripper frame 1. The universal positioning clamping unit 3 is located on one longitudinal side of the gripper frame 1 and includes a second clamping structure for clamping the rear inner panel of the car near the trunk lid latch area and a positioning structure for positioning the rear inner panel of the car. The auxiliary clamping unit 4 is mounted on the other side of the gripper frame and is adjustable in both lateral and longitudinal directions. It includes a third clamping structure for clamping the lower area of ​​the rear inner panel of the car near the rear door. The control unit 4 is located on the other longitudinal side of the gripper frame 1 and is used to control the bidirectional adjustment clamping unit 2, the universal positioning clamping unit 3, the auxiliary clamping unit 4, and the robot.

[0076] In addition, the universal positioning clamping unit 3 of this application is provided with a detection structure. The detection structure is used to accurately detect the rear inner panel of the car before gripping it, so as to cooperate with the robot to adjust the position of the gripper frame 1 so that the positioning structure is accurately positioned with the rear inner panel of the car.

[0077] In use, after the robot connects to the gripper frame 1, it moves the gripper frame 1 to the rear inner panel of the car to be gripped. At this time, the rear inner panel is placed parallel to a support surface. The robot moves the gripper frame 1 to a certain height above the rear inner panel, and the detection structure begins to detect the rear inner panel below. Based on the detection results, the robot adjusts the position of the gripper frame 1 until the positioning structure can be precisely aligned with the positioning holes on the rear inner panel. Then, the positioning structure positions and connects the gripper frame 1 and the rear inner panel. The second clamping structure then grips the car... The rear door inner panel is clamped near the trunk lid latch area. The first clamping structure adjusts its position according to the structure of the rear door inner panel to be clamped, mainly adjusting its vertical and horizontal position. After adjustment, the first clamping structure clamps the rear door inner panel. Finally, a suitable auxiliary clamping unit is selected according to the structure of the rear door inner panel. The third clamping structure of the auxiliary clamping unit clamps the lower part of the rear door inner panel near the rear door. This completes the stable clamping of the gripper frame 1 and the rear door inner panel, allowing the robot to move the rear door inner panel.

[0078] In some embodiments of this application, the bidirectional adjusting clamping unit 2 described above is optimized, specifically, as follows: Figures 1-5As shown, the bidirectional adjustable clamping unit 2 includes a first connecting member 21, a lifting bracket 22, a translation bracket 23, and a translation base 24. The first connecting member 21 is longitudinally adjustable to the gripper frame 1 through multiple screw holes on one side of the gripper frame 1. The lifting bracket 22 is fixed to the first connecting member 21, and a vertically arranged lifting guide rail 25 is installed on the lifting bracket 22. The translation bracket 23 is slidably connected to the lifting guide rail 25 and is driven to move vertically by the lifting servo motor 26 on the lifting bracket 22. A translation track 27 is provided on the translation bracket 23 and is arranged horizontally. The translation base 24 is slidably connected to the translation track 27 and is driven to move horizontally by the translation servo motor 28 on the translation bracket 23. The translation base 24 is fixedly connected to the first clamping structure.

[0079] The first clamping structure can be adjusted in both vertical and horizontal directions to accommodate different sizes of automotive rear inner panel structures. When the vertical height of the first clamping structure needs adjustment, the translation bracket 23 can be moved vertically by the lifting servo motor 26; when the horizontal position of the first clamping structure needs adjustment, the translation base 24 can be moved horizontally by the translation servo motor 28. In this embodiment, the gripper frame 1 has an octagonal tube on its horizontal side, extending longitudinally. The octagonal tube has numerous mounting holes to facilitate the installation of the first connector 21. In application, the first connector 21 can be installed in a suitable mounting hole as needed to adapt to the longitudinal position of the automotive rear inner panel to be gripped.

[0080] In a further embodiment of this application, the first clamping structure described above has been optimized, specifically, as follows: Figure 5 As shown, the first clamping structure includes a first stationary chuck 29 and a first movable chuck 210. The upper end of the first stationary chuck 29 is fixedly connected to the translation base 24. The upper end of the first movable chuck 210 is rotatably hinged to the translation base 24 and is driven by the first clamping cylinder 211 on the translation base 24 to clamp and release the first stationary chuck 29. The lower ends of the first stationary chuck 29 and the first movable chuck 210 are provided with a spherical protrusion structure that is in point contact when clamped.

[0081] The first stationary chuck 29 and the first moving chuck 210 of the first clamping structure are point clamping structures. When the chucks are clamped, they are in point contact with the rear inner panel of the car. This can achieve clamping of parts in different angles and surface states of the rear inner panel parts of different car models. Compared with the traditional surface clamping form, the spherical clamping structure can be used for clamping surfaces of different car models.

[0082] In fact, the second and third clamping structures in this case are the same as the first clamping structure mentioned above. At the same time, the second and third clamping structures can also adopt the point clamping mode or the surface clamping mode mentioned above.

[0083] In other embodiments of this application, the positioning structure described above has been optimized, such as... Figure 6 As shown, the universal positioning clamping unit 3 includes a second clamping structure and a positioning structure. The positioning structure includes a second connector 31, a connecting block 32, and a positioning pin 33. The second connector 31 is laterally adjustable to the gripper frame 1 through multiple screw holes on the longitudinal side of the gripper frame 1. The connecting block 32 is vertically adjustable to the second connector 31 through a lifting cylinder 34 installed on the second connector 31. The positioning pin 33 is vertically adjustable to the connecting block 32 through a telescopic motor 35 installed on the connecting block 32.

[0084] The positioning structure in this embodiment adopts a two-stage adjustment structure. When it is necessary to insert or remove the positioning pin 33 from the positioning hole, the vertical height of the entire connecting block 32 is adjusted by the lifting cylinder 34, so that the positioning pin 33 can be inserted into or removed from the positioning hole. After the positioning pin 33 enters the positioning hole, it also needs to be adapted to the positioning hole, such as... Figures 7-8 As shown, the positioning pin 33 in this embodiment is a tapered pin structure that is smaller at the bottom and larger at the top. Figure 8 (As shown) or a variable-diameter cylindrical pin structure comprising multiple cylinders with the diameter of the cylinders gradually increasing from bottom to top. The locating pin 33 adopts a variable-diameter mode ( Figure 7 As shown, the positioning pin 33 can be inserted to a certain depth by the telescopic motor 35, so that the positioning pin 33 is perfectly matched with the positioning hole.

[0085] The longitudinal side of the gripper frame 1 has multiple mounting holes, and the second connector 31 can be installed in different mounting holes to achieve lateral position adaptation. The second clamping structure is installed on the second connector 31. The second clamping structure is similar to the first clamping structure, and both use a cylinder or motor drive to clamp the rear inner panel of the car.

[0086] In a preferred embodiment of this application, the detection structure described above has been optimized, specifically, as follows: Figure 6As shown, the detection structure includes a laser detector 36, a light spot acquisition module, and an analysis module. The laser detector 36 is mounted on the connecting block 32 and is used to emit a laser beam vertically downwards. The laser detector 36 corresponds to the positioning pin 33. The beam emitted by the laser detector 36 towards the rear inner panel of the car represents the vertical projection of the positioning pin 33 onto the rear inner panel of the car. The position illuminated by the laser detector 36 determines the final position of the positioning pin 33 during the actual positioning process. By observing the illumination of the laser detector 36, the relative positional relationship between the positioning pin 33 and the positioning hole can be determined before positioning, guiding the robot to precisely adjust the gripper frame 1 and ensuring that the positioning pin 33 can accurately connect with the positioning hole.

[0087] The spot acquisition module is used to acquire the size and shape of the spot illuminated by the laser detector on the rear inner panel of the vehicle, as well as its relative position to the positioning hole on the rear inner panel. Following the principle of smaller near and larger far, the laser beam forms a spot after illuminating the rear inner panel. A larger spot indicates that the rear inner panel is farther from the positioning pin 33, and vice versa. By measuring the spot size based on the characteristics of the laser beam, the vertical distance between the positioning pin 33 and the rear inner panel can be obtained. The position of the spot on the rear inner panel represents the projection of the positioning pin 33 onto the rear inner panel at that moment, and the relative position of the spot to the positioning hole represents the relative position of the positioning pin 33 to the positioning hole in the horizontal direction. Normally, the spot on the rear inner panel is circular, but when part of the laser beam illuminates the positioning hole, the portion appearing on the rear inner panel is not circular; therefore, the shape of the spot also needs to be considered. The size, shape, and relative position of the light spot to the positioning holes on the rear inner panel of the car can be acquired using a dedicated camera. The camera captures the illumination of the light spot, and by analyzing and processing the image, the required parameters can be obtained. Alternatively, it can be determined through manual measurement and identification.

[0088] The analysis module determines the vertical distance between the laser detector and the rear inner panel of the vehicle based on the size of the laser spot obtained by the laser spot acquisition module. It also determines whether the positioning pin and the positioning hole are aligned based on the shape of the laser spot and their relative position to the positioning hole. If the laser beam is partially blocked by the rear inner panel, a detection signal "on" is sent to the control unit. If the laser beam passes completely through the positioning hole without being blocked by the rear inner panel, a detection signal "off" is sent to the control unit, indicating that the positioning pin 33 and the positioning hole are aligned. The control unit formulates a movement plan for the robot based on the detection signals. The robot moves the gripper frame 1 according to the movement plan formulated by the control unit, adjusting the horizontal position of the positioning pin 33.

[0089] The specific compensation adjustment method will be adjusted according to the following steps, such as Figure 9 As shown:

[0090] S21. After the gripper frame 1 moves above the rear inner panel of the car to be gripped, the laser detector 36 in the positioning structure emits a laser towards the rear inner panel of the car below. If the laser passes completely through the positioning hole on the rear inner panel of the car, the detection signal is off; otherwise, the detection signal is on.

[0091] S22. If the detection signal is on, the robot controls the gripper frame 1 to move laterally by +δ / 2; acquire the detection signal again. If the detection signal is on, the robot controls the gripper frame 1 to move laterally by -δ; acquire the detection signal again. If the detection signal is on, the robot controls the gripper frame 1 to move laterally and longitudinally by +δ / 2 respectively; acquire the detection signal again. If the detection signal is on, the robot controls the gripper frame 1 to move longitudinally by -δ; acquire the detection signal again. If the detection signal is on, the robot stops moving and the fault is eliminated; during the above adjustment process, if the detection signal is detected as off, the position adjustment of the gripper frame 1 is completed.

[0092] Where δ is the set adjustment amount, obtained according to the formula: laser beam spot diameter α at the positioning hole + set adjustment amount δ = diameter β of the positioning hole of the rear inner panel of the car. Generally, δ is taken as 1mm. When the robot handles the gripper frame 1 to the top of the rear inner panel of the car to be gripped, there is a preliminary positioning, which is to initially position the positioning pin 33 within a certain range above the positioning hole. Subsequent precise positioning is performed using the above method. The positioning method is to first move δ / 2 laterally in the forward direction. If it is not adjusted correctly, it means the adjustment direction may be reversed. In this case, move δ laterally in the reverse direction. If it is still not adjusted correctly, it may indicate that the problem is not in the lateral direction, and the longitudinal position of the positioning pin 33 needs to be adjusted. At this time, drive the positioning pin 33 to move δ / 2 in both the forward lateral and longitudinal directions. In the lateral direction, the positioning pin 33 returns to its initial position. If it is still not adjusted correctly, it may mean the longitudinal direction is reversed. Adjust δ in the reverse longitudinal direction. If it is still not adjusted correctly, then there is a positioning fault that needs to be rectified.

[0093] In some embodiments of this application, the auxiliary clamping unit 4 described above has been optimized, specifically, as follows: Figure 2 As shown, the auxiliary clamping unit 4 includes a longitudinal beam 41, a transverse beam 42, and a third connector 43. The longitudinal beam 41 is arranged longitudinally on the other side of the gripper frame 1, and has multiple mounting holes evenly distributed on it. One end of the transverse beam 42 is fixed to the other side of the gripper frame 1, and the other end extends laterally away from the gripper frame 1. The transverse beam 42 also has multiple mounting holes evenly distributed on it. The transverse beam 42 and the longitudinal beam 41 have an octagonal tube-like structure with many mounting holes. The third connector 43 is connected to the mounting holes on the transverse beam 42 or the longitudinal beam 41 by bolts.

[0094] To accommodate different sizes of automotive rear inner panels, in this embodiment, the third connector 43 can be installed in a suitable mounting hole on the crossbeam 42 or longitudinal beam 41. The third clamping structure is installed on the third connector 43. The third clamping structure is similar to the first clamping structure, both being driven by a cylinder or motor-like structure to clamp and fix the automotive rear inner panel.

[0095] In some other embodiments of this application, a part detection unit 6 is installed on the bidirectional adjustment clamping unit 2, the universal positioning clamping unit 3, and the auxiliary clamping unit 4. The part detection unit 6 includes a probe that can emit light or rays vertically downward to determine whether the rear inner panel of the car is clamped in place.

[0096] When the gripper frame 1 grips a part, the part detection unit 6 can detect different vehicle models of parts on the gripper frame 1 and send feedback signals to the control unit. The control unit centrally controls all cylinders, motors, electric cylinders, etc. on the gripper, thereby realizing the functions of gripping, transporting, detecting, and releasing parts, as well as the action or function control of the bidirectional adjustment clamping unit 2, universal positioning clamping unit 3, auxiliary clamping unit 4, detection structure, part detection unit 6, etc. for different vehicle models.

[0097] The working principle of the part detection unit 6 is as follows: the probe emits light or rays vertically downward. If the emitted light or rays are blocked, it proves that the corresponding clamping structure is clamping the part. Multiple part detection units 6 are installed on each corresponding clamping structure and can be arranged according to the contour of the rear inner panel of the car. If the light or rays of one or more part detection units 6 are not blocked, it proves that there is a problem with the clamping of the part in that part and it needs to be adjusted.

[0098] like Figure 1 As shown, the sides of the bidirectional adjusting clamping unit 2 and the auxiliary clamping unit 4 on the gripper frame 1 are the lateral sides of the gripper frame 1. The lateral direction refers to the direction of the gripper frame 1 perpendicular to its lateral side, the longitudinal direction refers to the direction in which the lateral side of the gripper frame 1 extends horizontally and perpendicular to the lateral direction, and the vertical direction refers to the direction perpendicular to both the lateral and longitudinal directions. The part in this application refers to the rear inner panel of an automobile.

[0099] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A universal handling gripper for the rear inner panel of an automobile, comprising a gripper frame (1) connected to the T-axis of a robot, characterized in that: It also includes, The bidirectional adjustment clamping unit (2) includes a first clamping structure for clamping the triangular window portion area on the rear inner panel of the vehicle. The first clamping structure is connected to the lateral side of the gripper frame (1) and can be adjusted vertically and laterally. Universal positioning clamping unit (3), the universal positioning clamping unit (3) is located on the longitudinal side of the gripper frame (1), including a second clamping structure for clamping the inner panel of the rear door of the car near the trunk lid latch area and a positioning structure for positioning the inner panel of the rear door of the car; The auxiliary clamping unit (4) is adjustable in both the lateral and longitudinal directions and is mounted on the other side of the gripper frame. It includes a third clamping structure for clamping the lower area of ​​the inner panel of the rear door of the car near the rear door. Control unit (5), which is located on the other side of the gripper frame (1) in the longitudinal direction, is used to control the bidirectional adjustment clamping unit (2), the universal positioning clamping unit (3), the auxiliary clamping unit (4) and the robot; The universal positioning clamping unit (3) is provided with a detection structure, which is used to accurately detect the rear inner panel of the car before gripping it, so as to cooperate with the robot to adjust the position of the gripper frame (1) so that the positioning structure is accurately positioned with the rear inner panel of the car.

2. The universal handling gripper for the rear inner panel of an automobile as described in claim 1, characterized in that: The bidirectional adjusting clamping unit (2) includes, The first connector (21) is connected to the gripper frame (1) in a longitudinally adjustable manner through a plurality of screw holes on the lateral side of the gripper frame (1); Lifting bracket (22), the lifting bracket (22) is fixed on the first connector (21), and vertically arranged lifting guide rails (25) are installed on the lifting bracket (22); The translation bracket (23) is slidably connected to the lifting guide rail (25) and driven to move vertically by the lifting servo motor (26) on the lifting bracket (22). The translation bracket (23) is provided with a translation track (27) arranged horizontally. The translation base (24) is slidably connected to the translation track (27) and driven to move horizontally by the translation servo motor (28) on the translation bracket (23). The translation base (24) is fixedly connected to the first clamping structure.

3. A universal handling gripper for automotive rear inner panels as described in claim 2, characterized in that: The first clamping structure includes, The first stationary chuck (29) has its upper end fixedly connected to the translation base (24); The first moving chuck (210) is rotatably hinged to the translation base (24) at its upper end, and is driven by the first clamping cylinder (211) on the translation base (24) to clamp and release the first stationary chuck (29). The lower ends of the first stationary chuck (29) and the first moving chuck (210) are provided with spherical protrusions that are in point contact when clamped.

4. The universal handling gripper for the rear inner panel of an automobile as described in claim 1, characterized in that: The positioning structure includes, The second connector (31) is connected to the gripper frame (1) in a lateral position adjustable via multiple screw holes on the longitudinal side of the gripper frame (1). The connecting block (32) is vertically adjustable to the second connecting member (31) via a lifting cylinder (34) installed on the second connecting member (31); Positioning pin (33), which is vertically adjustable to the connecting block (32) via a telescopic motor (35) mounted on the connecting block (32).

5. A universal handling gripper for automotive rear inner panels as described in claim 4, characterized in that: The positioning pin (33) is a tapered pin structure with a smaller bottom and a larger top, or a variable diameter columnar pin structure comprising multiple cylinders with the diameter of the cylinders gradually increasing from bottom to top.

6. A universal handling gripper for automotive rear inner panels as described in claim 4, characterized in that: The detection structure includes, A laser detector (36) is mounted on a connecting block (32) for emitting a laser beam vertically downwards; A light spot acquisition module is used to acquire the size and shape of the light spot illuminated by the laser detector on the rear inner panel of the vehicle, as well as its relative positional relationship with the positioning hole on the rear inner panel of the vehicle. The analysis module determines the vertical distance between the laser detector and the rear inner panel of the car based on the size of the light spot obtained by the light spot acquisition module, and determines whether the positioning pin and the positioning hole are aligned based on the shape of the light spot and its relative position to the positioning hole.

7. A universal handling gripper for automotive rear inner panels as described in claim 1, characterized in that: The auxiliary clamping unit (4) includes, The longitudinal beam (41) is arranged longitudinally on the other side of the gripper frame (1), and a plurality of mounting holes are evenly arranged on the longitudinal beam (41). A crossbeam (42) is fixed at one end to the other side of the gripper frame (1) and at the other end extends laterally away from the gripper frame (1). Multiple mounting holes are evenly arranged on the crossbeam (42). The third connector (43) is connected to the mounting holes on the crossbeam (42) or the longitudinal beam (41) by bolts.

8. A universal handling gripper for automotive rear inner panels as described in claim 1, characterized in that: The bidirectional adjustment clamping unit (2), the universal positioning clamping unit (3) and the auxiliary clamping unit (4) are all equipped with a part detection unit (6); the part detection unit (6) includes a probe that can emit light or rays vertically downward to determine whether the rear inner panel of the car is clamped in place.

9. A universal method for handling the rear inner panel of an automobile, characterized in that: Applying the automotive rear inner panel handling gripper as described in any one of claims 1 to 8, adjust it according to the following steps: S1. Install the gripper frame (1) onto the T-axis of the robot, and move the robot gripper frame (1) as a whole above the rear inner panel of the car to be gripped. S2. The robot uses a detection structure to detect the positioning hole on the rear inner panel of the car below. The robot adjusts its position according to the detection results until the positioning structure is aligned with the positioning hole. S3. The driving positioning structure positions the rear inner panel of the car, the second clamping structure clamps the rear inner panel of the car, the first clamping structure is adjusted to clamp the rear inner panel of the car, the auxiliary clamping unit (4) corresponding to the rear inner panel of the car is installed, and the rear inner panel of the car is clamped by the third clamping structure. After clamping, the robot handling gripper frame (1) and the rear inner panel of the car move together.

10. A universal method for handling the rear inner panel of an automobile as described in claim 9, characterized in that: In step S2, the method for the robot to adjust its position based on the detection results, which involves probing the positioning holes on the lower rear inner panel of the car using a detection structure, includes: S21. After the gripper frame (1) moves above the rear inner panel of the car to be gripped, the laser detector (36) in the positioning structure emits a laser to the rear inner panel of the car below. If the laser passes completely through the positioning hole on the rear inner panel of the car, the detection signal is off; otherwise, the detection signal is on. S22. If the detection signal is on, the robot controls the gripper frame (1) to move laterally by +δ / 2; acquire the detection signal, if the detection signal is on, the robot controls the gripper frame (1) to move laterally by -δ; acquire the detection signal again, if the detection signal is on, the robot controls the gripper frame (1) to move laterally and longitudinally by +δ / 2 respectively; acquire the detection signal again, if the detection signal is on, the robot controls the gripper frame (1) to move longitudinally by -δ; acquire the detection signal again, if the detection signal is on, the robot stops moving and the fault is eliminated; during the above adjustment process, if the detection signal is detected as off, the position adjustment of the gripper frame (1) is completed; δ is the set adjustment amount.

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