Universal handling gripper and handling method for all types of automobile side outer panels

Abstract

The present invention relates to the technical field of automobile parts production, and specifically refers to a universal handling gripper and handling method for automobile side outer panels of all models. It comprises a gripper frame, a door frame positioning support unit, a suction cup positioning unit, a B-pillar positioning unit, a switching auxiliary unit, an identification unit and a control unit. The door frame positioning support unit is used to position and support the door frame of the side outer panel; the suction cup positioning unit is used to position and adsorb the side outer panel; the B-pillar positioning unit is used to position and clamp the B-pillar of the side outer panel; the switching auxiliary unit is used to adjust the clamping stroke of the B-pillar positioning unit; the identification unit is used to identify the number of layers and features of the side outer panel to be grabbed on the material rack before grabbing; the control unit controls the robot according to the number of layers and features of the side outer panel to be grabbed obtained by the identification unit. The handling gripper of the present application has a simple structure, can be adapted to the side outer panels of all models, and has extremely high precision in grabbing and handling the side outer panels.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile parts production, and in particular to a universal transport gripper for all types of automobile side outer panels and a transport method. Background Art

[0002] The vehicle's side panels are part of the vehicle's side panel assembly and a crucial component of the cabin. Different vehicle models require different side panels. During mixed-model production, these panels must be handled and grasped. This necessitates the deployment of multi-model fixtures, grippers, and RB systems. However, this existing configuration consumes significant process space, increases manufacturing costs, and can lead to vehicle switching failures.

[0003] The car side outer panels are stored on a rack before being grabbed and transported. For example, the Chinese utility model patent with the patent number "CN205630573U" and the title "A rack for automatically stacking car side outer panels" introduces a rack structure. The rack can store multiple groups of car side outer panels, and the multiple groups of car side outer panels are stacked on the rack in sequence. For the same type of car side outer panels, a single transport gripper can be used for grabbing and transporting. However, when car side outer panels of multiple models are stored on the rack, it is obviously not feasible to use a single transport gripper for transporting and grabbing, and a flexible clamp needs to be set up for clamping.

[0004] The Chinese utility model patent with patent number "CN 209850271 U" and titled "A Side Panel Automatic Pre-installation Gripper" introduces a flexible gripper, which includes a gripper frame, an X-axis adjustment component, at least one upper side panel Y-axis locking component and at least one lower side panel Y-axis support component. The X-axis adjustment component includes a first connecting plate, a first cylinder and at least one push plate. The first cylinder is releasably fixed to the front side of the middle part of the gripper frame, and the middle part of the side panel body can be moved to the right and connected to the front side of the middle part of the gripper frame through the first cylinder. The upper side of the side panel body is releasably fixed to the front side of the lower side panel Y-axis support component, and the lower side panel Y-axis support component is movably connected to the lower side of the gripper frame. The lower side of the side panel body is releasably arranged on the upper side of the lower side panel Y-axis support component, and the lower side of the side panel body is movably connected to the front side of the lower end of the gripper frame through the lower side panel Y-axis support component. This gripper can grasp the side panels of different car models, but this grasping process relies on the repeatable positioning accuracy of the side panel conveyor itself. When grasping the inner panels of the side panels of multiple models stored on the material rack, this gripper is not well adapted, and the grasping process is prone to errors. It is impossible to quickly adapt to the side panels of different car models and accurately position and grasp the side panels of the car. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and to provide a universal handling gripper and handling method for all types of automobile side outer panels.

[0006] The technical solution of the present invention is: a universal handling gripper for all types of automobile side panels, comprising a gripper frame connected to the T-axis of a robot, and further comprising:

[0007] A door frame positioning support unit, which is provided at the Z-upward end of the gripper frame and is used to position and support the door frame of the side outer panel;

[0008] A suction cup positioning unit, which is provided at the X-direction end of the gripper frame and is used to position and absorb the A-pillar and wheel arch of the side outer panel;

[0009] A B-pillar positioning unit, which is arranged in the middle of the gripper frame and is used to position and clamp the B-pillar of the side outer panel. The B-pillar positioning unit is provided with a clamping stroke adjustment structure for adjusting the clamping stroke of the B-pillar positioning unit;

[0010] A switching auxiliary unit, which is connected to the B-pillar positioning unit before the side panel is grasped, and is used to adjust the clamping stroke of the B-pillar positioning unit in accordance with the vehicle model of the side panel to be grasped in conjunction with the clamping stroke adjustment structure;

[0011] An identification unit is provided on the gripper frame and is used to identify the number of layers and features of the side panel to be grabbed on the rack before grabbing;

[0012] A control unit controls the robot according to the number of layers and features of the side panel to be grasped obtained by the recognition unit.

[0013] According to the universal handling gripper for all types of automobile side outer panels provided in this application, the B-pillar positioning unit includes:

[0014] A mounting connecting plate is fixed in the middle of the gripper frame and arranged along the X direction, and a guide rod is provided at the front end of the mounting connecting plate in the X direction and extends away from the mounting connecting plate in the Y direction;

[0015] The B-pillar clamping cylinder is arranged on the mounting connection plate, and a clamping head is installed on the telescopic end of the B-pillar clamping cylinder arranged along the X direction to cooperate with the guide rod for clamping the B-pillar.

[0016] According to the universal handling gripper for all types of automobile side outer panels provided in this application, the clamping stroke adjustment structure includes:

[0017] A switching cylinder, which is movable in the X direction and connected to the sliding guide rail on the mounting plate, is fixedly connected to the B-pillar clamping cylinder and is used to release the lock with the sliding guide rail when switching between vehicle types to adjust the position of the B-pillar clamping cylinder in the X direction, and lock the sliding guide rail after the vehicle type switching is completed to fix the B-pillar clamping cylinder;

[0018] The limit limiting structure is arranged on the mounting connection plate and is used to limit the further movement of the B-pillar clamping cylinder when the B-pillar clamping cylinder is adjusted to the maximum position along the X direction.

[0019] According to the universal handling gripper for all types of automobile side outer panels provided in this application, the limit limiting structure includes:

[0020] Two limit rods, the limit rods being fixed to the mounting connection plate and being respectively placed at the maximum position of the B-pillar clamping cylinder moving along the X direction;

[0021] A trigger rod is fixed on the B-pillar clamping cylinder and is located between the two limit rods. When the B-pillar clamping cylinder moves to the maximum position, the trigger rod contacts the corresponding limit rod.

[0022] According to the universal handling gripper for all types of automobile side outer panels provided in this application, the switching auxiliary unit includes:

[0023] A support column, the lower end of which is fixed to the ground, and the upper end of which is supported by an auxiliary positioning column on the gripper frame when switching vehicle types, so that the mounting connecting plate is arranged vertically and the switching cylinder is above the B-pillar clamping cylinder;

[0024] The bracket has one end fixed on the support column and the other end extending outward in the horizontal direction. The bracket is provided with multiple step surfaces of different heights corresponding to different vehicle models. When the gripper frame rotates around the vertical axis to the position corresponding to the vehicle model, the step surface is supported on the lower end surface of the B-pillar clamping cylinder to limit the B-pillar clamping cylinder from continuing to move downward.

[0025] According to a universal handling grab for all types of automobile side outer panels provided by the present application, the door frame positioning support unit includes a plurality of door frame support structures arranged at intervals along the X direction; the door frame support structure includes a first connecting member fixed to the grab frame; a plurality of groups of guide wheel lifting cylinders are provided on the first connecting member; the plurality of groups of guide wheel lifting cylinders are arranged at intervals along the X direction on the first connecting member, and a base is provided on the top of the telescopic end of the guide wheel lifting cylinder; the base is equipped with a guide wheel supported on the lower part of the door frame edge when supporting the door frame, and a support rod close to the door frame facing the grab frame side; the lower end of the support rod is fixed to the base, and the upper end extends upward along the Z direction; the guide wheel is a roller that can rotate around the Y direction axis and has a V-groove on the outer end face of the circumference.

[0026] According to the universal handling gripper for all types of automobile side outer panels provided by the present application, the suction cup positioning unit includes multiple suction cup positioning structures, and the suction cup positioning structures include:

[0027] a second connecting member, the second connecting member being mounted on the gripper frame;

[0028] A suction cup lifting cylinder is vertically fixed to the second connecting member, and a suction cup base is provided on the top of the telescopic end of the upper end of the suction cup lifting cylinder, and a suction cup is installed on the suction cup base;

[0029] The in-place detection structure includes an adsorption detection switch installed on the suction cup base. After the adsorption detection switch contacts the side panel, it sends a signal to the vacuum device of the suction cup to control the vacuum device to drive the suction cup to adsorb the side panel.

[0030] According to the universal handling gripper for all types of automobile side outer panels provided by this application, the identification unit includes:

[0031] Multiple sets of distance measuring switches, including at least one distance measuring switch located at the front end of the gripper frame in the X direction and at least one distance measuring switch located in the middle of the gripper frame, the distance measuring switches being used to measure the Y-direction distance between the gripper frame and the side panel to be gripped;

[0032] A visual camera is installed in the middle position of the gripper frame and is used to obtain coordinate information of a characteristic hole on the end face of the side panel to be gripped facing the gripper frame.

[0033] The present application also provides a universal method for transporting automobile side outer panels of all vehicle models, which utilizes the universal transport gripper for all vehicle models of automobile side outer panels to transport the panels in the following steps:

[0034] S1. The robot connects to the gripper frame and moves the gripper frame to the switching auxiliary unit. The robot uses the switching auxiliary unit and the gripping stroke adjustment structure to adjust the gripping stroke of the B-pillar positioning unit according to the vehicle model of the side panel to be gripped.

[0035] After the clamping stroke of the B-pillar positioning unit is adjusted, the robot moves the gripper frame to the recognition position of the side panel. The recognition unit identifies the number of layers and features of the side panel to be grasped. The control unit controls the robot to move the gripper frame to the grasping position according to the number of layers and features of the side panel to be grasped.

[0036] S3. The door frame of the side panel outer panel is positioned and supported by the door frame positioning and support unit, the B-pillar positioning unit clamps the B-pillar of the side panel outer panel, and the suction cup positioning unit adsorbs and clamps the side panel outer panel to complete the grasping of the side panel outer panel. The robot transports the gripper frame and the side panel outer panel to the required workstation.

[0037] According to a universal handling method for all types of automobile side panels provided by the present application, in step S1, the method of adjusting the clamping stroke of the B-pillar positioning unit using a switching auxiliary unit and a clamping stroke adjustment structure according to the model of the side panel to be grasped includes: a robot vertically flipping the gripper frame so that the X-axis of the gripper frame is flipped to the vertical direction, placing the auxiliary positioning column of the gripper frame on the top of the support column of the switching auxiliary unit, so that the B-pillar clamping cylinder in the B-pillar positioning unit is located above the bracket on the support column; the robot drives the gripper frame to rotate along a vertical axis passing through the contact point between the support column and the auxiliary positioning column until the B-pillar clamping cylinder is directly above the step surface on the bracket corresponding to the model, the switching cylinder in the clamping stroke adjustment structure releases the lock on the B-pillar clamping cylinder, and the B-pillar clamping cylinder descends to the step surface directly below under the action of gravity, and then the switching cylinder re-locks the B-pillar clamping cylinder to limit the position of the B-pillar clamping cylinder along the X-axis of the gripper frame, thereby completing the adjustment of the clamping stroke of the B-pillar positioning unit.

[0038] The advantages of the present application are as follows: 1. The handling gripper of the present application can grab and carry the side outer panels of all vehicle models. The identification unit can identify the number of layers and features of the side outer panel to be grabbed, which facilitates the control of the gripper frame to move to the corresponding grabbing position. The clamping of the B-pillar positioning unit can be adjusted by cooperating with the clamping stroke adjustment structure and the switching auxiliary unit to ensure that the B-pillar positioning unit can well grab the B-pillar of the side outer panel to be grabbed. The door frame positioning support unit and the suction cup positioning unit can well clamp and fix the side outer panel. The entire device has a simple structure and is easy to operate and use. It can be adapted to the side outer panels of all vehicle models, has high versatility, is stable in handling and grabbing, and will not cause damage to the side outer panel. It has great promotion value.

[0039] 2. The B-pillar positioning unit of the present application has a simple structure. The B-pillar is clamped by the combined structure of the B-pillar clamping cylinder and the guide rod. The clamping head at the end of the B-pillar clamping cylinder and the guide rod are respectively placed on both sides of the B-pillar in the X direction. The clamping head is driven by the B-pillar clamping cylinder to move toward the guide rod, thereby clamping the B-pillar between the guide rod and the clamping head, which is extremely convenient to use.

[0040] 3. The clamping stroke adjustment structure of the present application includes a switching cylinder and an extreme limit structure. The B-pillar clamping cylinder is a cylinder with a fixed stroke. The present application fixes the B-pillar clamping cylinder and the switching cylinder. By changing the position of the switching cylinder on the mounting connection plate along the X direction, the position of the B-pillar clamping cylinder on the mounting connection plate along the X direction is adjusted. In this way, the clamping distance between the final clamping head and the guide rod can be changed, thereby adapting to B-pillars of different widths. The adjustable structure is easy to operate.

[0041] 4. This application provides a limit rod on the mounting connection plate. The limit rod is located at the maximum position that the B-pillar clamping cylinder can adjust along the X direction. The maximum position includes the closest and farthest positions from the guide rod. The arrangement of the limit rod avoids the problem of the B-pillar clamping cylinder exceeding the maximum position during the adjustment process, resulting in adjustment failure, so that the adjustment of the B-pillar clamping cylinder is always within the set range.

[0042] 5. The switching auxiliary unit of the present application has a simple structure and, when used in conjunction with the clamping stroke adjustment structure, can conveniently adjust the X-axis position of the B-pillar clamping cylinder. This adjustment structure enables the B-pillar clamping cylinder to be well adapted to the side panel to be grasped, thereby improving the accuracy and adaptability of grasping and handling;

[0043] 6. The door frame positioning support unit of the present application supports the door frame through multiple sets of door frame support structures. Each door frame support structure includes multiple sets of guide wheel lifting cylinders. In actual use, as long as the guide wheels of one set of guide wheel lifting cylinders support the lower part of the door frame edge, multiple door frames can be effectively supported vertically. Then, by cooperating with multiple guide wheels arranged at intervals along the X direction, the door frame can be supported in the Z direction. By providing support rods on the guide wheel lifting cylinders, the present application avoids the guide wheels from directly passing through the door frame during the process of supporting the door frame, which can facilitate the guide wheels to be accurately supported on the door frame. The structure is simple, easy to use, and has excellent applicability to the side outer panels of different models.

[0044] 7. The suction cup positioning unit of the present application has a simple structure and effectively absorbs the side panel through the suction cup. The suction cup positioning unit includes an absorption detection switch for detecting whether the side panel is in contact with the side panel. By detecting whether the side panel is in contact with the side panel, it is determined whether the side panel needs to be absorbed. The absorption accuracy is extremely high and the absorption is stable.

[0045] 8. The recognition unit of this application includes a distance measuring switch and a visual camera. The distance measuring switch can accurately measure the Y-axis distance between the gripper frame and the side panel, determine the number of layers of the side panel to be grasped, and guide the movement of the robot. The visual camera can obtain the distribution of characteristic holes on the side panel to guide the robot's precise movement and grasping. The recognition unit can significantly improve the grasping accuracy of the side panel.

[0046] 9. The handling method of the present application is extremely simple and can be adapted to the side panels of different models. The side panels of different models can be accurately grasped and handled. The operation is extremely simple and the grasping accuracy is extremely high. The switching of side panels of different models is extremely convenient and quick.

[0047] 10. The present application has an extremely simple method for adjusting the clamping stroke. By flipping the gripper frame and using gravity to move the B-pillar clamping cylinder downward to the corresponding vehicle step surface, the required clamping stroke of the B-pillar clamping cylinder can be positioned and determined. The operation is very convenient, which improves the gripping efficiency of the side outer panel and has great promotion value.

[0048] The handling grabber of the present application has a simple structure and can be adapted to the side outer panels of all vehicle models. It has extremely high precision in grabbing and handling the side outer panels and excellent adaptability. Grasping and handling will not cause damage to the side outer panels, and has great promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 : Schematic diagram of the structure of the handling gripper of this application;

[0050] Figure 2 : Schematic diagram of the structure of the handling gripper of this application grabbing the side outer panel;

[0051] Figure 3 : Schematic diagram of the door frame positioning support unit structure of this application;

[0052] Figure 4 : Schematic diagram of the suction cup positioning unit structure of this application;

[0053] Figure 5 : Schematic diagram of the B-pillar positioning unit structure of this application;

[0054] Figure 6 : Schematic diagram of the clamping stroke adjustment structure of this application;

[0055] Figure 7 : Schematic diagram of the switching auxiliary unit structure of this application;

[0056] Figure 8 : Schematic diagram of switching the auxiliary unit to adjust the clamping stroke of the B-pillar clamping cylinder in this application;

[0057] Figure 9 : Schematic diagram of the layout of the identification unit of this application;

[0058] Among them: 1—grip frame;

[0059] 11—Auxiliary positioning column;

[0060] 2—B-pillar positioning unit;

[0061] 21 - Mounting plate; 22 - Guide rod; 23 - B-pillar clamping cylinder; 24 - Clamp; 25 - Switching cylinder; 26 - Sliding guide rail; 27 - Limit rod; 28 - Trigger rod; 29 - B-pillar support;

[0062] 3—Suction cup positioning unit;

[0063] 31 - second connecting piece; 32 - suction cup lifting cylinder; 33 - suction cup base; 34 - suction cup; 35 - adsorption detection switch; 36 - limit block;

[0064] 4—Door frame positioning support unit;

[0065] 41 - first connecting member; 42 - guide wheel lifting cylinder; 43 - base; 44 - guide wheel; 45 - support rod;

[0066] 5—Switch auxiliary unit;

[0067] 51 - support column; 52 - bracket; 53 - step surface;

[0068] 6—identification unit;

[0069] 61—Multiple sets of distance measuring switches; 62—Visual camera. DETAILED DESCRIPTION

[0070] The embodiments of the present invention are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention.

[0071] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0072] 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 the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0073] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0074] The present application relates to a universal handling gripper for all types of automobile side outer panels. The handling gripper of the present application is used to grab and carry automobile side outer panels. The handling gripper of the present application is suitable for side outer panels of all types of automobiles. For side outer panels of different types of automobiles, the handling gripper of the present application can be adjusted to achieve precise grabbing and carrying, and can perform grabbing and carrying operations on side outer panels with high precision.

[0075] Specifically, such as Figures 1 to 9 As shown, the handling gripper of the present application includes a gripper frame 1, a door frame positioning support unit 4, a suction cup positioning unit 3, a B-pillar positioning unit 2, a switching auxiliary unit 5, an identification unit 6, and a control unit. The gripper frame 1 is a bracket structure composed of an aluminum alloy BASE plate, an octagonal tube profile, an aluminum alloy mounting block, and related L-shaped and T-shaped connectors. According to the structural form of the side outer panel, the main part of the gripper frame 1 is a rectangular frame along the X direction. The corresponding RB flange-mounted aluminum alloy BASE plate is arranged in the middle position of the rectangular frame, and a connecting beam is provided at the rear end of the rectangular frame along the X direction. The aluminum alloy BASE plate is provided with a flange mounting hole, and the T-axis of the robot is fixedly connected to the gripper frame 1 through the flange mounting hole. The movement of the gripper frame of the present application is driven by the robot.

[0076] The door frame positioning support unit 4 is arranged at the Z-upward end of the gripper frame 1, and is used to position and support the door frame of the side outer panel. The door frame positioning support unit 4 is arranged at the Z-upward end of the rectangular frame and is divided into multiple support points along the X direction for supporting the door frame part.

[0077] The suction cup positioning unit 3 is arranged at the X-direction end of the gripper frame 1, which is actually arranged at the X-direction front end of the rectangular frame and the connecting beam, and is used to position and adsorb the A-pillar and wheel cover of the side outer panel respectively.

[0078] The B-pillar positioning unit 2 is arranged in the middle position of the gripper frame 1, that is, the position close to the aluminum alloy BASE plate on the rectangular frame, and is used to position and clamp the B-pillar of the side outer panel. The B-pillar positioning unit 2 is provided with a clamping stroke adjustment structure for adjusting the clamping stroke of the B-pillar positioning unit 2. By adjusting the clamping stroke of the B-pillar positioning unit 2, it can adapt to the clamping requirements of B-pillars of different widths (referring to the width in the X direction). The B-pillar widths of different models are different.

[0079] The switching assist unit 5 is connected to the B-pillar positioning unit 2 before gripping the side panel. It is used in conjunction with the gripping stroke adjustment mechanism to adjust the gripping stroke of the B-pillar positioning unit 2 according to the vehicle model of the side panel to be gripped. The switching assist unit 5 is used in conjunction with the gripping stroke adjustment mechanism to adjust the gripping stroke of the B-pillar positioning unit 2 before gripping the side panel. In effect, it is adjusted according to the vehicle model of the side panel before gripping to ensure that it matches the side panel to be gripped.

[0080] The recognition unit 6 is provided on the gripper frame 1 and is used to identify the number of layers and features of the side panel to be grabbed on the rack before grabbing. The side panels of this application are all placed on the rack and stacked along the Y direction. Each time they are transported, they are transported layer by layer from the outermost layer. The recognition unit 6 needs to determine the outermost side panel to be grabbed to ensure that the robot moves the gripper frame to the appropriate grabbing position for accurate grabbing. At the same time, the recognition unit 6 can identify the characteristic holes on the side panel, thereby making fine compensation adjustments to the robot to achieve accurate grabbing and handling of the side panel.

[0081] The control unit controls the robot based on the number and characteristics of the side panel to be grasped, as determined by the recognition unit 6. The control unit can be integrated into the gripper frame 1, the robot, or elsewhere, as long as it can receive data signals from the recognition unit 6 and then control and adjust the robot.

[0082] When actually performing grabbing and handling operations, follow the steps below:

[0083] S1. The robot connects to the gripper frame 1 and moves the gripper frame 1 to the switching auxiliary unit 5. The robot uses the switching auxiliary unit 5 and the clamping stroke adjustment structure to adjust the clamping stroke of the B-pillar positioning unit 2 according to the vehicle model of the side panel to be grasped, so that it is compatible with the side panel to be grasped.

[0084] After the clamping stroke of S2 and the B-pillar positioning unit 2 is adjusted, the robot moves the gripper frame 1 to the recognition position of the side panel outer panel. The recognition unit 6 recognizes the number of layers and features of the side panel outer panel to be grasped. The control unit controls the robot to move the gripper frame 1 to the grasping position according to the number of layers and features of the side panel outer panel to be grasped.

[0085] S3. The door frame of the side panel outer panel is positioned and supported by the door frame positioning and support unit 4, the B-pillar positioning unit 2 clamps the B-pillar of the side panel outer panel, and the suction cup positioning unit 3 adsorbs and clamps the side panel outer panel to complete the grabbing of the side panel outer panel. The robot transports the gripper frame 1 and the side panel outer panel to the required workstation.

[0086] In some embodiments of the present application, the present embodiment optimizes the above-mentioned door frame positioning support unit. Specifically, Figures 1 to 3 As shown, the door frame positioning support unit 4 includes a plurality of door frame support structures. In this embodiment, two sets of door frame support structures are provided on the gripping frame 1, which are respectively used to support the front door frame and the rear door frame of the side outer panel.

[0087] The door frame support structure includes a first connecting member 41 fixed to the grip frame 1. The first connecting member 41 is fixedly connected to the grip frame 1 and is the bearing foundation of the entire door frame support structure. The first connecting member 41 is provided with multiple sets of guide wheel lifting cylinders 42, such as Figure 3 As shown, two groups of guide wheel lifting cylinders 42 are provided on the first connecting member 41 of this embodiment. The two groups of guide wheel lifting cylinders 42 are arranged at intervals along the X direction. A base 43 is provided on the top of the telescopic end of the guide wheel lifting cylinder 42. A guide wheel 44 supported at the lower edge of the door frame when supporting the door frame and a support rod 45 close to the door frame facing the grip frame 1 are installed on the base 43. The lower end of the support rod 45 is fixed on the base 43, and the upper end extends upward along the Z direction. The guide wheel 44 is a roller that can rotate around the Y direction axis and has a V-groove on the outer end face of the circumference.

[0088] The support rod 45 can abut against the door frame facing the grip frame 1 side when the guide wheel 44 moves into place, avoiding the problem that the guide wheel 44 passes through the door frame and cannot be accurately aligned. At the same time, the support rod 45 can also provide certain Y-direction support to the door frame.

[0089] During use, when the gripper frame 1 moves along the Y direction to the gripping position, the gripper frame 1 moves along the Y direction toward the side panel to be gripped. When the gripper frame 1 moves to the door frame positioning support unit 4 and the support rod 45 is in contact with the door frame facing the gripper frame 1, it proves that the gripper frame 1 is in the appropriate door frame support position. The guide wheel lifting cylinder 42 corresponding to the support rod 45 in contact with the door frame drives the top guide wheel 44 to move along the Z direction until the V-shaped groove on the outer side of the guide wheel 44 is engaged with the lower edge of the door frame. The two sets of guide wheels 44 spaced apart along the X direction move synchronously to support the door frame. The guide wheel 44 corresponding to the support rod 45 not in contact with the door frame retracts under the action of its corresponding guide wheel lifting cylinder 42, that is, moves downward along the Z direction and does not participate in the process of supporting the door frame.

[0090] In some other embodiments of the present application, the present embodiment optimizes the above-mentioned suction cup positioning unit. Specifically, Figures 1-2 As shown in Figure 4, the suction cup positioning unit 3 of this embodiment includes multiple suction cup positioning groups, each suction cup positioning group includes multiple suction cup positioning structures, and there are two suction cup positioning groups in this embodiment, which correspond to the A-pillar and wheel cover (rear wheel cover) parts of the side outer panel respectively.

[0091] like Figure 4As shown, the suction cup positioning structure includes a second connecting member 31, a suction cup lifting cylinder 32 and an in-place detection structure, wherein the second connecting member 31 is installed on the gripper frame 1, and the suction cup lifting cylinder 32 is vertically fixed on the second connecting member 31. A suction cup base 33 is provided on the top of the telescopic end of the upper end of the suction cup lifting cylinder 32, and a suction cup 34 is installed on the suction cup base 33. Each suction cup 34 has a corresponding vacuum device, which controls the adsorption and detachment of the suction cup 34.

[0092] The in-position detection structure includes an adsorption detection switch 35 and a limit block 36 installed on the suction cup base 33. After the adsorption detection switch 35 contacts the side panel outer panel, it sends a signal to the vacuum device of the suction cup 34 to control the vacuum device to drive the suction cup 34 to adsorb the side panel outer panel. The limit block 36 is a flexible nylon block to avoid rigid collision with the side panel outer panel.

[0093] During use, the gripper frame 1 moves along the Y direction under the drive of the robot. When the adsorption detection switch 35 contacts the side outer panel, the adsorption detection switch 35 will send a contact signal to the corresponding vacuum device, and the vacuum device will control the suction cup 34 to adsorb and fix the side outer panel.

[0094] In a preferred embodiment of the present application, the present embodiment optimizes the above-mentioned B-pillar positioning unit 2. Specifically, Figures 1-2 The B-pillar positioning unit 2 shown in Figure 5 includes a mounting connecting plate 21 and a B-pillar clamping cylinder 23. The mounting connecting plate 21 is fixed in the middle of the gripper frame 1 and arranged along the X direction. The mounting connecting plate 21 is provided with a guide rod 22 at the front end in the X direction, which extends away from the mounting connecting plate 21 along the Y direction. The end of the guide rod 22 away from the mounting connecting plate 21 is bent backward along the X direction. The bent guide rod 22 can avoid being clamped on the adjacent inner side outer panel when the gripper frame 1 moves along the Y direction.

[0095] The B-pillar clamping cylinder 23 is mounted on the mounting plate 21. A chuck 24 is mounted on the telescopic end of the B-pillar clamping cylinder 23, which cooperates with the guide rod 22 to clamp the B-pillar. The chuck 24 is a plate-like structure with one end fixed to the telescopic end of the B-pillar clamping cylinder 23 and the other end extending away from the gripper frame 1 in the Y direction. The side of the chuck 24 facing the guide rod 22 is serrated, which enhances the stability of the B-pillar clamping.

[0096] When the B-pillar needs to be clamped, the guide rod 22 and the chuck 24 are located on both sides of the B-pillar along the X-direction. The chuck 24 is driven to move along the X-direction by the B-pillar clamping cylinder 23. The movement of the chuck 24 along the X-direction is equivalent to tightening the X-direction spacing between the guide rod 22 and the chuck 24 until the B-pillar is clamped between the guide rod 22 and the chuck 24, thereby completing the clamping and fixing of the B-pillar.

[0097] In a further embodiment of the present application, the above-mentioned clamping stroke adjustment structure is optimized. Specifically, Figure 6 As shown, the clamping stroke adjustment structure includes a switching cylinder 25 and an extreme limit structure. The switching cylinder 25 can be moved along the X direction and is connected to the sliding guide rail 26 on the mounting connecting plate 21. The sliding guide rail 26 is a guide rail structure extending along the X direction. The switching cylinder 25 is slidingly connected to the sliding guide rail 26. The switching cylinder 25 is a cylinder structure with only two states, namely, locking the switching cylinder 25 on the sliding guide rail 26. At this time, the switching cylinder 25 is fixedly connected to the sliding guide rail 26. The other is that the switching cylinder 25 is released from the fixed connection with the sliding guide rail 26, and the switching cylinder 25 can move along the sliding guide rail 26. The switching cylinder 25 is fixedly connected to the B-pillar clamping cylinder 23. After the switching cylinder 25 is released from the connection with the sliding guide rail 26, the B-pillar clamping cylinder 23 can change its position along the X direction. The B-pillar clamping cylinder 23 is a cylinder structure with a fixed stroke. When the position of the B-pillar clamping cylinder 23 along the X direction is fixed, the clamping distance between the clamping head 24 of the B-pillar clamping cylinder 23 and the guide rod 22 is also determined. If the clamping distance needs to be adjusted, the position of the B-pillar clamping cylinder 23 in the X direction needs to be adjusted. In this embodiment, the X-direction position of the B-pillar clamping cylinder 23 is adjusted by switching the cylinder 25.

[0098] After the switching cylinder 25 is released from its fixed connection with the sliding guide rail 26, it can be adjusted freely on the sliding guide rail 26, allowing the B-pillar clamping cylinder 23 to change its clamping spacing, thereby adapting to the clamping requirements of B-pillars of varying widths. To prevent the B-pillar clamping cylinder 23 from moving beyond the set range during adjustment, this embodiment incorporates a limit stop structure on the mounting plate 21. This limit stop structure, provided on the mounting plate 21, restricts further movement of the B-pillar clamping cylinder 23 when it reaches its maximum X-axis position.

[0099] Specifically, such as Figures 5-6 As shown, the limit limit structure includes two limit rods 27 and a trigger rod 28. The limit rods 27 are fixed to the mounting plate 21 and are positioned at the maximum X-axis movement of the B-pillar clamping cylinder 23. The trigger rod 28 is fixed to the B-pillar clamping cylinder 23 and located between the two limit rods 27. When the B-pillar clamping cylinder 23 moves to its maximum position, the trigger rod 28 contacts the corresponding limit rod 27. The limit rods 27 limit further movement of the trigger rod 28, preventing the B-pillar clamping cylinder 23 from moving beyond the set range.

[0100] In actual use, as long as the fixed connection between the clamping cylinder 23 and the sliding guide rail 26 is released, the B-pillar clamping cylinder 23 can be adjusted to any position between the two limit rods 27. When the clamping distance between the clamping head 24 and the guide rod 22 is adjusted to meet the requirements for clamping the side outer panel to be grasped, the clamping cylinder 23 and the sliding guide rail 26 can be re-fixed to limit the clamping distance of the B-pillar clamping cylinder 23.

[0101] In some other embodiments of the present application, this embodiment optimizes the above-mentioned switching auxiliary unit 5. Specifically, the switching auxiliary unit 5 includes a support column 51 and a bracket 52. The support column 51 is a structure installed near the material rack, which can facilitate rapid adjustment of the stroke of the B-pillar clamping cylinder 23. The lower end of the support column 51 is fixed to the ground, and the upper end is supported by the auxiliary positioning column 11 on the gripper frame 1 when switching the vehicle model, so that the installation connecting plate 21 is arranged vertically and the switching cylinder 25 is above the B-pillar clamping cylinder 23. The auxiliary positioning column 11 is a columnar structure installed at the lower end of the gripper frame 1Z. The upper end of the auxiliary positioning column 11 is fixed on the gripper frame 1, and the lower end extends downward along the Z direction. A turntable is provided on the front side of the lower end of the auxiliary positioning column 11 along the X direction. When the gripper frame 1 is flipped and fixed on the support column 51, the turntable is supported on the upper end of the support column 51. At this time, the gripper frame 1 is driven by the robot, and the entire gripper frame 1 can be rotated along the Z axis, which is actually a rotation around the vertical axis through the turntable.

[0102] One end of the bracket 52 is fixed on the support column 51, and the other end extends outward in the horizontal direction. The bracket 52 is provided with a plurality of step surfaces 53 of different heights corresponding to different vehicle models, such as Figures 7-8 As shown, the stepped surface 53 is actually a structure formed by the nut assembly. Multiple stepped surfaces 53 are distributed in a spiral pattern on the bracket 52, arranged from low to high. When the gripper frame 1 rotates about the vertical axis to the corresponding vehicle model position, the stepped surface 53 supports the lower end surface of the B-pillar clamping cylinder 23, thereby limiting the B-pillar clamping cylinder 23 from further downward movement.

[0103] When it is necessary to adjust the clamping stroke of the B-pillar clamping cylinder 23, the robot connects the gripper frame 1, then rotates the gripper frame 1 around the Y axis, and the entire gripper frame 1 is flipped to the vertical direction in the X direction. Then the auxiliary positioning column 11 on the gripper frame 1 is placed on the upper end of the support column 51, and the robot drives the gripper frame 1 to rotate around the vertical axis. At this time, the vehicle model of the side outer panel to be grasped has been determined, and the step surface 53 to which the gripper frame 1 needs to be rotated is determined according to the vehicle model. After rotating to the corresponding step surface 53, the B-pillar clamping cylinder 23 is directly above the corresponding step surface 53, and the switching cylinder 25 releases the connection with the sliding guide rail 26. Under the action of gravity, the B-pillar clamping cylinder 23 drops downward until the B-pillar clamping cylinder 23 drops to the corresponding step surface 53. After dropping into place, the switching cylinder 25 is re-locked with the sliding guide rail 26 to complete the adjustment of the clamping stroke of the B-pillar clamping cylinder 23.

[0104] In addition, in this embodiment, a B-pillar support 29 is provided on the mounting connecting plate 21. The lower end of the B-pillar support 29 is fixed on the mounting connecting plate 21, and the upper end extends upward along the Z direction. The B-pillar support 29 is used to support and limit the B-pillar in the Y direction before the B-pillar clamping cylinder 23 clamps and fixes the B-pillar.

[0105] In some embodiments of the present application, the present embodiment optimizes the above-mentioned identification unit 6. Specifically, Figure 9 As shown, the identification unit 6 includes multiple sets of distance measuring switches 61 and visual cameras 62. The multiple sets of distance measuring switches 61 include at least one located at the X-axis front end of the gripper frame 1 and at least one located in the middle of the gripper frame 1. The distance measuring switches are used to measure the Y-axis distance between the gripper frame 1 and the side panel to be grasped. This embodiment includes two sets of distance measuring switches 61: one set located in the middle of the gripper frame 1 and the other set located at the X-axis front end of the gripper frame 1. The two sets of distance measuring switches 61 verify each other. Only when the data measured by the two sets of distance measuring switches 61 differ within a set error range is the measured parameter considered correct. Otherwise, it is incorrect and troubleshooting is required.

[0106] A vision camera 62 is mounted in the center of the gripper frame 1 and is used to obtain coordinate information for the characteristic holes on the side panel facing the gripper frame 1. With its camera lens facing the side panel along the Y-axis, vision camera 62 captures the characteristic hole data on the side of the panel facing the gripper frame 1, guiding the robot's position compensation adjustments.

[0107] When in use, the robot first moves the gripper frame 1 to the layer detection position, a group of distance measuring switches 61 performs distance measurement, and feeds back the distance information data to the control unit. Another group of distance measuring switches 61 performs error correction, and outputs the result when the information is consistent, identifying that the outermost layer of the side panel is on the Nth layer. The control unit controls the robot to move to the Nth layer photo taking position, and the visual camera 62 obtains the characteristic hole coordinate information of the outermost layer of the side panel. The control unit accurately compensates the robot trajectory, and finally the robot moves to the coordinate point to grab and take out the side panel. By using the precise compensation of the position coordinates, flexible grabbing of multiple models can be achieved.

[0108] When the handling gripper of the present application grabs the side panel: the stroke of the B-pillar clamping cylinder 23 is adjusted according to the vehicle model of the side panel to be grabbed, and the clamping stroke of the B-pillar clamping cylinder is adjusted by using the switching auxiliary unit 5. After the adjustment is in place, the robot flips the gripper frame 1 and adjusts the gripper frame 1 to the grabbing posture;

[0109] The robot moves the gripper frame 1 to the layer detection position and confirms the layer number of the outermost side panel to be grasped. After the layer number confirmation is completed, the robot moves the gripper frame 1 to the photo taking position and uses the visual camera 62 to determine the coordinate information of the characteristic hole on the side panel to be grasped, converts it into an accurate grasping coordinate value, and the robot moves according to the calculated grasping coordinate value;

[0110] After moving into position, the door frame of the side panel is positioned and supported by the door frame positioning support unit 4. After the door frame positioning and support is completed, the robot drives the gripper frame 1 and the side panel to flip upward 4° along the Z direction around the X axis. At this time, the B-pillar of the side panel is tilted vertically and rests on the B-pillar support 29. The B-pillar clamping cylinder 23 is started to clamp the B-pillar. During the clamping process, the B-pillar clamping cylinder 23 may drive the side panel to move along the X direction, which is actually a precise correction of the side panel (the guide wheel 44 does not limit the movement of the side panel along the X direction);

[0111] After the B-pillar is clamped, the adsorption detection switch 35 on the suction cup positioning unit 3 detects that it has contacted the side panel outer panel and sends a signal to the vacuum device. The vacuum device controls the suction cup to adsorb the side panel outer panel. At this time, the side panel is completely fixed by the transport gripper, and the robot can connect to the gripper frame 1 to transport the side panel outer panel to the appropriate position.

[0112] In the present application, the X direction refers to the front-to-back direction of the car after the side outer panel is installed on the car body, the Y direction refers to the left-to-right direction of the car after the side outer panel is installed on the car body, and the Z direction refers to the up-down direction of the car after the side outer panel is installed on the car body. The front end in the X direction refers to the end close to the front of the car along the X direction, the rear end in the X direction refers to the end close to the rear of the car along the X direction, the upward end in the Z direction refers to the end close to the roof of the car along the Z direction, and the downward end in the Z direction refers to the end close to the bottom of the car along the Z direction.

[0113] 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 all types of automobile side panels, comprising a gripper frame (1) connected to a robot T-axis, characterized in that: Also includes, A door frame positioning support unit (4), the door frame positioning support unit (4) being arranged at the Z-upward end of the gripping frame (1) and being used for positioning and supporting the door frame of the side outer panel; A suction cup positioning unit (3), the suction cup positioning unit (3) being arranged at the X-direction end of the gripper frame (1) and being used for positioning and adsorbing the A-pillar and the wheel cover of the side outer panel; A B-pillar positioning unit (2), the B-pillar positioning unit (2) being arranged at a middle position of the gripper frame (1) and being used for positioning and clamping the B-pillar of the side panel, the B-pillar positioning unit (2) being provided with a clamping stroke adjustment structure for adjusting the clamping stroke of the B-pillar positioning unit (2); A switching auxiliary unit (5) is connected to the B-pillar positioning unit (2) before the side panel is grasped, and is used to adjust the clamping stroke of the B-pillar positioning unit (2) in accordance with the vehicle type of the side panel to be grasped in conjunction with the clamping stroke adjustment structure; An identification unit (6), the identification unit (6) being arranged on the gripper frame (1) and being used to identify the number of layers and features of the side panel to be gripped on the rack before gripping; A control unit controls the robot according to the number of layers and features of the side panel to be grasped obtained by the recognition unit (6).

2. A universal handling gripper for all types of automobile side panels according to claim 1, characterized in that: The B-pillar positioning unit (2) comprises: A mounting connecting plate (21) is fixed in the middle of the gripping frame (1) and arranged along the X direction, and a guide rod (22) is provided at the front end in the X direction of the mounting connecting plate (21) and extends away from the mounting connecting plate (21) along the Y direction; A B-pillar clamping cylinder (23) is provided on the mounting connection plate (21); a clamping head (24) is installed on the telescopic end of the B-pillar clamping cylinder (23) arranged along the X direction and cooperates with the guide rod (22) for clamping the B-pillar.

3. A universal handling gripper for all types of automobile side panels as claimed in claim 2, characterized in that: The clamping stroke adjustment structure includes: A switching cylinder (25) is connected to a sliding guide rail (26) on the mounting connecting plate (21) and can be moved along the X direction. The switching cylinder (25) is fixedly connected to the B-pillar clamping cylinder (23) and is used to release the locking of the sliding guide rail (26) when the vehicle type is switched to adjust the position of the B-pillar clamping cylinder (23) along the X direction, and lock the sliding guide rail (26) after the vehicle type switching is completed to fix the B-pillar clamping cylinder (23); A limit limiting structure is provided on the mounting connection plate (21) and is used to limit further movement of the B-pillar clamping cylinder (23) when the B-pillar clamping cylinder (23) is adjusted to a maximum position along the X direction.

4. A universal handling gripper for all types of automobile side panels as claimed in claim 3, characterized in that: The limit limiting structure includes: Two limiting rods (27), the limiting rods (27) are fixed to the mounting connecting plate (21), and the two limiting rods (27) are respectively placed at the maximum position of the B-pillar clamping cylinder (23) moving along the X direction; A trigger rod (28) is fixed on the B-pillar clamping cylinder (23) and is located between two limit rods (27). The trigger rod (28) contacts the corresponding limit rod (27) when the B-pillar clamping cylinder (23) moves to the maximum position.

5. The universal handling gripper for all types of automobile side panels according to claim 3, characterized in that: The switching auxiliary unit (5) comprises, A support column (51), wherein the lower end of the support column (51) is fixed to the ground, and the upper end is supported on an auxiliary positioning column (11) on the gripper frame (1) when the vehicle type is switched, so that the mounting connecting plate (21) is arranged vertically and the switching cylinder (25) is located above the B-pillar clamping cylinder (23); A bracket (52) is provided, wherein one end of the bracket (52) is fixed to the support column (51) and the other end extends outward in a horizontal direction. A plurality of step surfaces (53) of different heights corresponding to different vehicle models are provided on the bracket (52). When the gripper frame (1) rotates around the vertical axis to a position corresponding to the vehicle model, the step surface (53) is supported on the lower end surface of the B-pillar clamping cylinder (23) to limit the B-pillar clamping cylinder (23) from continuing to move downward.

6. The universal handling gripper for all types of automobile side panels according to claim 1, characterized in that: The door frame positioning support unit (4) comprises a plurality of door frame support structures arranged at intervals along the X direction; the door frame support structure comprises a first connecting member (41) fixed on the gripping frame (1); a plurality of guide wheel lifting cylinders (42) are provided on the first connecting member (41); the plurality of guide wheel lifting cylinders (42) are arranged at intervals along the X direction on the first connecting member (41), and a base (43) is provided on the top of the telescopic end of the guide wheel lifting cylinder (42); a guide wheel (44) supported on the lower part of the door frame edge when supporting the door frame and a support rod (45) close to the door frame facing the gripping frame (1) are installed on the base (43); the lower end of the support rod (45) is fixed on the base (43), and the upper end extends upward along the Z direction; the guide wheel (44) is a roller that can rotate around the Y direction and has a V-shaped groove on the outer end face of the circumference.

7. The universal handling gripper for all types of automobile side panels according to claim 1, characterized in that: The suction cup positioning unit (3) comprises a plurality of suction cup positioning structures, wherein the suction cup positioning structures include: A second connecting member (31), the second connecting member (31) being mounted on the gripper frame (1); A suction cup lifting cylinder (32), wherein the suction cup lifting cylinder (32) is vertically fixed on the second connecting member (31), a suction cup base (33) is provided on the top of the telescopic end of the upper end of the suction cup lifting cylinder (32), and a suction cup (34) is installed on the suction cup base (33); The in-position detection structure includes an adsorption detection switch (35) mounted on a suction cup base (33). After the adsorption detection switch (35) contacts the side panel, it sends a signal to the vacuum device of the suction cup (34) to control the vacuum device to drive the suction cup (34) to adsorb the side panel.

8. The universal handling gripper for all types of automobile side panels according to claim 1, characterized in that: The identification unit (6) comprises, Multiple groups of distance measuring switches (61), the multiple groups of distance measuring switches (61) including at least one distance measuring switch located at the front end of the gripper frame (1) in the X direction and at least one distance measuring switch located in the middle of the gripper frame (1), the distance measuring switches being used to measure the Y-direction distance between the gripper frame (1) and the outer panel of the side panel to be gripped; A visual camera (62) is installed in the middle of the gripper frame (1) and is used to obtain coordinate information of a characteristic hole on the end face of the side panel to be gripped that faces the gripper frame (1).

9. A universal method for transporting automobile side panels of all types, characterized by: The vehicle side outer panel universal handling gripper according to any one of claims 1 to 8 is used for handling in accordance with the following steps: S1, the robot connects to the gripper frame (1) and moves the gripper frame (1) to the switching auxiliary unit (5), and uses the switching auxiliary unit (5) and the gripping stroke adjustment structure to adjust the gripping stroke of the B-pillar positioning unit (2) according to the vehicle model of the side panel to be gripped; After the clamping stroke of the S2 and B-pillar positioning units (2) is adjusted, the robot moves the gripper frame (1) to the recognition position of the side panel outer plate, the recognition unit (6) recognizes the number of layers and features of the side panel outer plate to be grasped, and the control unit controls the robot to move the gripper frame (1) to the grasping position according to the number of layers and features of the side panel outer plate to be grasped; S3. The door frame of the side panel is positioned and supported by the door frame positioning support unit (4), the B-pillar positioning unit (2) clamps the B-pillar of the side panel, and the suction cup positioning unit (3) adsorbs and clamps the side panel to complete the grasping of the side panel. The robot transports the gripper frame (1) and the side panel to the required work station.

10. A universal method for transporting automobile side panels of all vehicle types as claimed in claim 9, characterized in that: In step S1, the method for adjusting the clamping stroke of the B-pillar positioning unit (2) using the switching auxiliary unit (5) and the clamping stroke adjustment structure according to the vehicle model of the side outer panel to be grasped includes: the robot vertically flips the gripper frame (1) so that the X direction of the gripper frame (1) is flipped to the vertical direction, the auxiliary positioning column (11) of the gripper frame (1) is placed on the top of the support column (51) of the switching auxiliary unit (5), and the B-pillar clamping cylinder (23) in the B-pillar positioning unit (2) is located above the bracket (52) on the support column (51); the robot drives the gripper frame (1) along the support column (51) The vertical axis of the contact point with the auxiliary positioning column (11) is rotated until the B-pillar clamping cylinder (23) is directly above the step surface (53) of the corresponding vehicle model on the bracket (52), and the switching cylinder (25) in the clamping stroke adjustment structure releases the lock on the B-pillar clamping cylinder (23). The B-pillar clamping cylinder (23) drops to the step surface (53) directly below under the action of gravity, and then the switching cylinder (25) re-locks the B-pillar clamping cylinder (23), limiting the position of the B-pillar clamping cylinder (23) along the X direction on the gripper frame (1), thereby completing the adjustment of the clamping stroke of the B-pillar positioning unit (2).

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