A type of car door gripper

Abstract

This invention discloses a door clamping assembly comprising a main support frame, a quick-installation structure, a suction cup mechanism, a support mechanism, a pressing mechanism, a positioning pin, an upper hinge correction mechanism, and a lower hinge correction mechanism. The upper hinge correction mechanism is located on the front edge of the main support frame and is used to correct the upper hinge of the door. The lower hinge correction mechanism is located on the front edge of the main support frame and is used to correct the lower hinge of the door. Therefore, the door clamping assembly provided by this invention can automatically install door panels. Through the upper and lower hinge correction mechanisms, the upper and lower hinges of the door can be automatically corrected and positioned, saving labor, reducing labor intensity, and improving installation efficiency.

Description

Technical Field

[0001] This invention relates to the field of vehicle door installation technology, and more particularly to a vehicle door gripper manual installation method. Background Technology

[0002] The inner side of the front edge of a car door is equipped with an upper hinge and a lower hinge, which are connected to the mounting structure on the door sheet metal via pivots. Since both the upper and lower hinges are hidden inside the front edge of the door and can rotate, existing linear telescopic positioning mechanisms cannot bypass the front edge of the door to position them. Therefore, in existing technology, during door installation, a robot uses a gripper to grasp the door and position it onto the car body frame. Then, a manual operator calibrates the upper and lower hinges, flips them to align them with their respective mounting points on the car body sheet metal, and finally, manually tightens the bolts.

[0003] Because the existing gripper cannot achieve the positioning and installation of the upper and lower hinges, manual operation is required, resulting in a large number of workers needed and low installation efficiency. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a door manual assembly tool equipped with an upper hinge correction mechanism and a lower hinge correction mechanism, which can automatically correct and position the upper and lower hinges of the door, saving manpower, reducing labor intensity, and improving installation efficiency.

[0005] The present invention provides a door gripper assembly, including a main support frame;

[0006] The back of the main support frame is provided with a quick-connect structure for connecting with the robot;

[0007] The main support is provided with a suction cup mechanism for adsorbing the sheet metal of the car door, a support mechanism for supporting the bottom edge of the car door, and a pressing mechanism for pressing down the bottom edge of the car window on the front side.

[0008] The front edge of the main support is provided with a positioning pin for positioning with the front edge of the door, an upper hinge correction mechanism for correcting the upper hinge of the door, and a lower hinge correction mechanism for correcting the lower hinge of the door.

[0009] The upper hinge correction mechanism includes a multi-directional adjustment module connected to the main support and an upper hinge correction claw connected to the multi-directional adjustment module. Under the action of the multi-directional adjustment module, the upper hinge correction claw can avoid the front edge of the door and cooperate with the upper hinge of the door for correction.

[0010] The lower hinge correction mechanism includes a telescopic swing drive module connected to the main support and a lower hinge correction rod connected to the telescopic swing drive module. Under the action of the telescopic swing drive module, the lower hinge correction rod can avoid the front edge of the door and cooperate with the lower hinge of the door for correction.

[0011] In one of the alternative technical solutions, the multi-directional adjustment module includes a first drive unit connected to the main support, a sliding arm connected to the first drive unit, a swing arm hinged to the sliding arm, and a second drive unit connected between the swing arm and the sliding arm.

[0012] The sliding arm includes a main arm and a secondary arm. The main arm is connected to the output end of the first drive unit, and the secondary arm is connected to the other end of the main arm and extends rearward.

[0013] The rear end of the swing arm is hinged to the rear end of the auxiliary arm, the upper hinge correction claw is connected to the front end of the swing arm, and the output end of the second drive unit is hinged to the front end of the swing arm.

[0014] When the second drive unit is in the retracted state, the swing arm can swing back relative to the auxiliary arm, thereby allowing the upper hinge correction claw to avoid the front edge of the door.

[0015] In one of the alternative technical solutions, a stop is provided at the front end of the auxiliary arm, so that the swing arm can be blocked by the stop when the second drive unit is in the extended state.

[0016] In one of the alternative technical solutions, the upper hinge correction claw includes a correction claw main board and a correction claw action end connected to the correction claw main board. The correction claw main board is connected to the front end of the swing arm and extends to the front side. The correction claw action end extends toward the rear side of the correction claw main board and is arranged parallel to the swing arm.

[0017] In one of the alternative technical solutions, the main support is provided with a vertical guide rail, the first drive unit is slidably connected to the vertical guide rail, and the main support is also provided with a third drive unit for driving the first drive unit to slide up and down for adjustment.

[0018] In one of the alternative technical solutions, the telescopic swing drive module includes a fixed bracket connected to the main support, a fourth drive unit connected to the fixed bracket, and a swing plate slidably connected to the fixed bracket;

[0019] One end of the swing plate is hinged to the output end of the fourth drive unit, and the lower hinge correction rod is connected to the other end of the swing plate. The fourth drive unit is used to drive the swing plate to slide relative to the fixed bracket.

[0020] The swing plate is provided with a straight groove, and the middle part of the rear side wall of the straight groove is provided with a rear side groove.

[0021] The fixed bracket is provided with a pin, and the pin is clearance-fitted in the straight groove;

[0022] When the pin is in the rear groove, the swing plate drives the lower hinge correction rod to avoid the front edge of the door.

[0023] In one of the alternative technical solutions, the upper hinge correction claw includes a correction claw roller for actuating the upper hinge.

[0024] In one of the alternative technical solutions, the main support is provided with a fifth drive unit, the output end of which is connected to a cantilever extending in the forward direction, and the pressing mechanism is connected to the cantilever.

[0025] The fifth drive unit is used to drive the pressing mechanism to move up and down for adjustment.

[0026] The cantilever is equipped with a monitoring sensor mechanism. When the pressing mechanism moves down to the designated position, the monitoring sensor mechanism sends a signal, and the fifth drive unit drives the pressing mechanism to stop at the designated position.

[0027] In one of the alternative technical solutions, the pressing mechanism includes a mechanism body, a swing frame, and two pressing claws;

[0028] The main body of the mechanism is connected to the cantilever, the swing frame is arranged along the front-to-back direction, the middle part of the swing frame is pivotally connected to the main body of the mechanism through a pivot shaft, and a pressure claw is hinged to the front and rear ends of the swing frame respectively;

[0029] The main body of the mechanism is provided with a limiting member for limiting the swing amplitude of the swing frame.

[0030] In one of the alternative technical solutions, the monitoring sensor mechanism includes a mounting bracket, an optical signal transmitting module, and an optical signal receiving module;

[0031] The mounting bracket is connected to the cantilever and is arranged on opposite sides of the cantilever along with the pressing mechanism;

[0032] The optical signal transmitting module and the optical signal receiving module are located at opposite ends of the mounting bracket;

[0033] Along the extension direction of the cantilever, the pressing mechanism is located between the optical signal transmitting module and the optical signal receiving module;

[0034] When the pressing mechanism presses down on the bottom edge of the window, the optical path between the optical signal transmitting module and the optical signal receiving module is blocked by the bottom edge of the window, and the monitoring sensor mechanism emits a signal.

[0035] The above technical solution has the following beneficial effects:

[0036] The door gripper assembly provided by this invention includes a main support frame, a quick-release structure, a suction cup mechanism, a support mechanism, a pressing mechanism, a positioning pin, an upper hinge correction mechanism, and a lower hinge correction mechanism.

[0037] The quick-release structure is located on the back of the main support frame for connection with the robot. The suction cup mechanism is located on the front of the main support frame for adsorbing the door sheet metal. The support mechanism is located on the lower front of the main support frame for supporting the bottom edge of the door. The pressing mechanism is located on the upper front of the main support frame for pressing down the bottom edge of the window. The positioning pin is located on the front edge of the main support frame for positioning the front edge of the door.

[0038] The upper hinge correction mechanism is located on the front edge of the main support frame and is used to correct the upper hinge of the car door. The upper hinge correction mechanism includes a multi-directional adjustment module and an upper hinge correction claw. Under the action of the multi-directional adjustment module, the upper hinge correction claw can avoid the front edge of the car door and cooperate with the upper hinge of the car door for correction.

[0039] The lower hinge correction mechanism is located on the front edge of the main support frame and is used to correct the lower hinge of the door. The lower hinge correction mechanism includes a telescopic swing drive module and a lower hinge correction rod. Under the action of the telescopic swing drive module, the lower hinge correction rod can avoid the front edge of the door and cooperate with the lower hinge of the door for correction.

[0040] Therefore, the door clamping tool provided by this invention can automatically install the door. Through the upper hinge correction mechanism and the lower hinge correction mechanism, the upper hinge and the lower hinge of the door can be automatically corrected and positioned, saving manpower, reducing labor intensity, and improving installation efficiency. Attached Figure Description

[0041] The disclosure of this invention will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings:

[0042] Figure 1 A perspective view of a door grabber assembly from a side view, according to an embodiment of the present invention;

[0043] Figure 2 A perspective view of a door grabber assembly from a rear side view, provided in an embodiment of the present invention;

[0044] Figure 3 A perspective view of a door gripper manipulating a door according to an embodiment of the present invention;

[0045] Figure 4 for Figure 3 A stereoscopic view from the front side;

[0046] Figure 5 for Figure 4 An enlarged schematic diagram of part A in the middle;

[0047] Figure 6 A perspective view of the upper hinge correction mechanism mounted on the vertical guide rail of the main support;

[0048] Figure 7 Exploded view of the sliding arm, swing arm, second drive unit and upper hinge correction claw;

[0049] Figure 8 A schematic diagram showing the second drive unit retracting to cause the upper hinge correction claw to swing.

[0050] Figure 9 This is a schematic diagram of the working process of the upper hinge correction mechanism;

[0051] Figure 10 for Figure 4 Enlarged schematic diagram of part B in the middle;

[0052] Figure 11 This is a three-dimensional view of the lower hinge correction mechanism;

[0053] Figure 12 This is an exploded view of the lower hinge correction mechanism;

[0054] Figure 13 This is a schematic diagram of the working process of the lower hinge correction mechanism;

[0055] Figure 14 A perspective view of the assembled fifth drive unit, monitoring sensor mechanism, and pressing mechanism;

[0056] Figure 15 for Figure 14 A stereoscopic view from another perspective;

[0057] Figure 16 This is a 3D view of the pressing mechanism;

[0058] Figure 17 for Figure 16 A stereoscopic view from another perspective;

[0059] Figure 18 This is an exploded view of the pressing mechanism;

[0060] Figure 19This is a structural diagram of the car door;

[0061] Figure 20 An enlarged schematic diagram showing the upper and lower hinge sections of the car door;

[0062] Figure 21 A schematic diagram illustrating how a robot uses a door gripper to manually grasp a car door;

[0063] Figure 22 This is a diagram illustrating the robot installing a car door onto the vehicle body. Detailed Implementation

[0064] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0065] like Figure 1-13 and Figure 19-22 As shown, a door gripper assembly provided in one embodiment of the present invention includes a main support bracket 1.

[0066] The back of the main support 1 is provided with a quick-release structure 2 for connecting with the robot 200.

[0067] The main support 1 is provided with a suction cup mechanism 3 for adsorbing the sheet metal of the car door, a support mechanism 4 for supporting the bottom edge 101 of the car door, and a pressing mechanism 5 for pressing down the bottom edge 102 of the car window on the front side.

[0068] The front edge of the main support 1 is provided with a positioning pin 7 for positioning with the front edge 103 of the door, an upper hinge correction mechanism 8 for correcting the upper hinge 104 of the door, and a lower hinge correction mechanism 9 for correcting the lower hinge 105 of the door.

[0069] The upper hinge correction mechanism 8 includes a multi-directional adjustment module 81 connected to the main support 1 and an upper hinge correction claw 82 connected to the multi-directional adjustment module 81. Under the action of the multi-directional adjustment module 81, the upper hinge correction claw 82 can avoid the front edge 103 of the door and cooperate with the upper hinge 104 of the door for correction.

[0070] The lower hinge correction mechanism 9 includes a telescopic swing drive module 91 connected to the main support 1 and a lower hinge correction rod 92 connected to the telescopic swing drive module 91. Under the action of the telescopic swing drive module 91, the lower hinge correction rod 92 can avoid the front edge 103 of the door and cooperate with the lower hinge 105 of the door for correction.

[0071] The door gripper provided by this invention is used to grip a car door 10. A transport line 400 transports the car body 500, and a robot 200 uses the door gripper to grip the car door 10, then places the car door 10 at a designated position on the car body 500, thus achieving automatic installation of the car door 10. The car door 10 can be a front door or a rear door; the accompanying drawings of this invention only show the installation method of the rear door.

[0072] The door clamping mechanism includes a main support frame 1, a quick-release structure 2, a suction cup mechanism 3, a support mechanism 4, a pressing mechanism 5, a positioning pin 7, an upper hinge correction mechanism 8, and a lower hinge correction mechanism 9.

[0073] In this invention, the orientation is determined using the car door 10 as a reference. The front-back and vertical directions of the main support 1 are consistent with the front-back and vertical directions of the car door 10 and also with the front-back and vertical directions of the vehicle body 500. The side of the main support 1 that mates with the car door 10 or faces the car door 10 is called the front or front side, and the side of the main support 1 that connects with the robot 200 is called the back or back side.

[0074] The quick-connect structure 2 is located on the back side of the main support 1 and is used to connect with the robot 200. The quick-connect structure 2 can be a quick-connect flange.

[0075] The suction cup mechanism 3 is located on the front side of the main support 1 and is used to adhere to the sheet metal of the car door. Preferably, the suction cup mechanism 3 includes a plurality of spaced-apart first suction cups 31 and a plurality of spaced-apart second suction cups 32, used to stably adhere to the outer surface of the sheet metal of the car door 10. Preferably, the second suction cups 32 are universal suction cups with brakes to stabilize the angle and position of the sheet metal on the gripper. The first suction cups 31 and the second suction cups 32 can be connected to the main support 1 through telescopic mechanisms to achieve automatic telescopic extension and retraction, thereby adhering to or leaving the car door 10.

[0076] The support mechanism 4 is located on the lower side of the main support 1 and is used to support the bottom edge 101 of the car door. The support mechanism 4 can be a plate, bracket, etc., with a V-shaped groove to accommodate the bottom edge 101 of the car door. Preferably, the support mechanism 4 includes a first support frame 41, a second support frame 42, and a third support frame 43. The first support frame 41 and the second support frame 42 are respectively connected to the main support 1 via brackets. The first support frame 41 is located at the rear end of the main support 1, the second support frame 42 is located in the middle and front area of ​​the main support 1, and the third support frame 43 is located behind the second support frame 42, with both integrated on a single bracket. The third support frame 43 is driven by a telescopic mechanism 44 to extend and retract. Since the bottom edge of the rear door is relatively short, the rear door can be supported by the third support frame 42 and the second support frame 42. Since the bottom plate of the front door is relatively long, it is necessary to use the first support frame 41, the second support frame 42 and the third support frame 43 together to support the front door.

[0077] The pressing mechanism 5 is located on the upper side of the main support 1 and is used to press down the bottom edge 102 of the window. The pressing mechanism 5 can adopt a claw structure, a pressure plate structure, etc. It is driven by a drive mechanism and can move up and down, so that it can be inserted into the window of the door to press down the bottom edge 102 of the window and position the door 10 from above.

[0078] The positioning pin 7 is located on the front edge of the main support 1 and is used to position the front edge 103 of the door. When the front edge 103 of the door touches the positioning pin 7, it means that the front and rear positions of the door 10 are in place and cannot be moved forward any further.

[0079] The upper hinge correction mechanism 8 is located on the front edge of the main support 1 and is used to correct the upper hinge 104 of the door. Since the upper hinge 104 is mounted on the inner side of the front edge of the door 10 via a pivot, it may wobble, causing the bolt 1041 it carries to misalign with the mounting hole on the body 500. The upper hinge correction mechanism 8 can adjust the position of the upper hinge 104 so that it fits snugly with the mounting area of ​​the body 500, thereby ensuring that the bolt 1041 of the upper hinge 104 is aligned and inserted into the mounting hole of the body 500.

[0080] The upper hinge correction mechanism 8 includes a multi-directional adjustment module 81 and an upper hinge correction claw 82. The multi-directional adjustment module 81 can be a combination of multiple telescopic mechanisms (e.g., hydraulic cylinders, pneumatic cylinders), or a combination of telescopic mechanisms and swing mechanisms, used to adjust the direction and position of the upper hinge correction claw 82, enabling adjustment of the direction and position of the upper hinge correction claw 82 in at least two directions. For example, the upper hinge correction claw 82 can be adjusted along the inward and outward directions of the door 10, that is, the front and back directions of the main support 1, so that the upper hinge correction claw 82 can move closer to or away from the door 10. As another example, the upper hinge correction claw 82 can be adjusted along the front and back directions, so that the upper hinge correction claw 82 can swing forward to avoid the front edge 103 of the door, and then swing backward to insert into the back side of the upper hinge 104 of the door, pressing against the upper hinge 104 of the door towards the inward direction of the door, so that it is roughly in contact with the mounting surface on the body 500.

[0081] Therefore, in this invention, under the action of the multi-directional adjustment module 81, the upper hinge correction claw 82 can avoid the front edge 103 of the door and cooperate with the upper hinge 104 of the door for correction, and can also avoid the front edge 103 of the door and move away from the upper hinge 104 of the door.

[0082] The lower hinge correction mechanism 9 is located on the front edge of the main support 1 and is used to correct the lower door hinge 105 of the door. Since the lower door hinge 105 is mounted on the inner side of the front edge of the door 10 via a pivot, it may wobble, causing its bolt hole 1051 to misalign with the bolts on the body 500. The lower hinge correction mechanism 9 can adjust the position of the lower door hinge 105 to fit snugly with the mounting area of ​​the body 500, allowing the bolts of the body 500 to be inserted into the bolt holes 1051 of the lower door hinge 105.

[0083] The lower hinge correction mechanism 9 includes a telescopic swing drive module 91 and a lower hinge correction rod 92. The telescopic swing drive module 91 can be a combination of multiple telescopic mechanisms (e.g., cylinders, hydraulic cylinders) or a combination of telescopic and swing mechanisms, used to adjust the direction and position of the lower hinge correction rod 92, and can adjust the direction and position of the lower hinge correction rod 92 in at least two directions. For example, the lower hinge correction rod 92 can be adjusted along the inward and outward directions of the door 10, that is, along the front and back directions of the main support 1, so that the lower hinge correction rod 92 can move closer to or away from the door 10. As another example, the lower hinge correction rod 92 can be adjusted along the front and back directions, so that the lower hinge correction rod 92 can swing forward to avoid the front edge 103 of the door, and then swing backward to insert into the back side of the lower hinge 105 of the door, pushing against the lower hinge 105 of the door towards the inward direction of the door, so that it is roughly in contact with the mounting surface on the body 500.

[0084] Therefore, in this invention, under the action of the telescopic swing drive module 91, the lower hinge correction rod 92 can avoid the front edge 103 of the door and cooperate with the lower hinge 105 of the door for correction.

[0085] Therefore, the door clamping manual installation provided by the present invention can automatically install the door. The upper hinge correction mechanism 8 and the lower hinge correction mechanism 9 can automatically correct and position the upper hinge 104 and the lower hinge 105 of the door. Then, the corresponding bolts and nuts can be tightened automatically by power tools or by a robot, which saves manpower, reduces labor intensity, and improves installation efficiency.

[0086] In one embodiment, such as Figure 21 As shown, in order to position the upper hinge 104 and lower hinge 105 of the car door, a special positioning bracket 300 is provided. The positioning bracket 300 is provided with a positioning block 301. The positioning block 301 is installed on the positioning bracket 300 through a sliding mechanism. The positioning block 301 can slide up and down to adapt to the positions of the upper hinge 104 and lower hinge 105 of the car door respectively.

[0087] The surface of the positioning block 301 is adapted to the surface of the area on the vehicle body 500 where the upper door hinge 104 and the lower door hinge 105 are installed.

[0088] After the robot 200 manually picks up the car door 10 using the door gripper, it first calibrates the upper hinge 104 of the car door. The positioning block 301 slides up to the specified height and stops. The robot 200 adjusts the position of the car door 10 to meet the positioning standard during installation, and makes the inner edge of the front edge 103 of the car door around the upper hinge 104 of the car door adhere to the positioning block 301. Then, the upper hinge calibrating claw 82 pushes the upper hinge 104 of the car door towards the positioning block 301, so that the upper hinge 104 of the car door is roughly in contact with the surface of the positioning block 301, and then holds the upper hinge 104 of the car door in place.

[0089] Then, adjust the lower door hinge 105. After the positioning block 301 slides down to the specified height, stop. Use the lower hinge adjustment rod 92 to push the lower door hinge 105 towards the positioning block 301 so that the lower door hinge 105 is roughly in contact with the surface of the positioning block 301. Then hold the lower door hinge 105 in place.

[0090] Thus, in such cases Figure 22 During installation in the process shown, the upper hinge 104 and the lower hinge 105 of the door can fit with the surface of the mounting area of ​​the body 500, and the bolt 1041 is aligned with the mounting hole of the body 500 and assembled, and the bolt on the body 500 is aligned with the bolt hole 1051.

[0091] In one embodiment, such as Figure 5-9 As shown, the multi-directional adjustment module 81 includes a first drive unit 811 connected to the main support 1, a sliding arm 812 connected to the first drive unit 811, a swing arm 813 hinged to the sliding arm 812, and a second drive unit 814 connected between the swing arm 813 and the sliding arm 812.

[0092] The sliding arm 812 includes a main arm 8121 and a secondary arm 8122. The main arm 8121 is connected to the output end of the first drive unit 811, and the secondary arm 8122 is connected to the other end of the main arm 8121 and extends backward.

[0093] The rear end of the swing arm 813 is hinged to the rear end of the auxiliary arm 8122, the upper hinge correction claw 82 is connected to the front end of the swing arm 813, and the output end of the second drive unit 814 is hinged to the front end of the swing arm 813.

[0094] When the second drive unit 814 is in the retracted state, the swing arm 813 can swing to the rear relative to the auxiliary arm 8122, so that the upper hinge correction claw 82 can avoid the front edge 103 of the door.

[0095] In this embodiment, the multi-directional adjustment module 81 includes a first drive unit 811, a sliding arm 812, a swing arm 813, and a second drive unit 814. The first drive unit 811 and the second drive unit 814 can be linear drive units such as telescopic hydraulic cylinders, telescopic air cylinders, and motor lead screws.

[0096] The first drive unit 811 is connected to the main support 1, and the sliding arm 812 is connected to the output end of the first drive unit 811. The first drive unit 811 is used to drive the sliding arm 812 to slide along the front-back direction, that is, along the direction perpendicular to the main support 1, or along the inside-outside direction of the door 10. The sliding arm 812 is a curved arm, roughly L-shaped, and includes a main arm 8121 and a secondary arm 8122. The secondary arm 8122 and the main arm 8121 can be integrally formed or separately connected. One end 2 of the main arm 8121 is connected to the output end of the first drive unit 811, and the secondary arm 8122 is connected to the other end of the main arm 8121 and extends rearward.

[0097] The swing arm 813 is a straight arm, which can be a single-layer structure or a double-layer structure. The rear end of the swing arm 813 is hinged to the rear end of the auxiliary arm 8122, allowing the swing arm 813 to swing relative to the rear end of the auxiliary arm 8122. The length of the swing arm 813 is slightly longer than the length of the auxiliary arm 8122. The upper hinge correction claw 82 is connected to the front end of the swing arm 813. The upper hinge correction claw 82 is hook-shaped, and its working end extends towards the rear end of the swing arm 813, so that the working end of the hook-shaped upper hinge correction claw 82 can be inserted from the front edge 103 of the door to the back side of the upper hinge 104 of the door, thereby correcting the upper hinge 104 of the door.

[0098] One end of the second drive unit 814 is hinged to the main arm 8121, and its output end is hinged to the front end of the swing arm 813. The extension and retraction of the second drive unit 814 can drive the swing arm 813 to swing, thereby causing the upper hinge correction claw 82 to swing around the rear end of the auxiliary arm 8122, thus avoiding the front edge 103 of the door.

[0099] Specifically, such as Figure 8 As shown, when the second drive unit 814 retracts, it will drive the swing arm 813 to rotate counterclockwise, which in turn will drive the upper hinge correction claw 82 to swing as a whole, so that the working end of the hook-shaped upper hinge correction claw 82 is relatively forward in the front-rear direction, thereby avoiding the front edge 103 of the door.

[0100] The working process of the upper hinge correction mechanism 8 is as follows: Figure 9 The three states a, b, and c are shown in the figure. Figure 9In the first state of a, the first drive unit 811 retracts, causing the sliding arm 812, the swing arm 813, the second drive unit 814, and the upper hinge correction claw 82 to move away from the door 10 as a whole. The second drive unit 814 retracts, causing the upper hinge correction claw 82 to swing to the required angle. Figure 9 In the second state of b, the first drive unit 811 extends, driving the sliding arm 812, the swing arm 813, the second drive unit 814 and the upper hinge correction claw 82 to approach the door 10 as a whole, until the upper hinge correction claw 82 passes around the front edge 103 of the door. Figure 9 In the third state of c, the second drive unit 814 extends, causing the upper hinge correction claw 82 to swing in the opposite direction. Along the front-rear direction, the hook-shaped actuating end of the upper hinge correction claw 82 moves rearward, thereby inserting into the back side of the upper door hinge 104 to correct it. When it is necessary to move towards the inside of the door 10 to press against the upper door hinge 104, the first drive unit 811 can extend a specified length as needed to complete the correction of the upper door hinge 104.

[0101] When it is necessary to retract, the second drive unit 814 retracts, the first drive unit 811 retracts and resets, and the upper hinge correction claw 82 passes around the front edge 103 of the door and leaves the door 10.

[0102] In one embodiment, such as Figure 6 As shown, the first drive unit 811 adopts a motor screw unit, which includes a transverse guide rail 8111, a drive motor 8112, a first sliding seat 8113 and a screw.

[0103] A transverse guide rail 8111 is arranged perpendicular to the main support 1. A screw is arranged parallel to the transverse guide rail 8111 and is mounted on the transverse guide rail 8111 via bearings. A first sliding seat 8113 is slidably mounted on the transverse guide rail 8111. The first sliding seat 8113 has an internal threaded hole through which the screw passes. A drive motor 8112 is mounted on the transverse guide rail 8111 and is connected to the screw via a transmission connection. The main arm 8121 is connected to the first sliding seat 8113. When the drive motor 8112 rotates forward and backward, it realizes the linear sliding of the first sliding seat 8113, thereby realizing the aforementioned extension and retraction actions of the first drive unit 811.

[0104] In one embodiment, such as Figure 6-8 As shown, the front end of the auxiliary arm 8122 is provided with a stop 8123, which can block the swing arm 813 when the second drive unit 814 is in the extended state.

[0105] In this embodiment, a stop 8123 is configured to limit the amplitude of the swing arm 813 swinging toward the positive side.

[0106] In one embodiment, such as Figure 5-8 As shown, the upper hinge correction claw 82 includes a correction claw main board 821 and a correction claw action end 822 connected to the correction claw main board 821. The correction claw main board 821 is connected to the front end of the swing arm 813 and extends to the front side. The correction claw action end 822 extends toward the rear side of the correction claw main board 821 and is arranged parallel to the swing arm 813.

[0107] In this embodiment, the upper hinge correction claw 82 is hook-shaped and includes a correction claw main plate 821 and a correction claw actuating end 822, which can be integrally connected. The correction claw main plate 821 is connected to the front end of the swing arm 813 and extends towards the front side to be close to the door 10. The correction claw actuating end 822 extends towards the rear side of the correction claw main plate 821 to form a hook shape. The correction claw actuating end 822 is arranged parallel to the swing arm 813, and the swing angle of the correction claw actuating end 822 can be controlled by controlling the swing angle of the swing arm 813, which facilitates the control of the swing amplitude.

[0108] In one embodiment, such as Figure 1-4 , Figure 6 and Figure 9 As shown, the main support 1 is provided with a vertical guide rail 11, and the first drive unit 811 is slidably connected to the vertical guide rail 11. The main support 1 is also provided with a third drive unit 12 for driving the first drive unit 811 to slide up and down for adjustment.

[0109] In this embodiment, the third drive unit 12 can also be used to adjust the height position of the upper hinge correction mechanism 8.

[0110] Specifically, the main support 1 is provided with a vertical guide rail 11 and a third drive unit 12. A second sliding seat 8114 is disposed on the first drive unit 811, and the second sliding seat 8114 is slidably connected to the vertical guide rail 11. The third drive unit 12 is connected between the second sliding seat 8114 and the main support 1, and is used to drive the second sliding seat 8114 to slide up and down, thereby adjusting the height position of the upper hinge correction mechanism 8.

[0111] The third drive unit 12 can be a linear drive unit such as a hydraulic cylinder, pneumatic cylinder, or motor lead screw.

[0112] In one embodiment, such as Figure 10-13 As shown, the telescopic swing drive module 91 includes a fixed bracket 911 connected to the main support 1, a fourth drive unit 912 connected to the fixed bracket 911, and a swing plate 913 slidably connected to the fixed bracket 911.

[0113] One end of the swing plate 913 is hinged to the output end of the fourth drive unit 912, and the lower hinge correction rod 92 is connected to the other end of the swing plate 913. The fourth drive unit 912 is used to drive the swing plate 913 to slide relative to the fixed bracket 911.

[0114] The swing plate 913 is provided with a straight groove 9131, and the middle part of the rear groove wall of the straight groove 9131 is provided with a rear groove 9132.

[0115] The fixed bracket 911 is provided with a pin 9111, which is clearance-fitted in the straight groove 9131.

[0116] When the pin 9111 is in the rear groove 9132, the swing plate 913 drives the lower hinge correction rod 92 to avoid the front edge 103 of the door.

[0117] In this embodiment, the telescopic swing drive module 91 includes a fixed bracket 911, a fourth drive unit 912, and a swing plate 913, etc.

[0118] The fourth drive unit 912 can be a linear drive unit such as a hydraulic cylinder, a pneumatic cylinder, or a motor lead screw.

[0119] The fixed bracket 911 is connected to the main bracket 1 and extends towards the front side of the main bracket 1. The swing plate 913 is slidably connected to the fixed bracket 911 and can swing relative to the fixed bracket 911. The fixed bracket 911 is provided with a vertically arranged pin 9111, preferably located at the end of the fixed bracket 911 that extends out of the front side of the main bracket 1. The swing plate 913 is provided with a straight groove 9131 along its length, and a rear groove 9132 is provided in the middle of the rear groove wall of the straight groove 9131. The pin 9111 is clearance-fitted in the straight groove 9131. The first end of the swing plate 913 is hinged to the fourth drive unit 912, and its second end extends out of the front side of the fixed bracket 911. The lower hinge correction rod 92 is connected to the second end of the swing plate 913 and is vertically arranged.

[0120] When the fourth drive unit 912 drives the swing plate 913 to slide linearly, if the pin 9111 is in the straight grooves 9131 on both sides of the rear groove 9132, the swing plate 913 will maintain linear sliding; if the pin 9111 is in the rear groove 9132, it will drive the swing plate 913 to swing around the pivot axis of the first end and the fourth drive unit 912, so that the second end of the swing plate 913 drives the lower hinge correction rod 92 to swing towards the front and back at a certain angle, thereby making the lower hinge correction rod 92 avoid the front edge 103 of the door.

[0121] The working process of the lower hinge correction mechanism 9 is as follows: Figure 13 As shown in Figures a, b, c, d, and e. Figure 13In the first state of a, the fourth drive unit 912 is in the initial state, and the pin 9111 is in a straight groove 9131 on the positive side of the rear groove 9132. Figure 13 In the second state of b, the fourth drive unit 912 is in the extended state, the pin 9111 has just slid into the rear groove 9132, and the second end of the swing plate 913 drives the lower hinge correction rod 92 to swing forward and backward by a first angle. Figure 13 In the third state of c, the fourth drive unit 912 continues to extend, and the pin 9111 is about to slide out of the rear groove 9132, so that the second end of the swing plate 913 drives the lower hinge correction rod 92 to swing towards the front and back at a second angle. The second angle is greater than the first angle. At this time, the lower hinge correction rod 92 can avoid the front edge 103 of the door. Figure 13 In the fourth state of d, the fourth drive unit 912 continues to extend, and the pin 9111 slides into a straight groove 9131 on the back side of the rear groove 9132. The swing plate 913 drives the lower hinge correction rod 92 to reset. The lower hinge correction rod 92 moves backward on the inside of the front edge 103 of the door, thereby extending into the back side of the lower hinge 105 of the door to correct the lower hinge 105 of the door. Figure 13 In the fifth state of e, the fourth drive unit 912 continues to extend, and the lower hinge correction rod 92 moves toward the inside of the door 10 to press against the lower hinge 105 of the door until the correction is in place, at which point the fourth drive unit 912 stops extending.

[0122] When the fourth drive unit 912 retracts, it will automatically drive the lower hinge correction rod 92 to avoid the front edge 103 of the door and move away from the door 10.

[0123] In one embodiment, such as Figure 11-12 As shown, the second end of the swing plate 913 has a clearance groove 9133 on its rear side for clearance of the front edge 103 of the door. The lower hinge correction rod 92 is located at the rear of the second end of the swing plate 913 so that it can be inserted rearward into the back side of the lower hinge 105 of the door after passing around the front edge 103 of the door.

[0124] In one embodiment, such as Figure 5-9 As shown, the upper hinge correction claw 82 includes a correction claw roller 823 for acting on the upper hinge 104 of the car door, which reduces the friction when the upper hinge correction claw 82 corrects the upper hinge 104 of the car door, so that the upper hinge correction claw 82 can be smoothly inserted into the back side of the upper hinge 104 of the car door.

[0125] Specifically, a correction claw roller 823 is provided at the end of the correction claw action end 822, and a correction claw roller 823 is also provided at the connection between the correction claw action end 822 and the correction claw main board 821.

[0126] In one embodiment, such as Figure 1-4 and Figure 14-15 As shown, the main support 1 is provided with a fifth drive unit 13, the output end of the fifth drive unit 13 is connected to a cantilever 14 extending in the forward direction, and the pressing mechanism 5 is connected to the cantilever 14.

[0127] The fifth drive unit 13 is used to drive the pressing mechanism 5 to move up and down for adjustment.

[0128] The cantilever 14 is equipped with a monitoring sensor mechanism 6. When the pressing mechanism 5 moves down to the position, the monitoring sensor mechanism 6 sends a signal, and the fifth drive unit 13 drives the pressing mechanism 5 to stay at the designated position.

[0129] In this embodiment, a fifth drive unit 13 is provided on the main support 1. The fifth drive unit 13 can be a linear drive unit such as a hydraulic cylinder, a pneumatic cylinder, or a motor lead screw.

[0130] The output end of the fifth drive unit 13 is connected to a cantilever 14 extending forward toward the main support 1, and the pressing mechanism 5 is connected to the cantilever 14. The fifth drive unit 13 is used to drive the pressing mechanism 5 to move up and down for adjustment. A monitoring sensor mechanism 6 is provided on the cantilever 14, which can be a limit switch or a photoelectric switch. When the pressing mechanism 5 moves down to its position, it presses against the bottom edge 102 of the window. At this time, the monitoring sensor mechanism 6 is triggered and sends a signal to the control system. The fifth drive unit 13 stops operating, and the fifth drive unit 13 drives the pressing mechanism 5 to stay at the designated position.

[0131] Preferably, the main support 1 is also provided with a vertical rail 16, and a slide block 15 is connected to one end of the cantilever 14 facing the vertical rail 16. The slide block 15 is slidably connected to the vertical rail 16 to improve the stability of the downward pressing mechanism 5 moving up and down for adjustment.

[0132] In one embodiment, such as Figure 16-18 As shown, the pressing mechanism 5 includes a main body 51, a swing frame 52, and two pressing claws 53.

[0133] The main body 51 of the mechanism is connected to the cantilever 14. The swing frame 52 is arranged along the front and back direction. The middle part of the swing frame 52 is pivotally connected to the main body 51 of the mechanism through the pivot shaft 54. A pressure claw 53 is hinged to the front and back ends of the swing frame 52 respectively.

[0134] The main body 51 of the mechanism is provided with a limiting member 56 for limiting the swing amplitude of the swing frame 52.

[0135] In this embodiment, the pressing mechanism 5 has a multi-directional swing adjustment function to adapt to the doors 10 of different car models.

[0136] Specifically, the pressing mechanism 5 includes a main body 51, a swing frame 52, and two pressing claws 53, etc.

[0137] The main body 51 of the mechanism is connected by a first straight arm 511 and a second straight arm 512 in an L-shaped structure. The first straight arm 511 is connected to the cantilever 14, and the second straight arm 512 extends in the front-back direction.

[0138] The swing frame 52 is arranged parallel to the second straight arm 512, and its length is greater than that of the second straight arm 512. The middle part of the swing frame 52 is hinged to the main body 51 of the mechanism through the pivot shaft 54. Therefore, the swing frame 52 can swing up and down relative to the second straight arm 512.

[0139] A pressure claw 53 is hinged to each of the front and rear ends of the swing frame 52. Specifically, the pressure claw 53 is connected to the swing frame 52 via a pivot 55. The pressure claw 53 can swing relative to the swing frame 52.

[0140] The main body 51 of the mechanism is equipped with a limiting component 56, which is used to limit the swing amplitude of the swing frame 52.

[0141] When the pressure claw 53 contacts the bottom edge 102 of the window, the pressure claw 53 can swing adaptively. If the pressure claws 53 at both ends are subjected to different forces, the swing bracket 52 can swing adaptively, so that it can be matched with the door 10 of different car models.

[0142] In one embodiment, such as Figure 18 As shown, a groove 5121 is provided at the bottom of the second straight arm 512, and the swing frame 52 is assembled in the groove 5121. The limiting member 56 adopts two limiting bolts, which extend from the top surface of the front and rear ends of the second straight arm 512 into the groove 5121, thereby limiting the swing amplitude of the swing frame 52.

[0143] In one embodiment, such as Figure 16-18 As shown, at least one pressure claw 53 has a V-shaped groove 531 on its bottom surface to accommodate the bottom edge 102 of the window.

[0144] In one embodiment, such as Figure 14-15 As shown, the monitoring sensor mechanism 6 includes a mounting bracket 61, an optical signal transmitting module 62, and an optical signal receiving module 63.

[0145] The mounting bracket 61 is connected to the cantilever 14 and is arranged on opposite sides of the cantilever 14 along with the pressing mechanism 5.

[0146] The optical signal transmitting module 62 and the optical signal receiving module 63 are located at opposite ends of the mounting bracket 61.

[0147] Along the extension direction of the cantilever 14, the pressing mechanism 5 is located between the optical signal transmitting module 62 and the optical signal receiving module 63.

[0148] When the pressing mechanism 5 presses down on the bottom edge 102 of the window, the optical path 64 between the optical signal transmitting module 62 and the optical signal receiving module 63 is blocked by the bottom edge 102 of the window, and the monitoring sensor mechanism 6 sends a signal.

[0149] In this embodiment, the monitoring sensor mechanism 6 adopts a photoelectric switch, which includes a mounting bracket 61, a light signal transmitting module 62, a light signal receiving module 63, and a control module, etc.

[0150] Mounting bracket 61 is connected to cantilever 14, and mounting bracket 61 and pressing mechanism 5 are arranged on opposite sides of cantilever 14. The first end of mounting bracket 61 is connected to approximately the middle of cantilever 14, and the second end of mounting bracket 61 extends out from the front side of cantilever 14. Pressing mechanism 5 is located between the first end and the second end of mounting bracket 61.

[0151] The optical signal transmitting module 62 and the optical signal receiving module 63 are located at the first end of the mounting bracket 61, and the optical signal receiving module 63 and the optical signal transmitting module 62 are located at the second end of the mounting bracket 61. The optical path 64 between the optical signal transmitting module 62 and the optical signal receiving module 63 is approximately flush with the bottom surface of the pressing mechanism 5 (pressing claw 53), or the optical path 64 is slightly higher than the bottom surface of the pressing mechanism 5 (pressing claw 53).

[0152] When the pressing mechanism 5 (pressing claw 53) presses down on the bottom edge 102 of the window, the optical path 64 between the optical signal transmitting module 62 and the optical signal receiving module 63 is blocked by the bottom edge 102 of the window. The monitoring sensor mechanism 6 is triggered, and its control module sends a signal, and the control system controls the fifth drive unit 13 to stop operating.

[0153] The control system involved in this invention can be the control system of the entire set of equipment, used to control the switching operation of each electrical component.

[0154] As needed, the above technical solutions can be combined to achieve the best technical effect.

[0155] The above are merely the principles and preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several other modifications can be made based on the principles of the present invention, and these modifications should also be considered within the scope of protection of the present invention.

Claims

1. A door gripper assembly, characterized in that, Including the main support structure; The back of the main support is provided with a quick-connect structure for connecting with the robot; the front of the main support is provided with a suction cup mechanism for adsorbing the car door sheet metal, a support mechanism for supporting the bottom edge of the car door, and a pressing mechanism for pressing down the bottom edge of the car window; the front edge of the main support is provided with a positioning pin for positioning with the front edge of the car door, an upper hinge correction mechanism for correcting the upper hinge of the car door, and a lower hinge correction mechanism for correcting the lower hinge of the car door. The upper hinge correction mechanism includes a multi-directional adjustment module connected to the main support and an upper hinge correction claw connected to the multi-directional adjustment module. Under the action of the multi-directional adjustment module, the upper hinge correction claw can avoid the front edge of the door and cooperate with the upper hinge of the door for correction. The lower hinge correction mechanism includes a telescopic swing drive module connected to the main support and a lower hinge correction rod connected to the telescopic swing drive module. Under the action of the telescopic swing drive module, the lower hinge correction rod can avoid the front edge of the door and cooperate with the lower hinge of the door for correction. The multi-directional adjustment module includes a first drive unit connected to the main support, a sliding arm connected to the first drive unit, a swing arm hinged to the sliding arm, and a second drive unit connected between the swing arm and the sliding arm. The sliding arm includes a main arm and a secondary arm. The main arm is connected to the output end of the first drive unit, and the secondary arm is connected to the other end of the main arm and extends rearward. The rear end of the swing arm is hinged to the rear end of the secondary arm, the upper hinge correction claw is connected to the front end of the swing arm, and the output end of the second drive unit is hinged to the front end of the swing arm. When the second drive unit is in a retracted state, the swing arm can swing backward relative to the secondary arm, thereby allowing the upper hinge correction claw to avoid the front edge of the door. The telescopic swing drive module includes a fixed bracket connected to the main support, a fourth drive unit connected to the fixed bracket, and a swing plate slidably connected to the fixed bracket. One end of the swing plate is hinged to the output end of the fourth drive unit, and the lower hinge correction rod is connected to the other end of the swing plate. The fourth drive unit is used to drive the swing plate to slide relative to the fixed bracket. The swing plate is provided with a straight groove, and the middle of the rear side wall of the straight groove is provided with a rear groove. The fixed bracket is provided with a pin, and the pin is clearance-fitted in the straight groove. When the pin is in the rear groove, the swing plate drives the lower hinge correction rod to avoid the front edge of the door.

2. The door gripper assembly according to claim 1, characterized in that, The front end of the auxiliary arm is provided with a stop block, which can block the swing arm when the second drive unit is in the extended state.

3. The door gripper assembly according to claim 1, characterized in that, The upper hinge correction claw includes a correction claw main board and a correction claw action end connected to the correction claw main board. The correction claw main board is connected to the front end of the swing arm and extends to the front side. The correction claw action end extends toward the rear side of the correction claw main board and is arranged parallel to the swing arm.

4. The door gripper assembly according to claim 1, characterized in that, The main support is provided with a vertical guide rail, and the first drive unit is slidably connected to the vertical guide rail. The main support is also provided with a third drive unit for driving the first drive unit to slide up and down for adjustment.

5. The door gripper assembly according to any one of claims 1-4, characterized in that, The upper hinge correction claw includes a correction claw roller for actuating the upper hinge.

6. The door gripper assembly according to any one of claims 1-4, characterized in that, The main support is provided with a fifth drive unit, the output end of which is connected to a cantilever extending in the positive direction, and the pressing mechanism is connected to the cantilever. The fifth drive unit is used to drive the pressing mechanism to move up and down for adjustment. The cantilever is equipped with a monitoring sensor mechanism. When the pressing mechanism moves down to the designated position, the monitoring sensor mechanism sends a signal, and the fifth drive unit drives the pressing mechanism to stop at the designated position.

7. The door gripper assembly according to claim 6, characterized in that, The pressing mechanism includes a main body, a swing frame, and two pressing claws; The main body of the mechanism is connected to the cantilever, the swing frame is arranged along the front-to-back direction, the middle part of the swing frame is pivotally connected to the main body of the mechanism through a pivot shaft, and a pressure claw is hinged to the front and rear ends of the swing frame respectively; The main body of the mechanism is provided with a limiting member for limiting the swing amplitude of the swing frame.

8. The door gripper assembly according to claim 6, characterized in that, The monitoring sensor mechanism includes a mounting bracket, an optical signal transmitting module, and an optical signal receiving module; The mounting bracket is connected to the cantilever and is arranged on opposite sides of the cantilever along with the pressing mechanism; The optical signal transmitting module and the optical signal receiving module are located at opposite ends of the mounting bracket; Along the extension direction of the cantilever, the pressing mechanism is located between the optical signal transmitting module and the optical signal receiving module; When the pressing mechanism presses down on the bottom edge of the window, the optical path between the optical signal transmitting module and the optical signal receiving module is blocked by the bottom edge of the window, and the monitoring sensor mechanism emits a signal.

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