Gripper splicing device

Abstract

The invention relates to the technical field of gripper splicing equipment, and provides a gripper splicing device. Comprising a base, rolling wheels arranged on the base, a driver arranged on the base and used for driving the rolling wheels to rotate, a sliding table supported on the rolling wheels and used for conveying a vehicle body, a positioning table arranged on the base and a positioning mechanism arranged on the positioning table. And the gripper mechanism is used for gripping the vehicle body and is matched with the positioning mechanism.

Description

Technical Field

[0001] The invention belongs to the technical field of gripper splicing equipment, and more specifically, relates to a gripper splicing device. Background Art

[0002] Cars are very common in modern life. There are two or one very important positions in the body-in-white process, which combine the side panels, floor, ceiling beams, etc. into a body-in-white assembly. The existing technology basically uses a total assembly fixture plus a total assembly slide warehouse. All fixtures need to be replaced after the body changes, so different models need to switch all fixtures, and switching to manufacture different body types takes a lot of switching time. Summary of the invention

[0003] The object of the present invention is to provide a gripper splicing device to solve the technical problem in the prior art that switching to manufacture different vehicle bodies requires a lot of switching time.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a gripper splicing device, including: a base, a roller arranged on the base, a driver arranged on the base and used to drive the roller to rotate, a sliding table for supporting the roller and conveying the vehicle body, a positioning table arranged on the base, a positioning mechanism arranged on the positioning table, and a gripper mechanism for grasping the vehicle body and cooperating with the positioning mechanism.

[0005] Furthermore, the positioning platform includes: a first support frame, a second support frame, a third support frame, and a fourth support frame; the first support frame, the second support frame, the third support frame and the fourth support frame enclose a placement space for placing the sliding platform.

[0006] Further, the gripper mechanism includes: a left side enclosure positioning gripper, a right side enclosure positioning gripper, and a top cover positioning gripper; the positioning mechanism includes: a first positioning pin arranged on the first support frame and used to cooperate with the left side enclosure positioning gripper, a second positioning pin arranged on the second support frame and used to cooperate with the left side enclosure positioning gripper, a third positioning pin arranged on the third support frame and used to cooperate with the right side enclosure positioning gripper, a fourth positioning pin arranged on the fourth support frame and used to cooperate with the right side enclosure positioning gripper, a fifth positioning pin arranged on the left side enclosure positioning gripper and used to cooperate with the top cover positioning gripper, and a sixth positioning pin arranged on the right side enclosure positioning gripper and used to cooperate with the top cover positioning gripper.

[0007] Furthermore, the left side peripheral positioning gripper is provided with a first mounting platform for mounting on a robotic arm, the right side peripheral positioning gripper is provided with a second mounting platform for mounting on a robotic arm, and the top positioning gripper is provided with a third mounting platform for mounting on a robotic arm.

[0008] Furthermore, the first support frame, the second support frame, the third support frame, and the fourth support frame are respectively arranged to be spaced apart from each other.

[0009] Furthermore, the first support frame, the second support frame, the third support frame, and the fourth support frame are respectively detachably fixedly connected to the edge of the base.

[0010] Furthermore, it also includes: a vehicle body bottom positioning mechanism; the vehicle body bottom positioning mechanism includes: a fifth support frame arranged on the base and a bottom positioning pin arranged on the fifth support frame and used to cooperate with the vehicle body on the sliding platform.

[0011] Further, the bottom positioning pin extends in a vertical direction.

[0012] Furthermore, there are multiple rollers.

[0013] Furthermore, the driver is a motor; the motor drives the plurality of rollers to rotate via a chain or a belt.

[0014] The beneficial effects of the gripper splicing device provided by the present invention are as follows: compared with the prior art, the gripper splicing device provided by the present invention has a roller arranged on the base, a driver can drive the roller to rotate, a sliding table can be supported on the roller, and the sliding table can be moved when the roller rotates; the vehicle body can be placed on the sliding table and move with the sliding table; a positioning table is arranged on the base, a positioning mechanism is arranged on the positioning table, and the positioning mechanism can cooperate with the gripper mechanism to position the gripper mechanism; when replacing different vehicle body assemblies, only different gripper mechanisms need to be replaced, thereby improving the efficiency of switching different vehicle body assemblies. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A three-dimensional schematic diagram of a gripper splicing device provided in an embodiment of the present invention;

[0016] Figure 2 A schematic diagram of a three-dimensional assembly of a base, a sliding platform and a fifth support frame provided in an embodiment of the present invention;

[0017] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0018] Figure 4 A schematic top view of a base, a sliding platform and a fifth support frame provided in an embodiment of the present invention;

[0019] Figure 5 A three-dimensional schematic diagram of a left side peripheral positioning gripper provided in an embodiment of the present invention;

[0020] Figure 6 A three-dimensional schematic diagram of a top cover positioning gripper provided in an embodiment of the present invention;

[0021] Figure 7 A three-dimensional schematic diagram of a positioning platform provided in an embodiment of the present invention;

[0022] Figure 8 for Figure 7 Enlarged view of point B in the middle.

[0023] Among them, the reference numerals in the figure are:

[0024] 1-base; 21-roller; 22-driver; 3-sliding table; 41-first support frame; 42-second support frame; 43-third support frame; 431-third positioning pin; 432-third positioning wheel; 44-fourth support frame; 45-fifth support frame; 451-bottom positioning pin; 461-support column; 462-support wheel; 51-left side surrounding positioning gripper; 511-first mounting platform; 52-right side surrounding positioning gripper; 521-second mounting platform; 53-top cover positioning gripper; 531-third mounting platform. DETAILED DESCRIPTION

[0025] It should be noted that the specific embodiments are only used to explain the present invention, and are not used to limit the present invention.

[0026] It should be noted that, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. Among them, A and B can be singular or plural respectively.

[0027] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" or "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. When an element is referred to as being "fixed on" or "set on" another element, it may be directly on the other element or indirectly on the other element.

[0028] It should be noted that the directions or positional relationships indicated by terms such as “length”, “width”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0029] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0030] It should be noted that the term "plurality" means two or more than two, unless otherwise clearly and specifically defined.

[0031] Please also read Figures 1 to 8 The gripper splicing device provided by the present invention is now described. The gripper splicing device comprises: a base 1, a roller 21 arranged on the base 1, a driver 22 arranged on the base 1 and used to drive the roller 21 to rotate, a sliding table 3 used to support the roller 21 and transport the vehicle body, a positioning table arranged on the base 1, a positioning mechanism arranged on the positioning table, and a gripper mechanism used to grasp the vehicle body and cooperate with the positioning mechanism.

[0032] In this way, a roller 21 is provided on the base 1, and a driver 22 can drive the roller 21 to rotate, and the sliding table 3 can be supported on the roller 21, and the sliding table 3 can be moved when the roller 21 rotates; the vehicle body can be placed on the sliding table 3 and move with the sliding table 3; a positioning table is provided on the base 1, and a positioning mechanism is provided on the positioning table, and the positioning mechanism can cooperate with the gripper mechanism to position the gripper mechanism; when replacing different vehicle body assemblies, only different gripper mechanisms need to be replaced, thereby improving the efficiency of switching different vehicle body assemblies.

[0033] In one embodiment, the roller 21 is rotatably disposed on the base 1 around a rotation axis.

[0034] In one embodiment, the rotating shaft is arranged horizontally.

[0035] For further information, see Figures 1 to 8As a specific embodiment of the gripper splicing device provided by the present invention, the positioning platform includes: a first support frame 41, a second support frame 42, a third support frame 43, and a fourth support frame 44; the first support frame 41, the second support frame 42, the third support frame 43 and the fourth support frame 44 enclose a placement space for the sliding platform 3. In this way, the sliding platform 3 can be placed in the placement space to reduce the collision of external objects.

[0036] For further information, see Figures 1 to 8 As a specific embodiment of the gripper splicing device provided by the present invention, the gripper mechanism includes: a left side periphery positioning gripper 51, a right side periphery positioning gripper 52, and a top cover positioning gripper 53; the positioning mechanism includes: a first positioning pin arranged on the first support frame 41 and used to cooperate with the left side periphery positioning gripper 51, a second positioning pin arranged on the second support frame 42 and used to cooperate with the left side periphery positioning gripper 51, a third positioning pin 431 arranged on the third support frame 43 and used to cooperate with the right side periphery positioning gripper 52, a fourth positioning pin arranged on the fourth support frame 44 and used to cooperate with the right side periphery positioning gripper 52, a fifth positioning pin arranged on the left side periphery positioning gripper 51 and used to cooperate with the top cover positioning gripper 53, and a sixth positioning pin arranged on the right side periphery positioning gripper 52 and used to cooperate with the top cover positioning gripper 53. In this way, the left side enclosure positioning gripper 51 can be kept relatively stable with the first support frame 41 through the first positioning pin, and the left side enclosure positioning gripper 51 can be kept relatively stable with the second support frame 42 through the second positioning pin; the right side enclosure positioning gripper 52 can be kept relatively stable with the third support frame 43 through the third positioning pin 431, and the right side enclosure positioning gripper 52 can be kept relatively stable with the fourth support frame 44 through the fourth positioning pin; the top cover positioning gripper 53 can be kept relatively stable with the left side enclosure positioning gripper 51 through the fifth positioning pin, and the top cover positioning gripper 53 can be kept relatively stable with the right side enclosure positioning gripper 52 through the sixth positioning pin.

[0037] In one embodiment, the left side periphery positioning gripper 51 has a plurality of first cylinder jaws for grasping the vehicle body. In one embodiment, the right side periphery positioning gripper 52 has a plurality of second cylinder jaws for grasping the vehicle body. In one embodiment, the top cover positioning gripper 53 has a plurality of third cylinder jaws for grasping the vehicle body.

[0038] In one embodiment, the left side peripheral positioning gripper 51 has a first positioning hole and a second positioning hole. The first positioning hole can be matched with the first positioning pin, and the second positioning hole can be matched with the second positioning pin.

[0039] In one embodiment, a third positioning hole and a fourth positioning hole are provided on the right peripheral positioning gripper 52 . The third positioning hole can cooperate with the third positioning pin 431 , and the fourth positioning hole can cooperate with the fourth positioning pin.

[0040] In one embodiment, the top cover positioning gripper 53 has a fifth positioning hole and a sixth positioning hole. The fifth positioning hole can be matched with the fifth positioning pin, and the sixth positioning hole can be matched with the sixth positioning pin.

[0041] In one embodiment, a first positioning wheel is provided on the first support frame 41, and the first positioning wheel is installed on the first support frame 41 through a first bending plate having at least one bending portion, and the first positioning wheel is located radially outside the axis of the first positioning pin. In this way, the bending portion can change the stress propagation direction. In one embodiment, the axis of the first positioning pin is perpendicular to the axis of the first positioning wheel. In one embodiment, one end of the first positioning pin is a first tip portion, the first tip portion is conical, and a first limit block is arranged at a distance from the front end of the first tip portion, and the first limit block is arranged on the first support frame 41. In this way, when the first positioning pin is inserted into the vehicle body, the first limit block can reduce the detachment of the vehicle body from the first positioning pin. In one embodiment, the first limit block is located on the first support frame 41. In one embodiment, a first base frame and a first top frame are provided on the first support frame 41, the first base frame and the first top frame are U-shaped respectively, and one end of the first base frame is connected to one end of the first top frame, the first positioning pin is located at the intersection of the first base frame and the first top frame, the first positioning wheel is located at one end of the first base frame away from the first positioning pin, and the first stopper is located at one end of the first top frame away from the first positioning pin. In this way, the stress can change the stress direction multiple times along the U-shaped first base frame and the first top frame, and the U-shaped first base frame and the first top frame can provide a buffer space. In one embodiment, a plurality of first elastic buffer pads are arranged on the first support frame 41 between the first positioning pin and the first positioning wheel, and a first slot is provided on the first support frame 41, and the first elastic buffer pad is clamped in the first slot. In this way, the first elastic buffer pad can absorb the impact force. In one embodiment, the first slot is spiral. In this way, the stress can be transmitted along the spiral first slot. In one embodiment, the closer the first slot is to the first positioning pin, the narrower the width of the first slot is. In this way, when stress is transmitted along the first slot, in addition to being transmitted in a spiral manner, the stress can also change due to the width of the first slot. In one embodiment, the inner wall of the first slot is provided with a plurality of first bosses, and the first bosses are in the shape of right-angled ridges. In this way, when the stress is transmitted along the first slot and encounters the first boss in the shape of right-angled ridges, the stress direction and state will be changed, and the first boss also enhances the strength of the inner wall of the first slot. In one embodiment, the first boss extends in a straight line direction. In one embodiment, a plurality of first stress release grooves perpendicular to the extension direction of the first boss are provided on the first boss. In this way, the first boss can release stress through the first stress release groove during the extrusion process. In one embodiment, the first stress release groove is filled with a first elastomer. In this way, the first elastomer can undergo elastic deformation. In one embodiment, the width of the plurality of first stress release grooves gradually decreases (or increases) in the extension direction of the first boss. This makes it difficult for resonance to occur between different first stress release grooves when vibration is transmitted along the first boss.

[0042] In one embodiment, a second positioning wheel is provided on the second support frame 42, and the second positioning wheel is installed on the second support frame 42 through a second bent plate having at least one bent portion, and the second positioning wheel is located radially outside the axis of the second positioning pin. In this way, the bent portion can change the stress propagation direction. In one embodiment, the axis of the second positioning pin is perpendicular to the axis of the second positioning wheel. In one embodiment, one end of the second positioning pin is a second tip portion, the second tip portion is conical, and a second limit block is arranged at a distance from the front end of the second tip portion, and the second limit block is arranged on the second support frame 42. In this way, when the second positioning pin is inserted into the vehicle body, the second limit block can reduce the vehicle body from detaching from the second positioning pin. In one embodiment, the second limit block is located at the second support frame 42. In one embodiment, the second support frame 42 is provided with a second base frame and a second top frame, the second base frame and the second top frame are U-shaped respectively, and one end of the second base frame is connected to one end of the second top frame, the second positioning pin is located at the intersection of the second base frame and the second top frame, the second positioning wheel is located at one end of the second base frame away from the second positioning pin, and the second stopper is located at one end of the second top frame away from the second positioning pin. In this way, the stress can change the stress direction multiple times along the U-shaped second base frame and the second top frame, and the U-shaped second base frame and the second top frame can provide a buffer space. In one embodiment, a plurality of second elastic buffer pads are arranged on the second support frame 42 between the second positioning pin and the second positioning wheel, and a second slot is provided on the second support frame 42, and the second elastic buffer pad is clamped in the second slot. In this way, the second elastic buffer pad can absorb the impact force. In one embodiment, the second slot is spiral. In this way, the stress can be transmitted along the spiral second slot. In one embodiment, the closer the second slot is to the second positioning pin, the narrower the width of the second slot. In this way, when stress is transmitted along the second slot, in addition to being transmitted in a spiral manner, the stress can also change due to the width of the second slot. In one embodiment, the inner wall of the second slot is provided with a plurality of second bosses, and the second bosses are in the shape of right-angled ridges. In this way, when the stress is transmitted along the second slot and encounters the second boss in the shape of right-angled ridges, the stress direction and state will be changed, and the second bosses will also enhance the strength of the inner wall of the second slot. In one embodiment, the second boss extends in a straight line direction. In one embodiment, a plurality of second stress release grooves perpendicular to the extension direction of the second boss are provided on the second boss. In this way, the second boss can release stress through the second stress release groove during the extrusion process. In one embodiment, the second stress release groove is filled with a second elastomer. In this way, the second elastomer can undergo elastic deformation. In one embodiment, the width of the plurality of second stress release grooves gradually decreases (or increases) in the extension direction of the second boss. This makes it difficult for resonance to occur between different second stress release grooves when vibration is transmitted along the second boss.

[0043] In one embodiment, a third positioning wheel 432 is provided on the third support frame 43, and the third positioning wheel 432 is installed on the third support frame 43 through a third bending plate having at least one bending portion, and the third positioning wheel 432 is located radially outside the axis of the third positioning pin 431. In this way, the bending portion can change the stress propagation direction. In one embodiment, the axis of the third positioning pin 431 is perpendicular to the axis of the third positioning wheel 432. In one embodiment, one end of the third positioning pin 431 is a third tip portion, the third tip portion is conical, and a third limit block is arranged at intervals at the front end of the third tip portion, and the third limit block is arranged on the third support frame 43. In this way, when the third positioning pin 431 is inserted into the vehicle body, the third limit block can reduce the vehicle body from detaching from the third positioning pin 431. In one embodiment, the third limit block is located on the third support frame 43. In one embodiment, the third support frame 43 is provided with a third base frame and a third top frame, the third base frame and the third top frame are U-shaped respectively, and one end of the third base frame is connected to one end of the third top frame, the third positioning pin 431 is located at the intersection of the third base frame and the third top frame, the third positioning wheel is located at one end of the third base frame away from the third positioning pin 431, and the third limiter is located at one end of the third top frame away from the third positioning pin 431. In this way, the stress can change the stress direction multiple times along the U-shaped third base frame and the third top frame, and the U-shaped third base frame and the third top frame can provide a buffer space. In one embodiment, a plurality of third elastic buffer pads are arranged on the third support frame 43 between the third positioning pin 431 and the third positioning wheel 432, and a third slot is provided on the third support frame 43, and the third elastic buffer pad is clamped in the third slot. In this way, the third elastic buffer pad can absorb the impact force. In one embodiment, the third slot is spiral. In this way, the stress can be transmitted along the spiral third slot. In one embodiment, the closer the third slot is to the third positioning pin 431, the narrower the width of the third slot is. In this way, when the stress is transmitted along the third slot, in addition to being transmitted in a spiral, the stress can also change due to the width of the third slot. In one embodiment, there are multiple third bosses on the inner wall of the third slot, and the third bosses are right-angled prism-shaped. In this way, when the stress is transmitted along the third slot and encounters the third boss in the shape of a right-angled prism, the stress direction and state will change, and the third boss also enhances the strength of the inner wall of the third slot. In one embodiment, the third boss extends in a straight line direction. In one embodiment, a plurality of third stress release grooves perpendicular to the extension direction of the third boss are provided on the third boss. In this way, the third boss can release stress through the third stress release groove during the extrusion process. In one embodiment, the third stress release groove is filled with a third elastomer. In this way, the third elastomer can undergo elastic deformation. In one embodiment, in the extension direction of the third boss, the width of the multiple third stress release grooves gradually decreases (or increases). When the vibration is transmitted along the third boss, resonance is not likely to occur between different third stress release grooves.

[0044] In one embodiment, a fourth positioning wheel is provided on the fourth support frame 44, and the fourth positioning wheel is installed on the fourth support frame 44 through a fourth bent plate having at least one bent portion, and the fourth positioning wheel is located radially outside the axis of the fourth positioning pin. In this way, the bent portion can change the stress propagation direction. In one embodiment, the axis of the fourth positioning pin is perpendicular to the axis of the fourth positioning wheel. In one embodiment, one end of the fourth positioning pin is a fourth tip portion, the fourth tip portion is conical, and a fourth limit block is arranged at a distance from the front end of the fourth tip portion, and the fourth limit block is arranged on the fourth support frame 44. In this way, when the fourth positioning pin is inserted into the vehicle body, the fourth limit block can reduce the vehicle body from detaching from the fourth positioning pin. In one embodiment, the fourth limit block is located on the fourth support frame 44. In one embodiment, a fourth base frame and a fourth top frame are provided on the fourth support frame 44, the fourth base frame and the fourth top frame are U-shaped respectively, and one end of the fourth base frame is connected to one end of the fourth top frame, the fourth positioning pin is located at the intersection of the fourth base frame and the fourth top frame, the fourth positioning wheel is located at one end of the fourth base frame away from the fourth positioning pin, and the fourth limiter is located at one end of the fourth top frame away from the fourth positioning pin. In this way, the stress can change the stress direction many times along the U-shaped fourth base frame and the fourth top frame, and the U-shaped fourth base frame and the fourth top frame can provide a buffer space. In one embodiment, a plurality of fourth elastic buffer pads are arranged on the fourth support frame 44 between the fourth positioning pin and the fourth positioning wheel, and a fourth slot is provided on the fourth support frame 44, and the fourth elastic buffer pad is clamped in the fourth slot. In this way, the fourth elastic buffer pad can absorb the impact force. In one embodiment, the fourth slot is spiral. In this way, the stress can be transmitted along the spiral fourth slot. In one embodiment, the closer the fourth slot is to the fourth positioning pin, the narrower the width of the fourth slot. In this way, when stress is transmitted along the fourth slot, in addition to being transmitted in a spiral manner, the stress can also change due to the width of the fourth slot. In one embodiment, the inner wall of the fourth slot has a plurality of fourth bosses, and the fourth bosses are in the shape of right angle ridges. In this way, when the stress is transmitted along the fourth slot and encounters the fourth boss in the shape of right angle ridges, the stress direction and state will change, and the fourth boss also enhances the strength of the inner wall of the fourth slot. In one embodiment, the fourth boss extends in a straight line direction. In one embodiment, a plurality of fourth stress release grooves perpendicular to the extension direction of the fourth boss are provided on the fourth boss. In this way, the fourth boss can release stress through the fourth stress release groove during the extrusion process. In one embodiment, the fourth stress release groove is filled with a fourth elastomer. In this way, the fourth elastomer can undergo elastic deformation. In one embodiment, in the extension direction of the fourth boss, the width of the plurality of fourth stress release grooves gradually decreases (or increases). This makes it difficult for resonance to occur between different fourth stress release grooves when vibration is transmitted along the fourth boss.

[0045] In one embodiment, the first stress release groove, the second stress release groove, the third stress release groove and the fourth stress release groove are respectively arranged in parallel.

[0046] For further information, see Figures 1 to 8 As a specific embodiment of the gripper splicing device provided by the present invention, a first mounting platform 511 for mounting on a mechanical arm is provided on the left side surrounding positioning gripper 51, a second mounting platform 521 for mounting on a mechanical arm is provided on the right side surrounding positioning gripper 52, and a third mounting platform 531 for mounting on a mechanical arm is provided on the top positioning gripper. In this way, it is convenient for the mechanical arm to transfer the left side surrounding positioning gripper 51 through the first mounting platform 511, to transfer the right side surrounding positioning gripper 52 through the second mounting platform 521, and to transfer the top positioning gripper through the third mounting platform 531.

[0047] For further information, see Figures 1 to 8 As a specific embodiment of the gripper splicing device provided by the present invention, the first support frame 41, the second support frame 42, the third support frame 43, and the fourth support frame 44 are respectively arranged at intervals from each other. In this way, the first support frame 41, the second support frame 42, the third support frame 43, and the fourth support frame 44 are not easy to transmit stress to each other.

[0048] For further information, see Figures 1 to 8 As a specific embodiment of the gripper splicing device provided by the present invention, the first support frame 41, the second support frame 42, the third support frame 43, and the fourth support frame 44 are respectively detachably fixedly connected to the edge of the base 1. In this way, the first support frame 41, the second support frame 42, the third support frame 43, and the fourth support frame 44 can be respectively integrated with the base 1.

[0049] For further information, see Figures 1 to 8 As a specific embodiment of the gripper splicing device provided by the present invention, it also includes: a body bottom positioning mechanism; the body bottom positioning mechanism includes: a fifth support frame 45 provided on the base 1 and a bottom positioning pin 451 provided on the fifth support frame 45 and used to cooperate with the body on the sliding platform 3. In this way, the bottom positioning pin 451 can position the bottom of the body.

[0050] In one embodiment, the bottom of the vehicle body has a bottom positioning hole, and the bottom positioning hole cooperates with the bottom positioning pin 451 .

[0051] In one embodiment, a support column 461 is disposed on the base 1 , and a support wheel 462 is disposed on the top of the support column 461 , and the vehicle body can be supported on the support wheel 462 for positioning.

[0052] For further information, see Figures 1 to 8As a specific embodiment of the gripper splicing device provided by the present invention, the bottom positioning pin 451 extends in the vertical direction. In this way, the vehicle body can be matched with the bottom positioning pin 451 from top to bottom.

[0053] For further information, see Figures 1 to 8 As a specific embodiment of the gripper splicing device provided by the present invention, there are multiple rollers 21. In this way, the sliding platform 3 can be supported on multiple rollers 21, and the movement is more stable.

[0054] For further information, see Figures 1 to 8 As a specific implementation of the gripper splicing device provided by the present invention, the driver 22 is a motor; the motor drives the multiple rollers 21 to rotate through a chain or a belt.

[0055] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A gripper splicing device, characterized in that: include: A base, a roller arranged on the base, a driver arranged on the base and used to drive the roller to rotate, a sliding table for supporting the roller and conveying the vehicle body, a positioning table arranged on the base, a positioning mechanism arranged on the positioning table, and a gripping mechanism for grasping the vehicle body and cooperating with the positioning mechanism.

2. The gripper splicing device according to claim 1, characterized in that: The positioning platform includes: a first support frame, a second support frame, a third support frame, and a fourth support frame; the first support frame, the second support frame, the third support frame and the fourth support frame enclose a placement space for placing the sliding platform.

3. The gripper splicing device according to claim 2, characterized in that: The gripper mechanism includes: a left side enclosure positioning gripper, a right side enclosure positioning gripper, and a top cover positioning gripper; the positioning mechanism includes: a first positioning pin arranged on the first support frame and used to cooperate with the left side enclosure positioning gripper, a second positioning pin arranged on the second support frame and used to cooperate with the left side enclosure positioning gripper, a third positioning pin arranged on the third support frame and used to cooperate with the right side enclosure positioning gripper, a fourth positioning pin arranged on the fourth support frame and used to cooperate with the right side enclosure positioning gripper, a fifth positioning pin arranged on the left side enclosure positioning gripper and used to cooperate with the top cover positioning gripper, and a sixth positioning pin arranged on the right side enclosure positioning gripper and used to cooperate with the top cover positioning gripper.

4. The gripper splicing device according to claim 3, characterized in that: The left side peripheral positioning gripper is provided with a first mounting platform for mounting on a robotic arm, the right side peripheral positioning gripper is provided with a second mounting platform for mounting on a robotic arm, and the top positioning gripper is provided with a third mounting platform for mounting on a robotic arm.

5. The gripper splicing device according to claim 3, characterized in that: The first support frame, the second support frame, the third support frame, and the fourth support frame are respectively arranged at intervals from each other.

6. The gripper splicing device according to claim 3, characterized in that: The first support frame, the second support frame, the third support frame, and the fourth support frame are respectively detachably fixedly connected to the edge of the base.

7. The gripper splicing device according to claim 3, characterized in that: Also includes: Underbody positioning mechanism; The vehicle body bottom positioning mechanism comprises: a fifth support frame arranged on the base and a bottom positioning pin arranged on the fifth support frame and used for cooperating with the vehicle body on the sliding platform.

8. The gripper splicing device according to claim 7, characterized in that: The bottom positioning pin extends in a vertical direction.

9. The gripper splicing device according to any one of claims 1 to 8, characterized in that: The number of the rollers is multiple.

10. The gripper splicing device according to claim 9, characterized in that: The driver is a motor; the motor drives the plurality of rollers to rotate via a chain or a belt.

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