Docking structure and engine compartment vertical plate splicing and positioning device

Abstract

The invention relates to the technical field of automobile manufacturing, in particular to a Docking structure and engine compartment vertical plate splicing and positioning device which comprises a mounting frame (1). A vertical plate gripper supporting and fixing structure, a vertical plate gripper positioning structure and a vertical plate gripper sensing structure are respectively arranged on the mounting frame (1); the vertical plate gripper supporting and fixing structure, the vertical plate gripper positioning structure and the vertical plate gripper sensing structure are all connected with a vertical plate gripper. Compared with the prior art that a hole pin type positioning mechanism is adopted, the vertical plate gripper can be spliced with the Docking from top to bottom, and the quality problems that in the prior art, a hole pin type positioning mechanism is adopted, transverse splicing can only be met, and dislocation is caused in the splicing process of a vertical plate and an engine cabin are solved; the assembling quality can be guaranteed, the requirement for the dimensional precision of the vertical plate part is low, the assembling moving track of the robot is easy to debug, and the station efficiency can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile manufacturing, and in particular to a docking structure and an engine compartment vertical plate assembly and positioning device. Background Art

[0002] In the automobile welding manufacturing process, the vertical plate and the engine compartment assembly are mostly wrapped upper and lower combined structures, and the vertical plate grippers that are usually combined with Docking (precision positioning and clamping structure) are mostly left and right guided and positioned, resulting in high requirements for the dimensional accuracy of the vertical plate and the engine compartment parts, difficulty in debugging the robot's running trajectory, and easy occurrence of problems such as misalignment and deformation of the vertical plate and the engine compartment overlap.

[0003] After searching, the applicant found that the Chinese patent document with publication number 116587952A disclosed a vehicle expansion dock locking structure, a vehicle expansion dock structure, a vehicle-mounted device and a vehicle on August 15, 2023. The vehicle expansion dock locking structure includes: a first connecting component, including a locking part and an unlocking part, the locking part and the unlocking part are connected to the vehicle body frame, the locking part has a locking seat body, and the locking seat body is provided with a movable clamping structure that cooperates with the vehicle-mounted device, and the unlocking part has an unlocking drive structure slidably connected to the locking seat body, and the unlocking drive structure slides relative to the locking seat body to drive the clamping structure to move to an unlocking position to unlock the vehicle-mounted device; this device also cannot solve the above technical problems.

[0004] Therefore, in order to improve or solve at least one of the above problems, it is necessary to provide a docking structure and an engine compartment vertical plate assembly and positioning device that can realize the upper and lower assembly of the docking and vertical plate grippers. Summary of the invention

[0005] The purpose of the present invention is to provide a docking structure and an engine compartment vertical plate assembly and positioning device capable of realizing the upper and lower assembly of docking and vertical plate grippers.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a Docking structure, including an installation frame; the installation frame is respectively provided with a vertical plate gripper support and fixing structure, a vertical plate gripper positioning structure and a vertical plate gripper sensing structure; the vertical plate gripper support and fixing structure, the vertical plate gripper positioning structure and the vertical plate gripper sensing structure are all connected to the vertical plate gripper.

[0007] The mounting frame comprises a crossbeam; both ends of the crossbeam are respectively connected to support rods; a mounting plate is provided on the support rod; the vertical plate gripper support fixing structure, the vertical plate gripper positioning structure and the vertical plate gripper sensing structure are all connected to the mounting plate.

[0008] The vertical plate gripper support fixing structure includes a first Y-direction support positioning reference block and a Z-direction auxiliary support positioning reference block; the first Y-direction support positioning reference block is arranged at the top of the mounting plate; the Z-direction auxiliary support positioning reference block is arranged at the bottom of the mounting plate; a second Y-direction support positioning reference block is arranged between the first Y-direction support positioning reference block and the Z-direction auxiliary support positioning reference block.

[0009] A Y-direction cylinder is provided on one side of the mounting plate; the Y-direction cylinder comprises a Y-direction clamping arm.

[0010] The vertical plate gripper positioning structure includes an XZ-direction support positioning reference seat; a first position adjustment block is provided on the mounting plate; the XZ-direction support positioning reference seat is connected to the first position adjustment block; a positioning groove is provided on the top of the XZ-direction support positioning reference seat; a Z-direction cylinder is provided on one side of the Y-direction cylinder; the Z-direction cylinder includes a Z-direction clamping arm; and the Z-direction clamping arm is connected to a Z-direction clamping block.

[0011] The vertical plate gripper sensing structure includes an in-place sensor male head and an anti-error contact sensor; the mounting plate includes a first mounting plate and a second mounting plate; the in-place sensor male head is arranged on the first mounting plate; the anti-error contact sensor is arranged on the second mounting plate.

[0012] A vertical plate assembly and positioning device for an engine compartment comprises the Docking structure and a vertical plate gripper; the vertical plate gripper is respectively provided with a Docking positioning structure, a vertical plate positioning structure and a vertical plate clamping structure.

[0013] The vertical plate gripper comprises a gripper mounting frame; the gripper mounting frame comprises a top crossbeam and a bottom crossbeam; a support beam is provided between the top crossbeam and the bottom crossbeam;

[0014] The Docking positioning structure includes a Z-direction auxiliary support positioning wheel and a third Y-direction support positioning reference block; the Z-direction auxiliary support positioning wheel and the third Y-direction support positioning reference block are respectively arranged at both ends of the support beam; a fourth Y-direction support positioning reference block is arranged on one side of the Z-direction auxiliary support positioning wheel; a second position adjustment block is arranged between the third Y-direction support positioning reference block and the fourth Y-direction support positioning reference block; an XZ-direction support positioning mounting block is connected to the second position adjustment block; and an in-position sensor female head is arranged on the bottom crossbeam.

[0015] The vertical plate positioning structure includes a main positioning pin, a first auxiliary positioning pin and a second auxiliary positioning pin; a vertical plate positioning plate is provided on one side of the top beam; the main positioning pin is provided on the vertical plate positioning plate; the first auxiliary positioning pin is provided on the end of the top beam; the second auxiliary positioning pin is provided on one side of the bottom beam; a vertical plate in-position sensor is provided on the bottom beam.

[0016] The vertical plate clamping structure includes a vertical plate clamping cylinder; the vertical plate clamping cylinder is connected to the vertical plate positioning plate, and the vertical plate clamping cylinder includes a vertical plate clamping arm; a vertical plate positioning reference block is provided on the vertical plate positioning reference block; the vertical plate positioning reference block and the vertical plate clamping arm are provided with vertical plate parts.

[0017] The beneficial effects of this application are:

[0018] The engine compartment vertical plate assembly and positioning device of the present application includes Docking and a vertical plate gripper, wherein the Docking includes an installation frame, a vertical plate gripper supporting and fixing structure, a vertical plate gripper positioning structure and a vertical plate gripper sensing structure; the vertical plate gripper includes a Docking positioning structure, a vertical plate positioning structure and a vertical plate clamping structure; the vertical plate gripper and the Docking can be assembled from top to bottom, which is compared with the hole-pin positioning mechanism used in the prior art, which can only meet the requirements of horizontal assembly, resulting in quality problems such as misalignment between the vertical plate and the engine compartment during the assembly process; the assembly quality that can be guaranteed by the present application has low requirements on the dimensional accuracy of the vertical plate parts, and the robot assembly operation trajectory is easy to debug, which can effectively improve the work station efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0020] Figure 1 This is a schematic diagram of the Docking structure of this application.

[0021] Figure 2 This is a schematic diagram of the structure of the vertical plate gripper of this application.

[0022] Figure 3 This is a schematic diagram of the connection structure between the XZ-direction support positioning reference seat and the XZ-direction support positioning mounting block of the present application.

[0023] Figure 4 This is a schematic structural diagram of the engine compartment vertical plate assembly and positioning device of the present application.

[0024] The marks in the above figure are:

[0025] The markings in the figure are:

[0026] 1. Install the frame.

[0027] 2. Beam,

[0028] 3. Support rod,

[0029] 4. Mounting plate, 401, first mounting plate, 402, second mounting plate,

[0030] 5. First Y-axis support positioning reference block, 501. Z-axis auxiliary support positioning reference block, 502. Second Y-axis support positioning reference block, 503. Y-axis cylinder, 504. Y-axis clamping arm,

[0031] 6. XZ direction support positioning reference seat, 601. first position adjustment block, 602. positioning groove, 603. Z direction cylinder, 604. Z direction clamping arm, 605. Z direction clamping block,

[0032] 7. In-place sensor male connector, 701, anti-mistake contact sensor,

[0033] 8. Grip mounting frame, 801. Top beam, 802. Bottom beam, 803. Support beam,

[0034] 9. Z-axis auxiliary support positioning wheel, 901. Third Y-axis support positioning reference block, 902. Fourth Y-axis support positioning reference block, 903. Second position adjustment block, 904. XZ-axis support positioning mounting block, 905. In-position sensor female head,

[0035] 10. Main positioning pin, 101. First auxiliary positioning pin, 102. Second auxiliary positioning pin, 103. Vertical plate in-place sensor,

[0036] 11. Vertical plate positioning plate, 111. Vertical plate clamping cylinder, 112. Vertical plate clamping arm, 113. Vertical plate positioning reference block. DETAILED DESCRIPTION

[0037] The specific implementation methods of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, with the aim of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention and facilitating their implementation.

[0038] Figure 1 The docking structure shown includes a mounting frame 1; the mounting frame 1 is respectively provided with a vertical plate gripper support and fixing structure, a vertical plate gripper positioning structure and a vertical plate gripper sensing structure; the vertical plate gripper support and fixing structure, the vertical plate gripper positioning structure and the vertical plate gripper sensing structure are all connected to the vertical plate gripper.

[0039] The vertical plate gripper support fixing structure can realize stable support of the vertical plate gripper in the vertical direction; the Docking structure is fixedly installed on one side of the white body, and the vertical plate gripper stably grasps the vertical plate parts; the vertical plate gripper positioning structure can realize the precise positioning of the Docking structure and the vertical plate gripper, so as to realize the precise upper and lower assembly positioning of the vertical plate parts and the white body; the vertical plate gripper sensing structure can detect whether the Docking structure and the vertical plate gripper are in place, so as to ensure the assembly accuracy of the two.

[0040] The mounting frame 1 comprises a crossbeam 2; both ends of the crossbeam 2 are respectively connected with support rods 3; a mounting plate 4 is arranged on the support rod 3; a vertical plate gripper support fixing structure, a vertical plate gripper positioning structure and a vertical plate gripper sensing structure are all connected to the mounting plate 4.

[0041] The mounting frame 1 is a square frame; a triangular bracket is connected to the bottom of the mounting frame 1; the triangular bracket is connected to the ground bolts; the mounting frame 1 is arranged on one side of the body-in-white; mounting plates 4 are connected to both sides of the mounting frame 1; the mounting plate 4 is fixedly connected to the support rod 3; the vertical plate gripper support fixing structure, the vertical plate gripper positioning structure and the vertical plate gripper sensing structure are all fixedly connected to the mounting plate 4.

[0042] The vertical plate gripper support fixing structure includes a first Y-axis support positioning reference block 5 and a Z-axis auxiliary support positioning reference block 501; the first Y-axis support positioning reference block 5 is arranged at the top of the mounting plate 4; the Z-axis auxiliary support positioning reference block 501 is arranged at the bottom of the mounting plate 4; a second Y-axis support positioning reference block 502 is arranged between the first Y-axis support positioning reference block 5 and the Z-axis auxiliary support positioning reference block 501.

[0043] The first Y-direction support positioning reference block 5, the second Y-direction support positioning reference block 502 and the Z-direction auxiliary support positioning reference block 501 are all fixedly connected to the side of the mounting plate 4; the first Y-direction support positioning reference block 5 is fixedly connected to the top of the mounting plate 4; the second Y-direction support positioning reference block 502 is fixedly connected to the middle of the mounting plate 4; the Z-direction auxiliary support positioning reference block 501 is fixedly connected to the bottom of the mounting plate 4; the first Y-direction support positioning reference block 5 and the second Y-direction support positioning reference block 502 can ensure the Y-direction (from the co-pilot to the main driver's seat of the car) splicing accuracy of the vertical plate gripper and the mounting frame 1; the Z-direction auxiliary support positioning reference block 501 can provide stable support for the vertical plate gripper, and can ensure the Z-direction (from the bottom of the car to the roof) splicing accuracy of the vertical plate gripper and the mounting frame 1.

[0044] A Y-direction cylinder 503 is provided on one side of the mounting plate 4 ; the Y-direction cylinder 503 includes a Y-direction clamping arm 504 .

[0045] A third Y-direction support positioning reference block 901 and a fourth Y-direction support positioning reference block 902 are provided on the vertical plate gripper; when the vertical plate gripper is installed on the mounting frame 1, the third Y-direction support positioning reference block 901 is pressed against the first Y-direction support positioning reference block 5; the fourth Y-direction support positioning reference block 902 is pressed against the second Y-direction support positioning reference block 502; two Y-direction cylinders 503 are fixedly connected to one side of the mounting plate 4; the clamping arm 504 is pressed against the back side of the vertical plate gripper, thereby clamping the vertical plate gripper and the mounting frame 1, thereby achieving stable fixation of the vertical plate gripper and the mounting frame 1.

[0046] The vertical plate gripper positioning structure includes an XZ-direction support positioning reference seat 6; a first position adjustment block 601 is provided on the mounting plate 4; the XZ-direction support positioning reference seat 6 is connected to the first position adjustment block 601; a positioning groove 602 is provided on the top of the XZ-direction support positioning reference seat 6; a Z-direction cylinder 603 is provided on one side of the Y-direction cylinder 503; the Z-direction cylinder 603 includes a Z-direction clamping arm 604; the Z-direction clamping arm 604 is connected to a Z-direction clamping block 605.

[0047] The first position adjustment block 601 is an L-shaped block; an XZ-direction support positioning reference seat 6 is fixedly connected to the first position adjustment block 601; the first position adjustment block 601 is fixedly connected to the mounting plate 4; a V-shaped positioning groove 602 is provided on the XZ-direction support positioning reference seat 6; the first position adjustment block 601 can adjust the installation position of the XZ-direction support positioning reference seat 6, and can ensure that the positioning groove 602 is vertically upward; an XZ-direction support positioning mounting block 904 is provided on the vertical plate gripper; the XZ-direction support positioning mounting block 904 is provided with a V-shaped end, and the XZ-direction support positioning mounting block 904 is inserted into the XZ-direction support positioning reference seat 6, so as to realize the precise positioning of the vertical plate gripper on the mounting frame 1, and to facilitate the upper and lower splicing operation of the two; the Z-direction cylinder 603 is installed on one side of the mounting plate 4; the Z-direction cylinder 603 drives the Z-direction clamping arm 604 to move in the vertical direction, so that the Z-direction clamping block 605 presses the XZ-direction support positioning mounting block 904 in the XZ-direction support positioning reference seat 6.

[0048] The vertical plate gripper sensing structure includes an in-position sensor male head 7 and an anti-error contact sensor 701; the mounting plate 4 includes a first mounting plate 401 and a second mounting plate 402; the in-position sensor male head 7 is arranged on the first mounting plate 401; the anti-error contact sensor 701 is arranged on the second mounting plate 402.

[0049] The in-place sensor male head 7 is arranged on the side of the first mounting plate 401 close to the second mounting plate 402; the anti-error contact sensor 701 is arranged on the side of the second mounting plate 402 close to the first mounting plate 401; the vertical plate gripper is respectively provided with an in-place sensor female head 905 and a bottom cross beam 802; when the in-place sensor female head 905 is plugged into the in-place sensor male head 7 and the bottom cross beam 802 contacts the anti-error contact sensor 701, the vertical plate gripper and the mounting frame 1 are assembled into place.

[0050] A vertical plate assembly and positioning device for an engine compartment comprises a Docking structure and a vertical plate gripper. The vertical plate gripper is respectively provided with a Docking positioning structure, a vertical plate positioning structure and a vertical plate clamping structure.

[0051] The Docking positioning structure can provide precise positioning when the vertical plate gripper and the Docking structure are assembled up and down; the vertical plate gripper is driven by a robot, and the vertical plate gripper removes the vertical plate parts from the material rack, and assembles the vertical plate gripper and the vertical plate parts together on the Docking from top to bottom; the vertical plate positioning structure can accurately position the vertical plate parts on the vertical plate gripper; the vertical plate clamping structure can stably fix the vertical plate parts on the vertical plate gripper.

[0052] The vertical plate gripper includes a gripper mounting frame 8; the gripper mounting frame 8 includes a top crossbeam 801 and a bottom crossbeam 802; a support beam 803 is provided between the top crossbeam 801 and the bottom crossbeam 802;

[0053] The docking positioning structure includes a Z-direction auxiliary support positioning wheel 9 and a third Y-direction support positioning reference block 901; the Z-direction auxiliary support positioning wheel 9 and the third Y-direction support positioning reference block 901 are respectively arranged at both ends of the support beam 803; a fourth Y-direction support positioning reference block 902 is arranged on one side of the Z-direction auxiliary support positioning wheel 9; a second position adjustment block 903 is arranged between the third Y-direction support positioning reference block 901 and the fourth Y-direction support positioning reference block 902; an XZ-direction support positioning mounting block 904 is connected to the second position adjustment block 903; and an in-position sensor female head 905 is arranged on the bottom cross beam 802.

[0054] The third Y-axis support positioning reference block 901, the Z-axis auxiliary support positioning wheel 9, the fourth Y-axis support positioning reference block 902 and the second position adjustment block 903 are all fixedly connected to the support beam 803; the third Y-axis support positioning reference block 901 is arranged at the top of the support beam 803; the Z-axis auxiliary support positioning wheel 9 is arranged at the bottom of the support beam 803.

[0055] When the vertical plate gripper is installed on the mounting frame 1, the third Y-axis support positioning reference block 901 is pressed against the first Y-axis support positioning reference block 5; the fourth Y-axis support positioning reference block 902 is pressed against the second Y-axis support positioning reference block 502; the Z-axis auxiliary support positioning wheel 9 is pressed against the top of the Z-axis auxiliary support positioning reference block 501; the clamping arm 504 is pressed against the back side of the vertical plate gripper, thereby clamping the vertical plate gripper and the mounting frame 1, thereby achieving stable fixation of the vertical plate gripper and the mounting frame 1.

[0056] A V-shaped positioning groove 602 is provided on the XZ-direction support positioning reference seat 6; the XZ-direction support positioning mounting block 904 is provided with a V-shaped end, and the XZ-direction support positioning mounting block 904 is inserted into the XZ-direction support positioning reference seat 6, so as to realize the precise positioning of the vertical plate gripper on the mounting frame 1, and facilitate the upper and lower splicing operation of the two; the Z-direction cylinder 603 drives the Z-direction clamping arm 604 to move in the vertical direction, so that the Z-direction clamping block 605 presses the XZ-direction support positioning mounting block 904 in the XZ-direction support positioning reference seat 6.

[0057] When the female head 905 of the in-position sensor is plugged into the male head 7 of the in-position sensor, and the bottom crossbeam 802 contacts the error-proof contact sensor 701 , the vertical plate gripper and the installation frame 1 are assembled into place.

[0058] The vertical plate positioning structure includes a main positioning pin 10, a first auxiliary positioning pin 101 and a second auxiliary positioning pin 102; a vertical plate positioning plate 11 is provided on one side of the top beam 801; the main positioning pin 10 is provided on the vertical plate positioning plate 11; the first auxiliary positioning pin 101 is provided at the end of the top beam 801; the second auxiliary positioning pin 102 is provided on one side of the bottom beam 802; a vertical plate in-position sensor 103 is provided on the bottom beam 802.

[0059] The vertical plate gripper is driven by a robot, which takes the vertical plate parts from the rack and assembles the vertical plate gripper and the vertical plate parts together on the Docking from top to bottom; the main locating pin 10, the first auxiliary locating pin 101 and the second auxiliary locating pin 102 are distributed in a triangle on the gripper installation frame 8; locating pin holes are provided on the vertical plate parts; the main locating pin 10, the first auxiliary locating pin 101 and the second auxiliary locating pin 102 can realize the precise positioning and limiting of the vertical plate parts on the vertical plate gripper; when the vertical plate in-place sensor 103 contacts the vertical plate parts, the vertical plate parts are installed in place on the vertical plate gripper.

[0060] The vertical plate clamping structure includes a vertical plate clamping cylinder 111; the vertical plate clamping cylinder 111 is connected to the vertical plate positioning plate 11, and the vertical plate clamping cylinder 111 includes a vertical plate clamping arm 112; a vertical plate positioning reference block 113 is provided on the vertical plate positioning plate 11; the vertical plate positioning reference block 113 and the vertical plate clamping arm 112 are provided with vertical plate parts.

[0061] When the vertical plate part is installed on the vertical plate gripper, the vertical plate positioning reference block 113 is pressed against the profile of the vertical plate part; the vertical plate clamping cylinder 111 drives the vertical plate clamping arm 112 to press against the back side of the vertical plate part, thereby clamping the vertical plate part between the vertical plate clamping arm 112 and the vertical plate positioning reference block 113.

[0062] The specific workflow of the present invention is as follows:

[0063] The vertical plate gripper is driven by a robot, which takes the vertical plate parts from the rack and assembles them together on the Docking from top to bottom; the main locating pin 10, the first auxiliary locating pin 101 and the second auxiliary locating pin 102 realize the precise positioning and limiting of the vertical plate parts on the vertical plate gripper; when the vertical plate in-place sensor 103 contacts the vertical plate parts, the vertical plate parts are installed in place on the vertical plate gripper.

[0064] When the vertical plate part is installed on the vertical plate gripper, the vertical plate positioning reference block 113 is pressed against the profile of the vertical plate part; the vertical plate clamping cylinder 111 drives the vertical plate clamping arm 112 to press against the back side of the vertical plate part, thereby clamping the vertical plate part between the vertical plate clamping arm 112 and the vertical plate positioning reference block 113.

[0065] When the vertical plate gripper is installed on the mounting frame 1, the third Y-axis support positioning reference block 901 is pressed against the first Y-axis support positioning reference block 5; the fourth Y-axis support positioning reference block 902 is pressed against the second Y-axis support positioning reference block 502; the Z-axis auxiliary support positioning wheel 9 is pressed against the top of the Z-axis auxiliary support positioning reference block 501; the clamping arm 504 is pressed against the back side of the vertical plate gripper, thereby clamping the vertical plate gripper and the mounting frame 1, thereby achieving stable fixation of the vertical plate gripper and the mounting frame 1.

[0066] A V-shaped positioning groove 602 is provided on the XZ-direction support positioning reference seat 6; the XZ-direction support positioning mounting block 904 is provided with a V-shaped end, and the XZ-direction support positioning mounting block 904 is inserted into the XZ-direction support positioning reference seat 6, so as to realize the precise positioning of the vertical plate gripper on the mounting frame 1, and facilitate the upper and lower splicing operation of the two; the Z-direction cylinder 603 drives the Z-direction clamping arm 604 to move in the vertical direction, so that the Z-direction clamping block 605 presses the XZ-direction support positioning mounting block 904 in the XZ-direction support positioning reference seat 6.

[0067] When the female head 905 of the in-position sensor is plugged into the male head 7 of the in-position sensor, and the bottom crossbeam 802 contacts the error-proof contact sensor 701 , the vertical plate gripper and the installation frame 1 are assembled into place.

[0068] The present invention is described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention; or the above concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A Docking structure, characterized in that: It comprises an installation frame (1); the installation frame (1) is respectively provided with a vertical plate gripper support fixing structure, a vertical plate gripper positioning structure and a vertical plate gripper sensing structure; the vertical plate gripper support fixing structure, the vertical plate gripper positioning structure and the vertical plate gripper sensing structure are all connected to the vertical plate gripper.

2. A Docking structure according to claim 1, characterized in that: The mounting frame (1) comprises a crossbeam (2); both ends of the crossbeam (2) are respectively connected to support rods (3); a mounting plate (4) is provided on the support rod (3); the vertical plate gripper support fixing structure, the vertical plate gripper positioning structure and the vertical plate gripper sensing structure are all connected to the mounting plate (4).

3. A Docking structure according to claim 2, characterized in that: The vertical plate gripper support fixing structure comprises a first Y-direction support positioning reference block (5) and a Z-direction auxiliary support positioning reference block (501); the first Y-direction support positioning reference block (5) is arranged at the top of the mounting plate (4); the Z-direction auxiliary support positioning reference block (501) is arranged at the bottom of the mounting plate (4); and a second Y-direction support positioning reference block (502) is arranged between the first Y-direction support positioning reference block (5) and the Z-direction auxiliary support positioning reference block (501).

4. A Docking structure according to claim 3, characterized in that: A Y-direction cylinder (503) is provided on one side of the mounting plate (4); the Y-direction cylinder (503) comprises a Y-direction clamping arm (504).

5. A Docking structure according to claim 4, characterized in that: The vertical plate gripper positioning structure comprises an XZ-direction support positioning reference seat (6); a first position adjustment block (601) is provided on the mounting plate (4); the XZ-direction support positioning reference seat (6) is connected to the first position adjustment block (601); a positioning groove (602) is provided on the top of the XZ-direction support positioning reference seat (6); a Z-direction cylinder (603) is provided on one side of the Y-direction cylinder (503); the Z-direction cylinder (603) comprises a Z-direction clamping arm (604); and the Z-direction clamping arm (604) is connected to a Z-direction clamping block (605).

6. A Docking structure according to any one of claims 2 to 5, characterized in that: The vertical plate gripper sensing structure comprises an in-position sensor male head (7) and an anti-error contact sensor (701); the mounting plate (4) comprises a first mounting plate (401) and a second mounting plate (402); the in-position sensor male head (7) is arranged on the first mounting plate (401); and the anti-error contact sensor (701) is arranged on the second mounting plate (402).

7. An engine compartment vertical plate assembly and positioning device, characterized in that: It comprises the Docking structure as described in any one of claims 1 to 6; and also comprises a vertical plate gripper; the vertical plate gripper is respectively provided with a Docking positioning structure, a vertical plate positioning structure and a vertical plate clamping structure.

8. The engine compartment vertical plate assembly and positioning device according to claim 7, characterized in that: The vertical plate gripper comprises a gripper mounting frame (8); the gripper mounting frame (8) comprises a top crossbeam (801) and a bottom crossbeam (802); a support beam (803) is provided between the top crossbeam (801) and the bottom crossbeam (802); The Docking positioning structure comprises a Z-direction auxiliary support positioning wheel (9) and a third Y-direction support positioning reference block (901); the Z-direction auxiliary support positioning wheel (9) and the third Y-direction support positioning reference block (901) are respectively arranged at two ends of the support beam (803); a fourth Y-direction support positioning reference block (902) is arranged on one side of the Z-direction auxiliary support positioning wheel (9); a second position adjustment block (903) is arranged between the third Y-direction support positioning reference block (901) and the fourth Y-direction support positioning reference block (902); an XZ-direction support positioning mounting block (904) is connected to the second position adjustment block (903); and a position sensor female head (905) is arranged on the bottom crossbeam (802).

9. The engine compartment vertical plate assembly and positioning device according to claim 8, characterized in that: The vertical plate positioning structure comprises a main positioning pin (10), a first auxiliary positioning pin (101) and a second auxiliary positioning pin (102); a vertical plate positioning plate (11) is provided on one side of the top crossbeam (801); the main positioning pin (10) is provided on the vertical plate positioning plate (11); the first auxiliary positioning pin (101) is provided at the end of the top crossbeam (801); the second auxiliary positioning pin (102) is provided on one side of the bottom crossbeam (802); a vertical plate in-position sensor (103) is provided on the bottom crossbeam (802).

10. The engine compartment vertical plate assembly and positioning device according to any one of claims 8 to 9, characterized in that: The vertical plate clamping structure comprises a vertical plate clamping cylinder (111); the vertical plate clamping cylinder (111) is connected to the vertical plate positioning plate (11), and the vertical plate clamping cylinder (111) comprises a vertical plate clamping arm (112); a vertical plate positioning reference block (113) is provided on the vertical plate positioning plate (11); the vertical plate positioning reference block (113) and the vertical plate clamping arm (112) are provided with vertical plate parts.

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