A docking structure and engine compartment vertical plate assembly and positioning device

Abstract

This invention relates to the field of automobile manufacturing technology. Specifically, it relates to a docking structure and an engine compartment vertical plate assembly and positioning device, including an installation frame (1); the installation 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; it can realize that the vertical plate gripper and the docking can be assembled from top to bottom, compared with the existing pin-type positioning mechanism, which can only meet the 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 this application can guarantee has low requirements for the dimensional accuracy of the vertical plate parts, the robot assembly trajectory is easy to adjust, and it can effectively improve the efficiency of the workstation.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, and more specifically, to a docking structure and an engine compartment vertical panel assembly and positioning device. Background Technology

[0002] In the automotive welding manufacturing process, the vertical plate and engine compartment assembly are mostly wrapped-up upper and lower splicing structures. However, the vertical plate grippers that are usually spliced ​​with the docking (precision positioning and clamping structure) are mostly left and right guiding and positioning, which leads to problems such as high requirements for the dimensional accuracy of the vertical plate and engine compartment parts, difficulty in debugging the robot's running trajectory, and easy to cause misalignment and deformation of the vertical plate and engine compartment.

[0003] The applicant discovered through a search that Chinese patent document with publication number 116587952A, published on August 15, 2023, discloses a vehicle expansion dock locking structure, a vehicle expansion dock structure, an on-board device, and a vehicle. This vehicle expansion dock locking structure includes: a first connecting component comprising a locking part and an unlocking part, the locking part and the unlocking part being connected to the vehicle frame; the locking part having a locking seat; the locking seat having a movable latching structure that cooperates with the on-board device; and the unlocking part having an unlocking drive structure slidably connected to the locking seat, the unlocking drive structure sliding relative to the locking seat to drive the latching structure to the unlocking position to unlock the on-board device. This device also fails to solve the aforementioned technical problem.

[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 docking of the docking and vertical plate gripper. Summary of the Invention

[0005] The purpose of this invention is to provide a docking structure and an engine compartment vertical plate assembly and positioning device that can realize the docking of the docking and vertical plate gripper.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: 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 includes a crossbeam; support rods are connected to both ends of the crossbeam; mounting plates are provided on the support rods; 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 mounting plates.

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

[0009] A Y-axis cylinder is provided on one side of the mounting plate; the Y-axis cylinder includes a Y-axis 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; the Z-direction clamping arm is connected to a Z-direction pressing block.

[0011] The vertical plate gripper sensing structure includes a male position sensor and a mis-contact sensor; the mounting plate includes a first mounting plate and a second mounting plate; the male position sensor is mounted on the first mounting plate; and the mis-contact sensor is mounted on the second mounting plate.

[0012] An engine compartment vertical plate assembly and positioning device includes the aforementioned docking structure; it also includes 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 includes a gripper mounting frame; the gripper mounting frame includes 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-axis auxiliary support positioning wheel and a third Y-axis support positioning reference block; the Z-axis auxiliary support positioning wheel and the third Y-axis support positioning reference block are respectively located at both ends of the support beam; a fourth Y-axis support positioning reference block is provided on one side of the Z-axis auxiliary support positioning wheel; a second position adjustment block is provided between the third Y-axis support positioning reference block and the fourth Y-axis support positioning reference block; an XZ-axis support positioning mounting block is connected to the second position adjustment block; and a positioning sensor female head is provided 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 crossbeam; the main positioning pin is provided on the vertical plate positioning plate; the first auxiliary positioning pin is provided at the end of the top crossbeam; the second auxiliary positioning pin is provided on one side of the bottom crossbeam; and a vertical plate positioning sensor is provided on the bottom crossbeam.

[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; the vertical plate positioning plate is provided with a 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 as follows:

[0018] The engine compartment vertical plate assembly and positioning device of this application includes a docking mechanism and a vertical plate gripper. The docking mechanism includes a mounting frame, 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 includes a docking positioning structure, a vertical plate positioning structure, and a vertical plate clamping structure. It enables the vertical plate gripper and the docking mechanism to be assembled from top to bottom. Compared with the existing pin-type positioning mechanism, which can only meet the horizontal assembly requirement, resulting in quality problems such as misalignment between the vertical plate and the engine compartment during the assembly process, this application can guarantee the assembly quality, has low requirements for the dimensional accuracy of the vertical plate parts, and the robot assembly trajectory is easy to adjust, which can effectively improve the efficiency of the workstation. Attached Figure Description

[0019] The specific embodiments of the present invention will be further described in detail below with reference to 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 structural schematic diagram 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 base and the XZ-direction support positioning mounting block in this application.

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

[0024] The markings in the above figures are all:

[0025] The diagram is marked as follows:

[0026] 1. Install the frame.

[0027] 2. Crossbeam,

[0028] 3. Support rod,

[0029] 4. Mounting plates, 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-axis support positioning reference seat; 601. First position adjustment block; 602. Positioning groove; 603. Z-axis cylinder; 604. Z-axis clamping arm; 605. Z-axis clamping block.

[0032] 7. Male connector for position sensor; 701. Error-proof contact sensor.

[0033] 8. Grab installation frame, 801. Top crossbeam, 802. Bottom crossbeam, 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. Position sensor female head.

[0035] 10. Main positioning pin; 101. First auxiliary positioning pin; 102. Second auxiliary positioning pin; 103. Vertical plate positioning sensor.

[0036] 11. Vertical plate positioning plate; 111. Vertical plate clamping cylinder; 112. Vertical plate clamping arm; 113. Vertical plate positioning reference block. Detailed Implementation

[0037] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, in order to help 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 to facilitate its 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 and fixing structure can achieve stable vertical support for the vertical plate gripper; the docking structure is fixedly installed on one side of the body-in-white, and the vertical plate gripper stably grips the vertical plate parts; the vertical plate gripper positioning structure can achieve precise positioning of the docking structure and the vertical plate gripper, thereby enabling precise vertical assembly positioning of the vertical plate parts and the body-in-white; the vertical plate gripper sensing structure can detect whether the docking structure and the vertical plate gripper are properly assembled, ensuring the assembly accuracy of both.

[0040] The mounting frame 1 includes a crossbeam 2; support rods 3 are connected to both ends of the crossbeam 2; mounting plates 4 are provided on the support rods 3; 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 mounting plates 4.

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

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

[0043] The first Y-axis support positioning reference block 5, the second Y-axis support positioning reference block 502, and the Z-axis auxiliary support positioning reference block 501 are all fixedly connected to the side of the mounting plate 4; the first Y-axis support positioning reference block 5 is fixedly connected to the top of the mounting plate 4; the second Y-axis support positioning reference block 502 is fixedly connected to the middle of the mounting plate 4; and the Z-axis auxiliary support positioning reference block 501 is fixedly connected to the bottom of the mounting plate 4. The first Y-axis support positioning reference block 5 and the second Y-axis support positioning reference block 502 can ensure the Y-axis (from the passenger side to the driver side of the car) alignment accuracy between the vertical plate gripper and the mounting frame 1; and the Z-axis auxiliary support positioning reference block 501 can provide stable support for the vertical plate gripper and ensure the Z-axis (from the bottom to the top of the car) alignment accuracy between the vertical plate gripper and the mounting frame 1.

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

[0045] The vertical plate gripper is equipped with a third Y-axis support positioning reference block 901 and a fourth Y-axis support positioning reference block 902. When the vertical plate gripper is installed on the mounting frame 1, the third Y-axis support positioning reference block 901 abuts against the first Y-axis support positioning reference block 5; the fourth Y-axis support positioning reference block 902 abuts against the second Y-axis support positioning reference block 502; two Y-axis cylinders 503 are fixedly connected to one side of the mounting plate 4; the clamping arm 504 abuts against the back of the vertical plate gripper, thereby clamping the vertical plate gripper to the mounting frame 1 and achieving stable fixation of the vertical plate gripper to 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 pressing 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; the XZ-direction support positioning reference seat 6 is provided with a V-shaped positioning groove 602; the first position adjustment block 601 can adjust the installation position of the XZ-direction support positioning reference seat 6, ensuring that the positioning groove 602 is vertically upward; the vertical plate gripper is provided with an XZ-direction support positioning mounting block 904; 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, thereby enabling precise positioning of the vertical plate gripper on the mounting frame 1, facilitating the upper and lower assembly 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 vertically, thereby pressing the XZ-direction support positioning mounting block 904 into the XZ-direction support positioning reference seat 6 by the Z-direction pressing block 605.

[0048] The vertical plate gripper sensing structure includes a male position sensor 7 and a mis-contact sensor 701; the mounting plate 4 includes a first mounting plate 401 and a second mounting plate 402; the male position sensor 7 is mounted on the first mounting plate 401; and the mis-contact sensor 701 is mounted on the second mounting plate 402.

[0049] The male connector 7 of the positioning sensor is located on the side of the first mounting plate 401 near the second mounting plate 402; the error-proof contact sensor 701 is located on the side of the second mounting plate 402 near the first mounting plate 401; the vertical plate gripper is respectively provided with a female connector 905 of the positioning sensor and a bottom crossbeam 802; when the female connector 905 of the positioning sensor is inserted into the male connector 7 of the positioning sensor, and the bottom crossbeam 802 is in contact with the error-proof contact sensor 701, the vertical plate gripper and the mounting frame 1 are assembled in place.

[0050] An engine compartment vertical plate assembly and positioning device includes a docking structure; it also includes 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 provides precise positioning when the vertical plate gripper and the docking structure are assembled vertically. The vertical plate gripper is driven by the robot and removes the vertical plate parts from the rack. The vertical plate gripper and the vertical plate parts are then assembled together on the docking structure 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-axis auxiliary support positioning wheel 9 and a third Y-axis support positioning reference block 901; the Z-axis auxiliary support positioning wheel 9 and the third Y-axis support positioning reference block 901 are respectively located at both ends of the support beam 803; a fourth Y-axis support positioning reference block 902 is provided on one side of the Z-axis auxiliary support positioning wheel 9; a second position adjustment block 903 is provided between the third Y-axis support positioning reference block 901 and the fourth Y-axis support positioning reference block 902; an XZ-axis support positioning mounting block 904 is connected to the second position adjustment block 903; and a position sensor female head 905 is provided on the bottom crossbeam 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 located at the top of the support beam 803; and the Z-axis auxiliary support positioning wheel 9 is located 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 abuts against the first Y-axis support positioning reference block 5; the fourth Y-axis support positioning reference block 902 abuts against the second Y-axis support positioning reference block 502; the Z-axis auxiliary support positioning wheel 9 abuts against the top of the Z-axis auxiliary support positioning reference block 501; the clamping arm 504 abuts against the back of the vertical plate gripper, thereby clamping the vertical plate gripper to the mounting frame 1 and achieving stable fixation of the vertical plate gripper to the mounting frame 1.

[0056] The XZ-direction support positioning reference seat 6 is provided with a V-shaped positioning groove 602; 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, thereby enabling the vertical plate gripper to be accurately positioned on the mounting frame 1, and facilitating the upper and lower assembly operation of the two; the Z-direction cylinder 603 drives the Z-direction clamping arm 604 to move vertically, thereby pressing the XZ-direction support positioning mounting block 904 into the XZ-direction support positioning reference seat 6 by the Z-direction pressing block 605.

[0057] When the female connector 905 of the positioning sensor is plugged into the male connector 7 of the positioning sensor, and the bottom crossbeam 802 contacts the anti-misoperation contact sensor 701, the vertical plate gripper and the mounting frame 1 are assembled into position.

[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 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; and a vertical plate positioning sensor 103 is provided on the bottom crossbeam 802.

[0059] The vertical plate gripper is driven by a robot. The vertical plate gripper removes the vertical plate part from the material rack, and the vertical plate gripper and the vertical plate part are assembled together from top to bottom on the docking. The main positioning pin 10, the first auxiliary positioning pin 101 and the second auxiliary positioning pin 102 are triangularly distributed on the gripper mounting frame 8. The vertical plate part is provided with positioning pin holes. The main positioning pin 10, the first auxiliary positioning pin 101 and the second auxiliary positioning pin 102 can realize the precise positioning and limit of the vertical plate part on the vertical plate gripper. When the vertical plate position sensor 103 contacts the vertical plate part, the vertical plate part is 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; the vertical plate positioning plate 11 is provided with a vertical plate positioning reference block 113; 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 abuts against the profile of the vertical plate part; the vertical plate clamping cylinder 111 drives the vertical plate clamping arm 112 to abut against the back 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 this invention is as follows:

[0063] The vertical plate gripper is driven by a robot. 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 from top to bottom on the docking. The main positioning pin 10, the first auxiliary positioning pin 101 and the second auxiliary positioning pin 102 realize the precise positioning and limit of the vertical plate parts on the vertical plate gripper. When the vertical plate position 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 abuts against the profile of the vertical plate part; the vertical plate clamping cylinder 111 drives the vertical plate clamping arm 112 to abut against the back 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 abuts against the first Y-axis support positioning reference block 5; the fourth Y-axis support positioning reference block 902 abuts against the second Y-axis support positioning reference block 502; the Z-axis auxiliary support positioning wheel 9 abuts against the top of the Z-axis auxiliary support positioning reference block 501; the clamping arm 504 abuts against the back of the vertical plate gripper, thereby clamping the vertical plate gripper to the mounting frame 1 and achieving stable fixation of the vertical plate gripper to the mounting frame 1.

[0066] The XZ-direction support positioning reference seat 6 is provided with a V-shaped positioning groove 602; 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, thereby enabling the vertical plate gripper to be accurately positioned on the mounting frame 1, and facilitating the upper and lower assembly operation of the two; the Z-direction cylinder 603 drives the Z-direction clamping arm 604 to move vertically, thereby pressing the XZ-direction support positioning mounting block 904 into the XZ-direction support positioning reference seat 6 by the Z-direction pressing block 605.

[0067] When the female connector 905 of the positioning sensor is plugged into the male connector 7 of the positioning sensor, and the bottom crossbeam 802 contacts the anti-misoperation contact sensor 701, the vertical plate gripper and the mounting frame 1 are assembled into position.

[0068] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A docking structure, characterized in that: It includes an installation frame (1); the installation 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; The mounting frame (1) includes a crossbeam (2); support rods (3) are connected to both ends of the crossbeam (2); a mounting plate (4) is provided on the support rod (3); 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 mounting plate (4); The vertical plate gripper support and fixing structure includes 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 located at the top of the mounting plate (4); the Z-direction auxiliary support positioning reference block (501) is located at the bottom of the mounting plate (4); a second Y-direction support positioning reference block (502) is provided between the first Y-direction support positioning reference block (5) and the Z-direction auxiliary support positioning reference block (501). The vertical plate gripper is provided with a third Y-direction support positioning reference block (901) and a fourth Y-direction support positioning reference block (902); when the vertical plate gripper is installed on the mounting frame (1), the third Y-direction support positioning reference block (901) abuts against the first Y-direction support positioning reference block (5); the fourth Y-direction support positioning reference block (902) abuts against the second Y-direction support positioning reference block (502); A Y-axis cylinder (503) is provided on one side of the mounting plate (4); the Y-axis cylinder (503) includes a Y-axis clamping arm (504); 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 pressing block (605); The first position adjustment block (601) is fixedly connected to the mounting plate (4); the XZ direction support positioning reference seat (6) is provided with a V-shaped positioning groove (602); 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; the vertical plate gripper is provided with an XZ direction support positioning mounting block (904); 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).

2. A docking structure according to claim 1, characterized in that: The vertical plate gripper sensing structure includes a male position sensor (7) and a mis-contact sensor (701); the mounting plate (4) includes a first mounting plate (401) and a second mounting plate (402); the male position sensor (7) is located on the first mounting plate (401); the mis-contact sensor (701) is located on the second mounting plate (402).

3. A device for assembling and positioning vertical panels of an engine compartment, characterized in that: The device includes the docking structure as described in any one of claims 1-2; it also includes 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.

4. The engine compartment vertical plate assembly and positioning device according to claim 3, characterized in that: 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); The docking positioning structure includes a Z-axis auxiliary support positioning wheel (9) and a third Y-axis support positioning reference block (901); the Z-axis auxiliary support positioning wheel (9) and the third Y-axis support positioning reference block (901) are respectively located at both ends of the support beam (803); a fourth Y-axis support positioning reference block (902) is provided on one side of the Z-axis auxiliary support positioning wheel (9); a second position adjustment block (903) is provided between the third Y-axis support positioning reference block (901) and the fourth Y-axis support positioning reference block (902); an XZ-axis support positioning mounting block (904) is connected to the second position adjustment block (903); and a position sensor female head (905) is provided on the bottom crossbeam (802).

5. The engine compartment vertical plate assembly and positioning device according to claim 4, characterized in that: 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 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 positioning sensor (103) is provided on the bottom crossbeam (802).

6. The engine compartment vertical plate assembly and positioning device according to claim 5, characterized in that: 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); the vertical plate positioning plate (11) is provided with a vertical plate positioning reference block (113); the vertical plate positioning reference block (113) and the vertical plate clamping arm (112) are provided with vertical plate parts.

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