Flexible stepless switching device for front and rear door outer plate grippers and using method of flexible stepless switching device

Abstract

The invention relates to the technical field of automobile manufacturing, and discloses a front and rear door outer plate gripper flexible stepless switching device which comprises a T-shaped framework and further comprises a reference position block, the lower surface of the framework is respectively provided with a sliding rail, the two sliding rails are provided with three ends, each end is provided with a sliding lock capable of sliding or being locked on the sliding rail, and the reference position block is arranged on the lower surface of the framework. The sliding lock is hinged to a U-shaped support through a connecting support, a downward grabbing mechanism is fixedly installed on the U-shaped support, a stepless air cylinder is connected to the lower side face of the grabbing mechanism, a stepless air cylinder piston rod of the stepless air cylinder is hinged to the lower end of the sliding lock, and an adjusting block is fixedly installed at the hinged position of the U-shaped support and the connecting support. And the adjusting block is meshed with the reference position block. The invention further discloses a using method of the front and rear door outer plate gripper flexible stepless switching device. According to the flexible stepless switching device for the front and rear door outer plate tongs and the using method of the flexible stepless switching device, stepless switching of the structure of a pneumatic element is achieved, and the equipment utilization rate and the production efficiency are high.

Description

Technical Field

[0001] The invention relates to the technical field of automobile manufacturing, and in particular to a flexible stepless switching device for front and rear door outer panel grippers and a use method thereof. Background Art

[0002] In the prior art, the common stepless switching structure uses a motor and a guide rail screw to switch to achieve stepless operation, which has the disadvantages of complex structure, heavy weight, and high maintenance cost. Although the suction cup type outer panel grabbing mechanism can grab and carry the outer panel, it has the following problems:

[0003] 1. The gripping structure is in the form of a suction cup, which acts on the A-type surface, which is very likely to cause sheet metal and quality problems;

[0004] 2. The gripper mechanism cannot be adjusted automatically, cannot be used for multiple models, has a complex structure, is heavy, and has high cost.

[0005] In short, the grippers used in the current solution are set as special grippers, and the handling equipment cannot be shared, resulting in many handling equipment in one line, which not only occupies the line space, but also increases equipment investment, makes production management difficult, and reduces equipment utilization. The effect of reducing costs and increasing efficiency after automation is greatly reduced. At the same time, the use of suction cups is very likely to cause sheet metal on the exterior surface, resulting in poor appearance quality problems. In addition, the gripper has a complex structure and heavy weight, resulting in a reduction in effective load. Summary of the invention

[0006] The purpose of the present invention is to address the deficiencies of the above-mentioned technology and provide a flexible stepless switching device for front and rear door outer panel grippers and a method of using the same, so as to achieve stepless switching of the structure and high equipment utilization and production efficiency.

[0007] To achieve the above-mentioned purpose, the flexible stepless switching device of the front and rear door outer panel grippers designed by the present invention includes a T-shaped frame and a reference position block. A slide rail is arranged on the lower surface of the frame, and the two slide rails have three ends in total. Each end is provided with a slide lock that can slide or lock on the slide rail. The slide lock is hinged to a U-shaped bracket through a connecting bracket, and a downward grabbing mechanism is fixedly installed on the U-shaped bracket. The lower side of the grabbing mechanism is connected to a stepless cylinder, and the stepless cylinder piston rod of the stepless cylinder is hinged to the lower end of the slide lock. An adjustment block is fixedly installed at the hinge position between the U-shaped bracket and the connecting bracket, and the adjustment block and the reference position block are engaged with each other.

[0008] Preferably, the grabbing mechanism includes a grabbing mechanism body, a clamping cylinder is provided in the grabbing mechanism body, the end of the clamping cylinder piston rod of the clamping cylinder is provided with a mounting block perpendicular to it, each of the two ends of the mounting block is hinged with a grabbing link, the other end of each grabbing link is hinged with a Z-shaped clamping arm, the end of one arm of the two clamping arms is hinged to one of the grabbing links, the middle part of the other arm is hinged together through a grabbing pin, and a clamping block is provided at the end.

[0009] Preferably, the clamping cylinder piston rod of the clamping cylinder extends out through the mounting block to push the grabbing connecting rod and further push the clamping arm to rotate around the grabbing pin.

[0010] Preferably, when the mounting block and the grabbing link are in a straight line, the clamping block clamps the outer panel.

[0011] Preferably, the upper surface of the slide lock is provided with an opening and closing groove, the lower surface is provided with a slide rail groove, and a slide lock cavity is respectively provided on the left and right sides, the slide lock spans over the slide rail through the slide rail groove, the opening of the slide rail groove is smaller than the width of the upper end of the slide rail, a vertical slide lock connecting rod is provided in the slide lock cavity, and the slide lock connecting rod is rotatably installed in the slide lock cavity through a slide lock pin shaft provided in the middle, and two slide lock pushing components are provided in the opening and closing groove of the slide lock, the sum of the lengths of the two slide lock pushing components is smaller than the inner diameter of the opening and closing groove, a slide lock clamping air port is left between the two slide lock pushing components, a slide lock releasing air port is left between the slide lock pushing component and the inner wall of the opening and closing groove, and the slide lock pushing components are all extended into the slide lock cavity through a linkage piston through the slide lock and are hinged to a waist-shaped hole of the slide lock connecting rod, and the other end of the slide lock connecting rod is hinged with a locking rod through a waist-shaped hole, and the locking rod passes through the slide lock and points to the slide rail.

[0012] Preferably, when the end of the sliding lock link is close to the sliding rail, the locking rod locks the sliding rail.

[0013] Preferably, the stepless cylinder comprises a stepless cylinder body and a stepless cylinder piston rod slidably arranged inside the stepless cylinder body, a stepless cylinder air inlet is arranged at one end of the stepless cylinder body away from the stepless cylinder piston rod, a plurality of stepless cylinder cavities are opened on the side wall of the other end of the stepless cylinder body, a rod brake is arranged in the stepless cylinder cavity, the rod brake is L-shaped, the middle part of the rod brake is rotatably installed in the stepless cylinder cavity through the rod brake pin shaft, and the rod brake Both ends are arcs with the rod brake pin as the center, the arc at one end is tightly fitted with the stepless cylinder body, and the arc at the other end is tightly fitted with the stepless cylinder piston rod. The stepless cylinder cavity is divided into two cavity units by the rod brake, one of which is close to the outside of the stepless cylinder body for locking cavity unit, and the other is close to the inside of the stepless cylinder body for releasing cavity unit. The locking cavity unit is provided with a locking air inlet hole, and the releasing cavity unit is provided with a releasing air inlet hole.

[0014] Preferably, the inner corner and the outer corner at the corner of the holding rod brake are both arc-shaped with the holding rod brake pin axis as the center, and are tightly fitted with the stepless cylinder body.

[0015] Preferably, when the locking air inlet is connected to the air source, the arm gate is pushed to rotate around the arm gate pin shaft, so that one end of the arm gate is tightly fitted with the stepless cylinder piston rod, thereby achieving the locking of the stepless cylinder piston rod; when the release air inlet is connected to the air source, the arm gate is pushed to rotate in the opposite direction around the arm gate pin shaft, so that the end of the arm gate is disengaged from the stepless cylinder piston rod, thereby achieving the release of the stepless cylinder piston rod.

[0016] A method for using a flexible stepless switching device for grabbing front and rear door outer panels. When switching is required, the robot brings the switching device to the position of the reference block and inserts the adjustment block therein; the slide lock is released, and the robot brings the frame and the slide rail to move to a specified position along the direction of the slide lock, locks the slide lock, and the rough switching of the size and distance is completed; the robot brings the frame and the slide rail to rotate to a specified angle around the center of the reference block, locks the stepless cylinder, and completes the fine adjustment of the size and distance and the angle switching; repeats the above steps, and the adjustment method for several other directions is the same as above. After the switching is completed, the corresponding vehicle model can be produced.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. Realize stepless switching of structure;

[0019] 2. It can be switched steplessly by pneumatic operation, which is easy to use;

[0020] 3. Achieve universalization and be applicable to all models;

[0021] 4. Reduce the cost of automated production equipment, improve equipment utilization, improve production efficiency, and reduce equipment failure rate and maintenance costs;

[0022] 5. Picking up the flange position by the gripper will not affect the quality and ensure the quality status during production and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the flexible stepless switching device for the front and rear door outer panel grippers of the present invention;

[0024] Figure 2 for Figure 1 Schematic diagram of the structure when the grabbing mechanism is clamped;

[0025] Figure 3 for Figure 1 Schematic diagram of the structure when the grabbing mechanism is opened;

[0026] Figure 4 for Figure 1 A schematic diagram of the structure of the middle slide lock;

[0027] Figure 5 for Figure 1 Schematic diagram of the structure of the stepless cylinder;

[0028] Figure 6 for Figure 5 Magnified view of the middle circled area;

[0029] Figure 7 for Figure 5 Schematic diagram of the structure after the middle holding rod brake is rotated;

[0030] Figure 8 This is a schematic diagram of the device grabbing the outer panel.

[0031] The components in the figure are numbered as follows:

[0032] Skeleton 1, reference block 2, slide rail 3, slide lock 4, connecting bracket 5, U-shaped bracket 6, grabbing mechanism 7, stepless cylinder 8, stepless cylinder piston rod 9, adjustment block 10, grabbing mechanism body 11, clamping cylinder 12, clamping cylinder piston rod 13, mounting block 14, grabbing connecting rod 15, clamping arm 16, grabbing pin 17, clamping block 18, outer plate 19, opening and closing groove 20, slide rail groove 21, slide lock Cavity 22, sliding lock connecting rod 23, sliding lock pin shaft 24, sliding lock pushing assembly 25, sliding lock clamping air port 26, sliding lock releasing air port 27, linkage piston 28, locking rod 29, stepless cylinder body 30, stepless cylinder air inlet 31, stepless cylinder cavity 32, holding rod brake 33, holding rod brake pin shaft 34, locking cavity unit 35, releasing cavity unit 36, locking air inlet hole 37, releasing air inlet hole 38. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] like Figure 1 As shown, a flexible stepless switching device for front and rear door outer panel grippers includes a T-shaped frame 1 and a reference position block 2. A slide rail 3 is arranged on the lower surface of the frame 1. The two slide rails 3 have three ends in total. Each end is provided with a slide lock 4 that can slide or lock on the slide rail 3. The slide lock 4 is hinged to a U-shaped bracket 6 through a connecting bracket 5. A downward grabbing mechanism 7 is fixedly installed on the U-shaped bracket 6. The lower side of the grabbing mechanism 7 is connected to a stepless cylinder 8. The stepless cylinder piston rod 9 of the stepless cylinder 8 is hinged to the lower end of the slide lock 4. An adjustment block 10 is fixedly installed at the hinge position between the U-shaped bracket 6 and the connecting bracket 5. The adjustment block 10 and the reference position block 2 are meshed with each other.

[0035] like Figure 2 and Figure 3 As shown, the grabbing mechanism 7 includes a grabbing mechanism body 11, in which a clamping cylinder 12 is arranged, and the end of the clamping cylinder piston rod 13 of the clamping cylinder 12 is provided with a mounting block 14 perpendicular thereto, and both ends of the mounting block 14 are respectively hinged with a grabbing link 15, and the other end of the grabbing link 15 is hinged with a Z-shaped clamping arm 16, and the end of one arm of the two clamping arms 16 is respectively hinged to a grabbing link 15, and the middle part of the other arm is hinged together through a grabbing pin 17, and a clamping block 18 is provided at the end.

[0036] Among them, the clamping cylinder piston rod 13 of the clamping cylinder 12 extends through the mounting block 14 to push the grabbing connecting rod 15 and then push the clamping arm 16 to rotate around the grabbing pin 17. When the mounting block 14 and the grabbing connecting rod 15 are in the same straight line, the clamping block 18 clamps the outer plate 19.

[0037] like Figure 4As shown, the upper surface of the slide lock 4 is provided with an opening and closing groove 20, the lower surface is provided with a slide rail groove 21, and a slide lock cavity 22 is provided on the left and right sides respectively. The slide lock 4 straddles the slide rail 3 through the slide rail groove 21. The opening of the slide rail groove 21 is smaller than the width of the upper end of the slide rail 3. A vertical slide lock connecting rod 23 is provided in the slide lock cavity 22. The slide lock connecting rod 23 is rotatably installed in the slide lock cavity 22 through a slide lock pin shaft 24 provided in the middle. Two slide lock pushing components 25 are provided in the opening and closing groove 20 of the slide lock 4. The sum of the lengths of the two slide lock pushing components 25 is smaller than the opening and closing groove 20. The inner diameter of the closing groove 20, a slide lock clamping air port 26 is left between the two slide lock pushing components 25, a slide lock releasing air port 27 is left between the slide lock pushing component 25 and the inner wall of the opening and closing groove 20, and the slide lock pushing components 25 are all extended into the slide lock cavity 22 through the linkage piston 28 through the slide lock 4 and are hinged to a waist-shaped hole on the slide lock connecting rod 23. The other end of the slide lock connecting rod 23 is hinged with a locking rod 29 through a waist-shaped hole. The locking rod 29 passes through the slide lock 4 and points to the slide rail 3. When the end of the slide lock connecting rod 23 is close to the slide rail 3, the locking rod 29 locks the slide rail 3.

[0038] like Figure 5 , Figure 6 and Figure 7 As shown, the stepless cylinder 8 includes a stepless cylinder body 30 and a stepless cylinder piston rod 9 which is slidable inside the stepless cylinder body 30. A stepless cylinder air inlet 31 is provided at one end of the stepless cylinder body 30 away from the stepless cylinder piston rod 9. A plurality of stepless cylinder cavities 32 are opened on the side wall of the other end of the stepless cylinder body 30. A rod brake 33 is provided in the stepless cylinder cavity 32. The rod brake 33 is L-shaped. The middle part of the rod brake 33 is rotatably installed in the stepless cylinder cavity 32 through a rod brake pin 34. The rod brake 33 Both ends are arcs with the rod brake pin shaft 34 as the center, the arc at one end is tightly fitted with the stepless cylinder body 30, and the arc at the other end is tightly fitted with the stepless cylinder piston rod 9. The stepless cylinder cavity 32 is divided into two cavity units by the rod brake 33, one of which is close to the outside of the stepless cylinder body 30 for the locking cavity unit 35, and the other is close to the inside of the stepless cylinder body 30 for the releasing cavity unit 36. The locking cavity unit 35 is provided with a locking air inlet hole 37, and the releasing cavity unit 36 ​​is provided with a releasing air inlet hole 38.

[0039] In addition, the inner corner and the outer corner at the corner of the holding rod brake 33 are both arc-shaped with the holding rod brake pin shaft 34 as the center, and both fit tightly with the stepless cylinder body 30, so as to have better air tightness.

[0040] When the locking air inlet 37 is connected to the air source, the arm gate 33 is pushed to rotate around the arm gate pin 34, so that one end of the arm gate 33 is tightly fitted with the stepless cylinder piston rod 9, thereby achieving the locking of the stepless cylinder piston rod 9; when the releasing air inlet 38 is connected to the air source, the arm gate 33 is pushed to rotate in the opposite direction around the arm gate pin 34, so that the end of the arm gate 33 is disengaged from the stepless cylinder piston rod 9, thereby achieving the release of the stepless cylinder piston rod 9.

[0041] When the flexible stepless switching device for the front and rear door outer panel grippers of the present invention is used, when switching is required, the robot brings the switching device to the position of the reference block 2 and inserts the adjustment block 10 therein; the slide lock 4 is released, and the robot brings the frame 1 and the slide rail 3 to move to the specified position along the direction of the slide lock 4, locks the slide lock 4, and the rough switching of the size distance is completed; the robot brings the frame 1 and the slide rail 3 to rotate to the specified angle around the center of the reference block 2, locks the stepless cylinder 8, and completes the fine adjustment of the size distance and the angle switching; repeat the above steps, and the adjustment methods for the other directions are the same as above. After the switching is completed, the corresponding vehicle model can be produced, such as Figure 7 shown.

[0042] Among them, when the sliding lock 4 is in use, the sliding lock clamping air port 26 is connected to the air source, and the sliding lock releasing air port 27 cuts off the air source, the linkage piston 28 extends and generates a lever action through the sliding lock connecting rod 23 to push the locking rod 29 to clamp the slide rail 3 and produce a locking effect; when the sliding lock clamping air port 26 cuts off the air source and the sliding lock releasing air port 27 is connected to the air source, the linkage piston 28 retracts and generates a lever action through the sliding lock connecting rod 23 to retract the locking rod 29 to disengage from the slide rail 3, thereby releasing the lock.

[0043] When the stepless cylinder 8 is in use, when the locking air inlet 37 is connected to the air source, the rod gate 33 is pushed to rotate around the rod gate pin 34, and the rod gate 33 contacts and locks with the stepless cylinder piston rod 9, keeping the relative position of the stepless cylinder body 30 and the stepless cylinder piston rod 9 fixed; when the release air inlet 38 is connected to the air source, the rod gate 33 rotates in the opposite direction to release the stepless cylinder piston rod 9.

[0044] When the grabbing mechanism 7 is in use, when the clamping cylinder 12 and the clamping cylinder piston rod 13 are positively connected to the air source, the clamping cylinder piston rod 13 extends out through the mounting block 14 to push the grabbing connecting rod 15 and then push the clamping arm 16 to rotate around the grabbing pin 17. When the mounting block 14 and the grabbing connecting rod 15 are in the same straight line, the clamping cylinder piston rod 13 stops moving. At this time, the force applied to the clamping block 18 by the clamping arm 16 is the largest and the gap is the smallest, so the flange of the outer plate 19 of the component can be grabbed (or the inner plate can be buckled onto the outer plate 19); otherwise, the clamping cylinder piston rod 13 retracts to release the outer plate 19 of the component.

[0045] The flexible stepless switching device for the front and rear door outer panel grippers of the present invention and the use method thereof realize stepless switching of the structure; can be easily used through pneumatic stepless switching; realize universality and can be applied to all vehicle models; reduce the cost of automated production equipment while improving equipment utilization, improving production efficiency, and reducing equipment failure rate and maintenance costs; the grippers pick up the flange position without affecting the quality, thereby ensuring the quality status during production and use.

[0046] It should be noted that the description of the above technical solutions is exemplary, and this specification can be embodied in different forms and should not be interpreted as being limited to the technical solutions set forth herein. On the contrary, providing these descriptions will make the disclosure of the present invention thorough and complete, and will fully convey the scope disclosed in this specification to those skilled in the art. In addition, the technical solutions of the present invention are limited only by the scope of the claims.

[0047] The various aspects disclosed for describing the present specification and claims are merely examples, and therefore, the present specification and claims are not limited to the details shown. In the above description, when the detailed description of the related known functions or configurations is determined to be unnecessary to obscure the focus of the present specification and claims, the detailed description will be omitted.

[0048] Finally, it should be pointed out that the above content is a further detailed description of the invention in combination with specific implementation methods. It cannot be considered that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, simple replacements made without departing from the concept of the present invention should be regarded as belonging to the protection scope of the present invention. The above embodiments are only more representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments, and there can be many variations. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention should be considered to belong to the protection scope of the present invention.

Claims

1. A flexible stepless switching device for front and rear door outer panel grippers, comprising a T-shaped frame (1), characterized in that: It also includes a reference block (2), a slide rail (3) is arranged on the lower surface of each of the skeletons (1), the two slide rails (3) have three ends in total, each end is provided with a slide lock (4) that can slide or lock on the slide rail (3), the slide lock (4) is hinged to a U-shaped bracket (6) through a connecting bracket (5), a downward grabbing mechanism (7) is fixedly installed on the U-shaped bracket (6), the lower side of the grabbing mechanism (7) is connected to a stepless cylinder (8), the stepless cylinder piston rod (9) of the stepless cylinder (8) is hinged to the lower end of the slide lock (4), an adjustment block (10) is fixedly installed at the hinged position between the U-shaped bracket (6) and the connecting bracket (5), and the adjustment block (10) is meshed with the reference block (2).

2. According to claim 1, the flexible stepless switching device for front and rear door outer panel grippers is characterized in that: The gripping mechanism (7) comprises a gripping mechanism body (11), a clamping cylinder (12) is arranged inside the gripping mechanism body (11), the end of the clamping cylinder piston rod (13) of the clamping cylinder (12) is provided with a mounting block (14) perpendicular thereto, the two ends of the mounting block (14) are each hinged with a gripping connecting rod (15), the other end of each gripping connecting rod (15) is hinged with a Z-shaped clamping arm (16), the end of one arm of the two clamping arms (16) is respectively hinged with one gripping connecting rod (15), the middle part of the other arm is hinged together through a gripping pin (17), and a clamping block (18) is provided at the end.

3. According to claim 2, the flexible stepless switching device for front and rear door outer panel grippers is characterized in that: The clamping cylinder piston rod (13) of the clamping cylinder (12) extends through the mounting block (14) to push the grabbing connecting rod (15) and further push the clamping arm (16) to rotate around the grabbing pin (17).

4. According to claim 3, the flexible stepless switching device for front and rear door outer panel grippers is characterized in that: When the mounting block (14) and the grabbing link (15) are in the same straight line, the clamping block (18) clamps the outer plate (19).

5. According to claim 1, the flexible stepless switching device for front and rear door outer panel grippers is characterized in that: The upper surface of the slide lock (4) is provided with an opening and closing groove (20), the lower surface is provided with a slide rail groove (21), and a slide lock cavity (22) is provided on the left and right sides respectively. The slide lock (4) straddles the slide rail (3) through the slide rail groove (21), the opening of the slide rail groove (21) is smaller than the width of the upper end of the slide rail (3), a vertical slide lock connecting rod (23) is provided in the slide lock cavity (22), and the slide lock connecting rod (23) is rotatably installed in the slide lock cavity (22) through a slide lock pin shaft (24) provided in the middle, and two slide lock pushing components (25) are provided in the opening and closing groove (20) of the slide lock (4), and the two slide lock pushing components (25) are provided in the opening and closing groove (20) of the slide lock (4). The sum of the lengths of the components (25) is smaller than the inner diameter of the opening and closing groove (20), a sliding lock clamping air port (26) is reserved between the two sliding lock pushing components (25), a sliding lock releasing air port (27) is reserved between the sliding lock pushing component (25) and the inner wall of the opening and closing groove (20), and the sliding lock pushing components (25) are all extended into the sliding lock cavity (22) through the linkage piston (28) through the sliding lock (4) and are hinged to a waist-shaped hole of the sliding lock connecting rod (23), and the other end of the sliding lock connecting rod (23) is hinged with a locking rod (29) through a waist-shaped hole, and the locking rod (29) passes through the sliding lock (4) and points to the slide rail (3).

6. According to claim 5, the flexible stepless switching device for front and rear door outer panel grippers is characterized in that: When the end of the sliding lock link (23) approaches the slide rail (3), the locking rod (29) locks the slide rail (3).

7. According to claim 1, the flexible stepless switching device for front and rear door outer panel grippers is characterized in that: The stepless cylinder (8) comprises a stepless cylinder body (30) and a stepless cylinder piston rod (9) slidably arranged inside the stepless cylinder body (30); a stepless cylinder air inlet (31) is arranged at one end of the stepless cylinder body (30) away from the stepless cylinder piston rod (9); a plurality of stepless cylinder cavities (32) are opened on the side wall of the other end of the stepless cylinder body (30); a rod brake (33) is arranged in the stepless cylinder cavity (32); the rod brake (33) is L-shaped; the middle part of the rod brake (33) is rotatably installed in the stepless cylinder cavity (32) through a rod brake pin shaft (34); the rod brake ( Both ends of the lever brake (33) are arcs with the rod brake pin shaft (34) as the center, wherein the arc at one end is tightly fitted with the stepless cylinder body (30), and the arc at the other end is tightly fitted with the stepless cylinder piston rod (9). The stepless cylinder cavity (32) is divided into two cavity units by the lever brake (33), wherein the one close to the outside of the stepless cylinder body (30) is a locking cavity unit (35), and the one close to the inside of the stepless cylinder body (30) is a releasing cavity unit (36). The locking cavity unit (35) is provided with a locking air inlet hole (37), and the releasing cavity unit (36) is provided with a releasing air inlet hole (38).

8. The flexible stepless switching device for front and rear door outer panel grippers according to claim 7 is characterized in that: The inner corner and the outer corner at the corner of the holding rod brake (33) are both arc-shaped with the holding rod brake pin shaft (34) as the center of the circle, and are both tightly fitted with the stepless cylinder body (30).

9. The flexible stepless switching device for front and rear door outer panel grippers according to claim 7 is characterized in that: When the locking air inlet (37) is connected to the air source, the rod gate (33) is pushed to rotate around the rod gate pin shaft (34), so that one end of the rod gate (33) is tightly fitted with the stepless cylinder piston rod (9), thereby achieving the locking of the stepless cylinder piston rod (9); when the release air inlet (38) is connected to the air source, the rod gate (33) is pushed to rotate around the rod gate pin shaft (34), so that the end of the rod gate (33) is disengaged from the stepless cylinder piston rod (9), thereby achieving the release of the stepless cylinder piston rod (9).

10. A method for using the flexible stepless switching device for front and rear door outer panel grippers according to any one of claims 1 to 9, characterized in that: When switching is required, the robot brings the switching device to the position of the reference block (2) and inserts the adjustment block (10) therein; The slide lock (4) is released, and the robot moves the frame (1) and the slide rail (3) to a specified position along the direction of the slide lock (4), and the slide lock (4) is locked, and the rough switching of the size distance is completed; the robot rotates the frame (1) and the slide rail (3) around the center of the reference block (2) to a specified angle, and locks the stepless cylinder (8), completing the fine adjustment of the size distance and the angle switching; repeat the above steps, and complete the adjustment of the other directions in the same way as above, and the corresponding vehicle model can be produced after the switching is completed.

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