Gripper equipment for flexibly switching vehicle types and vehicle type switching method thereof

Abstract

The invention relates to the technical field of automobile manufacturing, and discloses gripper equipment capable of flexibly switching automobile types and an automobile type switching method.The gripper equipment comprises a mechanical arm, a switching rotary disc, a common clamping jaw, a clamping driving device and a fixing support, a mounting plate is arranged at the output end of the mechanical arm and rotationally connected with the switching rotary disc, and the switching rotary disc is arranged on the mounting plate; the clamping driving device drives the common clamping jaw to be close to or far away from the positioning supporting units, the clamping driving device drives the common clamping jaw to be close to or far away from the positioning supporting units, the clamping driving device drives the common clamping jaw to be close to or far away from the positioning supporting units, and the clamping driving device drives the common clamping jaw to be close to or far away from the positioning supporting units. A common clamping jaw and a positioning supporting unit are matched to clamp a workpiece located at a clamping opening or loosen the workpiece, a mechanical arm can drive a switching gear to move to be engaged with a switching rack, and therefore rotation of a switching rotary disc can be achieved so as to achieve switching of vehicle types. According to the vehicle model switching method, the switching of the required vehicle models can be quickly and accurately realized.

Description

Technical Field

[0001] The invention relates to the technical field of automobile manufacturing, and in particular to a gripper device for flexibly switching vehicle types and a vehicle type switching method thereof. Background Art

[0002] At present, the automobile industry is developing rapidly, and automobile manufacturing lines have higher and higher requirements for the rhythm and cost of the production line. The automobile welding handling gripper structure in the prior art connects the robot control arm with the gripper, and controls the movement of the gripper through the robot control arm to realize the transfer of the workpiece. The existing gripper generally includes a positioning support unit and a clamping claw, which cooperate to realize the positioning and clamping of the workpiece. However, the positioning support unit of the existing gripper is a fixed single surface mode, which is only suitable for the surface positioning and clamping of a single model of workpiece, that is, it is only suitable for the production of a single model. When switching models, the positioning support unit needs to be removed and replaced. It is a plug-in switching mode, which requires human intervention and manual replacement. The switching flexibility is poor, and the model switching takes a long time, which affects production efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a flexible vehicle model switching gripper device and a vehicle model switching method thereof, which is easy to switch and can switch different positioning support units to meet the use requirements of different vehicle models.

[0004] In order to solve the above technical problems, the present invention provides a gripper device for flexible switching of vehicle types, including a manipulator, a switching turntable, a common clamping jaw, a clamping drive device and a fixed bracket, wherein the output end of the manipulator is provided with a mounting plate, the mounting plate is rotatably connected to the switching turntable and the rotation axis coincides with the central axis of the switching turntable, the switching turntable is in the shape of a regular prism, and each side of the switching turntable is respectively installed with a positioning support unit for different vehicle types, the front end or the rear end of the switching turntable is fixedly connected with a switching gear coaxially arranged with the switching turntable, the number of teeth of the switching gear is equal to the number of the positioning support units, the common clamping jaw is arranged on the outside of one of the positioning support units, and a clamping opening capable of clamping a workpiece is formed between the common clamping jaw and the corresponding positioning support unit, the common clamping jaw is connected to the clamping drive device, the clamping drive device is installed on the output end of the manipulator, the clamping drive device can drive the common clamping jaw to approach or move away from the corresponding positioning support unit, and a switching rack is provided on the fixed bracket, and the manipulator can drive the switching gear to move to mesh with the switching rack.

[0005] As a preferred embodiment of the present invention, the gripper device also includes a locking pin and a locking drive device, the switching turntable is provided with a plurality of positioning holes evenly distributed around the central axis of the switching turntable, the number of the positioning holes is consistent with the number of the positioning support units, the mounting plate is provided with a through hole corresponding to the position of one of the positioning holes, the locking pin passes through the through hole and is matchedly inserted into the positioning hole, the locking drive device is installed on the mounting plate, the locking drive device is connected to the locking pin and can drive the locking pin to disengage from the positioning hole or insert into the positioning hole.

[0006] As a preferred solution of the present invention, a first sensor for detecting whether there is a workpiece at the clamping opening is provided on the mounting plate.

[0007] As a preferred solution of the present invention, a second sensor for detecting the rotation position of the switching turntable is provided on the mounting plate.

[0008] As a preferred embodiment of the present invention, the second sensor includes a plurality of proximity sensors, and the end surface of the switching turntable close to the mounting plate is provided with a plurality of detection areas evenly distributed around the central axis of the switching turntable, the number of the detection areas is equal to the number of the positioning support units, and the detection area is provided with at least one detection part that can be detected and identified by the proximity sensor, and the number and arrangement positions of the detection parts in each of the detection areas are different, the position of one of the detection areas corresponds to the position of the second sensor, and in the detection area corresponding to the position of the second sensor, at least one detection part corresponds one-to-one with the position of the proximity sensor.

[0009] As a preferred embodiment of the present invention, the common clamp includes a connecting portion and a clamping portion, the clamping portion is arranged on the outside of one of the positioning support units, a ball head is provided at the end of the clamping portion, and the connecting portion is rotatably connected to the clamping drive device.

[0010] As a preferred solution of the present invention, one side of the mounting plate extends out of one side of the output end of the manipulator and is rotatably connected to the switching turntable, and the switching turntable is located at the front end of the mounting plate.

[0011] As a preferred solution of the present invention, a connecting hole is provided on the mounting plate, and a connecting shaft rotatably connected to the connecting hole is provided at one end of the switching turntable close to the mounting plate. The connecting shaft is coaxially arranged with the central axis of the switching turntable, and the connecting shaft passes through the mounting plate and is fixedly connected to the switching gear.

[0012] At the same time, the present invention also provides a vehicle type switching method of the above-mentioned flexible vehicle type switching gripper device, comprising the following steps:

[0013] S1: Obtain that the number of the currently used positioning support unit is x, and input that the number of the positioning support unit to be switched is y. Among them, multiple positioning support units are sequentially set as the No. 1 positioning support unit, the No. 2 positioning support unit,... the No. N positioning support unit in a clockwise and end-to-end manner. The multiple teeth of the switching rack are sequentially set as the No. 1 tooth, the No. 2 tooth,... the No. N tooth along the positive direction of the switching rack. The tooth grooves of the switching gear are sequentially set as the No. 1 tooth groove, the No. 2 tooth groove,... the No. N tooth groove in a clockwise and end-to-end manner;

[0014] S2: Control the manipulator to drive the switching gear to move to the x-th tooth groove to cooperate with the x-th tooth;

[0015] S3: Calculate the difference s between y and x. When y > x, control the manipulator to drive the switching gear to move s tooth positions along the positive direction of the switching rack; when y < x, control the manipulator to drive the switching gear to move s tooth positions along the reverse direction of the switching rack.

[0016] In the embodiment of the present invention, a gripper device for flexibly switching vehicle models and its vehicle model switching method, compared with the prior art, has the beneficial effects that: this gripper device drives the common gripper to approach or move away from the positioning support unit through the clamping drive device, so as to clamp the workpiece at the clamping port or loosen the workpiece. By driving the switching gear and the common gripper to move through the manipulator, the transfer of the workpiece can be realized; the side of the switching turntable of this gripper device is equipped with positioning support units for different vehicle models. By driving the switching gear to move to engage with the switching rack and move along the length direction of the switching rack through the manipulator, the switching gear can be rotated to drive the switching turntable to rotate, so that the positioning support unit to be switched rotates to correspond to the position of the common gripper, realizing flexible vehicle model switching. The operation is simple, there is no need to disassemble and assemble the positioning support unit, the work efficiency is high, and the switching turntable can rotate without connecting a drive device, which can simplify the structure at the switching turntable and save production costs. Description of the Drawings

[0017] Figure 1 is the structural diagram of the present invention;

[0018] Figure 2 is the connection structural diagram of the manipulator and the switching turntable of the present invention;

[0019] Figure 3 is the connection structural diagram of the switching turntable and the mounting plate of the present invention;

[0020] Figure 4 is Figure 3 the back structure drawing of

[0021] Figure 5 is the connection structural diagram of the clamping drive device and the common gripper of the present invention;

[0022] Figure 6 is a structural diagram of a mounting plate of the present invention;

[0023] Figure 7 is a structural diagram of the switching turntable of the present invention;

[0024] Figure 8 is a structural diagram of the detection area of ​​the present invention;

[0025] Fig. 9 is a structural diagram of the switching gear meshing with the switching rack of the present invention;

[0026] In the figure, in the figure, 1, manipulator; 11, mounting plate; 111, through hole; 112, connecting hole; 2, switching turntable; 21, switching gear; 211, tooth groove No. 1; 212, tooth groove No. 2; 22, positioning hole; 23, detection area; 231, detection part; 24, connecting shaft; 3, positioning support unit; 31, positioning support unit No. 1; 32, positioning support unit No. 2; 4, common clamping jaw; 41, clamping part; 411, ball head; 42, connecting part; 5, clamping drive device; 6, fixing bracket; 61, switching rack; 611, tooth No. 1; 612, tooth No. 2; 7, locking pin; 71, locking drive device; 8, first sensor; 9, second sensor; 91, proximity sensor. DETAILED DESCRIPTION

[0027] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like used in the present invention to indicate the orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0029] like Figure 1-9As shown, a flexible switching vehicle type gripper device of a preferred embodiment of the present invention comprises a manipulator 1, a switching turntable 2, a common clamping claw 4, a clamping drive device 5 and a fixed bracket 6. The output end of the manipulator 1 is provided with a mounting plate 11, the mounting plate 11 is rotatably connected to the switching turntable 2 and the rotation axis coincides with the central axis of the switching turntable 2. The switching turntable 2 is in the shape of a regular prism, and each side of the switching turntable 2 is respectively installed with a positioning support unit 3 for different vehicle types (i.e., adapted to workpieces of different vehicle types), and the front end or the rear end of the switching turntable 2 is fixedly connected with a switching gear 2 coaxially arranged with the switching turntable 2. 1, the number of teeth of the switching gear 21 is equal to the number of the positioning support units 3, the common clamping jaw 4 is arranged on the outside of one of the positioning support units 3, that is, the position of the positioning support unit 3 corresponds to the position of the clamping jaw, the positioning support unit 3 is in the use position, and a clamping opening capable of clamping a workpiece is formed between the common clamping jaw 4 and the corresponding positioning support unit 3, the common clamping jaw 4 is connected to the clamping drive device 5, the clamping drive device 5 is installed on the output end of the manipulator 1, and the clamping drive device 5 can drive the common clamping jaw 4 to approach or move away from the corresponding positioning support unit 3, and the fixed bracket 6 is provided with a switching gear Generally, the fixed bracket 6 is fixed on the ground, and the manipulator 1 can drive the switching gear 21 to move to mesh with the switching rack 61. Since the switching gear 21 is coaxially arranged and fixedly connected with the switching turntable 2, the switching turntable 2 can be driven to rotate by rotating the switching gear 21. When the manipulator 1 drives the switching gear 21 to mesh with the switching rack 61 and moves along the length direction of the switching rack 61, the switching gear 21 can be rotated, thereby driving the switching turntable 2 to rotate, and different positioning support units 3 can be switched to be suitable for workpieces of different models, that is, This gripper device can realize switching of vehicle types, and because the number of teeth of the switching gear 21 is equal to the number of positioning support units 3, when the switching gear 21 rotates one tooth position, it will drive the switching turntable 2 to rotate, so that the positioning support unit 3 adjacent to the currently used positioning support unit 3 rotates and switches to the use position, which is convenient for the gripper device to realize vehicle type switching. In this embodiment, the switching turntable 2 is in the shape of a regular hexagonal prism, and 6 positioning support units 3 are installed on the switching turntable 2. The number of teeth of the switching gear 21 is 6. When the switching gear 21 rotates one tooth position, the switching gear 21 rotates 60°.

[0030] The working principle of the gripper device is as follows: the manipulator 1 drives the gripper to move so that the workpiece is inserted into the clamping opening. At this time, the clamping drive device 5 drives the common clamping jaw 4 to approach the positioning support unit 3, so that the common clamping jaw 4 cooperates with the positioning support unit 3 to realize the positioning and clamping of the workpiece. The manipulator 1 drives the switching turntable 2 and the common clamping jaw 4 to move so as to realize the transportation of the workpiece; after the transportation is in place, the clamping drive device 5 drives the common clamping jaw 4 away from the positioning support unit 3 to release the workpiece; when it is necessary to switch the vehicle model (switch to another vehicle model suitable for the vehicle model), the manipulator 1 drives the switching gear 21 to move When it meshes with the switching rack 61 and moves along the length direction of the switching rack 61, the switching gear 21 can be rotated to drive the switching turntable 2 to rotate, so that the positioning support unit 3 (compatible with the new model) that needs to be switched is rotated to correspond to the position of the common clamp 4. At this time, the positioning support unit 3 can cooperate with the common clamp 4 to clamp the workpiece of the new model, thereby realizing flexible switching of vehicle models. The operation is simple, and there is no need to disassemble and assemble the positioning support unit 3. The work efficiency is high. The switching turntable 2 can be rotated without connecting to a driving device, which can simplify the structure of the switching turntable 2 and save production costs.

[0031] At the same time, the present invention also provides a vehicle type switching method of the above-mentioned flexible vehicle type switching gripper device, comprising the following steps:

[0032] S1: Get the number of the currently used positioning support unit 3 (i.e., the positioning support unit 3 corresponding to the position of the common clamp 4) as x, and input the number of the positioning support unit 3 to be switched as y, where Figure 1As shown, a plurality of positioning support units 3 are sequentially set as No. 1 positioning support unit 31, No. 2 positioning support unit 32, ... No. N positioning support unit in a clockwise direction; a plurality of teeth of the switching rack 61 are sequentially set as No. 1 tooth 611, No. 2 tooth 612 ... No. N teeth in a positive direction of the switching rack 61. It can be understood that the number of teeth of the switching rack 61 is not less than the number of teeth of the switching gear 21; the tooth grooves of the switching gear 21 are sequentially set as No. 1 tooth groove 211, No. 2 tooth groove 212 ... No. N tooth grooves in a clockwise direction; when the switching gear 21 is meshed with the switching rack 61 and is moved in the positive direction of the switching rack 61 When moving, the switching gear 21 rotates clockwise. It should be noted that the positive direction of the switching rack 61 represents the direction of the switching rack 61 from one end to the other end along its length direction. Similarly, the reverse direction of the switching rack 61 represents the direction of the switching rack 61 from the other end to one end along its length direction. When the switching gear 21 is engaged with the switching rack 61 and moves in the reverse direction of the switching rack 61, the switching gear 21 rotates counterclockwise; when the position of the No. 1 positioning support unit 31 corresponds to the position of the common clamp 4, that is, the No. 1 positioning support unit 31 is in the use position, the manipulator 1 can drive the switching gear 21 to move to No. 1. The position where the tooth groove 211 cooperates with the No. 1 tooth 611, it can be understood that the switching gear 21 can directly move to the position where the No. 1 tooth groove 211 cooperates with the No. 1 tooth 611, that is, during the movement, the switching gear 21 will not rotate. Since the number of teeth of the switching gear 21 is equal to the number of positioning support units 3, and the teeth of the switching rack 61 are arranged along the length of the switching rack 61, it can be known that when the position of the No. 2 positioning support unit 32 corresponds to the position of the common clamping jaw 4, the manipulator 1 can drive the switching gear 21 to move to the position where the No. 2 tooth groove 212 cooperates with the No. 2 tooth 612, and so on. When the position of the Nth positioning support unit 3 corresponds to the position of the common clamping jaw 4, the manipulator 1 can drive the switching gear 21 to move to the position where the Nth tooth groove matches the Nth tooth; the number of the currently used positioning support unit 3 (i.e., the positioning support unit 3 corresponding to the position of the common clamping jaw 4) is x, which can be obtained by a sensor or manually, and the number of the positioning support unit 3 to be switched is y, which can be input manually or according to a set program. It can be understood that the data information of the number x and the data information of the number y are transmitted to the controller, and the controller performs relevant calculations and controls according to the data signal;

[0033] S2: Control the manipulator 1 to drive the switching gear 21 to move to the x-tooth groove to match the x-tooth;

[0034] S3: Calculate the difference s between y and x. When y > x, control the manipulator 1 to drive the switching gear 21 to move s tooth positions along the positive direction of the switching rack 61; when y < x, control the manipulator 1 to drive the switching gear 21 to move s tooth positions along the reverse direction of the switching rack 61. At this time, the y-th positioning support unit 3 rotates to the use position, thereby realizing the vehicle model switching. This method can quickly and accurately switch to the required positioning support unit 3, that is, realize the switching of the required vehicle model.

[0035] Exemplarily, the gripper device further includes a locking pin 7 and a locking driving device 71. A plurality of positioning holes 22 are provided on the switching turntable 2 and are evenly distributed around the central axis of the switching turntable 2. The number of the positioning holes 22 is the same as the number of the positioning support units 3. The mounting plate 11 is provided with a through hole 111 corresponding to the position of one of the positioning holes 22. The locking pin 7 passes through the through hole 111 and is inserted into the positioning hole 22 in a matching manner. The locking driving device 71 is mounted on the mounting plate 11. The locking driving device 71 is connected to the locking pin 7 and can drive the locking pin 7 to disengage from the positioning hole 22 or insert into the positioning hole 22, eliminating the need for manual insertion and removal of the locking pin 7, which is convenient and fast. When the locking pin 7 is inserted into the positioning hole 22, the locking pin 7 can limit the rotation of the switching turntable 2, thereby preventing the switching turntable 2 from accidentally rotating. At this time, the switching turntable 2 is in a locked state. When switching the vehicle model, first, the manipulator 1 drives the switching gear 21 to move to mesh with the switching rack 61, then the locking driving device 71 drives the locking pin 7 to be pulled out of the positioning hole 22, and then the manipulator 1 drives the switching gear 21 to move along the length direction of the switching rack 61, thereby realizing the rotation of the switching turntable 2. After the switching turntable 2 rotates in place (the positioning support unit 3 to be used rotates to correspond to the position of the common gripper 4), at this time, another positioning hole 22 is aligned with the through hole 111, and the locking driving device 71 drives the locking pin 7 to pass through the through hole 111 and insert into the positioning hole 22, so that the switching turntable 2 returns to the locked state. In this embodiment, the positioning holes 22 are arranged along the central axis direction of the switching turntable 2, and the locking driving device 71 can drive the locking pin 7 to move along the central axis direction of the switching turntable 2, so as to drive the locking pin 7 to insert into the positioning hole 22 or be pulled out of the positioning hole 22.

[0036] Exemplarily, a first sensor 8, such as a photoelectric sensor, for detecting whether there is a workpiece at the clamping port is provided on the mounting plate 11. When the first sensor 8 detects that there is a workpiece at the clamping port, the clamping driving device 5 drives the common gripper 4 to move towards the positioning support unit 3, so that the common gripper 4 and the positioning support unit 3 cooperate to clamp the workpiece, ensuring the normal operation of the gripper device. At the same time, the first sensor 8 can also detect whether the workpiece accidentally drops during the process of the gripper device clamping and transporting the workpiece.

[0037] Exemplarily, a second sensor 9 for detecting the rotation position of the switching dial 2 is provided on the mounting plate 11. The rotation position of the switching dial 2 is detected by the second sensor 9, thereby determining whether the switching dial 2 is rotated into place and confirming which positioning support unit 3 is rotated to the position corresponding to the common clamp 4, thereby obtaining the number of the positioning support unit 3 in the use position.

[0038] Exemplarily, the second sensor 9 includes a plurality of proximity sensors 91, and the end surface of the switching turntable 2 close to the mounting plate 11 is provided with a plurality of detection areas 23 uniformly distributed around the central axis of the switching turntable 2, the number of the detection areas 23 is equal to the number of the positioning support units 3, and the detection area 23 is provided with at least one detection portion 231 that can be detected and identified by the proximity sensor 91, and the number and arrangement position of the detection portions 231 in each detection area 23 are different, and the position of one of the detection areas 23 corresponds to the position of the second sensor 9, and in the detection area 23 corresponding to the position of the second sensor 9, at least one detection portion 231 is the same as the position of the proximity sensor 91. One-to-one correspondence, that is, when the detection area 23 has one detection part 231, the position of the detection part 231 corresponds to one proximity sensor 91, and when the detection area 23 has two detection parts 231, the positions of the two detection parts 231 correspond to the positions of two proximity sensors 91. Since the number and arrangement positions of the detection parts 231 in each detection area 23 are different, different detection areas 23 can be distinguished. Therefore, when different detection areas 23 are rotated to correspond to the position of the second sensor 9, the detection results of multiple proximity switches can be used to detect and determine which specific detection area 23 it is, thereby detecting and determining the rotation position of the switching turntable 2.

[0039] Exemplarily, the common clamping jaw 4 includes a connecting portion 42 and a clamping portion 41. The clamping portion 41 is arranged on the outside of one of the positioning support units 3. A ball head 411 is provided at the end of the clamping portion 41. The ball head 411 cooperates with the positioning support unit 3 to clamp the workpiece. The setting of the ball head 411 can facilitate the clamping of workpieces of different shapes. The connecting portion 42 is rotatably connected to the clamping drive device 5. The clamping drive device 5 drives the connecting portion 42 to rotate, so that the clamping portion 41 rotates close to or away from the positioning support unit 3, thereby clamping or releasing the workpiece.

[0040] Illustratively, one side of the mounting plate 11 extends out of one side of the output end of the manipulator 1 and is rotatably connected to the switching turntable 2. The switching turntable 2 is located at the front end of the mounting plate 11, with a reasonable layout and a large space at the clamping port, which is convenient for clamping the workpiece.

[0041] Exemplarily, a connecting hole 112 is provided on the mounting plate 11, and a connecting shaft 24 rotatably connected to the connecting hole 112 is provided at one end of the switching dial 2 close to the mounting plate 11. The connecting shaft 24 is coaxially arranged with the central axis of the switching dial 2, and the mounting plate 11 and the switching dial 2 are rotatably connected by the cooperation between the connecting shaft 24 and the connecting hole 112. The connecting shaft 24 passes through the mounting plate 11 and is fixedly connected to the switching gear 21 so as to be connected to the switching gear 21.

[0042] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A gripper device for flexible switching of vehicle types, characterized in that: The invention comprises a manipulator, a switching turntable, a common clamping jaw, a clamping drive device and a fixed bracket, wherein the output end of the manipulator is provided with a mounting plate, the mounting plate is rotatably connected to the switching turntable and the rotation axis coincides with the central axis of the switching turntable, the switching turntable is in the shape of a regular prism, and each side of the switching turntable is respectively provided with a positioning support unit for different vehicle models, the front end or the rear end of the switching turntable is fixedly connected with a switching gear coaxially arranged with the switching turntable, the number of teeth of the switching gear is equal to the number of the positioning support units, the common clamping jaw is arranged on the outer side of one of the positioning support units, and a clamping opening capable of clamping a workpiece is formed between the common clamping jaw and the corresponding positioning support unit, the common clamping jaw is connected to the clamping drive device, the clamping drive device is installed on the output end of the manipulator, the clamping drive device can drive the common clamping jaw to approach or move away from the corresponding positioning support unit, the fixed bracket is provided with a switching rack, and the manipulator can drive the switching gear to move until the switching rack is meshed.

2. The gripper device for flexible switching vehicle type according to claim 1 is characterized in that: It also includes a locking pin and a locking drive device, the switching turntable is provided with a plurality of positioning holes evenly distributed around the central axis of the switching turntable, the number of the positioning holes is consistent with the number of the positioning support units, the mounting plate is provided with a through hole corresponding to the position of one of the positioning holes, the locking pin passes through the through hole and is matchedly inserted into the positioning hole, the locking drive device is installed on the mounting plate, the locking drive device is connected to the locking pin and can drive the locking pin to disengage from the positioning hole or insert into the positioning hole.

3. The gripper device for flexible switching vehicle type according to claim 1 is characterized in that : A first sensor is provided on the mounting plate for detecting whether there is a workpiece at the clamping port.

4. The gripper device for flexible switching vehicle type according to claim 1 is characterized in that: The mounting plate is provided with a second sensor for detecting the rotation position of the switching turntable.

5. The gripper device for flexible switching vehicle type according to claim 4 is characterized in that: The second sensor includes a plurality of proximity sensors. The end surface of the switching turntable close to the mounting plate is provided with a plurality of detection areas evenly distributed around the central axis of the switching turntable. The number of the detection areas is equal to the number of the positioning support units. The detection area is provided with at least one detection part that can be detected and identified by the proximity sensor. The number and arrangement position of the detection parts in each detection area are different. The position of one of the detection areas corresponds to the position of the second sensor. In the detection area corresponding to the position of the second sensor, at least one detection part corresponds one-to-one with the position of the proximity sensor.

6. The gripper device for flexible switching vehicle type according to claim 1 is characterized in that: The common clamping claw comprises a connecting portion and a clamping portion, wherein the clamping portion is arranged on the outside of one of the positioning support units, a ball head is arranged at the end of the clamping portion, and the connecting portion is rotatably connected to the clamping drive device.

7. The gripper device for flexible switching vehicle type according to claim 1 is characterized in that: One side of the mounting plate extends out of one side of the output end of the manipulator and is rotatably connected to the switching turntable, and the switching turntable is located at the front end of the mounting plate.

8. The gripper device for flexible switching vehicle type according to claim 1 is characterized in that: The mounting plate is provided with connection holes, and one end of the switching turntable close to the mounting plate is provided with a connection shaft rotatably connected to the connection holes. The connection shaft is coaxially arranged with the central axis of the switching turntable. The connection shaft penetrates through the mounting plate and is fixedly connected with the switching gear.

9. A vehicle type switching method for a gripper device for flexible vehicle type switching according to claim 1, characterized in that: It includes the following steps: S1: Obtain that the number of the currently used positioning and supporting unit is x, and input that the number of the positioning and supporting unit to be switched is y. Among them, multiple positioning and supporting units are sequentially set as the No. 1 positioning and supporting unit, the No. 2 positioning and supporting unit,... the No. N positioning and supporting unit in a clockwise and end-to-end manner. Multiple teeth of the switching rack are sequentially set as the No. 1 tooth, the No. 2 tooth,... the No. N tooth along the positive direction of the switching rack. Tooth grooves of the switching gear are sequentially set as the No. 1 tooth groove, the No. 2 tooth groove,... the No. N tooth groove in a clockwise and end-to-end manner; S2: Control the manipulator to drive the switching gear to move to the x-th tooth groove to cooperate with the x-th tooth; S3: Calculate the difference s between y and x. When y > x, control the manipulator to drive the switching gear to move s tooth positions along the positive direction of the switching rack; when y < x, control the manipulator to drive the switching gear to move s tooth positions along the reverse direction of the switching rack.

Images