A flexible switching vehicle type gripper device and a vehicle type switching method thereof

Abstract

This invention relates to the field of automobile manufacturing technology and discloses a gripper device and its vehicle model switching method for flexible vehicle model switching. The gripper device includes a robotic arm, a switching turntable, a common gripper, a clamping drive device, and a fixed bracket. The output end of the robotic arm is provided with a mounting plate, which is rotatably connected to the switching turntable. The switching turntable is prismatic in shape, and each side of the switching turntable is equipped with a positioning support unit for different vehicle models. A switching gear is fixedly connected to the switching turntable, and a switching rack is provided on the fixed bracket. The gripper device drives the common gripper to move closer to or away from the positioning support unit through the clamping drive device, so that the common gripper cooperates with the positioning support unit to clamp the workpiece at the clamping opening or release the workpiece. The robotic arm can drive the switching gear to move until the switching rack engages, thereby realizing the rotation of the switching turntable to realize the vehicle model switching. The vehicle model switching method of this invention can quickly and accurately realize the switching of the required vehicle model.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing technology, and in particular to a gripper device for flexibly switching vehicle models and a method for switching vehicle models. Background Technology

[0002] The automotive industry is developing rapidly, and automotive manufacturing lines are facing increasingly stringent requirements regarding production line cycle time and cost. Existing automotive welding and handling gripper structures connect a robotic control arm to the gripper, with the robotic control arm controlling the gripper's movement to transfer workpieces. Current grippers typically include a positioning support unit and grippers, which work together to position and clamp the workpiece. However, the positioning support unit of existing grippers is a fixed, single-surface design, suitable only for positioning and clamping workpieces from a single vehicle model. This limits its application to the production of a single model. When switching models, the positioning support unit needs to be removed and replaced using a plug-and-play switching method, requiring manual intervention. This lack of flexibility and time-consuming model switching negatively impacts production efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a flexible vehicle-changing gripper device and its vehicle-changing method that is easy to operate and can switch different positioning support units to meet the usage requirements of different vehicle models.

[0004] To address the aforementioned technical problems, this invention provides a flexible gripper device for switching vehicle models, comprising a robotic arm, a switching turntable, a common gripper, a clamping drive device, and a fixed bracket. The output end of the robotic arm is equipped with a mounting plate, which is rotatably connected to the switching turntable, with its rotation axis coinciding with the central axis of the turntable. The switching turntable is prismatic in shape, and each side of the turntable is equipped with a positioning support unit for different vehicle models. A switching gear, coaxially arranged with the turntable, is fixedly connected to the front or rear end of the turntable. The number of teeth on the switching gear is equal to the number of positioning support units. The common gripper is located outside one of the positioning support units, forming a clamping opening between the common gripper and its corresponding positioning support unit, capable of clamping a workpiece. The common gripper is connected to the clamping drive device, which is mounted on the output end of the robotic arm. The clamping drive device can drive the common gripper to move closer to or further away from its corresponding positioning support unit. A switching rack is provided on the fixed bracket, allowing the robotic arm to move the switching gear until it engages with the switching rack.

[0005] As a preferred embodiment of the present invention, the gripper device further 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 positioning holes is the same as the number of 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 inserted into the positioning hole. The locking drive device is mounted on the mounting plate. The locking drive device is connected to the locking pin and can drive the locking pin to disengage from or insert into the positioning hole.

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

[0007] As a preferred embodiment of the present invention, the mounting plate is provided with a second sensor for detecting the rotational position of the switching turntable.

[0008] As a preferred embodiment of the present invention, the second sensor includes a plurality of proximity sensors. The end face of the switching turntable near the mounting plate is provided with a plurality of detection areas evenly distributed around the central axis of the switching turntable. The number of detection areas is equal to the number of positioning support units. Each 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.

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

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

[0011] As a preferred embodiment of the present invention, the mounting plate is provided with a connecting hole, and the end of the switching turntable near the mounting plate is provided with a connecting shaft that is rotatably connected to the connecting hole. 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] Meanwhile, the present invention also provides a vehicle model switching method for the above-mentioned flexible vehicle model 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. 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 move the switching gear to engage with the x-th tooth groove and the x-th tooth;

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

[0016] In an embodiment of the present invention, a gripper device for flexibly switching vehicle models and a vehicle model switching method thereof have the following beneficial effects compared with the prior art: 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 release the workpiece. By moving the switching gear and the common gripper 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 moving the switching gear to engage with the switching rack through the manipulator and moving along the length direction of the switching rack, 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 This is a structural diagram of the mounting plate of the present invention;

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

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

[0025] Figure 9 This is a structural diagram of the meshing of the switching gear and the switching rack of the present invention;

[0026] In the diagram, 1. Robotic arm; 11. Mounting plate; 111. Through hole; 112. Connecting hole; 2. Switching turntable; 21. Switching gear; 211. Gear slot 1; 212. Gear slot 2; 22. Positioning hole; 23. Detection area; 231. Detection part; 24. Connecting shaft; 3. Positioning support unit; 31. Positioning support unit 1; 32. Positioning support unit 2; 4. Common gripper; 41. Clamping part; 411. Ball head; 42. Connecting part; 5. Clamping drive device; 6. Fixed bracket; 61. Switching rack; 611. Gear 1; 612. Gear 2; 7. Locking pin; 71. Locking drive device; 8. First sensor; 9. Second sensor; 91. Proximity sensor. Detailed Implementation

[0027] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., used to indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] like Figure 1-9As shown, a preferred embodiment of the present invention provides a flexible vehicle model switching gripper device, comprising a robotic arm 1, a switching turntable 2, a common gripper 4, a clamping drive device 5, and a fixed bracket 6. The output end of the robotic arm 1 is provided with a mounting plate 11, which is rotatably connected to the switching turntable 2 with its rotation axis coinciding with the central axis of the switching turntable 2. The switching turntable 2 is prismatic in shape, and each side of the switching turntable 2 is respectively equipped with a positioning support unit 3 for different vehicle models (i.e., workpieces adapted to different vehicle models). A switching gear 2, coaxially arranged with the switching turntable 2, is fixedly connected to the front or rear end of the switching turntable 2. 1. The number of teeth on the switching gear 21 is equal to the number of positioning support units 3. The common gripper 4 is located outside one of the positioning support units 3, meaning the position of the positioning support unit 3 corresponds to the position of the gripper. When the positioning support unit 3 is in the working position, the common gripper 4 and its corresponding positioning support unit 3 form a clamping opening capable of clamping the workpiece. The common gripper 4 is connected to the clamping drive device 5, which is installed on the output end of the robot 1. The clamping drive device 5 can drive the common gripper 4 to move closer to or away from its corresponding positioning support unit 3. The fixed bracket 6 is provided with switching teeth. Generally, the fixed bracket 6 is fixed to the ground. The robot arm 1 can drive the switching gear 21 to engage with the switching rack 61. Since the switching gear 21 is coaxially set and fixedly connected to the switching turntable 2, rotating the switching gear 21 can drive the switching turntable 2 to rotate. When the robot arm 1 drives the switching gear 21 to engage with the switching rack 61 and moves along the length direction of the switching rack 61, the switching gear 21 will rotate, thereby driving the switching turntable 2 to rotate. This enables the switching of different positioning support units 3 to be used to suit workpieces of different vehicle models. This gripper device can switch vehicle models. Since 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 by one tooth, 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 will rotate and switch to the used position, which facilitates the switching of vehicle models by this gripper device. In this embodiment, the switching turntable 2 is in the shape of a regular hexagonal prism, and six 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 by one tooth, the switching gear 21 rotates 60°.

[0030] The working principle of this gripper device is as follows: The robotic arm 1 drives the gripper to move, allowing the workpiece to enter the clamping opening. At this time, the clamping drive device 5 drives the common gripper 4 to move closer to the positioning support unit 3, thereby enabling the common gripper 4 to cooperate with the positioning support unit 3 to achieve workpiece positioning and clamping. The workpiece can be transported by the robotic arm 1 driving the switching turntable 2 and the common gripper 4 to move. After being transported to the correct position, the clamping drive device 5 drives the common gripper 4 away from the positioning support unit 3, thereby releasing the workpiece. When it is necessary to switch vehicle models (to a model suitable for another vehicle model), the robotic arm 1 drives the switching gear 21 to move. When the gear meshes with the switching rack 61 and moves along the length of the switching rack 61, the switching gear 21 rotates, thereby driving the switching turntable 2 to rotate. This causes the positioning support unit 3 (adapted to the new model) to rotate to the position corresponding to the common gripper 4. At this time, the positioning support unit 3 can cooperate with the common gripper 4 to clamp the workpiece of the new model, realizing flexible model switching. The operation is simple, and there is no need to disassemble or assemble the positioning support unit 3. The work efficiency is high. The switching turntable 2 can rotate without connecting to a drive device, which simplifies the structure of the switching turntable 2 and saves production costs.

[0031] Meanwhile, the present invention also provides a vehicle model switching method for the aforementioned flexible vehicle model switching gripper device, comprising the following steps:

[0032] S1: Obtain the number x of the currently used positioning support unit 3 (i.e., the positioning support unit 3 corresponding to the position of the shared gripper 4), and input the number y of the positioning support unit 3 to be switched, where, for example... Figure 1As shown, multiple positioning support units 3 are sequentially designated as Positioning Support Unit 1 31, Positioning Support Unit 2 32, ... N, with their ends touching each other in a clockwise direction; multiple teeth of the switching rack 61 are sequentially designated as Tooth 1 611, Tooth 2 612, ... N, with their ends touching each other in a clockwise direction. It can be understood that the number of teeth on the switching rack 61 is not less than the number of teeth on the switching gear 21; the tooth grooves of the switching gear 21 are sequentially designated as Tooth Groove 1 211, Tooth Groove 212, ... N, with their ends touching each other in a clockwise direction; when the switching gear 21 meshes with the switching rack 61 and moves in the positive direction of the switching rack 61... During movement, the switching gear 21 rotates clockwise. It should be noted that the forward direction of the switching rack 61 refers to the direction along its length from one end to the other; similarly, the reverse direction of the switching rack 61 refers to the direction along its length from one end to the other. When the switching gear 21 meshes 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 first positioning support unit 31 corresponds to the position of the common gripper 4, that is, the first positioning support unit 31 is in the working position, the robot arm 1 can drive the switching gear 21 to move to the first position. The position where tooth groove 211 engages with tooth 611 can be understood as follows: the switching gear 21 can directly move to the position where tooth groove 211 engages with tooth 611. That is, during this movement, the switching gear 21 will not rotate. Since the number of teeth on 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 its length, it can be deduced that when the position of positioning support unit 32 corresponds to the position of the common gripper 4, the robot arm 1 can drive the switching gear 21 to move to the position where tooth groove 212 engages with tooth 612, and so on. When the position of the Nth positioning support unit 3 corresponds to the position of the common gripper 4, the robot arm 1 can drive the switching gear 21 to move to the position where the Nth tooth groove and the Nth tooth are engaged. The number x of the currently used positioning support unit 3 (i.e., the positioning support unit 3 corresponding to the position of the common gripper 4) can be obtained by a sensor or manually. The number y of the positioning support unit 3 to be switched can be input manually or according to the 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 then performs relevant calculations and controls based on the data signal.

[0033] S2: Control the robotic arm 1 to drive the switching gear 21 to move to slot x and engage with tooth x;

[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 forward 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 - numbered positioning support unit 3 rotates to the use position, thus 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, this gripper device further includes a locking pin 7 and a locking drive device 71. There are a plurality of positioning holes 22 evenly distributed around the central axis of the switching turntable 2 on 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 drive device 71 is installed on the mounting plate 11. The locking drive 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 extraction 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 restrict the rotation of the switching turntable 2, thus 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 drive device 71 drives the locking pin 7 to be pulled out of the positioning hole 22. Next, the manipulator 1 drives the switching gear 21 to move along the length direction of the switching rack 61, thus 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 drive device 71 drives the locking pin 7 to pass through the through - hole 111 and insert into the positioning hole 22, making the switching turntable 2 return to the locked state. In this embodiment, the positioning holes 22 are arranged along the direction of the central axis of the switching turntable 2, and the locking drive device 71 can drive the locking pin 7 to move along the direction of the central axis 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 drive 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 this 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] For example, the mounting plate 11 is provided with a second sensor 9 for detecting the rotation position of the switching turntable 2. By detecting the rotation position of the switching turntable 2 through the second sensor 9, it is determined whether the switching turntable 2 has rotated into place and which positioning support unit 3 has rotated to the position corresponding to the common gripper 4, thereby obtaining the number of the positioning support unit 3 in the use position.

[0038] For example, the second sensor 9 includes multiple proximity sensors 91. The end face of the switching turntable 2 near the mounting plate 11 is provided with multiple detection areas 23 evenly distributed around the central axis of the switching turntable 2. The number of detection areas 23 is equal to the number of positioning support units 3. Each detection area 23 has at least one detection part 231 that can be detected and identified by the proximity sensor 91. The number and arrangement of the detection parts 231 in each detection area 23 are different. The position of one detection area 23 corresponds to the position of the second sensor 9. In the detection area 23 corresponding to the position of the second sensor 9, at least one detection part 231 is positioned opposite to the proximity sensor 91. One-to-one correspondence, that is, when there is one detection part 231 in the detection area 23, the position of the detection part 231 corresponds to one proximity sensor 91. When there are two detection parts 231 in the detection area 23, the positions of the two detection parts 231 correspond one-to-one with the positions of the two proximity sensors 91. Since the number and arrangement of the detection parts 231 in each detection area 23 are different, the different detection areas 23 can be distinguished. Therefore, when different detection areas 23 rotate to the position corresponding to 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] For example, the common gripper 4 includes a connecting part 42 and a clamping part 41. The clamping part 41 is located on the outside of one of the positioning support units 3. The end of the clamping part 41 is provided with a ball head 411. The ball head 411 cooperates with the positioning support unit 3 to clamp the workpiece. The ball head 411 can facilitate the clamping of workpieces of different shapes. The connecting part 42 is rotatably connected to the clamping drive device 5. The clamping drive device 5 drives the connecting part 42 to rotate, so that the clamping part 41 rotates to move closer to or away from the positioning support unit 3, thereby clamping or releasing the workpiece.

[0040] For example, one side of the mounting plate 11 extends out of the output end of the robot arm 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 opening, which facilitates clamping the workpiece.

[0041] For example, the mounting plate 11 is provided with a connection hole 112, and the end of the switching turntable 2 near the mounting plate 11 is provided with a connecting shaft 24 that is rotatably connected to the connection hole 112. The connecting shaft 24 is coaxially arranged with the central axis of the switching turntable 2. The mounting plate 11 and the switching turntable 2 are rotatably connected through the cooperation between the connecting shaft 24 and the connection hole 112. The connecting shaft 24 passes through the mounting plate 11 and is fixedly connected to the switching gear 21 so as to connect with the switching gear 21.

[0042] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A gripper device for flexibly switching vehicle models, characterized in that: The device includes a robotic arm, a switching turntable, a common gripper, a clamping drive device, and a fixed bracket. The output end of the robotic arm has a mounting plate, which is rotatably connected to the switching turntable, with its rotation axis coinciding with the central axis of the turntable. The switching turntable is prismatic in shape, and each side of the turntable is equipped with a positioning support unit for different vehicle models. A switching gear, coaxially arranged with the turntable, is fixedly connected to the front or rear end of the turntable. The number of teeth on the switching gear is equal to the number of positioning support units. The common gripper is located outside one of the positioning support units, forming a clamping opening between the common gripper and its corresponding positioning support unit. The common gripper is connected to the clamping drive device, which is mounted on the output end of the robotic arm. The clamping drive device can drive the common gripper to move closer to or away from its corresponding positioning support unit. The fixed bracket has a switching rack, and the robotic arm can drive the switching gear to engage with the switching rack.

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

3. The gripper device for flexibly switching vehicle models according to claim 1, characterized in that... The mounting plate is equipped with a first sensor for detecting whether there is a workpiece at the clamping opening.

4. The gripper device for flexibly switching vehicle models according to claim 1, characterized in that: The mounting plate is equipped with a second sensor for detecting the rotational position of the switching turntable.

5. The gripper device for flexibly switching vehicle models according to claim 4, characterized in that: The second sensor includes multiple proximity sensors. The end face of the switching turntable near the mounting plate is provided with multiple detection areas evenly distributed around the central axis of the switching turntable. The number of detection areas is equal to the number of positioning support units. Each detection area is provided with at least one detection part that can be detected and identified by the proximity sensor. The number and arrangement 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 flexibly switching vehicle models according to claim 1, characterized in that: The shared gripper includes a connecting part and a clamping part. The clamping part is located on the outside of one of the positioning support units. The end of the clamping part is provided with a ball head. The connecting part is rotatably connected to the clamping drive device.

7. The gripper device for flexibly switching vehicle models according to claim 1, characterized in that: One side of the mounting plate extends beyond one side of the output end of the robot and is rotatably connected to the switching turntable, which is located at the front end of the mounting plate.

8. The gripper device for flexibly switching vehicle models according to claim 1, 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 method for vehicle model switching in a gripper device for flexible vehicle model switching as described in 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 the number of the positioning and supporting unit to be switched as 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. 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; S2: Control the manipulator to move the switching gear to the No. x tooth groove to cooperate with the No. x tooth; S3: Calculate the difference s between y and x. When y>x, control the manipulator to move the switching gear s tooth positions along the positive direction of the switching rack; when y<x, control the manipulator to move the switching gear s tooth positions along the reverse direction of the switching rack.

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