Gripper device for vehicle assembly

Abstract

A gripper device for vehicle assembly includes: a main body; a gripper mounted on the main body and configured to grip a component to be loaded; and a cable collator connected to the main body and configured to collate a cable extending from a component to be loaded. The cable collator may include: a cable clamp for clamping or loosening a cable; and a first linear actuator mounted on the main body and configured to move the cable clamp up and down.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Korean Patent Application No. 10-2023-0144398 filed in the Korean Intellectual Property Office on October 26, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a gripper device for use in a vehicle assembly process, and more particularly, to a gripper device configured to automatically organize cables when a component having cables is loaded onto another component. Background Art

[0004] A vehicle may include various components / parts, and during vehicle assembly, the components / parts may be loaded and transported by robots and gripper devices.

[0005] For example, a rear spoiler can be loaded onto a tailgate of a vehicle by a robot and gripper device, and the rear spoiler and tailgate can be preassembled. Figure 1 , the rear spoiler 2 may be embedded with a lamp 3, and a cable 5 extends from the lamp 3. The operator may connect a connector 6 of the cable 5 extending from the lamp 3 of the rear spoiler 2 to an opposite connector provided on the vehicle body, and the operator may assemble the rear spoiler 2 and the tailgate 1 using a fastener. When the rear spoiler 2 and the tailgate 1 are preassembled, the cable 5 extending from the lamp 3 of the rear spoiler 2 may be in an untidy state, so that the cable 5 may be difficult to pass through the hole 7 of the tailgate 1. To solve this problem, in the existing assembly process, the operator may tie up the twisted portion of the cable 5 with a belt, so that the cable 5 can easily pass through the hole 7 of the tailgate.

[0006] When loading a component with cables onto another component of a vehicle to assemble them, an operator first needs to tie up the unorganized cables with tape, which makes the assembly process very cumbersome and takes too long.

[0007] The above information described in this background technology section is provided to help understanding the background of the present invention concept and may include any technical concepts that are not considered as prior art known to those skilled in the art. Summary of the invention

[0008] One aspect of the present disclosure provides a gripper device configured to automatically organize cables when gripping a component having cables and loading it onto another component.

[0009] According to an aspect of the present disclosure, a gripping device may include: a body; a gripper mounted on the body and configured to grip a component to be loaded; and a cable organizer connected to the body and configured to organize a cable extending from the component to be loaded.

[0010] The cable organizer may include: a cable clamp to clamp or release the cable; and a first linear actuator installed on the main body and moving the cable clamp up and down.

[0011] The cable organizer may further include a first moving member that is movable up and down by the first linear actuator, and the cable clamp may be mounted on the first moving member.

[0012] The cable clamp may include a first clamping member, a second clamping member facing the first clamping member, and a second linear actuator that moves the first clamping member and the second clamping member in directions opposite to each other.

[0013] Each of the first clamping member and the second clamping member may have a clamping surface for pressing the cable, and the clamping surface may have a concave shape.

[0014] The height of the first clamping member may be different than the height of the second clamping member.

[0015] The second linear actuator may be fixed to the first moving member.

[0016] The cable clamp may further include a second moving member and a third moving member configured to move in opposite directions to each other by a second linear actuator. The first clamping member may be connected to the second moving member, and the second clamping member may be connected to the third moving member.

[0017] The cable clamp may also include a first rotary actuator that rotates the first clamping member and a second rotary actuator that rotates the second clamping member.

[0018] The first rotary actuator may be mounted on the second moving member, and the second rotary actuator may be mounted on the third moving member.

[0019] The first clamping member may have a first leg rotatably connected to the first rotary actuator, and the second clamping member may have a second leg rotatably connected to the second rotary actuator.

[0020] The cable clamp may further include a connector push pin extending from at least one of the first clamp member and the second clamp member, the connector push pin pushing a connector provided on an end portion of the cable.

[0021] The gripper may be mounted on the end of a rod extending from the body.

[0022] The gripper may be rotated by a gripper rotation actuator, and the gripper rotation actuator may be mounted on the body.

[0023] The gripper rotation actuator may include a rotation bracket rotatably mounted on an end of the gripper rotation actuator, and the gripper may be mounted on an end of a rod extending from the rotation bracket.

[0024] A vehicle may include components assembled by a gripper apparatus.

[0025] According to another aspect of the present disclosure, a gripper device for assembling vehicle components may include: a main body; a gripper mounted on the main body and configured to grip the component to be loaded; and a cable organizer connected to the main body and configured to organize cables extending from the component to be loaded, wherein the cable organizer also includes: a cable clamp for clamping or releasing the cable; and a first linear actuator mounted on the main body, the first linear actuator being configured to move the cable clamp up and down. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description in conjunction with the accompanying drawings:

[0027] Figure 1 The figure shows the state where the rear spoiler is loaded on the tailgate;

[0028] Figure 2 A bottom perspective view of the rear spoiler is shown;

[0029] Figure 3 shows the process of straightening out the twisted portion of cable extending from the rear spoiler;

[0030] Figure 4 A perspective view showing a state in which a gripper device according to an exemplary embodiment of the present disclosure grips a rear spoiler;

[0031] Figure 5 shows a perspective view of a gripper device according to an exemplary embodiment of the present disclosure;

[0032] Figure 6 shows a perspective view of the body of a gripper device according to an exemplary embodiment of the present disclosure;

[0033] Figure 7 A perspective view showing a state in which a gripper is connected to a gripper rotation actuator in a gripper device according to an exemplary embodiment of the present disclosure;

[0034] Figure 8 A perspective view showing a state in which a gripper rotation actuator rotates a gripper in a gripper device according to an exemplary embodiment of the present disclosure;

[0035] Fig. 9 A perspective view showing a state in which a cable organizer is connected to a first linear actuator in a gripper device according to an exemplary embodiment of the present disclosure;

[0036] Fig.10 A perspective view of a cable organizer showing a gripper device according to an exemplary embodiment of the present disclosure;

[0037] Fig.11 Shown in Fig.10 A front view observed in the direction indicated by arrow A;

[0038] Fig.12 Shown in Fig.11 The plane view observed in the direction indicated by the arrow B;

[0039] Fig.13 Shows Fig.12 A state in which the first leg and the second leg of the cable organizer are linearly positioned by the first rotary actuator and the second rotary actuator;

[0040] Fig.14 shows a state in which a cable is clamped by a first clamping member and a second clamping member of a cable organizer in a gripper device according to an exemplary embodiment of the present disclosure;

[0041] Fig.15 Shown in Fig.11 A side view viewed in the direction indicated by arrow C in FIG.

[0042] Fig.16 Shown in Fig.11 The arrow D in the figure indicates the direction of observation of the side view. DETAILED DESCRIPTION

[0043] It should be understood that the term "vehicle" or "vehicular" or other similar terms as used herein generally include motor vehicles (such as passenger cars (including sport utility vehicles (SUVs)), buses, trucks, various commercial vehicles, watercraft (including various boats and ships), aircraft, etc.), and include hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from resources other than petroleum). As referred to herein, a hybrid vehicle is a vehicle having two or more sources of power, for example, a vehicle powered by both gasoline and electricity.

[0044] The terms used herein are only used for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms "one", "one" and "the" are intended to also include plural forms. It should also be understood that when the terms "including" and / or "comprising" are used in this specification, it means that there are the features, wholes, steps, operations, elements and / or parts, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, parts and / or their combinations. As used in this article, the term "and / or" includes any and all combinations of one or more related listed items. Throughout the specification, unless explicitly described to the contrary, the word "including" and variations such as "including" or "containing" will be understood to imply the inclusion of the elements, but do not exclude any other elements. In addition, the terms "unit", "-person", "-piece" and "module" described in the specification mean a unit for processing at least one function and operation, and can be implemented by hardware components or software components and combinations thereof.

[0045] In addition, the control logic of the present disclosure may be embodied as a non-volatile computer-readable medium on a computer-readable medium containing executable program instructions executed by a processor, a controller, etc. Examples of computer-readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable medium may also be distributed in a network-connected computer system so that the computer-readable medium is stored and executed in a distributed manner, such as by a telematics server or a controller area network (CAN).

[0046] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals are used throughout the text to refer to the same or equivalent elements. In addition, detailed descriptions of known technologies associated with the present disclosure will be omitted to avoid unnecessarily obscuring the subject matter of the present disclosure.

[0047] Terms such as first, second, A, B, (a) and (b) can be used to describe the elements in the exemplary embodiments of the present disclosure. These terms are only used to distinguish an element from another element, and the inherent characteristics, sequence or order of the corresponding element, etc. are not limited by these terms. Unless otherwise defined, all terms used in this article (including technical terms or scientific terms) have the same meaning as the meaning generally understood by those of ordinary skill in the field to which the present disclosure belongs. Those terms such as those defined in commonly used dictionaries should be interpreted as having the meaning equal to the contextual meaning in the relevant field, and should not be interpreted as having an ideal or too formal meaning, unless clearly defined as having an ideal or too formal meaning in the present application.

[0048] refer to Figure 4 , a gripper device 10 for vehicle assembly according to an exemplary embodiment of the present disclosure may include a body 11 , a gripper 13 mounted on the body 11 , and a cable organizer 12 connected to the body 11 .

[0049] As provided herein, the cable organizer 12 refers to a mechanical device configured to organize cables (e.g., cable 5) by eliminating any twisted portions (e.g., twisted portions 5a). The cable organizer 12 can organize the cables 5 so that the cables are arranged in a substantially straight orientation (i.e., straightly) so that any twisted portions of the cables 5 are substantially eliminated.

[0050] The body 11 may extend in the width direction of the rear spoiler 2 as a component (target object) to be loaded. Figure 6 , the main body 11 may include a mounting member 50 fixed to one side thereof, and the mounting member 50 may be mounted on a robot (not shown) so that the main body 11 may be connected to the robot and the main body 11 may be moved by the robot.

[0051] The gripper 13 may be configured to grip a component to be loaded, such as the rear spoiler 2 .

[0052] According to an exemplary embodiment, the gripper 13 may be a vacuum cup connected to a vacuum source (not shown), and the gripper 13 may be configured to suck a component such as the rear spoiler 2 .

[0053] According to an exemplary embodiment, Figure 4 As shown, a pair of grippers 13 may be symmetrically mounted on the body 11, and the pair of grippers 13 may adsorb the top surface 2a of the rear spoiler 2. Each gripper 13 may be connected to the body 11 via a rod 14. The top end portion of the rod 14 may be fixed to the body 11 so that the rod 14 may extend downward from the body 11, and the gripper 13 may be mounted on the bottom end portion of the rod 14. The gripper 13 may be mounted on the bottom end portion of the rod 14 so that the gripper 13 may be spaced apart from the body 11.

[0054] According to another exemplary embodiment, Figure 5 As shown, the pair of grippers 13 may be configured to be independently rotated by a pair of gripper rotation actuators 19, and each gripper rotation actuator 19 may be mounted on the body 11. Figure 7 and Figure 8, each gripper 13 can rotate in a predetermined direction around the rotation axis X of the gripper rotation actuator 19. The gripper rotation actuator 19 may include a rotation motor, a rotation cylinder, etc. The rotation bracket 14c may be rotatably mounted on the end of the gripper rotation actuator 19, the gripper 13 may be mounted on the bottom end of the rod 14, the rod 14 may have a head portion 14a provided on the top end thereof, the head portion 14a may be fixed to the rotation bracket 14c by a nut 14b, and the rod 14 may extend downward from the rotation bracket 14c. The rotation bracket 14c can rotate around the rotation axis X of the gripper rotation actuator 19, and thus the gripper 13 connected to the rotation bracket 14c can rotate around the rotation axis X of the gripper rotation actuator 19 (see Figure 7 and Figure 8 The top surface 2a of the rear spoiler 2 may be inclined at a predetermined angle, and the gripper 13 may be rotated by the gripper rotation actuator 19 to correspond to the inclined top surface 2a of the rear spoiler 2, and thus, the gripper 13 may closely adsorb the inclined top surface 2a of the rear spoiler 2.

[0055] refer to Figure 1 and Figure 2 , the rear spoiler 2 may have a lamp 3 embedded therein, the rear spoiler 2 may have a cable 5 extending from the lamp 3, and the cable 5 may have a connector 6 disposed on an end thereof. The cable organizer 12 may be configured to organize the cable 5 extending from the lamp 3 embedded in the rear spoiler 2. Figure 3 When the cable 5 is not organized, a portion of the cable 5 may be twisted, thereby forming a twisted portion 5a. The cable organizer 12 can organize the cable 5 into a straight line (eg, in a substantially straight orientation), thereby eliminating the twisted portion 5a of the cable 5.

[0056] The cable organizer 12 may include a cable clamp 18 that clamps or releases the cable 5 and a first linear actuator 15 that moves the cable clamp 18 up and down.

[0057] The cable clamp 18 may be configured to move up and down relative to the main body 11 via the first linear actuator 15. Figure 4 and Figure 5, the first linear actuator 15 may be mounted on the middle portion of the body 11 by the mounting bracket 16, and the first linear actuator 15 may extend vertically from the body 11. The first moving member 17 may be installed to move upward and downward by the first linear actuator 15. The first linear actuator 15 may have a guide portion 15a, and the first moving member 17 may have a pair of guide portions 17a guided along both edges of the guide portion 15a. The first moving member 17 may be moved upward and downward by the first linear actuator 15, and the guide portion 17a of the first moving member 17 may be guided along the edge of the guide portion 15a of the first linear actuator 15.

[0058] refer to Fig. 9 The cable clamp 18 may be mounted on the bottom end of the first moving member 17. The cable clamp 18 may include a first clamp member 26, a second clamp member 27 facing the first clamp member 26, and a second linear actuator 21 that moves the first clamp member 26 and the second clamp member 27 in opposite directions.

[0059] refer to Fig.10 , the first clamping member 26 and the second clamping member 27 may be arranged to face each other, and the first clamping member 26 and the second clamping member 27 may be linearly moved closer to or farther from each other by the second linear actuator 21. The first clamping member 26 may have a first clamping surface 26b pressing the cable 5. The first clamping surface 26b may have a concave shape such as a V-shape or a U-shape. The second clamping member 27 may have a second clamping surface 27b pressing the cable 5, and the second clamping surface 27b may have a concave shape such as a V-shape or a U-shape. The second clamping surface 27b may face the first clamping surface 26b. The first clamping member 26 may have a first leg 28 extending from its end toward the second moving member 22, and the second clamping member 27 may have a second leg 29 extending from its end toward the third moving member 23.

[0060] At least one of the first clamping member 26 and the second clamping member 27 may have a connector push pin 30 extending downward. Fig.10 and Fig.11 , the connector push pin 30 may extend downward from the first clamping member 26. The connector push pin 30 may be configured to push the top surface of the connector 6 provided on the end of the cable 5. The connector push pin 30 may push the top surface of the connector 6 of the cable 5 so that the cable 5 may be tensioned in a straight line along the longitudinal direction of the connector push pin 30.

[0061] refer to Fig.10, the cable clamp 18 may include a second moving member 22 and a third moving member 23 that are moved in opposite directions M1 and M2 to each other by a second linear actuator 21 .

[0062] refer to Fig. 9 , the second linear actuator 21 may be fixed to the bottom end portion of the first moving member 17, and the second linear actuator 21 may extend horizontally from the first moving member 17. Fig.10 The second linear actuator 21 may move the second moving member 22 in the first horizontal direction M1 and the third moving member 23 in the second horizontal direction M2. The second linear actuator 21 may have a guide groove 21a for guiding the movement of the second moving member 22 and the movement of the third moving member 23, and the guide groove 21a may be perpendicular to the longitudinal axis of the second linear actuator 21.

[0063] refer to Fig.10 , the first clamping member 26 may be connected to the second moving member 22, and the second clamping member 27 may be connected to the third moving member 23. Therefore, the first clamping member 26 may move together with the second moving member 22, and the second clamping member 27 may move together with the third moving member 23. The second moving member 22 may include a guide portion 22b guided along the guide groove 21a of the second linear actuator 21 and a protrusion 22a protruding from the guide portion 22b. The guide portion 22b may be movably received in the guide groove 21a. The third moving member 23 may include a guide portion 23b guided along the guide groove 21a of the second linear actuator 21 and a protrusion 23a protruding from the guide portion 23b. The guide portion 23b may be movably received in the guide groove 21a.

[0064] refer to Fig.10 and Fig.13 , the cable clamp 18 may include a first rotary actuator 24 that rotates the first clamping member 26 in a first rotation direction R1 and a second rotary actuator 25 that rotates the second clamping member 27 in a second rotation direction R2. The first rotary actuator 24 may be mounted on a protrusion 22a of the second moving member 22, and the second rotary actuator 25 may be mounted on a protrusion 23a of the third moving member 23. The first leg 28 may be rotatably connected to the first rotary actuator 24 through a first rotation support member 24a, and the first rotary actuator 24 may rotate the first leg 28 around its rotation axis X1. The second leg 29 may be rotatably connected to the second rotary actuator 25 through a second rotation support member 25a, and the second rotary actuator 25 may rotate the second leg 29 around its rotation axis X2.

[0065] The first leg 28 and the second leg 29 can be moved between an in-line position and a parallel position by the first rotary actuator 24 and the second rotary actuator 25. The in-line position refers to a position in which the first leg 28 and the second leg 29 are aligned in a straight line, and the parallel position refers to a position in which the first leg 28 and the second leg 29 are parallel to each other.

[0066] refer to Fig.13 , the first rotary actuator 24 can rotate the first leg 28 in the first rotation direction R1, and the second rotary actuator 25 can rotate the second leg 29 in the second rotation direction R2, so that the first leg 28 and the second leg 29 can be deployed while moving away from each other in opposite directions. The first leg 28 and the second leg 29 can move to a straight position perpendicular to the longitudinal axis of the second linear actuator 21, and the first leg 28 and the second leg 29 can be parallel to the guide groove 21a of the second linear actuator 21. In a state where the gripper 13 grips the rear spoiler 2, when the cable clamp 18 moves downward by the first linear actuator 15, the first leg 28 and the second leg 29 can be in a straight position by the first rotary actuator 24 and the second rotary actuator 25, so that the cable clamp 18 may not interfere with the rear spoiler 2.

[0067] The height of the first clamping member 26 may be different from the height of the second clamping member 27. Therefore, the first clamping member 26 and the second clamping member 27 may adjust the clamping area of ​​the cable 5 so that they may properly clamp cables of various diameters. Fig.10 and Fig.11 , the top surface 26a of the first clamping member 26 can be aligned with the bottom surface 27a of the second clamping member 27, and thus the first clamping surface 26b of the first clamping member 26 can be located below the second clamping surface 27b of the second clamping member 27. Since the first clamping surface 26b of the first clamping member 26 and the second clamping surface 27b of the second clamping member 27 are not aligned (misaligned) in the horizontal direction, the cable 5 can be clamped by the first clamping surface 26b of the first clamping member 26 and the second clamping surface 27b of the second clamping member 27.

[0068] refer to Fig.14 When the first clamping member 26 and the second clamping member 27 move close to each other, the first clamping member 26 and the second clamping member 27 may at least partially overlap each other, and the first clamping surface 26b of the first clamping member 26 and the second clamping surface 27b of the second clamping member 27 may properly clamp the cable 5.

[0069] refer to Fig.15 and Fig.16In a state in which the first clamping member 26 and the second clamping member 27 clamp the cable 5, when the cable clamp 18 is moved downward by the first linear actuator 15, the bottom end portion 30a of the connector pushing pin 30 can push the top surface of the connector 6 of the cable 5, so that the cable 5 can be arranged into, for example, an approximately straight line, and thus the twisted portion 5a of the cable 5 can be eliminated.

[0070] Hereinafter, a process of arranging the cable 5 in a state in which the gripper 13 of the gripper device 10 grips the rear spoiler 2 as a component to be loaded will be described.

[0071] The gripper 13 of the gripper device 10 can grip the rear spoiler 2 as a component to be loaded. In a state in which the first clamping member 26 and the second clamping member 27 of the cable clamp 18 are spaced apart from each other by the second linear actuator 21, the first clamping member 26 and the second clamping member 27 can be moved to a straight position by the first rotary actuator 24 and the second rotary actuator 25, so that the cable 5 can be released by the first clamping member 26 and the second clamping member 27.

[0072] In a state in which the cable 5 is loosened by the first clamping member 26 and the second clamping member 27 , as the cable clamp 18 is moved downward by the first linear actuator 15 , the first clamping member 26 and the second clamping member 27 may move close to the rear spoiler 2 .

[0073] Thereafter, when the first clamping member 26 and the second clamping member 27 are rotated in opposite directions by the first rotary actuator 24 and the second rotary actuator 25, the first leg 28 of the first clamping member 26 and the second leg 29 of the second clamping member 27 may move to parallel positions parallel to the longitudinal axis of the second linear actuator 21. When the first leg 28 and the second leg 29 are moved close to each other by the second linear actuator 21, the first clamping member 26 and the second clamping member 27 may clamp the cable 5 relatively loosely.

[0074] In a state where the first clamping member 26 and the second clamping member 27 clamp the cable 5, the cable clamp 18 can be moved downward by the first linear actuator 15 so that the bottom end portion 30a of the connector push pin 30 can push the top surface of the connector 6 of the cable 5. When the bottom end portion 30a of the connector push pin 30 pushes the top surface of the connector 6 of the cable 5 in a state where the first clamping member 26 and the second clamping member 27 clamp the cable 5, the cable 5 can be tensioned along the longitudinal direction of the connector push pin 30, and thus the cable 5 can be arranged so that the twisted portion of the cable 5 can be eliminated.

[0075] In a state where the cable organizer 12 organizes the cable 5, a robot (not shown) connected to the mounting member 50 of the body 11 can load the rear spoiler 2 onto the tailgate 1. In order that the connecting member 6 of the cable 5 can completely pass through the hole 7 of the tailgate 1, the cable clamp 18 can be moved downward by the first linear actuator 15.

[0076] refer to Fig.15 , the tailgate 1 may include an inner panel 1a and an outer panel 1b coupled to the inner panel 1a. The hole 7 may include an inner hole 7a of the inner panel 1a and an outer hole 7b of the outer panel 1b, and the inner hole 7a of the inner panel 1a may be aligned with the outer hole 7b of the outer panel 1b. In particular, in a state where the cable clamp 18 clamps the cable 5, as the cable clamp 18 moves downward by the first linear actuator 15, the cable 5 can easily pass through the outer hole 7b and the inner hole 7a of the tailgate 1.

[0077] After the cable 5 of the rear spoiler 2 is completely passed through the hole 7 of the tailgate 1, the first leg 28 and the second leg 29 can be moved to a straight position by the second linear actuator 21, the first rotary actuator 24 and the second rotary actuator 25, so that the first clamping member 26 and the second clamping member 27 can release the cable 5. When the cable clamp 18 is moved upward by the first linear actuator 15, the cable clamp 18 can move above the rear spoiler 2 without interfering with the rear spoiler 2.

[0078] Then, the rear spoiler 2 may be completely loaded onto the tailgate 1 by the robot connected to the mounting member 50 of the body 11 , and the operator and / or the robot may complete the assembly of the rear spoiler 2 and the tailgate 1 .

[0079] As described above, when the rear spoiler 2 with the cable 5 is loaded onto the tailgate 1, the gripper device 10 according to the exemplary embodiment of the present disclosure can automatically organize the cable 5 using the cable organizer 12 so that the cable 5 can be easily passed through the hole 7 of the tailgate 1, and therefore, the assembly process of the rear spoiler 2 and the tailgate 1 can be greatly simplified, thereby reducing the assembly time of the rear spoiler 2 and the tailgate 1.

[0080] According to an exemplary embodiment of the present disclosure, when a component having cables (e.g., a rear spoiler) is loaded onto another component (e.g., a tailgate), the cables can be automatically organized by a cable organizer so that the cables can be easily passed through a hole of the other component, which makes the assembly process of these components simpler and easier and reduces the assembly time.

[0081] Although the present disclosure has been described above with reference to exemplary embodiments and the accompanying drawings, the present disclosure is not limited thereto, but various modifications and changes may be made by those skilled in the art without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

[0082] Reference Numbers List:

[0083] 1. Tailgate

[0084] 2. Rear spoiler

[0085] 5. Cables

[0086] 6. Connectors

[0087] 7. Hole

[0088] 10. Gripper device 11. Main body

[0089] 12, cable organizer 13, gripper 14, rod 15, first linear actuator 16, mounting bracket 17, first moving member 18, cable clamp 19, gripper rotary actuator 21, second linear actuator 22, second moving member 23, third moving member 24, first rotary actuator 25, second rotary actuator 26, first clamping member

[0090] 27. Second clamping member

[0091] 28. First Leg

[0092] 29. Second Leg

[0093] 30. Connector push pin

[0094] 50. Mounting parts

Claims

1. A gripper device for vehicle assembly, comprising: main body; a gripper mounted on the body and configured to grip a component to be loaded; as well as A cable organizer is connected to the body and is configured to organize cables extending from the component.

2. The gripper device according to claim 1, wherein The cable organizer comprises: A cable clamp for clamping or releasing the cable; and A first linear actuator is mounted on the main body, and the first linear actuator is configured to move the cable clamp up and down.

3. The gripper device according to claim 2, wherein: The cable organizer further includes a first moving member that is movable up and down by the first linear actuator, and wherein the cable clamp is mounted on the first moving member.

4. The gripper device according to claim 3, wherein: The cable clamp includes: a first clamping member; a second clamping member facing the first clamping member; and a second linear actuator configured to move the first clamping member and the second clamping member in opposite directions to each other.

5. The gripper device according to claim 4, wherein: Each of the first clamping member and the second clamping member has a clamping surface for pressing the cable, and the clamping surface has a concave shape.

6. The gripper device according to claim 4, wherein: The height of the first clamping member is different from the height of the second clamping member.

7. The gripper device of claim 4, wherein: The second linear actuator is fixed to the first moving member.

8. The gripper device of claim 4, wherein: The cable clamp further includes a second moving member and a third moving member configured to be moved in opposite directions to each other by the second linear actuator, and wherein the first clamping member is connected to the second moving member, and the second clamping member is connected to the third moving member.

9. A gripper device according to claim 8, wherein: The cable clamp also includes a first rotary actuator for rotating the first clamping member and a second rotary actuator for rotating the second clamping member.

10. The gripper device according to claim 9, wherein: The first rotary actuator is mounted on the second moving member, and the second rotary actuator is mounted on the third moving member.

11. The gripper device of claim 9, wherein: The first clamping member has a first leg rotatably connected to the first rotary actuator, and the second clamping member has a second leg rotatably connected to the second rotary actuator.

12. The gripper device of claim 4, wherein: The cable clamp further includes a connector push pin extending from at least one of the first clamp member and the second clamp member, the connector push pin being configured to push a connector provided on an end portion of the cable.

13. The gripper device of claim 1, wherein: The gripper is mounted on the end of a rod extending from the body.

14. The gripper device of claim 1, wherein: The gripper is rotated by a gripper rotation actuator, and the gripper rotation actuator is mounted on the body.

15. A gripper device according to claim 14, wherein The gripper rotation actuator includes a rotation bracket rotatably mounted on an end of the gripper rotation actuator, and the gripper is mounted on an end of a rod extending from the rotation bracket.

16. A vehicle comprising components assembled by means of a gripper device according to claim 1.

17. A gripper device for assembling a component of a vehicle, the gripper device comprising: main body; a gripper mounted on the body and configured to grip the component to be loaded; as well as a cable organizer connected to the body and configured to organize cables extending from the component, wherein the cable organizer further comprises: A cable clamp for clamping or releasing the cable; and A first linear actuator is mounted on the main body, and the first linear actuator is configured to move the cable clamp up and down.

18. A gripper device according to claim 17, wherein The cable organizer further includes a first moving member that is movable up and down by the first linear actuator, and wherein the cable clamp is mounted on the first moving member.

19. A gripper device according to claim 18, wherein The cable clamp includes: a first clamping member; a second clamping member facing the first clamping member; and a second linear actuator configured to move the first clamping member and the second clamping member in opposite directions to each other.

20. The gripper device of claim 19, wherein: Each of the first clamping member and the second clamping member has a clamping surface for pressing the cable, and the clamping surface has a concave shape.

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