Flexible gripper equipment for outer plates of four doors and two covers of automobile and using method

Abstract

The invention provides automobile four-door two-cover outer plate flexible gripper equipment and a using method.The automobile four-door two-cover outer plate flexible gripper equipment comprises a frame, the frame is provided with a first flexible supporting and pressing assembly, a second flexible supporting and pressing assembly, a third flexible supporting and pressing assembly and a fourth flexible supporting and pressing assembly, and the first flexible supporting and pressing assembly, the second flexible supporting and pressing assembly, the third flexible supporting and pressing assembly and the fourth flexible supporting and pressing assembly are arranged on the frame; the flexible supporting and pressing assembly has the beneficial effects that when different vehicle types are switched, the first flexible supporting and pressing assembly moves in the Z direction, it is determined that the center position of a metal plate is supported and pressed, the first flexible supporting and pressing assembly serves as the center point, and the flexible supporting and pressing assembly moves in the Z direction to support and press the center position of the metal plate; according to different vehicle types, the second flexible supporting and pressing assembly moves in the X / Z direction and supports and presses the vehicle types, the third flexible supporting and pressing assembly and the fourth flexible supporting and pressing assembly move in the X / Y / Z direction and rotate around the Y axis and supports and presses the vehicle types, and flexible grabbing of the multiple vehicle types is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of flexible grippers, and in particular to a flexible gripper device for an outer panel of a four-door and two-cover vehicle and a use method thereof. Background Art

[0002] With the rapid development of new energy vehicles, driven by policy support, technological progress and market demand, the production capacity of new energy vehicles has continued to rise. Major automakers have increased their investment and launched various new energy vehicles to meet market demand. In today's automobile market, consumer demand is becoming increasingly diversified. In order to stand out in the fierce market competition, automakers are constantly accelerating the research and development and launch of new models, and the types of models are becoming more and more diverse. From traditional fuel vehicles to new energy vehicles, from sedans, SUVs to MPVs, models of various types and positioning are emerging in an endless stream. This trend of diversified models has put forward higher requirements for automobile production and manufacturing. Automobile manufacturers need to have stronger flexible production capabilities to meet the production needs of different models.

[0003] As an important part of the automobile body, the production quality and efficiency of the four-door and two-cover outer panels directly affect the quality and production progress of the whole vehicle. With the development needs of diversified models, production automation, high efficiency and low cost, the traditional four-door and two-cover outer panel gripper equipment can no longer meet the requirements of modern automobile production, and it is urgent to upgrade its technology.

[0004] The prior art has the following disadvantages:

[0005] (1) Lack of flexibility: Traditional four-door and two-lid handling grippers are difficult to share parts for multiple models, and different models need to switch grippers, resulting in low production efficiency and high costs;

[0006] (2) Space and cost challenges: The traditional flexible method requires each vehicle model to be equipped with a dedicated gripper, which is made flexible through constant switching, resulting in large floor space and high investment costs. Summary of the invention

[0007] In order to overcome the problems existing in the prior art, the present invention provides a flexible gripping device for an outer panel of four doors and two covers of an automobile and a method for using the same.

[0008] The present invention discloses a flexible gripper device for the outer panels of four doors and two covers of an automobile, comprising a frame, on which are arranged a flexible support and clamping component one, a flexible support and clamping component two, a flexible support and clamping component three and a flexible support and clamping component four; the flexible support and clamping component four is a symmetrical component of the flexible support and clamping component three; the flexible support and clamping component one, the flexible support and clamping component two, the flexible support and clamping component three and the flexible support and clamping component four are flexibly displaced to complete the grasping of different vehicle models; the flexible support and clamping component one, the flexible support and clamping component two and the flexible support and clamping component three are all provided with an outer panel profiling component and a suction cup floating component; the outer panel profiling component is used for profiling support of the outer panels of four doors and two covers, and the suction cup floating component is used for clamping the outer panels of four doors and two covers.

[0009] On this basis, the outer plate profiling component includes a slide cylinder, a limit arm, a support block, a connecting shaft, a connecting plate three, a connecting plate four, a connecting plate five, a connecting plate six, a spring three, a mounting plate, a limit block, a connecting plate seven, a connecting plate eight and a supporting shaft. The connecting plate four, the connecting plate five, the connecting plate seven, the connecting plate eight, the connecting plate three and the connecting plate six are connected to each other to form an accommodating space. The mounting plate and the connecting plate six are connected through the supporting shaft. The limit block is placed on the upper end surface of the connecting plate six and is located between the mounting plate and the connecting plate six. Holes are provided on the mounting plate, the limit block and the connecting plate six. The connecting shaft is inserted into the hole of the mounting plate from the upper end of the mounting plate and corresponds to the holes of the limit block and the connecting plate six. The support block is installed on the connecting shaft, and the two are installed one by one. The spring three is inserted into the connecting shaft. The limit arm is connected to the limit block. The limit arm is connected to the movable end of the slide cylinder. The fixed end of the slide cylinder is connected to the connecting plate three.

[0010] On this basis, the suction cup floating assembly includes a limit plate, a connecting plate 2, a floating shaft, a spring 1, a floating head, a limit shaft, a bushing 1, a reset block, a bushing 2, a spring 2, a joint and a suction cup. The limit plate is arranged at the upper end of the limit shaft, and the connecting plate 2 is arranged on the side of the limit plate. The bushing 1 and the bushing 2 are respectively installed in the upper and lower holes of the limit shaft. The hole on the floating end of the floating head is inserted into the limit shaft from the top, and the reset block and the spring 1 are inserted into the limit shaft from the top. The fixed end of the floating head and the limit plate are connected to the connecting plate 2. The floating shaft is inserted into the hole of the limit shaft from the top, and the spring 2 is inserted into the shaft of the floating shaft from the bottom. The joint is installed at the lower end of the floating shaft, and the suction cup is installed at the lower end of the joint. The floating range of the floating head is -15° to 15°, and the moving range of the suction cup is 10-15mm.

[0011] On this basis, the flexible support and clamping component includes an outer panel profiling component, a suction cup floating component, a Z-axis moving module, a servo motor and a mounting seat. The upper end face of the mounting seat is installed to the lower end face of the frame, the Z-axis moving module is installed to the side of the mounting seat, the upper end face of the Z-axis moving module is installed with a servo motor, the outer panel profiling component is installed to the moving end face of the Z-axis moving module, and the suction cup floating component is inserted into the middle hole of the outer panel profiling component.

[0012] On this basis, the flexible support and clamping component 2 includes an outer plate profiling component, a suction cup floating component, a Z-axis moving module 2, a servo motor 2, a connecting plate 1, a connecting seat 1, an X-axis moving module and a servo motor 3. The fixed end of the X-axis moving module is installed on the lower end surface of the frame, and the servo motor 3 is installed on the tail end of the X-axis moving module 1. The moving end of the X-axis moving module is connected to the upper end surface of the connecting seat 1. The lower end surface of the connecting seat is separated by the X-axis, and a connecting plate 1 is installed on the left and right sides respectively. A Z-axis moving module 2 is installed on the side of the two connecting plates 1, and a servo motor 2 is installed on the Z-axis moving module 2. An outer plate profiling component is installed on the moving end of the Z-axis moving module 2, and the suction cup floating component is inserted into the middle hole of the outer plate profiling component.

[0013] On this basis, the flexible support and clamping component three includes an outer plate profiling component, a suction cup floating component, a connecting block, a connecting seat two, an aerial rotating platform, a servo motor four, a connecting seat three, a Z-axis moving module three, a connecting seat four, a connecting seat five, a servo motor five, an X / Y-axis moving module and a servo motor six. The fixed end of the X / Y-axis moving module is connected to the lower end surface of the frame, the tail end of the X / Y-axis moving module is installed with a servo motor six, the moving end of the X / Y-axis moving module is connected to the upper end surface of the connecting seat five, and the lower end surface of the connecting seat five is connected to the upper end surface of the connecting seat four The connection seat is connected, the fixed end of the Z-axis moving module three is installed on the side surface of the connection seat four, the servo motor five is installed on the tail end of the Z-axis moving module three, the moving end of the Z-axis moving module three is installed on the connection seat three, the fixed end of the aerial rotating platform is installed on the side surface of the connection seat three, the servo motor four is installed on the motor mounting surface of the aerial rotating platform, the rotating end of the aerial rotating platform is installed on the connection seat two, the connection seat two is connected to the outer plate profiling component, and the strength of the connection between the connection seat two and the outer plate profiling component is strengthened by the connection block. The suction cup floating component is inserted into the middle hole of the outer plate profiling component.

[0014] On this basis, the flexible support and clamping component four has the same structure as the flexible support and clamping component three and is installed symmetrically.

[0015] On this basis, a robot mounting flange is installed on the upper end surface of the frame.

[0016] A method for using a flexible gripper device for an automobile four-door two-cover outer panel. When switching between different vehicle models, flexible support and clamping component one moves in the Z direction to determine the support and clamping of the center position of the sheet metal. With flexible support and clamping component one as the center point, flexible support and clamping component two is moved in the X / Z direction and supported and clamped according to different vehicle models. Flexible support and clamping component three and flexible support and clamping component four are moved in the X / Y / Z direction and rotated about the Y axis to support and clamp.

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

[0018] (1) When switching between different vehicle models, the flexible support and clamping component 1 moves in the Z direction to determine the support and clamping of the center position of the sheet metal. With the flexible support and clamping component 1 as the center point, the flexible support and clamping component 2 moves in the X / Z direction and supports and clamps according to different vehicle models. The flexible support and clamping components 3 and 4 move in the X / Y / Z direction, rotate along the Y axis and support and clamp, so as to realize flexible grasping of various vehicle models;

[0019] (2) The contact mode between the support block and the plate is point and surface. The curved surface of the plate can be formed through multiple points. When working, the support block forms a completely identical curved surface after contacting the plate. The limit arm and the limit block are fixed to the connecting shaft through the slide cylinder. Multiple limit grooves are set in several holes of the limit block, and multiple limit grooves are set on the connecting shaft. The formed support block is fixed through the limit groove; when switching the vehicle model, the slide cylinder slides out, and the spring three provides external force to make the support block return to its position, and then the new vehicle model is re-positioned; when the suction cup contacts the plate, the floating shaft moves upward, and the floating head floats universally, so that the suction cup and the plate form the same curved surface, thereby sucking the plate and forming compression. When changing the vehicle model, it is reset by spring one and spring two, and then the new vehicle model is compressed; BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the flexible gripper device of the present invention;

[0021] Figure 2 It is a structural schematic diagram of a flexible support and clamping assembly of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the second flexible support and clamping assembly of the present invention;

[0023] Figure 4 It is a schematic diagram of the third structure of the flexible support and clamping assembly of the present invention;

[0024] Figure 5 It is a schematic diagram of the method of using the flexible gripper device of the present invention;

[0025] Figure 6 It is a schematic diagram of the structure of the outer plate profiling component and the suction cup floating component of the present invention;

[0026] Figure 7 It is a schematic diagram of the front view structure of the outer plate profiling component and the suction cup floating component of the present invention;

[0027] Figure 8 yes Figure 7 AA section view;

[0028] Fig. 9 It is a structural schematic diagram of the outer plate profiling component and the suction cup floating component from another perspective of the present invention;

[0029] In the figure: 1. frame, 2. robot mounting flange, 3. flexible support clamping assembly 1, 4. flexible support clamping assembly 2, 5. flexible support clamping assembly 3, 6. flexible support clamping assembly 4, 7. outer plate profiling assembly, 8. suction cup floating assembly,

[0030] 301, Z-axis moving module 1, 302, servo motor 1, 303, mounting seat 1,

[0031] 401, Z-axis moving module 2, 402, servo motor 2, 403, connecting plate 1, 404, connecting seat 1, 405, X-axis moving module, 406, servo motor 3,

[0032] 501, connecting block, 502, connecting seat 2, 503, aerial rotating platform, 504, servo motor 4, 505, connecting seat 3, 506, Z axis moving module 3, 507, connecting seat 4, 508, connecting seat 5, 509, servo motor 5, 510, X / Y axis moving module, 511, servo motor 6,

[0033] 701, slide cylinder, 702, limit arm, 703, support block, 704, connecting shaft, 705, connecting plate three, 706, connecting plate four, 707, connecting plate five, 708, connecting plate six, 709, spring three, 710, mounting plate, 711, limit block, 712, connecting plate seven, 713, connecting plate eight, 714, support shaft,

[0034] 801. Limiting plate, 802. Connecting plate 2, 803. Floating shaft, 804. Spring 1, 805. Floating head, 806. Limiting shaft, 807. Bushing 1, 808. Reset block, 809. Bushing 2, 810. Spring 2, 811. Joint, 812. Suction cup. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] The present invention discloses a flexible gripper device for automobile four-door two-cover outer panels, comprising a frame 1, on which are arranged flexible support and clamping components one 3, flexible support and clamping components two 4, flexible support and clamping components three 5 and flexible support and clamping components four 6. Flexible support and clamping components four 6 are symmetrical components of flexible support and clamping components three 5. When grasping the four-door two-cover outer panels, grasping of different vehicle models is completed through flexible displacement of flexible support and clamping components one 3, flexible support and clamping components two 4, flexible support and clamping components three 5 and flexible support and clamping components four 6. Flexible support and clamping components one 3, flexible support and clamping components two 4 and flexible support and clamping components three 5 are all provided with outer panel profiling components 7 and suction cup floating components 8. Outer panel profiling components 7 are used for profiling support of the four-door two-cover outer panels, and suction cup floating components 8 are used for clamping the four-door two-cover outer panels, thereby ensuring that the four-door two-cover outer panels will not be deformed or damaged during the grasping process.

[0037] The outer plate profiling component 7 includes a slide cylinder 701, a limit arm 702, a support block 703, a connecting shaft 704, a connecting plate three 705, a connecting plate four 706, a connecting plate five 707, a connecting plate six 708, a spring three 709, a mounting plate 710, a limit block 711, a connecting plate seven 712, a connecting plate eight 713 and a support shaft 714. A plurality of support blocks 703 are provided. The connecting plate four 706, the connecting plate five 707, the connecting plate seven 712, the connecting plate eight 713, the connecting plate three 705 and the connecting plate six 708 are connected to each other to form an accommodating space. The mounting plate 710 is connected to the connecting plate six 708 through the support shaft 714. The limit block 711 11 is placed on the upper end surface of the connecting plate 6 708 and is located between the mounting plate 710 and the connecting plate 6 708. Holes are opened on the mounting plate 710, the limit block 711 and the connecting plate 6 708. The connecting shaft 704 is inserted into the hole of the mounting plate 710 from the upper end of the mounting plate 710 and corresponds to the holes of the limit block 711 and the connecting plate 6 708. The support block 703 is installed on the connecting shaft 704, and the two are installed one by one. The spring three 709 is inserted into the connecting shaft 704, the limit arm 702 is connected to the limit block 711, the limit arm 702 is connected to the movable end of the slide cylinder 701, and the fixed end of the slide cylinder 701 is connected to the connecting plate three 705.

[0038] The working principle is: the support block 703 contacts the plate in point and surface manner, and a curved surface of the plate can be formed through multiple points. When working, several support blocks 703 contact the plate to form a completely identical curved surface, and the limit arm 702 and the limit block 711 are driven by the slide cylinder 701 to fix the connecting shaft 704. A plurality of limit grooves are arranged in the hole of the limit block 711, and a plurality of limit grooves are arranged on the connecting shaft 704. The limit grooves are used to fix several formed support blocks 703; when switching the vehicle model, the slide cylinder 701 slides out, and the spring three 709 provides external force to make the support block 703 return to its position, and then the new vehicle model is re-positioned for contouring.

[0039] The suction cup floating assembly 8 includes a limit plate 801, a second connecting plate 802, a floating shaft 803, a spring 1 804, a floating head 805, a limit shaft 806, a bushing 1 807, a reset block 808, a bushing 2 809, a spring 2 810, a joint 811 and a suction cup 812. The limit plate 801 is arranged at the upper end of the limit shaft 806, and the second connecting plate 802 is arranged at the side of the limit plate 801. The bushing 1 807 and the bushing 2 809 are respectively installed in the upper and lower holes of the limit shaft 806. The hole on the floating end of the floating head 805 is inserted into the limit shaft 806 from the top, and the reset block 808 and the spring 1 804 are inserted into the limit shaft 806 from the top. The fixed end of the floating head 805 and the limit plate 801 are connected to the connecting plate 802. The floating shaft 803 is inserted into the hole of the limit shaft 806 from the top. The spring 810 is installed in the shaft of the floating shaft 803 from the bottom. The joint 811 is installed at the lower end of the floating shaft 803. The suction cup 812 is installed at the lower end of the joint 811. After the floating head 805 floats in all directions, the external force of the spring 804 can be used to reset the whole. The limit plate 801 is mainly used for the floating range. The floating range of the floating head 805 is -15° to 15°. The suction cup 812 moves upward through the floating shaft 803. The moving range is 10-15mm, and it is reset by the spring 810.

[0040] The working principle is: when the suction cup 812 contacts the plate, it moves upward through the floating shaft 803, and the floating head 805 floats universally, so that the suction cup 812 and the plate form the same curved surface, thereby sucking the plate and forming compression. When changing the car model, it is reset through spring 1 804 and spring 2 810, and then the new car model is compressed.

[0041] The flexible support and clamping component 3 includes an outer plate profiling component 7, a suction cup floating component 8, a Z-axis moving module 301, a servo motor 302 and a mounting seat 303. The upper end surface of the mounting seat 303 is mounted to the lower end surface of the frame 1, the Z-axis moving module 301 is mounted to the side of the mounting seat 303, the servo motor 302 is installed on the upper end surface of the Z-axis moving module 301, the outer plate profiling component 7 is mounted to the moving end surface of the Z-axis moving module 301, and the suction cup floating component 8 is inserted into the middle hole of the outer plate profiling component 7.

[0042] The working principle is: the outer panel profiling component 7 and the suction cup floating component 8 are driven by a servo motor 302 to move in the Z direction to adapt to different vehicle models.

[0043] The flexible support and clamping component 24 includes an outer plate profiling component 7, a suction cup floating component 8, a Z-axis moving module 2 401, a servo motor 2 402, a connecting plate 1 403, a connecting seat 1 404, an X-axis moving module 405 and a servo motor 3 406. The fixed end of the X-axis moving module 405 is installed on the lower end surface of the frame 1, and the servo motor 3 406 is installed on the tail end of the X-axis moving module 1 405. The moving end of the X-axis moving module 405 is connected to the upper end surface of the connecting seat 1 404. The lower end surface of the connecting seat 1 404 is separated by the X-axis, and a connecting plate 1 403 is installed on the left and right sides respectively. A Z-axis moving module 2 401 is installed on the side of the two connecting plates 1 403, a servo motor 2 402 is installed on the Z-axis moving module 2 401, and an outer plate profiling component 7 is installed on the moving end of the Z-axis moving module 2 401, and the suction cup floating component 8 is inserted into the middle hole of the outer plate profiling component 7.

[0044] The working principle is: the outer panel profiling component 7 and the suction cup floating component 8 can be driven by the servo motor 2 402 and the servo motor 3 406 to move in the X / Z direction to adapt to different vehicle models.

[0045] The flexible support and clamping component three 5 includes an outer plate profiling component 7, a suction cup floating component 8, a connecting block 501, a connecting seat two 502, an aerial rotating platform 503, a servo motor four 504, a connecting seat three 505, a Z-axis moving module three 506, a connecting seat four 507, a connecting seat five 508, a servo motor five 509, an X / Y-axis moving module 510 and a servo motor six 511. The fixed end of the X / Y-axis moving module 510 is connected to the lower end surface of the frame 1, the servo motor six 511 is installed at the tail end of the X / Y-axis moving module 510, the moving end of the X / Y-axis moving module 510 is connected to the upper end surface of the connecting seat five 508, the lower end surface of the connecting seat five 508 is connected to the upper end surface of the connecting seat four 507, and the side of the connecting seat four 507 is connected to the upper end surface of the connecting seat four The fixed end of Z-axis moving module three 506 is installed on the surface, servo motor five 509 is installed on the tail end of Z-axis moving module three 506, connecting seat three 505 is installed on the moving end of Z-axis moving module three 506, the fixed end of aerial rotating platform 503 is installed to the side of connecting seat three 505, servo motor four 504 is installed on the motor mounting surface of aerial rotating platform 503, connecting seat two 502 is installed on the rotating end of aerial rotating platform 503, connecting seat two 502 is connected to outer plate profiling component 7, the strength of connection between connecting seat two 502 and outer plate profiling component 7 is strengthened by connecting block 501, suction cup floating component 8 is inserted into the middle hole of outer plate profiling component 7, flexible support clamping component four 6 has the same structure as flexible support clamping component three 5, and is symmetrically installed.

[0046] The working principle is: the outer panel profiling component 7 and the suction cup floating component 8 can be driven by the servo motor 4 504 to rotate along the Y axis, and can be driven by the servo motor 509 and the servo motor 6 511 to move in the X / Y / Z directions to adapt to different car models.

[0047] The robot mounting flange 2 is installed on the upper end surface of the frame 1, so that the robot can be connected and then grasped.

[0048] A method for using a flexible gripper device for an automobile four-door two-cover outer panel. When switching between different vehicle models, a flexible support and clamping component 3 moves in the Z direction to determine the support and clamping of the center position of the sheet metal. With the flexible support and clamping component 3 as the center point, the flexible support and clamping component 2 4 is moved in the X / Z direction and supported and clamped for different vehicle models. The flexible support and clamping component 3 5 and the flexible support and clamping component 4 6 are moved in the X / Y / Z direction and rotated on the Y axis and supported and clamped, thereby realizing the flexible gripper device for the automobile four-door two-cover outer panel to flexibly grasp a variety of vehicle models.

[0049] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0050] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screwing", "padding" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, for ordinary technicians in this field, the specific meaning of the terms in the present invention can be understood according to the specific circumstances.

[0051] The preferred embodiments of the present invention are shown and described. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through teaching or technology or knowledge in related fields. Changes and variations made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A flexible gripper device for four-door and two-cover outer panels of an automobile, characterized in that: The invention comprises a frame (1), on which a flexible support and clamping component one (3), a flexible support and clamping component two (4), a flexible support and clamping component three (5) and a flexible support and clamping component four (6) are arranged, wherein the flexible support and clamping component four (6) is a symmetrical component of the flexible support and clamping component three (5), wherein the flexible support and clamping component one (3), the flexible support and clamping component two (4), the flexible support and clamping component three (5) and the flexible support and clamping component four (6) are flexibly displaced to complete the grasping of different vehicle models, wherein the flexible support and clamping component one (3), the flexible support and clamping component two (4) and the flexible support and clamping component three (5) are all provided with an outer panel profiling component (7) and a suction cup floating component (8), wherein the outer panel profiling component (7) is used for profiling the outer panels of four doors and two covers, and the suction cup floating component (8) is used for clamping the outer panels of four doors and two covers.

2. The flexible gripper device for the outer panels of four doors and two covers of a car according to claim 1 is characterized in that: The outer plate profiling component (7) comprises a slide cylinder (701), a limiting arm (702), a support block (703), a connecting shaft (704), a connecting plate three (705), a connecting plate four (706), a connecting plate five (707), a connecting plate six (708), a spring three (709), a mounting plate (710), a limiting block (711), a connecting plate seven (712), a connecting plate eight (713) and a support shaft (714); the connecting plate four (706), the connecting plate five (707), the connecting plate seven (712), the connecting plate eight (713), the connecting plate three (705) and the connecting plate six (708) are connected to each other to form an accommodating space; the mounting plate (710) and the connecting plate six (708) are connected via the support shaft (714); the limiting block (711) is placed on the connecting plate The connecting plate (708) is located on the upper end surface of the connecting plate (708) and is located between the mounting plate (710) and the connecting plate (708). The mounting plate (710), the limit block (711) and the connecting plate (708) are all provided with holes. The connecting shaft (704) is inserted into the hole of the mounting plate (710) from the upper end of the mounting plate (710) and corresponds to the holes of the limit block (711) and the connecting plate (708). The supporting block (703) is installed on the connecting shaft (704) and the two are installed one by one. The spring (709) is inserted into the connecting shaft (704). The limit arm (702) is connected to the limit block (711). The limit arm (702) is connected to the movable end of the slide cylinder (701). The fixed end of the slide cylinder (701) is connected to the connecting plate (705).

3. The flexible gripper device for the outer panels of four doors and two covers of a car according to claim 2 is characterized in that: The suction cup floating assembly (8) comprises a limit plate (801), a second connecting plate (802), a floating shaft (803), a first spring (804), a floating head (805), a limit shaft (806), a first bushing (807), a reset block (808), a second bushing (809), a second spring (810), a joint (811) and a suction cup (812), wherein the limit plate (801) is arranged at the upper end of the limit shaft (806), the second connecting plate (802) is arranged at the side of the limit plate (801), the first bushing (807) and the second bushing (809) are respectively installed in the upper and lower holes of the limit shaft (806), and the hole on the floating end of the floating head (805) is inserted from the upper end. The floating head (805) is inserted into the limit shaft (806) from above, the reset block (808) and the spring 1 (804) are inserted into the limit shaft (806) from above, the fixed end of the floating head (805) and the limit plate (801) are connected to the connecting plate 2 (802), the floating shaft (803) is inserted into the hole of the limit shaft (806) from above, the spring 2 (810) is inserted into the floating shaft (803) from below, the joint (811) is installed at the lower end of the floating shaft (803), and the suction cup (812) is installed at the lower end of the joint (811), the floating range of the floating head (805) is -15° to 15°, and the moving range of the suction cup (812) is 10-15mm.

4. The flexible gripper device for the outer panels of four doors and two covers of a car according to claim 3 is characterized in that: The flexible support and clamping component (3) comprises an outer plate profiling component (7), a suction cup floating component (8), a Z-axis moving module (301), a servo motor (302) and a mounting seat (303); the upper end surface of the mounting seat (303) is mounted to the lower end surface of the frame (1); the Z-axis moving module (301) is mounted to the side surface of the mounting seat (303); the servo motor (302) is mounted on the upper end surface of the Z-axis moving module (301); the outer plate profiling component (7) is mounted to the moving end surface of the Z-axis moving module (301); and the suction cup floating component (8) is inserted into the middle hole of the outer plate profiling component (7).

5. The flexible gripper device for the outer panels of four doors and two covers of a car according to claim 3 is characterized in that: The flexible support and clamping assembly 2 (4) comprises an outer plate profiling assembly (7), a suction cup floating assembly (8), a Z-axis moving module 2 (401), a servo motor 2 (402), a connecting plate 1 (403), a connecting seat 1 (404), an X-axis moving module (405) and a servo motor 3 (406), wherein the fixed end of the X-axis moving module (405) is mounted on the lower end surface of the frame (1), the servo motor 3 (406) is mounted on the tail end of the X-axis moving module 1 (405), and the moving end of the X-axis moving module (405) is It is connected to the upper end surface of a connecting seat (404), the lower end surface of the connecting seat (404) is separated by an X-axis, a connecting plate (403) is installed on the left and right sides respectively, a Z-axis moving module (401) is installed on the side of the two connecting plates (403), a servo motor (402) is installed on the Z-axis moving module (401), an outer plate profiling component (7) is installed on the moving end of the Z-axis moving module (401), and the suction cup floating component (8) is inserted into the middle hole of the outer plate profiling component (7).

6. The flexible gripper device for the outer panels of four doors and two covers of a car according to claim 3 is characterized in that: The flexible support and clamping component three (5) comprises an outer plate profiling component (7), a suction cup floating component (8), a connecting block (501), a connecting seat two (502), an aerial rotating platform (503), a servo motor four (504), a connecting seat three (505), a Z-axis moving module three (506), a connecting seat four (507), a connecting seat five (508), a servo motor five (509), an X / Y-axis moving module (510) and a servo motor six (511), wherein the fixed end of the X / Y-axis moving module (510) is connected to the lower end surface of the frame (1), the tail end of the X / Y-axis moving module (510) is installed with the servo motor six (511), the moving end of the X / Y-axis moving module (510) is connected to the upper end surface of the connecting seat five (508), and the lower end surface of the connecting seat five (508) is connected to the connecting seat four (507). The upper end surfaces are connected, the fixed end of the Z-axis moving module three (506) is installed on the side of the connecting seat four (507), the servo motor five (509) is installed on the tail end of the Z-axis moving module three (506), the connecting seat three (505) is installed on the moving end of the Z-axis moving module three (506), the fixed end of the aerial rotating platform (503) is installed on the side of the connecting seat three (505), the servo motor four (504) is installed on the motor mounting surface of the aerial rotating platform (503), the connecting seat two (502) is installed on the rotating end of the aerial rotating platform (503), the connecting seat two (502) is connected to the outer plate profiling component (7), and the strength of the connection between the connecting seat two (502) and the outer plate profiling component (7) is strengthened by the connecting block (501), and the suction cup floating component (8) is inserted into the middle hole of the outer plate profiling component (7).

7. The flexible gripper device for the outer panels of four doors and two covers of a car according to claim 6 is characterized in that: The flexible support and clamping assembly four (6) has the same structure as the flexible support and clamping assembly three (5) and is symmetrically installed.

8. The flexible gripper device for the outer panels of four doors and two covers of a car according to claim 1 is characterized in that: A robot mounting flange (2) is mounted on the upper end surface of the frame (1).

9. A method for using a flexible gripper device for four-door and two-cover outer panels of an automobile, characterized in that: When switching between different vehicle models, the flexible support and clamping component one (3) moves in the Z direction to determine the support and clamping of the center position of the sheet metal. With the flexible support and clamping component one (3) as the center point, the flexible support and clamping component two (4) moves in the X / Z direction and supports and clamps according to different vehicle models. The flexible support and clamping component three (5) and the flexible support and clamping component four (6) move in the X / Y / Z direction and rotate about the Y axis to support and clamp.

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