Accurate robot grabbing device and method for automatic front longitudinal beam riveting and pressing line

Abstract

The invention discloses a robot precise grabbing device and method for a front longitudinal beam riveting and pressing automatic line, the robot precise grabbing device comprises a front longitudinal beam grabbing manipulator at the tail end of a mechanical arm of an automobile front longitudinal beam grabbing robot, the front longitudinal beam grabbing manipulator comprises a manipulator support, and at least a first clamping jaw and a second clamping jaw are arranged on the manipulator support in parallel; the first clamping jaw and the second clamping jaw each comprise a telescopic device base, a telescopic device extending in the Y direction is fixedly arranged on the upper portion of each telescopic device base, a lower arm extending in the Y + direction is fixed to the lower portion of each telescopic device base, an upper swing arm extending in the Y + direction is arranged above each lower arm, and the root of each upper swing arm is integrally connected with the lower end of a vertical rocker arm. The middle of the rocker arm is hinged to the upper end of the expansion piece seat; accurate grabbing of the workpiece automobile front longitudinal beam can be achieved.

Description

Technical Field

[0001] The invention belongs to the field of robot precision grasping. Background Art

[0002] The process of the automatic line in this case is the front longitudinal beam 3 of the car. Figure 2 As shown, a crush energy absorbing notch 4 is provided on one side of the front longitudinal beam 3 of the automobile; the crush energy absorbing notch 4 serves as a predetermined "weak point" to guide the longitudinal beam to fold and deform along a specific path during a collision, absorb the impact energy through structural collapse, and reduce the impact force transmitted to the passenger compartment;

[0003] like Figure 1 As shown, a number of automobile front longitudinal beam grasping robots 1 are arranged along the length direction of the centerline area 81 of the front longitudinal beam riveting and pressing automatic line 2 of this case, and processing equipment capable of implementing processes such as gluing, visual inspection, screw locking, core pulling, pressing, laser marking, etc. on the automobile front longitudinal beam 3 is distributed on both sides of the centerline area 81. The loading and unloading of the automobile front longitudinal beam 3 of each processing equipment are clamped by a group of automobile front longitudinal beam grasping robots 1 near the centerline area 81; at the same time, any two adjacent grasping robots 1 can mutually hand over and transfer the clamped automobile front longitudinal beam 3; so that the process is opposite: the automobile front longitudinal beam 3 can be smoothly transported and handed over in the automatic line, thereby achieving the purpose of no artificial field;

[0004] However, to achieve the above purpose, each grasping robot 1 must achieve precise grasping when handing over the workpiece, so that the relative position between the manipulator at the end of the robot and the front longitudinal beam 3 of the automobile grasped by the manipulator can be accurately determined; otherwise, after the front longitudinal beam 3 of the automobile has been handed over and transferred multiple times by multiple front longitudinal beam grasping robots 1, the relative position of the grasped front longitudinal beam of the automobile 3 and the grasping manipulator 5 will be offset, resulting in a grasping error, and then a cumulative error. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a robot precision grasping device for a front longitudinal beam riveting and press riveting automatic line, which can achieve precise grasping of the workpiece automobile front longitudinal beam.

[0006] Technical solution: To achieve the above-mentioned purpose, the robot precision grasping device of the front longitudinal beam riveting and press riveting automatic line of the present invention comprises a front longitudinal beam grasping manipulator at the end of the mechanical arm of the automobile front longitudinal beam grasping robot, and the front longitudinal beam grasping manipulator comprises a manipulator support, and at least a first clamping claw and a second clamping claw are arranged in parallel on the manipulator support;

[0007] Both the first jaw and the second jaw include a telescopic base. A telescopic device extending in the Y direction is fixedly arranged on the upper part of the telescopic base, and a lower arm extending in the Y+ direction is fixedly arranged on the lower part. An upper swing arm extending in the Y+ direction is arranged above the lower arm. The root of the upper swing arm is integrally connected to the lower end of a vertical swing arm. The middle part of the swing arm is hinged to the upper end of the telescopic base through a hinge; the end of the telescopic rod of the telescopic device is fixedly connected to a hinge seat a, and a hinge seat b is arranged on the side of the hinge seat a away from the telescopic rod; the a hinge shaft rotatably fitted on the hinge seat a is fixedly connected to the tail end of the hinge seat b; the b hinge shaft rotatably fitted on the hinge seat b is fixedly connected to the upper end of the swing arm.

[0008] Further, a clamping arm extending downward is integrally arranged at the end of the upper swing arm of the first jaw and the second jaw.

[0009] Further, a first clamping block is fixedly arranged on the upper side of the end of the lower arm of the first jaw and the second jaw, and a second clamping block is fixedly arranged on the lower side of the upper swing arm of the first jaw and the second jaw;

[0010] A third clamping block is fixedly arranged on the front side of the waist of the telescopic base of the first jaw and the second jaw, and a fourth clamping block is fixedly arranged on the rear side of the clamping arm of the first jaw and the second jaw.

[0011] Further, a first clamping block is fixedly arranged on the upper side of the end of the lower arm of the first jaw, and a second clamping block is fixedly arranged on the lower side of the upper swing arm of the first jaw; a third clamping block is fixedly arranged on the front side of the waist of the telescopic base of the first jaw, and a fourth clamping block is fixedly arranged on the rear side of the clamping arm of the first jaw;

[0012] A first clamping wheel is rotatably arranged on the upper side of the end of the lower arm of the second jaw, and a second clamping wheel is rotatably arranged on the lower side of the upper swing arm of the second jaw; a third clamping wheel is rotatably arranged on the front side of the waist of the telescopic base of the second jaw, and a fourth clamping wheel is rotatably arranged on the rear side of the clamping arm of the second jaw.

[0013] Further, a structural arm extending in the Y+ direction is fixedly arranged on the manipulator support between the first jaw and the second jaw. The end of the structural arm is rotatably installed with a vertical rotating shaft through a bearing. A gear is coaxially fixed to the upper end of the vertical rotating shaft, and a horizontal swing arm is vertically and fixedly connected to the lower end. The end of the horizontal swing arm is fixedly connected to a vertical constraint rod; a linear rack meshing with the gear is also included, and the linear rack is synchronously connected to the hinge seat a on the first jaw through a linkage arm;

[0014] When the telescopic rod of the first jaw is in the extended state, the first jaw enters the "grasping" state, so that the first clamping block, the second clamping block, the third clamping block and the fourth clamping block of the first jaw respectively fit the four side surfaces of the front longitudinal beam of the vehicle. And at this time, under the linkage of the linkage arm and the meshing of the gear, the end of the horizontal swing arm away from the vertical rotating shaft just points to the X+ direction;

[0015] When the telescopic rod of the first jaw is in the retracted state, the first jaw enters the "open" state. At this time, under the linkage of the linkage arm and the meshing of the gears, the end of the transverse swing arm far from the vertical rotating shaft just points to the X- direction.

[0016] Furthermore, when the end of the transverse swing arm far from the vertical rotating shaft just points to the X- direction, the interval distance occupied by the transverse swing arm, the vertical constraint rod, and the gear as a whole in the X direction is L, and the width of the collapse energy absorption notch on one side of the front longitudinal beam of the vehicle is denoted as D; it satisfies D > L and L > D.

[0017] Furthermore, the grasping method of the robot precise grasping device of the front longitudinal beam riveting and press riveting automatic line:

[0018] Step 1, both the first jaw and the second jaw enter the "open" state;

[0019] Step 2, the manipulator of other robots places a front longitudinal beam of the vehicle to be handed over and transferred into the first jaw and the second jaw in the "open" state of this front longitudinal beam grasping manipulator, and makes the transverse swing arm, the vertical constraint rod, and the gear as a whole be stuck in the collapse energy absorption notch of the front longitudinal beam of the vehicle;

[0020] Step 3, keep the telescopic rod of the first jaw stationary first, and control the telescopic rod of the second jaw to extend, so that the second jaw makes a "grasping" action first;

[0021] Step 4, on the basis of keeping the second jaw "grasping", control the telescopic rod of the first jaw to extend until the first jaw just completes the "grasping" action.

[0022] Beneficial effects: In the second embodiment of the present invention, on the basis of keeping the second jaw "grasping", during the process that the first jaw makes a gradually "grasping" action, in the last stage of the semi-circular trajectory movement of the vertical constraint rod at the end of the transverse swing arm, it will rigidly push the right inner side of the collapse energy absorption notch towards the X+ direction, so that the front longitudinal beam of the vehicle slowly and deterministically deflects along the X+ direction under the rigid pushing and constraint of the vertical constraint rod. Under the linkage of the linkage arm, the first jaw just completes the "grasping" action. Under the constraint of the vertical constraint rod, the relative position of the front longitudinal beam of the vehicle grasped by the front longitudinal beam grasping manipulator in the "X" direction with the front longitudinal beam grasping manipulator is completely determined, thereby realizing the process of precise grasping. Description of the Drawings

[0023] Figure 1 It is the overall layout schematic diagram of the front longitudinal beam riveting and press riveting automatic line;

[0024] Figure 2 It is the schematic diagram of the front longitudinal beam of the vehicle;

[0025] Figure 3A robot for grabbing the front longitudinal beam of a car;

[0026] Figure 4 It is a structural schematic diagram of a first embodiment of a front longitudinal beam grabbing manipulator;

[0027] Figure 5 It is a structural schematic diagram of a second embodiment of a front longitudinal beam grabbing manipulator;

[0028] Figure 6 It is a schematic diagram of "Step 2" and "Step 4" from a bird's-eye view;

[0029] Figure 7 for Figure 6 An enlarged schematic diagram of the mark 31 and the mark 32;

[0030] Figure 8 Schematic diagram for step one, step two and step four. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] As attached Figures 1 to 8 The robot precision gripping device of the front longitudinal beam riveting and pressing riveting automatic line shown in the figure is as follows: Figure 2 The workpiece to be processed in this scheme is a front longitudinal beam 3 of an automobile, and a collapse energy absorption notch 4 is provided on one side of the front longitudinal beam 3 of the automobile;

[0033] like Figure 1 As shown, a number of automobile front longitudinal beam grasping robots 1 are arranged along the length direction in the centerline area 81 of the front longitudinal beam riveting and pressing automatic line 2 of this case, and processing equipment capable of implementing processes such as gluing, visual inspection, screw locking, core pulling, pressing, laser marking and the like on the automobile front longitudinal beam 3 is distributed on both sides of the centerline area 81. The loading and unloading of the automobile front longitudinal beam 3 of each processing equipment are clamped by a group of automobile front longitudinal beam grasping robots 1 near the centerline area 81; any two adjacent automobile front longitudinal beam grasping robots 1 can mutually connect and transfer the clamped automobile front longitudinal beams 3; thereby enabling the process to be opposite: the automobile front longitudinal beam 3 can be smoothly transported and handed over in the automatic line, thereby achieving the purpose of no artificial field.

[0034] like Figure 3 The end of the robot arm of the automobile front longitudinal beam grasping robot 1 is provided with a front longitudinal beam grasping manipulator 5, such as Figure 4 The front longitudinal beam grabbing robot 5 comprises a robot support 6 , on which a first clamping jaw 7A and a second clamping jaw 7B are arranged side by side on the left and right sides.

[0035] Both the first jaw 7A and the second jaw 7B include a telescoper seat 22. A telescoper 25 extending in the Y direction is fixedly provided at the upper part of the telescoper seat 22, and a lower arm 21 extending in the Y+ direction is fixedly provided at the lower part. An upper swing arm 19 extending in the Y+ direction is arranged above the lower arm 21. The root of the upper swing arm 19 is integrally connected to the lower end of a vertical swing arm 17. The middle of the swing arm 17 is hinged to the upper end of the telescoper seat 22 through a hinge 23; the end of the telescopic rod 24 of the telescoper 25 is fixedly connected to a hinge seat 26. A hinge seat 16 is arranged on the side of the hinge seat 26 away from the telescopic rod 24; the a hinge shaft 15 rotatably fitted on the hinge seat 26 is fixedly connected to the tail end of the hinge seat 16; the b hinge shaft 18 rotatably fitted on the hinge seat 16 is fixedly connected to the upper end of the swing arm 17; the ends of the upper swing arms 19 of the first jaw 7A and the second jaw 7B are integrally provided with clamping arms 20 extending downward.

[0036] Based on the above basic structure, the following two sets of solutions are designed in this scheme:

[0037] The first embodiment (as Figure 4 shown):

[0038] On the upper side of the ends of the lower arms 21 of both the first jaw 7A and the second jaw 7B, first clamping blocks 29 are fixedly provided, and on the lower side of the upper swing arms 19 of both the first jaw 7A and the second jaw 7B, second clamping blocks 27 are fixedly provided;

[0039] On the front side of the waist of the telescoper seats 22 of both the first jaw 7A and the second jaw 7B, third clamping blocks 30 are fixedly provided, and on the rear sides of the clamping arms 20 of both the first jaw 7A and the second jaw 7B, fourth clamping blocks 28 are fixedly provided. In the "grasping" state, the first clamping blocks 29, the second clamping blocks 27, the third clamping blocks 30 and the fourth clamping blocks 28 respectively fit against the four side surfaces of the front longitudinal beam 3 of the vehicle.

[0040] In the above structure, in the clamping state, the first clamping blocks 29, the second clamping blocks 27, the third clamping blocks 30 and the fourth clamping blocks 28 can impose strict constraints on the front longitudinal beam 3 of the vehicle in the X and Z directions. The front longitudinal beam 3 of the vehicle is constrained in the X direction by the frictional force of the contact surfaces of the first clamping blocks 29, the second clamping blocks 27, the third clamping blocks 30 and the fourth clamping blocks 28, so that the front longitudinal beam 3 of the vehicle is stably "grasped". During the operation of the front longitudinal beam riveting and press riveting automatic line 2, after the front longitudinal beam 3 of the vehicle has been transferred and handed over by multiple front longitudinal beam grasping robots 1 for many times, the relative position of the front longitudinal beam 3 of the vehicle grasped by the front longitudinal beam grasping manipulator 5 in the "X" direction is offset from that of the front longitudinal beam grasping manipulator 5, forming a grasping error in the "X" direction, which further affects the accuracy in the state. Therefore, the following optimization scheme is designed:

[0041] The second embodiment ( Figures 5 to 8 ):

[0042] On the upper side of the end of the lower arm 21 of the first jaw 7A, a first clamping block 29 is fixedly installed. On the lower side of the upper swing arm 19 of the first jaw 7A, a second clamping block 27 is fixedly installed. On the front side of the waist of the telescopic seat 22 of the first jaw 7A, a third clamping block 30 is fixedly installed. On the rear side of the clamping arm 20 of the first jaw 7A, a fourth clamping block 28 is fixedly arranged.

[0043] On the upper side of the end of the lower arm 21 of the second jaw 7B, a first clamping wheel 29A is rotatably installed. On the lower side of the upper swing arm 19 of the second jaw 7B, a second clamping wheel 27A is rotatably installed. On the front side of the waist of the telescopic seat 22 of the second jaw 7B, a third clamping wheel 30A is rotatably installed. On the rear side of the clamping arm 20 of the second jaw 7B, a fourth clamping wheel 28A is rotatably installed.

[0044] When the second jaw 7B is in the "grasping" state, the first clamping wheel 29A, the second clamping wheel 27A, the third clamping wheel 30A and the fourth clamping wheel 28A respectively roll and clamp the four sides of the front longitudinal beam 3 of the vehicle.

[0045] On the robot hand support 6 between the first jaw 7A and the second jaw 7B, a structural arm 13 extending in the Y+ direction is fixedly installed. The end of the structural arm 13 is rotatably installed with a vertical rotating shaft 8 through a bearing. At the upper end of the vertical rotating shaft 8, a gear 11 is coaxially fixedly installed. At the lower end, a horizontal swing arm 9 is vertically fixedly connected. At the end of the horizontal swing arm 9, a vertical constraint rod 10 is fixedly connected. It also includes a linear rack 12 meshing with the gear 11. The linear rack 12 is synchronously connected to the a hinge seat 26 on the first jaw 7A through a linkage arm 14.

[0046] When the telescopic rod 24 of the first jaw 7A is in the extended state, the first jaw 7A enters the "grasping" state, so that the first clamping block 29, the second clamping block 27, the third clamping block 30 and the fourth clamping block 28 of the first jaw 7A respectively fit the four sides of the front longitudinal beam 3 of the vehicle. And at this time, under the linkage of the linkage arm 14 and the meshing of the gear 11, the end of the horizontal swing arm 9 far from the vertical rotating shaft 8 just points to the X+ direction.

[0047] When the telescopic rod 24 of the first jaw 7A is in the retracted state, the first jaw 7A enters the "open" state. And at this time, under the linkage of the linkage arm 14 and the meshing of the gear 11, the end of the horizontal swing arm 9 far from the vertical rotating shaft 8 just points to the X- direction.

[0048] When the end of the horizontal swing arm 9 far from the vertical rotating shaft 8 just points to the X- direction, the interval distance occupied by the horizontal swing arm 9, the vertical constraint rod 10 and the gear 11 as a whole in the X direction is L. The width of the notch of the crush energy absorption notch 4 on one side of the front longitudinal beam 3 of the vehicle is denoted as D. It satisfies D > L and 2L > D.

[0049] To avoid movement interference, when the front longitudinal beam 3 of the vehicle is "grasped" by the first jaw 7A, Figure 7The G value is greater than the F value.

[0050] Optimized precise gripping method (such as Figure 6 , 7 , 8):

[0051] Step 1: The telescopic rods 24 of the first clamping jaw 7A and the second clamping jaw 7B are retracted, so that the first clamping jaw 7A and the second clamping jaw 7B are both in the "open" state. At this time, under the linkage of the linkage arm 14 and the meshing action of the gear 11, the end of the horizontal swing arm 9 away from the vertical rotation axis 8 just points to the X-direction;

[0052] Step 2: The manipulator of the other robot places the front longitudinal beam 3 of the automobile to be handed over and transferred into the first clamping jaw 7A and the second clamping jaw 7B of the front longitudinal beam grasping manipulator 5 in the "open" state, and makes the lateral swing arm 9, the vertical restraint rod 10 and the gear 11 as a whole be stuck in the crushing energy absorption gap 4 of the front longitudinal beam 3 of the automobile; because D>L, during the process of putting the front longitudinal beam 3 of the automobile, the lateral swing arm 9, the vertical restraint rod 10 and the gear 11 as a whole can be easily stuck in the crushing energy absorption gap 4 of the front longitudinal beam 3 of the automobile;

[0053] Step 3: Keep the telescopic rod 24 of the first clamping jaw 7A still, and control the telescopic rod 24 of the second clamping jaw 7B to extend, so that the second clamping jaw 7B first performs a "grasping" action, so that the first clamping wheel 29A, the second clamping wheel 27A, the third clamping wheel 30A and the fourth clamping wheel 28A on the second clamping jaw 7B respectively roll and clamp the four side surfaces of the front longitudinal beam 3 of the automobile, and on the basis of preliminarily constraining the YZ direction of the front longitudinal beam 3 of the automobile, the X direction of the front longitudinal beam 3 of the automobile is in a free state;

[0054] Step 4: On the basis of keeping the second clamping jaw 7B "grasping", the telescopic rod 24 of the first clamping jaw 7A is controlled to extend, so that the first clamping jaw 7A gradually "grasps" the telescopic rod 24. In the process, the telescopic rod 24 of the first clamping jaw 7A gradually extends and, under the linkage of the linkage arm 14 and the meshing action of the gear 11, the lateral swing arm 9 gradually rotates 180° counterclockwise around the axis of the vertical shaft 8 until the end of the lateral swing arm 9 away from the vertical shaft 8 just points to the X+ direction; due to the size restrictions of D>L and 2L>D, and the attached Figure 7The value of G in is greater than the pre-defined value of F. In the final stage approaching the end of the process where the lateral swing arm 9 gradually rotates counterclockwise by 180° around the axis of the vertical rotating shaft 8, in the final stage of the vertical restraint rod 10 at the end of the lateral swing arm 9 moving along a semi-circular trajectory, it will inevitably move in the X+ direction until it closely adheres to the right inner surface 4B of the crash energy-absorbing notch 4, and rigidly pushes the right inner surface 4B of the crash energy-absorbing notch 4 to shift in the X+ direction, causing the front longitudinal beam 3 of the vehicle to slowly shift in the X+ direction deterministically under the rigid pushing restraint of the vertical restraint rod 10. After that, the vertical restraint rod 10 and the front longitudinal beam 3 of the vehicle are synchronized in the X direction. When the end of the lateral swing arm 9 far from the vertical rotating shaft 8 just points in the X+ direction, under the linkage of the linkage arm 14, the first jaw 7A just completes the "grabbing" action, and the telescopic rod 24 of the first jaw 7A cannot extend further, thereby locking the vertical restraint rod 10. At this time, the position of the vertical restraint rod 10 on the front longitudinal beam gripper 5 is a pre-set definite value; at the same time, under the restraint of the vertical restraint rod 10, the relative position between the front longitudinal beam gripper 5 and the front longitudinal beam 3 of the vehicle in the X direction is completely determined. At the same time, the front longitudinal beam 3 of the vehicle is completely locked under the action of the static friction forces of the first clamping block 29, the second clamping block 27, the third clamping block 30, and the fourth clamping block 28 of the first jaw 7A in the X direction. At this time, the relative position between the front longitudinal beam 3 of the vehicle grabbed by the front longitudinal beam gripper 5 and the front longitudinal beam gripper 5 in the "X" direction is completely determined, thus realizing the process of precise grasping.

[0055] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. The robot precise grasping device of the front longitudinal beam riveting and press riveting automatic line, characterized in that: The front longitudinal beam gripping manipulator (5) at the end of the robotic arm of the automotive front longitudinal beam gripping robot (1), the front longitudinal beam gripping manipulator (5) includes a manipulator support (6), and at least a first jaw (7A) and a second jaw (7B) are arranged in parallel on the manipulator support (6); Both the first jaw (7A) and the second jaw (7B) include a telescoper seat (22). A telescoper (25) extending in the Y direction is fixedly arranged on the upper part of the telescoper seat (22), and a lower arm (21) extending in the Y+ direction is fixedly arranged on the lower part. An upper swing arm (19) extending in the Y+ direction is arranged above the lower arm (21). The root of the upper swing arm (19) is integrally connected to the lower end of a vertical swing arm (17). The middle of the swing arm (17) is hinged to the upper end of the telescoper seat (22) through a hinge (23); the end of the telescoping rod (24) of the telescoper (25) is fixedly connected to a hinge seat (26). A hinge seat (16) is arranged on the side of the hinge seat (26) away from the telescoping rod (24); an a hinge shaft (15) rotatably fitted on the hinge seat (26) is fixedly connected to the tail end of the hinge seat (16); a b hinge shaft (18) rotatably fitted on the hinge seat (16) is fixedly connected to the upper end of the swing arm (17).

2. The robot precise grasping device of the front longitudinal beam riveting and press riveting automatic line according to claim 1, characterized in that: The ends of the upper swing arms (19) of the first jaw (7A) and the second jaw (7B) are integrally provided with clamping arms (20) extending downward.

3. The robot precise grasping device of the front longitudinal beam riveting and press riveting automatic line according to claim 2, characterized in that: On the upper side of the ends of the lower arms (21) of the first jaw (7A) and the second jaw (7B), a first clamping block (29) is fixedly arranged. On the lower sides of the upper swing arms (19) of the first jaw (7A) and the second jaw (7B), second clamping blocks (27) are fixedly arranged; On the front side of the waist of the telescoper seats (22) of the first jaw (7A) and the second jaw (7B), third clamping blocks (30) are fixedly arranged. On the rear sides of the clamping arms (20) of the first jaw (7A) and the second jaw (7B), fourth clamping blocks (28) are fixedly arranged.

4. The robot precise grasping device of the front longitudinal beam riveting and press riveting automatic line according to claim 2, characterized in that: On the upper side of the end of the lower arm (21) of the first jaw (7A), a first clamping block (29) is fixedly arranged. On the lower side of the upper swing arm (19) of the first jaw (7A), a second clamping block (27) is fixedly arranged; on the front side of the waist of the telescoper seat (22) of the first jaw (7A), a third clamping block (30) is fixedly arranged. On the rear side of the clamping arm (20) of the first jaw (7A), a fourth clamping block (28) is fixedly arranged; On the upper side of the end of the lower arm (21) of the second jaw (7B), a first clamping wheel (29A) is rotatably arranged. On the lower side of the upper swing arm (19) of the second jaw (7B), a second clamping wheel (27A) is rotatably arranged; on the front side of the waist of the telescoper seat (22) of the second jaw (7B), a third clamping wheel (30A) is rotatably arranged. On the rear side of the clamping arm (20) of the second jaw (7B), a fourth clamping wheel (28A) is rotatably arranged.

5. The robot precise grasping device of the front longitudinal beam riveting and press riveting automatic line according to claim 4, characterized in that: A structural arm (13) extending in the Y+ direction is fixed on the manipulator support (6) between the first jaw (7A) and the second jaw (7B). The end of the structural arm (13) is rotatably installed with a vertical rotating shaft (8) through a bearing. A gear (11) is coaxially fixed to the upper end of the vertical rotating shaft (8), and a horizontal swing arm (9) is vertically and fixedly connected to the lower end. A vertical constraint rod (10) is fixedly connected to the end of the horizontal swing arm (9); a linear rack (12) meshing with the gear (11) is also included, and the linear rack (12) is synchronously connected to a hinge seat (26) on the first jaw (7A) through a linkage arm (14). When the telescopic rod (24) of the first jaw (7A) is in the extended state, the first jaw (7A) enters the "grasping" state, so that the first clamping block (29), the second clamping block (27), the third clamping block (30), and the fourth clamping block (28) of the first jaw (7A) respectively fit against the four side surfaces of the vehicle front longitudinal beam (3). At this time, under the linkage of the linkage arm (14) and the meshing of the gear (11), the end of the horizontal swing arm (9) far from the vertical rotating shaft (8) just points in the X+ direction; When the telescopic rod (24) of the first jaw (7A) is in the retracted state, the first jaw (7A) enters the "opening" state, and at this time, under the linkage of the linkage arm (14) and the meshing of the gear (11), the end of the horizontal swing arm (9) far from the vertical rotating shaft (8) just points in the X- direction.

6. The robot precise grasping device of the front longitudinal beam riveting and press riveting automatic line according to claim 5, characterized in that: When the end of the horizontal swing arm (9) far from the vertical rotating shaft (8) just points in the X- direction, the interval distance occupied by the horizontal swing arm (9), the vertical constraint rod (10), and the gear (11) as a whole in the X direction is L, and the width of the collapse energy-absorbing notch (4) on one side of the vehicle front longitudinal beam (3) is denoted as D; it satisfies D > L and 2L > D.

7. The grasping method of the robot precise grasping device of the front longitudinal beam riveting and press riveting automatic line according to claim 6, characterized in that: Step 1, both the first jaw (7A) and the second jaw (7B) enter the "opening" state; Step 2, a vehicle front longitudinal beam (3) to be handed over and transferred by other robots is placed inside the first jaw (7A) and the second jaw (7B) in the "opening" state of the front longitudinal beam grasping manipulator (5), and the horizontal swing arm (9), the vertical constraint rod (10), and the gear (11) as a whole are stuck in the collapse energy-absorbing notch (4) of the vehicle front longitudinal beam (3); Step 3, keep the telescopic rod (24) of the first jaw (7A) stationary first, and control the telescopic rod (24) of the second jaw (7B) to extend, so that the second jaw (7B) first makes a "grasping" action; Step 4, on the basis of keeping the second jaw (7B) "grasping", control the telescopic rod (24) of the first jaw (7A) to extend until the first jaw (7A) just completes the "grasping" action.

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