Clamping mechanism, gripper and side wall outer plate grabbing method

Abstract

The invention relates to the technical field of automobile part production, in particular to a clamping mechanism, a gripper and a side wall outer plate gripping method.The clamping mechanism comprises a mounting plate, a driving part, a fixed finger and a movable finger, the driving part and the fixed finger are mounted on the mounting plate, the output end of the driving part is connected with one end of the movable finger, and the output end of the driving part is connected with the other end of the movable finger; a sliding groove is formed in the other end of the movable finger, a sliding rod sliding in the sliding groove is fixedly arranged on the mounting plate, and the movable finger is matched with the fixed finger to clamp or loosen a workpiece; the gripper comprises a control system, a gripper body, a front door frame clamping device, a rear door frame clamping device, a middle column clamping device and a rear wheel arch clamping device, the front door frame clamping device, the rear door frame clamping device, the middle column clamping device and the rear wheel arch clamping device adopt clamping mechanisms, and the gripper body is provided with a first driving mechanism and a second driving mechanism which drive the rear door frame clamping device and the middle column clamping device respectively. The rear wheel arch clamping device is detachably connected with the gripper body. The side wall outer plate grabbing device can be suitable for grabbing side wall outer plates of different vehicle types and is high in universality, and the vehicle type investment and the line body area are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile parts production, and more particularly to a clamping mechanism, a gripper, and a side panel gripping method. Background Art

[0002] There are two main design options for existing side panel grippers: a suction cup structure and a cylinder clamp structure. The suction cup structure involves selecting a smooth surface of the workpiece based on the dimensions of the side panel, evenly distributing vacuum cups, and then applying suction to the cups using a vacuum generator to grip the workpiece. All cups are mounted on a fixed frame. The cylinder clamp structure involves installing multiple sets of clamping blocks at the edges or in the workpiece's cavities, based on the workpiece's shape. These blocks are opened and closed using a cylinder to clamp the workpiece. A locating pin mechanism is also provided to align the workpiece holes and ensure gripping accuracy. The clamping and locating pin mechanisms are mounted on a frame, typically constructed by welding square tubes or splicing octagonal tubes.

[0003] The suction cup structure must be placed on a smooth surface of the workpiece, otherwise the suction cup may leak and fail to form a vacuum, limiting its scope of application. Furthermore, the suction cup is made of a soft material and can deform significantly during handling, resulting in variations in the gripping position consistency of the workpiece and low gripping accuracy. While this design can meet production precision requirements, the gripper design is complex and cannot be used interchangeably across different vehicle models, lacking flexibility. Given the trend of co-production of multiple vehicle models, this structure requires the redesign and manufacture of specialized grippers to match the introduction of new models. This leads to long design cycles, high vehicle model investment costs, and a large area required for gripper storage. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a clamping mechanism, a gripper and a side outer panel grabbing method, which can be applied to the grabbing of side outer panels of different vehicle models, has high versatility, and reduces vehicle model investment and line area.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: to provide a clamping mechanism, including a mounting plate, a driving member, a fixed finger and a movable finger, the driving member and the fixed finger are installed on the mounting plate, the output end of the driving member is connected to one end of the movable finger, the other end of the movable finger is provided with a slide groove, the mounting plate is fixed with a slide rod sliding in the slide groove, the driving member drives the movable finger to move, so that the movable finger cooperates with the fixed finger to clamp or release the workpiece.

[0006] In the clamping mechanism of the present invention, a driving member drives the movable finger, which is guided by a sliding connection between a slide rod and a slide groove. During use, when the driving member is at its maximum stroke, the movable finger opens, moving the clamping mechanism to the position to be clamped, so that the part of the workpiece to be clamped is between the fixed finger and the movable finger, and the fixed finger contacts one side of the workpiece. When the driving member is actuated to gradually reduce the stroke, the movable finger moves toward the fixed finger until the movable finger contacts and cooperates with the fixed finger to clamp the workpiece. The clamping mechanism of the present invention is suitable for clamping workpieces of different thicknesses. When used for side panels, it is suitable for grasping side panels of different vehicle models and has high versatility.

[0007] Furthermore, the output end of the driving member is hinged to one end of the movable finger, the slide groove includes a connected oblique section and a straight section, and the distance between the oblique section and the driving member is smaller than the distance between the straight section and the driving member; when the driving member drives the movable finger to make the slide bar slide in the oblique section, the movable finger moves linearly with the output end of the driving member and swings around the hinge point with the driving member; when the driving member drives the movable finger to make the slide bar slide in the straight section, the movable finger moves linearly with the output end of the driving member.

[0008] Furthermore, the fixed fingers and the movable fingers are respectively provided with ball heads for clamping the workpiece, and the outer walls of the ball heads are spherical.

[0009] The present invention also provides a gripper, comprising a control system, a gripper body, and a front door frame clamping device, a rear door frame clamping device, a center pillar clamping device and a rear wheel arch clamping device installed on the gripper body; the gripper body is used to be externally connected to a drive device in communication with the control system; the front door frame clamping device, the rear door frame clamping device, the center pillar clamping device and the rear wheel arch clamping device are all the above-mentioned clamping mechanisms; the mounting plate of the front door frame clamping device is fixedly installed on the gripper body; the gripper body is provided with a first drive mechanism and a second drive mechanism, the output end of the first drive mechanism is connected to the rear door frame clamping device, the first drive mechanism drives the rear door frame clamping device to move in a vertical plane perpendicular to the first direction, the output end of the second drive mechanism is connected to the center pillar clamping device, the second drive mechanism drives the center pillar clamping device to make horizontal movement perpendicular to the first direction; the rear wheel arch clamping device is detachably connected to the gripper body through a switching disk, and the first drive mechanism, the second drive mechanism and the switching disk are respectively in communication with the control system.

[0010] When the gripper of the present invention is in use, the control system adjusts the servo values of the first drive mechanism, the second drive mechanism and the third drive mechanism according to the vehicle model produced, and at the same time switches the rear wheel arch clamping device of the corresponding vehicle model through the switching disk. After the gripper body and the front door frame clamping device, rear door frame clamping device, center pillar clamping device and rear wheel arch clamping device thereon are driven into place by an external drive device, the front door frame, rear door frame, center pillar and rear wheel arch of the side outer panel are clamped respectively to achieve the gripping of the side outer panel. Among them, the front door frame clamping device is in a fixed form, serving as a vertical and longitudinal orientation reference; the first drive mechanism can drive the rear door frame clamping device to move in a vertical plane perpendicular to the first direction, so as to achieve compatibility with the vertical and longitudinal profile differences between models; the second drive mechanism can drive the center column clamping device to make horizontal movements perpendicular to the first direction, serving as a lateral positioning reference, and can be compatible with the longitudinal profile differences between models through servo; due to the large differences in the rear size and shape of the side outer panels of different models, different models can be easily adapted by switching the rear wheel arch clamping device, and the clamping mechanism can be used to clamp side outer panels of different thicknesses of different models, and the side outer panels of different models can be grasped by clamping in multiple places, with high versatility, reducing the investment cost of the model and reducing the area occupied by the line.

[0011] Furthermore, the front door frame clamping device, the rear door frame clamping device and the rear wheel arch clamping device also respectively include a first guide mechanism installed on the corresponding mounting plate; the center column clamping device also includes a second guide mechanism installed on the corresponding mounting plate; and also includes a third guide mechanism, the gripper body is equipped with a third drive mechanism, the output end of the third drive mechanism is connected to the third guide mechanism, and the third drive mechanism drives the third guide mechanism to move horizontally along the first direction; the third drive mechanism is communicatively connected to the control system.

[0012] Furthermore, the first guide mechanism includes a bracket, a fixed shaft and a roller, the bracket is fixedly arranged on the corresponding mounting plate, the fixed shaft is fixedly installed on the bracket, the fixed shaft is rotatably sleeved on the outer circumference of the fixed shaft, and the roller includes a cylindrical section and a conical section that are connected, the cylindrical section is located between the conical section and the bracket, and the outer diameter of the conical section gradually increases from one end away from the cylindrical section to the other end close to the cylindrical section.

[0013] Furthermore, the second guiding mechanism includes a guide column fixed to the corresponding mounting plate, and the guide column is provided with a slot for the movable finger to move.

[0014] Furthermore, the gripper body is also equipped with a visual system, and the control system is communicatively connected to the visual system.

[0015] The present invention also provides a side panel grabbing method, which is applied to the above-mentioned grabber and includes the following steps: S1: Determine the model of the product to be produced; S2: According to the vehicle model, the control system adjusts the servo values of the first drive mechanism, the second drive mechanism, and the third drive mechanism; and switches the rear wheel arch clamping device of the corresponding vehicle model; S3: The driving device drives the gripper body to move to a preset distance from the trolley, and the visual system captures the reference hole of the side panel. S4: Compare the photographic results with the benchmark and calculate the position deviation between the gripper body and the side panel; S5: Based on the position deviation, the control system communicates with the drive device to calibrate the gripping trajectory; S6: The driving device drives the gripper to move so that the first guide mechanism, the second guide mechanism and the third guide mechanism are in contact with the side panel. S7: The front door frame clamping device, rear door frame clamping device, center pillar clamping device and rear wheel arch clamping device clamp the front door frame, rear door frame, center pillar and rear wheel arch of the side outer panel respectively.

[0016] The side outer panel grabbing method of the present invention adjusts the servo values of the first drive mechanism, the second drive mechanism and the third drive mechanism according to the produced vehicle model, switches the rear wheel arch clamping device of the corresponding vehicle model, calibrates the grabbing trajectory after calculating the position deviation through the visual system, guides and positions the side outer panel through the first guide mechanism, the second guide mechanism and the third guide mechanism, and finally clamps the front door frame, rear door frame, center pillar and rear wheel arch of the side outer panel respectively through the front door frame clamping device, the rear door frame clamping device, the center pillar clamping device and the rear wheel arch clamping device to complete the grabbing of the side outer panel; wherein, the front door frame clamping device is in a fixed form and serves as a vertical and longitudinal orientation reference; the first The driving mechanism can drive the rear door frame clamping device to move in a vertical plane perpendicular to the first direction, so as to achieve compatibility with the vertical and longitudinal profile differences between vehicle models; the second driving mechanism can drive the center column clamping device to make horizontal movement perpendicular to the first direction as a lateral positioning reference, and can be compatible with the longitudinal profile differences between vehicle models through servo; due to the large differences in the rear size and shape of the side outer panels of different vehicle models, different vehicle models can be easily adapted by switching the rear wheel arch clamping device, and each clamping device adopts a clamping mechanism, which can be applied to the clamping of side outer panels of different thicknesses of different vehicle models, and the side outer panels of different vehicle models can be grasped by clamping at multiple locations, with high versatility and high grasping accuracy.

[0017] Preferably, the process of step S6 is: the driving device first drives the gripper body to move toward the side outer panel by a preset stroke; then drives the gripper body and the first guide mechanism, the second guide mechanism and the third guide mechanism to move vertically upward to a preset height, so that the workpiece supported by the first guide mechanism is separated from the trolley; the third driving mechanism drives the third guide mechanism to move horizontally in the first direction according to the set stroke, and the third guide mechanism pushes the side outer panel so that the center column of the side outer panel contacts the third guide mechanism and the second guide mechanism at the same time to position the side outer panel.

[0018] Compared with the prior art, the present invention has the following beneficial effects: it is suitable for clamping side panels of different thicknesses and different profiles; it is suitable for different vehicle models, has high versatility, reduces vehicle model investment and line area; it can guide and position the side panels, and improve the grasping accuracy of the side panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of the clamping mechanism in an embodiment of the present invention when it is opened; Figure 2 A structural schematic diagram of the clamping process of the clamping mechanism in an embodiment of the present invention; Figure 3 This is a schematic structural diagram of the clamping mechanism in an embodiment of the present invention when the clamping is completed; Figure 4 This is a schematic structural diagram of a gripper in an embodiment of the present invention; Figure 5 This is a schematic structural diagram of the first guide mechanism in an embodiment of the present invention; Figure 6 for Figure 4 Enlarged view of the part A in the middle; Figure 7 This is a diagram of the gripper in use in an embodiment of the present invention.

[0020] In the accompanying drawings: 1-mounting plate; 101-slide rod; 2-driving member; 3-fixed finger; 4-movable finger; 401-slide groove; 4011-oblique section; 4012-straight section; 5-ball head; 6-gripper body; 7-front door frame clamping device; 8-rear door frame clamping device; 9-center column clamping device; 10-rear wheel arch clamping device; 11-first driving mechanism; 12-second driving mechanism; 13-third driving mechanism; 14-first guide mechanism; 1401-bracket; 1402-fixed shaft; 1403-roller; 1404-cylindrical roller bearing; 15-second guide mechanism; 1501-guide column; 1502-empty slot; 16-third guide mechanism; 17-switching disk; 18-visual camera; 19-laser ranging sensor; 20-side outer panel. DETAILED DESCRIPTION

[0021] The present invention is further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only and are schematic, not actual, representations. They should not be construed as limiting this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0022] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0023] In the embodiment of the present invention, the “first direction” and “transverse direction” refer to the front-to-back direction of the side panel outer panel when the gripper grips the side panel outer panel, that is, the length direction of the side panel outer panel.

[0024] Example 1 This embodiment is an embodiment of a clamping mechanism, such as Figures 1 to 3 As shown, it includes a mounting plate 1, a driving member 2, a fixed finger 3 and a movable finger 4. The driving member 2 and the fixed finger 3 are installed on the mounting plate 1. The output end of the driving member 2 is connected to one end of the movable finger 4. The other end of the movable finger 4 is provided with a slide groove 401. The mounting plate 1 is fixed with a slide rod 101 that slides in the slide groove 401. The driving member 2 drives the movable finger 4 to move, so that the movable finger 4 cooperates with the fixed finger 3 to clamp or release the workpiece.

[0025] In the above-mentioned clamping mechanism, the driving member 2 drives the movable finger 4, which is guided by the sliding connection between the slide rod 101 and the slide groove 401. When in use, when the driving member 2 is at its maximum stroke, the movable finger 4 opens, and the clamping mechanism is moved to the position to be clamped, so that the part of the workpiece to be clamped is between the fixed finger 3 and the movable finger 4, and the fixed finger 3 contacts one side of the workpiece. When the driving member 2 is actuated to gradually reduce the stroke, the movable finger 4 moves toward the fixed finger 3 until the movable finger 4 contacts and cooperates with the fixed finger 3 to clamp the workpiece. The clamping mechanism of this embodiment can be applied to clamping workpieces of different thicknesses. When used for the side panel 20, it can be applied to the gripping of the side panel 20 of different models, and has high versatility.

[0026] like Figures 1 to 3As shown, the output end of the driving member 2 is hinged to one end of the movable finger 4, and the slide groove 401 includes a connected oblique section 4011 and a straight section 4012, and the distance between the oblique section 4011 and the driving member 2 is smaller than the distance between the straight section 4012 and the driving member 2; when the driving member 2 drives the movable finger 4 to make the slide bar 101 slide in the oblique section 4011, the movable finger 4 moves linearly with the output end of the driving member 2 and swings around the hinge point with the driving member 2; when the driving member 2 drives the movable finger 4 to make the slide bar 101 slide in the straight section 4012, the movable finger 4 moves linearly with the output end of the driving member 2. When the driving member 2 is at its maximum stroke, since the output end of the driving member 2 is hinged to one end of the movable finger 4, the slide bar 101 is located at the end of the oblique section 4011 away from the straight section 4012, and the clamping mechanism is in an open state; when the driving member 2 is in motion and the stroke is shortened, the slide bar 101 first slides in the oblique section 4011, and the movable finger 4 swings around the hinge position. When the slide bar 101 is at the transition position between the oblique section 4011 and the straight section 4012, the stroke of the driving member 2 continues to be shortened, the slide bar 101 moves in the straight section 4012, the movable finger 4 moves in a straight line, and shortens the distance from the fixed finger 3 until it cooperates with the fixed finger 3 to clamp the workpiece. In this embodiment, the movable finger 4 can swing to a certain angle relative to the fixed finger 3 to facilitate the movement of the clamping mechanism to the clamping position for use. In addition, the length of the straight section 4012 can be designed as needed, and the maximum thickness of the workpiece that can be clamped by the clamping mechanism is equal to the length of the straight section 4012.

[0027] like Figures 1 to 3 As shown, the fixed finger 3 and the movable finger 4 are respectively provided with a ball head 5 for clamping the workpiece. The outer wall of the ball head 5 is spherical, which can adapt to the angle differences of different surfaces on different workpieces, further improving the versatility of the clamping mechanism.

[0028] Example 2 This embodiment is an embodiment of a gripper, such as Figure 4 、 Figure 7As shown, it includes a control system, a gripper body 6, and a front door frame clamping device 7, a rear door frame clamping device 8, a center column clamping device 9, and a rear wheel arch clamping device 10 installed on the gripper body 6; the gripper body 6 is used for an external drive device connected to the control system for communication; the front door frame clamping device 7, the rear door frame clamping device 8, the center column clamping device 9, and the rear wheel arch clamping device 10 are all clamping mechanisms of the first embodiment; the mounting plate 1 of the front door frame clamping device 7 is fixedly mounted on the gripper body 6; the gripper body 6 is provided with a first drive mechanism 11 and a second drive mechanism Structure 12, the output end of the first driving mechanism 11 is connected to the rear door frame clamping device 8, the first driving mechanism 11 drives the rear door frame clamping device 8 to move in a vertical plane perpendicular to the first direction, the output end of the second driving mechanism 12 is connected to the center column clamping device 9, the second driving mechanism 12 drives the center column clamping device 9 to make horizontal movement perpendicular to the first direction; the rear wheel arch clamping device 10 is detachably connected to the gripper body 6 through the switching disk 17, and the first driving mechanism 11, the second driving mechanism 12 and the switching disk 17 are respectively communicated with the control system.

[0029] When the above-mentioned gripper is in use, the control system adjusts the servo values of the first drive mechanism 11, the second drive mechanism 12 and the third drive mechanism 13 according to the vehicle model produced, and at the same time switches the rear wheel arch clamping device 10 of the corresponding vehicle model through the switching disk 17. After the gripper body 6 and the front door frame clamping device 7, the rear door frame clamping device 8, the center pillar clamping device 9 and the rear wheel arch clamping device 10 thereon are driven by an external drive device to move into place, the front door frame, rear door frame, center pillar and rear wheel arch of the side outer panel 20 are clamped respectively to achieve the gripping of the side outer panel 20. Among them, the front door frame clamping device 7 is in a fixed form, serving as a vertical and longitudinal orientation reference; the first drive mechanism 11 can drive the rear door frame clamping device 8 to move in a vertical plane perpendicular to the first direction, so as to achieve compatibility with the vertical and longitudinal profile differences between vehicle models; the second drive mechanism 12 can drive the center column clamping device 9 to make horizontal movement perpendicular to the first direction, serving as a lateral positioning reference, and can be compatible with the longitudinal profile differences between vehicle models through servo; due to the large differences in the rear size and shape of the side outer panels 20 of different vehicle models, the rear wheel arch clamping device 10 can be easily adapted to different vehicle models by switching the rear wheel arch clamping device 10, and the clamping mechanism can be used to clamp side outer panels 20 of different thicknesses of different vehicle models, and the side outer panels 20 of different vehicle models can be grasped by clamping at multiple locations, which has high versatility, reduces vehicle model investment costs, and reduces the area occupied by the line.

[0030] The switch plate 17 includes a detachably connected quick-change female and male connectors. The female connector is mounted on the gripper body 6, while the male connector is mounted on the mounting plate 1 of the rear wheel arch clamping device 10. When the rear wheel arch clamping device 10 needs to be switched, the male connector can be easily removed from the female connector and replaced with a new one, improving the switching efficiency of the rear wheel arch clamping device 10.

[0031] like Figure 4 、 Figure 7 As shown, the front door frame clamping device 7, the rear door frame clamping device 8, and the rear wheel arch clamping device 10 each further include a first guide mechanism 14 mounted on the corresponding mounting plate 1; the center pillar clamping device 9 further includes a second guide mechanism 15 mounted on the corresponding mounting plate 1; and a third guide mechanism 16. The gripper body 6 is equipped with a third drive mechanism 13, the output end of which is connected to the third guide mechanism 16. The third drive mechanism 13 drives the third guide mechanism 16 to move horizontally in a first direction. The third drive mechanism 13 is in communication with a control system. When grasping the side panel 20, the drive mechanism drives the gripper body 6 to move, causing the first guide mechanism 14 to support the side panel 20 and separate from the trolley carrying the side panel 20. The third drive mechanism 13 then drives the third guide mechanism 16 to move a set stroke in the first direction. The third guide mechanism 16 then pushes the side panel 20 into alignment with the second guide mechanism 15 to achieve lateral positioning. The clamping mechanisms then clamp the corresponding positions of the side panel 20 to achieve longitudinal positioning.

[0032] like Figure 5 As shown, the first guide mechanism 14 includes a bracket 1401, a fixed shaft 1402, and a roller 1403. The bracket 1401 is fixedly mounted on the corresponding mounting plate 1, and the fixed shaft 1402 is fixedly mounted on the bracket 1401. The fixed shaft 1402 is rotatably sleeved around the outer circumference of the fixed shaft 1402. The roller 1403 includes a cylindrical section and a conical section connected to each other. The cylindrical section is located between the conical section and the bracket 1401, and the outer diameter of the conical section gradually increases from one end away from the cylindrical section to the other end closer to the cylindrical section. When grasping the side outer panel 20, the drive device drives the gripper body 6 and the first guide mechanism 14 thereon to move. The conical section approaches the support position of the side outer panel 20. The first guide mechanism 14 continues to move, and the side outer panel 20 gradually approaches and contacts the cylindrical section. The conical section is used for guidance, and the difference in radius between the two ends of the conical section can be designed to achieve precision calibration within a set height difference range. Specifically, precision calibration within a height difference range of 5mm can be designed.

[0033] Specifically, if Figure 5 As shown, cylindrical roller bearings 1404 are respectively installed between the ends of the roller 1403 and the fixed shaft 1402. When the third drive mechanism 13 drives the third guide mechanism 16 to push the side panel 20 laterally, the resistance to the movement of the side panel 20 is reduced, and the side panel 20 is precisely calibrated in the lateral direction by combining the gravity of the side panel 20 and the third drive mechanism 13.

[0034] The second guide mechanism 15 includes a guide post 1501 fixed to the corresponding mounting plate 1. The guide post 1501 is provided with a slot 1502 for the movable finger 4 to move. Figure 6As shown, the guide post 1501 is semi-cylindrical in shape. The guide post 1501 can be used to guide the side outer panel 20 and meet the movement path requirements of the movable fingers 4 on the center column clamping device 9 to avoid interference.

[0035] The gripper body 6 is also equipped with a visual system, and the control system is connected to the visual system. Figure 4 、 Figure 7 As shown, the visual system includes two visual cameras 18 and a laser ranging sensor 19 installed on the gripper body 6. The two visual cameras 18 are used to photograph the two reference holes of the side panel 20. The laser ranging sensor 19 and the visual camera 18 are respectively connected to the control system. The gripper needs to grab the side panel 20 from the trolley. However, due to the poor position consistency of the side panel 20 placed on the trolley, to ensure that the gripper does not collide due to excessive position deviation during grasping, when the drive device drives the gripper body 6 to move until the laser ranging sensor 19 senses a preset distance, the two visual cameras 18 are used to take pictures of the two reference holes of the side panel 20. The picture results are compared with the reference, and the position deviation between the gripper body 6 and the side panel 20 is calculated. Based on the position deviation, the control system communicates with the drive device to calibrate the grasping trajectory to improve grasping accuracy.

[0036] Example 3 This embodiment is an embodiment of a side panel gripping method, which is applied to the gripper of the second embodiment and includes the following steps: S1: Determine the model of the product to be produced; S2: According to the vehicle model, the control system adjusts the servo values of the first drive mechanism 11, the second drive mechanism 12 and the third drive mechanism 13; and switches the rear wheel arch clamping device 10 of the corresponding vehicle model; S3: The driving device drives the gripper body 6 to move to a preset distance from the trolley, and the visual system photographs the reference hole of the side panel 20; S4: Compare the photographed result with the reference and calculate the position deviation between the gripper body 6 and the side panel 20; S5: Based on the position deviation, the control system communicates with the drive device to calibrate the gripping trajectory; S6: The driving device drives the gripper to move so that the first guide mechanism 14, the second guide mechanism 15 and the third guide mechanism 16 are in contact with the side outer panel 20; S7: The front door frame clamping device 7, the rear door frame clamping device 8, the center pillar clamping device 9 and the rear wheel arch clamping device 10 clamp the front door frame, rear door frame, center pillar and rear wheel arch of the side outer panel 20 respectively.

[0037] The above-mentioned side outer panel grasping method adjusts the servo values of the first drive mechanism 11, the second drive mechanism 12 and the third drive mechanism 13 according to the produced vehicle model, and switches the rear wheel arch clamping device 10 of the corresponding vehicle model, calibrates the grasping trajectory after calculating the position deviation through the visual system, guides and positions the side outer panel 20 through the first guide mechanism 14, the second guide mechanism 15 and the third guide mechanism 16, and finally clamps the front door frame, rear door frame, center pillar and rear wheel arch of the side outer panel 20 respectively through the front door frame clamping device 7, the rear door frame clamping device 8, the center pillar clamping device 9 and the rear wheel arch clamping device 10 to complete the grasping of the side outer panel 20; wherein, the front door frame clamping device 7 is a fixed form, which serves as a vertical and longitudinal fixed Towards a reference; the first driving mechanism 11 can drive the rear door frame clamping device 8 to move in a vertical plane perpendicular to the first direction, so as to achieve compatibility with the vertical and longitudinal profile differences between vehicle models; the second driving mechanism 12 can drive the center column clamping device 9 to make horizontal movement perpendicular to the first direction, which serves as a lateral positioning reference, and can be compatible with the longitudinal profile differences between vehicle models through servo; since the rear size and shape of the side outer panels 20 of different vehicle models are quite different, different vehicle models can be easily adapted by switching the rear wheel arch clamping device 10, and each clamping device adopts a clamping mechanism, which can be applied to clamping side outer panels 20 of different thicknesses of different vehicle models, and the side outer panels 20 of different vehicle models can be grasped by clamping at multiple locations, with high versatility and high grasping accuracy.

[0038] The process of step S6 is: the driving device first drives the gripper body 6 to move toward the direction close to the side outer panel 20 by a preset stroke; then drives the gripper body 6 and the first guide mechanism 14, the second guide mechanism 15 and the third guide mechanism 16 to move vertically upward to a preset height, so that the workpiece supported by the first guide mechanism 14 is separated from the trolley; the third driving mechanism 13 drives the third guide mechanism 16 to move horizontally in the first direction according to the set stroke, and the third guide mechanism 16 pushes the side outer panel 20, so that the center column of the side outer panel 20 contacts the third guide mechanism 16 and the second guide mechanism 15 at the same time, thereby positioning the side outer panel 20.

[0039] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A clamping mechanism, characterized in that: The invention comprises a mounting plate (1), a driving member (2), a fixed finger (3) and a movable finger (4), wherein the driving member (2) and the fixed finger (3) are mounted on the mounting plate (1), an output end of the driving member (2) is connected to one end of the movable finger (4), and a slide groove (401) is provided at the other end of the movable finger (4), and a slide rod (101) sliding in the slide groove (401) is fixedly provided on the mounting plate (1), and the driving member (2) drives the movable finger (4) to move, so that the movable finger (4) cooperates with the fixed finger (3) to clamp or release a workpiece.

2. The clamping mechanism according to claim 1, wherein: The output end of the driving member (2) is hinged to one end of the movable finger (4), and the slide groove (401) includes a connected oblique section (4011) and a straight section (4012), and the distance between the oblique section (4011) and the driving member (2) is smaller than the distance between the straight section (4012) and the driving member (2); when the driving member (2) drives the movable finger (4) to make the slide bar (101) slide in the oblique section (4011), the movable finger (4) moves linearly with the output end of the driving member (2) and swings around the hinge point with the driving member (2); when the driving member (2) drives the movable finger (4) to make the slide bar (101) slide in the straight section (4012), the movable finger (4) moves linearly with the output end of the driving member (2).

3. The clamping mechanism according to claim 2, wherein: The fixed finger (3) and the movable finger (4) are respectively provided with a ball head (5) for cooperating with the workpiece to clamp the workpiece, and the outer wall of the ball head (5) is spherical.

4. A gripper, characterized in that: The invention comprises a control system, a gripper body (6), and a front door frame clamping device (7), a rear door frame clamping device (8), a center column clamping device (9), and a rear wheel arch clamping device (10) installed on the gripper body (6); the gripper body (6) is used for externally connecting a driving device that is in communication with the control system; the front door frame clamping device (7), the rear door frame clamping device (8), the center column clamping device (9), and the rear wheel arch clamping device (10) are all clamping mechanisms according to any one of claims 1 to 3; the mounting plate (1) of the front door frame clamping device (7) is fixedly installed on the gripper body (6); the gripper body (6) is provided with a first driving mechanism (11) and a second driving mechanism (12). 2), the output end of the first driving mechanism (11) is connected to the rear door frame clamping device (8), and the first driving mechanism (11) drives the rear door frame clamping device (8) to move in a vertical plane perpendicular to the first direction, the output end of the second driving mechanism (12) is connected to the center column clamping device (9), and the second driving mechanism (12) drives the center column clamping device (9) to move horizontally perpendicular to the first direction; the rear wheel arch clamping device (10) is detachably connected to the gripper body (6) through a switching disk (17), and the first driving mechanism (11), the second driving mechanism (12) and the switching disk (17) are respectively connected to the control system for communication.

5. The gripper according to claim 4, characterized in that: The front door frame clamping device (7), the rear door frame clamping device (8) and the rear wheel arch clamping device (10) further include a first guide mechanism (14) installed on the corresponding mounting plate (1); the center column clamping device (9) further includes a second guide mechanism (15) installed on the corresponding mounting plate (1); and further includes a third guide mechanism (16). The gripper body (6) is equipped with a third drive mechanism (13), the output end of the third drive mechanism (13) is connected to the third guide mechanism (16), and the third drive mechanism (13) drives the third guide mechanism (16) to move horizontally along a first direction; the third drive mechanism (13) is communicatively connected to the control system.

6. The gripper according to claim 5, characterized in that: The first guide mechanism (14) comprises a bracket (1401), a fixed shaft (1402) and a roller (1403); the bracket (1401) is fixedly arranged on the corresponding mounting plate (1); the fixed shaft (1402) is fixedly mounted on the bracket (1401); the fixed shaft (1402) is rotatably sleeved on the outer circumference of the fixed shaft (1402); the roller (1403) comprises a cylindrical section and a conical section connected to each other; the cylindrical section is located between the conical section and the bracket (1401); and the outer diameter of the conical section gradually increases from one end away from the cylindrical section to the other end close to the cylindrical section.

7. The gripper according to claim 6, characterized in that The second guide mechanism (15) comprises a guide column (1501) fixed to the corresponding mounting plate (1), and the guide column (1501) is provided with a slot (1502) for the movable finger (4) to move.

8. The gripper according to any one of claims 5 to 7, characterized in that: The gripper body (6) is also equipped with a visual system, and the control system is communicatively connected to the visual system.

9. A method for grabbing a side outer panel, applied to the grabber according to claim 8, characterized in that: The following steps are involved: S1: Determine the model of the product to be produced; S2: According to the vehicle model, the control system adjusts the servo values of the first drive mechanism (11), the second drive mechanism (12), and the third drive mechanism (13); and switches the rear wheel arch clamping device (10) corresponding to the vehicle model; S3: The driving device drives the gripper body (6) to move to a preset distance from the trolley, and the reference hole of the side outer panel (20) is photographed by the visual system; S4: Compare the photographic result with the reference, and calculate the position deviation between the gripper body (6) and the side panel (20); S5: Based on the position deviation, the control system communicates with the drive device to calibrate the gripping trajectory; S6: The driving device drives the gripper to move, so that the first guide mechanism (14), the second guide mechanism (15) and the third guide mechanism (16) are all in contact with the side outer panel (20); S7: The front door frame clamping device (7), the rear door frame clamping device (8), the center column clamping device (9) and the rear wheel arch clamping device (10) respectively clamp the front door frame, the rear door frame, the center column and the rear wheel arch of the side outer panel (20).

10. The side outer panel grabbing method according to claim 9, characterized in that: The process of step S6 is as follows: the driving device first drives the gripper body (6) to move toward the side outer panel (20) by a preset stroke; then drives the gripper body (6) and the first guide mechanism (14), the second guide mechanism (15) and the third guide mechanism (16) to move vertically upward by a preset height, so that the workpiece supported by the first guide mechanism (14) is separated from the trolley; the third driving mechanism (13) drives the third guide mechanism (16) to move horizontally along the first direction according to the set stroke, and the third guide mechanism (16) pushes the side outer panel (20) so that the center column of the side outer panel (20) contacts the third guide mechanism (16) and the second guide mechanism (15) at the same time, thereby positioning the side outer panel (20).

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