Vehicle door moving device and vehicle door moving method

Abstract

The invention provides a vehicle door moving device and a vehicle door moving method, and the vehicle door moving device comprises a first gripper assembly which is configured to be clamped with a vehicle door window frame; and the second gripper assembly comprises a suction cup, and the second gripper assembly is configured to be connected with the outer side of the vehicle door through the suction cup. According to the vehicle door moving device, the moving stability of the vehicle door is improved through cooperation of different gripper assemblies.

Description

Technical Field

[0001] This invention relates to the field of vehicle manufacturing technology, and in particular to a door moving device and a door moving method. Background Technology

[0002] During vehicle manufacturing, the doors need to be moved. For example, when assembling the door to the body, the door needs to be transferred from the material frame to the body and connected to it. Suction cups are often used to hold the door in place during this process. However, suction cups require a high degree of flatness and can experience unstable adhesion. Summary of the Invention

[0003] This invention provides a door moving device and a door moving method to at least solve some of the above-mentioned technical problems existing in the prior art.

[0004] In a first aspect, embodiments of the present invention provide a door moving device, comprising:

[0005] The first gripper component is configured to snap onto the door / window frame.

[0006] The second gripper assembly includes a suction cup, and the second gripper assembly is configured to connect to the outside of the vehicle door via the suction cup.

[0007] In an optional embodiment, the second gripper component includes:

[0008] Second mounting bracket;

[0009] The second linear transmission device is mounted on the second fixed frame;

[0010] The second seat is connected to the second linear transmission device. The suction cup is mounted on the second seat. The second linear transmission device drives the second seat to move linearly so that the suction cup moves closer to or away from the car door.

[0011] In an optional embodiment, the suction cup includes:

[0012] The suction cup itself;

[0013] A connecting tube is connected to the rear of the suction cup body, the connecting tube is slidably connected to the second base body, and the connecting tube is used to connect to a vacuum tube;

[0014] A second floating spring is sleeved on the connecting tube. One end of the second floating spring abuts against one side of the suction cup body, and the other end abuts against the second seat. The force applied by the second floating spring causes the suction cup body to move away from the second seat.

[0015] In an optional embodiment, the door moving device further includes:

[0016] A laser rangefinder is mounted on the second fixed frame. The laser rangefinder is used to detect the distance between the door moving device and the door.

[0017] In an optional embodiment, the first gripper component includes:

[0018] First fixed frame;

[0019] A first elastic limiting block is disposed on the first fixed frame, and the first elastic limiting block has a first slot for engaging with the top of the upper window frame of the car door.

[0020] The first hook is hinged to the first fixing frame;

[0021] A first linear transmission device is mounted on the first fixed frame. The first linear transmission device is hinged to the first hook. The first linear transmission device drives the first hook to rotate so that the first hook engages with the bottom of the upper window frame of the car door. The first hook cooperates with the first elastic limiting block to clamp and fix the upper window frame of the car door.

[0022] In an optional embodiment, the first hook has an elongated hole, and the first fixing bracket has a pin that mates with the elongated hole. When the first linear transmission device drives the first hook to rotate toward the upper window frame of the car door, the first hook moves upward. When the first linear transmission device drives the first hook to rotate away from the upper window frame of the car door, the first hook moves downward.

[0023] In an optional embodiment, the first fixing frame includes:

[0024] The first horizontal support has one of the first linear transmission devices connected to each end, and each of the first linear transmission devices is connected to one of the first hooks.

[0025] The upper end of the first longitudinal support is connected to the middle of the first transverse support;

[0026] The second transverse support is connected to the lower end of the first longitudinal support in the middle. The second transverse support is provided with two first elastic limiting blocks, which are located on both sides of the first longitudinal support. Each end of the second transverse support is provided with a pin, and each pin is fitted into the elongated hole of the corresponding first hook.

[0027] In an optional embodiment, the door moving device further includes:

[0028] A position sensor is mounted on the first fixed frame. The position sensor is equipped with a probe rod located in front of the first hook. When the probe rod touches the door, the position sensor generates a first signal.

[0029] In an optional embodiment, the first elastic limiting block includes:

[0030] Limiting block body;

[0031] A sliding column, the lower end of which is connected to the body of the limiting block, and the sliding column is slidably connected to the first fixing frame;

[0032] A stop block is connected to the upper end of the sliding column;

[0033] A first floating spring is sleeved on the sliding column, and the two ends of the first floating spring abut against the first fixed frame and the limiting block body, respectively.

[0034] In an optional embodiment, the door moving device further includes:

[0035] Base frame;

[0036] A first X-moving component is disposed on the base frame, and the first X-moving component is capable of moving along the base frame;

[0037] The second X-moving component is disposed on the base frame. The second X-moving component can move along the base frame. The second X-moving component and the first X-moving component can move synchronously and independently along the base frame, respectively.

[0038] The first gripper assembly also includes a first weapon changing plate, the first fixing frame is connected to the first weapon changing plate, and the first weapon changing plate is connected to the first X moving assembly;

[0039] The second gripper assembly also includes a second weapon changing disc, the second fixing bracket is connected to the second weapon changing disc, and the second weapon changing disc is connected to the second X moving assembly.

[0040] In an optional embodiment, the first X-moving component includes:

[0041] A first walking device, which is capable of walking along a first track on the base frame;

[0042] A first lifting device is mounted on the first traveling device and is connected to the first gun changing plate.

[0043] In an optional embodiment, the first X-moving component further includes:

[0044] A rotating device is connected to the first lifting device, and the first gun changing plate is connected to the rotating device.

[0045] In an optional embodiment, the second X moving component includes:

[0046] The second walking device is capable of walking along the second track on the base frame;

[0047] The second lifting device is mounted on the second traveling device and is connected to the second gun changing plate.

[0048] In an optional embodiment, the first gripper component includes:

[0049] Third fixing frame;

[0050] A first claw mechanism is provided on the third fixed frame. The first claw mechanism includes a first claw, a second claw, and a third claw. The first claw is used to engage with the upper window frame of the vehicle door. The second claw and the third claw are respectively engaged with the left window frame and the right window frame of the vehicle door. At least the second claw and the third claw can move relative to the third fixed frame so that the second claw and the third claw move closer to or further away from each other.

[0051] A pressing mechanism is provided on the third fixed frame, and the pressing mechanism includes a fourth claw that can be flipped downward to abut against the lower window frame of the door.

[0052] In an optional embodiment, the first claw mechanism includes a claw driving mechanism, which is mounted on the third fixed frame. The first claw, the third claw, and the second claw are slidably mounted on the third fixed frame. The first claw, the third claw, and the second claw are hinged to a connecting rod assembly, which is hinged to the claw driving mechanism. The claw driving mechanism drives the third claw and the second claw to slide along the third fixed frame through linear telescopic motion. The telescopic direction of the claw driving mechanism is perpendicular to the sliding direction of the first claw, the third claw, and the second claw. The connecting rod assembly includes an L-shaped connecting rod, and the first claw, the third claw, and the second claw are connected to the claw driving mechanism through corresponding L-shaped connecting rods.

[0053] In an optional embodiment, the pressing mechanism includes a flipping drive mechanism, which is connected to the third fixed frame. The fourth claw is connected to the flipping drive mechanism via a linkage assembly. The linkage assembly includes a first link, a second link, and a third link. The two ends of the first link and the second link are respectively hinged to the fourth claw and the flipping base. The two ends of the third link are respectively hinged to the middle of the second link and the flipping drive mechanism.

[0054] In an optional embodiment, the first gripper component further includes:

[0055] A door pushing device is mounted on the third fixed frame and is used to push the door when the door is transferred to the docking device.

[0056] The door pushing device includes an elastic pusher head and a door pushing drive mechanism. The elastic pusher head is connected to the door pushing drive mechanism, and the door pushing drive mechanism drives the telescopic elastic pusher head to push the door through linear telescopic motion.

[0057] In an optional embodiment, the door moving device further includes:

[0058] The third gun changing disc, the third fixing bracket and the second fixing bracket are respectively connected to the third gun changing disc.

[0059] Secondly, embodiments of the present invention provide a method for moving a vehicle door, employing the vehicle door moving device described in the embodiments of the present invention, the method comprising:

[0060] Use the first gripper component to attach to the door and window frame;

[0061] Detect the distance between the second gripper assembly and the vehicle door;

[0062] The suction cup moves toward the car door based on the detected distance;

[0063] The suction cups of the second gripper assembly are used to attach to the outside of the car door;

[0064] Move the car door to the target position.

[0065] One embodiment of the present invention has the following advantages or beneficial effects:

[0066] The door moving device of this invention includes a first gripper assembly and a second gripper assembly. The first gripper assembly is configured to engage with the door window frame. Engaging the first gripper assembly with the door window frame prevents the door from accidentally falling off. The second gripper assembly includes a suction cup and is configured to connect to the outside of the door via the suction cup. The second gripper assembly connects to the outside of the door via the suction cup, assisting the first gripper assembly in securing the door and maintaining stability during movement. Attached Figure Description

[0067] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0068] Figure 1 This is a schematic diagram of the structure of a door moving device according to an exemplary embodiment. Figure 1 ;

[0069] Figure 2 This is a partial structural schematic diagram of a door moving device according to an exemplary embodiment;

[0070] Figure 3 This is a schematic diagram of the structure of a first gripper assembly according to an exemplary embodiment. Figure 1 ;

[0071] Figure 4 This is a schematic diagram of the structure of a second gripper assembly according to an exemplary embodiment;

[0072] Figure 5 This is a schematic diagram of a door moving device gripping a car door according to an exemplary embodiment. Figure 1 ;

[0073] Figure 6 This is a schematic diagram of the structure of a door moving device according to an exemplary embodiment. Figure 2 ;

[0074] Figure 7 This is a schematic diagram of a partial structure of a door moving device according to an exemplary embodiment. Figure 2 ;

[0075] Figure 8 This is a schematic diagram of the structure of a first gripper assembly according to an exemplary embodiment. Figure 2 ;

[0076] Figure 9 This is a schematic diagram of the structure of a sliding door device according to an exemplary embodiment. Figure 1 ;

[0077] Figure 10 This is a schematic diagram of the structure of a door moving device gripping a car door according to an exemplary embodiment. Figure 2 ;

[0078] Figure 11 This is a schematic diagram of the structure of a door moving device for grasping a car door, according to an exemplary embodiment. Figure 3 ;

[0079] Figure 12 This is a schematic diagram of the pressing mechanism of a door moving device according to an exemplary embodiment.

[0080] The reference numerals in the attached drawings are explained as follows: 1-First gripper assembly, 11-First fixed frame, 111-First transverse support, 112-First longitudinal support, 113-Second transverse support, 12-First linear transmission device, 13-First elastic limiting block, 131-Limiting block body, 132-Sliding column, 133-Stop block, 134-First floating spring, 14-First hook, 141-Oblong hole, 15-Position sensor, 16-First gun changing disc, 2-Second gripper assembly, 21-Second fixed frame, 22-Second linear transmission device, 23-Second base, 24-Suction cup, 241-Suction cup body, 242-Connecting pipe, 25-Second gun changing disc, 3-Laser rangefinder, 4-Three-dimensional moving frame, 41-Base frame, 42-Crossbeam, 43-First X-moving assembly, 431-First walking device, 432-First lifting assembly 433-Rotating device, 44-Second X-moving component, 441-Second walking device, 442-Second lifting device, 4421-Lifting drive device, 4422-Lifting rod, 5-Mechanical arm, 6-Third fixed frame, 61-Front fixed plate, 62-Rear fixed plate, 63-Connecting column, 7-First claw mechanism, 71-First claw, 72-Second claw, 73-Third claw, 74-Claw drive mechanism, 8-Pressing mechanism, 81-Tilting drive mechanism, 82-Fourth claw, 83-Tilting base, 84-First link, 85-Second link, 86-Third link, 9-Push door device, 91-Elastic push head, 92-Push door drive mechanism, 93-Push door base, 10-Third gun changing plate, 200-Door, 201-Upper window frame, 202-Left window frame, 203-Right window frame, 204-Lower window frame. Detailed Implementation

[0081] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0082] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0083] See Figures 1 to 11This invention provides a vehicle door moving device, including a first gripper assembly 1 and a second gripper assembly 2. The first gripper assembly 1 is configured to engage with a vehicle door window frame. The second gripper assembly 2 includes a suction cup 24 and is configured to connect to the outside of the vehicle door 200 via the suction cup 24.

[0084] The door moving device of this invention includes a first gripper assembly 1 and a second gripper assembly 2. The first gripper assembly 1 is configured to engage with the door window frame. Engaging the first gripper assembly 1 with the door window frame prevents the door 200 from accidentally falling off. The second gripper assembly 2 includes a suction cup 24, which is connected to the outside of the door 200. The second gripper assembly 2, connected to the outside of the door 200 via the suction cup 24, assists the first gripper assembly 1 in securing the door 200, ensuring stability during movement. The first gripper assembly 1 bears the main weight of the door 200. Engaging with the door window frame, it is not easily detached and offers high stability. The second gripper assembly 2, attached to the outside of the door 200 via the suction cup 24, maintains relative stability between the door 200 and the first gripper assembly 1, improving the spatial stability of the door 200 during movement. The second gripper assembly 2 mainly controls the upper limit of the door 200 in the horizontal direction and basically does not bear the weight of the door 200, thus reducing the flatness requirements of the suction cup 24.

[0085] In some embodiments, see Figure 4 The second gripper assembly 2 includes a second mounting bracket 21. The second mounting bracket 21 provides an assembly base for the second gripper assembly 2. The second gripper assembly 2 includes a second linear drive device 22, which is mounted on the second mounting bracket 21. A suction cup 24 is connected to the second linear drive device 22, which can move the suction cup 24 closer to or further away from the vehicle door 200 to facilitate adsorbing or releasing the vehicle door 200. In an exemplary embodiment, the second gripper assembly 2 includes a second seat 23, which is connected to the second linear drive device 22, and the suction cup 24 is mounted on the second seat 23. The second linear drive device 22 drives the second seat 23 to move linearly, causing the suction cup 24 to move closer to or further away from the vehicle door 200. When the second linear drive device 22 drives the second seat 23 to move linearly, the suction cup 24 moves together with the second seat 23.

[0086] In some embodiments, the suction cup 24 may be elastically floating on the second seat 23. After the suction cup 24 is attached and fixed to the car door 200, it can move elastically within a certain range, thereby reducing the precision requirements when the suction cup 24 is attached to the car door 200.

[0087] In the exemplary embodiment, see Figure 4The suction cup 24 includes a suction cup body 241 and a connecting tube 242. The connecting tube 242 is connected to the rear of the suction cup body 241 and is slidably connected to the second seat 23. Through the sliding engagement between the connecting tube 242 and the second seat 23, the suction cup 24 can move axially along the connecting tube 242 within a certain range. A second floating spring is sleeved on the connecting tube 242, and the force applied by the second floating spring causes the suction cup body 241 to move away from the second seat 23. One end of the second floating spring abuts against one side of the suction cup body 241, and the other end abuts against the second seat 23. When the car door 200 applies force to the suction cup 24, the second floating spring can undergo elastic deformation, thereby causing the suction cup body 241 to move towards the second seat 23. The connecting tube 242 is used to connect to a vacuum tube, which can evacuate the inside of the suction cup body 241, thereby adsorbing the car door 200. Limiting nuts or other limiting bodies can be installed on the connecting pipe 242 to limit the range of movement of the suction cup 24 relative to the second seat 23.

[0088] In some embodiments, the second seat 23 may also be slidably connected to the second fixed frame 21. In an exemplary embodiment, one of the second fixed frame 21 and the second seat 23 may have a slide rail, and the other may have a slide groove. Through the cooperation of the slide rail and the slide groove, the second seat 23 is slidably connected to the second fixed frame 21. The slidable connection between the second seat 23 and the second fixed frame 21 allows the second seat 23 to move smoothly and is firmly connected to the second fixed frame 21, providing good positioning for the door 200.

[0089] The number of suction cups 24 can be one or more. In an exemplary embodiment, there are three suction cups 24. The three suction cups 24 are not on the same straight line. The specific shape of the second base 23 is not limited and can be designed as needed. In an exemplary embodiment, the second base 23 can include multiple sub-bases, each of which is provided with a suction cup 24.

[0090] In some embodiments, see Figure 4 The door moving device in this embodiment of the invention also includes a laser rangefinder 3, which is mounted on the second fixing frame 21. The laser rangefinder 3 is used to detect the distance between the door moving device and the door 200. During the connection process between the door moving device and the door 200, the laser rangefinder 3 can detect the distance to the door 200, thereby allowing for more accurate fixing of the door 200. Of course, positioning can also be achieved through a vision device or other positioning technologies.

[0091] See Figure 5 , Figure 10 and Figure 11 The door and window frames include an upper window frame 201, a lower window frame 204, a left window frame 202, and a right window frame 203. The first grabber assembly 1 can engage with one or more of the upper window frame 201, lower window frame 204, left window frame 202, and right window frame 203. For example... Figure 1 , Figure 3 and Figure 5 The first gripper assembly 1 shown is engaged with the upper window frame 201. For example... Figure 6 , Figure 8 , Figure 10 and Figure 11 The first gripper assembly 1 shown is engaged with the upper window frame 201, the lower window frame 204, the left window frame 202, and the right window frame 203.

[0092] In some embodiments, see Figure 3 The first gripper assembly 1 includes a first fixing frame 11. The first fixing frame 11 provides an assembly base for the first gripper assembly 1. The first gripper assembly 1 includes a first elastic limiting block 13, a first hook 14, and a first linear transmission device 12. The first elastic limiting block 13 is disposed on the first fixing frame 11, and the first elastic limiting block 13 has a first locking groove for engaging with the top of the upper window frame 201 of the door. The first elastic limiting block 13 engages with the top of the upper window frame 201 of the door, elastically limiting the upward movement of the door 200.

[0093] The first hook 14 is hinged to the first fixing bracket 11. The first hook 14 can rotate relative to the first fixing bracket 11. The first hook 14 is used to engage with the bottom of the upper window frame 201 of the door, limiting the downward movement of the door 200. The first elastic limiting block 13 cooperates with the first hook 14 to clamp and fix the upper window frame 201 of the door, thereby allowing the door 200 to be lifted and moved. The first elastic limiting block 13 can stably limit the upper window frame 201 of the door within the first hook 14, preventing the door 200 from falling off.

[0094] The first linear transmission device 12 is mounted on the first fixed frame 11 and is hinged to the first hook 14. The first linear transmission device 12 drives the first hook 14 to rotate, so that the first hook 14 engages with the bottom of the upper window frame 201 of the door. In specific implementation, the middle part of the first hook 14 is hinged to the first fixed frame 11. One end of the first hook 14 is the hook body, and the other end is the driving end, which is hinged to the first linear transmission device 12. When the first linear transmission device 12 extends or retracts, it drives the first hook 14 to rotate. When the first linear transmission device 12 drives the first hook 14 to rotate, the hook body of the first hook 14 moves closer to or further away from the upper window frame 201 of the door. When the hook body of the first hook 14 rotates to below the upper window frame 201 of the door, it cooperates with the first elastic limiting block 13 and can engage with the upper window frame 201 of the door. When the hook of the first hook 14 rotates to leave below the upper window frame 201 of the car door, it can release the engagement with the upper window frame 201 of the car door, so as to release the car door 200.

[0095] In specific implementation, the first gripper assembly 1 engages with the door window frame as follows: When the first gripper assembly 1 moves to the set position of the door 200, the first gripper assembly 1 moves downward, and the first elastic limiting block 13 abuts against the upper window frame 201 of the door and undergoes elastic deformation, so that the first hook 14 can smoothly rotate to below the upper window frame 201 of the door. The first linear transmission device 12 is connected to the upper end of the first hook 14 and drives the first hook to rotate, causing the hook body at the lower end of the first hook 14 to rotate towards the upper window frame 201 of the door. When the hook rotates to below the upper window frame 201 of the car door, the first linear transmission device 12 can stop moving, the first gripper assembly 1 moves upward, the elastic deformation of the first elastic limiting block 13 caused by compression is restored, the first hook engages with the bottom of the upper window frame 201 of the car door, and the first elastic limiting block 13 abuts against the top of the upper window frame 201 of the car door. The first elastic limiting block 13 and the first hook 14 cooperate to clamp and fix the upper window frame 201 of the car door, thereby lifting and moving the car door 200. The first elastic limiting block 13 can stably limit the upper window frame 201 of the car door within the first hook 14 to prevent the car door 200 from falling off.

[0096] Conversely, when it is necessary to release the clamping action on the door 200, the first gripper assembly 1 moves downward, the first elastic limiting block 13 interacts with the upper window frame 201 of the door and undergoes elastic deformation, and the groove of the first hook is separated from the bottom of the upper window frame 201 by a certain distance, so that the first hook 14 can rotate smoothly to disengage from the upper window frame 201. The first linear transmission device 12 drives the first hook 14 to rotate, causing the hook body at the lower end of the first hook 14 to rotate away from the upper window frame 201. When the hook body rotates to a position away from the upper window frame 201, the first linear transmission device 12 can stop moving. The first gripper assembly 1 moves upward, and the elastic deformation of the first elastic limiting block 13 caused by compression is restored, releasing the clamping and fixing action on the upper window frame 201.

[0097] In some embodiments, see Figure 3 The first hook 14 has an elongated hole 141 in the middle. The first fixing bracket 11 has a pin that mates with the elongated hole 141. When the first linear transmission device 12 drives the first hook 14 to rotate toward the upper window frame 201 of the car door, the first hook 14 moves upward. When the first linear transmission device 12 drives the first hook 14 to rotate away from the upper window frame 201 of the car door, the first hook 14 moves downward. The first hook 14 has an elongated hole 141. When the first hook 14 rotates around the pin, it can also slide relative to the pin, so that the first hook 14 can move up and down within a certain range, so that the first hook 14 can better mate with the first elastic limiting block 13.

[0098] The first linear transmission device 12 may be located above the first hook 14. When the first linear transmission device 12 retracts, it drives the first hook 14 to rotate and move upward, so that the hook body rotates to below the upper window frame 201 of the door and moves upward to engage with the bottom of the upper window frame 201 of the door. When the first linear transmission device 12 extends, it drives the first hook 14 to rotate and move downward, so that the hook body moves downward and rotates away from the upper window frame 201 of the door, thereby releasing the engagement with the upper window frame 201 of the door.

[0099] In specific implementation, the engagement process between the first gripper assembly 1 and the door window frame is as follows: When the first gripper assembly 1 moves to the set position of the door 200, it moves downward, and the first elastic limiting block 13 abuts against the upper window frame 201 of the door and undergoes elastic deformation, so that the first hook 14 can smoothly rotate to below the upper window frame 201 of the door. When the first linear transmission device 12 retracts, it drives the first hook 14 to rotate and move upward, causing the hook body at the lower end of the first hook 14 to rotate towards the upper window frame 201 of the door. When the hook body rotates to below the upper window frame 201 of the door, it can move upward and approach the bottom of the upper window frame 201 of the door, or abut against the bottom of the upper window frame 201 of the door. When the first linear transmission device 12 stops moving, the first gripper assembly 1 moves upward, and the first elastic limiting block 13 and the first hook 14 cooperate to clamp and fix the upper window frame 201 of the door, thereby lifting and moving the door 200. The first elastic limiting block 13 can stably limit the upper window frame 201 of the car door within the first hook 14 to prevent the car door 200 from falling off.

[0100] Conversely, when it is necessary to release the latch on the door 200, the first gripper assembly 1 moves downward, the first elastic limiting block 13 interacts with the upper window frame 201 of the door and undergoes elastic deformation, allowing the first hook 14 to rotate smoothly away from the upper window frame 201. The first linear transmission device 12 extends, thereby driving the first hook 14 to move downward and rotate simultaneously, so that the hook body at the lower end of the first hook 14 can detach from the upper window frame 201 of the door and rotate away from the upper window frame 201. When the hook body rotates to a position away from the upper window frame 201, the first linear transmission device 12 can stop moving. The first gripper assembly 1 moves upward, the elastic deformation of the first elastic limiting block 13 caused by compression is restored, and the clamping and fixing of the upper window frame 201 of the door is released.

[0101] The specific configuration of the first linear transmission device 12 can be determined according to the specific circumstances. When the first linear transmission device 12 only drives the first hook 14 to rotate, the first linear transmission device 12 can be configured horizontally. When the first linear transmission device 12 drives the first hook 14 to rotate and move up and down, the first linear transmission device 12 can be configured vertically.

[0102] In some embodiments, see Figure 3The first fixing frame 11 includes a first transverse support 111, a first longitudinal support 112, and a second transverse support 113. A first linear transmission device 12 is connected to each end of the first transverse support 111, and each first linear transmission device 12 is connected to a first hook 14. The upper end of the first longitudinal support 112 is connected to the middle of the first transverse support 111. The middle of the second transverse support 113 is connected to the lower end of the first longitudinal support 112. Two first elastic limiting blocks 13 are provided on the second transverse support 113, located on both sides of the first longitudinal support 112. A pin is provided at each end of the second transverse support 113, and each pin is fitted into the elongated hole 141 of the corresponding first hook 14. This structure is simple, reliable, and rationally laid out, preventing interference between the parts. It also facilitates connection with car door and window frames.

[0103] In some embodiments, see Figure 3 The door moving device also includes a position sensor 15, mounted on the first fixed bracket 11. The position sensor 15 has a probe rod located in front of the first hook 14. When the probe rod touches the door body, the position sensor 15 generates a first signal. The position sensor allows for a more accurate determination of the relative position between the first gripper assembly 1 and the door 200. As the first gripper assembly 1 moves towards the door 200, and the probe rod contacts the door 200, the position sensor 15 generates a first signal. The control mechanism can then determine the relative position between the first gripper assembly 1 and the door 200 based on this first signal. In a specific implementation, the position sensor 15 may be mounted on the first transverse support 111. The position sensor 15 may also be a microswitch.

[0104] In some embodiments, see Figure 3 The first elastic limiting block 13 may include a first floating spring 134, which enables the first elastic limiting block 13 to elastically limit the door window frame. In an exemplary embodiment, the first elastic limiting block 13 may include a limiting block body 131, a sliding column 132, a stop block 133, and a first floating spring 134. The lower end of the sliding column 132 is connected to the limiting block body 131, and the sliding column 132 is slidably connected to the first fixing frame 11. The stop block 133 is connected to the upper end of the sliding column 132. The first floating spring 134 is sleeved on the sliding column 132, and its two ends abut against the first fixing frame 11 and the limiting block body 131, respectively. When the first gripper assembly 1 moves downward, and the limiting block body 131 abuts against the door window frame, the first floating spring 134 is compressed, and the sliding column 132 slides relative to the first fixing frame 11. When the first gripper assembly 1 moves upward, the first fixed spring recovers its elastic deformation. In practice, the sliding column 132 can be slidably mounted on the second transverse support 113.

[0105] In some embodiments, see Figure 1 and Figure 6 The door moving device in this embodiment of the invention also includes a spatial moving mechanism. The first gripper assembly 1 and the second gripper assembly 2 are connected to the spatial moving mechanism. The spatial moving mechanism drives the first gripper assembly 1 and the second gripper assembly 2 to achieve three-dimensional spatial movement in order to grip the door 200 and move the door 200 to the target position.

[0106] See Figure 6 The spatial movement mechanism can drive the first gripper assembly 1 and the second gripper assembly 2 to move together, or see [other details]. Figure 1 The spatial movement mechanism can also drive the first gripper assembly 1 and the second gripper assembly 2 to move separately. The first gripper assembly 1 and the second gripper assembly 2 can share a common weapon-changing disc, which is connected to the spatial movement mechanism. The spatial movement mechanism can drive the first gripper assembly 1 and the second gripper assembly 2 to move together. Alternatively, the first gripper assembly 1 and the second gripper assembly 2 can each have an independent weapon-changing disc, which is connected to the spatial movement mechanism. The spatial movement mechanism can drive one of the first gripper assembly 1 and the second gripper assembly 2 to move, or it can drive both of them to move simultaneously.

[0107] See Figure 1 The spatial movement mechanism can be a three-dimensional moving frame 4, or see [reference needed]. Figure 6 The spatial movement mechanism can also be a robotic arm 5. The three-dimensional moving frame 4 can move in the X, Y, and Z directions, thereby enabling the first gripper assembly 1 and the second gripper assembly 2 to grasp the car door 200 and move the car door 200 to the target position.

[0108] In some embodiments, see Figure 1 and Figure 2 The three-dimensional moving frame 4 includes a base frame 41, a crossbeam 42, a first X-moving component 43, and a second X-moving component 44. The crossbeam 42 is disposed on the base frame 41 along the X direction, and the crossbeam 42 can move relative to the base frame 41 along the Y direction.

[0109] The first X-moving component 43 is disposed on the crossbeam 42, and the first X-moving component 43 is capable of moving along the crossbeam 42.

[0110] The second X-moving component 44 is mounted on the crossbeam 42. The second X-moving component 44 can move along the crossbeam 42. The second X-moving component 44 and the first X-moving component 43 can move synchronously or independently along the crossbeam 42. The first X-moving component 43 and the second X-moving component 44 can choose to move independently along the crossbeam 42, or they can choose to move synchronously in coordination, depending on the specific circumstances.

[0111] See Figure 3The first gripper assembly 1 also includes a first weapon changing plate 16, with a first fixing frame 11 connected to the first weapon changing plate 16. The first weapon changing plate 16 is connected to a first X-moving assembly 43. The first weapon changing plate 16 allows for quick installation or removal of the first gripper assembly 1 from the first X-moving assembly 43. The first X-moving assembly 43 drives the first gripper assembly 1 to move along the crossbeam 42.

[0112] See Figure 4 The second gripper assembly 2 also includes a second weapon changing disc 25, with the second fixing bracket 21 connected to the second weapon changing disc 25. The second weapon changing disc 25 is connected to the second X-moving assembly 44. The second weapon changing disc 25 allows for quick installation or removal of the second gripper assembly 2 and the second X-moving assembly 44. The second X-moving assembly 44 drives the second gripper assembly 2 to move along the crossbeam 42.

[0113] In an exemplary embodiment, when grabbing the door 200, the first X moving component 43 can drive the first gripper component 1 to move independently to the material frame, grab and transfer the stop bar on the material frame, so as to facilitate the smooth transfer of the door 200 later.

[0114] When the crossbeam 42 moves along the Y direction, it can move the first gripper assembly 1 and the second gripper assembly 2 closer to or away from the door 200 to grip the door 200 or release the door 200.

[0115] The second X-moving component 44 and the first X-moving component 43 can move synchronously to the door 200 and grasp it. Specifically, the first gripper component 1 can first engage with the door window frame, and then the second gripper component 2 can adhere to the side of the door 200. After grasping the door 200, the second X-moving component 44 and the first X-moving component 43 move synchronously, moving the door 200 along the X direction to the target position.

[0116] In some embodiments, see Figure 2 The first X-moving component 43 includes a first traveling device 431 and a first lifting device 432. The first traveling device 431 is capable of traveling along a first track on the base frame 41. The first lifting device 432 is mounted on the first traveling device 431 and is connected to the first gun changing plate 16. The first lifting device 432 can drive the first gripper assembly 1 to move in the Z direction, thereby lifting or lowering the door 200.

[0117] In some embodiments, the first lifting device 432 may employ a telescopic mechanism. In an exemplary embodiment, the telescopic mechanism may include a telescopic cylinder and a servo screw, and the telescopic cylinder may include an electric cylinder and a pneumatic cylinder.

[0118] In some embodiments, see Figure 3The first X-moving component 43 also includes a rotating device 433, which is connected to the first lifting device 432. The first gun-changing disc 16 is also connected to the rotating device 433. The rotating device 433 can be connected to the lifting rod 4422. The lifting rod 4422 drives the first gripper assembly 1 to rise and fall together with the rotating device 433. The rotating device 433 can drive the first gripper assembly 1 to rotate, thereby adjusting the direction of the first gripper assembly 1. When the first gripper assembly 1 operates alone, it can achieve flexible operation by rotating its direction. For example, when the first gripper assembly 1 lifts the material frame stop bar, by rotating to adjust its direction, it can lift the stop bar in multiple directions of the material frame. For example, when the stop bar along at least three of the four sides of the material frame needs to be lifted and moved, the rotating device 433 drives the first gripper assembly 1 to rotate, so that the first gripper assembly 1 is directly facing the stop bar to be lifted on the outside of the material frame.

[0119] In some embodiments, the rotating device 433 may include a rotary servo motor and a gear set. The first gripper assembly 1 is rotatably connected to the first lifting device 432, the rotary servo motor is fixedly connected to the first lifting device 432, and the gear set includes a first gear and a second gear. The first gear is fixed to the first gripper assembly 1, and the second gear is connected to the rotary servo motor.

[0120] In some embodiments, see Figure 2 The second X-moving component 44 includes a second traveling device 441 and a second lifting device 442. The second traveling device 441 is capable of traveling along a second track on the base frame 41. The second lifting device 442 is mounted on the second traveling device 441 and is connected to the second gun changing disc 25.

[0121] In some embodiments, see Figure 2 The second lifting device 442 may include a lifting drive device 4421 and a lifting rod 4422. The lifting drive device 4421 drives the lifting rod 4422 to rise or fall. In an exemplary embodiment, a rack may be provided on the lifting rod 4422 along the axial direction, and the lifting drive device is driven by gear meshing with the rack.

[0122] In some embodiments, see Figure 7 and Figure 8 The first gripper assembly 1 includes a third fixing bracket 6, a first claw mechanism 7, and a pressing mechanism 8. The first claw mechanism 7 is used to engage with the upper window frame 201 and the left and right window frames 203 of the door, and the pressing mechanism 8 is used to abut against the lower window frame 204. By applying a downward force to the lower window frame 204 of the door through the pressing mechanism 8, in cooperation with the first claw mechanism 7, the door 200 can be securely clamped and lifted, preventing the door 200 from falling off. The first gripper assembly 1 cooperates with the second gripper assembly 2, which supports the door 200 from below the first gripper assembly 1, keeping the door 200 stable during movement.

[0123] See Figure 7 and Figure 8 The first claw mechanism 7 is mounted on the third fixed frame 6. The first claw mechanism 7 may include a first claw 71, a second claw 72, and a third claw 73. The first claw 71 engages with the upper window frame 201 of the door. The second claw 72 and the third claw 73 engage with the left window frame 202 and the right window frame 203 of the door, respectively. At least the second claw 72 and the third claw 73 are movable relative to the third fixed frame 6, allowing them to move closer to or further away from each other. When the first gripper assembly 1 moves into the window of the door 200, the first claw 71 and the third claw 73 move away from each other, engaging with the left window frame 202 and the right window frame 203, respectively. In some other embodiments, the first claw 71 may also move upwards to engage with the upper window frame 201 of the door. When the first claw 71, the second claw 72, and the third claw 73 are all movable, they may move simultaneously or separately. For example, the first jaw 71, the second jaw 72, and the third jaw 73 can move simultaneously under the drive of the same drive mechanism, or they can move separately under the drive of different drive mechanisms.

[0124] The pressing mechanism 8 is mounted on the third fixed frame 6. The pressing mechanism 8 includes a fourth claw 82 that can be flipped downward to abut against the lower window frame 204 of the door. The pressing mechanism 8 can apply a downward force to the door 200 by flipping and abutting against the lower window frame 204 of the door, which can ensure that the first claw 71 is engaged with the upper window frame 201 of the door.

[0125] In some embodiments, see Figure 7 and Figure 8 The first claw mechanism 7 includes a claw drive mechanism 74, which is mounted on the third fixed frame 6. The third claw 73 and the second claw 72 are slidably mounted on the third fixed frame 6, and are connected to the claw drive mechanism 74 via a linkage assembly. The claw drive mechanism 74 drives the second claw 72 and the third claw 73 to slide on the third fixed frame 6 via the linkage assembly, thereby engaging or releasing with the left and right window frames 203 of the vehicle door.

[0126] The first claw 71 can also be slidably mounted on the third fixed frame 6 and connected to the claw drive mechanism 74 via a linkage assembly. The claw drive mechanism 74 drives the first claw 71 to slide on the third fixed frame 6 via the linkage assembly, thereby engaging or releasing with the upper window frame 201 of the door.

[0127] In practice, the first claw 71, the second claw 72, and the third claw 73 can be slidably connected to the third fixed frame 6 via matching slide rails and slide grooves.

[0128] The first jaw 71, the second jaw 72, and the third jaw 73 are hinged to the connecting rod assembly, which is in turn hinged to the jaw drive mechanism 74. The jaw drive mechanism 74 can drive the first jaw 71, the second jaw 72, and the third jaw 73 to slide along the third fixed frame 6 via a suitable connecting rod assembly.

[0129] The claw drive mechanism 74 can drive the first claw 71, the second claw 72 and the third claw 73 to slide through telescopic movement.

[0130] In some embodiments, the extension and retraction direction of the claw drive mechanism 74 may be perpendicular to the sliding direction of the first claw 71, the second claw 72, and the third claw 73. The linkage assembly may include an L-shaped link, and the first claw 71, the second claw 72, and the third claw 73 are respectively connected to the claw drive mechanism 74 via corresponding L-shaped links. When the claw drive mechanism 74 extends and retracts, the L-shaped link drives the first claw 71, the second claw 72, or the third claw 73 connected to it to slide in a direction perpendicular to the extension and retraction direction of the claw drive mechanism 74.

[0131] The first jaw 71, the second jaw 72, and the third jaw 73 can be arranged around the straight line along which the jaw drive mechanism 74 extends and retracts. A single telescopic cylinder or other jaw drive mechanism 74 can simultaneously drive the first jaw 71, the second jaw 72, and the third jaw 73 to slide.

[0132] In the exemplary embodiment, see Figure 8 The third fixing frame 6 may include a front fixing plate 61 and a rear fixing plate 62 arranged in parallel. The claw drive mechanism 74 is disposed on the rear fixing plate 62, and the first claw 71, the second claw 72, and the third claw 73 are disposed on the front fixing plate 61. The front fixing plate 61 and the rear fixing plate 62 may be connected by multiple parallel connecting columns 63.

[0133] In some embodiments, the front fixing plate 61 has a first hole, and the rear fixing plate 62 has a second hole, with the first hole and the second hole facing each other. The claw drive mechanism 74 may be disposed in the second hole, and the linkage assembly passes through the first hole. The linkage assembly passing through the first hole is connected to the claws of the first claw 71, the second claw 72, and the third claw 73 that are movable relative to the third fixing frame 6.

[0134] The chuck drive mechanism 74 may include a telescopic cylinder and an electric lead screw. The telescopic cylinder may include a telescopic electric cylinder and a telescopic pneumatic cylinder. For example, the chuck drive mechanism 74 may employ a servo-driven dual-guide rod electric cylinder.

[0135] In some embodiments, see Figure 7 The pressing mechanism 8 includes a flipping drive mechanism 81, which is connected to the third fixed frame 6. The fourth claw 82 is connected to the flipping drive mechanism 81 through a linkage assembly.

[0136] See Figure 12 The pressing mechanism 8 may also include a tilting base 83, with a tilting drive mechanism 81 mounted on the tilting base 83. The tilting base 83 is connected to the third fixed frame 6. The tilting base can be connected to the third fixed frame 6 by bolts. In a specific implementation, the tilting base 83 may be connected to the rear fixed plate 62.

[0137] The fourth claw 82 is hinged to the flip base 83 via a linkage assembly, which includes a first link 84, a second link 85, and a third link 86. The two ends of the first link 84 and the second link 85 are respectively hinged to the fourth claw 82 and the flip base 83, and the two ends of the third link 86 are respectively hinged to the middle of the second link 85 and the flip drive mechanism 81. The flip drive mechanism 81 can be a telescopic cylinder or a lead screw mechanism. The telescopic cylinder can include, for example, a telescopic pneumatic cylinder and a telescopic electric cylinder. The lead screw mechanism can include, for example, an electric lead screw. In an exemplary embodiment, when the flip drive mechanism 81 extends, the third link 86 pushes the second link 85, causing the fourth claw 82 to flip downwards to abut against the lower window frame 204 of the door and apply downward pressure. When the flip drive mechanism 81 retracts, the third link 86 pushes the second link 85, causing the fourth claw 82 to flip upwards, away from the lower window frame 204 of the door.

[0138] In some embodiments, see Figure 7 and Figure 9 The first gripper assembly 1 also includes a door-pushing device 9, which is mounted on the third fixing frame 6. When the door 200 is transferred to the docking device, the door-pushing device 9 pushes the door 200. The docking device can be, for example, a door 200 positioning device, which positions the door 200 relative to the vehicle body for installation. When the door 200 positioning device docks with the door moving device, the door-pushing device 9 pushes the door 200, ensuring that the door 200 is correctly transferred to the door 200 positioning device. The door-pushing device 9 can push the door 200 after the first claw mechanism 7 and the second gripper assembly 2 release the door 200.

[0139] In some embodiments, see Figure 9 The door pushing device 9 may include an elastic push head 91 and a door pushing drive mechanism 92, with the elastic push head 91 and the door pushing drive mechanism 92 being connected in a transmission manner. The door pushing drive mechanism 92 may be a telescopic cylinder, such as a telescopic pneumatic cylinder or a telescopic electric cylinder. An elastic block may be provided on the side of the elastic push head 91 that contacts the door 200. The elastic block may be made of an elastic material such as rubber. The door pushing device 9 may include a door pushing base 93, on which the door pushing drive mechanism 92 is mounted. The door pushing base 93 is connected to the third fixing frame 6. In a specific implementation, the door pushing base 93 may be connected to the front fixing plate 61 or the rear fixing plate 62.

[0140] In some embodiments, see Figure 7 and Figure 8 The door moving device of this embodiment further includes a third gun-changing disc 10, with a third fixing frame 6 and a second fixing frame 21 respectively connected to the third gun-changing disc 10. The first gripper assembly 1 and the second gripper assembly 2 are both connected to the third gun-changing disc 10, forming a whole connected to a spatial moving mechanism. This spatial moving mechanism can be a robotic arm 5. The third gun-changing disc 10 can be quickly installed and removed from the robotic arm 5.

[0141] This invention provides a method for moving a car door 200. The car door moving device of this invention can be used to understand the car door 200 moving method of this invention and has the corresponding effects.

[0142] The method for moving the car door 200 according to an embodiment of the present invention includes:

[0143] Use the first gripper component 1 to attach to the door and window frame;

[0144] The suction cup 24 of the second gripper assembly 2 is used to attach to the outside of the door 200;

[0145] Move car door 200 to the target position.

[0146] In this embodiment of the invention, the first gripper assembly 1 and the second gripper assembly 2 can be moved to the door 200 to be moved according to a preset position. For example, the door 200 can be located at a designated position, and the first gripper assembly 1 and the second gripper assembly 2 can be moved to the designated position so that the first gripper assembly 1 is located within the silent window frame, thereby engaging with the door window frame. Of course, visual positioning and other positioning technologies can also be combined to move the first gripper assembly 1 and the second gripper assembly 2 to the door 200 to be moved.

[0147] After the first gripper assembly 1 engages with the door window frame, the suction cup 24 of the second gripper assembly 2 can be used to adhere to the outside of the door 200. The suction cup 24 can be moved directly to contact the door 200, or the distance between the second gripper assembly 2 and the door 200 can be detected by a ranging device such as a laser rangefinder 3, and the suction cup 24 can be driven to move towards the door 200 based on the detected distance, so that the suction cup 24 contacts the side of the door 200, allowing the suction cup 24 to adhere to the outside of the door 200.

[0148] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0149] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A door moving device, characterized in that, include: The first gripper component is configured to snap onto the door / window frame. The second gripper assembly includes a suction cup, and the second gripper assembly is configured to connect to the outside of the vehicle door via the suction cup.

2. The door moving device according to claim 1, characterized in that, The second gripper component includes: Second mounting bracket; The second linear transmission device is mounted on the second fixed frame; The second seat is connected to the second linear transmission device. The suction cup is mounted on the second seat. The second linear transmission device drives the second seat to move linearly so that the suction cup moves closer to or away from the car door.

3. The door moving device according to claim 2, characterized in that, The suction cup includes: Suction cup body; A connecting tube is connected to the rear of the suction cup body, the connecting tube is slidably connected to the second base body, and the connecting tube is used to connect to a vacuum tube; A second floating spring is sleeved on the connecting tube. One end of the second floating spring abuts against one side of the suction cup body, and the other end abuts against the second seat. The force applied by the second floating spring causes the suction cup body to move away from the second seat.

4. The door moving device according to claim 1, characterized in that, The first gripper component includes: First fixed frame; A first elastic limiting block is disposed on the first fixed frame, and the first elastic limiting block has a first slot for engaging with the top of the upper window frame of the car door. The first hook is hinged to the first fixing frame; A first linear transmission device is mounted on the first fixed frame. The first linear transmission device is hinged to the first hook. The first linear transmission device drives the first hook to rotate so that the first hook engages with the bottom of the upper window frame of the car door. The first hook cooperates with the first elastic limiting block to engage with the upper window frame of the car door.

5. The door moving device according to claim 4, characterized in that, The first hook has an elongated hole in the middle, and the first fixing bracket has a pin that mates with the elongated hole. One end of the first hook is a hook body, and the other end is a driving end. The driving end is hinged to the first linear transmission device. The first linear transmission device is located above the first hook. When the first linear transmission device drives the first hook to rotate toward the upper window frame of the car door, the first hook moves upward. When the first linear transmission device drives the first hook to rotate away from the upper window frame of the car door, the first hook moves downward.

6. The door moving device according to claim 5, characterized in that, The first fixing frame includes: The first horizontal support has one of the first linear transmission devices connected to each end, and each of the first linear transmission devices is connected to one of the first hooks. The upper end of the first longitudinal support is connected to the middle of the first transverse support; The second transverse support is connected to the lower end of the first longitudinal support in the middle. The second transverse support is provided with two first elastic limiting blocks, which are located on both sides of the first longitudinal support. Each end of the second transverse support is provided with a pin, and each pin is fitted into the elongated hole of the corresponding first hook.

7. The door moving device according to claim 4, characterized in that, The first elastic limiting block includes: Limiting block body; A sliding column, the lower end of which is connected to the body of the limiting block, and the sliding column is slidably connected to the first fixing frame; A stop block is connected to the upper end of the sliding column; A first floating spring is sleeved on the sliding column, and the two ends of the first floating spring abut against the first fixed frame and the limiting block body, respectively.

8. The door moving device according to claim 4, characterized in that, It also includes a three-dimensional moving frame, which includes: Base frame; A crossbeam is provided on the base frame along the X direction, and the crossbeam is movable relative to the base frame along the Y direction; A first X-moving component is disposed on the crossbeam, and the first X-moving component is capable of moving along the crossbeam; The second X-moving component is disposed on the crossbeam. The second X-moving component can move along the crossbeam. The second X-moving component and the first X-moving component can move synchronously or independently along the crossbeam. The first gripper assembly also includes a first weapon changing plate, the first fixing frame is connected to the first weapon changing plate, and the first weapon changing plate is connected to the first X moving assembly; The second gripper assembly also includes a second weapon changing disc, the second fixing bracket is connected to the second weapon changing disc, and the second weapon changing disc is connected to the second X moving assembly.

9. The door moving device according to claim 8, characterized in that, The first X-moving component includes: A first walking device, which is capable of walking along a first track on the base frame; A first lifting device is mounted on the first traveling device, and the first lifting device is connected to the first gun changing plate. A rotating device, wherein the rotating device is connected to the first lifting device, and the first gun changing plate is connected to the rotating device; The second X-moving component includes: The second walking device is capable of walking along the second track on the base frame; The second lifting device is mounted on the second traveling device and is connected to the second gun changing plate.

10. The door moving device according to claim 1, characterized in that, The first gripper component includes: Third fixing frame; A first claw mechanism is provided on the third fixed frame. The first claw mechanism includes a first claw, a second claw, and a third claw. The first claw is used to engage with the upper window frame of the vehicle door. The second claw and the third claw are respectively engaged with the left window frame and the right window frame of the vehicle door. At least the second claw and the third claw can move relative to the third fixed frame so that the second claw and the third claw move closer to or further away from each other. A pressing mechanism is provided on the third fixed frame, and the pressing mechanism includes a fourth claw that can be flipped downward to abut against the lower window frame of the door.

11. The door moving device according to claim 10, characterized in that, The first claw mechanism includes a claw driving mechanism, which is mounted on the third fixed frame. The first claw, the third claw, and the second claw are slidably mounted on the third fixed frame. The first claw, the third claw, and the second claw are hinged to a connecting rod assembly, which is hinged to the claw driving mechanism. The claw driving mechanism drives the third claw and the second claw to slide along the third fixed frame through linear telescopic motion. The telescopic direction of the claw driving mechanism is perpendicular to the sliding direction of the first claw, the third claw, and the second claw. The connecting rod assembly includes an L-shaped connecting rod, and the first claw, the third claw, and the second claw are connected to the claw driving mechanism through corresponding L-shaped connecting rods.

12. The door moving device according to claim 10, characterized in that, The pressing mechanism includes a flipping drive mechanism, which is connected to the third fixed frame. The fourth claw is connected to the flipping drive mechanism via a linkage assembly. The linkage assembly includes a first link, a second link, and a third link. The two ends of the first link and the second link are respectively hinged to the fourth claw and the flipping base. The two ends of the third link are respectively hinged to the middle of the second link and the flipping drive mechanism.

13. The door moving device according to claim 10, characterized in that, The first gripper component also includes: A door pushing device is mounted on the third fixed frame and is used to push the door when the door is transferred to the docking device. The door pushing device includes an elastic pusher head and a door pushing drive mechanism. The elastic pusher head is connected to the door pushing drive mechanism, and the door pushing drive mechanism drives the telescopic elastic pusher head to push the door through linear telescopic motion.

14. A method for moving a vehicle door, employing the vehicle door moving device according to any one of claims 1-13, the method comprising: Use the first gripper component to attach to the door and window frames; Detect the distance between the second gripper assembly and the vehicle door; The suction cup moves toward the car door based on the detected distance; The suction cups of the second gripper assembly are used to attach to the outside of the car door; Move the car door to the target position.

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