Gripper and grabbing method for wheel cover outer plate and front partition plate
By designing a gripper that integrates the outer plates of the left and right wheel covers and the front partition, the problems of multi-station tooling and high labor costs were solved, resulting in a reduction in the number of tooling and labor costs.
Patent Information
- Application Number
- CN202511523731.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-23
- Publication Date
- 2026-02-10
AI Technical Summary
In the existing technology, the welding stations for the front bulkhead and wheel arch outer panels of vehicles require multiple tooling and manual operation, resulting in high labor costs and a large number of tooling.
Design a gripper that integrates the gripping parts of the left wheel cover outer plate, the right wheel cover outer plate, and the front partition. It achieves multi-station combined positioning through a sliding part and cylinder drive, reducing the number of tooling and saving labor costs.
The tooling for the front partition, left wheel cover outer panel, and right wheel cover outer panel was integrated, reducing the number of personnel and tooling needed for loading and lowering labor costs.
Smart Images
Figure CN121493587A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of gripper technology, and in particular to a gripper and a gripping method for the outer wheel cover plate and the front partition plate. Background Technology
[0002] The front bulkhead of the vehicle is used to separate the passenger compartment from the engine compartment. The left wheel arch and the right wheel arch are used to separate the left wheel and the right wheel from the engine compartment, respectively. The left side of the front bulkhead is welded to the outer panel of the left wheel arch, and the right side of the front bulkhead is welded to the outer panel of the right wheel arch.
[0003] Currently, the front bulkhead and the outer panels of the left and right wheel arches of the vehicle body are positioned and welded at two welding stations, which results in a large number of tooling. In addition, the front bulkhead is currently positioned using a sliding tooling on the manual workbench and a robotic gripper on the automated workbench, with one person typically loading the part. The outer panels of the left and right wheel arches are also manually loaded, with one person on each side typically loading and welding them, which also results in high labor costs. Summary of the Invention
[0004] The purpose of this invention is to provide a gripper for gripping the left wheel cover outer plate, the right wheel cover outer plate, and the front partition plate. This gripper solves the problems of multiple personnel required for loading and the need for welding at two welding stations. It integrates the tooling of the front partition plate, the left wheel cover outer plate, and the right wheel cover outer plate into a single positioning gripper, reducing the number of personnel required for loading and saving labor costs. At the same time, since this gripper has the function of merging the front partition plate, the left wheel cover outer plate, and the right wheel cover outer plate together, it can concentrate the tooling of the original two stations into one station, reducing the number of tooling.
[0005] To achieve the objectives of this invention, the following technical solution is adopted: According to one aspect of the present invention, a gripper is provided, comprising a gripper frame, a left wheel cover outer plate gripping part, a right wheel cover outer plate gripping part, and a front partition gripping part. The gripper frame is provided with a gun changing disc and a first positioning insertion part. The left wheel cover outer plate gripping part is movably mounted on one side of the gripper frame and has a first state of gripping the left wheel cover outer plate, a second state of assembling the left wheel cover outer plate with the front partition, and a third state of separating from the left wheel cover outer plate. The right wheel cover outer plate gripping part is movably mounted on the other side of the gripper frame and has a first state of gripping the right wheel cover outer plate, a second state of assembling the right wheel cover outer plate with the front partition, and a third state of separating from the right wheel cover outer plate. The front partition gripping part is disposed in the middle of the gripper frame and is located between the left wheel cover outer plate gripping part and the right wheel cover outer plate gripping part.
[0006] According to one embodiment of the present invention, sliding portions are provided on both sides of the gripper frame. The left wheel cover outer plate gripping portion includes a first vertical support and a first positioning fixture. The upper end of the first vertical support is mounted on the sliding portion on one side of the gripper frame, and the first positioning fixture is mounted on the first vertical support for positioning the left wheel cover outer plate. The right wheel cover outer plate gripping portion includes a second vertical support and a second positioning fixture. The upper end of the second vertical support is mounted on the sliding portion on the other side of the gripper frame, and the second positioning fixture is mounted on the second vertical support for positioning the right wheel cover outer plate. The front partition gripping portion includes... The device includes a third vertical support and a third positioning fixture. The upper end of the third vertical support is fixed to the middle of the gripper frame, and the third positioning fixture is installed on the third vertical support. The first state of the gripping part of the left wheel cover outer plate and the first state of the gripping part of the right wheel cover outer plate are both states when the sliding part slides to the first position. The second state of the gripping part of the left wheel cover outer plate and the second state of the gripping part of the right wheel cover outer plate are both states when the sliding part slides to the second position. The third state of the gripping part of the left wheel cover outer plate and the third state of the gripping part of the right wheel cover outer plate are both states when the sliding part slides to the third position.
[0007] According to one embodiment of the present invention, the sliding part includes at least one guide rail, a slide block, a first limiting block, a second limiting block, a first cylinder, and a stroke adjustment part. The guide rail is horizontally fixed to the gripper frame, and the guide rail is aligned with the length direction of the front partition. The slide block is slidably disposed on the guide rail. The upper end of the first vertical support or the upper end of the second vertical support is fixed to the slide block. The first limiting block and the second limiting block are respectively fixed to the gripper frame, and the first limiting block and the second limiting block are respectively located at two extreme positions of the slide block. The first cylinder... Fixed to the gripper frame, and the telescopic rod of the first cylinder is connected to the slide. The stroke adjustment part is movably mounted on the first vertical support or the second vertical support. When the stroke adjustment part is in the first position, it is located between the slide and the second limit block. When the stroke adjustment part is in the second position, it is located outside the stroke range of the slide. When the slide and the stroke adjustment part abut against each other, the slide slides to the first position. When the slide and the first limit block abut against each other, the slide slides to the third position. When the slide and the second limit block abut against each other, the slide slides to the second position.
[0008] According to one embodiment of the present invention, the stroke adjustment unit includes a second cylinder, a first connecting rod, and a pressure block. The second cylinder is fixedly connected to the upper end of a first vertical support or a second vertical support. The middle part of the first connecting rod is movably mounted on the first vertical support or the second vertical support. One end of the first connecting rod is connected to the telescopic rod of the second cylinder. The pressure block is fixedly connected to the other end of the first connecting rod. When the pressure block is in the first position, it abuts against the second limiting block and is located between the slide and the second limiting block. When the pressure block is in the second position, it is located outside the sliding range of the slide.
[0009] According to one embodiment of the present invention, the first positioning fixture includes a plurality of first clamping devices, at least two first positioning pins, and a first positioning switch. The first clamping devices, first positioning pins, and first positioning switches are respectively fixed to a first vertical support. The first positioning pins correspond to the first positioning holes of the left wheel cover outer plate. When the first positioning pins are inserted into the first positioning holes, the first positioning switches abut against the left wheel cover outer plate, and the first clamping devices clamp the left wheel cover outer plate. The second positioning fixture includes a plurality of second clamping devices, at least two second positioning pins, and a second positioning switch. The second clamping devices, second positioning pins, and second positioning switches are respectively fixed to a second vertical support. The second positioning pins correspond to the second positioning holes of the right wheel cover outer plate. When the second positioning pins are inserted into the second positioning holes, the second positioning switches abut against the right wheel cover outer plate, and the second clamping devices clamp the right wheel cover outer plate.
[0010] According to one embodiment of the present invention, both the first clamping device and the second clamping device include a mounting frame and a pneumatic clamp. The mounting frame is fixedly connected to the first vertical support or the second vertical support. The mounting frame is provided with a first clamping arm. The pneumatic clamp is fixedly connected to the mounting frame and is provided with a movable second clamping arm. The pneumatic clamp drives the second clamping arm and together with the first clamping arm clamps the outer plate of the left wheel cover or the outer plate of the right wheel cover.
[0011] According to one embodiment of the present invention, the third positioning fixture includes a third clamping device, at least two third positioning pins and a third positioning switch. The third clamping device, the third positioning pins and the third positioning switch are respectively disposed on the third vertical support, and the third positioning pins correspond to the third positioning holes of the front partition. When the third positioning pins are inserted into the third positioning holes, the third positioning switch abuts against the front partition, and the third clamping device clamps the front partition.
[0012] According to one embodiment of the present invention, a third mounting arm is horizontally arranged on both sides of the third vertical support, and a fourth mounting arm is arranged between the two third mounting arms. One end of the fourth mounting arm is fixedly connected to one of the third mounting arms or to the third vertical support, a third clamping device is fixedly connected to the other end of the fourth mounting arm, and a third positioning pin is fixedly connected to the third mounting arm.
[0013] According to one embodiment of the present invention, the third clamping device includes a sixth cylinder, a third clamping arm, and a sixth mounting shaft. The sixth cylinder is fixedly connected to the fourth mounting arm. The middle part of the third clamping arm is movably mounted on the fourth mounting arm via the sixth mounting shaft. One end of the third clamping arm is connected to the telescopic rod of the sixth cylinder. When the other end of the third clamping arm passes through the middle through hole of the front partition and the front partition abuts against the third positioning switch, the sixth cylinder drives the third clamping arm to clamp the front partition together with the fourth mounting arm.
[0014] According to one embodiment of the present invention, the third positioning pin is a hook pin, which includes a fifth cylinder, a hook, a positioning seat, and a first mounting shaft. The positioning seat is fixedly connected to the third mounting arm. A pin portion extends horizontally on one side of the positioning seat. The positioning seat has a first through hole and a second through hole communicating with the first through hole corresponding to the pin portion. The fifth cylinder is fixedly connected to the other side of the positioning seat. The first mounting shaft passes through the second through hole. The middle part of the hook is movably mounted on the first mounting shaft. One end of the hook is connected to the telescopic rod of the fifth cylinder. The fifth cylinder drives the hook to move in the first through hole.
[0015] This invention also discloses a gripping method for wheel arch outer panel and front partition, applied to the aforementioned gripper, the gripping method comprising: Place the left wheel arch outer panel, the right wheel arch outer panel, and the front bulkhead onto the centering platform according to their relative positions on the body-in-white; Both the gripping parts of the left wheel cover outer panel and the gripping parts of the right wheel cover outer panel are moved to the third state; The robot moves the gripper to the centering platform, and the front partition gripping part is opposite to the front or rear side of the front partition; The gripper moves horizontally towards the front partition until the front partition gripping part grips the front partition. When the current partition gripping part grips the front partition in place, both the left wheel cover outer panel gripping part and the right wheel cover outer panel gripping part move from the third state to the first state, and the left wheel cover outer panel gripping part grips the left wheel cover outer panel, and the right wheel cover outer panel gripping part grips the right wheel cover outer panel. Once the outer panels of the left and right wheel covers are gripped in place, the robot moves the gripper to the welding station. After the first positioning connector is inserted into the tooling positioning connector on the welding station, the gripper is in position. Both the gripping part of the left wheel cover outer panel and the gripping part of the right wheel cover outer panel move from the first state to the second state; The welding robot welds the assembled left wheel arch outer panel, right wheel arch outer panel, and front bulkhead; After the welding robot completes the welding, both the left wheel cover outer plate gripping part and the right wheel cover outer plate gripping part move from the second state to the third state, and the front partition gripping part separates from the front partition.
[0016] One embodiment of the present invention has the following advantages or beneficial effects: The present invention provides a gripper that integrates the tooling of the front partition, the outer plate of the left wheel cover, and the outer plate of the right wheel cover into a single positioning gripper, thereby reducing the number of personnel required for loading and saving labor costs. At the same time, since the gripper has the function of merging the front partition, the outer plate of the left wheel cover, and the outer plate of the right wheel cover together, it can concentrate the tooling of the original two workstations into one workstation, thus reducing the number of tooling items. Attached Figure Description
[0017] 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.
[0018] Figure 1 This is a perspective view of a gripper according to an exemplary embodiment.
[0019] Figure 2 This is a right-side side view of a gripper according to an exemplary embodiment.
[0020] Figure 3 This is a left-side view of a gripper according to an exemplary embodiment.
[0021] Figure 4 This is a top view of a gripper according to an exemplary embodiment.
[0022] Figure 5 This is a perspective view of the front partition gripping portion of a gripper according to an exemplary embodiment.
[0023] Figure 6 This is a schematic diagram showing the cooperation of a second cylinder, a first connecting rod, a first pressure block, a first limiting block, a second limiting block, and a first slide block according to an exemplary embodiment.
[0024] Figure 7 This is a schematic diagram illustrating the cooperation of a fourth cylinder, a second connecting rod, a second pressure block, a third limiting block, a fourth limiting block, and a second slide according to an exemplary embodiment.
[0025] Figure 8 This is a diagram illustrating the state after the gripper has grasped the outer panel of the left wheel arch, the outer panel of the right wheel arch, and the front partition, according to an exemplary embodiment.
[0026] Figure 9 This is a perspective view of a pneumatic clamp according to an exemplary embodiment.
[0027] The reference numerals in the attached figures are explained as follows: 1. Handle frame; 11. Gun changing disc; 12. First sliding part; 121. First guide rail; 122. First slide block; 123. First limiting block; 124. Second limiting block; 125. First cylinder; 126. First stroke adjustment part; 1261. Second cylinder; 1262. First connecting rod; 1263. First pressure block; 1264. Second mounting shaft; 1265. Third mounting shaft; 13. Second sliding part; 131. Second guide rail; 132. Second slide block; 133. Third limiting block; 134. Fourth limiting block; 135. Third cylinder; 136. Second stroke adjustment part; 1361. Fourth cylinder; 1362. Second connecting rod; 1363. Second pressure block; 14. Valve island; 141. Protective cover; 15. First positioning insertion part; 2. Left wheel cover outer plate gripping part; 21. First vertical bracket; 211. First mounting arm; 22. First positioning fixture; 221. First clamping device; 2211. Mounting frame; 2212. Pneumatic clamp; 2213. First clamping arm; 2214. Second clamping arm; 222. First positioning pin; 223. First position switch; 3. Right wheel cover outer plate gripping part; 31. Second vertical bracket; 311. Second mounting arm; 32. Second positioning fixture; 321. Second clamping device; 322. Second positioning pin; 323. Second position switch; 4. Front partition gripping part; 41. Third vertical support; 411. Third mounting arm; 412. Fourth mounting arm; 42. Third positioning fixture; 421. Third clamping device; 4211. Sixth cylinder; 4212. Third clamping arm; 4213. Sixth mounting shaft; 422. Third positioning pin; 4221. Fifth cylinder; 4222. Hook; 4223. Positioning seat; 4224. Pin part; 4225. First through hole; 4226. First mounting shaft; 423. Third position switch; 424. Second positioning insertion part; 43. Fourth clamping device; 5. Left wheel cover outer panel; 6. Right wheel arch outer panel; 7. Front partition; Detailed Implementation
[0028] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.
[0029] 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.
[0030] like Figure 1-9 As shown, a gripper according to an embodiment of the present invention includes a gripper frame 1, a left wheel cover outer plate gripping part 2, a right wheel cover outer plate gripping part 3, and a front partition gripping part 4.
[0031] The gripper frame 1 is a horizontal frame, and the gripper frame 1 is provided with a gun changing plate 11 for connecting with the robot and at least two first positioning plugs 15 for positioning the gripper on the welding station.
[0032] The gripper frame 1 is also equipped with a valve island 14, which has a controller and multiple solenoid valves. The gun changing plate 11 is connected to the energy input channel of the controller and solenoid valves. The gripping part 2 of the left wheel cover outer plate, the gripping part 3 of the right wheel cover outer plate, and the gripping part 4 of the front partition are respectively connected to the energy output channel of the solenoid valves.
[0033] Preferably, the gripper frame 1 is also provided with a protective cover 141 to protect the controller and solenoid valve on the valve island 14.
[0034] The left wheel cover outer plate gripping part 2 is movably installed on one side of the gripper frame 1. The left wheel cover outer plate gripping part 2 has a first state of gripping the left wheel cover outer plate 5, a second state of assembling the left wheel cover outer plate 5 with the front partition 7, and a third state of separating from the left wheel cover outer plate 5. The right wheel cover outer plate gripping part 3 is movably installed on the other side of the gripper frame 1. The right wheel cover outer plate gripping part 3 has a first state of gripping the right wheel cover outer plate 6, a second state of assembling the right wheel cover outer plate 6 with the front partition 7, and a third state of separating from the right wheel cover outer plate 6. The front partition gripping part 4 is located in the middle of the gripper frame 1, and the front partition gripping part 4 is located between the left wheel cover outer plate gripping part 2 and the right wheel cover outer plate gripping part 3.
[0035] Place the front partition 7, the glued left wheel arch outer panel 5, and the glued right wheel arch outer panel 6 onto the centering platform according to the relative positions of the body-in-white. At this time, there is a gap of 10-30 mm between the left wheel arch outer panel 5 and the front partition 7, and between the right wheel arch outer panel 6 and the front partition 7. This gap is used to avoid parts on the frame when placing the panels.
[0036] Both the left wheel cover outer plate gripping part 2 and the right wheel cover outer plate gripping part 3 are moved to the third state; The robot moves the gripper to the centering platform and first aligns the front partition gripper 4 with the front or rear side of the front partition 7. The gripper moves horizontally forward towards the front partition 7, and the front partition gripping part 4 grips the front partition 7. When the current partition gripping part 4 grips the front partition 7 into place, both the left wheel cover outer panel gripping part 2 and the right wheel cover outer panel gripping part 3 move from the third state to the first state, and the left wheel cover outer panel gripping part 2 grips the left wheel cover outer panel 5, and the right wheel cover outer panel gripping part 3 grips the right wheel cover outer panel 6. After the left wheel cover outer plate 5 and the right wheel cover outer plate 6 are gripped into place, there is still a gap of 10-30 mm between the left wheel cover outer plate 5 and the front partition 7, and between the right wheel cover outer plate 6 and the front partition 7. The robot moves the gripper to the welding station to splice the left wheel arch outer panel 5, the right wheel arch outer panel 6, and the front bulkhead 7 to the vehicle frame; After the first positioning connector 15 is inserted into the tooling positioning part on the welding station, the gripper is in position. Both the left wheel cover outer panel gripping part 2 and the right wheel cover outer panel gripping part 3 move from the first state to the second state, so as to splice the left wheel cover outer panel 5 and the right wheel cover outer panel 6 to the front partition 7 respectively. At this time, the welding part (adhesive part) of the left wheel cover outer panel 5 abuts against the left end welding part of the front partition 7, and the welding part (adhesive part) of the right wheel cover outer panel 6 abuts against the right end welding part of the front partition 7. The welding robot welds the assembled left wheel cover outer plate 5, right wheel cover outer plate 6, and front partition 7. After the welding robot completes the welding, the left wheel cover outer plate gripping part 2 and the right wheel cover outer plate gripping part 3 both move from the second state to the third state, realizing the separation of the left wheel cover outer plate gripping part 2 from the left wheel cover outer plate 5, the separation of the right wheel cover outer plate gripping part 3 from the right wheel cover outer plate 6, and the gripper moves horizontally backward, realizing the separation of the front partition gripping part 4 from the front partition 7.
[0037] The gripper of this invention integrates the tooling of the front partition, the outer plate of the left wheel cover, and the outer plate of the right wheel cover into a single positioning gripper, reducing the number of personnel required for loading and saving labor costs. At the same time, since this gripper has the function of merging the front partition, the outer plate of the left wheel cover, and the outer plate of the right wheel cover together, it can concentrate the tooling of the original two workstations into one workstation, reducing the number of tooling.
[0038] In a preferred embodiment of the present invention, both sides of the gripper frame 1 are provided with sliding portions that can move horizontally, such as... Figure 1-4 As shown, the left wheel cover outer plate gripping part 2 includes a first vertical support 21 and a first positioning fixture 22. The upper end of the first vertical support 21 is mounted on a sliding part on one side of the gripper frame 1, and the first positioning fixture 22 is mounted on the first vertical support 21 for positioning and clamping the left wheel cover outer plate 5. The right wheel cover outer plate gripping part 3 includes a second vertical support 31 and a second positioning fixture 32. The upper end of the second vertical support 31 is mounted on a sliding part on the other side of the gripper frame 1, and the second positioning fixture 32 is mounted on the second vertical support 31 for positioning and clamping the right wheel cover outer plate 6. The front partition gripping part 4 includes a third vertical support 41 and a third positioning fixture 42. The upper end of the third vertical support 41 is fixed to the middle of the gripper frame 1, and the third positioning fixture 42 is mounted on the third vertical support 41 for positioning and clamping the front partition 7.
[0039] Specifically, the first state of the left wheel cover outer panel gripping part 2 and the first state of the right wheel cover outer panel gripping part 3 are both states when the sliding part slides to the first position, that is, the states when the left wheel cover outer panel gripping part 2 and the right wheel cover outer panel gripping part 3 grip the left wheel cover outer panel 5 and the right wheel cover outer panel 6 respectively; the second state of the left wheel cover outer panel gripping part 2 and the second state of the right wheel cover outer panel gripping part 3 are both states when the sliding part slides to the second position, that is, the states when the left wheel cover outer panel gripping part 2 and the right wheel cover outer panel gripping part 3 assemble the left wheel cover outer panel 5 and the right wheel cover outer panel 6 with the front partition 7 respectively; the third state of the left wheel cover outer panel gripping part 2 and the third state of the right wheel cover outer panel gripping part 3 are both states when the sliding part slides to the third position, that is, the states when the left wheel cover outer panel gripping part 2 separates from the left wheel cover outer panel 5 and the right wheel cover outer panel gripping part 3 separates from the right wheel cover outer panel 6.
[0040] In a preferred embodiment of the present invention, such as Figure 1-4 As shown, the sliding parts on both sides of the gripper frame 1 are marked as the first sliding part 12 and the second sliding part 13, respectively. The gripping part 2 of the left wheel cover outer plate includes a first vertical support 21 and a first positioning fixture 22. The upper end of the first vertical support 21 is fixed to the first sliding part 12, and the first positioning fixture 22 is installed on the first vertical support 21 for positioning the left wheel cover outer plate 5.
[0041] like Figure 1 , 2 As shown, the right wheel cover outer plate gripping part 3 includes a second vertical support 31 and a second positioning fixture 32. The upper end of the second vertical support 31 is fixedly installed on the second sliding part 13, and the second positioning fixture 32 is installed on the second vertical support 31 for positioning the right wheel cover outer plate 6.
[0042] like Figure 1 , 5 As shown, the front partition gripping part 4 includes a third vertical support 41 and a third positioning fixture 42. The upper end of the third vertical support 41 is fixed to the middle of the gripper frame 1, and the third positioning fixture 42 is installed on the third vertical support 41 for positioning the front partition 7.
[0043] The third vertical support 41, the second vertical support 31 and the first vertical support 21 are all parallel, and the third vertical support 41, the second vertical support 31 and the first vertical support 21 are all perpendicular to the gripper frame 1.
[0044] The first state of the left wheel arch outer plate gripping part 2 is the state when the first sliding part 12 slides to the first position; the second state of the left wheel arch outer plate gripping part 2 is the state when the first sliding part 12 slides to the second position; and the third state of the left wheel arch outer plate gripping part 2 is the state when the first sliding part 12 slides to the third position. When the first vertical support 21 slides from the second position to the first and third positions, it moves away from the front partition gripping part 4. When the first vertical support 21 slides from the third position to the first and second positions, it moves towards the front partition gripping part 4. The sliding from the third position to the second position represents the full stroke of the first sliding part 12, and the sliding from the third position to the first position represents approximately 90% of the stroke of the first sliding part 12.
[0045] The upper end of the second vertical support 31 is fixed to the second sliding part 13. The first state of the right wheel cover outer plate gripping part 3 is the state when the second sliding part 13 slides to the first position. The second state of the right wheel cover outer plate gripping part 3 is the state when the second sliding part 13 slides to the second position. The third state of the right wheel cover outer plate gripping part 3 is the state when the second sliding part 13 slides to the third position.
[0046] When the second vertical support 31 slides from the second position to the first and third positions, it moves away from the front partition gripping part 4. When the second vertical support 31 slides from the third position to the first and second positions, it moves towards the front partition gripping part 4. The sliding from the third position to the second position is the full stroke of the second sliding part 13, and the sliding from the third position to the first position is about 90% of the stroke of the second sliding part 13.
[0047] In a preferred embodiment of the present invention, the sliding part includes at least one guide rail, a slide block, a first limiting block, a second limiting block, a first cylinder, and a stroke adjustment part. The guide rail is horizontally fixed to the bottom of the gripper frame 1, and the guide rail is in the same direction as the length of the front partition 7. The slide block is slidably disposed on the guide rail. The upper end of the first vertical support 21 or the upper end of the second vertical support 31 is fixed to the slide block. The first limiting block and the second limiting block are respectively fixed to the gripper frame 1, and the first limiting block and the second limiting block are respectively located at two extreme positions of the slide block. The first cylinder is fixed to the gripper frame 1, and the telescopic rod of the first cylinder is connected to the slide block. The stroke adjustment part is movably mounted on the first vertical support 21 or the second vertical support 31. When the stroke adjustment part is in the first position, the stroke adjustment part is located between the slide block and the second limiting block. When the stroke adjustment part is in the second position, the stroke adjustment part is located outside the stroke range of the slide block.
[0048] When the slide block abuts against the stroke adjustment part, the slide block slides to the first position. This is the first state when the left wheel cover outer plate gripping part 2 grips the left wheel cover outer plate 5 and the first state when the right wheel cover outer plate gripping part 3 grips the right wheel cover outer plate 6. When the slide block abuts against the first limit block, the slide block slides to the third position. This is the third state after the left wheel cover outer plate gripping part 2 separates from the left wheel cover outer plate 5 and the third state after the right wheel cover outer plate gripping part 3 separates from the right wheel cover outer plate 6. When the slide block abuts against the second limit block, the slide block slides to the second position. At this time, the left wheel cover outer plate 5 and the left side of the front partition 7 are joined together and abutted, and the right wheel cover outer plate 6 and the right side of the front partition 7 are joined together and abutted.
[0049] In a preferred embodiment of the present invention, such as Figure 1 , 3 As shown in Figures 4 and 6, the first sliding part 12 includes at least one first guide rail 121, a first slide block 122, a first limiting block 123, a second limiting block 124, a first cylinder 125, and a first stroke adjustment part 126.
[0050] The first guide rail 121 is horizontally fixed to one end of the gripper frame 1, and the guide direction of the first guide rail 121 is the same as the length direction of the front partition 7.
[0051] The first slide block 122 is slidably mounted on the first guide rail 121. The upper end of the gripping part 2 of the left wheel cover outer plate is fixedly connected to the first slide block 122. The first limiting block 123 and the second limiting block 124 are respectively fixedly connected to the gripper frame 1, and the first limiting block 123 and the second limiting block 124 are respectively located at the two extreme positions of the first slide block 122.
[0052] When the first slide block 122 abuts against the first limiting block 123, the first slide block 122 is in the third position; when the first slide block 122 abuts against the second limiting block 124, the first slide block 122 is in the first position.
[0053] The first cylinder 125 is fixed to the gripper frame 1, and the telescopic rod of the first cylinder 125 is connected to the first slide block 122.
[0054] The first stroke adjustment part 126 can be movably installed on the gripping part 2 of the left wheel cover outer plate or on the gripper frame 1. When the first stroke adjustment part 126 is in the first position, the first stroke adjustment part 126 is located between the first slide block 122 and the second limit block 124.
[0055] When the first stroke adjustment unit 126 is in the second position, the first stroke adjustment unit 126 is outside the stroke range of the first slide 122.
[0056] When the first stroke adjustment unit 126 is in the first position and the first slide block 122 abuts against the first stroke adjustment unit 126, the first slide block 122 slides to the first position.
[0057] When the first slide block 122 comes into contact with the first limiting block 123, the first slide block 122 slides to the third position.
[0058] When the first stroke adjustment part 126 is in the second position, and the first slide block 122 abuts against the second limit block 124, the first slide block 122 slides to the second position.
[0059] like Figure 1 , 2 As shown in Figures 7 and 8, the second sliding part 13 includes at least one second guide rail 131, a second slide block 132, a third limiting block 133, a fourth limiting block 134, a third cylinder 135, and a second stroke adjustment part 136.
[0060] The second guide rail 131 is horizontally fixed to the other end of the gripper frame 1, and the guide of the second guide rail 131 is in the same direction as the length of the front partition 7. The second slide block 132 is slidably disposed on the second guide rail 131, and the upper end of the second vertical support 31 is fixed to the second slide block 132.
[0061] The third limiting block 133 and the fourth limiting block 134 are respectively fixed to the gripper frame 1, and the third limiting block 133 and the fourth limiting block 134 are respectively located at the two extreme positions of the second slide block 132.
[0062] The third cylinder 135 is fixed to the gripper frame 1, and the extension rod of the third cylinder 135 is connected to the second slide block 132.
[0063] The second stroke adjustment part 136 can be movably installed on the gripping part 3 of the right wheel cover outer plate or on the gripper frame 1. When the second stroke adjustment part 136 is in the first position, the second stroke adjustment part 136 is located between the second slide block 132 and the fourth limit block 134.
[0064] When the second stroke adjustment unit 136 is in the second position, the second stroke adjustment unit 136 is outside the stroke range of the second slide 132.
[0065] When the third cylinder 135 drives the second slide block 132 to abut against the second stroke adjustment part 136, the second slide block 132 slides to the first position.
[0066] When the third cylinder 135 drives the second slide block 132 to abut against the third limit block 133, the second slide block 132 slides to the third position.
[0067] When the third cylinder 135 drives the second slide block 132 to abut against the fourth limit block 134, the second slide block 132 slides to the second position.
[0068] In a preferred embodiment of the present invention, the stroke adjustment unit includes a second cylinder, a first connecting rod, and a pressure block. The second cylinder is fixedly connected to the upper end of the first vertical support 21 or the second vertical support 31. The middle part of the first connecting rod is movably mounted on the first vertical support 21 or the second vertical support 31. One end of the first connecting rod is connected to the telescopic rod of the second cylinder, and the pressure block is fixedly connected to the other end of the first connecting rod.
[0069] When the second cylinder drives the first connecting rod and moves the pressure block to the first position, the pressure block abuts against the second limiting block, and the pressure block is located between the slide and the second limiting block. Due to the obstruction of the pressure block, the slide can only slide from the third position to the first position at this time. That is, the slide can only drive the first vertical support 21 or the second vertical support 31 to slide from the separation position to the gripping position. The slide cannot slide directly from the third position to the second position, or the slide cannot slide directly from the first position to the second position. When the second cylinder drives the first connecting rod and moves the pressure block to the second position, the pressure block is outside the sliding range of the slide block, thereby removing the obstruction and allowing the slide block to slide to the second state where it abuts against the second limit block. This allows the slide block to move the first vertical support 21 or the second vertical support 31 from the gripping position to the joining position.
[0070] like Figure 6 As shown, in a preferred embodiment of the present invention, the first stroke adjustment unit 126 includes a second cylinder 1261, a first connecting rod 1262 and a first pressure block 1263, and the second cylinder 1261 is fixed to the upper end of the first vertical support 21.
[0071] The middle part of the first connecting rod 1262 is movably mounted on the first vertical bracket 21. One end of the first connecting rod 1262 is connected to the telescopic rod of the second cylinder 1261, and the first pressure block 1263 is fixed to the other end of the first connecting rod 1262.
[0072] For example, the first vertical support 21 is provided with a first mounting arm 211, the middle part of the first connecting rod 1262 is movably mounted on the first mounting arm 211 through the second mounting shaft 1264, and one end of the first connecting rod 1262 is movably connected to the telescopic rod of the second cylinder 1261 through the third mounting shaft 1265.
[0073] When the second cylinder 1261 swings the first pressing block 1263 to the first position via the first connecting rod 1262, the first pressing block 1263 abuts against the second limiting block 124, and the first pressing block 1263 is located between the first slide block 122 and the second limiting block 124 to shorten the sliding stroke of the first slide block 122. At this time, the first slide block 122 cannot slide from the first position to the second position, and the width (thickness) of the first pressing block 1263 is equal to the gap between the outer plate 5 of the left wheel cover and the front partition 7 on the centering platform, so as to avoid the glued part of the outer plate 5 of the left wheel cover abutting against the front partition 7. Only after the gripper is positioned at the welding station can the glued part of the outer plate 5 of the left wheel cover abut against the front partition 7.
[0074] When the second cylinder 1261 swings the first pressure block 1263 to the second position via the first connecting rod 1262, the first pressure block 1263 is outside the sliding range of the first slide block 122. At this time, the sliding stroke of the first slide block 122 is restored, so that the first slide block 122 can slide from the first position to the second position, thereby enabling the left wheel cover outer plate 5 to be abutted and joined with the front partition 7.
[0075] like Figure 1 , 2 As shown in Figures 7 and 8, in a preferred embodiment of the present invention, the second stroke adjustment unit 136 includes a fourth cylinder 1361, a second connecting rod 1362, and a second pressure block 1363.
[0076] The fourth cylinder 1361 is fixed to the upper end of the second vertical bracket 31. The middle part of the second connecting rod 1362 is movably mounted on the second vertical bracket. One end of the second connecting rod 1362 is connected to the telescopic rod of the fourth cylinder 1361. The second pressure block 1363 is fixed to the other end of the second connecting rod 1362.
[0077] For example, such as Figure 7 As shown, the second vertical support 31 is provided with a second mounting arm 311, and the middle part of the second connecting rod 1362 is movably mounted on the second mounting arm 311 through the fourth mounting shaft 1364. One end of the second connecting rod 1362 is connected to the telescopic rod of the fourth cylinder 1361 through the fifth mounting shaft 1365.
[0078] When the fourth cylinder 1361 drives the second pressure block 1363 to swing to the first position via the second connecting rod 1362, the second pressure block 1363 abuts against the fourth limiting block 134, and the second pressure block 1363 is located between the second slide block 132 and the fourth limiting block 134 to shorten the sliding stroke of the second slide block 132. At this time, the second slide block 132 cannot slide from the first position to the second position. The width (thickness) of the second pressure block 1363 is equal to the gap between the outer plate 6 of the right wheel cover and the front partition 7 on the centering platform.
[0079] When the fourth cylinder 1361 swings the second pressure block 1363 to the second position via the second connecting rod 1362, the second pressure block 1363 is outside the stroke range of the second slide block 132. At this time, the sliding stroke of the second slide block 132 is restored, and the second slide block 132 can slide from the first position to the second position.
[0080] like Figure 1 , 3 As shown in Figures 4 and 8, in a preferred embodiment of the present invention, the first positioning fixture 22 includes a plurality of first clamping devices 221, at least two first positioning pins 222 and a first positioning switch 223.
[0081] The first clamping device 221, the first positioning pin 222, and the first positioning switch 223 are respectively fixed to the first vertical bracket 21, and the first positioning pin 222 corresponds to the first positioning hole of the outer plate 5 of the left wheel cover.
[0082] When the first slide block 122 abuts against the first pressure block 1263, the first positioning pin 222 is inserted into the first positioning hole of the left wheel cover outer plate 5. At the same time, the first positioning switch 223 abuts against the left wheel cover outer plate 5 to generate a positioning electrical signal, and the first clamping device 221 clamps the left wheel cover outer plate 5.
[0083] like Figure 1 , 2 As shown in Figures 4 and 8, in a preferred embodiment of the present invention, the second positioning fixture 32 includes a plurality of second clamping devices 321, at least two second positioning pins 322 and a second positioning switch 323. The second clamping devices 321, the second positioning pins 322 and the second positioning switch 323 are respectively fixed to the second vertical support 31, and the second positioning pins 322 correspond to the second positioning holes of the outer plate 6 of the right wheel cover.
[0084] When the second slide block 132 abuts against the second pressure block 1363, the second positioning pin 322 is inserted into the second positioning hole of the right wheel cover outer plate 6, the second position switch 323 abuts against the right wheel cover outer plate 6, and the second clamping device 321 clamps the right wheel cover outer plate 6.
[0085] like Figure 3 , 4 As shown in Figures 9 and 1, in a preferred embodiment of the present invention, both the first clamping device 221 and the second clamping device 321 include a mounting bracket 2211 and a pneumatic clamp 2212.
[0086] The mounting bracket 2211 of the left wheel cover outer plate gripping part 2 is fixedly connected to the first vertical support 21. The mounting bracket 2211 is provided with a first clamping arm 2213. The pneumatic clamp 2212 is fixedly connected to the mounting bracket 2211. The pneumatic clamp 2212 is provided with a movable second clamping arm 2214. When the first positioning pin 222 is inserted into the first positioning hole of the left wheel cover outer plate 5, the first positioning switch 223 abuts against the left wheel cover outer plate 5 and generates a positioning electrical signal. The pneumatic clamp 2212 drives the second clamping arm 2214 to close, so that the second clamping arm 2214 and the first clamping arm 2213 jointly clamp the left wheel cover outer plate 5.
[0087] When the gripping part 2 of the left wheel cover outer plate separates from the left wheel cover outer plate 5, the pneumatic clamp 2212 first drives the second clamping arm 2214 to open, and then the first cylinder 125 drives the first slide block 122 and drives the first vertical bracket 21 to slide to the third position, so that the first positioning pin 222 separates from the first positioning hole of the left wheel cover outer plate 5.
[0088] The mounting bracket 2211 of the right wheel cover outer plate gripping part 3 is fixed to the second vertical bracket 31. When the second positioning pin 322 is inserted into the second positioning hole of the right wheel cover outer plate 6, the second positioning switch 323 abuts against the right wheel cover outer plate 6 and generates an electrical signal indicating that it is in position. The pneumatic clamp 2212 of the second clamping device 321 drives the second clamping arm 2214 and together with the first clamping arm 2213, clamps the right wheel cover outer plate 6.
[0089] When the gripping part 3 of the right wheel cover outer plate separates from the right wheel cover outer plate 6, the pneumatic clamp 2212 first drives the second clamping arm 2214 to open, and then the third cylinder 135 drives the second slide block 132 and drives the second vertical bracket 31 to slide to the third position, so that the second positioning pin 322 separates from the second positioning hole of the right wheel cover outer plate 6.
[0090] like Figure 1 , 5 As shown in Figures 8 and 9, in a preferred embodiment of the present invention, the third positioning fixture 42 includes a third clamping device 421, at least two third positioning pins 422 and a third positioning switch 423.
[0091] The third clamping device 421, the third positioning pin 422, and the third positioning switch 423 are respectively mounted on the third vertical bracket 41, and the third positioning pin 422 corresponds to the third positioning hole of the front partition 7.
[0092] The third clamping device 421 includes a sixth cylinder 4211, a third clamping arm 4212, and a sixth mounting shaft 4213. The sixth cylinder 4211 is fixed to the third vertical support 41. The middle part of the third clamping arm 4212 is movably mounted on the third vertical support 41 through the sixth mounting shaft 4213. One end of the third clamping arm 4212 is connected to the telescopic rod of the sixth cylinder 4211, and the position of the third clamping arm 4212 is aligned with the position of the through hole 71 of the front partition 7.
[0093] like Figure 8 As shown, before gripping, the robot first aligns the third positioning pin 422 with the third positioning hole of the front partition 7, and aligns the third clamping arm 4212 with the through hole 71 of the front partition 7. Then, the robot moves the gripper horizontally so that the third positioning pin 422 is inserted into the third positioning hole of the front partition 7, and one end of the third clamping arm 4212 passes through the through hole 71. When it is inserted into place, the third positioning switch 423 abuts against the front partition 7, generating an electrical signal indicating that it is in place. The sixth cylinder 4211 drives the third clamping arm 4212 to clamp the front partition 7. At this time, the front partition 7 is clamped between the third clamping arm 4212 and the third vertical support 41.
[0094] like Figure 5 As shown, in a preferred embodiment of the present invention, the third vertical support 41 is U-shaped, and two third mounting arms 411 and a fourth mounting arm 412 are provided on the third vertical support 41. The two third mounting arms 411 are respectively vertically fixed to both sides of the third vertical support 41, and two third positioning pins 422 are respectively installed on the two third mounting arms 411.
[0095] One end of the fourth mounting arm 412 is fixed to one of the third mounting arms 411 or the third vertical bracket 41. The sixth cylinder 4211 is mounted on the fourth mounting arm 412. The third clamping arm 4212 and the fourth mounting arm 412 together clamp the front partition 7.
[0096] like Figure 8 As shown, in a preferred embodiment of the present invention, the third positioning pin 422 is a hook pin, and the third positioning pin 422 includes a fifth cylinder 4221, a hook 4222, a positioning seat 4223 and a first mounting shaft 4226.
[0097] The positioning seat 4223 is fixed to the third mounting arm 411. A pin portion 4224 extends horizontally on one side of the positioning seat 4223. The positioning seat 4223 has a first through hole 4225 and a second through hole communicating with the first through hole corresponding to the pin portion 4224.
[0098] The fifth cylinder 4221 is fixed to the other side of the positioning seat 4223. The first mounting shaft 4226 passes through the second through hole. The middle part of the hook 4222 is movably mounted on the first mounting shaft 4226. One end of the hook 4222 is connected to the telescopic rod of the fifth cylinder 4221. The fifth cylinder 4221 drives the hook 4222 to move in the first through hole 4225.
[0099] When the pin 4224 is inserted into the third positioning hole of the front partition 7, the third positioning switch 423 abuts against the front partition 7, generating an electrical signal indicating that it is in position. The fifth cylinder 4221 drives the hook 4222 to flip. At this time, the hook 4222 and the positioning seat 4223 together clamp the front partition 7.
[0100] like Figure 1-4 As shown in Figures 8 and 9, in a preferred embodiment of the present invention, the front partition gripping part 4 further includes a fourth clamp 43, the upper end of which is fixed to the gripper frame 1 and used to clamp the upper edge of the front partition 7, thereby enhancing the clamping force on the front partition 7.
[0101] Of course, the gripper is not limited to positioning itself with the welding station solely through the first positioning connector 15. For example, the welding station may have a first tooling positioning part and a second tooling positioning part, wherein the first tooling positioning part is movable. Figure 2 , 3 As shown in Figure 5, a second positioning connector 424 is also provided on the lower end of the third vertical support 41. When the robot moves the gripper to connect the second positioning connector 424 with the second tooling positioning part of the welding station, the first tooling positioning part of the welding station rises and connects with the first positioning connector 15, thereby positioning the upper and lower parts of the gripper with the welding station respectively, thus improving the positioning accuracy and stability of the gripper and the welding station.
[0102] This invention also discloses a gripping method for wheel arch outer panel and front partition, applied to the aforementioned gripper, the gripping method comprising: Place the left wheel arch outer panel 5, the right wheel arch outer panel 6, and the front partition 7 on the centering platform according to their relative positions on the body-in-white; Both the left wheel cover outer plate gripping part 2 and the right wheel cover outer plate gripping part 3 are moved to the third state; The robot moves the gripper to the centering platform, and the front partition gripper 4 is aligned with the front or rear side of the front partition 7. The gripper moves horizontally towards the front partition 7 until the front partition gripping part 4 grips the front partition 7. When the current partition gripping part 4 grips the front partition 7 into place, both the left wheel cover outer panel gripping part 2 and the right wheel cover outer panel gripping part 3 move from the third state to the first state, and the left wheel cover outer panel gripping part 2 grips the left wheel cover outer panel 5, and the right wheel cover outer panel gripping part 3 grips the right wheel cover outer panel 6. Once the left wheel cover outer plate 5 and the right wheel cover outer plate 6 are gripped in place, the robot will move the gripper to the welding station. When the first positioning connector 15 is inserted into the tooling positioning part on the welding station, the fixture on the welding station clamps the gripper. Both the left wheel cover outer panel gripping part 2 and the right wheel cover outer panel gripping part 3 move from the first state to the second state; The welding robot welds the assembled left wheel cover outer plate 5, right wheel cover outer plate 6 and front partition 7 together, making the three parts into one. After the welding robot completes the welding, the left wheel cover outer plate gripping part 2 and the right wheel cover outer plate gripping part 3 both move from the second state to the third state, and the front partition gripping part 4 separates from the front partition 7.
[0103] The gripping method of the present invention, by using the aforementioned gripper, enables the tooling of two workstations to be completed in one workstation, reducing the number of toolings, reducing the number of personnel loading the parts, and saving labor costs.
[0104] In this embodiment of the invention, the term "multiple" refers to two or more, unless otherwise explicitly defined. The terms "install," "connect," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention based on the specific circumstances.
[0105] In the description of the embodiments of the present invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.
[0106] In the description of this specification, the terms "an embodiment," "a preferred embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0107] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, the embodiments of the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of the present invention should be included within the protection scope of the embodiments of the present invention.
Claims
1. A gripper, characterized in that, The device includes a gripper frame (1), a left wheel cover outer plate gripping part (2), a right wheel cover outer plate gripping part (3), and a front partition gripping part (4). The gripper frame (1) is provided with a gun changing disc (11) and a first positioning insertion part (15). The left wheel cover outer plate gripping part (2) is movably installed at one end of the gripper frame (1). The left wheel cover outer plate gripping part (2) has a first state of gripping the left wheel cover outer plate (5), a second state of assembling the left wheel cover outer plate (5) with the front partition (7), and a third state of separating from the left wheel cover outer plate (5). In the first state, the right wheel cover outer plate gripping part (3) is movably installed at the other end of the gripper frame (1). The right wheel cover outer plate gripping part (3) has a first state of gripping the right wheel cover outer plate (6), a second state of assembling the right wheel cover outer plate (6) with the front partition (7), and a third state of separating from the right wheel cover outer plate (6). The front partition gripping part (4) is located in the middle of the gripper frame (1) and is located between the left wheel cover outer plate gripping part (2) and the right wheel cover outer plate gripping part (3).
2. The gripper according to claim 1, characterized in that, The gripper frame (1) has sliding parts on both sides. The left wheel cover outer plate gripping part (2) includes a first vertical support (21) and a first positioning fixture (22). The upper end of the first vertical support (21) is installed on the sliding part on one side of the gripper frame (1). The first positioning fixture (22) is installed on the first vertical support (21) and is used to position the left wheel cover outer plate (5). The right wheel cover outer plate gripping part (3) includes a second vertical support (31) and a second positioning fixture (32). The upper end of the second vertical support (31) is installed on the sliding part on the other side of the gripper frame (1). The second positioning fixture (32) is installed on the second vertical support (31) and is used to position the right wheel cover outer plate (6). The front partition The gripping part (4) includes a third vertical support (41) and a third positioning fixture (42). The upper end of the third vertical support (41) is fixed to the middle of the gripper frame (1). The third positioning fixture (42) is installed on the third vertical support (41). The first state of the left wheel cover outer plate gripping part (2) and the first state of the right wheel cover outer plate gripping part (3) are both states when the sliding part slides to the first position. The second state of the left wheel cover outer plate gripping part (2) and the second state of the right wheel cover outer plate gripping part (3) are both states when the sliding part slides to the second position. The third state of the left wheel cover outer plate gripping part (2) and the third state of the right wheel cover outer plate gripping part (3) are both states when the sliding part slides to the third position.
3. The gripper according to claim 2, characterized in that, The sliding part includes at least one guide rail, a slide block, a first limiting block, a second limiting block, a first cylinder, and a stroke adjustment part. The guide rail is horizontally fixed to the gripper frame (1), and the guide rail is aligned with the length direction of the front partition (7). The slide block is slidably mounted on the guide rail. The upper end of the first vertical support (21) or the upper end of the second vertical support (31) is fixed to the slide block. The first limiting block and the second limiting block are respectively fixed to the gripper frame (1), and the first limiting block and the second limiting block are respectively located at two extreme positions of the slide block. The first cylinder is fixed to the gripper frame (1). 1) On the first cylinder, the telescopic rod of the first cylinder is connected to the slide block. The stroke adjustment part is movably mounted on the first vertical support (21) or the second vertical support (31). When the stroke adjustment part is in the first position, the stroke adjustment part is located between the slide block and the second limiting block. When the stroke adjustment part is in the second position, the stroke adjustment part is located outside the stroke range of the slide block. When the slide block abuts against the stroke adjustment part, the slide block slides to the first position. When the slide block abuts against the first limiting block, the slide block slides to the third position. When the slide block abuts against the second limiting block, the slide block slides to the second position.
4. The gripper according to claim 3, characterized in that, The stroke adjustment unit includes a second cylinder, a first connecting rod, and a pressure block. The second cylinder is fixedly connected to the upper end of the first vertical support (21) or the second vertical support (31). The middle part of the first connecting rod is movably mounted on the first vertical support (21) or the second vertical support (31). One end of the first connecting rod is connected to the telescopic rod of the second cylinder. The pressure block is fixedly connected to the other end of the first connecting rod. When the pressure block is in the first position, it abuts against the second limiting block and is located between the slide and the second limiting block. When the pressure block is in the second position, it is located outside the sliding range of the slide.
5. The gripper according to claim 2, characterized in that, The first positioning fixture (22) includes multiple first clamping devices (221), at least two first positioning pins (222), and a first positioning switch (223). The first clamping devices (221), the first positioning pins (222), and the first positioning switch (223) are respectively fixed to the first vertical support (21). The first positioning pins (222) correspond to the first positioning holes of the left wheel cover outer plate (5). When the first positioning pins (222) are inserted into the first positioning holes, the first positioning switch (223) abuts against the left wheel cover outer plate (5), and the first clamping devices (221) clamp the left wheel cover outer plate (5). The second positioning fixture (32) includes multiple second clamping devices (321), at least two second positioning pins (322), and a second position switch (323). The second clamping device (321), the second positioning pin (322), and the second position switch (323) are respectively fixed to the second vertical bracket (31). The second positioning pin (322) corresponds to the second positioning hole of the right wheel cover outer plate (6). When the second positioning pin (322) is inserted into the second positioning hole, the second position switch (323) abuts against the right wheel cover outer plate (6), and the second clamping device (321) clamps the right wheel cover outer plate (6).
6. The gripper according to claim 5, characterized in that, Both the first clamping device (221) and the second clamping device (321) include a mounting bracket (2211) and a pneumatic clamp (2212). The mounting bracket (2211) is fixed to the first vertical support (21) or the second vertical support (31). The mounting bracket (2211) is provided with a first clamping arm (2213). The pneumatic clamp (2212) is fixed to the mounting bracket (2211). The pneumatic clamp (2212) is provided with a movable second clamping arm (2214). When the first position switch (223) abuts against the outer plate of the left wheel cover (5), the pneumatic clamp (2212) drives the second clamping arm (2214) and together with the first clamping arm (2213), clamps the outer plate of the left wheel cover (5) or the outer plate of the right wheel cover (6).
7. The gripper according to claim 2, characterized in that, The third positioning fixture (42) includes a third clamping device (421), at least two third positioning pins (422) and a third positioning switch (423). The third clamping device (421), the third positioning pins (422) and the third positioning switch (423) are respectively disposed on the third vertical support (41). The third positioning pins (422) correspond to the third positioning holes of the front partition (7). When the third positioning pins (422) are inserted into the third positioning holes, the third positioning switch (423) abuts against the front partition (7) and the third clamping device (421) clamps the front partition (7).
8. The gripper according to claim 7, characterized in that, The third vertical support (41) has a third mounting arm (411) horizontally arranged on both sides. A fourth mounting arm (412) is also arranged between the two third mounting arms (411). One end of the fourth mounting arm (412) is fixedly connected to one of the third mounting arms (411) or to the third vertical support (41). The third clamping device (421) is fixedly connected to the other end of the fourth mounting arm (412). The third positioning pin (422) is fixedly connected to the third mounting arm (411).
9. The gripper according to claim 8, characterized in that, The third clamping device (421) includes a sixth cylinder (4211), a third clamping arm (4212), and a sixth mounting shaft (4213). The sixth cylinder (4211) is fixed to the fourth mounting arm (412). The middle part of the third clamping arm (4212) is movably mounted on the fourth mounting arm (412) through the sixth mounting shaft (4213). One end of the third clamping arm (4212) is connected to the telescopic rod of the sixth cylinder (4211). When the other end of the third clamping arm (4212) passes through the middle through hole (71) of the front partition (7) and the front partition (7) abuts against the third positioning switch (423) to generate a positioning electrical signal, the sixth cylinder (4211) drives the third clamping arm (4212) and together with the fourth mounting arm (412) clamps the front partition (7).
10. The gripper according to claim 8, characterized in that, The third positioning pin (422) is a hook pin, which includes a fifth cylinder (4221), a hook (4222), a positioning seat (4223), and a first mounting shaft (4226). The positioning seat (4223) is fixed to the third mounting arm (411). A pin portion (4224) extends horizontally on one side of the positioning seat (4223). The positioning seat (4223) has a first through hole (4225) and a hole corresponding to the pin portion (4224). The second through hole is connected, the fifth cylinder (4221) is fixed to the other side of the positioning seat (4223), the first mounting shaft (4226) passes through the second through hole, the middle part of the hook (4222) is movably mounted on the first mounting shaft (4226), one end of the hook (4222) is connected to the telescopic rod of the fifth cylinder (4221), and the fifth cylinder (4221) drives the hook (4222) to move in the first through hole (4225).
11. A method for gripping a wheel arch outer panel and a front partition, characterized in that, Applied to the gripper according to any one of claims 1-10, the gripping method includes: Place the left wheel arch outer panel (5), the right wheel arch outer panel (6), and the front partition (7) on the centering platform according to their relative positions on the white body; Both the left wheel cover outer plate gripping part (2) and the right wheel cover outer plate gripping part (3) are moved to the third state; The robot moves the gripper to the centering platform, and the front partition gripper (4) is opposite to the front or rear side of the front partition (7); The gripper moves horizontally in the direction of the front partition (7) until the front partition gripping part (4) grips the front partition (7). When the front partition gripping part (4) grips the front partition (7) in place, the left wheel cover outer plate gripping part (2) and the right wheel cover outer plate gripping part (3) both move from the third state to the first state, and the left wheel cover outer plate gripping part (2) grips the left wheel cover outer plate (5), and the right wheel cover outer plate gripping part (3) grips the right wheel cover outer plate (6). After the left wheel cover outer plate (5) and the right wheel cover outer plate (6) are gripped in place, the robot moves the gripper to the welding station; When the first positioning insertion part (15) is inserted into the tooling positioning part on the welding station, the gripper meets the positioning condition; Both the left wheel cover outer plate gripping part (2) and the right wheel cover outer plate gripping part (3) move from the first state to the second state; The welding robot welds the assembled left wheel cover outer plate (5), right wheel cover outer plate (6) and front partition (7); After the welding robot finishes welding, the left wheel cover outer plate gripping part (2) and the right wheel cover outer plate gripping part (3) move from the second state to the third state, and the front partition gripping part (4) separates from the front partition (7).