Frame manipulator tail end execution clamp

Abstract

A tail end execution clamp of a frame manipulator comprises a suspension arm, the lower portion of the suspension arm is provided with an insertion groove, and shaft holes are symmetrically formed in the two side walls of the insertion groove; the turnover mechanism is arranged below the suspension arm; the clamping mechanism comprises a supporting frame which is in an inverted T shape and is composed of a transverse rod and a vertical rod; a connecting flange is arranged on the back of the vertical rod; the two first clamping jaw assemblies are symmetrically arranged on the two sides of the supporting frame cross rod; the clamp switching mechanism comprises a sliding rail and a sliding block, and the sliding block is arranged on the front face of the supporting frame vertical rod in the axial direction of the supporting frame vertical rod; the supporting rod is axially arranged on the bottom surface of the sliding rail along the sliding rail; a cylinder body is vertically and downwards arranged on one side of the lower portion of the supporting rod in parallel, a connecting piece is arranged on one side of the lower portion of the supporting rod and connected with the bottom of the cylinder body, and the end of a piston rod of the switching cylinder is connected with the middle of a transverse rod of the supporting frame. The second clamping jaw assembly and the controller are arranged on the back face of the suspension arm through a fixing support. The overturning air cylinder, the switching air cylinder, the clamping air cylinder A, the clamping air cylinder B and the clamping air cylinder C are connected with a controller.

Description

Technical Field

[0001] This invention relates to the field of automobile assembly and transfer technology, and specifically to a vehicle frame robot end effector gripper. Background Technology

[0002] Existing technologies typically use customized assembly tooling or fixtures based on the vehicle frame structure, resulting in a single-specification customization pattern with various specifications, and a wide variety of vehicle frame assembly and transfer fixtures.

[0003] Existing technologies often equip the end effector of frame robotic arms with mobile trolleys, which facilitates the transfer and transportation to the assembly position, followed by manual positioning and fastening, which is time-consuming and labor-intensive.

[0004] The existing chassis are equipped with transfer actuators, but due to the relatively simple and limited customized structure, they present an unchangeable bottleneck, and have been modified in the past due to abnormal installation caused by chassis deviation.

[0005] The existing end-effector clamps on the chassis are mostly fixed by directly fastening to the flange with screws, without a quick-change device, which complicates the replacement of the actuator clamps.

[0006] Existing technologies suffer from a bottleneck in the 180-degree rotation function of clamps during transfer, conveying, and assembly processes, which limits the functionality of the clamping process. Summary of the Invention

[0007] The purpose of this invention is to provide a chassis robot end effector gripper that eliminates traditional manual assembly, realizes automated chassis assembly, and saves energy and reduces consumption; it breaks through the single-customization pattern of chassis assembly and realizes multi-directional flexible docking for chassis assembly transfer.

[0008] To achieve the above objectives, the technical solution of the present invention is as follows:

[0009] A vehicle frame robotic arm end effector gripper, characterized in that it comprises:

[0010] The boom has a slot at its lower part, and shaft holes are symmetrically provided on both sides of the slot.

[0011] The flipping mechanism includes:

[0012] A flip gear is rotatably mounted in the boom slot via an axle; one side of the upper part of the flip gear extends upward to form a connecting part;

[0013] A bearing housing is horizontally disposed at the lower end of the boom; the bearing housing has an opening corresponding to the boom slot; the lower part of the flip gear extends into the opening; bearings are provided at both ends inside the bearing housing.

[0014] A rotating shaft is installed inside the bearing in the bearing housing. A transmission gear is provided on its shaft body. The transmission gear is located at the opening of the bearing housing and meshes with the lower part of the tilting gear. One end of the rotating shaft is exposed outside the bearing housing, and a connecting flange is provided at this end.

[0015] Two tilting cylinders are connected at the bottom to form a series configuration and are vertically installed on one side of the boom. The piston rod end of one tilting cylinder is connected to the upper end of the boom through a connector, and the piston rod end of the other tilting cylinder is connected to the connecting part of the tilting gear.

[0016] Clamping mechanism, including:

[0017] The support frame is in the shape of an inverted T, consisting of a horizontally arranged crossbar and a vertical bar located in the middle; a connecting flange is provided on the upper back of the vertical bar, and is used to connect to the connecting flange on the rotating shaft;

[0018] Two first gripper assemblies are symmetrically arranged on both sides of the support frame crossbar; the first gripper assembly includes,

[0019] The guide rail and its slider are located on one side of the upper end face of the support frame crossbar;

[0020] The gripper A has one side connected to the slider on the guide rail and is set perpendicular to the axis of the guide rail;

[0021] Clamping cylinder A has its cylinder body arranged parallel to the back side of one side of the support frame crossbar, and its piston rod end is connected to the clamping jaw A located on the slider side through a connector;

[0022] Clamping cylinder B, whose cylinder body is arranged parallel to one side of the middle part of the upper end face of the support frame crossbar;

[0023] Gripper B is positioned opposite to gripper A, and one side of gripper B is connected to the end of the piston rod of clamping cylinder B.

[0024] The fixture switching mechanism includes:

[0025] The slide rail and slider are arranged on the front side of the vertical rod of the support frame along the axial direction of the vertical rod of the support frame;

[0026] A support rod is provided on the bottom surface of the slide rail along the slide rail axis;

[0027] Switching cylinder C has its cylinder body vertically downward and parallel to one side of the lower part of the support rod. A connector is provided on one side of the lower part of the support rod to connect to the bottom of the cylinder body. The end of the piston rod of the switching cylinder is connected to the middle of the crossbar of the support frame through the connector.

[0028] The second gripper assembly includes,

[0029] The fixed gripper is vertically positioned on the upper part of the front side of the support rod;

[0030] The switching and clamping cylinder D has its cylinder body arranged parallel to the upper part of the back of the support rod, and its piston rod is arranged upward;

[0031] The gripper D is arranged parallel to and opposite to the fixed gripper, and one end of the gripper D is connected to the end of the piston rod of the switching and clamping cylinder D;

[0032] A support block is connected to the middle of the crossbar of the support frame via a connector and is located at the front lower part of the support frame;

[0033] The controller is mounted on the back of the boom via a fixed bracket; the tilting cylinder, switching cylinder C, clamping cylinder A, clamping cylinder B, and switching and clamping cylinder D are connected to the controller.

[0034] Furthermore, it also includes two buffers, mounted above and below a vertically positioned connecting rod located on the side wall of the bearing housing.

[0035] Additionally, it includes a protective cover, which is installed outside the tilting gear and connected to the lower end of the boom.

[0036] Furthermore, it also includes a quick-change device, disposed on the top surface of the boom, comprising:

[0037] The quick-change dial has a central through hole, and two support plates are installed parallel and vertically on both sides of the central hole on the bottom surface. There is a shaft hole on the lower part of each side of the support plate. Two pin holes are symmetrically arranged on both sides of the end face of the quick-change dial, and a positioning pin is installed in the pin hole.

[0038] The quick-change female plate has a rectangular mounting hole in the center for the two support plates on the bottom surface of the quick-change male plate to pass through. The inner wall of the rectangular short side of the mounting hole has a fixing groove in the center. The upper part of the two side walls of the fixing groove has fixing holes and locking pins. The quick-change female plate has two positioning holes for the two positioning pins to pass through.

[0039] The quick-change connector is inverted T-shaped and includes a bushing and two lugs arranged parallel to each other on the lower part of the two sides of the bushing. The outer ends of the lugs are respectively provided with through holes. The upper part of the bushing is inserted into the central through hole of the quick-change disc.

[0040] Two locking blocks are respectively disposed on both sides of the inner ear plate of the quick-change connector. The locking blocks are triangular in shape, with a first rotating shaft passing through one corner. The two ends of the first rotating shaft are disposed in the shaft holes of the two support plates on the bottom surface of the quick-change male disc. A limiting groove is provided radially on the other corner of the locking block. A second rotating shaft is disposed in the limiting groove. The two ends of the second rotating shaft are disposed in the through holes of the two ear plates of the quick-change connector. The triangular part of the locking block can be flipped to correspond to the locking pin in the fixing groove of the quick-change female disc.

[0041] The quick-change cylinder has its cylinder body fixed to the top surface of the quick-change male disc. The piston rod is inserted into the bushing of the quick-change connector in the central through hole of the quick-change male disc, driving the quick-change connector to move up and down, thereby driving the two locking blocks to rotate around the shaft. A connecting flange is provided on the top surface of the cylinder body.

[0042] Preferably, two pin holes are symmetrically arranged on both sides of the quick-change male disc, and correspondingly, locking pins are arranged on both sides of the quick-change female disc.

[0043] Preferably, the quick-change male disc and quick-change female disc are symmetrically provided with mounting through holes and gas connectors.

[0044] Preferably, the quick-change device is further provided with a machine control valve, which is connected to the controller.

[0045] Preferably, the bottom surface of the support block and the top surface of the gripper D are inclined surfaces.

[0046] Preferably, support blocks are respectively provided on the outer side of the support block and the gripper D, and are perpendicularly connected to the support block and the gripper D.

[0047] Compared with the prior art, the advantages or beneficial effects of the present invention are as follows:

[0048] This invention achieves rotation at three angles: 0°, 90°, and 180° through the design of a flipping mechanism. This ensures the accuracy of the rotation at these three angles, solves the bottleneck of variable rotation during the assembly and transportation of the chassis end, changes the existing chassis layout that mostly relies on custom-made installation fixtures, and is also more cost-effective than traditional technologies that use servo motors.

[0049] This invention designs a switching cylinder, achieving compatibility with various workpieces.

[0050] The present invention designs the gripper assembly as a linked chopstick, which can achieve one-click clamping or releasing, making operation simpler.

[0051] This invention, through the design of a quick-change device, realizes the quick-change docking technology of robotic arms, completely breaking through the limitations of traditional robotic arm docking. It effectively meets the multi-directional flexible docking requirements between various specifications of automotive frame assembly and transportation, enabling the upgrading from single frame product transportation and assembly to multi-variety and multi-specification frame assembly, reducing costs, improving quality and efficiency, enhancing the high-tech content of products, and greatly promoting the extensive development of this technology field. It ensures continuous innovation in multi-station multi-workstations that integrate end-effector clamping, positioning, quick-change installation, and fastening of automotive frames. Furthermore, the quick-change device of this invention is designed with both electrical and mechanical safety features to ensure the safety of quick-change operations. Attached Figure Description

[0052] Figure 1 Three-dimensional representation of an embodiment of the present invention Figure 1 ;

[0053] Figure 2 Three-dimensional representation of an embodiment of the present invention Figure 2 ;

[0054] Figure 3 This is a top view of an embodiment of the present invention;

[0055] Figure 4 The three-dimensional flipping mechanism in the embodiment of the present invention Figure 1 ;

[0056] Figure 5 The three-dimensional representation of the flipping mechanism (removal of the protective cover) in the embodiment of the present invention Figure 2 ;

[0057] Figure 6 This is a three-dimensional representation of the clamping mechanism, clamp switching mechanism, and second gripper assembly in an embodiment of the present invention. Figure 1 ;

[0058] Figure 7 The three-dimensional assembly of the clamping mechanism, clamp switching mechanism and second gripper assembly in the embodiment of the present invention. Figure 2 ;

[0059] Figure 8 The three-dimensional assembly of the clamping mechanism, clamp switching mechanism and second gripper assembly in the embodiment of the present invention. Figure 3 ;

[0060] Figure 9 This is a top view of the clamping mechanism, clamp switching mechanism and second gripper assembly in an embodiment of the present invention;

[0061] Figure 10 This is a perspective view of the quick-change device in an embodiment of the present invention;

[0062] Figure 11 This is a top view of the quick-change device in an embodiment of the present invention;

[0063] Figure 12 for Figure 11 AA section view;

[0064] Figure 13 This is an exploded perspective view of the quick-change public disc of the quick-change device in an embodiment of the present invention;

[0065] Figure 14 This is a perspective view of the quick-change female disc of the quick-change device in an embodiment of the present invention. Detailed Implementation

[0066] See Figures 1 to 14 The end effector gripper for the vehicle frame robot of the present invention comprises:

[0067] The boom 1 has a slot 101 at its lower part, and shaft holes 102 are symmetrically provided on both sides of the slot.

[0068] The flipping mechanism 2 includes:

[0069] A flip gear 21 is rotatably mounted in the slot 101 of the boom 1 via a wheel axle 211; one side of the upper part of the flip gear 21 extends upward to form a connecting part 212;

[0070] A bearing housing 22 is horizontally disposed at the lower end of the boom 1; the bearing housing 22 has an opening 221 corresponding to the boom slot 101; the lower part of the flip gear 21 extends into the opening 221; bearings are provided at both ends inside the bearing housing 22.

[0071] A rotating shaft 23 is disposed inside the bearing in the bearing housing 22. A transmission gear 24 is provided on its shaft. The transmission gear 24 is located at the opening 221 of the bearing housing 22 and meshes with the lower part of the tilting gear 21. One end of the rotating shaft 23 is exposed outside the bearing housing 22, and a connecting flange 25 is provided at this end.

[0072] Two tilting cylinders 26 and 26' are connected at the bottom of their bodies to form a series arrangement. They are vertically arranged on one side of the boom. The piston rod end of one tilting cylinder 26 is connected to the upper end of the boom 1 through a connector, and the piston rod end of the other tilting cylinder 26' is connected to the connecting part 211 of the tilting gear 21.

[0073] Clamping mechanism 3 includes:

[0074] The support frame 31 is in the shape of an inverted T and consists of a horizontally arranged crossbar 311 and a vertical bar 312 located in the middle. A connecting flange 32 is provided on the upper part of the back of the vertical bar 312, and is used to connect the connecting flange 25 on the rotary shaft 23.

[0075] Two first gripper assemblies 33 and 33' are symmetrically arranged on both sides of the crossbar 311 of the support frame 31; the first gripper assembly 33 (taking the first gripper assembly 33 as an example, the same applies) includes,

[0076] The guide rail 331 and its slider are located on one side of the upper end face of the crossbar 311 of the support frame 31.

[0077] The gripper A332 has one side connected to the slider on the guide rail 331 and is arranged perpendicular to the axis of the guide rail 331.

[0078] The clamping cylinder A333 has its cylinder body arranged parallel to the back side of the crossbar 311 of the support frame 31, and its piston rod end is connected to the gripper A332 located on the slider side through a connector;

[0079] Clamping cylinder B334, the cylinder body of which is arranged parallel to one side of the middle part of the upper end face of the support frame crossbar 311;

[0080] Gripper B335 is disposed opposite to gripper A332, and one side of gripper B335 is connected to the end of the piston rod of clamping cylinder B334.

[0081] The fixture switching mechanism 4 includes:

[0082] Slide rail 41 and slider 411, slider 411 is axially arranged on the front side of the vertical rod 312 of the support frame 31;

[0083] Support rod 42 is axially disposed on the bottom surface of slide rail 41 along slide rail 41;

[0084] The switching cylinder C43 has its cylinder body vertically downward and parallel to one side of the lower part of the support rod 42. A connector is provided on one side of the lower part of the support rod 42 to connect to the bottom of the cylinder body. The piston rod end of the switching cylinder C43 is connected to the middle part of the crossbar 311 of the support frame 31 through the connector.

[0085] The second gripper assembly 5 includes,

[0086] The fixing claw 51 is vertically disposed on the upper part of the front side of the support rod 42;

[0087] The switching and clamping cylinder D52 has its cylinder body arranged parallel to the upper part of the back of the support rod 42, and its piston rod is arranged upward.

[0088] The gripper D53 is arranged parallel to and opposite to the fixed gripper 51, and one end of the gripper D53 is connected to the end of the piston rod of the switching and clamping cylinder D52.

[0089] A support block 54 is connected to the middle of the crossbar 311 of the support frame 31 via a connector and is located at the front and lower part of the support frame 31;

[0090] The controller 6 is mounted on the back of the boom 1 via a fixed bracket 7; the tilting cylinder, switching cylinder C, clamping cylinder A, clamping cylinder B, and switching and clamping cylinder D are connected to the controller.

[0091] Furthermore, it also includes a quick-change device 8, disposed on the top surface of the boom 1, which includes:

[0092] The quick-change dial 81 has a central through hole 811 in the center, and two support plates 812 are arranged parallel and vertically on both sides of the central through hole on its bottom surface. Each of the support plates 812 has a shaft hole on the lower part of each side. Two pin holes are symmetrically arranged on both sides of the end face of the quick-change dial 81, and a positioning pin 813 is installed in the pin hole.

[0093] The quick-change female plate 82 has a rectangular mounting hole 821 in the center for the two support plates 812 on the bottom surface of the quick-change male plate 81 to pass through. The inner wall of the rectangular short side of the mounting hole 821 has a fixing groove 822 in the center. The upper part of the two side walls of the fixing groove 822 has fixing holes and locking pins 823. The quick-change female plate 82 has two positioning holes 824 for the two positioning pins 813 to pass through.

[0094] The quick-change connector 83 is inverted T-shaped and includes a bushing 831 and two lugs 832 arranged parallel to the lower part of the two sides of the bushing 831. The outer ends of the lugs are respectively provided with through holes; the upper part of the bushing 831 is inserted into the central through hole 811 of the quick-change male disk 81.

[0095] Two locking blocks 84 are respectively disposed on both sides of the ear plate 832 of the quick-change connector 83. The locking blocks 84 are triangular, with a first rotating shaft 841 passing through one corner. The two ends of the first rotating shaft 841 are disposed in the shaft holes of the two support plates 812 on the bottom surface of the quick-change male disc 81. The other corner of the locking block 84 is radially provided with a limiting groove 842. A second rotating shaft 843 is disposed in the limiting groove 842. The two ends of the second rotating shaft 843 are disposed in the through holes of the two ear plates 832 of the quick-change connector 83. The triangular part of the locking block 84 is rotatably corresponding to the locking pin 823 in the fixing groove 822 of the quick-change female disc 82.

[0096] The quick-change cylinder 85 has its cylinder body fixed to the top surface of the quick-change male disc 81. The piston rod 852 is inserted into the bushing 831 of the quick-change connector 83 in the central through hole of the quick-change male disc 81, driving the quick-change connector 83 to move up and down, thereby driving the two locking blocks 84 to rotate around the axis. The top surface of the cylinder body is provided with a connecting flange 86.

[0097] Preferably, two pin holes 814 are symmetrically arranged on both sides of the quick-change male disc 81, and correspondingly, locking pins 11 are arranged on both sides of the quick-change female disc 82.

[0098] Preferably, the quick-change male disc and quick-change female disc are symmetrically provided with mounting through holes and gas connectors.

[0099] Furthermore, it also includes two buffers 9 and 9', installed above and below a vertically arranged connecting rod 10, which is located on the side wall of the bearing housing 22. These buffers act as a buffer and limit when the clamping mechanism is flipped.

[0100] Furthermore, it also includes a protective cover 27, which is disposed outside the flip gear 21 and is connected to the lower end of the boom 1.

[0101] Preferably, the bottom surface of the support block 54 and the top surface of the gripper D53 are inclined surfaces.

[0102] Preferably, support blocks 55 and 55' are respectively provided on the outer side of the support block 54 and the gripper D53, and are perpendicularly connected to the support block 54 and the gripper D54.

[0103] Preferably, the quick-change device 8 of the present invention is further provided with a machine control valve 87, which is connected to the controller.

[0104] The quick-change device is equipped with a misoperation mechanism; the opening and closing of the quick-change cylinder will only take effect when the machine control valve is triggered.

[0105] The switching and clamping cylinder D has both switching and clamping functions. When it works with the gripper D, it can accommodate different workpieces. Sometimes the top surface of the gripper D needs to be clamped, and sometimes the bottom surface of the gripper D needs to be clamped.

[0106] When clamping is required on the top surface of gripper D, the switching and clamping cylinder D is initially retracted.

[0107] When clamping is required on the bottom surface of gripper D, the switching and clamping cylinder D is initially extended.

[0108] Three types of workpieces correspond to three sets of grippers:

[0109] Workpiece 1, switching cylinder C extends, clamping cylinders A and B, switching and clamping cylinder D clamp workpiece 1.

[0110] Workpiece 2, switching cylinder C retracts, clamping cylinders A and B, switching and clamping cylinder D clamp workpiece 2.

[0111] Workpiece 3, switching cylinder C retracts, switching and clamping cylinder D retracts, clamping cylinders A and B, and switching and clamping cylinder D clamp workpiece 3.

Claims

1. A vehicle frame robotic arm end effector gripper, characterized in that, include: The boom has a slot at its lower part, and shaft holes are symmetrically provided on both sides of the slot. The flipping mechanism includes: A flip gear is rotatably mounted in the boom slot via an axle; one side of the upper part of the flip gear extends upward to form a connecting part; A bearing housing is horizontally disposed at the lower end of the boom; the bearing housing has an opening corresponding to the boom slot; the lower part of the flip gear extends into the opening; bearings are provided at both ends inside the bearing housing. A rotating shaft is disposed within a bearing in the bearing housing, and a transmission gear is mounted on its shaft. The transmission gear is located at the opening of the bearing housing and meshes with the lower part of the tilting gear; one end of the rotating shaft is exposed outside the bearing housing, and a connecting flange is provided at this end; Two tilting cylinders, connected at the bottom to form a series configuration, are vertically mounted on one side of the boom. The piston rod end of one tilting cylinder is connected to the upper end of the boom via a connector, and the piston rod end of the other tilting cylinder is connected to the connecting part of a tilting gear; the clamping mechanism includes: The support frame is in the shape of an inverted T, consisting of a horizontally arranged crossbar and a vertical bar located in the middle; a connecting flange is provided on the upper back of the vertical bar, and is used to connect to the connecting flange on the rotating shaft; Two first gripper assemblies are symmetrically arranged on both sides of the support frame crossbar; the first gripper assembly includes, The guide rail and its slider are located on one side of the upper end face of the support frame crossbar; The gripper A has one side connected to the slider on the guide rail and is set perpendicular to the axis of the guide rail; Clamping cylinder A has its cylinder body arranged parallel to the back side of one side of the support frame crossbar, and its piston rod end is connected to the clamping jaw A located on the slider side through a connector; Clamping cylinder B, whose cylinder body is arranged parallel to one side of the middle part of the upper end face of the support frame crossbar; Gripper B is positioned opposite to gripper A, and one side of gripper B is connected to the end of the piston rod of clamping cylinder B. The fixture switching mechanism includes: The slide rail and slider are arranged on the front side of the vertical rod of the support frame along the axial direction of the vertical rod of the support frame; A support rod is provided on the bottom surface of the slide rail along the slide rail axis; A switching cylinder C is positioned vertically downwards and parallel to the lower part of a support rod. A connector on the lower part of the support rod connects to the bottom of the cylinder body. The piston rod end of the switching cylinder is connected to the middle of the support frame crossbar via the connector. The second gripper assembly includes... The fixed gripper is vertically positioned on the upper part of the front side of the support rod; The switching and clamping cylinder D has its cylinder body arranged parallel to the upper part of the back of the support rod. Its piston rod is set upward; The gripper D is arranged parallel to and opposite to the fixed gripper, and one end of the gripper D is connected to the end of the piston rod of the switching and clamping cylinder D; a support block is connected to the middle of the crossbar of the support frame through a connector and is located at the lower front of the support frame. The controller is mounted on the back of the boom via a fixed bracket; the tilting cylinder, switching cylinder C, clamping cylinder A, clamping cylinder B, and switching and clamping cylinder D are connected to the controller.

2. The end effector gripper for a vehicle frame robot as described in claim 1, characterized in that, It also includes two buffers, mounted above and below a vertically positioned connecting rod located on the side wall of the bearing housing.

3. The end effector gripper for a vehicle frame robot as described in claim 1 or 2, characterized in that, It also includes a quick-change device, disposed on the top surface of the boom, which includes: The quick-change dial has a central through hole, and two support plates are installed parallel and vertically on both sides of the central hole on the bottom surface. There is a shaft hole on the lower part of each side of the support plate. Two pin holes are symmetrically arranged on both sides of the end face of the quick-change dial, and a positioning pin is installed in the pin hole. The quick-change female plate has a rectangular mounting hole in the center for the two support plates on the bottom surface of the quick-change male plate to pass through. The inner wall of the rectangular short side of the mounting hole has a fixing groove in the center. The upper part of the two side walls of the fixing groove has fixing holes and locking pins. The quick-change female plate has two positioning holes for the two positioning pins to pass through. The quick-change connector is inverted T-shaped and includes a bushing and two lugs arranged parallel to each other on the lower part of the two sides of the bushing. The outer ends of the lugs are respectively provided with through holes. The upper part of the bushing is inserted into the central through hole of the quick-change disc. Two locking blocks are respectively disposed on both sides of the inner ear plate of the quick-change connector. The locking blocks are triangular in shape, with a first rotating shaft passing through one corner. The two ends of the first rotating shaft are disposed in the shaft holes of the two support plates on the bottom surface of the quick-change male disc. A limiting groove is provided radially on the other corner of the locking block. A second rotating shaft is disposed in the limiting groove. The two ends of the second rotating shaft are disposed in the through holes of the two ear plates of the quick-change connector. The triangular part of the locking block can be flipped to correspond to the locking pin in the fixing groove of the quick-change female disc. The quick-change cylinder has its cylinder body fixed to the top surface of the quick-change male disc. The piston rod is inserted into the bushing of the quick-change connector in the central through hole of the quick-change male disc, driving the quick-change connector to move up and down, thereby driving the two locking blocks to rotate around the shaft. A connecting flange is provided on the top surface of the cylinder body.

4. The end effector gripper for a vehicle frame robot as described in claim 3, characterized in that, The quick-change male disc has two symmetrical pin holes on both sides, and correspondingly, the quick-change female disc has locking pins on both sides.

5. The end effector gripper for a vehicle frame robot as described in claim 3 or 4, characterized in that, The quick-change male and female discs are symmetrically provided with mounting through holes and gas connectors.

6. The end effector gripper for a vehicle frame robot as described in claim 3, characterized in that, The quick-change device is also equipped with a machine control valve, which is connected to the controller.

7. The end effector gripper for a vehicle frame robot as described in claim 1, 2, or 3, characterized in that, It also includes a protective cover, which is located outside the tilting gear and is connected to the lower end of the boom.

8. The end effector gripper for a vehicle frame robot as described in claim 1, characterized in that, The bottom surface of the support block and the top surface of the gripper D are inclined surfaces.

9. The end effector gripper for a vehicle frame robot as described in claim 1 or 8, characterized in that, Support blocks that are perpendicularly connected to the support block and gripper D are respectively provided on the outer side of the support block and gripper D.

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