Vehicle component gripper device and transfer trolley

Abstract

The invention provides a vehicle component gripper device and a transfer trolley. The vehicle component gripper device comprises a base, a gripper arm and a gripper arm, the base assembly is movably arranged on the base, the base assembly can move relative to the base, and a first connector is arranged on the upper portion of the base assembly; the first driving mechanism is used for driving the base assembly to move relative to the base; the mechanical arm is used for grabbing a vehicle component, the mechanical arm comprises a connecting base, a second connector is formed at the bottom of the connecting base, and the second connector is configured to be matched with the first connector; and the fixing assembly is arranged on the mechanical arm or the base assembly, and the fixing assembly is used for fixing the second connector relative to the first connector. According to the embodiment of the invention, the mechanical arm can be quickly replaced, and line-switching production is realized.

Description

Technical Field

[0001] This invention relates to the field of vehicle manufacturing technology, and in particular to a vehicle component gripper device and a transfer trolley. Background Technology

[0002] During vehicle manufacturing, vehicle components need to be moved and assembled. A gripper device is typically used to grasp and move these components. This gripper device includes a robotic arm with grippers for grasping the vehicle components. The robotic arm is usually fixed to a base using bolts or welding. Precise positioning of the robotic arm and base is required during installation. For example, the screw holes on the robotic arm must align with the screws on the base for proper connection, making installation time-consuming. Summary of the Invention

[0003] This invention provides a vehicle component gripper device and a transfer trolley to at least solve some of the above-mentioned technical problems existing in the prior art.

[0004] In a first aspect, embodiments of the present invention provide a vehicle component gripper device, comprising: Base; A base assembly is movably mounted on the base, the base assembly is movable relative to the base, and the upper part of the base assembly is provided with a first joint; A first driving mechanism is used to drive the base assembly to move relative to the base; A robotic arm for grasping vehicle components, the robotic arm including a connecting seat, the bottom of which forms a second joint, the second joint being configured to mate with a first joint; A fixing component, disposed on the robotic arm or the base assembly, is used to fix the second connector relative to the first connector.

[0005] In an optional embodiment, a connecting plug is formed at the top of the first connector, and a connecting groove adapted to the connecting plug is formed at the bottom of the second connector. The connecting plug has a first guide surface, which causes the cross-section of the connecting plug to gradually decrease from bottom to top. The connecting groove has a second guide surface that mates with the first guide surface, which causes the cross-section of the connecting groove to gradually decrease from bottom to top.

[0006] In an optional embodiment, the first guide surface is a plane, the connector has two oppositely arranged first guide surfaces that gradually approach each other from bottom to top, the second guide surface is a plane, the connecting groove has two oppositely arranged second guide surfaces that gradually approach each other from bottom to top, and the connecting groove formed between the two oppositely arranged second guide surfaces radially penetrates the second connector.

[0007] In an optional embodiment, one of the first connector and the second connector has a positioning hole and the other has a positioning pin, the positioning pin cooperating with the positioning hole to fix the robotic arm and the base assembly relative to each other in the horizontal direction.

[0008] In an optional embodiment, the connector includes: A snap-fit ​​flange is provided radially above the second connector, and the fixing component is provided on the base assembly and snaps into the snap-fit ​​flange; A transfer connection hole is formed above the snap-fit ​​flange. The transfer connection hole is used to mate with a transfer connector on the transfer trolley. The hole wall of the transfer connection hole has a first pin hole, and the transfer connector has a second pin hole opposite to the first pin hole. A retaining pin is used to secure the transfer connector to the connector seat by passing through the first pin hole and the second pin hole.

[0009] In an optional embodiment, the fixing components are in two sets, both sets of fixing components are disposed on the base assembly, and the two sets of fixing components are disposed opposite to each other on both sides of the first connector. Each set of fixing components includes: The second drive mechanism is disposed on the base assembly; A swing arm is connected to the second drive mechanism, which drives the swing arm to rotate so that the swing arm applies a downward force to the robotic arm.

[0010] In an optional embodiment, the base is provided with a slide rail, the base assembly has a slide groove that mates with the slide rail, and the first drive mechanism is provided on the base assembly.

[0011] In an optional embodiment, the base is provided with a rack, the rack is parallel to the slide rail, and the first drive mechanism is connected to a gear, the gear meshing with the rack.

[0012] In an optional embodiment, the base assembly includes: The slide block, the first connector, the first drive mechanism and the fixed assembly are respectively disposed on the slide block, and the first connector is disposed on the top surface of the slide block; A slider having the groove, the slider being disposed at the bottom of the slide block.

[0013] Secondly, embodiments of the present invention provide a transfer trolley for transferring a robotic arm to the vehicle component gripper device described in the embodiments of the present invention.

[0014] In an optional embodiment, the transfer trolley includes: Walking vehicle body; The lifting rod is mounted on the vehicle body; The guide frame is mounted on the traveling vehicle body; A transfer connector is slidably mounted on the lifting rod and is slidably connected to the guide frame. The transfer connector is used to connect to the connecting seat of the robotic arm.

[0015] In an optional embodiment, the lifting rod is provided with a plurality of climbing holes at equal intervals, and the transfer connector includes: The first lifting seat assembly includes a first lifting seat, a first spring pin, and a first pin lever. The first lifting seat is sleeved on the lifting rod, the first spring pin is slidably disposed on the first lifting seat, and the end of the first spring pin used to insert into the climbing hole has a first guide surface. The first pin lever is vertically connected to the first spring pin. The second lifting seat assembly includes a second lifting seat, a second spring pin, and a second pin lever. The second lifting seat is sleeved on the lifting rod, the second spring pin is slidably disposed on the second lifting seat, and the end of the second spring pin used to insert into the climbing hole has a second guide surface. The second pin lever is vertically connected to the second spring pin. Transfer connector, for connecting the second or first lifting seat; The pressure rod is hinged to the first lifting seat and to the second lifting seat via the pull rod. When the pressure rod is pressed down, the second lifting seat assembly is fixed relative to the lifting rod. The pressure rod applies an upward force to the first lifting seat, and the first guide surface acts on the wall of the climbing hole, causing the first spring pin to disengage from the climbing hole. The first lifting seat rises along the lifting rod. When the first spring pin is aligned with the climbing hole at the previous position, the first spring pin inserts into the climbing hole. When the pressure rod is pressed up, the pull rod applies an upward force to the second lifting seat, and the second guide surface acts on the wall of the climbing hole, causing the second spring pin to disengage from the climbing hole. The second lifting seat rises along the lifting rod, and when the second spring pin is aligned with the climbing hole at the previous position, the second spring pin inserts into the climbing hole.

[0016] One embodiment of the present invention has the following advantages or beneficial effects: In the vehicle component gripper device of this invention, a base assembly is movably mounted on a base, allowing the base assembly to move relative to the base. A first connector is provided on the upper part of the base assembly. A first drive mechanism drives the base assembly to move relative to the base. The robotic arm for gripping vehicle components includes a connecting seat, with a second connector formed at the bottom of the connecting seat. The second connector is configured to cooperate with the first connector, and the second connector and the first connector can be relatively fixed by a fixing component. This application, by providing a first connector and a second connector that can cooperate on the base assembly and the robotic arm respectively, allows the robotic arm to quickly dock with the base assembly for positioning through the cooperation of the first and second connectors. The fixing component then allows the second connector to cooperate with and be relatively fixed to the first connector, thus completing the assembly of the robotic arm. This enables rapid replacement of the robotic arm, facilitating production line transitions or replacing faulty robotic arms. 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 schematic diagram of the structure of a vehicle component gripper device according to an exemplary embodiment. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a vehicle component gripper device according to an exemplary embodiment. Figure 2 ; Figure 3 This is a partially enlarged schematic diagram of the exploded structure of a vehicle component gripper device according to an exemplary embodiment. Figure 4 This is a schematic diagram of the structure of the base and base assembly according to an exemplary embodiment; Figure 5 This is a partially enlarged structural schematic diagram of the base and substructure assembly according to an exemplary embodiment; Figure 6 This is a schematic diagram of a vehicle component gripper assembly robotic arm according to an exemplary embodiment. Figure 7 This is a schematic diagram of the structure of a transfer cart according to an exemplary embodiment; Figure 8 This is a partially enlarged structural schematic diagram of a transfer cart according to an exemplary embodiment; Figure 9 This is a partial cross-sectional structural schematic diagram of a transfer vehicle according to an exemplary embodiment.

[0019] The reference numerals in the attached drawings are explained as follows: 1-base, 11-slide rail, 12-rack, 2-base assembly, 21-first connector, 22-connecting plug, 23-first guide surface, 24-positioning hole, 25-first plane, 26-slide block, 27-slider, 3-first drive mechanism, 4-robotic arm, 41-second connector, 42-connecting groove, 43-second guide surface, 44-positioning pin, 45-clamping flange, 46-transfer connection hole, 47-fixing pin, 5-fixing assembly, 51-second drive mechanism, 52-swing arm, 6-transfer trolley, 61 - Transfer connector, 611- First lifting seat assembly, 6111- First lifting seat, 6112- First spring pin, 6113- First pin lever, 612- Second lifting seat assembly, 6121- Second lifting seat, 6122- Second spring pin, 6123- Second pin lever, 613- Pressure rod, 614- Transfer connector, 615- Toggle block assembly, 616- First guide surface, 617- Second guide surface, 618- Pull rod, 62- Guide structure, 63- Walking vehicle body, 64- Lifting rod, 641- Climbing hole, 65- Guide frame. Detailed Implementation

[0020] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] 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.

[0022] This invention provides a vehicle component gripper device for gripping and moving vehicle components. Vehicle components may include, for example, door sills.

[0023] See Figures 1 to 8 The vehicle component gripper device of this invention includes a base 1, a base assembly 2, a first drive mechanism 3, a robotic arm 4, and a fixing assembly 5.

[0024] The base assembly 2 is movably mounted on the base 1 and can move relative to the base 1. The upper part of the base assembly 2 is provided with a first connector 21.

[0025] The first drive mechanism 3 is used to drive the base assembly 2 to move relative to the base 1.

[0026] The robotic arm 4 is used to grasp vehicle components. The robotic arm 4 includes a connecting seat, the bottom of which forms a second joint 41, which is configured to cooperate with the first joint 21.

[0027] The fixing component 5 is mounted on the robotic arm 4 or the base assembly 2, and the fixing component 5 is used to fix the second connector 41 relative to the first connector 21.

[0028] In the vehicle component gripper device of this invention, the base assembly 2 is movably mounted on the base 1, allowing the base assembly 2 to move relative to the base 1. A first connector 21 is provided on the upper part of the base assembly 2. A first drive mechanism 3 drives the base assembly 2 to move relative to the base 1. The robotic arm 4 for gripping vehicle components includes a connecting seat, with a second connector 41 formed at the bottom of the connecting seat. The second connector 41 is configured to cooperate with the first connector 21. The second connector 41 and the first connector 21 can be relatively fixed by a fixing component 5. This application provides a first connector 21 and a second connector 41 that can cooperate on the base assembly 2 and the robotic arm 4, respectively. The robotic arm 4 moves from top to bottom until the second connector 41 and the first connector 21 can quickly cooperate, allowing the robotic arm 4 to quickly dock and position with the base assembly 2. Then, the fixing component 5 fixes the two relatively, completing the assembly of the robotic arm 4. This enables rapid assembly of the robotic arm 4, facilitating production line transitions or replacing faulty robotic arms 4.

[0029] The fixing component 5 is disposed on one of the robotic arm 4 and the base assembly 2 and is used to apply pressure to the other, which fixes the robotic arm 4 and the base assembly 2 relative to each other.

[0030] The robotic arm 4 includes a gripper, and a suitable gripper can be selected depending on the vehicle component to be gripped. For example, the gripper may include a magnetic gripper, a vacuum suction cup, a chuck, etc.

[0031] The first connector 21 and the second connector 41 can be plug-in mating. For example, one of the first connector 21 and the second connector 41 has a connecting plug 22, and the other has a mating connecting groove 42. The first connector 21 and the second connector 41 are mated by inserting the connecting plug 22 into the connecting groove 42.

[0032] In some embodiments, see Figure 2 and Figure 3The top of the first connector 21 forms a connecting plug 22, and the bottom of the second connector 41 forms a connecting groove 42 that matches the connecting plug 22. When assembling the robotic arm 4, move the robotic arm 4 above the base assembly 2 so that the second connector 41 is opposite the first connector 21. Move the robotic arm 4 downwards so that the connecting plug 22 is inserted into the connecting groove 42, thus achieving mating between the second connector 41 and the first connector 21. Then, fix the two relative to each other using the fixing assembly 5 to complete the assembly of the robotic arm 4. When disassembling the robotic arm 4, first release the fixing assembly 5 from the relative fixation of the second connector 41 and the first connector 21, then move the robotic arm 4 upwards to disengage the connecting plug 22 from the connecting groove 42, allowing the robotic arm 4 to be removed, thus achieving disassembly of the robotic arm 4.

[0033] See Figures 3 to 5 The connector 22 has a first guide surface 23, which causes the cross-section of the connector 22 to gradually decrease from bottom to top. The connecting groove 42 has a second guide surface 43 that mates with the first guide surface 23, causing the cross-section of the connecting groove 42 to gradually decrease from bottom to top. By providing guide surfaces on the outer surface of the connector 22 and the inner surface of the connecting groove 42, the accuracy requirements for the correspondence between the second connector 41 and the first connector 21 during assembly can be reduced. Even if there is a certain degree of misalignment between the axes of the second connector 41 and the first connector 21, the connector 22 can be smoothly inserted and mated with the connecting groove 42 through the guiding action of the first guide surface 23 and the second guide surface 43.

[0034] In some embodiments, the connecting groove 42 may be a slot structure with continuous sidewalls in the circumferential direction. Alternatively, the connecting groove 42 may also be a groove structure formed by two opposing sidewalls.

[0035] In some embodiments, see Figures 3 to 5 The first guide surface 23 is planar, and the connector 22 has two opposing first guide surfaces 23. The two first guide surfaces 23 gradually approach each other from bottom to top. The two planar first guide surfaces 23 make the connector 22 wedge-shaped. See also Figure 3 Correspondingly, the second guide surface 43 is also planar, and the connecting groove 42 has two opposing second guide surfaces 43, which gradually approach each other from bottom to top. The connecting groove 42 formed between the two opposing second guide surfaces 43 radially penetrates the second connector 41. The two planar second guide surfaces 43 define the connecting groove 42 as a trench.

[0036] In some embodiments, see Figure 2 and Figure 5The top of the connector 22 has a first flat surface 25, and the bottom of the connecting groove 42 has a second flat surface, which mates with the first flat surface 25. When the connector 22 is inserted into the connecting groove 42, the second flat surface fits against the first flat surface 25, which can increase the stability of the connection between the robotic arm 4 and the base assembly 2.

[0037] In some embodiments, see Figure 3 One of the first connector 21 and the second connector 41 has a positioning hole 24, and the other has a positioning pin 44. The positioning pin 44 cooperates with the positioning hole 24 to fix the robotic arm 4 and the base assembly 2 in a horizontal direction. The axes of the positioning hole 24 and the positioning pin 44 are both vertically arranged. When the second connector 41 cooperates with the first connector 21 from top to bottom, the positioning pin 44 is inserted into the positioning hole 24, fixing the robotic arm 4 in a horizontal direction relative to the base assembly 2. The fixing assembly 5 fixes the second connector 41 in a vertical direction relative to the first connector 21, so that the robotic arm 4 can be securely mounted on the base assembly 2.

[0038] The positioning hole 24 can be located at the axis of the first connector 21, or it can be eccentrically located relative to the axis of the first connector 21. Correspondingly, the positioning pin 44 can be located at the axis of the second connector 41, or it can be eccentrically located relative to the axis of the second connector 41.

[0039] A positioning hole 24 and a corresponding positioning pin 44 constitute a positioning pin 44 hole structure. In this embodiment of the invention, one or more positioning pin 44 hole structures can be provided.

[0040] In some embodiments, see Figure 3 The positioning hole 24 can be provided on the top of the connector 22, and correspondingly, the positioning pin 44 is provided on the bottom of the connecting groove 42. In an exemplary embodiment, the positioning hole 24 is provided on the first plane 25, and the positioning pin 44 is provided on the second plane.

[0041] In some embodiments, see Figure 3 The connecting seat includes a snap-fit ​​flange 45, which protrudes radially above the second connector 41. A fixing component 5 is mounted on the base assembly 2 and snaps into the snap-fit ​​flange 45. When the second connector 41 mates with the first connector 21, the fixing component 5 on the base assembly 2 snaps into the snap-fit ​​flange 45, thereby fixing the second connector 41 relative to the first connector 21 in the vertical direction. When disassembling the robotic arm 4, the fixing component 5 is released from the snap-fit ​​flange 45, allowing the robotic arm 4 to move upwards, disengaging the second connector 41 from the first connector 21, thus enabling the robotic arm 4 to be removed.

[0042] In practice, when assembling the robotic arm 4, move the robotic arm 4 above the base assembly 2 so that the positioning pin 44 aligns with the positioning hole 24. Move the robotic arm 4 downwards so that the positioning pin 44 is inserted into the positioning hole 24, and at the same time, insert the connector 22 into the connecting groove 42, ultimately achieving the engagement of the second connector 41 with the first connector 21. Then, the fixing assembly 5 engages with the snap-fit ​​flange 45 to fix them in place, thus completing the assembly of the robotic arm 4. When disassembling the robotic arm 4, first release the fixing assembly 5 from the snap-fit ​​flange 45, then move the robotic arm 4 upwards so that the positioning pin 44 disengages from the positioning hole 24, and the connector 22 disengages from the connecting groove 42, allowing the robotic arm 4 to be removed, thus achieving disassembly of the robotic arm 4.

[0043] This invention provides a transfer trolley for transferring a robotic arm to a vehicle component gripper device according to this invention.

[0044] The transfer trolley may include a transfer connector 61 for connecting to the connector seat of the robotic arm.

[0045] In some embodiments, see Figure 3 The connecting seat includes a transfer connection hole 46 and a fixing pin 47. The connection hole is formed above the snap-fit ​​flange 45. The transfer connection hole 46 is used to mate with the transfer connector 61 on the transfer trolley 6. The wall of the transfer connection hole 46 has a first pin hole, and the transfer connector 61 has a second pin hole opposite to the first pin hole. The fixing pin 47 is used to pass through the first pin hole and the second pin hole to fix the transfer connector 61 to the connecting seat. When assembling or disassembling the robotic arm 4, the robotic arm 4 can be moved by the transfer trolley 6. The transfer connector 61 on the transfer trolley 6 is horizontally positioned. The transfer trolley 6 can be moved horizontally to allow the transfer connector 61 to be inserted into or withdrawn from the transfer connection hole 46.

[0046] When assembling the robotic arm 4, the transfer trolley 6 moves to the storage position of the robotic arm 4, inserts the transfer connector 61 into the transfer connector hole 46, and passes the fixing pin 47 through the first pin hole and the second pin hole through the connecting seat and the transfer connector 61 to fix the robotic arm 4 to the transfer connector 61 and prevent the robotic arm 4 from falling off. The first pin hole on one side can be a threaded hole, and the fixing pin 47 is threadedly connected to the connecting seat. The transfer trolley 6 moves to the base 1 and positions the robotic arm 4 above the base assembly 2, with the positioning pin 44 facing the positioning hole 24. The transfer connector 61 of the transfer trolley 6 moves the robotic arm 4 downward, causing the positioning pin 44 to be inserted into the positioning hole 24. At the same time, the connecting plug 22 is inserted into the connecting groove 42, finally achieving the engagement of the second connector 41 and the first connector 21. Then, the fixing assembly 5 is engaged with the snap-fit ​​flange 45 to fix the two relative to each other, thus completing the assembly of the robotic arm 4. Remove the fixing pin 47 and remove the transfer trolley 6.

[0047] When disassembling the robotic arm 4, the transfer trolley 6 moves to the base 1, inserts the transfer connector 61 into the transfer connector hole 46, and passes the fixing pin 47 through the first pin hole and the second pin hole through the connecting seat and the transfer connector 61 to fix the robotic arm 4 to the transfer connector 61. Then, the fixing assembly 5 releases the snap-fit ​​of the snap-fit ​​flange 45, and the transfer connector 61 of the transfer trolley 6 drives the robotic arm 4 to move upward, causing the positioning pin 44 to disengage from the positioning hole 24, and the connecting plug 22 to disengage from the connecting groove 42. The transfer trolley 6 carries the robotic arm 4 to the robotic arm 4 storage position, thus realizing the disassembly of the robotic arm 4.

[0048] See Figure 6 and Figure 7 A guide structure 62 can be provided on the transfer trolley 6. The guide structure 62 cooperates with the base 1, causing the transfer trolley 6 to move closer to or further away from the base 1 in a first direction, and the second connector 41 to be opposite to the first connector 21 in a second direction. Both the first and second directions are horizontal and perpendicular to each other. The second connector 41 and the first connector 21 being opposite in the second direction means that the distance between the axis of the second connector 41 and the axis of the first connector 21 in the second direction is less than a set threshold. When the distance between the axis of the second connector 41 and the axis of the first connector 21 in the second direction is less than the set threshold, the deviation in the second direction will not affect the fit between the connecting plug 22 and the connecting groove 42, or the fit between the positioning pin 44 and the positioning hole 24.

[0049] By using the guide structure 62 to make the second connector 41 face the first connector 21 in the second direction, the second connector 41 can be made to face the first connector 21 by adjusting the distance between the transfer trolley 6 and the base 1 in the first direction, which makes it easy to assemble the robotic arm 4.

[0050] The guide structure 62 may include two guide arms arranged opposite each other, and guide wheels are respectively provided on the two guide arms. The gap between the guide wheels on the two guide arms is adapted to the width of the base 1, that is, the guide wheels on the two guide arms respectively roll contact with the two sides of the base 1, realizing the guidance between the transfer trolley 6 and the base 1 and the positioning in the second direction.

[0051] The transfer trolley 6 includes a walking body 63, which moves via wheels at the bottom of the walking body 63. The transfer trolley 6 can be driven by human power or by a power mechanism such as an electric motor.

[0052] See Figure 7 and Figure 8The transfer trolley 6 includes a lifting rod 64 and a guide frame 65, which are mounted on the traveling body 63. A transfer connector 61 is vertically mounted on the lifting rod 64. The transfer connector 61 is slidably connected to the guide frame 65. In a specific implementation, the guide frame 65 includes two guide posts, each with a guide groove. Rollers adapted to the guide grooves are provided on both sides of the transfer connector 61. The transfer connector 61 slides up and down along the guide grooves via the rollers, achieving lifting and lowering.

[0053] The transfer connector 61 can be raised and lowered manually or driven by a power mechanism. In the exemplary embodiment, the transfer connector 61 can be driven by a motor.

[0054] In some embodiments, see Figure 8 The lifting rod 64 has multiple climbing holes 641 at equal intervals. The transfer connector 61 includes a first lifting seat assembly 611, a second lifting seat assembly 612, a pressure rod 613, and a transfer joint 614. The first lifting seat assembly 611 and the second lifting seat assembly 612 are slidably connected to the lifting rod 64, and the transfer joint 614 is connected to either the first lifting seat assembly 611 or the second lifting seat assembly 612. Rollers are located on both sides of the transfer joint 614, and the transfer joint 614 is slidably connected to the guide frame 65 via the rollers. The pressure rod 613 is hinged to the first lifting seat assembly 611 and the second lifting seat assembly 612. By repeatedly lifting and pressing down, the pressure rod 613 causes the first lifting seat assembly 611 and the second lifting seat assembly 612 to rise alternately along the lifting rod 64. The first lifting seat assembly 611 may be located above the second lifting seat assembly 612. When the pressure rod 613 is pressed downwards, the second lifting seat assembly 612 is fixed relative to the lifting rod 64, and the pressure rod 613 drives the first lifting seat assembly 611 to rise along the lifting rod 64. When the pressure rod 613 is lifted upwards, the first lifting seat assembly 611 is fixed relative to the lifting rod 64, and the pressure rod 613 drives the second lifting seat assembly 612 to rise along the lifting rod 64. This alternation causes the transfer connector 61 to rise. The pressure rod 613 can be directly hinged to the first lifting seat assembly 611, or it can be hinged to the second lifting seat assembly 612 via a pull rod 618. The two ends of the pressure rod 613 are a hinged end and an operating end, respectively. The hinged end is connected to the first lifting seat assembly 611 and the second lifting seat assembly 612, wherein the hinge point of the pressure rod 613 with the first lifting seat assembly 611 is farther away from the operating end relative to the hinge point of the pull rod 618. When the pressure rod 613 is lifted upwards, it drives the second lifting seat assembly 612 to rise along the lifting rod 64 via the pull rod 618. When the pressure rod 613 is pressed down, the pull rod 618 supports the pressure rod 613, thereby driving the first lifting seat assembly 611 to rise relative to the lifting rod.

[0055] In the exemplary embodiment, see Figure 8 and Figure 9The first lifting seat assembly 611 includes a first lifting seat 6111, a first spring pin 6112, and a first pin lever 6113. The first lifting seat 6111 is sleeved on the lifting rod 64. The first spring pin 6112 is slidably disposed on the first lifting seat 6111. The first pin lever 6113 is vertically connected to the first spring pin 6112. One end of the first spring pin 6112 is used to insert into the climbing hole 641 under the action of elastic force to fix the first lifting seat 6111 to the lifting rod. The end of the first spring pin 6112 used to insert into the climbing hole 641 has a first guide surface 616. When the first lifting seat 6111 drives the first spring pin 6112 to rise, the hole wall of the climbing hole 641 acts on the first guide surface 616, causing the first spring pin 6112 to exit the climbing hole 641. The second lifting seat assembly 612 includes a second lifting seat 6121, a second spring pin 6122, and a second pin lever 6123. The second lifting seat 6121 is sleeved on the lifting rod 64. The second spring pin 6122 is slidably disposed on the second lifting seat 6121. The second pin lever 6123 is vertically connected to the second spring pin 6122. One end of the second spring pin 6122 is used to insert into the climbing hole 641 under the action of elastic force to fix the second lifting seat 6121 to the lifting rod. The end of the second spring pin 6122 used to insert into the climbing hole 641 has a second guide surface 617. When the second lifting seat 6121 drives the second spring pin 6122 to rise, the hole wall of the climbing hole 641 acts on the second guide surface 617, causing the second spring pin 6122 to exit the climbing hole 641. The first spring pin 6112 and the second spring pin 6122 each have a spring, which is used to keep the first spring pin 6112 and the second spring pin 6122 inserted into the climbing hole 641. Overcoming the force of the spring, the first spring pin 6112 and the second spring pin 6122 can be disengaged from the climbing hole 641. In a specific implementation, the transfer connector is connected to the first lifting seat 6111 or the second lifting seat 6121 via 614.

[0056] In the exemplary embodiment, when the pressure rod 613 is pressed down, the pressure rod 613 applies a downward force to the second lifting seat 6121 through the pull rod 618, and at the same time applies an upward force to the first lifting seat 6111. At this time, the first spring pin 6112 and the second spring pin 6122 are respectively inserted into the climbing hole 641 under the action of their respective springs. The second lifting seat 6121 is fixed relative to the lifting rod 64. The first guide surface 616 of the first spring pin 6112 acts with the hole wall of the climbing hole 641, causing the first spring pin 6112 to exit from the climbing hole 641. The pressure rod 613 drives the first lifting seat 6111 to rise along the lifting rod 64. When the first spring pin 6112 is opposite to the climbing hole 641 in the previous position, the first spring pin 6112 is inserted into the climbing hole 641. When the pressure rod 613 is raised, it applies an upward force to the second lifting seat 6121 via the pull rod 618, and simultaneously applies a downward force to the first lifting seat 6111. The first spring pin 6112, under the action of the spring, inserts into the climbing hole 641, fixing the first lifting seat 6111 relative to the lifting rod 64. The second guide surface 617 of the second spring pin 6122 interacts with the wall of the climbing hole 641, causing the second spring pin 6122 to retract from the climbing hole 641. The pressure rod 613 then drives the second lifting seat 6121 to rise along the lifting rod 64. When the second spring pin 6122 is aligned with the climbing hole 641 at the previous position, it inserts into the climbing hole 641. This alternation causes the transfer connector 61 to rise.

[0057] In some embodiments, the first spring pin 6112 and the second spring pin 6122 can be disengaged from the climbing hole 641 by manually moving the first pin lever 6113 and the second pin lever 6123. The first lifting rod 6111 and the second lifting rod 6121 descend along the lifting rod 64 under the action of gravity, and the transfer connector 61 rises accordingly.

[0058] In some embodiments, see Figure 8 The transfer connector 61 includes a toggle assembly 615, which is movably connected to either the first lifting seat assembly 611 or the second lifting seat assembly 612. The toggle assembly 615 is capable of moving up and down relative to either the first lifting seat assembly 611 or the second lifting seat assembly 612. The toggle assembly 615 includes two toggle blocks. When the toggle assembly 615 moves downward, the two toggle blocks are a first toggle block and a second toggle block, respectively. The first toggle block acts on the first pin lever 6113, causing the first spring pin 6112 to retract from the climbing hole 641. The second toggle block acts on the second pin lever 6123, causing the second spring pin 6122 to retract from the climbing hole 641.

[0059] In some embodiments, the distance between the two levers of the lever assembly 615 can be greater than the first distance between the first pin lever 6113 and the second pin lever 6123, and less than the second distance between the first pin lever 6113 and the second pin lever 6123. The first distance is the distance between the first pin lever 6113 and the second pin lever 6123 when the first lifting seat assembly 611 and the second lifting seat assembly 612 are in their closest positions to each other, and the second distance is the distance between the first pin lever 6113 and the second pin lever 6123 when the first lifting seat assembly 611 and the second lifting seat assembly 612 are in their farthest positions to each other. When the first lifting seat assembly 611 and the second lifting seat assembly 612 are at their closest positions, the toggle assembly 615 is pressed down. The first toggle block does not contact the first pin lever 6113, and the second toggle block acts on the second pin lever 6123, causing the second spring pin 6122 to retract from the climbing hole 641. The second lifting seat 6121 descends along the lifting rod 64. When the second spring pin 6122 is opposite to the climbing hole 641 at the next position, the second spring pin 6122 is inserted into the climbing hole 641. Continue pressing down on the toggle assembly 615. The second toggle block and the second pin lever 6123 are not in contact. The first toggle block acts on the first pin lever 6113, causing the first spring pin 6112 to retract from the climbing hole 641. The first lifting seat 6111 descends along the lifting rod 64. When the first spring pin 6112 aligns with the next climbing hole 641, the first spring pin 6112 inserts into the climbing hole 641. This process is repeated, and the transfer connector 61 gradually descends accordingly.

[0060] In some embodiments, see Figure 4 and Figure 5 The fixing components 5 are in at least two sets, and at least two sets of fixing components 5 are disposed on the base assembly 2, and at least two sets of fixing components 5 are evenly distributed around the first connector 21. In the exemplary embodiment, the fixing components 5 are in two sets, and the two sets of fixing components 5 are disposed opposite to each other on both sides of the first connector 21.

[0061] See Figure 4 and Figure 5 Each set of fixing components 5 includes a second drive mechanism 51 and a swing arm 52. The second drive mechanism 51 is mounted on the base assembly 2. The swing arm 52 is connected to the second drive mechanism 51. The second drive mechanism 51 drives the swing arm 52 to rotate, so that the swing arm 52 applies a downward force to the robotic arm 4. When fixing the second connector 41 and the first connector 21, the second drive mechanism 51 drives the swing arm 52 to rotate towards the axis of the second connector 41, so that the swing arm 52 presses against the snap-fit ​​flange 45. When releasing the fixing of the second connector 41 and the first connector 21, the second drive mechanism 51 drives the swing arm 52 to rotate away from the axis of the second connector 41, so that the swing arm 52 disengages from the snap-fit ​​flange 45.

[0062] The second drive mechanism 51 can be a rotary output mechanism. In specific implementations, the rotary output mechanism includes a pneumatic motor, a hydraulic motor, and an electric motor. The swing arm 52 can be directly connected to the output shaft of the rotary output mechanism, with the output shaft directly driving the swing arm 52 to rotate. Alternatively, the swing arm 52 can be connected to the output shaft of the rotary output mechanism via gears, with the output shaft driving the swing arm 52 to rotate via gears.

[0063] In some embodiments, see Figure 4 and Figure 5 The base 1 is provided with a slide rail 11, and the base assembly 2 has a groove that mates with the slide rail 11. The first drive mechanism 3 is provided on the base assembly 2. When the base assembly 2 moves relative to the base 1 along the slide rail 11, the first drive mechanism 3 moves accordingly. The robotic arm 4 on the base assembly 2 can move the vehicle component from the material frame at one end of the slide rail 11 to the docking device at the other end of the slide rail 11.

[0064] In some embodiments, see Figure 4 and Figure 5 A rack 12 is provided on the base 1, and the rack 12 is parallel to the slide rail 11. A first drive mechanism 3 is connected to a gear, and the gear meshes with the rack 12. The first drive mechanism 3, located on the base assembly 2, drives the gear to rotate, and the meshing of the gear with the rack 12 enables the base assembly 2 to move relative to the base 1. The first drive mechanism 3 may include a pneumatic motor, a hydraulic motor, or an electric motor.

[0065] Of course, the first drive mechanism 3 can also be located on the base 1. The first drive mechanism 3 is connected to the base assembly 2 via a chain or the like, and drives the base assembly 2 to move.

[0066] In some embodiments, see Figure 5 The base assembly 2 includes a slide 26 and a slider 27. A first connector 21, a first drive mechanism 3, and a fixing assembly are respectively disposed on the slide 26, with the first connector 21 disposed on the top surface of the slide 26. The slider 27 has a groove and is disposed at the bottom of the slide 26.

[0067] This invention provides an assembly method for the robotic arm 4 of a vehicle component gripper device, the assembly method comprising: Connect the robotic arm 4 to be installed to the transfer trolley 6; When the transfer trolley 6 moves to a position where the robotic arm 4 to be installed is above the base assembly 2 and the second connector 41 is opposite to the first connector 21, the transfer trolley 6 drives the robotic arm 4 to be installed to move downward, so that the second connector 41 and the first connector 21 cooperate to achieve relative positioning in the horizontal direction. When the fixing component applies a downward force to the robotic arm and positions the robotic arm in the vertical direction, the fixing component 5 fixes the second joint 41 relative to the first joint 21. Once the robotic arm is connected to the base assembly, the transfer trolley 6 is disconnected from the robotic arm 4.

[0068] When the robotic arm 4 is mounted on the base assembly 2, the original robotic arm 4 can be removed first, and then the new robotic arm 4 can be mounted on it.

[0069] In some embodiments, connecting the robotic arm 4 to be installed to the transfer trolley 6 includes connecting the transfer connector 61 of the transfer trolley 6 to the connector of the robotic arm 4.

[0070] In an exemplary embodiment, the transfer trolley 6 moves to the storage position of the robotic arm 4, the transfer connector 614 rises to be opposite the transfer connection hole 46, the transfer trolley 6 moves toward the robotic arm 4, so that the transfer connector 614 is inserted into the transfer connection hole 46, and the fixing pin 47 passes through the first pin hole and the second pin hole to fix the transfer connector 614 to the connecting seat.

[0071] The transfer trolley 6, carrying the robotic arm 4, moves to the vehicle component gripper device. The guide wheels on the two guide arms of the transfer trolley 6 roll into contact with the two sides of the base 1, so that the transfer trolley 6 is positioned and guided relative to the base 1. Under the limitation and guidance of the guide wheels and the base 1, the transfer trolley 6 continues to move closer to the base 1 until the second joint 41 is opposite to the first joint 21.

[0072] The downward-pressing block assembly 615 acts on the first pin lever 6113 and the second pin lever 6123, causing the first spring pin 6112 and the second spring pin 6122 to retract from the climbing hole 641. Under the action of gravity, the robotic arm 4 moves downward along the lifting rod 64 with the transfer joint 614 until the connecting plug 22 is inserted into the connecting groove 42 and the positioning pin 44 is inserted into the positioning hole 24. The first joint 21 is positioned relative to the second joint 41 in the horizontal direction.

[0073] The second drive mechanism 51 drives the swing arm 52 to rotate in the direction of the axis of the second connector 41, so that the swing arm 52 presses against the snap-fit ​​flange 45.

[0074] The assembly method of this invention can realize the assembly of the robotic arm 4 of the above-described vehicle component gripper device embodiment. The description of the assembly method embodiment above is similar to the description of the aforementioned vehicle component gripper device embodiment, and has similar beneficial effects as the aforementioned vehicle component gripper device embodiment, so it will not be repeated. For technical details not disclosed in the description of the assembly method embodiment of this invention, please refer to the description of the aforementioned vehicle component gripper device embodiment of this invention for understanding, and for the sake of saving space, it will not be repeated.

[0075] In this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0076] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle component gripper device, characterized in that, include: Base; A base assembly is movably mounted on the base, the base assembly is movable relative to the base, and the upper part of the base assembly is provided with a first joint; A first driving mechanism is used to drive the base assembly to move relative to the base; A robotic arm for grasping vehicle components, the robotic arm including a connecting seat, the bottom of which forms a second joint, the second joint being configured to mate with a first joint; A fixing component is disposed on the robotic arm or the base assembly, the fixing component being used to fix the second connector relative to the first connector.

2. The vehicle component gripper device according to claim 1, characterized in that, The top of the first connector forms a connecting plug, and the bottom of the second connector forms a connecting groove that is adapted to the connecting plug. The connecting plug has a first guide surface that causes the cross-section of the connecting plug to gradually decrease from bottom to top. The connecting groove has a second guide surface that mates with the first guide surface that causes the cross-section of the connecting groove to gradually decrease from bottom to top.

3. The vehicle component gripper device according to claim 2, characterized in that, The first guide surface is a plane, and the connector has two oppositely arranged first guide surfaces that gradually approach each other from bottom to top. The second guide surface is a plane, and the connecting groove has two oppositely arranged second guide surfaces that gradually approach each other from bottom to top. The connecting groove formed between the two oppositely arranged second guide surfaces radially penetrates the second connector.

4. The vehicle component gripper device according to claim 2, characterized in that, One of the first connector and the second connector has a positioning hole, and the other has a positioning pin. The positioning pin cooperates with the positioning hole to fix the robotic arm and the base assembly relative to each other in the horizontal direction.

5. The vehicle component gripper device according to claim 2, characterized in that, The connector includes: A snap-fit ​​flange is provided radially above the second connector, and the fixing component is provided on the base assembly and snaps into the snap-fit ​​flange; A transfer connection hole is formed above the snap-fit ​​flange. The transfer connection hole is used to mate with a transfer connector on the transfer trolley. The hole wall of the transfer connection hole has a first pin hole, and the transfer connector has a second pin hole opposite to the first pin hole. A retaining pin is used to secure the transfer connector to the connector seat by passing through the first pin hole and the second pin hole.

6. The vehicle component gripper device according to claim 1, characterized in that, The fixing components are in two sets, both sets of fixing components are disposed on the base assembly, and the two sets of fixing components are arranged opposite to each other on both sides of the first connector. Each set of fixing components includes: The second drive mechanism is disposed on the base assembly; A swing arm is connected to the second drive mechanism, which drives the swing arm to rotate so that the swing arm applies a downward force to the robotic arm.

7. The vehicle component gripper device according to claim 1, characterized in that, The base is provided with a slide rail, the base assembly has a slide groove that mates with the slide rail, and the first drive mechanism is provided on the base assembly; The base is provided with a rack, which is parallel to the slide rail. The first drive mechanism is connected to a gear, which meshes with the rack.

8. A transfer trolley, characterized in that, Used to transfer a robotic arm onto the vehicle component gripper device as described in any one of claims 1-7.

9. The transfer trolley according to claim 8, characterized in that, The transfer trolley includes: Walking vehicle body; The lifting rod is mounted on the vehicle body; The guide frame is mounted on the traveling vehicle body; A transfer connector is slidably mounted on the lifting rod and is slidably connected to the guide frame. The transfer connector is used to connect to the connecting seat of the robotic arm.

10. The transfer trolley according to claim 9, characterized in that, The lifting rod is provided with multiple climbing holes at equal intervals, and the transfer connector includes: The first lifting seat assembly includes a first lifting seat, a first spring pin, and a first pin lever. The first lifting seat is sleeved on the lifting rod, the first spring pin is slidably disposed on the first lifting seat, and the end of the first spring pin used to insert into the climbing hole has a first guide surface. The first pin lever is vertically connected to the first spring pin. The second lifting seat assembly includes a second lifting seat, a second spring pin, and a second pin lever. The second lifting seat is sleeved on the lifting rod, the second spring pin is slidably disposed on the second lifting seat, and the end of the second spring pin used to insert into the climbing hole has a second guide surface. The second pin lever is vertically connected to the second spring pin. Transfer connector, for connecting the second or first lifting seat; The pressure rod is hinged to the first lifting seat and to the second lifting seat via the pull rod. When the pressure rod is pressed down, the second lifting seat assembly is fixed relative to the lifting rod. The pressure rod applies an upward force to the first lifting seat, and the first guide surface acts on the wall of the climbing hole, causing the first spring pin to disengage from the climbing hole. The first lifting seat rises along the lifting rod. When the first spring pin is aligned with the climbing hole at the previous position, the first spring pin is inserted into the climbing hole. When the pressure rod is pressed up, the pull rod applies an upward force to the second lifting seat, and the second guide surface acts on the wall of the climbing hole, causing the second spring pin to disengage from the climbing hole. The second lifting seat rises along the lifting rod, and when the second spring pin is aligned with the climbing hole at the previous position, the second spring pin is inserted into the climbing hole.

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