Splayed integrated gripper for front and rear side walls of body in white and gripping lap joint system

Abstract

The utility model belongs to the technical field of automobile manufacturing, and particularly relates to a splayed integrated gripper for the front side wall and the rear side wall of a body in white and a gripping lap joint system. The splayed integrated gripper for the front side wall and the rear side wall of the body in white comprises a gripper frame, a connecting flange, a plurality of clamping mechanisms and a valve terminal are arranged on the gripper frame, and the control ends of the clamping mechanisms are connected with the valve terminal; the gripper frame comprises a front frame and a rear frame which are of a rectangular-like structure, the front frame and the rear frame are connected with each other, a connecting flange is arranged between the front frame and the rear frame, a plurality of clamping mechanisms are distributed on the front frame and the rear frame respectively, and a valve terminal is arranged on the front frame or the rear frame. The front frame, the rear frame and the connecting flange are reasonable in layout, and a tool gripper structure similar to an 8-shaped structure is formed. The grabbing mechanism is applied to grabbing work of the front side wall and the rear side wall of the body-in-white, and compared with the prior art, after the grabbing mechanism is connected with a robot, the robot does not need to switch grabbing hands.

Description

Technical Field

[0001] The utility model belongs to the technical field of automobile manufacturing, and specifically relates to an eight-shaped integrated gripper and a gripping and overlapping system for front and rear side panels of a body-in-white. Background Art

[0002] In the body-in-white manufacturing process, the front and rear side panels are split, and the front and rear side panels need to be overlapped and installed at the same station. The front and rear side panels of the body-in-white are divided into two groups of left and right side panels. Due to the limited station space, only the stations of two grippers of the left and right robots can be satisfied. Therefore, the original process is that the robot uses two tooling grippers to grab the front and rear side panels respectively, but considering the limited station space, if the gripper switching method is used, the beat is not enough. Utility Model Content

[0003] The utility model aims to solve the technical problem that the existing tooling grippers are not suitable for gripping and overlapping the front and rear side panels of a body-in-white, and aims to provide an eight-shaped integrated gripper and a gripping and overlapping system for the front and rear side panels of a body-in-white.

[0004] In order to solve the above technical problems, the first aspect of the utility model provides an integrated gripper in the shape of an eight-shaped front and rear side panels of a body in white, the integrated gripper in the shape of an eight-shaped front and rear side panels of the body in white comprising a gripper frame, the gripper frame being provided with a connecting flange, a plurality of clamping mechanisms and a valve island, the control end of the clamping mechanism being connected to the valve island;

[0005] The gripper frame includes two front and rear rectangular frames, namely a front frame and a rear frame. The front frame and the rear frame are connected to each other. A connecting flange is arranged between the front frame and the rear frame. A plurality of clamping mechanisms are distributed on the front frame and the rear frame, respectively. The valve island is arranged on the front frame or the rear frame.

[0006] Optionally, in the previously described eight-shaped integrated grippers of the front and rear side panels of the body in white, the left and right frame rods on the front frame extend backward and are integrally connected to the left and right frame rods on the rear frame, so that a connecting frame is formed between the front frame and the rear frame, and the connecting flange is arranged on the connecting frame.

[0007] Optionally, in the aforementioned body-in-white front and rear side panel eight-shaped integrated gripper, the clamping mechanism comprises:

[0008] A clamping support, the clamping support being fixed to the front frame or the rear frame;

[0009] A first clamping block, the first clamping block is fixed to the clamping support or fixed via a clamping connection block;

[0010] A clamping cylinder, wherein the clamping cylinder is fixed on the clamping support, the movable part of the clamping cylinder is connected to a second clamping block, and the control end of the clamping cylinder is connected to the valve island. When the clamping cylinder drives the second clamping block to move in a direction close to the first clamping block, the second clamping block is arranged opposite to the first clamping block and can clamp the front side panel or the rear side panel.

[0011] Optionally, in the aforementioned body-in-white front and rear side wall eight-shaped integrated gripper, the front frame and the rear frame are respectively provided with at least one overlapping mechanism, and the overlapping mechanism comprises:

[0012] A lap support, the lap support being fixed on the front frame or the rear frame;

[0013] An overlapping cylinder, wherein the overlapping cylinder is fixed on the overlapping support, the piston rod of the overlapping cylinder is axially in a horizontal direction, and the control end of the overlapping cylinder is connected to the valve island;

[0014] A pulley connection block, wherein the pulley connection block is fixed to the piston rod of the overlapping cylinder or fixed via an overlapping connection block, and the overlapping cylinder drives the pulley connection block to move in the horizontal direction;

[0015] The overlapping pulley can rotate in a horizontal direction. The overlapping pulley is arranged at the end of the pulley connecting block. The overlapping pulley is located on the side of the overlapping piece that needs to be overlapped on the front side enclosure or the rear side enclosure.

[0016] Optionally, in the aforementioned figure-eight integrated grippers of the front and rear side panels of the body-in-white, a clamping mechanism is provided on the side of one of the overlapping mechanisms.

[0017] Optionally, in the aforementioned body-in-white front and rear side wall eight-shaped integrated gripper, the front frame and the rear frame are respectively provided with a plurality of supporting and adsorption mechanisms, and the supporting and adsorption mechanisms include:

[0018] A support adsorption support, wherein the support adsorption support is fixed on the front frame or the rear frame;

[0019] A support block, wherein the support block is fixed to the support adsorption support or fixed via a support connection block, and the top surface of the support block is a support surface for abutting against the front side panel or the rear side panel;

[0020] A vacuum suction cup, wherein the vacuum suction cup is fixed on the support adsorption support or fixed via the support connection block, the vacuum suction cup is located on the side of the support block, the adsorption surface of the vacuum suction cup faces upward or tilted upward, and the control end of the vacuum suction cup is connected to the valve island.

[0021] Optionally, in the aforementioned body-in-white front and rear side wall eight-shaped integrated gripper, the support adsorption mechanism further comprises:

[0022] A first proximity switch, wherein the first proximity switch is fixed on the supporting adsorption support, the first proximity switch is located at the side of the vacuum suction cup, the sensing surface of the first proximity switch faces upward, and the signal output end of the first proximity switch is connected to the valve island.

[0023] Optionally, in the aforementioned figure-eight integrated gripper of the front and rear side panels of the body-in-white, a supporting adsorption mechanism is provided on the side of one of the clamping mechanisms.

[0024] Optionally, in the aforementioned body-in-white front and rear side wall eight-shaped integrated gripper, at least one positioning mechanism is respectively provided on the front frame and the rear frame, and the positioning mechanism comprises:

[0025] A positioning support, the positioning support is fixed on the front frame or the rear frame;

[0026] A positioning pin is fixed on the positioning support or fixed via a positioning connection block, and the tapered end of the positioning pin faces upward or tilts upward.

[0027] Optionally, in the aforementioned body-in-white front and rear side panel eight-shaped integrated gripper, the positioning mechanism further comprises:

[0028] The second proximity switch is fixed on the positioning support or fixed via the positioning connection block, the second proximity switch is located on the side of the positioning pin, the sensing surface of the second proximity switch faces upward, and the signal output end of the second proximity switch is connected to the valve island.

[0029] In some embodiments, photoelectric switches are respectively disposed on the front frame and the rear frame, and signal output ends of the photoelectric switches are connected to the valve island.

[0030] In order to solve the above technical problems, the second aspect of the utility model provides a body-in-white front and rear side panel grabbing and splicing system, the body-in-white front and rear side panel grabbing and splicing system comprises a robot and a splicing device, the robot has a detachable connection tooling gripper;

[0031] The body-in-white front and rear side panel grabbing and splicing system includes a grabbing station and two splicing stations. The grabbing station can accommodate an EMS cart. The two splicing stations are respectively located on the left and right sides of the grabbing station. The splicing station has the robot and the splicing device. The tooling gripper adopts the body-in-white front and rear side panel eight-shaped integrated gripper provided in the first aspect of the utility model.

[0032] The positive and progressive effects of the utility model are:

[0033] 1. The front frame, rear frame and connecting flange of the utility model are reasonably arranged to form a tooling gripper structure similar to an 8-shaped structure. The utility model is applied to the gripping of the front and rear side panels of the body-in-white. After being connected with the robot, compared with the prior art, the robot does not need to switch grippers. When the robot uses the utility model to grab parts from the EMS trolley at the gripping station, it can first grab the rear side panel and then the front side panel. When overlapping at the overlapping station, the robot uses the utility model to clamp the front and rear side panels, first overlapping the rear side panel and then overlapping the front side panel, until the overlapping is completed.

[0034] 2. The utility model is provided with an overlapping mechanism, and during overlapping, the overlapping pieces on the front side panel or the rear side panel that need to be overlapped are bent for use in the overlapping process.

[0035] 3. The utility model adopts a clamping mechanism that is reasonably coordinated with a supporting adsorption mechanism, a positioning mechanism and other mechanisms, so that when the utility model is used to clamp the front and rear side panels, the clamping is stable and reliable, and the front and rear side panels will not be damaged by dents or bulges. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The disclosure of the present invention will become more apparent with reference to the accompanying drawings. It should be understood that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In the drawings:

[0037] Figure 1 It is a schematic diagram of the overall structure of the eight-shaped integrated grab handle of the front and rear side panels of the body-in-white of the utility model;

[0038] Figure 2 for Figure 1 A top view of

[0039] Figure 3 for Figure 1 A schematic diagram of a structure after clamping the front and rear side panels;

[0040] FIG4( a ) is a schematic structural diagram of a clamping mechanism of the present invention;

[0041] FIG4( b ) is a schematic structural diagram of the clamping mechanism of FIG4( a ) during clamping action;

[0042] FIG5( a ) is a schematic structural diagram of a lap joint mechanism of the present invention;

[0043] FIG5( b ) is a schematic structural diagram of the overlapping mechanism of FIG5( a ) during overlapping operation;

[0044] Figure 6 A structural schematic diagram of the support and adsorption mechanism of the utility model;

[0045] Figure 7A structural schematic diagram of the positioning mechanism of the utility model;

[0046] Figure 8 The utility model is a position relationship diagram of the front and rear side panel grabbing and overlapping system of the white body. DETAILED DESCRIPTION

[0047] The following is an explanation of the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0048] It should be noted that the following embodiments and features therein may be combined with each other if there is no conflict.

[0049] In the description of the present invention, it should be noted that directional words such as the terms "outside", "middle", "inside", "outside", etc., which indicate directions and positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and cannot be understood as limiting the specific protection scope of the present invention.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. Therefore, the definition of "first" and "second" features can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "several" and "a number" is two or more, unless otherwise clearly and specifically defined.

[0051] Reference Figure 1 and Figure 2 An embodiment of the utility model provides an integrated figure-eight-shaped gripper for the front and rear side panels of a body-in-white. The integrated figure-eight-shaped gripper for the front and rear side panels of the body-in-white comprises a gripper frame 1, a connecting flange 2, a plurality of clamping mechanisms 3 and a valve island 4, and the control end of the clamping mechanism 3 is connected to the valve island 4.

[0052] The gripper frame 1 includes two front and rear rectangular frames, namely a front frame 11 and a rear frame 12. The front frame 11 and the rear frame 12 are connected to each other, and a connecting flange 2 is arranged between the front frame 11 and the rear frame 12. A plurality of clamping mechanisms 3 are respectively distributed on the front frame 11 and the rear frame 12, and a valve island 4 is arranged on the front frame 11 or the rear frame 12.

[0053] The connecting flange 2 of the utility model is used for detachable connection with the robot, and the robot drives the eight-shaped integrated grippers of the front and rear side panels of the body-in-white to move to the target position. Figure 3 As shown in the figure, several clamping mechanisms 3 on the front frame 11 are used to clamp and hold the front side panel 91, and several clamping mechanisms 3 on the rear frame 12 are used to clamp and hold the rear side panel 92. Therefore, in a limited workstation space, the rear side panel 92 and the front side panel 91 can be clamped front and back by the integrated eight-shaped grippers of the front and rear side panels of the body-in-white, and the robot does not need to switch grippers, which does not affect the gripping rhythm.

[0054] In some embodiments, the left and right frame rods on the front frame 11 extend backward and are integrally connected to the left and right frame rods on the rear frame 12, so that a connecting frame 13 is formed between the front frame 11 and the rear frame 12, and the connecting flange 2 is disposed on the connecting frame 13. The connecting frame 13 is actually formed by the front frame 11 and the rear frame 12, and the connecting flange 2 is disposed on the connecting frame 13, which can ensure that the connection with the robot is located in the middle of the gripper frame 1.

[0055] In some embodiments, referring to FIG. 4( a ) and FIG. 4 ( b ), the clamping mechanism 3 includes a clamping support 31 , a first clamping block 32 , a clamping cylinder 33 and a second clamping block 34 .

[0056] The clamping support 31 can be fixed on the front frame 11 or the rear frame 12. The clamping support 31 and the front frame 11 or the rear frame 12 can be fixed in a detachable manner, for example, fasteners such as screws or bolts can be used for detachable fixation. The first clamping block 32 is fixed to the clamping support 31 or fixed via one or more clamping connection blocks connected in sequence. The setting of the clamping connection block is used to fix the first clamping block 32 in a required position and direction. The clamping cylinder 33 is fixed on the clamping support 31, and the movable part of the clamping cylinder 33 is connected to the second clamping block 34. The control end of the clamping cylinder 33 is connected to the valve island 4. When the clamping cylinder 33 drives the second clamping block 34 to move in a direction close to the first clamping block 32, the second clamping block 34 is arranged opposite to the first clamping block 32 and can clamp the front side wall 91 or the rear side wall 92.

[0057] In some embodiments, the two opposite end surfaces of the first clamp block 32 and the second clamp block 34 are clamping surfaces, which are one of a plane, a slope or an arcuate surface, so as to clamp some horizontal end surfaces, inclined end surfaces, protruding or recessed end surfaces on the front side panel 91 or the rear side panel 92.

[0058] In some embodiments, after the clamping cylinder 33 drives the second clamping block 34 to move in a direction close to the first clamping block 32, the second clamping block 34 is located directly above the first clamping block 32 or arranged opposite to the first clamping block 32 in an interlaced manner. That is, the second clamping block 34 and the first clamping block 32 are clamped together at the upper and lower positions of the same end surface of the front side wall 91 or the rear side wall 92 to achieve the clamping purpose, or are clamped together at the upper and lower positions of different end surfaces of the front side wall 91 or the rear side wall 92 to achieve the clamping purpose.

[0059] In some embodiments, at least one overlapping mechanism 5 is respectively provided on the front frame 11 and the rear frame 12. Referring to Figures 5(a) and 5(b), the overlapping mechanism 5 includes an overlapping support 51, an overlapping cylinder 52, a pulley connecting block 53 and a overlapping pulley 54.

[0060] The lap support 51 is fixed on the front frame 11 or the rear frame 12. The lap support 51 and the front frame 11 or the rear frame 12 can be fixed in a detachable manner, for example, fasteners such as screws or bolts can be used for detachable fixation. The lap cylinder 52 is fixed on the lap support 51. The axial direction of the piston rod of the lap cylinder 52 is horizontal. The control end of the lap cylinder 52 is connected to the valve island 4. The pulley connection block 53 is fixed on the piston rod of the lap cylinder 52 or fixed via one or more lap connection blocks connected in sequence. The pulley connection block 53 is driven by the lap cylinder 52 to move in the horizontal direction. The lap pulley 54 can rotate in the horizontal direction. The lap pulley 54 is set at the end of the pulley connection block 53. The lap pulley 54 is located on the side of the lap piece that needs to be overlapped on the front side or the rear side.

[0061] When overlapping, the utility model can bend the overlapping pieces on the front side or the rear side that need to be overlapped by the overlapping mechanism 5, so as to be used in the overlapping process. Specifically, the overlapping cylinder 52 can be driven to extend out of the piston rod, driving the pulley connecting block 53 and the overlapping pulley 54 to move in the direction close to the overlapping piece until the overlapping piece is bent.

[0062] In some embodiments, a clamping mechanism 3 is disposed on the side of a lap joint 5 to ensure that when the lap joint sheet is bent, the front side 91 or the rear side 92 remains clamped and immobile without deviation.

[0063] In some embodiments, a plurality of support adsorption mechanisms 6 are respectively provided on the front frame 11 and the rear frame 12. Figure 6 The supporting and adsorption mechanism 6 includes a supporting and adsorption support 61 , a supporting block 62 and a vacuum suction cup 63 .

[0064] The support adsorption support 61 is fixed to the front frame 11 or the rear frame 12. The support adsorption support 61 and the front frame 11 or the rear frame 12 can be fixed in a detachable manner, for example, fasteners such as screws or bolts can be used for detachable fixation. The support block 62 is fixed to the support adsorption support 61 or fixed via one or more support connection blocks connected in sequence. The top surface of the support block 62 is a support surface for abutting the front side panel or the rear side panel. The vacuum suction cup 63 is fixed to the support adsorption support 61 or fixed via one or more support connection blocks connected in sequence. The vacuum suction cup 63 is located on the side of the support block 62. The adsorption surface of the vacuum suction cup 63 faces upward or tilted upward. The control end of the vacuum suction cup 63 is connected to the valve island 4.

[0065] The utility model can assist the clamping mechanism in supporting and adsorbing the front side wall 91 or the rear side wall 92 by providing the support and adsorption mechanism 6. Since the front side wall 91 or the rear side wall 92 is thin, if only the vacuum suction cup 63 is provided to adsorb the front side wall 91 or the rear side wall 92, the front side wall 91 or the rear side wall 92 may be sunken during adsorption. Therefore, the utility model provides the support block 62 to cooperate with the vacuum suction cup 63 to avoid damage to the front side wall 91 or the rear side wall 92 during adsorption.

[0066] The supporting surface of the supporting block 62 is a plane, an inclined surface or an arcuate surface, so as to support some horizontal end surfaces, inclined end surfaces, convex or concave end surfaces on the front side wall 91 or the rear side wall 92 .

[0067] In some embodiments, reference Figure 6 The supporting adsorption mechanism 6 also includes a first proximity switch 64, which is fixed on the supporting adsorption support 61, and is located on the side of the vacuum suction cup 63. The sensing surface of the first proximity switch 64 faces upward, and the signal output end of the first proximity switch 64 is connected to the valve island 4.

[0068] The first proximity switch 64 can sense whether the front side panel 91 or the rear side panel 92 is approaching the vacuum suction cup 63 .

[0069] Of course, in specific implementation, according to actual needs, the first proximity switch 64 may be provided only on one or more supporting and adsorbing mechanisms 6 , and the first proximity switch 64 may not be provided on some supporting and adsorbing mechanisms 6 .

[0070] In some embodiments, a supporting adsorption mechanism 6 is disposed on the side of a clamping mechanism 3 .

[0071] In some embodiments, at least one positioning mechanism 7 is provided on the front frame 11 and the rear frame 12, respectively. Figure 7 The positioning mechanism 7 includes a positioning support 71 and a positioning pin 72 .

[0072] The positioning support 71 is fixed to the front frame 11 or the rear frame 12. The positioning support 71 and the front frame 11 or the rear frame 12 can be fixed in a detachable manner, for example, fasteners such as screws or bolts can be used for detachable fixation. The positioning pin 72 is fixed to the positioning support 71 or fixed via one or more positioning connection blocks connected in sequence, and the tapered end of the positioning pin 72 faces upward or tilts upward.

[0073] The positioning purpose is achieved by inserting the tapered end of the positioning pin 72 into the positioning hole on the front side panel 91 or the rear side panel 92 .

[0074] In some embodiments, reference Figure 7 The positioning mechanism 7 also includes a second proximity switch 73, which is fixed on the positioning support 71 or fixed via one or more positioning connection blocks connected in sequence. The second proximity switch 73 is located on the side of the positioning pin 72, the sensing surface of the second proximity switch 73 faces upward, and the signal output end of the second proximity switch 73 is connected to the valve island 4.

[0075] The second proximity switch 73 can sense whether the front side panel 91 or the rear side panel 92 is approaching the top of the positioning pin 72 .

[0076] Of course, in specific implementation, according to actual needs, the second proximity switch 73 may be provided only on one or more positioning mechanisms 7 , and the second proximity switch 73 may not be provided on some positioning mechanisms 7 .

[0077] In some embodiments, two positioning mechanisms 7 are respectively disposed on the front frame 11 and the rear frame 12 , and the two positioning mechanisms 7 are disposed along the front-to-back direction.

[0078] In some embodiments, reference Figure 1 and Figure 2 A photoelectric switch 8 is respectively provided on the front frame 11 and the rear frame 12, and a signal output end of the photoelectric switch 8 is connected to the valve island.

[0079] The photoelectric switch 8 can sense whether there is a front side panel 91 or a rear side panel 92 above the front frame 11 and the rear frame 12 .

[0080] In some embodiments, the front frame 11 and the rear frame 12 are formed of octagonal tubes.

[0081] Specifically, the clamping support 31 , the lap support 51 , the support adsorption support 61 , and the positioning support 71 are preferably made of octagonal tubes to achieve convenient and reliable detachable connection with the front frame 11 or the rear frame 12 .

[0082] In some embodiments, reference Figures 1 to 3When used for clamping the front side panel 91, the front frame 11 is used to clamp the front side panel 91. There are two overlapping pieces on the front side panel 91 that need to be bent. Therefore, two overlapping mechanisms 5 are provided on the front frame 11. The two overlapping mechanisms 5 are arranged on the sides of the corresponding two overlapping pieces to achieve the bending purpose of the corresponding overlapping pieces respectively.

[0083] Four clamping mechanisms 3 are arranged on the front frame 11, wherein two clamping mechanisms 3 are respectively arranged on the sides of the two overlapping mechanisms 5. The other two clamping mechanisms 3 are arranged on the side away from the overlapping mechanisms 5 and have a certain distance from each other.

[0084] Five support adsorption mechanisms 6 are arranged on the front frame 11, of which four support adsorption mechanisms 6 are arranged on the sides of the four clamping mechanisms 3, and the distance between them can be adjusted to a reasonable distance according to the specific shape of the front side wall 91. Another support adsorption mechanism 6 is arranged on a side away from the other four support adsorption mechanisms 6.

[0085] Two positioning mechanisms 7 are arranged on the front frame 11 , and the two positioning mechanisms 7 are arranged at reasonable positions along the front-rear direction respectively.

[0086] Of course, the number and position of each mechanism on the front frame 11 can be set according to the specific structural specifications of the front side panel 91.

[0087] In some embodiments, reference Figures 1 to 3 When used for clamping the rear side panel 92, the rear frame 12 is used to clamp the rear side panel 92. The rear side panel 92 has a lap joint piece that needs to be bent, so a lap joint mechanism 5 is provided on the rear frame 12. The lap joint mechanism 5 is provided on the side of the lap joint piece to achieve the purpose of bending each lap joint piece.

[0088] Five clamping mechanisms 3 are arranged on the rear frame 12, one of which is arranged on the side of the overlapping mechanism 5. The other four clamping mechanisms 3 are arranged away from the overlapping mechanism 5, and because the rear side enclosure 92 is an arc-shaped structure as a whole, the position connection line of the four clamping mechanisms 3 is also basically an arc-shaped structure.

[0089] Five supporting and adsorption mechanisms 6 are provided on the rear frame 12 , and the five supporting and adsorption mechanisms 6 are arranged on the sides of the five clamping mechanisms 3 respectively, and the distance between the two can be adjusted to a reasonable distance according to the specific shape of the rear side enclosure 92 .

[0090] Two positioning mechanisms 7 are arranged on the rear frame 12 , and the two positioning mechanisms 7 are arranged at reasonable positions along the front-rear direction respectively.

[0091] Of course, the number and position of each mechanism on the rear frame 12 can be set according to the specific structural specifications of the rear frame 12.

[0092] Reference Figure 8 The embodiment of the utility model further provides a system for grabbing and splicing the front and rear side panels of a body in white, which comprises a grabbing station 100 and two splicing stations 200. The grabbing station 100 can accommodate an EMS cart 110. The two splicing stations 200 are respectively located on the left and right sides of the grabbing station 100. The splicing station 200 comprises a robot 210 and a splicing device 220. The robot 210 has a detachable connecting tooling gripper, which adopts the figure-eight integrated gripper of the front and rear side panels of the body in white provided in the above-mentioned embodiments of the utility model. The robot 210 drives the figure-eight integrated gripper of the front and rear side panels of the body in white to grab the front and rear side panels from the EMS cart 110 of the grabbing station 100 to the splicing device of the splicing station 200 for splicing.

[0093] When the front and rear side panels of the BIW are in use, the front and rear side panels on the left and right sides are placed on the EMS trolley 110, and the EMS trolley 110 brings the front and rear side panels on the left and right sides into the grabbing station 100. During grabbing, the two robots 210 at the left and right side panels can grab the front and rear side panels at the same time. The robot 210 uses the 8-shaped integrated gripper of the front and rear side panels of the BIW to grab the rear side panels from the EMS trolley first, and then grab the front side panels. After grabbing the front and rear side panels, the robot 210 drives the front and rear side panels to the overlap device 220 for overlap. Before overlap, the BIW is pre-installed on the overlap device 220. During overlap, the rear side panels are overlapped first, and then the front side panels are overlapped. After the overlap is completed, the gripper leaves the working position and returns to the waiting position to wait for the next cycle.

[0094] The EMS cart 110 , the robot 210 and the splicing device 220 all adopt existing technologies, which will not be described in detail here.

[0095] The utility model is described in detail above in conjunction with the embodiments of the drawings. A person skilled in the art can make various variations of the utility model according to the above description. Therefore, some details in the embodiments should not constitute a limitation of the utility model, and the utility model shall be protected within the scope defined by the attached claims.

Claims

1. An integrated gripper in the shape of a figure eight on the front and rear side panels of a body in white, the integrated gripper in the shape of a figure eight on the front and rear side panels of the body in white comprising a gripper frame, a connecting flange, a plurality of clamping mechanisms and a valve island are arranged on the gripper frame, and a control end of the clamping mechanism is connected to the valve island; It is characterized in that The gripper frame includes two front and rear rectangular frames, namely a front frame and a rear frame. The front frame and the rear frame are connected to each other. A connecting flange is arranged between the front frame and the rear frame. A plurality of clamping mechanisms are distributed on the front frame and the rear frame, respectively. The valve island is arranged on the front frame or the rear frame.

2. The body-in-white front and rear side wall eight-shaped integrated gripper as claimed in claim 1, characterized in that: The left and right frame rods on the front frame extend backward and are integrally connected to the left and right frame rods on the rear frame, so that a connecting frame is formed between the front frame and the rear frame, and the connecting flange is arranged on the connecting frame.

3. The body-in-white front and rear side wall eight-shaped integrated gripper as claimed in claim 1, characterized in that: The clamping mechanism comprises: A clamping support, the clamping support being fixed to the front frame or the rear frame; A first clamping block, the first clamping block is fixed to the clamping support or fixed via a clamping connection block; A clamping cylinder, wherein the clamping cylinder is fixed on the clamping support, the movable part of the clamping cylinder is connected to a second clamping block, and the control end of the clamping cylinder is connected to the valve island. When the clamping cylinder drives the second clamping block to move in a direction close to the first clamping block, the second clamping block is arranged opposite to the first clamping block and can clamp the front side panel or the rear side panel.

4. The body-in-white front and rear side wall eight-shaped integrated gripper as claimed in claim 1, characterized in that: The front frame and the rear frame are respectively provided with at least one overlapping mechanism, and the overlapping mechanism comprises: A lap support, the lap support being fixed on the front frame or the rear frame; An overlapping cylinder, wherein the overlapping cylinder is fixed on the overlapping support, the piston rod of the overlapping cylinder is axially in a horizontal direction, and the control end of the overlapping cylinder is connected to the valve island; A pulley connection block, wherein the pulley connection block is fixed to the piston rod of the overlapping cylinder or fixed via an overlapping connection block, and the overlapping cylinder drives the pulley connection block to move in the horizontal direction; The overlapping pulley can rotate in a horizontal direction. The overlapping pulley is arranged at the end of the pulley connecting block. The overlapping pulley is located on the side of the overlapping piece that needs to be overlapped on the front side enclosure or the rear side enclosure.

5. The body-in-white front and rear side panel eight-shaped integrated gripper according to any one of claims 1 to 4, characterized in that: The front frame and the rear frame are respectively provided with a plurality of supporting and adsorbing mechanisms, and the supporting and adsorbing mechanisms include: A support adsorption support, wherein the support adsorption support is fixed on the front frame or the rear frame; A support block, wherein the support block is fixed to the support adsorption support or fixed via a support connection block, and the top surface of the support block is a support surface for abutting against the front side panel or the rear side panel; A vacuum suction cup, wherein the vacuum suction cup is fixed on the support adsorption support or fixed via the support connection block, the vacuum suction cup is located on the side of the support block, the adsorption surface of the vacuum suction cup faces upward or tilted upward, and the control end of the vacuum suction cup is connected to the valve island.

6. The body-in-white front and rear side wall eight-shaped integrated gripper as claimed in claim 5, characterized in that: The support adsorption mechanism also includes: A first proximity switch, wherein the first proximity switch is fixed on the supporting adsorption support, the first proximity switch is located at the side of the vacuum suction cup, the sensing surface of the first proximity switch faces upward, and the signal output end of the first proximity switch is connected to the valve island.

7. The body-in-white front and rear side wall eight-shaped integrated gripper as claimed in claim 5, characterized in that: At least one positioning mechanism is respectively provided on the front frame and the rear frame, and the positioning mechanism comprises: A positioning support, wherein the positioning support is fixed on the front frame or the rear frame; A positioning pin is fixed on the positioning support or fixed via a positioning connection block, and the tapered end of the positioning pin faces upward or tilts upward.

8. The body-in-white front and rear side wall eight-shaped integrated gripper as claimed in claim 7, characterized in that: The positioning mechanism also includes: The second proximity switch is fixed on the positioning support or fixed via the positioning connection block, the second proximity switch is located on the side of the positioning pin, the sensing surface of the second proximity switch faces upward, and the signal output end of the second proximity switch is connected to the valve island.

9. The body-in-white front and rear side wall eight-shaped integrated gripper as claimed in claim 5, characterized in that: The front frame and the rear frame are respectively provided with photoelectric switches, and the signal output ends of the photoelectric switches are connected to the valve island.

10. A system for grabbing and splicing front and rear side panels of a body in white, the system comprising a robot and a splicing device, the robot having a detachable connection tooling gripper; It is characterized in that The body-in-white front and rear side panel grabbing and splicing system includes a grabbing station and two splicing stations, the grabbing station can accommodate an EMS cart, the two splicing stations are respectively located on the left and right sides of the grabbing station, the splicing station has the robot and the splicing device, and the tooling gripper adopts the body-in-white front and rear side panel eight-shaped integrated gripper as described in any one of claims 1 to 9.

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