Flexible gripper for vehicle body side wall piece

Abstract

The utility model relates to a flexible gripper for a side wall part of a vehicle body. The flexible gripper comprises a gripper frame and a flexible gripper body, the vacuum suction cup assembly is arranged at the side end of the gripper frame and used for sucking the vehicle body side wall piece; the air cylinder clamping assembly is arranged at the side end of the gripper frame, the air cylinder clamping assembly is arranged above the multiple vacuum suction cup assemblies, and the air cylinder clamping assembly is used for assisting in supporting the vehicle body side wall piece; the vehicle body sensing assembly is arranged at the side end of the gripper frame and used for sensing whether a vehicle body side surrounding piece is in place or not; and the gripper driving assembly is arranged at the top end of the gripper frame and used for driving the flexible gripper to ascend, descend and transversely move. Compared with the prior art, the automobile body side wall suction device is simple and practical in structure, the automobile body side walls of different automobile types can be sucked, the different automobile types can be switched, the purpose of producing multiple automobile types together is achieved, and therefore production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of automatic conveying of automobile bodies, in particular to a flexible gripper for side enclosures of automobile bodies. Background Art

[0002] In the field of automobile automation production, the current grippers used in the conveyor lines of automobile body workshops cannot be produced flexibly. When new models are added, the hangers need to be modified. When there are too many models, the suction devices need to be modified and replaced, which has a certain restrictive effect on the expansion of factory models and increases the investment in transformation. At the same time, it reduces production efficiency, increases fixed asset investment costs, and reduces production capacity. Utility Model Content

[0003] The purpose of the utility model is to provide a flexible gripper for the side panel of the vehicle body in order to overcome the defects of the above-mentioned prior art that too many models cannot be flexibly produced during the automated production of automobiles. The flexible gripper for the side panel of the vehicle body has good performance, can improve the user experience and safety, and reduce production costs at the same time. It is suitable for various types of automobiles and provides users with a more efficient and convenient use experience. The utility model is simple and practical, can absorb the side panels of automobiles of different models, can switch different models, and achieve the purpose of producing multiple models together, thereby improving production efficiency.

[0004] The purpose of the utility model can be achieved through the following technical solutions:

[0005] A flexible gripper for a vehicle body side panel, the flexible gripper comprising:

[0006] Gripper frame;

[0007] Vacuum suction cup assembly: It is arranged at the side end of the gripper frame, and the vacuum suction cup assembly is used to suck the side enclosure of the vehicle body;

[0008] Cylinder clamping assembly: It is arranged at the side end of the gripper frame, and the cylinder clamping assembly is arranged above a plurality of vacuum suction cup assemblies, and the cylinder clamping assembly is used to assist in supporting the side enclosure of the vehicle body;

[0009] Induction body component: It is arranged at the side end of the gripper frame, and is used to sense whether the body side enclosure is in place;

[0010] Gripper drive assembly: It is arranged at the top of the gripper frame, and is used to drive the flexible gripper to rise, fall and move laterally.

[0011] As a preferred technical solution, the gripper frame is welded with Q235B to ensure the overall strength of the flexible gripper.

[0012] In one embodiment of the utility model, the flexible gripper also includes an air control component, which includes a filter pressure reducing valve, a valve island and a vacuum generator. The filter pressure reducing valve, valve island and vacuum generator are fixed on the gripper frame, and the air control component is connected to the vacuum suction cup assembly, the cylinder clamping assembly and the induction body assembly.

[0013] As a preferred technical solution, a valve plate is provided on the valve island, and the valve plate is a three-position five-way valve.

[0014] In one embodiment of the utility model, the vacuum suction cup assembly includes a vacuum suction cup, a double-guide rod cylinder and a first limit block, and the double-guide rod cylinder is connected to the air control assembly.

[0015] The outer bottom end of the double-guide-rod cylinder is connected to the side end of the gripper frame, the inner bottom end of the double-guide-rod cylinder is provided with a first limit block, and the movable end of the double-guide-rod cylinder is provided with a vacuum suction cup, and the vacuum suction cup is used to suck the side enclosure of the vehicle body;

[0016] In normal state, the double guide rod cylinder is in retracted state, the vacuum suction cup does not work, and no negative pressure is generated; in working state, the double guide rod cylinder is in extended state, the vacuum suction cup works, and negative pressure is generated; when the pneumatic control component receives the signal, the pneumatic control logic adjusts the action of the double guide rod cylinder (retracted and ejected states) according to different vehicle models, and switches between different vehicle models.

[0017] As a preferred technical solution, the vacuum suction cup is made of rubber material. The contact end of the vacuum suction cup and the body side panel is highly adaptable and can adapt to the shapes of different vehicle parts. With the cooperation of the cylinder, it can absorb different vehicle models. The vacuum suction cup assembly has a simple, stable and economical structure.

[0018] As a preferred technical solution, the model of the vacuum suction cup is SAX 100ED-85G1 / 4-IG.

[0019] The model of the double guide rod cylinder is MGPM50-175Z-M9BI.

[0020] The model of the first limit block is CVTABI6.

[0021] In one embodiment of the utility model, the cylinder clamping assembly includes a clamping cylinder, a second limit block, a pressure arm and a support block, and the clamping cylinder is connected to the air control assembly.

[0022] One end of the clamping cylinder is fixed to the side end of the gripper frame, and the other end of the clamping cylinder is provided with a pressing arm, and the end of the pressing arm away from the clamping cylinder is provided with a supporting block, and the supporting block is used to assist in supporting the side enclosure of the vehicle body;

[0023] The cylinder clamping assembly can freely open the clamping action according to different vehicle models, and the opening angle can be adjusted arbitrarily. The cylinder clamping assembly is simple, stable, and economical. When the pneumatic control assembly receives a signal, the pneumatic control logic adjusts the action of the clamping cylinder (open and closed states) according to different vehicle models to switch between different vehicle models.

[0024] As a preferred technical solution, the support block is made of polyurethane.

[0025] In one implementation of the utility model, a second limiting block is provided between the pressing arm and the clamping cylinder.

[0026] In one embodiment of the present utility model, the induction vehicle body assembly includes an induction plate, a first fixing bracket, an inductor, and a second fixing bracket.

[0027] The bottom ends of the first fixing bracket and the second fixing bracket are fixed on the gripper frame.

[0028] A sensor is provided at the top of the first fixing bracket, and the sensor is connected to the air control component.

[0029] A sensing plate is provided at the top of the second fixing bracket, the sensing plate is rotatably connected to the second fixing bracket, and the sensor senses the position of the vehicle body side enclosure member through the sensing plate;

[0030] In the natural state, due to the action of gravity, the sensor plate is in a high position. When the flexible gripper picks up the part, the body side panel contacts the sensor plate. When the sensor plate rotates to a low position, the sensor detects the in-position signal, and the pneumatic control component receives the signal. The pneumatic control component controls the vacuum suction cup assembly and the cylinder clamping assembly to perform the next action.

[0031] In one embodiment of the present invention, the gripper drive assembly includes a lifting component and a lateral movement component.

[0032] The lifting component includes a motor, a belt, a positioning rod, a first detector and a first welding frame. The first welding frame is fixed on the gripper frame. The upper end of the first welding frame is provided with a motor, a driving wheel and a driven wheel. The motor is connected to the driving wheel. The two driven wheels are respectively arranged at the left and right ends of the first welding frame. The driving wheel and the driven wheel are connected by a belt. The driven wheel is connected to the flexible gripper by a belt. The motor is used to drive the driving wheel to rotate, and the driving wheel drives the driven wheel to rotate. The belt is tensioned, thereby controlling the lifting of the flexible gripper. The first detector is in place for detection;

[0033] A plurality of positioning rods are provided at the lower end of the first welding frame, a first detector is provided between the positioning rods and the motor, the positioning rods are used to sense the position of the lower piece of the flexible gripper, and the first detector is used to transmit a stop signal to the motor;

[0034] The transverse movement component includes a driving motor, a guide block, a second detector, a rack and a second welding frame. A rack is provided at the lower end of the second welding frame, and the second welding frame is arranged above the gripper frame. A driving motor and a guide block are provided at the top of the gripper frame. The left and right ends of the driving motor are respectively connected to a guide block, and the guide block is meshed with the rack. A second detector is provided between the driving motor and the guide block. The driving motor is used to drive the guide block to mesh with the rack to achieve horizontal movement, thereby controlling the transverse movement of the flexible gripper, and the second detector is used for detection when in place.

[0035] In one embodiment of the present utility model, the flexible gripper further comprises a support block assembly, and the support block assembly is arranged at the bottom end of the gripper frame.

[0036] In one embodiment of the utility model, the support block assembly includes a cantilever and a support block, one end of the cantilever is fixed to the bottom end of the gripper frame, and the other end of the cantilever is provided with a support block, and the support block is used to limit the side panel of the vehicle body.

[0037] As a preferred technical solution, the support block is made of nylon.

[0038] As a preferred technical solution, a V-shaped notch is provided on the top of the support block, and the V-shaped notch is used to match the side panel of the vehicle body and can adapt to different vehicle models.

[0039] In one embodiment of the utility model, the support block assembly also includes a baffle, which is arranged on the cantilever and has an adjustment hole. The adjustment hole can be adjusted forward and backward to a fixed position, and the baffle is adjusted forward and backward to limit the side panel of the vehicle body.

[0040] The principle of the utility model is as follows:

[0041] The body side panel is placed at an angle of 30 degrees. When it moves to the lower position, its posture is neither horizontal nor vertical. It is not feasible to adopt a conventional piece-removing solution. Therefore, the utility model adopts a vacuum suction cup assembly to vacuum absorb the body side panel, and a cylinder clamping assembly is provided for mechanical limiting.

[0042] Since the body side parts have an arc-shaped curved surface, the utility model selects a rubber material trumpet-shaped suction cup with better adaptability, and cooperates with a vacuum suction cup assembly to suck the car parts. First, the rubber material of the suction cup will not damage the body side during the suction process. Secondly, the rubber material has good elasticity and wear resistance. The trumpet shape can ensure that the body side parts of different shapes and sizes can fit tightly, making the suction area larger, which is conducive to more stability during the suction process.

[0043] Taking into account the risk that the suction cup may fall off midway, the utility model adopts a cylinder clamping assembly for auxiliary support, the support block is made of polyurethane to reduce damage to the body side panel, the opening and closing angles can be adjusted arbitrarily, and the bottom of the body side panel is supported by a V-shaped groove, so that the side panel is stable and efficient during the unloading process, thereby improving the production rhythm.

[0044] Compared with the prior art, the utility model has the following beneficial effects:

[0045] 1. Strong adaptability: The flexible gripper can adapt to the side panels of different shapes and sizes of vehicles, whether it is a sedan, SUV or crossover model, it can effectively fit and provide stable support.

[0046] 2. Good safety: The surface of the vacuum suction cup is designed with appropriate texture or concave-convex structure, which increases the friction between the body side parts and the flexible gripper, making it more stable during transportation.

[0047] 3. High aesthetics: The appearance design of the flexible gripper is simple and elegant, which is coordinated with the overall appearance style of the vehicle.

[0048] 4. Internal structure design: A support block assembly structure is designed inside the flexible gripper to enhance the stability and load-bearing capacity of the flexible gripper.

[0049] 5. Low manufacturing cost: According to the design drawings, select the appropriate manufacturing process for molding. When selecting the molding process, the material properties and cost-effectiveness must be considered. The utility model utilizes existing manufacturing technologies, such as 3D printing, compression molding or injection molding, etc., which can reduce the manufacturing cost of the flexible gripper and improve production efficiency.

[0050] 6. Easy to install: The flexible gripper has a flexible design and a variety of installation methods. It can be connected to the side of the car body through a fixed seat installation, which is convenient and quick.

[0051] 7. Strong sustainability: The materials used in flexible grippers usually have good durability and weather resistance, can maintain stable performance under different environmental conditions, have a long service life, reduce the frequency of replacement and maintenance, and meet the requirements of sustainable development.

[0052] 8. The shape of the flexible gripper is controllable: According to the shape and size of the body side, the shape and size of the flexible gripper are designed using CAD software to ensure that the gripper can fit perfectly with the body side, and when a purchased or processed part needs to be replaced, all similar structures can be used universally. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a front view of the flexible gripper in the utility model;

[0054] Figure 2 It is a structural schematic diagram of the flexible gripper and the vehicle body side panel used in conjunction with each other in the utility model;

[0055] Figure 3 This is a schematic diagram of the structure of the vacuum suction cup assembly in the utility model;

[0056] Figure 4 This is a schematic diagram of the structure of the cylinder clamping assembly in the utility model;

[0057] Figure 5 It is a structural schematic diagram of the induction body assembly in the utility model;

[0058] Figure 6 This is a schematic diagram of the structure of the support block assembly of the utility model;

[0059] Figure 7 This is a schematic diagram of the structure of the valve island and valve plate in the utility model;

[0060] Figure 8 This is a schematic diagram of the structure of the filter pressure reducing valve in the utility model;

[0061] Fig. 9 This is a schematic diagram of the structure of the vacuum generator in the utility model;

[0062] Fig.10 It is a side view of the flexible gripper in the utility model;

[0063] Fig.11 This is a bottom view of the baffle in the utility model;

[0064] Fig.12 It is a side view of the lifting component in the utility model;

[0065] Fig.13 This is a front view of the lifting component in the utility model;

[0066] Fig.14 It is a top view of the lifting component in the utility model;

[0067] Fig.15 It is a side view of the transverse moving component in the utility model;

[0068] Fig.16 It is a front view of the transverse moving component in the utility model;

[0069] Fig.17 It is a top view of the transverse moving component in the utility model.

[0070] Description of the accompanying figures: 1. Vacuum suction cup assembly, 2. Cylinder clamping assembly, 3. Induction body assembly, 4. Gripper frame, 5. Gripper drive assembly, 6. Support block assembly, 7. Conveying assembly, 8. Flexible gripper, 9. Body side panel, 10. Vacuum suction cup, 11. Double guide rod cylinder, 12. First limit block, 14. Clamping cylinder, 15. Second limit block, 16. Press arm, 17. Support block, 20. Induction plate, 21. First fixed bracket , 22. Sensor, 23. Second fixed bracket, 26. Cantilever, 27. Support block, 28. Baffle, 29. Adjustment hole, 30. Filter pressure reducing valve, 31. Valve island, 32. Valve plate, 33. Vacuum generator, 34. Motor, 35. Belt, 36. Positioning rod, 37. First detector, 38. First welding frame, 39. Drive motor, 40. Guide fast, 41. Second detector, 42. Rack, 43. Second welding frame. DETAILED DESCRIPTION

[0071] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0072] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0073] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and 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 orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0074] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0075] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0076] Example 1

[0077] See also Figures 1 to 17 This embodiment provides a flexible gripper for a vehicle body side panel, and the flexible gripper 8 includes:

[0078] Gripper frame 4;

[0079] Vacuum suction cup assembly 1: It is arranged at the side end of the gripper frame 4, and the vacuum suction cup assembly 1 is used to suck the side panel 9 of the vehicle body;

[0080] Cylinder clamping assembly 2: It is arranged at the side end of the gripper frame 4, and the cylinder clamping assembly 2 is arranged above the plurality of vacuum suction cup assemblies 1, and the cylinder clamping assembly 2 is used to assist in supporting the vehicle body side panel 9;

[0081] Sensing body component 3: It is arranged at the side end of the gripper frame 4, and the sensing body component 3 is used to sense whether the body side enclosure 9 is in place;

[0082] The gripper drive assembly 5 is arranged at the top of the gripper frame 4 and is used to drive the flexible gripper to rise, fall and move laterally.

[0083] In this embodiment, the gripper frame 4 is welded with Q235B to ensure the overall strength of the flexible gripper 8.

[0084] In this embodiment, the flexible gripper 8 also includes an air control component, which includes a filter pressure reducing valve 30, a valve island 31 and a vacuum generator 33. The filter pressure reducing valve 30, the valve island 31 and the vacuum generator 33 are fixed on the gripper frame 4 (the installation position is as shown in FIG. Fig.10 As shown), the pneumatic control component is connected to the vacuum suction cup component 1, the cylinder clamping component 2 and the induction body component 3.

[0085] In this embodiment, the vacuum suction cup assembly 1 includes a vacuum suction cup 10, a double-guide rod cylinder 11 and a first limit block 12. The double-guide rod cylinder 11 is connected to the air control assembly.

[0086] The outer bottom end of the double-guide-rod cylinder 11 is connected to the side end of the gripper frame 4, the inner bottom end of the double-guide-rod cylinder 11 is provided with a first limit block 12, and the movable end of the double-guide-rod cylinder 11 is provided with a vacuum suction cup 10, and the vacuum suction cup 10 is used to suck the body side panel 9;

[0087] In the normal state, the double guide rod cylinder 11 is in the retracted state, the vacuum suction cup 10 does not work, and no negative pressure is generated; in the working state, the double guide rod cylinder 11 is in the extended state, the vacuum suction cup 10 works, and negative pressure is generated; when the pneumatic control component receives the signal, the pneumatic control logic adjusts the action of the double guide rod cylinder 11 (retracted and ejected states) according to different vehicle models, and performs switching work for different vehicle models.

[0088] In this embodiment, the vacuum suction cup 10 is made of rubber material. The contact end of the vacuum suction cup 10 and the vehicle body side panel 9 is highly adaptable and can adapt to different vehicle shapes. With the cooperation of the cylinder, it can absorb different vehicle models. The vacuum suction cup assembly 1 has a simple structure, is stable, and is economical.

[0089] In this embodiment, the model of the vacuum suction cup 10 is SAX 100ED-85G1 / 4-IG.

[0090] The model of the double-guide-rod cylinder 11 is MGPM50-175Z-M9BI.

[0091] The model of the first limiting block 12 is CVTABI6.

[0092] In this embodiment, the cylinder clamping assembly 2 includes a clamping cylinder 14, a second limit block 15, a pressure arm 16 and a support block 17. The clamping cylinder 14 is connected to the air control assembly.

[0093] One end of the clamping cylinder 14 is fixed to the side end of the gripper frame 4, and the other end of the clamping cylinder 14 is provided with a pressing arm 16. The end of the pressing arm 16 away from the clamping cylinder 14 is provided with a supporting block 17, and the supporting block 17 is used to assist in supporting the vehicle body side panel 9;

[0094] The cylinder clamping assembly 2 can freely open the clamping action according to different vehicle models, and the opening angle can be adjusted arbitrarily. The cylinder clamping assembly 2 is simple, stable, and economical. When the pneumatic control assembly receives a signal, the pneumatic control logic adjusts the action of the clamping cylinder 14 (open and closed states) according to different vehicle models to switch between different vehicle models.

[0095] In this embodiment, the support block 17 is made of polyurethane.

[0096] In this embodiment, a second limiting block 15 is provided between the pressing arm 16 and the clamping cylinder 14 .

[0097] In this embodiment, the induction body component 3 includes an induction plate 20, a first fixing bracket 21, an induction sensor 22 and a second fixing bracket 23.

[0098] The bottom ends of the first fixing bracket 21 and the second fixing bracket 23 are fixed on the gripper frame 4.

[0099] A sensor 22 is provided at the top of the first fixing bracket 21, and the sensor 22 is connected to the air control component.

[0100] A sensing plate 20 is disposed at the top of the second fixing bracket 23, and the sensing plate 20 is rotatably connected to the second fixing bracket 23. The sensor 22 senses the position of the vehicle body side panel 9 through the sensing plate 20;

[0101] In the natural state, due to the action of gravity, the sensing plate 20 is in a high position. When the flexible gripper 8 picks up the item, the body side panel 9 contacts the sensing plate 20. When the sensing plate 20 rotates to a low position, the sensor 3 detects the in-position signal, and the pneumatic control component receives the signal, and the pneumatic control component controls the vacuum suction cup assembly 1 and the cylinder clamping assembly 2 to perform the next step.

[0102] In this embodiment, the gripper drive assembly 5 includes a lifting component and a lateral movement component.

[0103] The lifting component includes a motor 34, a belt 35, a positioning rod 36, a first detector 37 and a first welding frame 38. The first welding frame 38 is fixed on the gripper frame 4. The upper end of the first welding frame 38 is provided with a motor 34, a driving wheel and a driven wheel. The motor 34 is connected to the driving wheel. The two driven wheels are respectively arranged at the left and right ends of the first welding frame 38. The driving wheel and the driven wheel are connected by a belt 35. The driven wheel is connected to the flexible gripper 8 by the belt 35. The motor 34 is used to drive the driving wheel to rotate, and the driving wheel drives the driven wheel to rotate. The belt 35 is tightened, thereby controlling the lifting of the flexible gripper 8. The first detector 37 is in place for detection;

[0104] A plurality of positioning rods 36 are provided at the lower end of the first welding frame 38, and a first detector 37 is provided between the positioning rods 36 and the motor 34. The positioning rods 36 are used to sense the lower position of the flexible gripper 8, and the first detector 37 is used to transmit a stop signal to the motor 34;

[0105] The transverse movement component includes a driving motor 39, a guide block 40, a second detector 41, a rack 42 and a second welding frame 43. The lower end of the second welding frame 43 is provided with a rack 42. The second welding frame 43 is arranged above the gripper frame 4. The top of the gripper frame 4 is provided with a driving motor 39 and a guide block 40. The left and right ends of the driving motor 39 are respectively connected to a guide block 40. The guide block 40 is meshed with the rack 42. A second detector 41 is provided between the driving motor 39 and the guide block 40. The driving motor 39 is used to drive the guide block 40 to mesh with the rack 42 to achieve horizontal movement, thereby controlling the transverse movement of the flexible gripper 8. The second detector 41 is in place for detection.

[0106] In this embodiment, the flexible gripper 8 further includes a support block assembly 6 , and the support block assembly 6 is disposed at the bottom end of the gripper frame 4 .

[0107] In this embodiment, the support block assembly 6 includes a cantilever 26 and a support block 27 . One end of the cantilever 26 is fixed to the bottom end of the gripper frame 4 , and the other end of the cantilever 26 is provided with a support block 27 . The support block 27 is used to limit the vehicle body side panel 9 .

[0108] In this embodiment, the support block is made of nylon.

[0109] In this embodiment, a V-shaped notch is provided at the top of the support block 27. The V-shaped notch is used to match with the vehicle body side panel 9 and can adapt to different vehicle models.

[0110] In this embodiment, the support block assembly 6 also includes a baffle 28, which is arranged on the cantilever 26. The baffle 28 is provided with an adjustment hole 29, and the adjustment hole 29 can be adjusted forward and backward to a fixed position. The baffle 28 can be adjusted forward and backward to limit the vehicle body side panel 9.

[0111] In addition, this embodiment also provides a method for using a flexible gripper for a vehicle body side panel, and the specific steps are as follows:

[0112] When the conveying equipment 7 runs to the unloading position with the body side panel 9 (the left and right side panels are placed at 30°), a signal device that can identify the position of different body side panel parts 9 is installed at the unloading position. At this time, the signal is given to the flexible gripper 8, and the gripper drive assembly 5 drives the flexible gripper 8 to rise, fall and move laterally. The flexible gripper 8 runs to the unloading position. The vacuum suction cup assembly 1, the cylinder clamping assembly 2 and the induction body assembly 3 are installed on the gripper frame 4. The flexible gripper 8 senses the signal. At this time, the vacuum suction cup assembly 1 and the cylinder clamping assembly 2 are actuated by the air control assembly to complete the picking. The flexible gripper 8 runs to the next process under the action of the gripper drive assembly 5, and automatically unloads the parts when the above actions are repeated.

[0113] The above description of the embodiments is to facilitate the understanding and use of the utility model by those skilled in the art. It is obvious that those familiar with the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the utility model is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the utility model without departing from the scope of the utility model should be within the scope of protection of the utility model.

Claims

1. A flexible gripper for a vehicle body side panel, characterized in that: The flexible gripper (8) comprises: Gripper frame (4); A vacuum suction cup assembly (1): the vacuum suction cup assembly (1) is arranged at the side end of the gripper frame (4), and the vacuum suction cup assembly (1) is used to suck the side enclosure member (9) of the vehicle body; A cylinder clamping assembly (2): the cylinder clamping assembly (2) is arranged at the side end of the gripper frame (4), the cylinder clamping assembly (2) is arranged above the plurality of vacuum suction cup assemblies (1), and the cylinder clamping assembly (2) is used to assist in supporting the vehicle body side enclosure member (9); A sensing body component (3): it is arranged at the side end of the gripper frame (4), and the sensing body component (3) is used to sense whether the body side enclosure component (9) is in place; A gripper drive assembly (5): arranged at the top of the gripper frame (4), the gripper drive assembly (5) is used to drive the flexible gripper to rise and fall and move laterally.

2. A flexible gripper for a vehicle body side panel according to claim 1, characterized in that: The flexible gripper (8) further comprises an air control component, which comprises a filter pressure reducing valve (30), a valve island (31) and a vacuum generator (33). The filter pressure reducing valve (30), the valve island (31) and the vacuum generator (33) are fixed on the gripper frame (4). The air control component is connected to the vacuum suction cup component (1), the cylinder clamping component (2) and the induction body component (3).

3. A flexible gripper for a vehicle body side panel according to claim 2, characterized in that: The vacuum suction cup assembly (1) comprises a vacuum suction cup (10), a double-guide rod cylinder (11) and a first limit block (12); the double-guide rod cylinder (11) is connected to the air control assembly. The outer bottom end of the double guide rod cylinder (11) is connected to the side end of the gripper frame (4), the inner bottom end of the double guide rod cylinder (11) is provided with a first limit block (12), and the movable end of the double guide rod cylinder (11) is provided with a vacuum suction cup (10), and the vacuum suction cup (10) is used to suck the vehicle body side enclosure (9).

4. A flexible gripper for a vehicle body side panel according to claim 2, characterized in that: The cylinder clamping assembly (2) comprises a clamping cylinder (14), a second limit block (15), a pressure arm (16) and a support block (17); the clamping cylinder (14) is connected to the air control assembly. One end of the clamping cylinder (14) is fixed to the side end of the gripper frame (4), and the other end of the clamping cylinder (14) is provided with a pressing arm (16). The end of the pressing arm (16) away from the clamping cylinder (14) is provided with a supporting block (17), and the supporting block (17) is used to assist in supporting the vehicle body side enclosure (9).

5. A flexible gripper for a vehicle body side panel according to claim 4, characterized in that: A second limiting block (15) is provided between the pressing arm (16) and the clamping cylinder (14).

6. A flexible gripper for a vehicle body side panel according to claim 2, characterized in that: The induction vehicle body component (3) comprises an induction plate (20), a first fixing bracket (21), an inductor (22) and a second fixing bracket (23). The bottom ends of the first fixing bracket (21) and the second fixing bracket (23) are fixed on the gripper frame (4). A sensor (22) is provided at the top of the first fixing bracket (21), and the sensor (22) is connected to the air control component. A sensing plate (20) is provided at the top of the second fixed bracket (23), the sensing plate (20) is rotatably connected to the second fixed bracket (23), and the sensor (22) senses the position of the vehicle body side enclosure (9) through the sensing plate (20).

7. The flexible gripper for a vehicle body side panel according to claim 1, characterized in that: The gripper drive assembly (5) comprises a lifting component and a lateral movement component. The lifting component comprises a motor (34), a belt (35), a positioning rod (36), a first detector (37) and a first welding frame (38). The first welding frame (38) is fixed on the gripper frame (4). The upper end of the first welding frame (38) is provided with a motor (34), a driving wheel and a driven wheel. The motor (34) is connected to the driving wheel. The two driven wheels are respectively arranged at the left and right ends of the first welding frame (38). The driving wheel and the driven wheel are connected by a belt (35). The driven wheel is connected to the flexible gripper (8) by a belt (35). The motor (34) is used to drive the driving wheel to rotate. The driving wheel drives the driven wheel to rotate. The belt (35) is tensioned, thereby controlling the lifting of the flexible gripper (8). The first detector (37) is in place for detection. A plurality of positioning rods (36) are provided at the lower end of the first welding frame (38), a first detector (37) is provided between the positioning rods (36) and the motor (34), the positioning rods (36) are used to sense the lower position of the flexible gripper (8), and the first detector (37) is used to transmit a stop signal to the motor (34); The transverse movement component comprises a driving motor (39), a guide block (40), a second detector (41), a rack (42) and a second welding frame (43). The lower end of the second welding frame (43) is provided with a rack (42). The second welding frame (43) is arranged above the gripper frame (4). The top of the gripper frame (4) is provided with a driving motor (39) and a guide block (40). The left and right ends of the driving motor (39) are respectively connected to a guide block (40). The guide block (40) is meshed with the rack (42). A second detector (41) is provided between the driving motor (39) and the guide block (40). The driving motor (39) is used to drive the guide block (40) to mesh with the rack (42) to achieve horizontal movement, thereby controlling the transverse movement of the flexible gripper (8). The second detector (41) is in place for detection.

8. The flexible gripper for a vehicle body side panel according to claim 1, characterized in that: The flexible gripper (8) further comprises a support block assembly (6), wherein the support block assembly (6) is arranged at the bottom end of the gripper frame (4).

9. A flexible gripper for a vehicle body side panel according to claim 8, characterized in that: The support block assembly (6) comprises a cantilever (26) and a support block (27); one end of the cantilever (26) is fixed to the bottom end of the gripper frame (4); the other end of the cantilever (26) is provided with a support block (27); the support block (27) is used to limit the position of the vehicle body side enclosure (9).

10. A flexible gripper for a vehicle body side panel according to claim 9, characterized in that: The support block assembly (6) further comprises a baffle (28), wherein the baffle (28) is arranged on the cantilever (26), and an adjustment hole (29) is provided on the baffle (28).

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