Flexible gripper

Abstract

The utility model relates to the technical field of vehicle manufacturing, and discloses a flexible gripper which comprises a frame, a first module, a second module, a first positioning pin and a second positioning pin. The first module and the second module are movably arranged on the frame in the first direction; the first positioning pin is arranged on the first module, the second positioning pin is arranged on the second module, and the first positioning pin and the second positioning pin are matched with corresponding grabbing holes in the engine cover respectively. According to the flexible gripper, the compatibility is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle manufacturing, in particular to a flexible gripper. BACKGROUND

[0002] In the manufacturing and processing flow of the engine cover, the transportation between each process is a crucial link. Many modern factories use robot technology, especially robots with grippers, to perform the transportation task of the engine cover.

[0003] In the prior art, different engine cover plates of each vehicle type need to be developed separately. Since the replacement of the gripper reduces production efficiency, how to improve the compatibility of the gripper is a technical problem to be solved today. SUMMARY

[0004] The present application provides a flexible gripper, which improves the compatibility of the gripper.

[0005] In order to achieve the above purpose, the main technical scheme adopted by the present application includes:

[0006] In a first aspect, the present application provides a flexible gripper, which includes a frame, a first module, a second module, a first positioning pin and a second positioning pin. In the first direction, the first module and the second module are movably arranged on the frame. The first positioning pin is arranged on the first module, and the second positioning pin is arranged on the second module. The first positioning pin and the second positioning pin are respectively matched with corresponding gripping holes on the engine cover.

[0007] The flexible gripper provided by the present application can adjust the relative position of the first positioning pin and the second positioning pin with the frame, so that the flexible gripper can adapt to engine covers of different models or specifications, improve the compatibility of the gripper, and reduce downtime caused by replacing different models of grippers.

[0008] Optionally, the flexible gripper further includes a third module, which is movably arranged on the frame in the second direction. The second direction is orthogonal to the first direction.

[0009] The flexible gripper further includes a pneumatic gripper assembly arranged on the third module. The pneumatic gripper assembly is adapted to be matched with corresponding gripping holes on the engine cover plate.

[0010] In the above scheme, the movement of the third module on the frame improves the flexibility of the pneumatic gripper assembly, thereby adjusting the position of the pneumatic gripper assembly. The flexible gripper can adapt to engine covers of different models or specifications, thereby further improving the compatibility of the gripper and reducing the probability of incompatibility between the gripper and the engine cover.

[0011] Optionally, the plurality of air claw assemblies comprises a first air claw assembly and a second air claw assembly, and the first air claw assembly and the second air claw assembly are arranged in the first direction.

[0012] In the above scheme, the first air claw assembly and the second air claw assembly are arranged in the first direction, which can simultaneously grasp different positions on the engine cover plate, thereby improving the stability of grasping and facilitating the gripper to clamp workpieces of different sizes, and further improving the compatibility and flexibility of the gripper.

[0013] Optionally, the position of the air claw assembly in the first direction is adjustable.

[0014] In the above scheme, the position of the air claw assembly in the first direction is adjustable, so that the air claw assembly can grasp the grasping holes at different positions in the first direction. When the shape of the workpiece is complex or the position of the grasping hole is special, the position of the air claw assembly can be adjusted to better adapt to these changes, thereby further improving the compatibility and flexibility of the gripper.

[0015] Optionally, the air claw assembly is rotatably arranged on the frame, and the air claw assembly rotates around a first axis, and the first axis extends in a third direction.

[0016] The air claw assembly comprises an air claw cylinder, and the air claw cylinder has a second axis, and the second axis is parallel to the first axis and spaced apart from each other, and the first direction, the second direction and the third direction are perpendicular to each other.

[0017] In the above scheme, the air claw assembly rotates around the first axis, and the air claw cylinder has the second axis, and the second axis is parallel to the first axis and spaced apart from each other, so that the position of the air claw cylinder is spaced apart from the first axis, thereby forming an eccentric structure, so that the air claw cylinder can work at different positions, thereby increasing the compatibility and adaptability of the gripper operation.

[0018] Optionally, the flexible gripper further comprises a rotary bearing rotatably arranged on the frame around the first axis, and the air claw cylinder is connected with the rotary bearing.

[0019] In the above scheme, the rotary bearing allows the air claw cylinder to rotate around the first axis, thereby realizing eccentric rotation, thereby increasing the flexibility of the flexible gripper, and facilitating further adjustment of the position of the air claw cylinder, thereby further improving the compatibility of the flexible gripper.

[0020] Optionally, the frame comprises a first mounting plate, the flexible gripper comprises a first connecting plate and a first base, and the first mounting plate, the first connecting plate and the first base are stacked in the third direction, the first connecting plate and the first base are fixedly connected, the first connecting plate is rotatably arranged on the first mounting plate, and the air claw cylinder is fixed on the first base.

[0021] In the above scheme, the first connecting plate is relatively rotatable with the first mounting plate, and the first base is fixed to the first connecting plate, and the gas claw cylinder is fixed to the first base. It can be understood that the gas claw cylinder can be relatively rotatable with the first mounting plate, so as to realize the position adjustment of the gas claw cylinder, which helps to improve the compatibility of the flexible gripper.

[0022] Optionally, along the circumferential direction of the rotating bearing, the first mounting plate has a first locking portion and a second locking portion which are spaced apart.

[0023] The first connecting plate is provided with a first matching portion which is selectively matched with the first locking portion or the second locking portion.

[0024] In the above scheme, by arranging the first locking portion and the second locking portion and matching with the first matching portion, the position of the first connecting plate relative to the first mounting plate can be adjusted, which helps to accurately position the first connecting plate during the position adjustment.

[0025] Optionally, the position of the gas claw cylinder is adjustable along a third direction.

[0026] In the above scheme, the position of the gas claw cylinder is adjustable along the third direction, which helps to adjust the position of the gas claw cylinder in different directions, and helps to improve the accuracy of clamping positioning and the compatibility of the flexible gripper.

[0027] Optionally, an adjustment gasket is arranged between the first connecting plate and the first base.

[0028] In the above scheme, the adjustment gasket is arranged between the first connecting plate and the first base, and the position of the first base in the third direction can be adjusted through the adjustment gasket, which helps to improve the grasping positioning accuracy of the gas claw assembly. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the specific embodiments or prior art of the present application, the drawings needed in the description of the specific embodiments or prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0030] Figure 1 The flexible gripper structure in some embodiments is shown schematically.

[0031] Figure 2 The flexible gripper structure in some embodiments is shown schematically.

[0032] Figure 3 The flexible gripper structure in some embodiments is shown schematically.

[0033] Figure 4A schematic view of a flexible gripper structure in some embodiments.

[0034] [Legend of Reference Signs]

[0035] 1: frame;

[0036] 101: first mounting plate; 1011: first locking portion; 1012: second locking portion;

[0037] 10: first module; 11: second module; 12: third module;

[0038] 20: first positioning pin; 21: second positioning pin;

[0039] 22: air gripper assembly; 220: air gripper cylinder;

[0040] 221: first air gripper assembly; 222: second air gripper assembly;

[0041] 4: rotary bearing;

[0042] 5: first connecting plate; 51: first fitting portion

[0043] 6: first base;

[0044] 7: adjustment shim;

[0045] X: first direction; Y: second direction; Z: third direction;

[0046] A: first axis; B: second axis. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] Unless otherwise defined, all the technical and scientific terms used in the present application have the same meanings as those commonly understood by those skilled in the art to which the present application belongs; the terms used in the present application are only for the purpose of describing the specific embodiments of the present application, and are not intended to limit the present application; the terms “include” and “have” and any variations thereof in the description of the present application and the claims and the above description of drawings are intended to cover not exclusive inclusion. The terms “first”, “second” and the like in the description of the present application and the claims or the above description of drawings are used to distinguish different objects, and are not intended to describe a specific order or primary and secondary relationship.

[0049] Reference within this application to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. As will be apparent to one of ordinary skill in the art, embodiments described in this application can be combined with one another.

[0050] In the description of the application, it is necessary to point out that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "attaching" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0051] The term "and / or" in this application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in this application generally represents that the front and rear associated objects have an "or" relationship.

[0052] "Multiple" appearing in this application refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0053] The engine cover mainly refers to the device installed on the upper end of the engine cylinder so that the combustion chamber at the upper end of the engine cylinder can be sealed, and because it directly constitutes the combustion chamber, it needs to withstand high temperature and pressure for a long time.

[0054] During the assembly of the automobile engine, the engine cover on the engine cylinder cover pipeline needs to be picked up from the tray and carried to the corresponding position of the engine cylinder on the cylinder pipeline to complete the assembly. The engine cover is generally cast from gray cast iron or alloy cast iron. Because the volume and weight of the engine cover are large, the engine cover is generally carried by a robot during the carrying between different processes.

[0055] During the carrying of the engine cover between different processes, the engine cover is grabbed and moved by the gripper on the robot. The gripper has multiple positioning hook pins, which grab multiple grabbing holes on the inner plate side of the engine cover assembly and clamp them. For different vehicle models, different grippers are used because the hole distance is different. Each vehicle model with different hole distances needs a set of special gripper to achieve it.

[0056] The existing set of grippers corresponds to one vehicle model. When multiple vehicle models share one platform for production, the robot needs to automatically change the gripper to achieve it, thus having the following defects: first, multiple grippers are dedicated to one vehicle model, the grippers have no flexibility, and each vehicle model needs to develop a separate gripper, increasing the cost; second, each vehicle model needs a dedicated gripper trolley, increasing the cost, occupying the workshop space, and occupying a large area; third, each time the robot needs to put the existing gripper on the support first, and then grab the next vehicle model's gripper, the switching time is relatively long; fourth, the outer plate has many lifting points, which is easy to interfere with the blanking table tooling, and the design and simulation analysis are complex; fifth, the mechanism is complex, and there is no space for small door covers.

[0057] Therefore, in order to improve the compatibility of the gripper, the embodiment of the present application provides a flexible gripper, please refer to Figure 1 and Figure 2 , including a frame 1, a first module 10, a second module 11, a first positioning pin 20 and a second positioning pin 21.

[0058] In the first direction X, the first module 10 and the second module 11 are movably arranged on the frame 1, which can change the position; the first positioning pin 20 is arranged on the first module 10, and the second positioning pin 21 is arranged on the second module 11, that is, the positions of the first positioning pin 20 and the second positioning pin 21 can be changed with the movement of the first module 10 and the second module 11.

[0059] The first positioning pin 20 and the second positioning pin 21 are respectively matched with the corresponding grabbing holes on the engine cover, and it can be understood that the flexible gripper grabs the engine cover through the first positioning pin 20 and the second positioning pin 21.

[0060] When different models of engine covers need to be grabbed, the first module 10 and the second module 11 can be moved to change the grabbing positions of the first positioning pin 20 and the second positioning pin 21, so as to realize the compatibility of different models of engine covers, improve the versatility of the flexible gripper, and also reduce the downtime caused by replacing different models of grippers.

[0061] As an example, the first module 10 and the second module 11 can move in the same direction or in the opposite direction along the first direction X respectively.

[0062] As an example, the frame 1 is provided with a driving assembly, which can drive the first module 10 and the second module 11 simultaneously or respectively.

[0063] As an example, the first module 10 includes a first driving assembly, and the second module 11 includes a second driving assembly, the first driving assembly is used to change the position of the first positioning pin 20, and the second driving assembly is used to change the position of the second positioning pin 21.

[0064] In some other embodiments, the flexible gripper further comprises a third module 12, which is movably arranged on the frame 1 along a second direction Y, and is capable of changing position, the second direction Y being orthogonal to the first direction X.

[0065] The flexible gripper further comprises a plurality of air claw assemblies 22, which are arranged on the third module 12, and are adapted to cooperate with corresponding claw holes on the engine cover.

[0066] It can be understood that the positions of the air claw assemblies 22 can be changed by the movement of the third module 12, that is, the flexibility of the air claw assemblies 22 is improved by the movement of the third module 12 along the second direction Y, and thus the flexible gripper can adapt to engine covers of different models or specifications, thereby further improving the compatibility of the gripper and reducing the probability of incompatibility between the gripper and the engine cover.

[0067] As an example, the third module 12 has a third driving assembly for driving the third module 12 to move on the frame 1.

[0068] In some other embodiments, as shown in FIG. 1, the air claw assembly 22 is a plurality of air claw assemblies 22, and the plurality of air claw assemblies 22 comprises a first air claw assembly 221 and a second air claw assembly 222, which are arranged at intervals along the first direction X. Figure 3

[0069] It can be understood that the plurality of air claw assemblies 22 respectively grasp different claw holes on the engine cover, and because the plurality of air claw assemblies 22 are arranged at intervals along the first direction X, the first air claw assembly 221 and the second air claw assembly 222 can simultaneously grasp different positions on the engine cover, which not only improves the stability of grasping, but also helps the flexible gripper to clamp workpieces of different sizes, and further improves the compatibility and flexibility of the gripper.

[0070] As an example, the third module 12 is connected with the first air claw assembly 221 and the second air claw assembly 222 respectively, and the third module 12 simultaneously changes the positions of the first air claw assembly 221 and the second air claw assembly 222.

[0071] In some other embodiments, the positions of the air claw assemblies 22 in the first direction X are adjustable.

[0072] It can be understood that the air claw assemblies 22 can grasp claw holes at different positions in the first direction X, and for engine covers of different models, the flexible gripper can be compatible with claw holes at different positions by adjusting the positions of the air claw assemblies 22 in the first direction X.

[0073] ​As an example, the positions of the first and second air claw assemblies 221 and 222 in the first direction X are adjustable respectively, and when different engine covers need to be compatible, the positions of the first and second air claw assemblies 221 and 222 in the first direction X can be adjusted respectively.

[0074] As an example, the positions of the first and second air claw assemblies 221 and 222 in the first direction X are adjustable simultaneously, and when different engine covers need to be compatible, the positions of the first and second air claw assemblies 221 and 222 in the first direction X can be adjusted simultaneously.

[0075] In other embodiments, the air claw assembly 22 is rotatably arranged on the frame 1, and the air claw assembly 22 rotates around the first axis A, that is, the first axis A is the rotation center of the air claw assembly 22, so that the air claw assembly 22 can be adjusted in position around the first axis, further improving the flexibility of the air claw assembly 22.

[0076] The air claw assembly 22 comprises an air claw cylinder 220, and the air claw cylinder 220 has a second axis B, which is parallel to the first axis A and spaced apart from each other, and the first direction X, the second direction Y and the third direction Z are perpendicular to each other.

[0077] In the above scheme, the first axis A is parallel to the second axis B where the air claw cylinder 220 is located and spaced apart from each other, and when the air claw cylinder 220 rotates around the first axis A, an eccentric rotation is formed, so that the air claw cylinder 220 can be adjusted in position in multiple directions at the same time, further improving the activity range of the air claw cylinder 220.

[0078] It can be understood that the air claw cylinder 220 realizes multi-degree-of-freedom position adjustment through eccentric rotation, thereby improving the compatibility and adaptability to different types of engine covers.

[0079] In addition, as an example, the air claw assembly 22 can adjust its positions in the first direction X and the second direction Y at the same time through eccentric rotation, or adjust its position in the second direction Y through the third module 12 at the same time, so that the air claw assembly 22 only adjusts its position in the first direction X.

[0080] That is, the displacement in the second direction Y during eccentric rotation can be compensated and adjusted through the third module 12, so that the air claw assembly 22 only adjusts the position in the first direction X, further improving the flexibility and compatibility of the flexible air claw.

[0081] In other embodiments, as shown in Figure 4 The flexible gripper further comprises a rotating bearing 4 rotatably arranged on the frame 1 around the first axis A, and the air claw cylinder 220 is connected with the rotating bearing 4.

[0082] It can be understood that the air claw cylinder 220 is connected with the frame 1 through the rotating bearing 4, and the flexibility of the air claw cylinder 220 is improved through the rotation of the rotating bearing 4.

[0083] In other embodiments, the frame 1 includes a first mounting plate 101, the flexible gripper includes a first connecting plate 5 and a first base 6, and the first mounting plate 101, the first connecting plate 5 and the first base 6 are stacked along the third direction Z, that is, the first mounting plate 101, the first connecting plate 5 and the first base 6 are arranged in sequence along the third direction Z.

[0084] The first connecting plate 5 and the first base 6 are fixedly connected, the first connecting plate 5 is rotatably arranged on the first mounting plate 101, and the air claw cylinder 220 is fixedly arranged on the first base 6.

[0085] It can be understood that the first connecting plate 5 has a first surface and a second surface along the third direction Z, the first surface is in abutment with the first mounting plate 101, and the second surface is fixedly connected with the first base 6; that is, the first surface and the first mounting plate 101 slide and rub.

[0086] When it is necessary to adjust the position of the air claw cylinder 220, the first connecting plate 5 and the first base 6 can be rotated, so that the first connecting plate 5 and the first base 6 rotate around the first axis A as the center of rotation, thereby changing the working position of the air claw cylinder 220, so that the flexible gripper can be compatible with different engine covers.

[0087] In other embodiments, the first mounting plate 101 has a first locking portion 1011 and a second locking portion 1012 which are spaced apart along the circumference of the rotating bearing 4.

[0088] The first connecting plate 5 is provided with a first matching portion 51 which is selectively matched with the first locking portion 1011 or the second locking portion 1012.

[0089] It can be understood that the first locking portion 1011 and the second locking portion 1012 are arranged at intervals along the circumference of the rotating bearing 4, so that after the rotating bearing 4 rotates by a certain angle, the first connecting plate 5 can correspond to the first locking portion 1011 or the second locking portion 1012, respectively.

[0090] It can be understood that the first matching portion 51 can be matched with the first locking portion 1011 or the second locking portion 1012 after the rotating bearing 4 rotates, and when the first matching portion 51 is matched with the first locking portion 1011 or the second locking portion 1012, respectively, the position of the first connecting plate 5 relative to the first mounting plate 101 can be changed, thereby changing the working position of the air claw cylinder 220.

[0091] In addition, through the cooperation of the first matching part 51 and the first locking part 1011 / second locking part 1012, the air claw cylinder 220 can be accurately fixed at the corresponding position of the first locking part 1011 / second locking part 1012, which helps to accurately position the position adjustment process.

[0092] In other embodiments, the position of the air claw cylinder 220 is adjustable along the third direction Z, that is, the air claw cylinder 220 can adjust its position in three directions, further adjusting its relative position with the frame 1, thereby further improving flexibility.

[0093] It can be understood that the air claw cylinder 220 can adjust its position in the first direction X, the second direction Y and the third direction Z, respectively, so as to realize the compatibility of different engine cover grab holes, and further improve the compatibility of the flexible gripper.

[0094] In other embodiments, an adjustment pad 7 is arranged between the first connecting plate 5 and the first base 6, the adjustment pad 7 is fixedly connected with the first connecting plate 5, and the first pad is fixedly connected with the first base 6. The adjustment pad 7 can be used to adjust the position of the first base 6 along the third direction Z.

[0095] It can be understood that the adjustment pad 7 can adjust the position accuracy of the first base 6 in the third direction Z. When the position of the first base 6 in the third direction Z cannot be adapted to the grab hole, the relative position of the first base 6 and the frame 1 can be adjusted by increasing or reducing the number or thickness of the adjustment pad 7.

[0096] In other specific embodiments, the frame 1, the first module 10, the second module 11 and the third module 12 are included. The first module 10, the second module 11 and the third module 12 are movably arranged on the frame 1. The first module 10 and the second module 11 move along the first direction X, and the third module 12 moves along the second direction Y. Multiple different modules move in different directions to provide flexibility to the gripper.

[0097] The first module 10 is provided with a first positioning pin 20, the second module 11 is provided with a second positioning pin 21, and the first positioning pin 20 and the second positioning pin 21 are respectively matched with the corresponding grab holes on the engine cover. The third module 12 is provided with an air claw assembly 22, which is adapted to cooperate with the corresponding grab hole on the engine cover. Multiple different modules are respectively provided with different grippers to improve the compatibility of the flexible gripper.

[0098] The plurality of air claw assemblies 22 comprises a first air claw assembly 221 and a second air claw assembly 222 which are arranged along the first direction X. The air claw assembly 22 is rotatably arranged on the frame 1 so that the position of the air claw assembly 22 along the first direction X is adjustable. Through the above arrangement, the position of the air claw assembly 22 along the first direction X and the position of the air claw assembly 22 along the second direction Y can be adjusted, which improves the flexibility of the air claw assembly 22 and makes the compatibility higher.

[0099] The frame 1 is provided with a rotating bearing 4 which is rotatably arranged on the frame 1 along the first axis A. The air claw assembly 22 comprises an air claw cylinder 220 which is connected with the rotating bearing 4. The air claw cylinder 220 has a second axis B which is parallel to the first axis A and spaced apart from the first axis A. The first direction X, the second direction Y and the third direction Z are perpendicular to each other. In this way, the air claw assembly 22 can rotate around the first axis A.

[0100] The frame 1 comprises a first mounting plate 101. The flexible gripper comprises a first connecting plate 5 and a first base 6. Along the third direction Z, the first mounting plate 101, the first connecting plate 5 and the first base 6 are stacked. The first connecting plate 5 and the first base 6 are fixedly connected. The first connecting plate 5 is rotatably arranged on the first mounting plate 101. Along the circumferential direction of the rotating bearing 4, the first mounting plate 101 has a first locking portion 1011 and a second locking portion 1012 which are spaced apart. The first connecting plate 5 is provided with a first matching portion 51 which is selectively matched with the first locking portion 1011 or the second locking portion 1012.

[0101] For example, the first matching portion 51 comprises a first bolt and a first matching hole. The first locking portion 1011 and the second locking portion 1012 respectively have a first locking hole and a second locking hole. The first bolt is located in the first matching hole and is selectively matched with the first locking hole or the second locking hole.

[0102] In addition, an adjustment gasket 7 is arranged between the first connecting plate 5 and the first base 6. The adjustment gasket 7 is used to adjust the position of the first base 6 along the third direction Z, thereby improving the clamping positioning accuracy of the air claw cylinder 220.

[0103] Along the third direction Z, the air claw cylinder 220 is provided with an extension piece which is distributed with a plurality of grooves arranged at intervals. The grooves are arranged in a stepped manner along the third direction Z. The air claw cylinder 220 comprises an air claw cylinder 220 body which is matched with the extension piece so that the air claw cylinder 220 can adjust the position along the third direction Z, thereby further improving the flexibility of the air claw assembly 22 and further improving the compatibility of the flexible gripper.

[0104] For example, the frame 1 is further provided with a frame body which has a gun changing disc along the third direction Z.

[0105] As an example, the first module 10, the second module 11 and the third module 12 are all motor driven to move on the frame 1.

[0106] It is also to be noted that the terms "comprising", "including", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise a list of elements are not required to comprise only those elements but can include other elements not expressly listed or inherent to such processes, methods, articles, or apparatuses. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0107] The various embodiments in the specification are described in progressive manner, and the same or similar parts between the various embodiments can be mutually referred to, and each embodiment focuses on the difference from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiments.

[0108] The above only describes the embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

[0109] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A flexible gripper, characterized in that, The flexible gripper comprises: a frame; a first module and a second module, both of which are movably arranged on the frame along a first direction; a first positioning pin arranged on the first module and a second positioning pin arranged on the second module, both of which are adapted to cooperate with corresponding gripping holes on the engine cover plate.

2. The flexible gripper of claim 1, wherein, The flexible gripper further comprises a third module movably arranged on the frame along a second direction, which is orthogonal to the first direction. The flexible gripper further comprises a plurality of air claw assemblies arranged on the third module, which are adapted to cooperate with corresponding gripping holes on the engine cover plate.

3. The flexible gripper of claim 2, wherein, The air claw assemblies are spaced apart along the first direction.

4. The flexible gripper of claim 2 or 3, wherein, The positions of the air claw assemblies along the first direction are adjustable.

5. The flexible gripper of claim 4, wherein, The air claw assemblies are rotatably arranged on the frame, and rotate around a first axis extending along a third direction. The air claw assemblies comprise air claw cylinders having second axes parallel to the first axis and spaced apart from each other, and the first direction, the second direction and the third direction are all orthogonal to each other.

6. The flexible gripper of claim 5, wherein, The flexible gripper further comprises a rotary bearing rotatably arranged on the frame around the first axis, and the air claw cylinders are connected to the rotary bearing.

7. The flexible gripper of claim 6, wherein, The frame comprises a first mounting plate, the flexible gripper comprises a first connecting plate and a first base, and along the third direction, the first mounting plate, the first connecting plate and the first base are stacked, the first connecting plate and the first base are fixedly connected, the first connecting plate is rotatably arranged on the first mounting plate, and the air claw cylinders are fixed to the first base.

8. The flexible gripper of claim 7, wherein, Along the circumference of the rotary bearing, the first mounting plate has spaced-apart first and second locking portions. The first connecting plate is provided with a first matching portion selectively matched with the first or second locking portion.

9. The flexible gripper of claim 7, wherein, Along the third direction, the positions of the air claw cylinders are adjustable.

10. The flexible gripper of claim 9, wherein, Adjusting shims are arranged between the first connecting plate and the first base.

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