Preassembling gripper and feeding robot

Abstract

The embodiment of the utility model provides a preassembling gripper and a feeding robot, and relates to the technical field of preassembling grippers. The preassembling gripper provided by the utility model comprises a frame body; a positioning member; the first telescopic assembly is used for stretching out and drawing back in the first direction; the clamping mechanism comprises a second telescopic assembly, a first connecting piece and a clamping piece; the second telescopic assembly moves in the first direction under the action of the first telescopic assembly. The second telescopic assembly is used for stretching out and drawing back in the second direction and drives the first connecting piece to move in the second direction. The first connecting piece and the clamping piece are used for jointly clamping the side wall assembly; by arranging the first telescopic assembly, the clamping mechanism can be driven to move in the length direction of the frame body, a second telescopic assembly in the clamping mechanism can move in the second direction, and equivalently, a connecting piece and a clamping piece can be driven to move in the direction different from the first direction so as to adapt to side wall assemblies of different lengths and shapes; enough production takt is ensured, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application relates to pre-assembly gripper technology, in particular to a pre-assembly gripper and a feeding robot. BACKGROUND

[0002] The side wall assembly of a vehicle refers to a part of the vehicle body structure, and the side wall assembly includes a door frame guard, a pillar, a door sill and a wheel cover, which are integrated workpieces connected together by welding.

[0003] Currently, a feeding robot needs to use a pre-assembly gripper to grasp the side wall assembly to a pre-assembly position on the assembly main line.

[0004] However, the specifications and sizes of side wall assemblies of different vehicles are different, which requires switching different pre-assembly grippers on the assembly main line, causing a lag in production rhythm and affecting production efficiency. CONTENT OF THE UTILITY MODEL

[0005] Therefore, the application provides a pre-assembly gripper and a feeding robot, which can avoid frequent switching of pre-assembly grippers, ensure sufficient production rhythm and improve production efficiency.

[0006] To achieve the above-mentioned purpose, the application provides a pre-assembly gripper and a feeding robot, which adopts the following technical solutions:

[0007] In a first aspect, the application provides a pre-assembly gripper for grasping a side wall assembly, comprising:

[0008] a frame body;

[0009] a positioning member arranged on the frame body, part of the positioning member being arranged in a positioning hole on the side wall assembly;

[0010] a first telescopic assembly arranged on the frame body, the first telescopic assembly being used for telescoping in a first direction;

[0011] a clamping mechanism, the clamping mechanism comprising a second telescopic assembly, a first connecting member and a clamping member;

[0012] the second telescopic assembly is connected to the telescopic end of the first telescopic assembly and is configured to move in the first direction under the driving of the first telescopic assembly;

[0013] the second telescopic assembly is used for telescoping in a second direction, and the telescopic end of the second telescopic assembly is connected to the first connecting member to drive the first connecting member to move in the second direction;

[0014] the clamping member is movably arranged on the first connecting member, and the first connecting member and the clamping member are used for jointly clamping a first grasping part of the side wall assembly;

[0015] The first direction is the extension direction of the length of the frame body, and the second direction has a first preset angle with the first direction.

[0016] In a possible implementation, the pre-installed gripper provided by the application includes a third telescopic assembly and a lifting support;

[0017] The third telescopic assembly is arranged on the frame body, and the third telescopic assembly is used for telescoping in a third direction; the lifting support is arranged on the telescopic end of the third telescopic assembly, and the lifting support is used for lifting the second grabbing part of the side wall assembly.

[0018] In a possible implementation, the pre-installed gripper provided by the application further includes a fourth telescopic assembly, and the lifting support is connected with the third telescopic assembly through the fourth telescopic assembly;

[0019] The fourth telescopic assembly is used for telescoping in a fourth direction, so as to drive the lifting support to move in the fourth direction; the fourth direction has a second preset angle with the third direction.

[0020] In a possible implementation, the pre-installed gripper provided by the application includes a second connecting piece, a balance rod, at least two elastic pieces and at least two claws;

[0021] The second connecting piece is connected with the telescopic end of the fourth telescopic assembly, and the balance rod is hinged with the second connecting piece;

[0022] The elastic pieces are connected between the balance rod and the second connecting piece, and the two elastic pieces are respectively arranged on the two sides of the hinged points of the balance rod and the second connecting piece;

[0023] The two claws are respectively arranged at the two ends of the balance rod, and the claws are used for lifting the second grabbing part of the side wall assembly.

[0024] In a possible implementation, the pre-installed gripper provided by the application includes a second connecting piece, a balance rod, at least two elastic pieces and at least two claws;

[0025] In a possible implementation, the pre-installed gripper provided by the application includes a second connecting piece, a balance rod, at least two elastic pieces and at least two claws;

[0026] The clamping cylinder is connected with the first connecting piece, the clamping claw is connected with the output end of the clamping cylinder, and the clamping claw is used for clamping the first grabbing part of the side wall assembly between the first connecting piece and the clamping claw.

[0027] In a possible implementation, the pre-assembly gripper provided by the present application includes a positioning member, which is a hook pin cylinder, and an output end of the hook pin cylinder is used for being inserted into a positioning hole on the side wall assembly.

[0028] In a possible implementation, the pre-assembly gripper provided by the present application further includes at least one supporting member.

[0029] The supporting member is arranged on one side of the frame body facing the side wall assembly, and the supporting member is configured to abut against the side wall assembly.

[0030] In a possible implementation, the pre-assembly gripper provided by the present application further includes a flange plate, and the flange plate is configured to connect the frame body and the feeding robot.

[0031] In a second aspect, the present application provides a feeding robot, which includes a robot body and the pre-assembly gripper described above, and the robot body is connected with the pre-assembly gripper.

[0032] The pre-assembly gripper and the feeding robot provided by the present application, wherein the pre-assembly gripper includes a frame body, a positioning member arranged on the frame body, part of the structure of the positioning member being used for being inserted into a positioning hole on the side wall assembly, a first telescopic assembly arranged on the frame body and used for telescoping in a first direction, and a clamping mechanism including a second telescopic assembly, a first connecting member and a clamping member. The second telescopic assembly is connected with a telescopic end of the first telescopic assembly and is configured to move in the first direction under the driving of the first telescopic assembly. The second telescopic assembly is used for telescoping in a second direction, and a telescopic end of the second telescopic assembly is connected with the first connecting member to drive the first connecting member to move in the second direction. The clamping member is movably arranged on the first connecting member, and the first connecting member and the clamping member are used for jointly clamping a first clamping part of the side wall assembly. The first direction is an extension direction of the length of the frame body, and the second direction has a first preset angle with the first direction. By arranging the first telescopic assembly, the clamping mechanism can be driven to move in the length direction of the frame body, so as to adapt to side wall assemblies of different lengths. The second telescopic assembly in the clamping mechanism can move in the second direction, which is equivalent to driving the connecting member and the clamping member to move in a direction different from the first direction, thereby facilitating the clamping of the first clamping part of the side wall assembly, further adapting to side wall assemblies of different specifications and sizes, avoiding frequent switching of the pre-assembly gripper on the assembly main line, ensuring sufficient production rhythm and improving production efficiency.

[0033] In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions and the beneficial effects brought by these technical features, the other technical problems solved by the technical solutions provided by the present application, the other technical features included in the technical solutions and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. Attached Figure Description

[0034] The specific embodiments of this application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of this application, and this application is not limited to the specific embodiments described below.

[0035] Figure 1 A schematic diagram of the scenario in which the pre-installed gripper provided in this application grips the side panel assembly;

[0036] Figure 2 Schematic diagram of the pre-installed gripper provided in this application Figure 1 ;

[0037] Figure 3 Schematic diagram of the pre-installed gripper provided in this application Figure 2 ;

[0038] Figure 4 A schematic diagram of the clamping mechanism provided in this application;

[0039] Figure 5 A partial structural diagram of the lifting mechanism provided for this application;

[0040] Figure 6 This is a schematic diagram of the structure of the claw provided in this application;

[0041] Figure 7 A schematic diagram of the positioning element provided in this application;

[0042] Figure 8 A structural schematic diagram of the frame provided in this application;

[0043] Figure 9 A schematic diagram of the flange provided in this application.

[0044] Explanation of reference numerals in the attached figures:

[0045] 10. Side panel assembly; 20. Pillar; 30. Wheel arch; 40. Door frame;

[0046] 100. Frame; 200. Positioning component; 300. First telescopic assembly; 400. Clamping mechanism; 410. Second telescopic assembly; 420. First connecting component; 430. Clamping component; 431. Clamping cylinder; 432. Gripper; 500. Lifting mechanism; 510. Third telescopic assembly; 520. Lifting bracket; 521. Second connecting component; 522. Balance bar; 523. Elastic component; 524. Gripper; 5241. Slot; 530. Fourth telescopic assembly; 600. Top support component; 700. Flange; 800. Position detection sensor; 900. Servo module control box.

[0047] The specific embodiments of the present application have been shown through the above-described drawings, and will be described in more detail hereinafter. The drawings and the written description are not intended to restrict the scope of the present application in any way, but to explain the concept of the present application to those skilled in the art by referring to a specific embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings of the preferred embodiments of the present application. In the drawings, the same or similar notations represent the same or similar parts or parts having the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, not all the embodiments. The embodiments described below by referring to the drawings are exemplary, and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0049] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting” should be understood in a broad sense, for example, can be fixed connection, can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] In the description of the embodiments of the present application, it should be understood that the terms “upper”, “lower”, “front”, “rear”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0051] In the description of the embodiments of the present application, the meaning of “multiple” is two or more, unless otherwise specified and limited.

[0052] The terms “first”, “second”, “third”, “fourth” and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a particular order or sequence.

[0053] Moreover, the terms "comprising" and "having" and any variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, system, product or apparatus that comprises a list of steps or units not only comprises those steps or units but can include other steps or units not expressly listed or inherent to such process, method, product or apparatus.

[0054] As the background art, at present, automobile companies are responding to the rapidly changing market environment, reducing production line investment, improving the adaptability of the production line, reducing the production line introduction time, reducing the disturbance to mass production models, and maximizing economic value. For example, in the assembly main line of the vehicle, the pre-assembly gripper is used to grab the side wall assembly to the pre-assembly position by the feeding robot, and then the subsequent assembly process is carried out. The traditional side wall assembly pre-docking gripper is dedicated to each vehicle model, and has poor flexibility. Not only is the investment cost high, but also the vehicle model switching occupies a large area, and there are problems such as beat loss in vehicle model switching, which means that the production beat lags behind. After the vehicle model switching is completed, the production can continue, which affects the production efficiency.

[0055] In addition, the pre-assembly gripper of each vehicle model needs more space for storage, which occupies a lot of production space.

[0056] Based on the above technical problems, the embodiment of the present application provides a pre-assembly gripper and a feeding robot. In the technical scheme, the pre-assembly gripper comprises: a frame body; a positioning member, the positioning member is arranged on the frame body, and part of the structure of the positioning member is used for being inserted into a positioning hole on the side wall assembly; a first telescopic assembly, the first telescopic assembly is arranged on the frame body and is used for telescoping in a first direction; a clamping mechanism, the clamping mechanism comprises a second telescopic assembly, a first connecting member and a clamping member; the second telescopic assembly is connected with a telescopic end of the first telescopic assembly and is configured to move in the first direction under the driving of the first telescopic assembly; the second telescopic assembly is used for telescoping in a second direction, and a telescopic end of the second telescopic assembly is connected with the first connecting member to drive the first connecting member to move in the second direction; the clamping member is movably arranged on the first connecting member, and the first connecting member and the clamping member are used for jointly clamping a first clamping part of the side wall assembly; the first direction is an extension direction of the length of the frame body, and the second direction has a first preset angle with the first direction. By arranging the first telescopic assembly, the clamping mechanism can be moved along the length direction of the frame body, so as to adapt to side wall assemblies of different lengths. The second telescopic assembly in the clamping mechanism can move in the second direction, which is equivalent to driving the connecting member and the clamping member to move in a direction different from the first direction, thereby facilitating the clamping of the first clamping part of the side wall assembly. In this way, the pre-assembly gripper of different specifications and sizes can be further adapted, the pre-assembly gripper on the assembly main line can be switched frequently, the production beat can be ensured, and the production efficiency can be improved.

[0057] It should be noted that, Figures 1 to 9The schematic diagram of the pre-assembly gripper and the loading robot is shown, and the specific structure of the remaining components in the pre-assembly gripper and the loading robot is not limited to Figures 1 to 9 The specific structure of the pre-assembly gripper is shown in the following examples.

[0058] The present application will be described in detail below in conjunction with the drawings and specific embodiments:

[0059] Referring to Figure 1 , Figure 2 and Figure 3 , the pre-assembly gripper provided by the embodiments of the present application is used to grasp the side wall assembly 10, and the side wall assembly 10 is the side wall assembly 10 of a vehicle. The vehicle can refer to a large car, a small car, a special-purpose car, etc. For example, according to the vehicle type, the car in the present application can be a sedan type, a SUV type, a Multi-Purpose Vehicles (MPV) type, or other types.

[0060] The pre-assembly gripper includes a frame body 100.

[0061] A positioning member 200 is arranged at one end of the frame body 100, and part of the structure of the positioning member 200 is used to be inserted into a positioning hole on the side wall assembly 10. In an example, the side wall assembly 10 can include a stand column 20, and the stand column 20 has mounting holes for mounting other components. The mounting holes form the positioning holes, and there is no need to additionally open the positioning holes on the side wall assembly 10, thereby simplifying the production steps.

[0062] A first telescopic assembly 300 is arranged at the other end of the frame body 100, and the first telescopic assembly 300 is used to telescopically extend in a first direction. The first direction is the extension direction of the length of the frame body 100. It can be understood that the telescopic extension of the first telescopic assembly 300 is equivalent to changing the overall length of the pre-assembly gripper.

[0063] A clamping mechanism 400 includes a second telescopic assembly 410, a first connecting member 420, and a clamping member 430.

[0064] The second telescopic assembly 410 is connected to the telescopic end of the first telescopic assembly 300 and is configured to move in the first direction under the driving of the first telescopic assembly 300. In this way, the second telescopic assembly 410 as a whole can move under the telescopic extension of the first telescopic assembly 300.

[0065] The second telescopic assembly 410 is used to telescopically extend in a second direction, and the telescopic end of the second telescopic assembly 410 is connected to the first connecting member 420 to drive the first connecting member 420 to move in the second direction. The second direction has a first preset angle with the first direction, so that the second telescopic assembly 410 can drive the first connecting member 420 as a whole to move.

[0066] For example, the first preset angle can be in the range of 80°-110°, and optionally, the first preset angle can be 80°, 85°, 90°, 98°, 105°, 110°, etc. Preferably, the first preset angle can be 90°.

[0067] In an example, the second direction can be a direction towards or away from the side wall assembly 10, so as to move the first connecting member 420 towards or away from the side wall assembly 10, further adapting to side wall assemblies 10 of different shapes.

[0068] The clamping member 430 is movably arranged on the first connecting member 420, for clamping the first gripping part of the side wall assembly 10 between the first connecting member 420 and the clamping member 430.

[0069] In the above embodiment, by arranging the first telescopic assembly 300, the clamping mechanism 400 can be moved along the length direction of the frame 100, so as to adapt to side wall assemblies 10 of different lengths. The second telescopic assembly 410 in the clamping mechanism 400 can be moved along the second direction, which is equivalent to moving the connecting member and the clamping member 430 towards a direction different from the first direction, thereby facilitating clamping the first gripping part of the side wall assembly 10, further adapting to side wall assemblies 10 of different specifications and sizes, avoiding frequent switching of pre-installed grippers on the assembly main line, ensuring sufficient production rhythm, and improving production efficiency.

[0070] In order to improve the clamping stability, in the related art, the side wall assembly 10 has a wheel cover 30 with high strength and hardness, and the first connecting member 420 and the clamping member 430 are arranged at the position of the wheel cover 30 of the side wall assembly 10.

[0071] In a possible embodiment, referring to Figure 4 and Figure 5 and combining Figures 1 to 3 , the lifting mechanism 500 is further included.

[0072] The lifting mechanism 500 includes a third telescopic assembly 510 and a lifting bracket 520.

[0073] The third telescopic assembly 510 is arranged on the frame 100, and the third telescopic assembly 510 is used for telescoping along a third direction. The lifting bracket 520 is arranged on the telescoping end of the third telescopic assembly 510, and the lifting bracket 520 is used for lifting the second gripping part of the side wall assembly 10.

[0074] In the above embodiment, the second grabbing part of the side wall assembly 10 can be lifted by the lifting support 520, which is equivalent to increasing the connection points between the pre-installed gripper and the side wall assembly 10, thereby improving the stability of the grabbing. In addition, the position of the lifting support 520 can be adjusted by the third telescopic assembly 510. The third direction can be the vertical direction. In an example, the side wall assembly 10 has a door frame 40, and the second grabbing part is the top of the door frame 40, so as to lift the side wall assembly 10. The third telescopic assembly 510 facilitates the height adjustment of the lifting support 520, so as to adapt to side wall assemblies 10 of different sizes, thereby further improving the adaptability.

[0075] In a possible implementation, in order to further improve the adaptability, the lifting mechanism 500 further comprises a fourth telescopic assembly 530, and the lifting support 520 is connected with the third telescopic assembly 510 through the fourth telescopic assembly 530.

[0076] The fourth telescopic assembly 530 is used for telescoping in a fourth direction, so as to drive the lifting support 520 to move in the fourth direction. The fourth direction has a second preset angle with the third direction.

[0077] For example, the second preset angle can be in the range of 80°-110°. Alternatively, the second preset angle can be 80°, 85°, 90°, 98°, 105°, 110°, etc. Preferably, the second preset angle can be 90°.

[0078] In the above embodiment, the fourth direction can be a direction towards the side wall assembly 10. By arranging the fourth telescopic assembly 530, the distance between the lifting mechanism and the side wall assembly 10 in the horizontal direction can be adjusted as a whole, thereby further improving the adaptability.

[0079] In a possible implementation, the lifting support 520 comprises a second connecting piece 521, a balance bar 522, at least two elastic members 523, and at least two claws 524.

[0080] The second connecting piece 521 is connected with the telescopic end of the fourth telescopic assembly 530, and the balance bar 522 is hinged with the second connecting piece 521.

[0081] The elastic members 523 are connected between the balance bar 522 and the second connecting piece 521, and the two elastic members 523 are respectively arranged on the two sides of the hinged points of the balance bar 522 and the second connecting piece 521.

[0082] The two claws 524 are respectively arranged at the two ends of the balance bar 522, and the claws 524 are used for lifting the second grabbing part of the side wall assembly 10.

[0083] In the above embodiment, the balance bar 522 is hinged with the second connecting piece 521, and is connected with elastic pieces 523 on both sides of the hinge point. Specifically, the elastic pieces 523 can be springs. In this way, when the claws 524 at both ends of the balance bar 522 lift the second gripping part, the elastic pieces 523 can apply force to the claws 524 towards the second gripping part, so that the claws 524 abut closely with the second gripping part. By arranging the elastic pieces 523, the balance bar 522 can have a self-balancing effect, and the stability can be further improved.

[0084] In a possible implementation, in order to further improve the stability, a groove 5241 is arranged on the claw 524, and the groove 5241 is used to lift the second gripping part of the side wall assembly 10. Specifically, part of the structure of the second gripping part is located in the groove 5241. In a possible implementation, the groove 5241 is V-shaped, which is equivalent to limiting the second gripping part, so as to avoid the side wall assembly 10 from slipping off.

[0085] In a possible implementation, referring to Figure 6 , the clamping piece 430 includes a clamping cylinder 431 and a clamping claw 432.

[0086] The clamping cylinder 431 is connected with the first connecting piece 420, and the clamping claw 432 is connected with the output end of the clamping cylinder 431. The clamping claw 432 is used to clamp the first gripping part of the side wall assembly 10 between the first connecting piece 420 and the clamping claw 432.

[0087] In the above embodiment, by arranging the clamping cylinder 431, the clamping cylinder 431 and the first connecting piece 420 can jointly clamp the first gripping part, the structure is simple, the operation is convenient, and the work efficiency can be improved.

[0088] In a possible implementation, referring to Figure 7 , and combining Figures 1 to 3 , the positioning piece 200 is a hooking cylinder, and the output end of the hooking cylinder is used to be inserted into the positioning hole on the side wall assembly 10.

[0089] The hooking cylinder has a compact structure and a simple structure, can be applied in a narrow environment, has a fast response, can quickly complete positioning, and has certain stability and reliability.

[0090] In the process of preloading the gripper to grip the side wall assembly 10, the middle part of the side wall assembly 10 has a smaller strength, and due to inertia, the structure of the middle part of the side wall assembly 10 can be concave or curved, or rub against the frame body 100. In order to prevent the side wall assembly 10 from being in the above-mentioned situation, in a possible implementation, referring to Figure 8 , and combining Figures 1 to 3 , the side wall assembly 10 is provided with a plurality of positioning holes 101, and the positioning piece 200 is used to be inserted into the positioning holes 101.Further comprising at least one top support 600.

[0091] The top support 600 is arranged on the side of the frame body 100 facing the side wall assembly 10, and the top support 600 is configured to abut against the side wall assembly 10. Of course, in order to improve the stability of the side wall assembly 10, the number of top supports 600 can be set to be multiple. In an example, the top support 600 can be made of plastic or rubber material, which can avoid wearing the side wall assembly 10.

[0092] In a possible implementation, referring to Figure 9 , and combining Figures 1 to 3 , further comprising a flange plate 700; the flange plate 700 is configured to connect the frame body 100 and the feeding robot. Here, the flange plate 700 belongs to mature technology in the related art, and the specific structure of the flange plate 700 is not limited in the embodiments of the present application. Moreover, the feeding robot can be an arm robot or other programmable machine, and the feeding robot is widely used in the assembly main line of the vehicle, and the feeding robot is not limited in the embodiments of the present application.

[0093] In a possible implementation, at least one of the first telescopic assembly 300, the second telescopic assembly 410, the third telescopic assembly 510 and the fourth telescopic assembly 530 comprises a servo cylinder, of course, the frame body 100 is further provided with a servo module control box 900, the servo module control box 900 is electrically connected with the servo cylinder, for controlling each servo cylinder, realizing the control of the servo cylinder. The servo cylinder has the characteristics of accurate positioning and high transmission efficiency, which can improve the accuracy of control, and the structure of the servo cylinder is compact, occupying small space, and being convenient for integration.

[0094] In a possible implementation, at least one of the clamping cylinder 431, the positioning piece 200 and the clamping jaw 524 is provided with a position detection sensor 800, the position detection sensor 800 is configured to be electrically connected with the servo module control box 900, when abutting against the side wall assembly 10, the corresponding servo cylinder is controlled to stop telescoping, so as to improve the safety.

[0095] The present application also provides a feeding robot, comprising a machine body (not shown in the figure) and the preloading gripper described above, and the machine body is connected with the preloading gripper. Wherein, the specific structure of the preloading gripper has been described above, and will not be repeated here, the feeding robot has all the beneficial technical effects of the preloading gripper, which can ensure the production rhythm and improve the production efficiency.

[0096] The implementation principle of the pre-assembly gripper and the feeding robot according to the embodiment of the application is as follows: the pre-assembly gripper comprises a frame body 100, a positioning member 200, a first telescopic assembly 300, and a clamping mechanism 400. The positioning member 200 is arranged on the frame body 100, and part of the structure of the positioning member 200 is used for being inserted into a positioning hole on the side wall assembly 10. The first telescopic assembly 300 is arranged on the frame body 100 and is used for telescoping in a first direction. The clamping mechanism 400 comprises a second telescopic assembly 410, a first connecting member 420, and a clamping member 430. The second telescopic assembly 410 is connected to a telescopic end of the first telescopic assembly 300 and is configured to move in the first direction under the driving of the first telescopic assembly 300. The second telescopic assembly 410 is used for telescoping in a second direction, and a telescopic end of the second telescopic assembly 410 is connected to the first connecting member 420 to drive the first connecting member 420 to move in the second direction. The clamping member 430 is movably arranged on the first connecting member 420, and the first connecting member 420 and the clamping member 430 are used for jointly clamping a first clamping part of the side wall assembly 10. The first direction is an extension direction of the length of the frame body 100, and the second direction has a first preset angle with the first direction. The first telescopic assembly 300 can drive the clamping mechanism 400 to move in the length direction of the frame body 100, so as to adapt to side wall assemblies 10 of different lengths. The second telescopic assembly 410 in the clamping mechanism 400 can move in the second direction, which is equivalent to driving the connecting member and the clamping member 430 to move in a direction different from the first direction, thereby facilitating the clamping of the first clamping part of the side wall assembly 10, further adapting to side wall assemblies 10 of different specifications and sizes, avoiding frequent switching of the pre-assembly gripper on the assembly main line, ensuring sufficient production rhythm, and improving production efficiency.

[0097] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein.

[0098] It is intended to include all such variations and modifications in connection with the principles of the application as can be desired by the skilled person to adapt the application for particular applications. The specification and examples given are intended as illustrative only and do not limit the true scope and spirit of the application, which is indicated by the claims.

[0099] It is to be understood that the application is not limited to the precise construction described and as shown in the attached drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims appended hereto.

Claims

1. A pre-installed gripper for gripping a side panel assembly (10), characterized in that, include: Frame (100); Positioning element (200), the positioning element (200) is disposed on the frame (100), and part of the positioning element (200) is used to be inserted into the positioning hole on the side assembly (10); A first telescopic component (300) is disposed on the frame (100), and the first telescopic component (300) is used to extend and retract along a first direction; A clamping mechanism (400) includes a second telescopic component (410), a first connector (420), and a clamping component (430); The second telescopic component (410) is connected to the telescopic end of the first telescopic component (300) and is configured to move along the first direction under the drive of the first telescopic component (300); The second telescopic component (410) is used to extend and retract along the second direction. The telescopic end of the second telescopic component (410) is connected to the first connector (420) to drive the first connector (420) to move along the second direction. The clamping member (430) is movably disposed on the first connector (420), and the first connector (420) and the clamping member (430) are used to jointly clamp the first gripping part of the side panel assembly (10); The first direction is the extension direction of the frame (100) length, and the second direction has a first preset angle with the first direction.

2. The pre-installed gripper according to claim 1, characterized in that, It also includes support institutions (500); The lifting mechanism (500) includes a third telescopic component (510) and a lifting bracket (520); The third telescopic component (510) is disposed on the frame (100) and is used for telescopic extension along a third direction. The lifting bracket (520) is disposed on the telescopic end of the third telescopic component (510) and is used for lifting the second gripping part of the side assembly (10).

3. The pre-installed gripper according to claim 2, characterized in that, The lifting mechanism (500) further includes a fourth telescopic component (530), and the lifting bracket (520) is connected to the third telescopic component (510) through the fourth telescopic component (530); The fourth telescopic component (530) is used to extend and retract along a fourth direction to drive the lifting bracket (520) to move along the fourth direction, the fourth direction having a second preset angle with the third direction.

4. The pre-installed gripper according to claim 3, characterized in that, The lifting bracket (520) includes a second connector (521), a balance bar (522), at least two elastic elements (523) and at least two support claws (524); The second connector (521) is connected to the telescopic end of the fourth telescopic assembly (530), and the balance bar (522) is hinged to the second connector (521); The elastic element (523) is connected between the balance bar (522) and the second connecting member (521), and the two elastic elements (523) are respectively disposed on both sides of the hinge point of the balance bar (522) and the second connecting member (521); Two claws (524) are respectively disposed at both ends of the balance bar (522), and the claws (524) are used to lift the second gripping part of the side panel assembly (10).

5. The pre-installed gripper according to claim 4, characterized in that, The claw (524) has a groove (5241) for supporting the second gripping part of the side panel assembly (10).

6. The pre-installed gripper according to claim 1, characterized in that, The clamping element (430) includes a clamping cylinder (431) and a jaw (432); The clamping cylinder (431) is connected to the first connector (420), and the gripper (432) is connected to the output end of the clamping cylinder (431). The gripper (432) is used to clamp the first gripping part of the side panel assembly (10) between the first connector (420) and the gripper (432).

7. The pre-installed gripper according to any one of claims 1 to 6, characterized in that, The positioning element (200) is a hook cylinder, and the output end of the hook cylinder is used to be inserted into the positioning hole on the side panel assembly (10).

8. The pre-installed gripper according to any one of claims 1 to 6, characterized in that, It also includes at least one top support (600); The top support (600) is disposed on the side of the frame (100) facing the side assembly (10), and the top support (600) is configured to abut against the side assembly (10).

9. The pre-installed gripper according to any one of claims 1 to 6, characterized in that, It also includes a flange (700); the flange (700) is configured to connect the frame (100) and the loading robot.

10. A loading robot, characterized in that, It includes a machine body and a pre-installed gripper as described in any one of claims 1 to 9; the machine body is connected to the pre-installed gripper.

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