Flexible gripper equipment for outer plates of four doors and two covers of automobile

Abstract

The utility model provides an automobile four-door two-cover outer plate flexible gripper device which comprises a frame, a first flexible supporting and pressing assembly, a second flexible supporting and pressing assembly, a third flexible supporting and pressing assembly and a fourth flexible supporting and pressing assembly are arranged on the frame, and the fourth flexible supporting and pressing assembly is a symmetrical assembly of the third flexible supporting and pressing assembly. The device has the advantages that when different vehicle types are switched, the first flexible supporting and pressing assembly moves in the Z direction to support and press the center position of a metal plate, the first flexible supporting and pressing assembly serves as the center point, and the second flexible supporting and pressing assembly moves in the X / Z direction and supports and presses the different vehicle types; the third flexible supporting and pressing assembly and the fourth flexible supporting and pressing assembly move in the X / Y / Z direction, rotate around the Y axis and conduct supporting and pressing, and flexible grabbing of various vehicle types is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to flexible gripper technical field especially relates to a flexible gripper equipment of four door two cover outer plate of car. BACKGROUND

[0002] With the rapid development momentum of new energy vehicles, under the multiple driving of technological progress and market demand, new energy vehicle capacity is rising, and major automobile manufacturers are increasing investment and launching various new energy vehicles to meet market demand. Today's automobile market, consumer demand is increasingly diversified, and automobile manufacturers are constantly accelerating the development and launch of new models to stand out in the fierce market competition, and the types of vehicles are increasingly diverse. From traditional fuel vehicles to new energy vehicles, from cars, SUVs to MPVs, various types and various positioning models are emerging in an endless stream. This trend of model diversification puts higher requirements on automobile production and manufacturing, and automobile production enterprises need to have stronger flexible production capacity to meet the production needs of different models.

[0003] Among them, the four-door two-cover outer plate of the car is an important part of the car body, and its production quality and efficiency directly affect the quality and production progress of the whole vehicle. Under the development demand of model diversification, production automation and high efficiency and low cost, the traditional four-door two-cover outer plate gripper equipment has been difficult to meet the requirements of modern automobile production, and technical upgrading is imminent.

[0004] The prior art has the following disadvantages:

[0005] (1) Insufficient flexibility: traditional four-door two-cover handling gripper cannot meet the needs of multi-model parts sharing, and different models need to switch grippers, resulting in low production efficiency and high cost;

[0006] (2) Space and cost challenge: the traditional flexible way needs to configure exclusive grippers for each model, and the flexibility is achieved by continuous switching, resulting in large floor area and high investment cost. INVENTION CONTENTS

[0007] In order to overcome the problems in the prior art, the utility model provides a flexible gripper equipment for four-door two-cover outer plate of car.

[0008] This utility model discloses a flexible gripper device for the outer panels of four car doors and two hoods, including a frame. The frame is equipped with four flexible support and clamping components: a first flexible support and clamping component, a second flexible support and clamping component, a third flexible support and clamping component, and a fourth flexible support and clamping component. The fourth flexible support and clamping component is a symmetrical component of the third flexible support and clamping component. The first, second, third, and fourth flexible support and clamping components flexibly shift to grip different car models. Each of the first, second, and third flexible support and clamping components is equipped with an outer panel conforming component and a suction cup floating component. The outer panel conforming component provides conforming support for the outer panels of the four doors and two hoods, and the suction cup floating component clamps the outer panels of the four doors and two hoods.

[0009] Based on this, the outer plate contouring assembly includes a slide cylinder, a limiting arm, a support block, a connecting shaft, connecting plate three, connecting plate four, connecting plate five, connecting plate six, spring three, a mounting plate, a limiting block, connecting plate seven, connecting plate eight, and a support shaft. Connecting plate four, connecting plate five, connecting plate seven, connecting plate eight, connecting plate three, and connecting plate six are interconnected to form an accommodating space. The mounting plate and connecting plate six are connected by the support shaft. The limiting block is placed on the upper surface of connecting plate six and is located between the mounting plate and connecting plate six. Holes are provided on the mounting plate, limiting block, and connecting plate six. The connecting shaft is inserted from the upper end of the mounting plate into the hole of the mounting plate and corresponds to the holes of the limiting block and connecting plate six. The support block is installed on the connecting shaft, and the two are installed one-to-one. Spring three is sleeved into the connecting shaft. The limiting arm is connected to the limiting block. The limiting arm is connected to the movable end of the slide cylinder, and the fixed end of the slide cylinder is connected to the connecting plate three.

[0010] Based on this, the suction cup floating assembly includes a limiting plate, a second connecting plate, a floating shaft, a first spring, a floating head, a limiting shaft, a first bushing, a reset block, a second bushing, a second spring, a connector, and a suction cup. The limiting plate is located at the upper end of the limiting shaft, and the second connecting plate is located on the side of the limiting plate. The first and second bushings are respectively installed in the upper and lower holes of the limiting shaft. The hole on the floating end of the floating head is inserted into the limiting shaft from above. The reset block and the first spring are inserted into the limiting shaft from above. The fixed end of the floating head and the limiting plate are connected to the second connecting plate. The floating shaft is inserted into the hole of the limiting shaft from above. The second spring is installed into the floating shaft from below. The connector is installed at the lower end of the floating shaft, and the suction cup is installed at the lower end of the connector. The floating range of the floating head is -15° to 15°, and the movement range of the suction cup is 10-15mm.

[0011] Based on this, the flexible support and clamping assembly includes an outer plate contouring assembly, a suction cup floating assembly, a Z-axis moving module, a servo motor, and a mounting base. The upper end face of the mounting base is mounted to the lower end face of the frame. The Z-axis moving module is mounted to the side of the mounting base. The servo motor is mounted on the upper end face of the Z-axis moving module. The outer plate contouring assembly is mounted to the moving end face of the Z-axis moving module. The suction cup floating assembly is inserted into the middle hole of the outer plate contouring assembly.

[0012] Based on this, the flexible support and clamping assembly two includes an outer plate contouring assembly, a suction cup floating assembly, a Z-axis moving module two, a servo motor two, a connecting plate one, a connecting seat one, an X-axis moving module, and a servo motor three. The fixed end of the X-axis moving module is installed on the lower end face of the frame, the servo motor three is installed on the tail end of the X-axis moving module one, the moving end of the X-axis moving module is connected to the upper end face of the connecting seat one, the lower end face of the connecting seat is separated by the X-axis, and a connecting plate one is installed on each of the left and right sides. A Z-axis moving module two is installed on the side of the two connecting plates one. A servo motor two is installed on the Z-axis moving module two, and an outer plate contouring assembly is installed on the moving end of the Z-axis moving module two. The suction cup floating assembly is fitted into the middle hole of the outer plate contouring assembly.

[0013] Based on this, the flexible support and clamping assembly three includes an outer plate conforming assembly, a suction cup floating assembly, a connecting block, a connecting seat two, an aerial rotating platform, a servo motor four, a connecting seat three, a Z-axis moving module three, a connecting seat four, a connecting seat five, a servo motor five, an X / Y axis moving module, and a servo motor six. The fixed end of the X / Y axis moving module is connected to the lower end face of the frame, the tail end of the X / Y axis moving module is equipped with the servo motor six, the moving end of the X / Y axis moving module is connected to the upper end face of the connecting seat five, and the lower end face of the connecting seat five is connected to the upper end face of the connecting seat four. The connection consists of four fixed ends of a Z-axis moving module three mounted on the four sides of the connecting seat, a servo motor five mounted on the tail end of the Z-axis moving module three, a connecting seat three mounted on the moving end of the Z-axis moving module three, a fixed end of an aerial rotating platform mounted on the side of the connecting seat three, a servo motor four mounted on the motor mounting surface of the aerial rotating platform, and a connecting seat two mounted on the rotating end of the aerial rotating platform. The connecting seat two is connected to the outer plate contouring component, and the connection strength between the connecting seat two and the outer plate contouring component is strengthened by the connecting block. The suction cup floating component is fitted into the middle hole of the outer plate contouring component.

[0014] Based on this, the flexible support clamping component four has the same structure as the flexible support clamping component three, and they are installed symmetrically.

[0015] Based on this, a robot mounting flange is installed on the upper surface of the frame.

[0016] A method for using a flexible gripper device for the outer panels of four doors and two hoods of an automobile: when switching between different car models, the first flexible support and clamping component moves in the Z direction to determine the support and clamping position of the sheet metal center. With the first flexible support and clamping component as the center point, the second flexible support and clamping component moves in the X / Z direction for different car models and supports and clamps it. The third and fourth flexible support and clamping components move in the X / Y / Z directions and rotate around the Y axis to support and clamp it.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] (1) When switching between different vehicle models, the flexible support and clamping component one moves in the Z direction to determine the support and clamping of the sheet metal center position. With the flexible support and clamping component one as the center point, the flexible support and clamping component two moves in the X / Z direction and supports and clamps for different vehicle models. The flexible support and clamping components three and four move in the X / Y / Z direction, rotate around the Y axis and support and clamp, so as to realize flexible gripping of multiple vehicle models.

[0019] (2) The contact method between the support block and the plate is point and surface. Multiple points can form the curved surface of the plate. When working, the support block and the plate form a completely identical curved surface after contact. The limit arm and the limit block are fixed to the connecting shaft by the slide cylinder. Multiple limit grooves are set in several holes of the limit block and multiple limit grooves are set on the connecting shaft. The already formed support block is fixed by the limit grooves. When switching vehicle models, the slide cylinder slides out, and the spring three provides external force to make the support block return to its position. Then the new vehicle model is re-shaped and positioned. When the suction cup contacts the plate, it moves upward by the floating shaft and the floating head floats in all directions, so that the suction cup and the plate form the same curved surface, thereby picking up the plate and forming a clamping. When changing vehicle models, the spring one and the spring two are used to reset and then the new vehicle model is clamped. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the flexible gripper device of this utility model;

[0021] Figure 2 This is a schematic diagram of the flexible support and clamping assembly of this utility model;

[0022] Figure 3 This is a schematic diagram of the second structure of the flexible support and clamping component of this utility model;

[0023] Figure 4 This is a schematic diagram of the three structures of the flexible support and clamping assembly of this utility model;

[0024] Figure 5 This is a schematic diagram illustrating the usage method of the flexible gripper device of this utility model;

[0025] Figure 6This is a schematic diagram of the outer panel contouring component and the suction cup floating component of this utility model;

[0026] Figure 7 This is a schematic diagram of the main structure of the outer panel conforming component and the suction cup floating component of this utility model;

[0027] Figure 8 yes Figure 7 AA section view;

[0028] Figure 9 This is a schematic diagram of the outer panel conforming component and the suction cup floating component of this utility model from another perspective.

[0029] In the diagram: 1. Frame; 2. Robot mounting flange; 3. Flexible support and clamping assembly one; 4. Flexible support and clamping assembly two; 5. Flexible support and clamping assembly three; 6. Flexible support and clamping assembly four; 7. Outer panel conforming assembly; 8. Suction cup floating assembly.

[0030] 301. Z-axis movement module one; 302. Servo motor one; 303. Mounting base one.

[0031] 401. Z-axis moving module two; 402. Servo motor two; 403. Connecting plate one; 404. Connecting base one; 405. X-axis moving module; 406. Servo motor three.

[0032] 501. Connecting block; 502. Connecting seat two; 503. Aerial rotating platform; 504. Servo motor four; 505. Connecting seat three; 506. Z-axis moving module three; 507. Connecting seat four; 508. Connecting seat five; 509. Servo motor five; 510. X / Y axis moving module; 511. Servo motor six.

[0033] 701. Slide cylinder; 702. Limiting arm; 703. Support block; 704. Connecting shaft; 705. Connecting plate three; 706. Connecting plate four; 707. Connecting plate five; 708. Connecting plate six; 709. Spring three; 710. Mounting plate; 711. Limiting block; 712. Connecting plate seven; 713. Connecting plate eight; 714. Supporting shaft.

[0034] 801. Limiting plate; 802. Connecting plate II; 803. Floating shaft; 804. Spring I; 805. Floating head; 806. Limiting shaft; 807. Bushing I; 808. Reset block; 809. Bushing II; 810. Spring II; 811. Connector; 812. Suction cup. Detailed Implementation

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0036] This utility model discloses a flexible gripper device for the outer panels of four doors and two hoods of an automobile, including a frame 1. The frame 1 is equipped with a first flexible support and clamping component 3, a second flexible support and clamping component 4, a third flexible support and clamping component 5, and a fourth flexible support and clamping component 6. The fourth flexible support and clamping component 6 is a symmetrical component of the third flexible support and clamping component 5. When gripping the outer panels of the four doors and two hoods, the first flexible support and clamping component 3, the second flexible support and clamping component 4, the third flexible support and clamping component 5, and the fourth flexible support and clamping component 6 flexibly shift to grip different vehicle models. Each of the first flexible support and clamping component 3, the second flexible support and clamping component 4, and the third flexible support and clamping component 5 is equipped with an outer panel conforming component 7 and a suction cup floating component 8. The outer panel conforming component 7 provides conforming support for the outer panels of the four doors and two hoods, and the suction cup floating component 8 clamps the outer panels of the four doors and two hoods, thereby ensuring that the outer panels of the four doors and two hoods are not deformed or damaged during the gripping process.

[0037] The outer panel contouring assembly 7 includes a slide cylinder 701, a limiting arm 702, a support block 703, a connecting shaft 704, a connecting plate three 705, a connecting plate four 706, a connecting plate five 707, a connecting plate six 708, a spring three 709, a mounting plate 710, a limiting block 711, a connecting plate seven 712, a connecting plate eight 713, and a support shaft 714. Multiple support blocks 703 are provided. Connecting plates four 706, five 707, seven 712, eight 713, three 705, and six 708 are interconnected to form an accommodating space. The mounting plate 710 is connected to the connecting plate six 708 via the support shaft 714. The limiting block 704... 11 is placed on the upper surface of connecting plate 6 708, and is located between mounting plate 710 and connecting plate 6 708. Mounting plate 710, limiting block 711 and connecting plate 6 708 are all provided with holes. Connecting shaft 704 is inserted from the upper end of mounting plate 710 into the hole of mounting plate 710, and corresponds to the hole of limiting block 711 and connecting plate 6 708. Support block 703 is installed on connecting shaft 704. The two are installed one-to-one. Spring 3 709 is sleeved into connecting shaft 704. Limiting arm 702 is connected to limiting block 711. Limiting arm 702 is connected to the movable end of slide cylinder 701. Fixed end of slide cylinder 701 is connected to connecting plate 3 705.

[0038] The working principle is as follows: The contact method between the support block 703 and the plate is point and surface. The curved surface of the plate can be formed through multiple points. During operation, after several support blocks 703 contact the plate, they form an identical curved surface. The limit arm 702 and the limit block 711 are driven by the slide cylinder 701 to fix the connecting shaft 704. Multiple limit grooves are set in the hole of the limit block 711 and multiple limit grooves are set on the connecting shaft 704. The limit grooves are used to fix the formed support blocks 703. When switching vehicle models, the slide cylinder 701 slides out, and the spring 709 provides external force to make the support block 703 return to its original position, and then the new vehicle model is re-aligned.

[0039] The suction cup floating assembly 8 includes a limiting plate 801, a connecting plate 802, a floating shaft 803, a spring 804, a floating head 805, a limiting shaft 806, a bushing 807, a reset block 808, a bushing 809, a spring 810, a connector 811, and a suction cup 812. The limiting plate 801 is located at the upper end of the limiting shaft 806, and the connecting plate 802 is located on the side of the limiting plate 801. The bushings 807 and 809 are respectively installed into the upper and lower holes of the limiting shaft 806. The floating head 805 is inserted into the limiting shaft 806 from the top through the hole on its floating end. The reset block 808 and the spring 804 are inserted into the limiting shaft 806 from the top. The fixed end of the floating head 805 and the limiting plate 801 are connected to the connecting plate 802. The floating shaft 803 is inserted into the hole of the limiting shaft 806 from above. The spring 810 is installed into the shaft of the floating shaft 803 from below. The connector 811 is installed at the lower end of the floating shaft 803. The suction cup 812 is installed at the lower end of the connector 811. After the floating head 805 floats in all directions, the whole body can be reset by the external force of the spring 804. The limiting plate 801 is mainly used for the floating range. The floating range of the floating head 805 is -15° to 15°. The suction cup 812 moves upward through the floating shaft 803, with a movement range of 10-15mm, and is reset by the spring 810.

[0040] The working principle is as follows: When the suction cup 812 contacts the plate, it moves upward through the floating shaft 803 and the floating head 805 floats in all directions, so that the suction cup 812 and the plate form the same curved surface, thereby picking up the plate and forming a clamping. When changing the model, it is reset by the spring 1 804 and the spring 2 810, and then the new model is clamped.

[0041] The flexible support and clamping assembly 3 includes an outer plate contouring assembly 7, a suction cup floating assembly 8, a Z-axis moving module 301, a servo motor 302, and a mounting base 303. The upper end face of the mounting base 303 is mounted to the lower end face of the frame 1. The Z-axis moving module 301 is mounted to the side of the mounting base 303. The servo motor 302 is mounted on the upper end face of the Z-axis moving module 301. The outer plate contouring assembly 7 is mounted to the moving end face of the Z-axis moving module 301. The suction cup floating assembly 8 is inserted into the middle hole of the outer plate contouring assembly 7.

[0042] The working principle is as follows: the outer panel contouring component 7 and the suction cup floating component 8 are displaced in the Z direction under the drive of the servo motor 302 to adapt to different vehicle models.

[0043] The flexible support and clamping assembly 4 includes an outer plate contouring assembly 7, a suction cup floating assembly 8, a Z-axis moving module 2 401, a servo motor 2 402, a connecting plate 1 403, a connecting seat 1 404, an X-axis moving module 405, and a servo motor 3 406. The fixed end of the X-axis moving module 405 is installed on the lower end face of the frame 1, and the servo motor 3 406 is installed on the tail end of the X-axis moving module 1 405. The moving end of the X-axis moving module 405 is connected to the upper end face of the connecting seat 1 404. The lower end face of the connecting seat 1 404 is separated by the X-axis, and a connecting plate 1 403 is installed on each of the left and right sides. A Z-axis moving module 2 401 is installed on the side of the two connecting plates 1 403. A servo motor 2 402 is installed on the Z-axis moving module 2 401. An outer plate contouring assembly 7 is installed on the moving end of the Z-axis moving module 2 401. The suction cup floating assembly 8 is inserted into the middle hole of the outer plate contouring assembly 7.

[0044] The working principle is as follows: the outer panel contouring component 7 and the suction cup floating component 8 can be driven by servo motor 2 402 and servo motor 3 406 to move in the X / Z directions to adapt to different vehicle models.

[0045] The flexible support and clamping assembly 35 includes an outer plate contouring assembly 7, a suction cup floating assembly 8, a connecting block 501, a connecting seat 2 502, an aerial rotating platform 503, a servo motor 4 504, a connecting seat 3 505, a Z-axis moving module 3 506, a connecting seat 4 507, a connecting seat 5 508, a servo motor 5 509, an X / Y axis moving module 510, and a servo motor 6 511. The fixed end of the X / Y axis moving module 510 is connected to the lower end face of the frame 1. The servo motor 6 511 is installed at the tail end of the X / Y axis moving module 510. The moving end of the X / Y axis moving module 510 is connected to the upper end face of the connecting seat 5 508. The lower end face of the connecting seat 5 508 is connected to the upper end face of the connecting seat 4 507. The side of the connecting seat 4 507... The Z-axis moving module 3 506 is fixed at the front end, the servo motor 509 is mounted at the rear end of the Z-axis moving module 3 506, the connecting seat 3 505 is mounted at the moving end of the Z-axis moving module 3 506, the fixed end of the aerial rotating platform 503 is mounted on the side of the connecting seat 3 505, the servo motor 4 504 is mounted on the motor mounting surface of the aerial rotating platform 503, the connecting seat 2 502 is mounted at the rotating end of the aerial rotating platform 503, the connecting seat 2 502 is connected to the outer plate contouring component 7, and the connection strength between the connecting seat 2 502 and the outer plate contouring component 7 is strengthened by the connecting block 501. The suction cup floating component 8 is inserted into the middle hole of the outer plate contouring component 7. The flexible support pressing component 4 6 has the same structure as the flexible support pressing component 3 5 and is installed symmetrically.

[0046] The working principle is as follows: the outer panel contouring component 7 and the suction cup floating component 8 can be driven by servo motor 4 504 to rotate along the Y axis, and can be driven by servo motor 5 509 and servo motor 6 511 to move in the X / Y / Z directions to adapt to different vehicle models.

[0047] The robot mounting flange 2 is installed on the upper surface of frame 1, so that the robot can be connected and grasped.

[0048] A method for using a flexible gripper for the outer panels of four car doors and two hoods involves the following steps: When switching between different car models, the first flexible support and clamping component 3 moves in the Z-direction to secure the center position of the sheet metal. Using the first flexible support and clamping component 3 as the center point, the second flexible support and clamping component 4 moves in the X / Z directions for different car models and provides support and clamping. The third flexible support and clamping component 5 and the fourth flexible support and clamping component 6 move in the X / Y / Z directions, rotate around the Y-axis, and provide support and clamping, thus enabling the flexible gripper for the outer panels of four car doors and two hoods to flexibly grip various car models.

[0049] In the description of this utility model, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "side", "top", "inner", "front", "center", "both ends", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0050] In this utility model, unless otherwise explicitly specified and limited, the terms "installation", "setting", "connection", "fixing", "screw connection", "pad", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the terms in this utility model according to the specific circumstances.

[0051] The preferred embodiments of the present invention have been illustrated and described. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through teachings or techniques or knowledge in related fields. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A flexible gripper device for four-door, two-hood outer panels of an automobile, characterized by: The utility model provides frame (1) on which flexible support compression assembly one (3), flexible support compression assembly two (4), flexible support compression assembly three (5) and flexible support compression assembly four (6) are arranged, flexible support compression assembly four (6) is the symmetrical assembly of flexible support compression assembly three (5), flexible support compression assembly one (3), flexible support compression assembly two (4), flexible support compression assembly three (5) and flexible support compression assembly four (6) flexible displacement complete to different vehicle models are grabbed, and the outer plate profiling assembly (7) and the sucking disc floating assembly (8) are arranged on flexible support compression assembly one (3), flexible support compression assembly two (4), flexible support compression assembly three (5), the outer plate profiling assembly (7) is used to profile support to four doors two covers outer plate, and the sucking disc floating assembly (8) is used to clamp four doors two covers outer plate.

2. The automotive four-door two-cowl outer panel flexible gripper apparatus of claim 1, wherein: The outer plate profiling assembly (7) includes a sliding table air cylinder (701), a limiting arm (702), a supporting block (703), a connecting shaft (704), a connecting plate three (705), a connecting plate four (706), a connecting plate five (707), a connecting plate six (708), a spring three (709), a mounting plate (710), a limiting block (711), a connecting plate seven (712), a connecting plate eight (713), and a supporting shaft (714). The connecting plate four (706), the connecting plate five (707), the connecting plate seven (712), the connecting plate eight (713), the connecting plate three (705), and the connecting plate six (708) are connected with each other to form a containing space. The mounting plate (710) is connected with the connecting plate six (708) through the supporting shaft (714). The limiting block (711) is placed on the upper end surface of the connecting plate six (708) and is located between the mounting plate (710) and the connecting plate six (708). Holes are formed in the mounting plate (710), the limiting block (711), and the connecting plate six (708). The connecting shaft (704) is inserted into the hole of the mounting plate (710) from the upper end of the mounting plate (710) and corresponds to the holes of the limiting block (711) and the connecting plate six (708). The supporting block (703) is installed on the connecting shaft (704) in a one-to-one correspondence. The spring three (709) is sleeved in the connecting shaft (704). The limiting arm (702) is connected with the limiting block (711). The limiting arm (702) is connected with the movable end of the sliding table air cylinder (701). The fixed end of the sliding table air cylinder (701) is connected with the connecting plate three (705).

3. The automotive four-door two-cowl outer panel flexible gripper apparatus of claim 2, wherein: The suction cup floating assembly (8) comprises a limiting plate (801), a connecting plate two (802), a floating shaft (803), a spring one (804), a floating head (805), a limiting shaft (806), a bushing one (807), a reset block (808), a bushing two (809), a spring two (810), a joint (811) and a suction cup (812), the limiting plate (801) is arranged on the upper end of the limiting shaft (806), the connecting plate two (802) is arranged on the side of the limiting plate (801), the bushing one (807) and the bushing two (809) are respectively installed into the upper and lower holes of the limiting shaft (806), the hole on the floating end of the floating head (805) is sleeved into the shaft of the limiting shaft (806), the reset block (808) and the spring one (804) are sleeved into the shaft of the limiting shaft (806), the fixed end of the floating head (805) and the limiting plate (801) are connected with the connecting plate two (802), the floating shaft (803) is sleeved into the hole of the limiting shaft (806), the spring two (810) is installed into the shaft of the floating shaft (803), the joint (811) is installed on the lower end of the floating shaft (803), the joint (811) is installed on the lower end of the suction cup (812), the floating range of the floating head (805) is -15° to 15°, and the moving range of the suction cup (812) is 10-15mm.

4. The automotive four-door two-cowl outer panel flexible gripper apparatus of claim 3, wherein: The flexible support and pressing assembly one (3) comprises an outer plate profiling assembly (7), a suction cup floating assembly (8), a Z-axis moving module one (301), a servo motor one (302) and a mounting seat one (303), the upper end surface of the mounting seat one (303) is installed on the lower end surface of the frame (1), the Z-axis moving module one (301) is installed on the side of the mounting seat one (303), the upper end surface of the Z-axis moving module one (301) is installed on the servo motor one (302), the outer plate profiling assembly (7) is installed on the moving end surface of the Z-axis moving module one (301), and the suction cup floating assembly (8) is sleeved into the middle hole of the outer plate profiling assembly (7).

5. The automotive four-door two-cowl outer panel flexible gripper apparatus of claim 3, wherein: The flexible support and compression assembly two (4) comprises an outer plate profiling assembly (7), a suction cup floating assembly (8), a Z-axis moving module two (401), a servo motor two (402), a connecting plate one (403), a connecting seat one (404), an X-axis moving module (405), and a servo motor three (406). The fixed end of the X-axis moving module (405) is installed to the lower end surface of the frame (1). The servo motor three (406) is installed to the tail end of the X-axis moving module (405). The moving end of the X-axis moving module (405) is connected to the upper end surface of the connecting seat one (404). The lower end surface of the connecting seat one (404) is divided by the X-axis. One connecting plate one (403) is installed to each of the left and right sides. One Z-axis moving module two (401) is installed to the side surface of the two connecting plate ones (403). The Z-axis moving module two (401) is installed with a servo motor two (402). One outer plate profiling assembly (7) is installed to the moving end of the Z-axis moving module two (401). The suction cup floating assembly (8) is sleeved into the middle hole of the outer plate profiling assembly (7).

6. The automotive four-door two-cowl outer panel flexible gripper apparatus of claim 3, wherein: The flexible support and compression assembly three (5) comprises an outer plate profiling assembly (7), a suction cup floating assembly (8), a connecting block (501), a connecting seat two (502), an aerial rotating platform (503), a servo motor four (504), a connecting seat three (505), a Z-axis moving module three (506), a connecting seat four (507), a connecting seat five (508), a servo motor five (509), an X / Y-axis moving module (510), and a servo motor six (511). The fixed end of the X / Y-axis moving module (510) is connected to the lower end surface of the frame (1). The tail end of the X / Y-axis moving module (510) is installed with the servo motor six (511). The moving end of the X / Y-axis moving module (510) is connected to the upper end surface of the connecting seat five (508). The lower end surface of the connecting seat five (508) is connected to the upper end surface of the connecting seat four (507). The fixed end of the Z-axis moving module three (506) is installed to the side surface of the connecting seat four (507). The tail end of the Z-axis moving module three (506) is installed with the servo motor five (509). The moving end of the Z-axis moving module three (506) is installed with the connecting seat three (505). The fixed end of the aerial rotating platform (503) is installed to the side surface of the connecting seat three (505). The motor installation surface of the aerial rotating platform (503) is installed with the servo motor four (504). The rotating end of the aerial rotating platform (503) is installed with the connecting seat two (502). The connecting seat two (502) is connected to the outer plate profiling assembly (7). The connecting block (501) is used to strengthen the connection strength between the connecting seat two (502) and the outer plate profiling assembly (7). The suction cup floating assembly (8) is sleeved into the middle hole of the outer plate profiling assembly (7).

7. The automotive four-door two-cowl outer panel flexible gripper apparatus of claim 6, wherein: The flexible support and compression assembly four (6) has the same structure as the flexible support and compression assembly three (5) and is symmetrically installed.

8. The automotive four-door two-cowl outer panel flexible gripper apparatus of claim 1, wherein: The robot installation flange (2) is installed to the upper end surface of the frame (1).

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