Flexible gripper suitable for vehicle chassis suspension

Abstract

The utility model relates to a flexible gripper suitable for a vehicle chassis suspension, which belongs to the technical field of industrial grippers and comprises a mounting frame provided with a connecting part connected with a power end of a robot. The mounting plate is slidably mounted on the mounting frame, a first driving part is mounted between the mounting frame and the mounting plate, and the first driving part is used for driving the mounting plate to translate in the first direction; the first gripper jaw is mounted on the mounting plate; the second clamping jaw is mounted on the mounting plate through a second driving part, the second driving part is used for driving the second clamping jaw to get close to or get away from the first clamping jaw in the second direction, and the second direction is perpendicular to the first direction; the positioning mechanism is mounted on the mounting plate and used for positioning the vehicle chassis suspension; the mounting plate, the first clamping jaw, the second clamping jaw and the positioning mechanism form clamping sets, and at least two clamping sets are mounted on the mounting frame and sequentially distributed in the first direction. The flexible gripper can be suitable for clamping / gripping products of different specifications and sizes.

Description

Technical Field

[0001] This utility model belongs to the field of industrial gripper technology, and specifically relates to a flexible gripper suitable for vehicle chassis suspension. Background Technology

[0002] With the advancement of science, robotic grippers have become widely used in vehicle manufacturing technology. Most robotic grippers used on vehicle chassis suspension production lines are fixed, specifically equipped with multiple gripping claws. However, the relative positions of these claws are fixed, meaning that a single type of robotic gripper can only grip one specification of vehicle chassis suspension product. However, vehicle chassis suspension products vary in specifications and have diverse structures, such as frame-type, disc-type, and I-beam-type. When switching between products on the same production line, a single type of fixed robotic gripper cannot meet the gripping requirements of different products. Utility Model Content

[0003] This utility model provides a flexible gripper suitable for vehicle chassis suspension, which solves the technical problem that the relative positions of the gripping claws of the robotic grippers currently used in vehicle chassis suspension production are fixed, thus failing to meet the gripping requirements of different products.

[0004] This utility model is achieved through the following technical solution: a flexible gripper suitable for vehicle chassis suspension, comprising:

[0005] The mounting bracket is equipped with a connection part for connecting to the robot's power end;

[0006] A mounting plate is slidably mounted on the mounting frame. A first driving unit is installed between the mounting frame and the mounting plate. The first driving unit is used to drive the mounting plate to translate along a first direction on the mounting frame.

[0007] The first gripper is fixedly mounted on the mounting plate;

[0008] The second gripper is mounted on the mounting plate via a second drive unit. The second drive unit is used to drive the second gripper to move closer to or further away from the first gripper along a second direction, the second direction being perpendicular to the first direction.

[0009] A positioning mechanism is mounted on the mounting plate, and the positioning mechanism is used to position the vehicle chassis suspension.

[0010] The mounting plate, the first clamping claw, the second clamping claw, and the positioning mechanism constitute a clamping group. At least two clamping groups are mounted on the mounting frame, and the two clamping groups are distributed sequentially along the first direction.

[0011] Furthermore, in order to better realize this utility model, the mounting bracket is equipped with a guide rail extending along the first direction, a slider is mounted on the guide rail, and the mounting plate is mounted on the slider;

[0012] The first drive unit is a first linear motor mounted on the mounting bracket, and the power output end of the first linear motor is connected to the mounting plate.

[0013] Furthermore, in order to better realize this utility model, the mounting bracket is also fixedly installed with a limiting block for preventing the slider from sliding out of the guide rail.

[0014] Furthermore, in order to better realize this utility model, the first gripping claw includes:

[0015] Both the fixing plate and the fixing bracket are fixedly installed on the mounting plate;

[0016] The first lower clamping plate is slidably mounted on the fixed plate by the first cylinder.

[0017] A first upper clamping plate is mounted on a first crank, which is rotatably mounted on the fixed frame via a first rotary cylinder. The first upper clamping plate is used to cooperate with the first lower clamping plate to clamp the vehicle chassis suspension.

[0018] Furthermore, in order to better realize this utility model, a first stop block located on the rotation path of the first crank is installed on the fixing frame. When the first upper clamping plate and the first lower clamping plate are clamped together, the first crank abuts against the first stop block.

[0019] Furthermore, to better realize this utility model, the second gripping claw includes:

[0020] The movable plate and the movable frame are provided. The second drive unit is a second linear motor mounted on the mounting plate. Both the movable plate and the movable frame are mounted on the power output end of the second linear motor.

[0021] The second lower clamping plate is slidably mounted on the movable plate via the second cylinder.

[0022] The second upper clamping plate is mounted on the second crank, which is rotatably mounted on the movable frame via a second rotary cylinder. The second upper clamping plate is used to cooperate with the second lower clamping plate to clamp the vehicle chassis suspension.

[0023] Furthermore, in order to better realize this utility model, a second stop block located on the rotation path of the second crank is installed on the movable frame. When the second upper clamping plate and the second lower clamping plate are clamped together, the second crank abuts against the second stop block.

[0024] Furthermore, to better realize this utility model, the positioning mechanism includes:

[0025] The positioning bracket is fixedly installed on the mounting plate;

[0026] A positioning cylinder is installed on the positioning frame, with the telescopic end of the positioning cylinder facing upwards;

[0027] A positioning rod is installed at the telescopic end of the positioning cylinder, and the positioning rod is used to insert into the positioning hole of the vehicle chassis suspension.

[0028] Furthermore, to better realize this utility model, the connecting part includes:

[0029] A connecting bracket is installed on the outer side wall of the mounting bracket;

[0030] A connecting flange is provided with a connecting pipe on one side, and a connecting plate is provided at the end of the connecting pipe opposite to the connecting flange. The connecting plate is fixedly connected to the connecting frame.

[0031] The connecting flange is used to connect to the robot's power end.

[0032] Furthermore, in order to better realize this utility model, four sets of clamping groups are installed on the mounting frame, wherein two sets of clamping groups form an upper clamping system and the other two sets of clamping groups form a lower clamping system;

[0033] The two clamping groups in the upper clamping system are distributed sequentially along the first direction, and the first clamping claw and the second clamping claw of the upper clamping system are both located above the mounting frame;

[0034] The two clamping groups in the lower clamping system are distributed sequentially along a first direction, and the first clamping claw and the second clamping claw of the lower clamping system are both located below the mounting frame.

[0035] Compared with the prior art, this utility model has the following advantages:

[0036] The present invention provides a method for mounting a mounting plate on a mounting frame, and using a first driving unit to drive the mounting plate to slide along a first direction on the mounting frame, thereby fixing a first clamping claw to the mounting plate. A second driving unit is used to slide a second clamping claw on the mounting plate, and the second driving unit drives the second clamping claw to move closer to or away from the first clamping claw along a second direction perpendicular to the first direction. A positioning mechanism for positioning the vehicle chassis suspension is also installed on the mounting plate. The mounting plate, the first clamping claw, the second clamping claw, and the positioning mechanism constitute a clamping claw. At least two sets of clamping groups are distributed on the mounting frame, and the two sets of clamping groups are distributed sequentially along the first direction.

[0037] With the above structure, the distance between the two clamping groups in the flexible gripper is adjustable in the first direction, and the distance between the first and second clamping claws in each clamping group is adjustable in the second direction, which is perpendicular to the first direction. In this way, the flexible gripper can be used to grip / clamp different products of different models and sizes, making it more practical. Especially when changing products on the production line, there is no need to replace the gripper. You can simply adjust the distance between the two clamping groups and the distance between the first and second clamping claws. The operation is simpler and more convenient, saving time and effort. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of a flexible gripper suitable for vehicle chassis suspension provided in an embodiment of this utility model;

[0040] Figure 2 This is a schematic diagram of the installation structure of the clamping assembly on the mounting frame in an embodiment of this utility model;

[0041] Figure 3 This is a schematic diagram of the clamping assembly in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the mounting structure of the second clamping claw on the mounting plate in an embodiment of this utility model;

[0043] Figure 5 yes Figure 4 Another perspective view of the structure shown;

[0044] Figure 6 This is a schematic diagram of the mounting structure of the first clamping claw on the mounting plate in an embodiment of this utility model;

[0045] Figure 7 This is a schematic diagram of the installation structure of the positioning mechanism on the mounting plate in an embodiment of this utility model.

[0046] In the picture:

[0047] 100-Mounting bracket, 110-Connecting bracket, 120-Connecting flange, 200-Mounting plate, 300-First linear motor, 400-First clamping jaw, 410-Fixing plate, 420-Fixing bracket, 430-First lower clamping plate, 440-First cylinder, 450-First upper clamping plate, 460-First crank, 470-First rotary cylinder, 480-First stop block, 500-Second clamping jaw, 510-Lifting jaw Moving plate, 520-movable frame, 530-second lower clamping plate, 540-second cylinder, 550-second upper clamping plate, 560-second crank, 570-second rotary cylinder, 580-second stop block, 600-second linear motor, 700-positioning mechanism, 710-positioning frame, 720-positioning cylinder, 730-positioning rod, 800-guide rail, 810-slider, 820-limiting block, 900-clamping assembly. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0049] Example:

[0050] like Figures 1-7 As shown, the flexible gripper for vehicle chassis suspension provided in this embodiment includes a mounting bracket 100, a mounting plate 200, a first clamping claw 400, a second clamping claw 500, and a positioning mechanism 700, wherein:

[0051] The mounting bracket 100 is provided with a connecting part for connecting to the robot's power end. The mounting bracket 100 is installed on the robot's power end through the connecting part so that the robot can drive the mounting bracket 100 to the desired position.

[0052] The mounting plate 200 is slidably mounted on the mounting frame 100. A first driving unit is installed between the mounting frame 100 and the mounting plate 200. The first driving unit is used to drive the mounting plate 200 to translate along a first direction on the mounting frame 100. Specifically, a guide rail 800 extending along the first direction is mounted on the mounting frame 100, and a slider 810 is mounted on the guide rail 800. The mounting plate 200 is mounted on the slider 810, thereby allowing the mounting plate 200 to be slidably mounted on the mounting frame 100 along the first direction. Optionally, the first driving unit is a first linear motor 300. The power output end of the first linear motor 300 is connected to the mounting plate 200, thereby using the first linear motor 300 to drive the mounting plate 200 to translate along the first direction on the mounting frame 100. Of course, the first driving unit can also be a cylinder, a hydraulic cylinder, or an electric telescopic rod. More preferably, a limiting block 820 is also installed on the mounting bracket 100 to prevent the slider 810 from sliding out of the guide rail 800.

[0053] The first clamping claw 400 is fixedly installed on the mounting plate 200. It should be noted that the first clamping claw 400 being fixedly installed on the mounting plate 200 means that the first clamping claw 400 cannot move relative to the mounting plate 200, but the first clamping claw 400 can perform the action of clamping or releasing the vehicle chassis suspension.

[0054] The second gripper 500 can also clamp or release the vehicle chassis suspension. It is mounted on the mounting plate 200 via a second drive unit. The second drive unit drives the second gripper 500 to move closer to or away from the first gripper 400 along a second direction, wherein the second direction is perpendicular to the first direction. Optionally, the second drive unit is a second linear motor 600, the power output end of which is connected to the second gripper 500 to drive the second gripper 500 to move closer to or away from the first gripper 400 on the mounting plate 200 along the second direction. Of course, the second drive unit can also be a cylinder, a hydraulic cylinder, or an electric telescopic rod.

[0055] The positioning mechanism 700 is mounted on the mounting plate 200 and is used to position the vehicle chassis suspension.

[0056] The mounting plate 200, the first clamping claw 400, the second clamping claw 500, and the positioning mechanism 700 constitute a clamping group 900. At least two clamping groups 900 are installed on the mounting frame 100. The two clamping groups 900 are distributed sequentially along the first direction. Thus, at least two first clamping claws 400 and two second clamping claws 500 are provided on the mounting frame 100. It should be noted that each clamping claw only clamps one part of the vehicle chassis suspension. Since the vehicle chassis suspension is usually a large structural component, multiple clamping claws clamp different parts respectively, so that it can be firmly clamped on the mounting frame 100.

[0057] In practical use, first determine the specifications, dimensions and other parameters of the vehicle chassis suspension. Then, based on the determined parameters, change the distance between the two clamping groups 900 and the distance between the first clamping claw 400 and the second clamping claw 500 in the same clamping group 900. Then, use the suspension device to lift the vehicle chassis suspension to a suitable position and use the positioning mechanism 700 to position it. Finally, use all the clamping claws to clamp the vehicle chassis suspension together.

[0058] With the above structure, the distance between the two sets of clamping groups 900 in the flexible gripper is adjustable in the first direction, and the distance between the first clamping claw 400 and the second clamping claw 500 in each set of clamping groups 900 is adjustable in the second direction, which is perpendicular to the first direction. In this way, the flexible gripper can be used to grip / clamp different products of different models and sizes, making it more practical. Especially when changing products on the production line, there is no need to replace the gripper. You can simply adjust the distance between the two sets of clamping groups 900 and the distance between the first clamping claw 400 and the second clamping claw 500. The operation is simpler and more convenient, saving time and effort.

[0059] It is worth noting that the "flexible gripper" mentioned in this embodiment is the opposite of the "fixed gripper". Specifically, the distance between the gripping claws of the "fixed gripper" is not adjustable, while the distance between the gripping claws of the "flexible gripper" is adjustable.

[0060] Optionally, the above-mentioned connecting part includes a connecting frame 110 and a connecting flange 120, wherein:

[0061] The connecting frame 110 is bolted and fixed to the outer wall of the mounting frame 100. A connecting pipe is provided on one side of the connecting flange 120, and a connecting plate is provided at the end of the connecting pipe opposite to the connecting flange 120. The connecting plate is bolted or welded to the connecting frame 110. The connecting flange 120 is used to connect to the power end of the robot. The specific connection method is the same as the prior art, so it will not be described in detail here. Of course, the connecting frame 110, connecting pipe, connecting plate, and connecting flange 120 can also be integrally formed.

[0062] Optionally, the positioning mechanism 700 includes a positioning frame 710, a positioning cylinder 720, and a positioning bar, wherein:

[0063] The positioning frame 710 is bolted to the mounting plate 200. The positioning cylinder 720 is installed on the positioning frame 710 with its extension end facing upward. The positioning rod 730 is installed on the extension end of the positioning cylinder 720, and the top of the positioning rod 730 is conical. During positioning, the positioning rod 730 moves from bottom to top and is inserted into the positioning hole of the vehicle chassis suspension.

[0064] To better clamp the vehicle chassis suspension, in this embodiment, the mounting bracket 100 is equipped with four sets of clamping assemblies 900. Two sets of clamping assemblies 900 form an upper clamping system, and the other two sets of clamping assemblies form a lower clamping system. The two sets of clamping assemblies 900 in the upper clamping system are distributed sequentially along a first direction, and the first clamping claw 400 and the second clamping claw 500 of the upper clamping system are both located above the mounting bracket 100. The two sets of clamping assemblies 900 in the lower clamping system are distributed sequentially along the first direction, and the first clamping claw 400 and the second clamping claw 500 of the lower clamping system are both located below the mounting bracket 100. Thus, a total of four clamping assemblies 900 are provided on the mounting bracket 100, and each clamping assembly 900 has two clamping claws. Therefore, this flexible gripper has a total of eight clamping claws, thereby better clamping the vehicle chassis suspension.

[0065] An optional implementation of this embodiment is as follows: The first clamping claw 400 includes a fixing frame 420, a fixing plate 410, a first lower clamping plate 430, and a first upper clamping plate 450, wherein:

[0066] Both the fixing plate 410 and the fixing bracket 420 are bolted to the mounting plate 200. The first lower clamping plate 430 is slidably mounted on the fixing plate 410 via the first cylinder 440. Specifically, the first cylinder 440 is mounted on the fixing plate 410 with its extension end facing upwards. The first lower clamping plate 430 is mounted on the extension end of the first cylinder 440, thereby driving the first lower clamping plate 430 to rise and fall using the first cylinder 440. The first upper clamping plate 450 is mounted on the first crank 460. The first crank 460 is rotatably mounted on the fixed frame 420 via the first rotary cylinder 470. Specifically, the first rotary cylinder 470 is mounted on the fixed frame 420, and the first crank 460 is connected to the rotary output shaft of the first rotary cylinder 470, thereby driving the first crank 460 to rotate using the first rotary cylinder 470. The first upper clamping plate 450 is connected to the first crank 460. Thus, when the first rotary cylinder 470 is running, it can drive the first upper clamping plate 450 to rotate. When the first upper clamping plate 450 rotates, it moves closer to or further away from the first lower clamping plate 430. When the first upper clamping plate 450 is closest to the first lower clamping plate 430, the first upper clamping plate 450 and the first lower clamping plate 430 clamp together. When the first upper clamping plate 450 is farthest from the first lower clamping plate 430, it is convenient to insert the vehicle chassis suspension between the first upper clamping plate 450 and the first lower clamping plate 430. The first upper clamping plate 450 is used to cooperate with the first lower clamping plate 430 to clamp the vehicle chassis suspension.

[0067] More preferably, the aforementioned mounting bracket 420 is further equipped with a first stop 480 located on the rotation path of the first crank 460. When the first upper clamping plate 450 and the first lower clamping plate 430 are clamped together, the first crank 460 abuts against the first stop 480. In this way, the first stop 480 can prevent the first crank 460 from rotating excessively, which could cause the first upper clamping plate 450 and the first lower clamping plate 430 to damage the vehicle chassis suspension.

[0068] An optional implementation of this embodiment is as follows: The second clamping claw 500 includes a movable frame 520, a movable plate 510, a second lower clamping plate 530, and a second upper clamping plate 550, wherein:

[0069] Both the movable plate 510 and the movable frame 520 are bolted and fixed to the power output end of the second linear motor 600. The second lower clamping plate 530 is slidably mounted on the movable plate 510 via the second cylinder 540. Specifically, the second cylinder 540 is mounted on the movable plate 510 with its extension end facing upwards. The second lower clamping plate 530 is mounted on the extension end of the second cylinder 540, thereby driving the second lower clamping plate 530 to rise and fall using the second cylinder 540. The second upper clamping plate 550 is mounted on the second crank 560, which is rotatably mounted on the movable frame 520 via the second rotary cylinder 570. Specifically, the second rotary cylinder 570 is mounted on the movable frame 520, and the second crank 560 is connected to the rotary output shaft of the second rotary cylinder 570, thereby driving the second crank 560 to rotate using the second rotary cylinder 570. The second upper clamping plate 550 is connected to the second crank 560, so that when the second rotary cylinder 570 is running, it can drive the second upper clamping plate 550 to rotate. When the second upper clamping plate 550 rotates, it moves closer to or further away from the second lower clamping plate 530. When the second upper clamping plate 550 is closest to the second lower clamping plate 530, the second upper clamping plate 550 and the second lower clamping plate 530 cooperate to clamp together. When the second upper clamping plate 550 is farthest from the second lower clamping plate 530, it is convenient to insert the vehicle chassis suspension between the second upper clamping plate 550 and the second lower clamping plate 530. The second upper clamping plate 550 is used to cooperate with the second lower clamping plate 530 to clamp the vehicle chassis suspension.

[0070] More preferably, the aforementioned movable frame 520 is also equipped with a second stop 580 located on the rotation path of the second crank 560. When the second upper clamping plate 550 and the second lower clamping plate 530 are clamped together, the second crank 560 abuts against the second stop 580. In this way, the second stop 580 can prevent the second crank 560 from rotating excessively and causing the second upper clamping plate 550 and the second lower clamping plate 530 to damage the vehicle chassis suspension.

[0071] It should be noted that the first rotary cylinder 470 and the second rotary cylinder 570 mentioned above are rotary cylinders, which belong to the prior art, so they will not be described in detail here.

[0072] In the description of the embodiments of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "center," "top," "bottom," "top," "bottom," "inner," "outer," "inner side," and "outer side," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and 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, and therefore should not be construed as a limitation of this utility model. "Inner side" refers to the interior or enclosed area or space. "Outer perimeter" refers to the area surrounding a specific component or specific area.

[0073] In the description of embodiments of this utility model, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0074] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "assembly" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0075] In the description of the embodiments of this utility model, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0076] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope described in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A flexible gripper suitable for vehicle chassis suspension, characterized in that, include: The mounting bracket (100) is provided with a connection part for connecting to the robot's power end; Mounting plate (200) is slidably mounted on mounting frame (100). A first driving unit is installed between mounting frame (100) and mounting plate (200). The first driving unit is used to drive mounting plate (200) to translate along a first direction on mounting frame (100). The first gripper (400) is fixedly mounted on the mounting plate (200); The second gripper (500) is mounted on the mounting plate (200) via a second drive unit. The second drive unit is used to drive the second gripper (500) to move closer to or away from the first gripper (400) along a second direction, the second direction being perpendicular to the first direction. A positioning mechanism (700) is mounted on the mounting plate (200) and is used to position the vehicle chassis suspension. The mounting plate (200), the first clamping claw (400), the second clamping claw (500) and the positioning mechanism (700) constitute a clamping group (900). At least two clamping groups (900) are mounted on the mounting frame (100), and the two clamping groups (900) are distributed sequentially along the first direction.

2. The flexible gripper for vehicle chassis suspension according to claim 1, characterized in that: The mounting bracket (100) is equipped with a guide rail (800) extending in a first direction, a slider (810) is mounted on the guide rail (800), and the mounting plate (200) is mounted on the slider (810); The first drive unit is a first linear motor (300) mounted on the mounting bracket (100), and the power output end of the first linear motor (300) is connected to the mounting plate (200).

3. The flexible gripper for vehicle chassis suspension according to claim 2, characterized in that: The mounting bracket (100) is also fixedly mounted with a limiting block (820) for preventing the slider (810) from sliding out of the guide rail (800).

4. The flexible gripper for vehicle chassis suspension according to claim 1, characterized in that, The first gripper (400) includes: The fixing plate (410) and the fixing bracket (420) are both fixedly installed on the mounting plate (200); The first lower clamping plate (430) is slidably mounted on the fixed plate (410) via the first cylinder (440); A first upper clamping plate (450) is mounted on a first crank (460), which is rotatably mounted on the fixed frame (420) via a first rotary cylinder (470). The first upper clamping plate (450) is used to cooperate with the first lower clamping plate (430) to clamp the vehicle chassis suspension.

5. The flexible gripper for vehicle chassis suspension according to claim 4, characterized in that: The fixing frame (420) is equipped with a first stop (480) located on the rotation path of the first crank (460). When the first upper clamping plate (450) and the first lower clamping plate (430) are clamped together, the first crank (460) abuts against the first stop (480).

6. The flexible gripper for vehicle chassis suspension according to claim 1, characterized in that, The second gripper (500) includes: The movable plate (510) and the movable frame (520) are provided. The second driving unit is a second linear motor (600) mounted on the mounting plate (200). Both the movable plate (510) and the movable frame (520) are mounted on the power output end of the second linear motor (600). The second lower clamping plate (530) is slidably mounted on the movable plate (510) via the second cylinder (540); The second upper clamping plate (550) is mounted on the second crank (560), which is rotatably mounted on the movable frame (520) via the second rotary cylinder (570). The second upper clamping plate (550) is used to cooperate with the second lower clamping plate (530) to clamp the vehicle chassis suspension.

7. The flexible gripper for vehicle chassis suspension according to claim 6, characterized in that: The movable frame (520) is equipped with a second stop (580) located on the rotation path of the second crank (560). When the second upper clamping plate (550) and the second lower clamping plate (530) are clamped together, the second crank (560) abuts against the second stop (580).

8. The flexible gripper for vehicle chassis suspension according to any one of claims 1-7, characterized in that, The positioning mechanism (700) includes: The positioning bracket (710) is fixedly installed on the mounting plate (200); A positioning cylinder (720) is installed on the positioning frame (710), with the telescopic end of the positioning cylinder (720) facing upward; A positioning rod (730) is installed at the telescopic end of the positioning cylinder (720), and the positioning rod (730) is used to insert into the positioning hole of the vehicle chassis suspension.

9. The flexible gripper for vehicle chassis suspension according to any one of claims 1-7, characterized in that, The connecting part includes: A connecting bracket (110) is installed on the outer side wall of the mounting bracket (100); A connecting flange (120) is provided with a connecting pipe on one side. A connecting plate is provided at the end of the connecting pipe away from the connecting flange (120). The connecting plate is fixedly connected to the connecting frame (110). The connecting flange (120) is used to connect to the robot's power end.

10. The flexible gripper for vehicle chassis suspension according to any one of claims 1-7, characterized in that: The mounting bracket (100) is equipped with four sets of clamping groups (900), two sets of clamping groups (900) form an upper clamping system, and the other two sets of clamping groups form a lower clamping system; The two clamping groups (900) in the upper clamping system are distributed sequentially along the first direction, and the first clamping claw (400) and the second clamping claw (500) of the upper clamping system are both located above the mounting bracket (100); The two clamping groups (900) in the lower clamping system are distributed sequentially along the first direction, and the first clamping claw (400) and the second clamping claw (500) of the lower clamping system are both located below the mounting bracket (100).

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