Automobile side wall reinforcing plate assembly gripper

Abstract

The application relates to the technical field of automobile manufacturing, and discloses a kind of automobile side wall reinforcement plate assembly gripper, including detection mechanism, first clamping mechanism, second clamping mechanism, third clamping mechanism and gripper frame;The detection mechanism is used to detect the vehicle type of the side wall reinforcement plate assembly;The first clamping mechanism includes the first clamping assembly for clamping the lower rear door hole inner side of the B column;The second clamping mechanism includes the second clamping assembly for clamping the upper rear door hole inner side of the B column, and the second clamping assembly can move along the first direction, second direction;The third clamping mechanism includes the third clamping assembly for clamping the front door hole inner side of the A column, and the third clamping assembly can move along the first direction, third direction;So the clamping of the side wall reinforcement plate assembly of different vehicle types can be realized, the adaptability is stronger, the degree of flexibility is higher, and the production efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of automotive manufacturing technology, and in particular to a gripper for an automotive side panel reinforcement assembly. Background Technology

[0002] With the rapid development of the automotive industry and the increasing diversification of consumer demands, the pace of automotive product updates and replacements has accelerated significantly. Vehicle manufacturers are constantly launching product strategies involving multiple platforms, configurations, and models to meet the needs of segmented markets. The same production line often needs to accommodate various body structures such as sedans, SUVs, and MPVs, and even derive multiple models with significantly different wheelbases, vehicle heights, and other parameters from the same platform. This trend of "multiple varieties, small batches, and rapid iteration" has become the new normal in modern automobile manufacturing.

[0003] Against this backdrop, automobile manufacturing places higher demands on the flexibility and production cycle time of production lines. To achieve efficient, stable, and low-cost mixed-line production, manufacturing systems must be able to quickly respond to changes in different vehicle models while minimizing non-value-adding time. Especially in the body-in-white welding workshop, the adaptability and switching efficiency of key components such as tooling fixtures and handling equipment directly determine the overall efficiency and return on investment of the entire line. Therefore, how to improve equipment versatility and reduce switching costs while ensuring assembly accuracy has become one of the core issues that urgently need to be addressed in the current automotive manufacturing industry.

[0004] Currently, automated handling of side panel reinforcement assemblies typically involves grippers clamping the assembly and then a robotic arm driving the grippers. To ensure compatibility across multiple vehicle models, a tool changer is usually installed in the gripper as a detachable connection to the robotic arm. When a vehicle model needs to be changed, the tool changer is removed from the robotic arm, and grippers for other models are installed. However, due to the complex structure and irregular shape of the side panel reinforcement assembly, and significant differences between vehicle models in A-pillar and B-pillar heights, distances between A-pillars and B-pillars, and door opening contours, each model usually requires a dedicated gripper. This not only results in a large number of grippers, significant storage space requirements, and high initial investment costs, but also leads to time-consuming gripper changes during actual production changeovers, severely impacting production line cycle time and hindering the overall efficiency of the flexible manufacturing system. Utility Model Content

[0005] This application provides a gripper for automotive side panel reinforcement assembly, which can clamp side panel reinforcement assemblies of different models, has greater adaptability and flexibility, and can improve production efficiency.

[0006] To achieve the above objectives, the main technical solutions adopted in this application include: This application provides a gripper for a car side panel reinforcement assembly, used for clamping the side panel reinforcement assembly, which includes an A-pillar and a B-pillar, and includes: A testing agency is used to test the vehicle model to which the side panel reinforcement assembly belongs; The first clamping mechanism includes a first clamping assembly for clamping the lower rear door opening inside the B-pillar; The second clamping mechanism includes a second clamping assembly for clamping the inner side of the upper rear door opening of the B-pillar, and the second clamping assembly can move along a first direction and a second direction; The third clamping mechanism includes a third clamping assembly for clamping the inside of the front door opening of the A-pillar, and the third clamping assembly is movable along a first direction and a third direction; The gripper frame, wherein the detection mechanism, the first clamping mechanism, the second clamping mechanism, and the third clamping mechanism are disposed on the same side of the gripper frame in a first direction; Wherein, the first direction, the second direction, and the third direction are perpendicular to each other.

[0007] This application proposes a gripper for automotive side panel reinforcement assemblies. Through a first clamping component, a second clamping component, and a third clamping component, a flexible clamping scheme of "one fixed clamping point + two adjustable clamping points" is formed on the A-pillar and B-pillar. The fixed clamping point of the first clamping component inside the lower rear door opening of the B-pillar serves as a reference point. The second clamping component moves along the first and second directions to adapt to changes in the height of the B-pillar and the inclination of the rear door opening contour in the first direction for different vehicle models. The third clamping component moves along the first and third directions to adapt to changes in the distance between the A-pillar and B-pillar in the third direction and the deviation of the A-pillar relative to the B-pillar in the first direction for different vehicle models. This allows for the clamping of the side panel reinforcement assemblies for different vehicle models, improving the gripper's adaptability and flexibility, reducing the number of grippers and storage space on the production line, lowering the gripper switching frequency, and improving production efficiency.

[0008] Optionally, along the second direction, the third clamping assembly is located between the first clamping assembly and the second clamping assembly.

[0009] In the above scheme, along the second direction, the third clamping component is arranged between the first clamping component and the second clamping component, which can clamp the middle position of the front door opening of the A-pillar, forming a stable triangular clamping structure with the first clamping component and the second clamping component, resulting in higher clamping stability and better reliability.

[0010] Optionally, the second clamping mechanism further includes a first driving component and a second driving component; the first driving component is used to drive the second clamping assembly to move along a first direction, and the second driving component is used to drive the second clamping assembly to move along a second direction.

[0011] In the above solution, the second clamping assembly is driven to move along the first direction by the first driving component, so that the second clamping assembly can adapt to the change in the inclination of the rear door opening contour in the first direction in different vehicle models; the second clamping assembly is driven to move along the second direction by the second driving component, so that the second clamping assembly can adapt to the change in the height of the B-pillar in different vehicle models; it is not only simple in structure, but also reliable in operation and has good stability.

[0012] Optionally, the third clamping mechanism further includes a third driving component and a fourth driving component; the third driving component is used to drive the third clamping assembly to move along a first direction, and the fourth driving component is used to drive the third clamping assembly to move along a third direction.

[0013] In the above solution, the third clamping assembly is driven to move along the first direction by the third driving component, so that the third clamping assembly can adapt to the changes in the deviation of the A-pillar relative to the B-pillar in the first direction in different vehicle models; the fourth driving component is used to drive the third clamping assembly to move along the third direction, so that the third clamping assembly can adapt to the changes in the distance between the A-pillar and the B-pillar in the third direction in different vehicle models; it is not only simple in structure, but also reliable in operation and has good stability.

[0014] Optionally, it also includes a positioning mechanism for limiting the displacement of the side reinforcement assembly in the second direction and the third direction.

[0015] In the above solution, by limiting the displacement of the side reinforcement plate assembly in the second direction and the third direction through the positioning mechanism, the side reinforcement plate assembly can be accurately positioned during the gripping and handling process, thereby improving the handling accuracy.

[0016] Optionally, the positioning mechanism includes a positioning pin and a fifth driving component. The positioning pin matches a positioning hole on the B-pillar, and the fifth driving component is used to drive the positioning pin to move closer to or away from the positioning hole along a first direction.

[0017] In the above solution, the displacement of the side reinforcement plate assembly in the second direction and the third direction can be limited by the cooperation of the positioning pin and the fifth driving component. It not only has a simple structure and good reliability, but also has a better positioning effect.

[0018] Optionally, the positioning mechanism further includes a sixth driving component, which drives the positioning pin to move along a second direction to match the positioning holes of different heights on the B-pillar.

[0019] In the above solution, the positioning pin is driven to move along the second direction by the sixth driving component, thereby matching the positioning holes of different heights on the B-pillar, which can further improve the applicability of the positioning pin.

[0020] Optionally, the end of the locating pin is tapered.

[0021] In the above solution, setting the end of the positioning pin to be tapered can facilitate automatic centering and smooth insertion of the positioning pin when it is inserted into the positioning hole, reducing jamming or hole damage caused by assembly deviation.

[0022] Optionally, the first clamping assembly, the second clamping assembly, or the third clamping assembly includes a mounting base, a hinge base, a rotating link, a rotating shaft, and a drive cylinder; One end of the hinge seat is hinged to the mounting base via the rotating shaft, and the other end is fixedly connected to the middle of the rotating link, with the hinge seat and the rotating link forming an angle with each other; One end of the rotating connecting rod is provided with a first clamping part protruding toward the mounting base, and a second clamping part protruding toward the first clamping part is provided at a corresponding position on the mounting base; The other end of the rotating link is hinged to the output shaft of the drive cylinder. Under the drive of the drive cylinder, the rotating link can rotate around the rotating shaft.

[0023] In the above solution, the cooperation of the mounting base, hinge seat, rotating link, rotating shaft, and driving cylinder can make the first clamping part and the second clamping part move closer or further apart, thereby achieving stable and reliable clamping.

[0024] Optionally, the gripper frame is further provided with a connecting mechanism, which is located on the other side of the gripper frame away from the detection mechanism, the first clamping mechanism, the second clamping mechanism, and the third clamping mechanism, and the gripper frame is detachably connected to the robot arm.

[0025] In the above solution, by setting the connection mechanism that can be detachably connected to the robot arm, the applicability of the gripper of the automobile side panel reinforcement assembly can be further improved based on the adjustable gripping points of the second and third gripping components. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of the grabber for the automotive side panel reinforcement assembly in some embodiments of this application. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the grabber for the automotive side panel reinforcement assembly in some embodiments of this application. Figure 2 ; Figure 3 This is a schematic diagram of the overall structure of the grabber for the automotive side panel reinforcement assembly in some embodiments of this application. Figure 3 ; Figure 4 This is a schematic diagram showing the usage state of the gripper of the automobile side panel reinforcement assembly in some embodiments of this application; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 for Figure 4 Enlarged view at point B in the middle; Figure 7 for Figure 4 Enlarged view at point C; Figure 8 for Figure 4 Enlarged view at point D; Figure 9 This is a schematic diagram of the overall structure of the second clamping mechanism in some embodiments of this application; Figure 10 This is a schematic diagram of the overall structure of the third clamping mechanism in some embodiments of this application; Figure 11 This is a schematic diagram of the overall structure of the positioning mechanism in some embodiments of this application; Figure 12 This is a schematic diagram of the overall structure of the first clamping component, the second clamping component, and the third clamping component in some embodiments of this application.

[0028] [Explanation of Labels in the Attached Image] 1: Side panel reinforcement assembly; 11: A-pillar; 12: B-pillar; 13: Positioning holes; 2: Testing institutions; 3: First clamping mechanism; 31: First clamping assembly; 4: Second clamping mechanism; 41: Second clamping assembly; 42: First driving component; 43: Second driving component; 5: Third clamping mechanism; 51: Third clamping assembly; 52: Third driving component; 53: Fourth driving component; 6: Handle frame; 7: Positioning mechanism; 71: Positioning pin; 72: Fifth drive component; 73: Sixth drive component; 81: Mounting base; 82: Hinge seat; 83: Rotating connecting rod; 84: Rotating shaft; 85: Drive cylinder; 86: First clamping part; 87: Second clamping part; 9: Connecting components; X: First direction; Y: Second direction; Z: Third direction. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0031] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" 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 communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0034] In this application, "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0035] With the rapid development of the automotive industry, in order to achieve efficient, stable, and low-cost mixed-line production, manufacturing systems need to have the ability to quickly respond to the switching between different vehicle models. The same production line often needs to meet the manufacturing needs of different vehicle models' components. Among these, the side reinforcement plate assembly 1 refers to a key structure integrated into the side panel area of ​​the vehicle body to improve side rigidity and collision safety performance. It typically includes the A-pillar 11 located in front of the front door opening, the B-pillar 12 located between the front and rear door openings, and the pre-assembled integration of other parts. Currently, the automated handling of the side reinforcement plate assembly 1 is usually achieved by clamping the assembly with a gripper and then driving the gripper's movement with a robotic arm. However, due to the complex structure and irregular shape of the side reinforcement plate assembly 1, and the significant differences between different vehicle models in the height of the A-pillar 11 and the B-pillar 12, the distance between the A-pillar 11 and the B-pillar 12, and the door opening contours, each vehicle model usually requires a separate dedicated gripper. This not only results in a large number of grippers, a large storage space requirement, and high initial investment costs, but also in the actual production switchover process, frequent gripper replacements take a long time, seriously affecting the production line cycle time and restricting the overall efficiency of the flexible manufacturing system.

[0036] In view of this, in order to achieve clamping of the side reinforcement plate assembly 1 for different vehicle models, improve the adaptability and flexibility of the gripper, reduce the number of grippers and storage space on the production line, reduce the switching frequency of the gripper, and improve production efficiency, this application provides a novel gripper for automotive side reinforcement plate assembly.

[0037] First, in this embodiment, the left-right direction of the vehicle is defined as the first direction X, the up-down direction as the second direction Y, and the forward-backward direction as the third direction Z. Please refer to... Figure 1 , Figure 2 , Figure 3 The vehicle side panel reinforcement assembly gripper includes a detection mechanism 2, a first clamping mechanism 3, a second clamping mechanism 4, a third clamping mechanism 5, and a gripper frame 6. The detection mechanism 2, the first clamping mechanism 3, the second clamping mechanism 4, and the third clamping mechanism 5 are mounted on the same side of the gripper frame 6 in the first direction X. The detection mechanism 2 is used to detect the vehicle model to which the side reinforcement plate assembly 1 belongs. In this embodiment, the detection mechanism 2 is a laser sensor. Of course, it can also be other detection components, as long as they can detect the vehicle model to which the side reinforcement plate assembly 1 belongs. There are no restrictions here. The first clamping mechanism 3 includes a first clamping component 31, which is used to clamp the lower rear door opening of the B-pillar 12. The second clamping mechanism 4 includes a second clamping component 41, which is used to clamp the inner side of the upper rear door opening of the B-pillar 12, and the second clamping component 41 can move along the first direction X and the second direction Y. The third clamping mechanism 5 includes a third clamping component 51, which is used to clamp the inside of the front door opening of the A-pillar 11, and the third clamping component 51 can move along the first direction X and the third direction Z.

[0038] like Figure 4 The diagram shows the usage status of the gripper of the vehicle side panel reinforcement assembly. In use, firstly, the vehicle model to which the side panel reinforcement assembly 1 belongs is detected by the detection mechanism 2; then... Figure 5 As shown, the first clamping assembly 31 clamps the lower rear door opening of the B-pillar 12 as a fixed clamping point; then, using this fixed clamping point as a reference point, based on the detection results of the vehicle model of the detection mechanism 2, such as... Figure 6 As shown, the second clamping assembly 41 moves along the first direction X and the second direction Y to the inner side of the upper rear door opening of the B-pillar 12 and clamps the inner side of the upper rear door opening of the B-pillar 12, as shown. Figure 7 As shown, the third clamping component 51 moves along the first direction X and the third direction Z to the inside of the front door opening of the A-pillar 11 and clamps the inside of the front door opening of the A-pillar 11, thereby achieving the clamping of the side reinforcement plate assembly 1 through the three-point clamping of the first clamping component 31, the second clamping component 41 and the third clamping component 51.

[0039] This application proposes a gripper for a car side panel reinforcement assembly. Through a first clamping component 31, a second clamping component 41, and a third clamping component 51, a flexible clamping scheme of "one fixed clamping point + two adjustable clamping points" is formed on the A-pillar 11 and B-pillar 12. The fixed clamping point of the first clamping component 31 inside the lower rear door opening of the B-pillar 12 serves as a reference point. The second clamping component 41 moves along the first direction X and the second direction Y to adapt to changes in the height of the B-pillar 12 and the inclination of the rear door opening contour in the first direction X for different car models. The third clamping component 51 moves along the first direction X and the third direction Z to adapt to changes in the distance between the A-pillar 11 and B-pillar 12 in the third direction Z for different car models and changes in the deviation of the A-pillar 11 relative to the B-pillar 12 in the first direction X. This allows for the clamping of the side panel reinforcement assembly 1 for different car models, improving the adaptability and flexibility of the gripper, reducing the number of grippers and storage space on the production line, lowering the gripper switching frequency, and improving production efficiency.

[0040] In other embodiments, the third clamping component 51 is located between the first clamping component 31 and the second clamping component 41 along the second direction Y; more preferably, it is located in the middle region between the first clamping component 31 and the second clamping component 41 along the second direction Y.

[0041] In the above scheme, along the second direction Y, the third clamping component 51 is arranged between the first clamping component 31 and the second clamping component 41, which can clamp the middle position of the front door opening of the A-pillar 11, forming a stable triangular clamping structure with the first clamping component 31 and the second clamping component 41, resulting in higher clamping stability and better reliability.

[0042] In other embodiments, such as Figure 9 As shown, the second clamping mechanism 4 further includes a first driving component 42 and a second driving component 43; the first driving component 42 is used to drive the second clamping assembly 41 to move along the first direction X, and the second driving component 43 is used to drive the second clamping assembly 41 to move along the second direction Y.

[0043] In the above solution, the second clamping component 41 is driven to move along the first direction X by the first driving component 42, so that the second clamping component 41 can adapt to the change in the inclination of the rear door opening contour in the first direction X in different vehicle models; the second clamping component 43 is driven to move along the second direction Y, so that the second clamping component 41 can adapt to the change in the height of the B-pillar 12 in different vehicle models; it is not only simple in structure, but also reliable in operation and has good stability.

[0044] In other embodiments, such as Figure 10 As shown, the third clamping mechanism 5 further includes a third driving component 52 and a fourth driving component 53; the third driving component 52 is used to drive the third clamping assembly 51 to move along the first direction X, and the fourth driving component 53 is used to drive the third clamping assembly 51 to move along the third direction Z.

[0045] In the above scheme, the third clamping component 51 is driven to move along the first direction X by the third driving component 52, so that the third clamping component 51 can adapt to the deviation of the A-pillar 11 relative to the B-pillar 12 in the first direction X in different vehicle models; the fourth driving component 53 is used to drive the third clamping component 51 to move along the third direction Z, so that the third clamping component 51 can adapt to the distance between the A-pillar 11 and the B-pillar 12 in the third direction Z in different vehicle models; it is not only simple in structure, but also reliable in operation and has good stability.

[0046] In some other embodiments, the vehicle side panel reinforcement assembly gripper further includes a positioning mechanism 7, which is used to limit the displacement of the side panel reinforcement assembly 1 in the second direction Y and the third direction Z, so that the side panel reinforcement assembly 1 cannot move in the second direction Y and the third direction Z. Specifically, the positioning mechanism 7 may be a positioning pin, a positioning block, or other positioning component that can limit the displacement of the side panel reinforcement assembly 1 in the second direction Y and the third direction Z, which is not limited here.

[0047] In the above solution, by limiting the displacement of the side reinforcement plate assembly 1 in the second direction Y and the third direction Z by the positioning mechanism 7, the side reinforcement plate assembly 1 can be accurately positioned during the gripping and handling process, thereby improving the handling accuracy.

[0048] In other embodiments, such as Figure 8 , Figure 11 As shown, the positioning mechanism 7 includes a positioning pin 71 and a fifth driving component 72. The positioning pin 71 matches the positioning hole 13 on the B-pillar 12 and can be inserted into the positioning hole 13. The fifth driving component 72 is used to drive the positioning pin 71 to move along the first direction X to move closer to or further away from the positioning hole 13, thereby driving the positioning pin 71 to be inserted into or removed from the positioning hole 13.

[0049] In the above solution, the positioning pin 71 and the fifth driving component 72 cooperate with each other to limit the displacement of the side reinforcement plate assembly 1 in the second direction Y and the third direction Z. This not only has a simple structure and good reliability, but also a better positioning effect.

[0050] In other embodiments, the positioning mechanism 7 further includes a sixth driving component 73 for driving the positioning pin 71 to move along the second direction Y to match the positioning holes 13 at different heights on the B-pillar 12.

[0051] In the above scheme, the positioning pin 71 is driven to move along the second direction Y by the sixth driving component 73, so that the positioning holes 13 of different heights can be matched on the B-pillar 12, which can further improve the applicability of the positioning pin 71.

[0052] In some other embodiments, the end of the positioning pin 71 is tapered; more preferably, the end face of the positioning pin 71 is configured as a convex arc surface.

[0053] In the above scheme, the end of the positioning pin 71 is set to be tapered, which can facilitate the automatic centering and smooth insertion of the positioning pin 71 when it is inserted into the positioning hole 13, and reduce jamming or hole damage caused by assembly deviation.

[0054] In other embodiments, such as Figure 12 As shown, the structure of the first clamping assembly 31, the second clamping assembly 41, or the third clamping assembly 51 includes a mounting base 81, a hinge seat 82, a rotating connecting rod 83, a rotating shaft 84, and a drive cylinder 85. One end of the hinge seat 82 is hinged to the mounting base 81 via the rotating shaft 84, and the other end is fixedly connected to the middle of the rotating link 83, with the hinge seat 82 and the rotating link 83 forming an angle with each other. One end of the rotating connecting rod 83 is provided with a first clamping part 86 protruding toward the mounting base 81, and a second clamping part 87 protruding toward the first clamping part 86 is provided at a corresponding position on the mounting base 81. The other end of the rotating connecting rod 83 is hinged to the output shaft of the driving cylinder 85. Under the drive of the driving cylinder 85, the rotating connecting rod 83 can rotate around the rotating shaft 84.

[0055] In the above scheme, through the cooperation of the mounting base 81, hinge seat 82, rotating link 83, rotating shaft 84 and driving cylinder 85, the first clamping part 86 and the second clamping part 87 can be brought closer or further apart to achieve stable and reliable clamping.

[0056] In other embodiments, such as Figure 1 , Figure 2 , Figure 3As shown, the gripper frame 6 is also provided with a connecting mechanism 9. The connecting mechanism 9 is located on the other side of the gripper frame 6 away from the detection mechanism 2, the first clamping mechanism 3, the second clamping mechanism 4, and the third clamping mechanism 5, and the gripper frame 6 is detachably connected to the robot.

[0057] In the above solution, by setting the connection mechanism 9 which is detachably connected to the robotic arm, the applicability of the gripper of the automobile side panel reinforcement assembly can be further improved on the basis that the gripping points of the second gripping component 41 and the third gripping component 51 are adjustable.

[0058] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0059] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0060] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0061] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A gripper for a side panel reinforcement assembly of an automobile, used for clamping a side panel reinforcement assembly (1), the side panel reinforcement assembly (1) including an A-pillar (11) and a B-pillar (12), characterized in that, include: Testing agency (2) is used to test the vehicle model to which the side reinforcement plate assembly (1) belongs; The first clamping mechanism (3) includes a first clamping assembly (31) for clamping the lower rear door opening inside the B-pillar (12). The second clamping mechanism (4) includes a second clamping assembly (41) for clamping the inner side of the upper rear door opening of the B-pillar (12), and the second clamping assembly (41) can move along the first direction (X) and the second direction (Y); The third clamping mechanism (5) includes a third clamping assembly (51) for clamping the inside of the front door opening of the A-pillar (11), and the third clamping assembly (51) is movable along a first direction (X) and a third direction (Z); The gripper frame (6) is provided with the detection mechanism (2), the first clamping mechanism (3), the second clamping mechanism (4), and the third clamping mechanism (5) on the same side of the gripper frame (6) in the first direction (X); The first direction (X), the second direction (Y), and the third direction (Z) are perpendicular to each other.

2. The gripper for the automotive side panel reinforcement assembly according to claim 1, characterized in that, Along the second direction (Y), the third clamping assembly (51) is located between the first clamping assembly (31) and the second clamping assembly (41).

3. The gripper for the automotive side panel reinforcement assembly according to claim 1, characterized in that, The second clamping mechanism (4) further includes a first driving component (42) and a second driving component (43); the first driving component (42) is used to drive the second clamping assembly (41) to move along a first direction (X), and the second driving component (43) is used to drive the second clamping assembly (41) to move along a second direction (Y).

4. The gripper for the automotive side panel reinforcement assembly according to claim 1, characterized in that, The third clamping mechanism (5) further includes a third driving component (52) and a fourth driving component (53); the third driving component (52) is used to drive the third clamping assembly (51) to move along a first direction (X), and the fourth driving component (53) is used to drive the third clamping assembly (51) to move along a third direction (Z).

5. The gripper for the automotive side panel reinforcement assembly according to claim 1, characterized in that, It also includes a positioning mechanism (7) for limiting the displacement of the side reinforcement assembly (1) in the second direction (Y) and the third direction (Z).

6. The gripper for the automotive side panel reinforcement assembly according to claim 5, characterized in that, The positioning mechanism (7) includes a positioning pin (71) and a fifth driving component (72). The positioning pin (71) matches the positioning hole (13) on the B-pillar (12). The fifth driving component (72) is used to drive the positioning pin (71) to move closer to or away from the positioning hole (13) along a first direction (X).

7. The gripper for the automotive side panel reinforcement assembly according to claim 6, characterized in that, The positioning mechanism (7) further includes a sixth driving component (73) for driving the positioning pin (71) to move along the second direction (Y) to match the positioning holes (13) of different heights on the B-pillar (12).

8. The gripper for the automotive side panel reinforcement assembly according to claim 6, characterized in that, The end of the positioning pin (71) is tapered.

9. The gripper for the automotive side panel reinforcement assembly according to any one of claims 1 to 8, characterized in that, The first clamping assembly (31), the second clamping assembly (41), or the third clamping assembly (51) includes a mounting base (81), a hinge seat (82), a rotating link (83), a rotating shaft (84), and a drive cylinder (85). One end of the hinge seat (82) is hinged to the mounting base (81) through the rotating shaft (84), and the other end is fixedly connected to the middle of the rotating link (83), and the hinge seat (82) and the rotating link (83) form an angle with each other. One end of the rotating link (83) is provided with a first clamping part (86) protruding toward the mounting base (81), and a second clamping part (87) protruding toward the first clamping part (86) is provided at a corresponding position on the mounting base (81). The other end of the rotating link (83) is hinged to the output shaft of the drive cylinder (85). Under the drive of the drive cylinder (85), the rotating link (83) can rotate around the rotating shaft (84).

10. The gripper for the automotive side panel reinforcement assembly according to any one of claims 1 to 8, characterized in that, The gripper frame (6) is also provided with a connecting mechanism (9), which is located on the other side of the gripper frame (6) away from the detection mechanism (2), the first clamping mechanism (3), the second clamping mechanism (4), and the third clamping mechanism (5), and the gripper frame (6) is detachably connected to the robot.

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