CN214643059U

CN214643059U - Tongs positioner and constitute a positioning mechanism

Info

Publication number: CN214643059U
Application number: CN202120755841.9U
Authority: CN
Inventors: 徐文康; 张展鸿; 解维炳; 王瑾; 董建辉
Original assignee: GAC Motor Co Ltd
Current assignee: GAC Motor Co Ltd
Priority date: 2021-04-13
Filing date: 2021-04-13
Publication date: 2021-11-09
Anticipated expiration: 2031-04-13

Abstract

The utility model relates to the technical field of auto parts clamping equipment, more specifically relates to a tongs positioner and component positioning mechanism, wherein the tongs positioner includes the first positioning unit that utilizes a plurality of position-adjustable roll positioning elements to position the placing position of tongs, the compressing unit that is used for clamping and fixing the tongs, the supporting seat that is used for supporting the tongs; the pressing unit is arranged on the supporting seat and connected with the supporting seat, and the supporting seat is arranged at the bottom of the first positioning unit and detachably connected with the first positioning unit. An object of the utility model is to overcome prior art not enough, provide a tongs positioner, the accurate location of accessible is changed with the part of snatching of different motorcycle types and is connected, possesses the convenience simultaneously, realizes multi-vehicle type sharing, resources are saved.

Description

Tongs positioner and constitute a positioning mechanism

Technical Field

The utility model relates to an auto parts clamping equipment technical field, more specifically relates to a tongs positioner and constitute a positioning mechanism.

Background

The positioning mechanism that auto-parts location on the existing market was used is the integral type generally, because the shape of the spare part that uses when different motorcycle types assemble is different, consequently on the automobile assembly production line, different motorcycle type equipment need be changed different positioning mechanism, causes the waste of equipment on the one hand, the improvement of cost, and on the other hand, a large amount of different positioning mechanism storage also consume not few space with placing, and accurate location when general positioning mechanism can't satisfy the automobile parts clamping again. The positioning mechanism with grabbing part and location part separation arises at the same time, through only changing the grabbing part when different motorcycle types are assembled, and the location part is used all the time, and this kind of robot can save certain storage and place the space, can resources are saved simultaneously, but the convenience and the precision that realize grabbing part and location part and be connected are the problem that needs to solve urgently.

Chinese patent CN103909370A discloses a welding positioning tool for robot car bracket welding assembly, which can only position for single car type, but it still cannot solve the problem of sharing multiple car types.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a tongs positioner, the accurate location of accessible is changed with the part of snatching of different motorcycle types and is connected, possesses the convenience simultaneously, realizes multi-vehicle type sharing, resources are saved.

In order to solve the technical problem, the utility model discloses a technical scheme is:

the gripper positioning device comprises a first positioning unit, a pressing unit and a supporting seat, wherein the first positioning unit is used for positioning the placing position of the gripper by utilizing a plurality of rolling positioning elements with adjustable positions; the pressing unit is arranged on the supporting seat and connected with the supporting seat, and the supporting seat is arranged at the bottom of the first positioning unit and detachably connected with the first positioning unit.

The first positioning unit of the utility model is used for positioning the position of the gripper device, so as to realize the accurate positioning when the gripper device is butted with the gripper positioning device; specifically, the position of the rolling positioning element can be finely adjusted by the position-adjustable rolling positioning element in the first positioning unit, for example, the position of the rolling positioning element is adjusted by additionally installing a gasket, so that the high-precision positioning requirement is met. The rolling positioning element has good tolerance, the requirement on the machining precision can be lower compared with a rigid positioning element, and the position adjustment of the rolling positioning element is utilized to realize accurate positioning; ordinary locating element generally relies on be that sliding friction realizes the location fit between the locating element, and the utility model discloses a location fit between the rolling locating element relies on rolling friction to realize the locating element, and rolling frictional force weakens greatly than sliding frictional force, rolls the setting element simultaneously and changes traditional face contact into the point contact, also can make rolling frictional force weaken greatly, and less frictional force can be convenient for assemble, promotes the convenience that tongs positioner and tongs device are connected. The pressing unit is used for clamping and fixing the gripper device to realize the fastening function when the gripper positioning device is connected with the gripper device; the supporting seat is equivalent to a base and provides support for the gripper so that the gripper can be stably placed. Can dismantle first positioning unit and the supporting seat of connection and be convenient for change and maintain first positioning unit. The utility model discloses a tongs positioner can the sharing of different motorcycle types, and install tongs device on tongs positioner can change the needs with the part of the different motorcycle types of adaptation clamping according to the motorcycle type of difference, consequently, to different motorcycle types, only need carry on tongs device change can, utilize the utility model discloses a tongs positioner can carry out accurate location to different tongs devices to realize that multi-vehicle type shares, resources are saved promotes the convenience of different motorcycle type car assemblies.

Preferably, the first positioning unit comprises two positioning portions which are symmetrically arranged about an axis of the gripper positioning device and jointly realize a positioning function, the positioning portions comprise first support frames detachably connected with the support base, and the rolling positioning element is detachably connected with the first support frames.

Preferably, the number of the rolling positioning elements is four, the rolling positioning elements are arranged on the first support frame and used for limiting the upper position and the lower position of the gripping device, and the four rolling positioning elements are located on the same horizontal plane and arranged in pairs in opposite directions.

Preferably, the rolling positioning element comprises a connecting block detachably connected with the first support frame, a rolling shaft, a roller and a gasket for finely adjusting the distance between the connecting block and the first support frame, the roller is rotatably connected with the connecting block through the rolling shaft, and the gasket is arranged between the connecting block and the first support frame.

Preferably, the vehicle type recognition system further comprises a first sensor which is arranged on the first support frame and used for detecting the in-place of the gripping device and identifying and detecting vehicle types of the gripping device of different vehicle types, and the first sensor is connected with the first support frame.

Preferably, the rolling positioning element support device further comprises a support block for auxiliary support of the rolling positioning element, and the support block is arranged at the bottom of the first positioning unit and connected with the first positioning unit.

The utility model also provides a constitute a positioning mechanism, include as above tongs positioner, tongs positioner sets up tongs bottom and with tongs can dismantle the connection.

Preferably, the gripping device comprises a second positioning unit inserted into the first positioning unit for positioning and a workpiece clamping unit for clamping a workpiece.

Preferably, the quick-change robot further comprises an adapter for connecting and disconnecting with the quick-change robot, the adapter is arranged at one end, deviating from the first positioning unit, of the second positioning unit and is connected with the second positioning unit, and the adapter is further in signal connection with the workpiece clamping unit.

Preferably, the automatic part detection device further comprises a valve island arranged on the gripper device and used for controlling a gas circuit, and a second sensor arranged on the workpiece clamping unit and used for detecting in-place parts and identifying parts of different vehicle types, wherein the second sensor and the valve island are in signal connection with the adaptor.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the position of the rolling positioning element can be adjusted by utilizing the gasket, so that the accurate positioning of the gripper positioning device and the gripper device is realized;

(2) the gripper positioning device is shared, the gripper device is replaced to clamp workpieces of different vehicle types, and accurate positioning and clamping during workpiece clamping are ensured;

(3) the traditional sliding friction is replaced by the rolling friction during positioning, and the traditional surface contact or line contact between the positioning pin and the hole is changed into point contact, so that the contact friction force is greatly reduced, the pin holding problem can be prevented, and the service life of the positioning pin is prolonged; the connecting difficulty is reduced, the processing difficulty is reduced, and the connecting convenience is improved;

(4) the in-place detection is carried out on the gripper device and the vehicle type identification detection is carried out on the gripper devices of different vehicle types by arranging the first sensor; through setting up the second inductor, put in place to the spare part and detect and the derived detection of motorcycle type, improve dress reliability, eliminate the wrong dress risk.

Drawings

FIG. 1 is a schematic structural view of a gripper positioning device;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is a view of the rolling positioning element B of FIG. 2;

FIG. 4 is a schematic structural diagram of a first rolling positioning element;

FIG. 5 is a schematic view of the gripper;

fig. 6 is a first directional structural diagram of a component positioning mechanism according to the present invention;

fig. 7 is a second directional structural schematic diagram of a component positioning mechanism according to the present invention.

The graphic symbols are illustrated as follows:

1. a first positioning unit; 11. a positioning part; 12. a first support frame; 13. a rolling positioning element; 131. connecting blocks; 132. a roller; 133. a roller; 134. a gasket; 14. a first rolling positioning element; 15. a second rolling positioning element; 16. a third rolling positioning element; 17. a fourth rolling positioning element; 18. a first inductor; 19. a support block; 2. a pressing unit; 3. a supporting seat; 4. a gripper positioning device; 5. a gripper device; 51. a second positioning unit; 511. positioning pins; 512. a substrate; 52. a support block; 53. a workpiece clamping unit; 54. an adapter; 55. a valve island; 56. a second inductor.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.

Example 1

Fig. 1 to 4 show an embodiment of a gripper positioning device according to the present invention, which includes a first positioning unit 1 for positioning a placing position of a gripper 5 by using a plurality of position-adjustable rolling positioning elements 13, a pressing unit 2 for clamping and fixing the gripper 5, and a supporting seat 3 for supporting the gripper 5; compress tightly unit 2 and locate on supporting seat 3 and be connected with supporting seat 3, supporting seat 3 locates 1 bottom of first positioning unit and can dismantle with first positioning unit 1 and be connected.

As an embodiment of the utility model, first positioning unit 1 includes two location portions 11 that set up about 4 axis symmetries of tongs positioner and realize the positioning action jointly, and location portion 11 includes can dismantle the first support frame 12 of being connected with supporting seat 3, and roll positioning element 13 can dismantle with first support frame 12 and be connected.

The positioning parts 11 are main components in the first positioning unit 1 and are used for realizing positioning, specifically, the two positioning parts 11 can be symmetrically arranged relative to the central axis of the supporting seat 3, and the positioning function of the gripper device 5 is realized from the two ends of the supporting seat 3; the first support frame 12 provides a supporting function for the rolling positioning element 13. The first support frame 12 and the rolling elements which are detachably connected can facilitate the detachment and replacement of the rolling positioning elements 13, and the rolling positioning elements 13 with different sizes can be replaced according to the needs of customers, so that different gripping devices 5 can be well positioned.

As an embodiment of the present invention, the two compressing units 2 are respectively disposed at two ends of the first positioning unit 1 and located outside the two positioning portions 11 and movably connected to the first positioning unit 1.

The pressing units 2 are used for realizing a pressing effect, preferably, the number of the pressing units 2 is two, the two pressing units are symmetrically arranged at two ends of the first positioning unit 1, and the pressing effect is realized by applying force from the two ends simultaneously. The pressing units 2 are not limited to be distributed outside the positioning parts 11, and may be located in the same plane as the positioning parts 11 and arranged perpendicular to the first positioning unit 1. The movable connection of the pressing unit 2 with the first positioning unit 1 facilitates the position movement of the pressing unit 2 relative to the first positioning unit 1, so as to achieve a better pressing effect.

As an embodiment of the present invention, the rolling positioning elements 13 include four, are all disposed on the first support frame 12 and are used for limiting the upper and lower positions of the gripper device 5, and the rolling positioning elements 13 are all located on the same horizontal plane and are disposed in opposite directions. The four rolling positioning elements 13 are respectively a first rolling positioning element 14, a second rolling positioning element 15, a third rolling positioning element 16 and a fourth rolling positioning element 17;

the first rolling positioning element 14 is arranged on the upper portion of the first support frame 12, the second rolling positioning element 15 is arranged on the first support frame 12 and arranged opposite to the first rolling positioning element 14, and the first rolling positioning element 14 is matched with the second rolling positioning element 15 to jointly realize the positioning of the upper position and the lower position of the gripper device 5; the third rolling positioning element 16 and the fourth rolling positioning element 17 are respectively arranged on two side parts of the first support frame 12 and are arranged oppositely, so that the left and right positions of the gripper 5 are jointly positioned. The first rolling positioning element 14, the second rolling positioning element 15, the third rolling positioning element 16, the fourth rolling positioning element 17 and the first support frame 12 can be movably connected, specifically, a sliding groove is formed in the first support frame 12, pulleys are respectively arranged on the four rolling positioning elements 13, a fastening device is additionally arranged, and the first rolling positioning element 14, the second rolling positioning element 15, the third rolling positioning element 16 and the fourth rolling positioning element 17 are adjusted to proper positions and then locked and fastened by the fastening device, so that a good positioning function is ensured. As another embodiment, the first rolling positioning element 14, the second rolling positioning element 15, the third rolling positioning element 16, the fourth rolling positioning element 17 may be detachably connected to the first support frame 12, and the first rolling positioning element 14, the second rolling positioning element 15, the third rolling positioning element 16, and the fourth rolling positioning element 17 are respectively connected to the first support frame 12 by forming threaded holes on the first support frame 12 and passing bolts through the threaded holes.

As an embodiment of the present invention, the rolling positioning elements 13 each include a connecting block 131 detachably connected to the first support frame 12, a roller 132, a roller 133, and a gasket 134 for fine-adjusting the distance between the connecting block 131 and the first support frame 12, the roller 133 is rotatably connected to the connecting block 131 through the roller 132, and the gasket 134 is disposed between the connecting block 131 and the first support frame 12.

The connecting block 131 mainly plays a role in connecting the rolling positioning element 13 with the first support frame 12, meanwhile, the connecting block 131 also provides support for the roller 133, the roller 133 is rotatably connected with the first support frame 12 through the roller 132, a gap is formed among the four rollers 133 of the first rolling positioning element 14, the second rolling positioning element 15, the third rolling positioning element 16 and the fourth rolling positioning element 17, and the elements inserted into the gap are limited from the upper direction, the lower direction, the left direction and the right direction of the gap, so that the gap is utilized to position the gripping device 5 in the upper direction, the lower direction, the left direction and the right direction. The gaskets 134 are arranged between the connecting block 131 and the first support frame 12, and the positions of the first rolling positioning element 14, the second rolling positioning element 15, the third rolling positioning element 16 and the fourth rolling positioning element 17 are finely adjusted by using different numbers of gaskets 134 and different thicknesses of the gaskets 134 according to requirements; after the gripper positioning device 4 and the gripper device 5 are basically butted, fine adjustment is carried out from the detail position, and accurate positioning is realized.

As an embodiment of the utility model, still including establishing on first support frame 12 and be used for going on to the tongs 5 to target in place the detection and carry out the first inductor 18 that motorcycle type discernment detected to the tongs 5 of different motorcycle types, first inductor 18 is connected with first support frame 12.

The first sensor 18 can be an infrared first sensor 18 and/or a laser range finder, and realizes in-place monitoring of parts and identification and detection of parts of different vehicle types; the method is not limited to in-place monitoring of parts, reliability of assembling is improved, and misassembly risks are eliminated. The first sensor 18 is not limited to the above-mentioned functions, and may also have a camera function, and may be replaced and adjusted according to the needs of the user, so as to satisfy the needs of multiple functions.

As an embodiment of the present invention, the device further comprises a supporting block 19 for supporting the rolling positioning element 13, wherein the supporting block 19 is disposed at the bottom of the first positioning unit 1 and connected to the first positioning unit 1.

The supporting block 19 is used for sharing the load of the positioning roller 133 in the vertical direction to realize auxiliary supporting of the rolling positioning element 13, so that the service life of the positioning roller 133 is prolonged, and the positioning reliability is improved. The supporting block 19 is disposed at the bottom of the first unit 1, so that the lower end positioning roller 133 is prevented from being loosened or broken due to an excessive load applied to the gripper 5 in the vertical direction.

Example 2

Fig. 5 to 7 show an embodiment of a component positioning mechanism according to the present invention, which includes the above-mentioned gripper positioning device 4 and the gripper device 5, wherein the gripper positioning device 4 is disposed at the bottom of the gripper device 5 and detachably connected to the gripper device 5.

Gripper device 5 is used for snatching automobile parts, because the automobile parts's of different motorcycle types size and structural difference are great, can dismantle tongs positioner 4 of connection and make with gripper device 5 the utility model discloses a different gripper device 5 can be changed according to different motorcycle types to component positioning mechanism, but tongs positioner 4 is shared, consequently can resources are saved and practice thrift storage space, realizes optimizing production configuration as far as possible.

As an embodiment of the present invention, the gripper device 5 includes a second positioning unit 51 inserted into the first positioning unit 1 for positioning, and a workpiece clamping unit 53 for clamping a workpiece.

The second positioning unit 51 is matched with the first positioning unit 1 to position the gripper positioning device 4 and the gripper 5, specifically, the second positioning unit 51 may include a positioning substrate 512 and a positioning pin 511, and the positioning pin 511 is detachably connected with the positioning substrate 512; the positioning pin 511 is inserted into a gap formed among the four rollers 133 of the first rolling positioning element 14, the second rolling positioning element 15, the third rolling positioning element 16 and the fourth rolling positioning element 17, and the rollers 133 are used for limiting the up-down and left-right positions of the positioning pin 511, so that the up-down and left-right positions of the whole gripper 5 are limited. The roller 133 can roll, compared with a common pin hole matching mode, rolling friction is compared with sliding friction, friction force can be greatly weakened, meanwhile, the cylindrical surface of the roller 133 is in point contact with the positioning pin 511, rolling friction force can be further weakened, the problem of pin holding is effectively prevented, the service life of the positioning pin 511 is prolonged, assembling difficulty is reduced, assembling efficiency and assembling convenience are improved, in addition, the traditional pin hole matching is rigid, the requirement on machining precision is high, too large gaps among pin holes can cause inaccurate positioning, too small gaps can be formed, and the positioning difficulty during connection is greatly increased, so that the machining difficulty can be reduced due to the matching of the roller 133 and the positioning pin 511, and the cost is reduced; furthermore, the fine adjustment of the position between the spacer 134 and the first support frame 12 can achieve the positioning accuracy, and compensate the positioning error between the roller 133 and the positioning pin 511. Preferably, the gripper 5 further comprises two support blocks 52 which are abutted to the pressing unit 2 to achieve pressing between the gripper 5 and the gripper positioning device 4, the two support blocks 52 are respectively arranged at two ends of the second positioning unit 51, and the two support blocks 52 are abutted to the two pressing units 2 respectively to jointly achieve reliable connection between the gripper positioning device 4 and the gripper 5. The workpiece clamping unit 53 is used for clamping workpieces, because workpieces of different vehicle types are different in structure and shape, in order to better realize accurate positioning and clamping of the workpieces of different vehicle types, the workpiece clamping unit 53 is uniquely arranged according to the workpieces of different vehicle types, the gripper 5 is characterized in that the workpiece clamping unit 53 is embodied, and the second positioning unit 51 and the support block 52 on the gripper 5 are arranged to be matched with the first positioning unit 1 and the pressing unit 2 on the gripper positioning device 4 respectively; the component positioning mechanism applied to different vehicle models is actually used for clamping parts of different vehicle models by replacing different grippers 5, and further by utilizing different workpiece clamping units 53 on different grippers 5.

As an embodiment of the utility model, still include the adaptor 54 that is used for being connected and breaking off with the quick change robot, the adaptor 54 is located the one end that second positioning unit 51 deviates from first positioning unit 1 and is connected with second positioning unit 51, and adaptor 54 still carries out signal connection with work piece clamping unit 53.

The utility model discloses a constitute a positioning mechanism is mainly used in carrying out the clamping aspect to the work piece of different motorcycle types, and quick change robot mainly uses on assembling system and welding system when assembling the car, and the quick change robot passes through with the utility model discloses a tongs 5 is connected, realizes fixing a position and clamping to the part of different motorcycle types, puts in place the back with the work piece clamping, quick change robot with the utility model discloses a tongs 5 disconnection, then with welding manipulator connection, realize the welding between each work piece. The adaptor 54 of the present invention is provided for this purpose, and the adaptor 54 has the functions of mechanical connection and signal connection at the same time, and is used for connecting and disconnecting the gripper device 5 and the quick-change robot; the adaptor 54 is further used for uniformly controlling and allocating the gripper devices 5, so that the gripper devices 5 can perform various operations in order, and the connection and fastening of the pressing unit 2 of the gripper positioning device 4 and the support block 52 of the gripper device 5 are realized without being limited to pressing according to needs, so that the assembly of a component positioning mechanism is realized, and the tool clamping unit can be controlled according to the action process to realize the grabbing and releasing actions on the tool; the operation of connecting and disconnecting the adapter 54 to and from the quick-change robot can also be carried out as desired. Specifically, the adaptor 54 is disposed at an end of the second positioning unit 51 away from the first positioning unit 1 so as not to cause interference when the second positioning unit 51 is docked with the first positioning unit 1, and the adaptor 54 is movably connected to the second positioning unit 51 so as to enable a position of the adaptor 54 to be adjustable and have a better mobility, as one embodiment, the adaptor 54 and the second positioning unit 51 may be rotatably connected through a rotating shaft.

As an embodiment of the utility model, still including locating the valve island 55 that is used for gas circuit control on the tongs 5, locate and be used for carrying on the part on the work piece clamping unit 53 to target in place the second inductor 56 that detects and go on discerning to the part of different motorcycle types, second inductor 56, valve island 55 all carry out signal connection with adaptor 54.

The valve island 55 is used for performing air path control on the air cylinder, preferably, the workpiece clamping unit 53 adopts the air cylinder as a power source, and the air path control is performed on the air cylinder through the valve island 55 so as to realize the action control.

As an embodiment of the utility model, compress tightly that unit 2 is other can also set up the cylinder, compress tightly that unit 2 drives through the cylinder, when tongs positioner 4 is connected with tongs 5, insert the one end of roller 133 on first positioning unit 1 with the one end that sets up locating pin 511 on the second positioning unit 51, realize the location, then through will compressing tightly unit 2 butt on tray 52, realize compressing tightly fixedly.

The second sensor 56 is used for detecting parts in place and identifying parts of different vehicle types, so that the reliability of assembling is improved, and the misassembling risk is eliminated.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The gripper positioning device is characterized by comprising a first positioning unit (1) for positioning the placing position of a gripper device (5) by utilizing a plurality of position-adjustable rolling positioning elements (13), a pressing unit (2) for clamping and fixing the gripper device (5), and a supporting seat (3) for supporting the gripper device (5); the pressing unit (2) is arranged on the supporting seat (3) and connected with the supporting seat (3), and the supporting seat (3) is arranged at the bottom of the first positioning unit (1) and detachably connected with the first positioning unit (1).

2. The gripper positioning device according to claim 1, characterized in that the first positioning unit (1) comprises two positioning portions (11) which are symmetrically arranged about the axis of the gripper positioning device (4) and which together perform a positioning function, the positioning portions (11) comprising a first support frame (12) which is detachably connected to the support base (3), and the rolling positioning element (13) being detachably connected to the first support frame (12).

3. Gripper positioning device according to claim 2, characterized in that said rolling positioning elements (13) are four, all arranged on said first support (12) and defining the upper and lower position of the gripper (5), the four rolling positioning elements (13) being located on the same horizontal plane and facing each other two by two.

4. The gripper positioning device according to claim 3, characterized in that said rolling positioning element (13) comprises a connection block (131) for removable connection with said first support frame (12), a roller (132), a roller (133), a spacer (134) for fine adjustment of the distance between said connection block (131) and said first support frame (12), said roller (133) being rotatably connected to said connection block (131) through said roller (132), said spacer (134) being provided between said connection block (131) and said first support frame (12).

5. The gripper positioning device according to any one of claims 2 to 4, further comprising a first sensor (18) provided on the first support frame (12) for detecting the in-position of the gripper (5) and for detecting the type identification of the gripper (5) of different types of vehicles, said first sensor (18) being connected to said first support frame (12).

6. The gripper positioning device according to claim 5, further comprising a support block (19) for auxiliary support of said rolling positioning element (13), said support block (19) being provided at the bottom of said first positioning unit (1) and connected to said first positioning unit (1).

7. A component positioning mechanism, characterized by comprising a hand grip positioning device (4) according to any one of claims 1 to 6, and a hand grip device (5), wherein the hand grip positioning device (4) is arranged at the bottom of the hand grip device (5) and is detachably connected with the hand grip device (5).

8. The component positioning mechanism according to claim 7, wherein the gripper (5) includes a second positioning unit (51) inserted into the first positioning unit (1) for positioning, and a workpiece holding unit (53) for holding a workpiece.

9. The component positioning mechanism according to claim 8, further comprising an adapter (54) for connecting and disconnecting with a quick-change robot, wherein the adapter (54) is arranged at one end of the second positioning unit (51) facing away from the first positioning unit (1) and is connected with the second positioning unit (51), and the adapter (54) is further in signal connection with the workpiece clamping unit (53).

10. The component positioning mechanism according to claim 9, further comprising a valve island (55) arranged on the gripper (5) for air passage control, and a second sensor (56) arranged on the workpiece clamping unit (53) for detecting the in-place of the component and identifying the component of different vehicle types, wherein the second sensor (56) and the valve island (55) are in signal connection with the adaptor (54).