Multi-purpose clamping jaw for automatically grabbing disc and shaft parts of rail transit vehicle

Abstract

The invention relates to a multi-purpose clamping jaw for automatically grabbing disc shaft parts of a rail transit vehicle. The multi-purpose clamping jaw comprises an upper connecting piece, a gas circuit control board, a buffer device, a pressing device, a servo driving device and two bidirectional shaft clamping jaw bodies. The upper connecting piece is used for being connected with a mechanical arm. According to the multi-purpose clamping jaw for automatically grabbing the disc and shaft parts of the rail transit vehicle, the clamping jaw is designed to be used for grabbing and fixing different types of shaft parts and disc parts, the carrying convenience is improved, the treatment requirements of the multiple parts are met, meanwhile, through arrangement of a buffering device, the external force in the workpiece taking and placing process is effectively buffered, and the working efficiency is improved. Compared with the prior art, equipment and workpieces are protected against impact damage, safety and reliability are improved, the distance between the clamping jaw plates on the two sides is allowed to be adjusted through the design of the two-way shaft type clamping jaw so as to adapt to shaft type parts with different diameters, meanwhile, the disc type part fixing device can also be adjusted to adapt to disc type parts with different diameters, and high flexibility is embodied.

Description

Technical Field

[0001] The invention relates to the technical field of automatic grasping of disc and axle parts of rail transit vehicles, in particular to a multi-purpose clamping claw for automatic grasping of disc and axle parts of rail transit vehicles. Background Art

[0002] As common parts in the production, assembly or maintenance of rail transit vehicle parts, disc parts, shafts, especially eccentric shaft parts account for a large proportion. The design of automatic gripping tooling for such parts has a great influence on the assembly accuracy of the workpiece. The compact gripper design with the function of gripping two types of parts can greatly improve the efficiency and stability of automatic production.

[0003] The existing grabbing of disc parts and shaft parts is usually done manually using a cantilever crane or a self-powered crane equipped with a special lifting device or sling; while automatic grabbing usually uses an independent special gripper for grabbing, especially for eccentric shaft parts, which are only manually moved to the place with a sling. The manual lifting and handling operation will result in low operating efficiency, high labor intensity, and high safety risks; while the use of independent special grippers to grab parts requires the use of special independent equipment, resulting in high equipment investment costs and large floor space; and the manual lifting of eccentric shaft parts has the risk of high operating intensity and high risk factors. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a multi-purpose clamp for automatically grasping disc and axle parts of rail transit vehicles, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a multi-purpose clamp for automatically grasping the disc shaft parts of rail transit vehicles, comprising an upper connecting piece, an air circuit control panel, a buffer device, a clamping device, a servo drive device and two bidirectional shaft clamps;

[0006] The upper connecting piece is used to connect with the manipulator, and the air circuit control panel is arranged on the upper connecting piece;

[0007] The clamping device is connected to the upper connecting member through the buffer device, the servo drive device is arranged on the clamping device, and the two bidirectional shaft clamps are both drivingly connected to the servo drive device;

[0008] The buffer device comprises at least two intermediate adapter plates and at least two bottom plates, wherein the at least two adapter plates are arranged on the front and rear sides of the upper surface of the upper connecting member, and the at least two bottom plates are arranged at the bottom of the at least two intermediate adapter plates, and at least two guide shafts are arranged through the inside of the bottom plates, and the outer sides of the guide shafts are threadedly connected with fixing nuts that fit the upper surfaces of the bottom plates;

[0009] The bottom of at least two of the guide shafts is equipped with a same mounting frame, and at least two buffer springs are installed between the mounting frame and the bottom plate;

[0010] The clamping device and the servo drive device are both arranged on the mounting frame.

[0011] Furthermore, at least two of the buffer springs are respectively sleeved on the outer sides of at least two of the guide shafts.

[0012] Further, the clamping device comprises a support member arranged on the mounting frame, and at least one driving cylinder mounted on the support member, and a double-position clamping plate is mounted on the mounting frame through at least two guide rail assemblies, so that the double-position clamping plate can move forward and backward along the Y-axis direction;

[0013] A transmission plate which is transmission-connected to the output end of the driving cylinder is installed on the double-position clamping plate.

[0014] Further, both the front and rear sides of the dual-position clamping plate extend downward to form two clamping portions;

[0015] Corresponding to the two clamping parts, pressure plates are installed on both the front and rear sides of the mounting frame, and a certain distance is reserved between the two pressure plates and the two clamping parts.

[0016] Furthermore, the length of the rear clamping portion in the Z-axis direction is smaller than the length of the front clamping portion in the Z-axis direction.

[0017] Furthermore, the bottoms of the two clamping parts are both concave upward to form a concave portion.

[0018] Further, the servo drive device includes two bearing seats arranged on the mounting frame in a left-right interval along the X-axis direction, and a bidirectional screw rod is rotatably connected between opposite sides of the two bearing seats;

[0019] A servo motor is arranged on the mounting frame, and an output end of the servo motor is transmission-connected to one end of the bidirectional screw rod through a connecting shaft;

[0020] The outer side of the bidirectional screw rod is threadedly connected with two nut seats, and the two bidirectional shaft clamps are transmission-connected with the two nut seats, so that the bidirectional screw rod can drive the two bidirectional shaft clamps to move in opposite directions or in reverse directions in the X-axis direction when rotating.

[0021] Furthermore, the bidirectional shaft clamp includes at least one top plate, at least one vertical connecting plate and at least two side clamp plates;

[0022] The top plate is transmission connected to the bottom of the nut seat, at least one vertical connecting plate and at least two side clamping plates are vertically arranged at the bottom of the top plate, and the two side clamping plates are respectively arranged on the front and rear sides of the vertical connecting plate, and the top plate is transmission connected to the bottom of the mounting frame through at least two slide rail assemblies.

[0023] Furthermore, the side clamping claw plates on the left and right sides are each provided with a groove facing backwards;

[0024] The width of the groove on the front side in the Z-axis direction is smaller than the width of the opening of the side clamping claw plate on the rear side in the Z-axis direction.

[0025] Furthermore, a disc-type parts fixing device is also provided at the bottom of the top plate, and the disc-type parts fixing device includes a mobile cylinder arranged on the lower surface of the top plate, and a front connecting plate drivingly connected to the output end of the mobile cylinder, and a lower bearing plate is installed at one end of the front connecting plate away from the mobile cylinder;

[0026] The lower bearing plate is connected to the lower surface of the top plate through a slide rail assembly, a vertical cylinder is installed on the side of the lower bearing plate away from the vertical connecting plate, the output end of the vertical cylinder is transmission-connected to the front connecting plate, a lower pressure plate is installed at the bottom of the front connecting plate, and the front connecting plate is connected to the lower bearing plate through a slide rail assembly;

[0027] Corresponding to the lower pressure plate, a lining plate is rotatably connected between the opposite sides of the two side clamping claw plates through a load-bearing shaft, and the bottom of the lower load-bearing plate is bent toward the bottom of the lining plate to form at least one bent portion, and the bent portion is vertically distributed between the lower load-bearing plate, and the bent portion is in contact with the bottom of the lining plate.

[0028] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0029] The multi-purpose clamp for automatic grasping of disc and axle parts of rail transit vehicles is designed to grasp and fix different types of shaft parts and disc parts, which improves the convenience of transportation and meets the processing needs of various parts. At the same time, through the setting of the buffer device, it effectively buffers the external force during the workpiece picking and placing process, protects the equipment and workpiece from impact damage, and improves safety and reliability. The design of the two-way shaft clamp allows the spacing between the clamp plates on both sides to be adjusted to accommodate shaft parts of different diameters. At the same time, the disc part fixing device can also be adjusted to adapt to disc parts of different diameters, which reflects a high degree of flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the present invention;

[0031] Figure 2It is a front view structural schematic diagram of the present invention;

[0032] Figure 3 It is a schematic diagram of the cross-sectional structure of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the buffer device of the present invention;

[0034] Figure 5 It is a structural schematic diagram of the clamping device of the present invention;

[0035] Figure 6 It is a front view structural schematic diagram of the clamping device of the present invention;

[0036] Figure 7 This is a schematic diagram of the structure of the double-position clamping plate of the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the servo drive device of the present invention;

[0038] Fig. 9 It is a bottom view structural schematic diagram of the servo drive device of the present invention;

[0039] Fig.10 This is a schematic diagram of the bidirectional shaft clamp structure of the present invention;

[0040] Fig.11 This is a schematic diagram of the structure of the front clamping claw plate of the present invention;

[0041] Fig.12 This is a schematic diagram of the structure of the rear clamping claw plate of the present invention;

[0042] Fig.13 It is a front structural schematic diagram of the disk-type parts fixing device of the present invention;

[0043] Fig.14 It is a schematic diagram of the three-dimensional structure of the plate-type parts fixing device of the present invention;

[0044] Fig.15 This is a schematic diagram of the clamp of the present invention grabbing a long shaft part;

[0045] Fig.16 This is a schematic diagram of the clamp of the present invention grabbing a small-diameter eccentric shaft part;

[0046] Fig.17 This is a schematic diagram of the clamp of the present invention grabbing a large-diameter eccentric shaft part;

[0047] Fig.18 This is a schematic diagram of the clamping claw of the present invention grabbing a disk-like part.

[0048] In the figure: 1. Buffer device; 101. Intermediate adapter plate; 102. Bottom plate; 103. Guide shaft; 104. Fixing nut; 105. Mounting frame; 106. Buffer spring; 2. Clamping device; 201. Support member; 202. Driving cylinder; 203. Double-position clamping plate; 204. Transmission plate; 205. Clamping part; 206. Pressure plate; 3. Servo drive device; 301. Bearing seat; 302. Bidirectional screw rod; 303. 03, servo motor; 304, nut seat; 4, bidirectional shaft clamp; 401, vertical connecting plate; 402, clamp plate; 403, groove; 404, top plate; 5, upper connecting piece; 6, air path control board; 7, disk-type parts fixing device; 701, moving cylinder; 702, front connecting plate; 703, lower bearing plate; 704, vertical cylinder; 705, front connecting plate; 706, lower pressure plate; 707, support plate. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] See also Figure 1-3 In this embodiment, a multi-purpose clamp for automatically grabbing the shaft parts of a rail transit vehicle is used to grab and fix different types of shaft parts, thereby improving the convenience of handling the shaft parts;

[0051] Specifically, it includes an upper connecting part 5, an air circuit control board 6, a buffer device 1, a clamping device 2, a servo drive device 3 and two bidirectional shaft clamps 4; the upper connecting part 5 is used to connect with the manipulator, and the air circuit control board 6 is arranged on the upper connecting part 5; the clamping device 2 is connected to the upper connecting part 5 through the buffer device 1, the servo drive device 3 is arranged on the clamping device 2, and the two bidirectional shaft clamps 4 are both connected to the servo drive device 3 in transmission.

[0052] During the actual setting, the upper connecting part 5 is reliably connected to the automated equipment such as a robot or an automatic truss by bolts, and a positioning boss is designed on the upper connecting part 5 to meet the positioning accuracy requirements of the installation, and the air circuit control board 6 is installed with the solenoid valves of all the air circuit components on the clamp, which can realize the control of all the air circuit components on the clamp. During the grasping process, the buffer device 1 can effectively buffer the external force during the process of picking and placing the workpiece, effectively protecting the safety of the equipment and the workpiece.

[0053] Furthermore, the clamping device 2 can realize reliable grasping of eccentric shaft parts. The clamping device 2 can prevent the parts from tilting during the grasping process, and the servo drive device 3 combined with the two bidirectional shaft clamps 4 can realize automatic centering adjustment of the V-type clamp module of the shaft parts to meet the grasping requirements of shaft parts with different diameters.

[0054] See also Figure 4 and 5 In order to effectively buffer the external force during the process of picking and placing the workpiece and ensure the safety of the equipment and the workpiece, the buffer device 1 in this embodiment includes at least two intermediate adapter plates 101 and at least two bottom plates 102. The at least two intermediate adapter plates 101 are arranged on the front and rear sides of the upper surface of the upper connecting member 5. The at least two bottom plates 102 are arranged at the bottom of the at least two intermediate adapter plates 101. At least two guide shafts 103 are penetrated inside the bottom plate 102. The outer side of the guide shaft 103 is threadedly connected with a fixing nut 104 that fits the upper surface of the bottom plate 102.

[0055] The bottom of at least two guide shafts 103 is installed with a same mounting frame 105 , and at least two buffer springs 106 are installed between the mounting frame 105 and the bottom plate 102 ; the pressing device 2 and the servo drive device 3 are both arranged on the mounting frame 105 .

[0056] In actual settings, by setting up at least two intermediate adapter plates 101 and at least two bottom plates 102, and the combination of the guide shaft 103 and the buffer spring 106 therebetween, the external force generated during the workpiece picking and placing process is effectively dispersed and absorbed during the process of clamping the workpiece, thereby enhancing the buffering effect and protecting the equipment and the workpiece from impact damage.

[0057] Furthermore, a gasket is installed between the fixing nut 104 and the mounting frame 105 , and the gasket can achieve uniform load distribution and improve the bearing capacity. In addition, at least two buffer springs 106 are respectively sleeved on the outer sides of at least two guide shafts 103 .

[0058] See also Figure 5-7 In order to facilitate the grasping and fixing of the eccentric shaft parts, the clamping device 2 in this embodiment includes a support member 201 arranged on the mounting frame 105, and at least one driving cylinder 202 installed on the support member 201. A double-position clamping plate 203 is installed on the mounting frame 105 through at least two guide rail assemblies, so that the double-position clamping plate 203 can move forward and backward along the Y-axis direction; a transmission plate 204 that is transmission-connected to the output end of the driving cylinder 202 is installed on the double-position clamping plate 203.

[0059] Furthermore, the front and rear sides of the double-position clamping plate 203 extend downward to form two clamping parts 205 ; corresponding to the two clamping parts 205 , pressure plates 206 are installed on the front and rear sides of the mounting frame 105 , and a certain distance is retained between the two pressure plates 206 and the two clamping parts 205 .

[0060] In actual use, the output end of the driving cylinder 202 is extended and retracted to push the double-position clamping plate 203 to move forward and backward, and the pressure plate 206 is abutted against the part, that is, when the clamping part 205 on the double-position clamping plate 203 is in contact with the front side of the part, the eccentric shaft and the like can be fixed.

[0061] Furthermore, in order to adapt to eccentric shafts of different diameters, the length of the rear clamping portion 205 in the Z-axis direction in this embodiment is smaller than the length of the front clamping portion 205 in the Z-axis direction.

[0062] In actual use, by providing two clamping parts 205 of different lengths, when facing eccentric shaft parts of different diameters, the clamping parts 205 of different lengths are rotated to adapt to parts of different diameters.

[0063] In addition, in order to ensure that the clamping portion 205 can fit with part of the outer surface of the shaft part during the clamping process, the bottom of the two clamping portions 205 are both concave upward to form an inner concave portion, that is, during the grasping process, the inner concave portion opened inside the clamping portion 205 can fit with the outer surface of the shaft part, further improving the stability of grasping the eccentric shaft parts.

[0064] See also Figure 8-12 In order to grasp shaft parts and eccentric shaft parts of different diameters, the servo drive device 3 in this embodiment includes two bearing seats 301 arranged on the mounting frame 105 at intervals along the X-axis direction, and a bidirectional screw rod 302 is rotatably connected between opposite sides of the two bearing seats 301;

[0065] A servo motor 303 is arranged on the mounting frame 105, and the output end of the servo motor 303 is transmission connected to one end of the bidirectional screw rod 302 through a connecting shaft; the outer side of the bidirectional screw rod 302 is threadedly connected to two nut seats 304, and the two bidirectional shaft clamps 4 are transmission connected to the two nut seats 304, so that the bidirectional screw rod 302 can drive the two bidirectional shaft clamps 4 to move in opposite directions or reverse directions in the X-axis direction when rotating.

[0066] In actual setting, a zero point detection sensor is also provided on the mounting frame 105 to detect the position of the servo system and the zero point signal.

[0067] In actual use, the shaft parts are placed between the two bidirectional shaft clamps 4, and the servo motor 303 is started to drive the bidirectional screw rod 302 to rotate, driving the two nut seats 304 and the two bidirectional shaft clamps 4 to move in opposite directions, thereby fixing the shaft parts.

[0068] Please refer to 16 and 17. When the shaft part also carries an eccentric shaft disk, a clamping portion 205 of appropriate length is selected according to the size of the eccentric shaft disk to align with it, and ensure that the eccentric shaft disk is located between the pressure plate 206 and the clamping portion 205. By driving the cylinder 202, the clamping portion 205 is fitted with the front side of the eccentric shaft disk, thereby fixing the eccentric shaft disk on the shaft part, further improving the stability of grasping the shaft part with an eccentric shaft disk.

[0069] In detail, in order to fix shaft parts of different sizes, the bidirectional shaft clamp 4 in this embodiment includes at least one top plate 404, at least one vertical connecting plate 401 and at least two side clamping plates 402; the top plate 404 is transmission connected to the bottom of the nut seat 304, at least one vertical connecting plate 401 and at least two side clamping plates 402 are vertically arranged at the bottom of the top plate 404, and the two side clamping plates 402 are respectively arranged on the front and rear sides of the vertical connecting plate 401, and the top plate 404 is transmission connected to the bottom of the mounting frame 105 through at least two slide rail assemblies.

[0070] In actual configuration, both left and right side clamping jaw plates 402 have a groove 403 facing away from each other; the width of the front groove 403 in the Z-axis direction is smaller than the width of the opening of the rear side clamping jaw plate 402 in the Z-axis direction.

[0071] In actual setting, a groove 403 is formed in the back of the side clamping jaw plates 402 on both sides. The width of the front groove 403 in the Z-axis direction is smaller than the opening width of the rear side clamping jaw plate 402, so that the clamping jaws can adapt to and fix shaft parts of different diameters, and the size of the parts can be adapted by adjusting the spacing between the clamping jaw plates 402 on both sides, while ensuring the stability and firmness of the clamping.

[0072] In actual use, the side clamping plates 402 on the left and right sides are fitted with the outer surface of the shaft parts, and the friction between the side clamping plates 402 and the shaft parts is increased to improve the stability of the shaft parts grasping process. By opening grooves 403 of different widths on the clamping plates 402 on the front and rear sides, and the front cross-section of the groove 403 is V-shaped, it can adapt to shaft parts of different diameters.

[0073] In actual settings, in order to ensure effective transmission between the two nut seats 304 and the two top plates 404, two slide grooves are vertically opened inside the mounting frame 105, so that when the two bidirectional screw rods 302 rotate, the two nut seats 304 can be driven to slide left and right along the X-axis direction inside the two slide grooves respectively.

[0074] It should be noted that the outer surface of the bidirectional screw rod 302 in this embodiment is provided with two sections of thread grooves, and the thread directions of the two sections of thread grooves are opposite. At the same time, the two nut seats 304 are symmetrically arranged on the outer side of the bidirectional screw rod 302. That is, when the bidirectional screw rod 302 rotates forwards or reverses, the two nut seats 304 can be driven to move in opposite directions or back and forth, so as to adjust the distance between the left and right side clamping claw plates 402.

[0075] See also Fig.13 , 14 and 18, for grabbing the disc-like parts. In this embodiment, a disc-like parts fixing device 7 is further provided at the bottom of the top plate 404. The disc-like parts fixing device 7 includes a mobile cylinder 701 arranged on the lower surface of the top plate 404, and a front connecting plate 702 drivingly connected to the output end of the mobile cylinder 701. A lower bearing plate 703 is installed at one end of the front connecting plate 702 away from the mobile cylinder 701;

[0076] The lower bearing plate 703 is connected to the lower surface of the top plate 404 through a slide rail assembly. A vertical cylinder 704 is installed on the side of the lower bearing plate 703 away from the vertical connecting plate 401. The output end of the vertical cylinder 704 is transmission-connected to the front connecting plate 705. The bottom of the front connecting plate 705 is equipped with a lower pressing plate 706. The front connecting plate 705 is connected to the lower bearing plate 703 through a slide rail assembly.

[0077] Corresponding to the lower pressure plate 706, a lining plate 707 is rotatably connected between the opposite sides of the clamping claw plates 402 on both sides through a load-bearing shaft. The bottom of the lower supporting plate 703 is bent toward the bottom of the supporting plate 707 to form at least one bent portion, and the bent portion is vertically distributed with the lower supporting plate 703, and the bent portion is in contact with the bottom of the supporting plate 707.

[0078] In actual use, by adjusting the distance between the left and right side clamping plates 402, the disc parts can be placed between the left and right side clamping plates 402 and on the two supporting plates 707. The two lower pressure plates 706 are moved downward by retracting the output ends of the two vertical cylinders 704, so that the two lower pressure plates 706 are simultaneously in contact with the upper surface of the disc parts to fix the disc parts.

[0079] In actual settings, the bending parts on the left and right sides can effectively support the lining plates 707, thereby improving the stability of the two lining plates 707 when lining tray-like parts. At the same time, the output ends of the two movable cylinders 701 on the upper side are extended and retracted to move the lower supporting plates 703 on the left and right sides toward each other or away from each other, thereby adjusting the distance between the lower pressure plates 706 on the left and right sides and the lining plates 707 on the left and right sides to adapt to the fixation of tray-like parts of different diameters and sizes.

[0080] See also Fig.15 and 16 In the process of grasping shaft parts, the two lower supporting plates 703 are driven to move toward the vertical connecting plate 401 by retracting the output end of the mobile cylinder 701, so that the lower supporting plate 703, the lower pressure plate 706 and the backing plate 707 are retracted between the two side clamping claw plates 402, and will not cause interference when clamping shaft parts.

[0081] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0082] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-purpose gripper for automatically grabbing disc shaft parts of rail transit vehicles, characterized by: It comprises an upper connecting piece (5), an air path control panel (6), a buffer device (1), a clamping device (2), a servo drive device (3) and two bidirectional shaft clamps (4); The upper connecting member (5) is used to be connected to the manipulator, and the air circuit control panel (6) is arranged on the upper connecting member (5); The clamping device (2) is connected to the upper connecting member (5) via the buffer device (1), the servo drive device (3) is arranged on the clamping device (2), and the two bidirectional shaft clamps (4) are both connected to the servo drive device (3) in a transmission manner; The buffer device (1) comprises at least two intermediate adapter plates (101) and at least two bottom plates (102), wherein the at least two adapter plates (101) are arranged on the front and rear sides of the upper surface of the upper connecting member (5), and the at least two bottom plates (102) are arranged at the bottom of the at least two intermediate adapter plates (101), and at least two guide shafts (103) are arranged through the inside of the bottom plate (102), and the outer side of the guide shaft (103) is threadedly connected with a fixing nut (104) that is in contact with the upper surface of the bottom plate (102); The bottom of at least two of the guide shafts (103) is equipped with a same mounting frame (105), and at least two buffer springs (106) are installed between the mounting frame (105) and the bottom plate (102); The clamping device (2) and the servo drive device (3) are both arranged on the mounting frame (105).

2. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 1, characterized in that: At least two of the buffer springs (106) are respectively sleeved on the outside of at least two of the guide shafts (103).

3. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 1, characterized in that: The clamping device (2) comprises a support member (201) arranged on the mounting frame (105), and at least one driving cylinder (202) mounted on the support member (201); a double-position clamping plate (203) is mounted on the mounting frame (105) via at least two guide rail assemblies, so that the double-position clamping plate (203) can move forward and backward along the Y-axis direction; A transmission plate (204) drivingly connected to the output end of the driving cylinder (202) is mounted on the dual-position clamping plate (203).

4. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 3, characterized in that: The front and rear sides of the dual-position clamping plate (203) both extend downward to form two clamping portions (205); Corresponding to the two clamping parts (205), pressure plates (206) are installed on both the front and rear sides of the mounting frame (105), and a certain distance is retained between the two pressure plates (206) and the two clamping parts (205).

5. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 4, characterized in that: The length of the rear side clamping portion (205) in the Z-axis direction is smaller than the length of the front side clamping portion (205) in the Z-axis direction.

6. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 4, characterized in that: The bottoms of the two clamping parts (205) are both concave upward to form a concave part.

7. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 1, characterized in that: The servo drive device (3) comprises two bearing seats (301) arranged on the mounting frame (105) along the X-axis direction and spaced apart from each other, and a bidirectional screw rod (302) is rotatably connected between opposite sides of the two bearing seats (301); A servo motor (303) is arranged on the mounting frame (105), and an output end of the servo motor (303) is transmission-connected to one end of the bidirectional screw rod (302) via a connecting shaft; The outer side of the bidirectional screw rod (302) is threadedly connected to two nut seats (304), and the two bidirectional shaft clamps (4) are transmission-connected to the two nut seats (304), so that the bidirectional screw rod (302) can drive the two bidirectional shaft clamps (4) to move in opposite directions or opposite directions in the X-axis direction when rotating.

8. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 7, characterized in that: The bidirectional shaft clamp (4) comprises at least one top plate (404), at least one vertical connecting plate (401) and at least two side clamp plates (402); The top plate (404) is transmission-connected to the bottom of the nut seat (304); at least one vertical connecting plate (401) and at least two side clamping plates (402) are vertically arranged at the bottom of the top plate (404); and the two side clamping plates (402) are respectively arranged at the front and rear sides of the vertical connecting plate (401); and the top plate (404) is transmission-connected to the bottom of the mounting frame (105) via at least two slide rail assemblies.

9. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 8, characterized in that: The side clamping claw plates (402) on the left and right sides are both provided with a groove (403) facing away from each other; The width of the groove (403) on the front side in the Z-axis direction is smaller than the width of the opening of the side clamping claw plate (402) on the rear side in the Z-axis direction.

10. The multi-purpose clamp for automatically grabbing the disc shaft parts of rail transit vehicles according to claim 8, characterized in that: A disk-type parts fixing device (7) is also provided at the bottom of the top plate (404), and the disk-type parts fixing device (7) comprises a movable cylinder (701) arranged on the lower surface of the top plate (404), and a front connecting plate (702) drivingly connected to the output end of the movable cylinder (701), and a lower bearing plate (703) is installed at one end of the front connecting plate (702) away from the movable cylinder (701); The lower bearing plate (703) is connected to the lower surface of the top plate (404) through a slide rail assembly, a vertical cylinder (704) is installed on the side of the lower bearing plate (703) away from the vertical connecting plate (401), the output end of the vertical cylinder (704) is transmission-connected to the front connecting plate (705), the bottom of the front connecting plate (705) is equipped with a lower pressure plate (706), and the front connecting plate (705) is connected to the lower bearing plate (703) through a slide rail assembly; Corresponding to the lower pressure plate (706), a support plate (707) is rotatably connected between the opposite sides of the two side clamping claw plates (402) through a load-bearing shaft, and the bottom of the lower support plate (703) is bent toward the bottom of the support plate (707) to form at least one bent portion, and the bent portion is vertically distributed with the lower support plate (703), and the bent portion is in contact with the bottom of the support plate (707).

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