Rail transit vehicle disc shaft type part automatic grabbing multipurpose clamp

Abstract

The present application relates to a kind of rail transit vehicle disc shaft class parts automatic grabbing multipurpose clamping jaw, including upper connecting piece, gas path control board, buffer device, pressing device, servo drive device and two bidirectional shaft class clamping jaws;The upper connecting piece is used to be connected with manipulator.This rail transit vehicle disc shaft class parts automatic grabbing multipurpose clamping jaw, the clamping jaw is designed to grab and fix different kinds of shaft class parts and disc class parts, improve the convenience of handling, meet the processing needs of multiple parts, at the same time, through the setting of buffer device, effectively buffer the external force in the process of workpiece taking and placing, protect equipment and workpiece from impact damage, improve safety and reliability, the design of bidirectional shaft class clamping jaw allows the interval between two clamping jaw plates to be adjusted to adapt to different diameter shaft class parts, at the same time, disc class part fixing device can also be adjusted to adapt to different diameter disc class parts, embody high flexibility.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic grabbing of disc shaft parts of rail transit vehicles, in particular to a multipurpose clamping jaw for automatic grabbing of disc shaft parts of rail transit vehicles. BACKGROUND

[0002] As a common part form in the production, assembly or maintenance process of rail transit vehicle parts, disc parts, shaft parts, especially eccentric shaft parts, account for a large proportion. The design of automatic grabbing tooling for such parts has a greater impact on the assembly accuracy of the workpiece. The compact clamping jaw design with the grabbing function of the 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 in the form of manual use of a cantilever crane or a self-powered crane equipped with a special lifting tool or lifting belt to grab the parts. Automatic grabbing usually uses independent special clamps to grab, especially for eccentric shaft parts, which are manually lifted and transported into position. The manual lifting and transporting operation form causes low operation efficiency, high labor intensity and high safety risk. The use of independent special clamps for part grabbing requires the use of special independent equipment, resulting in high equipment investment cost and large floor area. The manual lifting of eccentric shaft parts has high operation intensity and high risk coefficient. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a multipurpose clamping jaw for automatic grabbing of disc shaft parts of rail transit vehicles, which solves the problems raised in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: a multipurpose clamping jaw for automatic grabbing of disc shaft parts of rail transit vehicles, comprising an upper connecting piece, a gas circuit control board, a buffer device, a pressing device, a servo drive device and two bidirectional shaft clamps.

[0006] The upper connecting piece is used to connect with a mechanical hand, and the gas circuit control board is arranged on the upper connecting piece.

[0007] The pressing device is connected with the upper connecting piece through the buffer device, the servo drive device is arranged on the pressing device, and the two bidirectional shaft clamps are in transmission connection with the servo drive device.

[0008] The buffer device comprises at least two intermediate adapter plates and at least two bottom plates, at least two of the adapter plates are arranged on the front and rear sides of the upper surface of the upper connecting piece, at least two of the bottom plates are arranged at the bottom of at least two of the intermediate adapter plates, at least two guide shafts are arranged inside the bottom plate, and a fixing nut is threadedly connected to the outside of the guide shaft and is in abutment with the upper surface of the bottom plate.

[0009] At least two of the guide shafts are mounted on the same mounting bracket at their bottom, and at least two buffer springs are fitted between the mounting bracket and the base plate;

[0010] Both the clamping device and the servo drive device are mounted on the mounting bracket.

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

[0012] Furthermore, the clamping device includes a support member disposed on the mounting frame and at least one drive cylinder mounted on the support member. A dual-position clamping plate is mounted on the mounting frame via at least two guide rail assemblies, so that the dual-position clamping plate can move back and forth along the Y-axis direction.

[0013] A transmission plate that is connected to the output end of the drive cylinder is installed on the dual-position clamping plate.

[0014] Furthermore, 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 maintained between the two pressure plates and the two clamping parts.

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

[0017] Furthermore, the bottom of both clamping parts is concave upwards to form a concave portion.

[0018] Furthermore, the servo drive device includes two bearing seats arranged on the mounting frame at left and right intervals along the X-axis direction, and a bidirectional lead screw is rotatably connected between the opposite sides of the two bearing seats.

[0019] A servo motor is mounted on the mounting bracket, and the output end of the servo motor is connected to one end of the bidirectional lead screw via a connecting shaft.

[0020] The outer side of the bidirectional lead screw is threaded with two female screw seats, and the two bidirectional shaft-type jaws are drivenly connected to the two female screw seats, so that when the bidirectional lead screw rotates, it can drive the two bidirectional shaft-type jaws to move in opposite or opposite directions in the X-axis direction.

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

[0022] The top plate is driven 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. The top plate is driven to the bottom of the mounting frame through at least two slide rail assemblies.

[0023] Furthermore, a groove is formed on each of the side gripper plates on both the left and right sides facing away from each other;

[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 gripper plate on the rear side in the Z-axis direction.

[0025] Furthermore, a disc-shaped part fixing device is provided at the bottom of the top plate. The disc-shaped part fixing device includes a movable cylinder disposed on the lower surface of the top plate and a front connecting plate that is pulsatorically connected to the output end of the movable cylinder. A lower bearing plate is installed at the end of the front connecting plate away from the movable cylinder.

[0026] The lower support plate is connected to the lower surface of the top plate via a slide rail assembly. A vertical cylinder is installed on the side of the lower support plate away from the vertical connecting plate. The output end of the vertical cylinder is connected to a front connecting plate. A lower pressure plate is installed at the bottom of the front connecting plate. The front connecting plate is connected to the lower support plate via a slide rail assembly.

[0027] Corresponding to the lower pressure plate, a support plate is rotatably connected between the two side gripper plates on opposite sides via a bearing shaft. The bottom of the lower support plate is bent toward the bottom of the support plate to form at least one bent portion. The bent portion is perpendicular to the lower support plate and fits against the bottom of the support plate.

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

[0029] This multi-purpose automatic gripper for rail transit vehicles handles axle and disc parts. Designed to grip and secure various types of axle and disc parts, it improves handling convenience and meets diverse part processing needs. The buffer device effectively cushions external forces during workpiece handling, protecting the equipment and workpieces from impact damage and enhancing safety and reliability. The bidirectional axle gripper design allows adjustment of the distance between the two gripper plates to accommodate axle parts of different diameters. Similarly, the disc part securing device can be adjusted to fit disc parts of different diameters, demonstrating high flexibility. Attached Figure Description

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

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

[0032] Figure 3 This is a schematic cross-sectional view of the present invention;

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

[0034] Figure 5 This is a schematic diagram of the pressing device structure of the present invention;

[0035] Figure 6 This is a front view schematic diagram of the pressing device of the present invention;

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

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

[0038] Figure 9 This is a bottom view of the servo drive device of the present invention.

[0039] Figure 10 This is a schematic diagram of the bidirectional shaft-type gripper structure of the present invention;

[0040] Figure 11 This is a schematic diagram of the front gripper plate structure of the present invention;

[0041] Figure 12 This is a schematic diagram of the rear gripper plate structure of the present invention;

[0042] Figure 13 This is a front view structural diagram of the disc-shaped part fixing device of the present invention;

[0043] Figure 14 This is a three-dimensional structural diagram of the disc-shaped part fixing device of the present invention;

[0044] Figure 15 This is a schematic diagram of the gripper of the present invention grasping a long shaft-type part;

[0045] Figure 16 This is a schematic diagram of the gripper of the present invention grasping a small-diameter eccentric shaft part;

[0046] Figure 17 This is a schematic diagram of the gripper of the present invention grasping a large-diameter eccentric shaft part;

[0047] Figure 18 This is a schematic diagram of the gripper grasping a disc-shaped part according to the present invention.

[0048] In the diagram: 1. Buffer device; 101. Intermediate adapter plate; 102. Base plate; 103. Guide shaft; 104. Fixing nut; 105. Mounting bracket; 106. Buffer spring; 2. Clamping device; 201. Support component; 202. Drive cylinder; 203. Dual-position clamping plate; 204. Transmission plate; 205. Clamping part; 206. Pressure plate; 3. Servo drive device; 301. Bearing seat; 302. Two-way lead screw; 3 03. Servo motor; 304. Thread nut; 4. Bidirectional shaft gripper; 401. Vertical connecting plate; 402. Gripper plate; 403. Groove; 404. Top plate; 5. Upper connecting part; 6. Pneumatic control plate; 7. Disc-shaped 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. Liner plate. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] Please see Figures 1-3 This embodiment describes an automatic gripper for handling axle-type parts of rail transit vehicles. It is used to grip and fix different types of axle-type parts, improving the convenience of handling axle-type parts.

[0051] Specifically, it includes an upper connector 5, an air circuit control board 6, a buffer device 1, a clamping device 2, a servo drive device 3, and two bidirectional shaft-type grippers 4; the upper connector 5 is used to connect with the robot arm, and the air circuit control board 6 is set on the upper connector 5; the clamping device 2 is connected to the upper connector 5 through the buffer device 1, the servo drive device 3 is set on the clamping device 2, and the two bidirectional shaft-type grippers 4 are both connected to the servo drive device 3 for transmission.

[0052] In actual setup, the upper connector 5 is reliably bolted to automated equipment such as robots or automatic gantry. The upper connector 5 is designed with positioning bosses to meet the positioning accuracy requirements of the installation. The pneumatic control board 6 is equipped with solenoid valves for all pneumatic components on the gripper, which can realize the control of all pneumatic components on the gripper. During the gripping process, the buffer device 1 can effectively buffer the external force during the workpiece picking and placing process, effectively protecting the safety of the equipment and the workpiece.

[0053] Furthermore, the clamping device 2 can reliably grip eccentric shaft parts. The clamping device 2 prevents the parts from tilting during the gripping process. The servo drive device 3, combined with the two bidirectional shaft grippers 4, can automatically adjust the centering of the V-shaped gripper module for shaft parts, meeting the gripping requirements of shaft parts of different diameters.

[0054] Please see Figure 4 and 5 In order to effectively buffer the external force during the workpiece handling process and ensure the safety of the equipment and workpiece, the buffer device 1 in this embodiment includes at least two intermediate transition plates 101 and at least two base plates 102. The at least two intermediate transition plates 101 are disposed on the front and rear sides of the upper surface of the upper connector 5, and the at least two base plates 102 are disposed at the bottom of the at least two intermediate transition plates 101. At least two guide shafts 103 are provided through the interior of the base plate 102, and the outer side of the guide shaft 103 is threaded with a fixing nut 104 that fits against the upper surface of the base plate 102.

[0055] At least two guide shafts 103 are mounted on the same mounting bracket 105 at their bottoms, and at least two buffer springs 106 are fitted between the mounting bracket 105 and the base plate 102; the clamping device 2 and the servo drive device 3 are both mounted on the mounting bracket 105.

[0056] In actual setup, the combination of at least two intermediate adapter plates 101 and at least two base plates 102, along with the guide shaft 103 and buffer spring 106 between them, effectively disperses and absorbs the external force generated during the workpiece handling process, thereby enhancing the buffering effect and protecting the equipment and workpiece from impact damage.

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

[0058] Please see Figures 5-7 To facilitate the gripping and fixing of the eccentric shaft parts, the clamping device 2 in this embodiment includes a support member 201 mounted on the mounting frame 105 and at least one drive cylinder 202 mounted on the support member 201. A dual-position clamping plate 203 is mounted on the mounting frame 105 via at least two guide rail assemblies, so that the dual-position clamping plate 203 can move back and forth along the Y-axis direction. A transmission plate 204 that is connected to the output end of the drive cylinder 202 is mounted on the dual-position clamping plate 203.

[0059] Furthermore, the front and rear sides of the dual-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 bracket 105, and a certain distance is maintained between the two pressure plates 206 and the two clamping parts 205.

[0060] In actual use, the output end of the drive cylinder 202 extends and retracts, thereby pushing the dual-position clamping plate 203 to move back and forth. The pressure plate 206 abuts against the part. That is, when the clamping part 205 on the dual-position clamping plate 203 is in contact with the front side of the part, the zero space of the eccentric shaft can be fixed.

[0061] Furthermore, in order to accommodate eccentric shafts of different diameters and sizes, the length of the rear clamping part 205 in the Z-axis direction in this embodiment is less than the length of the front clamping part 205 in the Z-axis direction.

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

[0063] In addition, in order to ensure that the clamping part 205 can fit against the outer surface of the shaft part during the clamping process, a concave part is formed at the bottom of both clamping parts 205. That is, during the gripping process, the concave part inside the clamping part 205 can fit against the outer surface of the shaft part, further improving the stability of gripping eccentric shaft parts.

[0064] Please see Figures 8-12 In order to perform gripping operations on shaft parts of different diameters and eccentric shaft parts, the servo drive device 3 in this embodiment includes two bearing seats 301 arranged on the mounting frame 105 at left and right intervals along the X-axis direction, and a bidirectional lead screw 302 is rotatably connected between the opposite sides of the two bearing seats 301.

[0065] A servo motor 303 is mounted on the mounting bracket 105. The output end of the servo motor 303 is connected to one end of the bidirectional lead screw 302 via a connecting shaft. The outer side of the bidirectional lead screw 302 is threaded with two lead screw nuts 304. Two bidirectional shaft-type grippers 4 are connected to the two lead screw nuts 304 so that when the bidirectional lead screw 302 rotates, it can drive the two bidirectional shaft-type grippers 4 to move in opposite or opposite directions in the X-axis direction.

[0066] In actual setup, a zero-point detection sensor is also installed on the mounting bracket 105 to detect the servo system's position and zero-point signal.

[0067] In actual use, the shaft part is placed between two bidirectional shaft grippers 4. The servo motor 303 is started to drive the bidirectional lead screw 302 to rotate, which drives the two lead screw nuts 304 and the two bidirectional shaft grippers 4 to move in opposite directions, thereby fixing the shaft part.

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

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

[0070] In actual setup, both the left and right side gripper 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 gripper plate 402 in the Z-axis direction.

[0071] In actual setup, a groove 403 is formed on each of the left and right side gripper plates 402 facing away from each other. The width of the front groove 403 in the Z-axis direction is smaller than the opening width of the rear side gripper plate 402, thereby allowing the grippers to adapt to and fix shaft parts of different diameters. The size of the parts can be adapted by adjusting the distance between the two side gripper plates 402, while ensuring the stability and firmness of the clamping.

[0072] In actual use, the side gripper plates 402 on the left and right sides are in contact with the outer surface of the shaft parts, thereby increasing the friction between the side gripper plates 402 and the shaft parts, thereby improving the stability of the shaft parts during the gripping process. Grooves 403 of different widths are opened on the gripper plates 402 on the front and rear sides, and the V-shaped cross-section of the front side of the grooves 403 is adapted to shaft parts of different diameters.

[0073] In actual setup, in order to ensure effective transmission between the two screw nuts 304 and the two top plates 404, two vertical grooves are also opened inside the mounting bracket 105 so that when the two bidirectional screws 302 rotate, they drive the two screw nuts 304 to slide left and right in the X-axis direction inside the two grooves respectively.

[0074] It should be noted that the bidirectional lead screw 302 in this embodiment has two threaded grooves on its outer surface, and the thread directions of the two threaded grooves are opposite. At the same time, the two lead screw nuts 304 are symmetrically arranged on the outside of the bidirectional lead screw 302. That is, when the bidirectional lead screw 302 rotates forward and backward, it can drive the two lead screw nuts 304 to move in opposite directions or backward, thereby adjusting the distance between the left and right side gripper plates 402.

[0075] Please see Figure 13 , 14 18 is used to grip disc-shaped parts. In this embodiment, a disc-shaped part fixing device 7 is also provided at the bottom of the top plate 404. The disc-shaped part fixing device 7 includes a movable cylinder 701 disposed on the lower surface of the top plate 404, and a front connecting plate 702 connected to the output end of the movable cylinder 701. A lower bearing plate 703 is installed at the end of the front connecting plate 702 away from the movable cylinder 701.

[0076] The lower support plate 703 is connected to the lower surface of the top plate 404 via a slide rail assembly. A vertical cylinder 704 is installed on the side of the lower support plate 703 away from the vertical connecting plate 401. The output end of the vertical cylinder 704 is connected to the front connecting plate 705. A lower pressure plate 706 is installed at the bottom of the front connecting plate 705. The front connecting plate 705 is connected to the lower support plate 703 via a slide rail assembly.

[0077] Corresponding to the lower pressure plate 706, a support plate 707 is rotatably connected between the two sides of the clamping plates 402 via a bearing shaft. 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. The bent portion is perpendicular to the lower support plate 703 and fits against the bottom of the support plate 707.

[0078] In actual use, by adjusting the distance between the left and right side gripper plates 402, the disc-shaped parts can be placed between the left and right side gripper plates 402 and on the two support plates 707. The retraction of the output ends of the two vertical cylinders 704 drives the two lower pressure plates 706 to move downward, so that the two lower pressure plates 706 simultaneously fit against the upper surface of the disc-shaped parts, thereby fixing the disc-shaped parts.

[0079] In actual setup, the bending sections on the left and right sides can effectively support the support plates 707, improving the stability of the two support plates 707 when supporting tray-like parts. At the same time, the extension and retraction of the output ends of the two moving cylinders 701 on the upper side can move the lower bearing plates 703 on the left and right sides in opposite directions, thereby adjusting the distance between the lower pressure plates 706 on the left and right sides and the support plates 707 on the left and right sides to accommodate the fixing of tray-like parts of different diameters.

[0080] Please see Figure 15 and 16 During the gripping process of shaft parts, the retraction of the output end of the moving cylinder 701 drives the two lower bearing plates 703 to move towards the vertical connecting plate 401, so that the lower bearing plate 703, the lower pressure plate 706 and the liner plate 707 retract between the two side gripper plates 402, without interfering with the gripping of shaft parts.

[0081] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 limitations, 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.

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

Claims

1. A multi-purpose gripper for automatically grasping disc-shaped parts of rail transit vehicles, characterized in that: It includes an upper connector (5), an air circuit control board (6), a buffer device (1), a clamping device (2), a servo drive device (3), and two bidirectional shaft grippers (4). The upper connector (5) is used to connect with the robot arm, and the pneumatic control board (6) is disposed on the upper connector (5); The clamping device (2) is connected to the upper connecting piece (5) through the buffer device (1), the servo drive device (3) is set on the clamping device (2), and the two bidirectional shaft-type jaws (4) are connected to the servo drive device (3) for transmission. The buffer device (1) includes at least two intermediate transition plates (101) and at least two base plates (102). The at least two transition plates (101) are disposed on the front and rear sides of the upper surface of the upper connector (5). The at least two base plates (102) are disposed at the bottom of the at least two intermediate transition plates (101). At least two guide shafts (103) are provided through the interior of the base plate (102). The outer side of the guide shaft (103) is threaded with a fixing nut (104) that fits against the upper surface of the base plate (102). At least two of the guide shafts (103) are mounted on the bottom of the same mounting bracket (105), and at least two buffer springs (106) are assembled between the mounting bracket (105) and the base plate (102). Both the clamping device (2) and the servo drive device (3) are mounted on the mounting bracket (105); The clamping device (2) includes a support member (201) disposed on the mounting frame (105) and at least one drive cylinder (202) mounted on the support member (201). A dual-position clamping plate (203) is mounted on the mounting frame (105) via at least two guide rail assemblies, so that the dual-position clamping plate (203) can move back and forth along the Y-axis direction. A transmission plate (204) that is connected to the output end of the drive cylinder (202) is installed on the dual-position clamping plate (203). The servo drive device (3) includes two bearing seats (301) arranged on the mounting frame (105) at left and right intervals along the X-axis direction, and a bidirectional lead screw (302) is rotatably connected between the opposite sides of the two bearing seats (301). A servo motor (303) is provided on the mounting bracket (105), and the output end of the servo motor (303) is connected to one end of the bidirectional lead screw (302) via a connecting shaft. The outer side of the bidirectional lead screw (302) is threaded with two thread nuts (304), and the two bidirectional shaft-type jaws (4) are connected to the two thread nuts (304) in a transmission connection, so that when the bidirectional lead screw (302) rotates, it can drive the two bidirectional shaft-type jaws (4) to move in opposite or opposite directions in the X-axis direction.

2. The multi-purpose gripper for automatically grasping disc-shaped 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 gripper for automatically grasping disc-shaped parts of rail transit vehicles according to claim 1, characterized in that: The dual-position clamping plate (203) extends downward on both the front and rear sides to form two clamping parts (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 maintained between the two pressure plates (206) and the two clamping parts (205).

4. The multi-purpose gripper for automatically grasping disc-shaped parts of rail transit vehicles according to claim 3, characterized in that: The length of the rear clamping part (205) in the Z-axis direction is less than the length of the front clamping part (205) in the Z-axis direction.

5. The multi-purpose gripper for automatically grasping disc-shaped parts of rail transit vehicles according to claim 4, characterized in that: The bottom of both clamping parts (205) is concave upward to form a concave portion.

6. The multi-purpose gripper for automatically grasping disc-shaped parts of rail transit vehicles according to claim 5, characterized in that: The bidirectional shaft-type gripper (4) includes at least one top plate (404), at least one vertical connecting plate (401), and at least two side gripper plates (402). The top plate (404) is driven 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). The two side clamping plates (402) are respectively arranged on the front and rear sides of the vertical connecting plate (401). The top plate (404) is driven to the bottom of the mounting frame (105) through at least two slide rail assemblies.

7. The multi-purpose gripper for automatically grasping disc-shaped parts of rail transit vehicles according to claim 6, characterized in that: The side gripper plates (402) on both the left and right sides each have 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 gripper plate (402) on the rear side in the Z-axis direction.

8. The multi-purpose gripper for automatically grasping disc-shaped parts of rail transit vehicles according to claim 7, characterized in that: At the bottom of the top plate (404), a disc-shaped part fixing device (7) is also provided. The disc-shaped part fixing device (7) includes a movable cylinder (701) disposed on the lower surface of the top plate (404) and a front connecting plate (702) drivenly connected to the output end of the movable cylinder (701). A lower bearing plate (703) is installed at the end of the front connecting plate (702) away from the movable cylinder (701). The lower support plate (703) is connected to the lower surface of the top plate (404) via a slide rail assembly. A vertical cylinder (704) is installed on the side of the lower support plate (703) away from the vertical connecting plate (401). The output end of the vertical cylinder (704) is connected to a front connecting plate (705). A lower pressure plate (706) is installed at the bottom of the front connecting plate (705). The front connecting plate (705) is connected to the lower support plate (703) via a slide rail assembly. Corresponding to the lower pressure plate (706), a support plate (707) is rotatably connected between the two side gripper plates (402) on opposite sides via a bearing shaft. 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. The bent portion is perpendicular to the lower support plate (703) and is in contact with the bottom of the support plate (707).

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