A composite adjustable gripper for gripping bracket assemblies

Abstract

This application relates to a composite adjustable gripper for gripping bracket assemblies, belonging to the technical field of bracket assembly assembly. The adjustable gripper includes a movable base, a secondary gripping device, and a primary gripping device. The secondary gripping device includes: two clamping grippers with clamping grooves that are close to or far apart from each other; and a fixed sheet metal, placed on the two clamping grooves and equipped with a positioning part. The primary gripping device includes: a first clamping plate and a second clamping plate that are close to or far apart from each other; and an elastic positioning mechanism rotatably mounted on the second clamping plate. This application achieves the positioning and conveying of the bracket body and two brake blocks sequentially through the secondary gripping device and the primary gripping device, making the positions of the bracket body, the two brake blocks, and multiple positioning pins more accurate, shortening the assembly process time, and also enabling pre-installation in advance, further saving assembly time and improving the assembly efficiency and quality of the product.

Description

Technical Field

[0001] This application relates to the technical field of bracket assembly assembly, and in particular to a composite adjustable gripper for gripping bracket assemblies. Background Technology

[0002] The bracket assembly is a component of the automotive brake caliper, and the assembly of the bracket assembly is the core process that connects the bracket assembly to the caliper body and integrates the brake actuators.

[0003] In existing technologies, such as Figure 1 The bracket assembly includes a bracket body 11, two brake blocks 15, and a return spring that pushes the two brake blocks 15 away from each other and then returns them. Multiple hexagonal positioning pins 12 are rotatably mounted on the bracket body 11, and positioning is achieved by the multiple positioning pins 12 during assembly.

[0004] The existing assembly process typically involves first installing the return spring onto the bracket body, then installing the bracket body onto the assembly fixture. The assembly fixture then clamps the bracket body and positions it on the locating pin. Finally, the two brake blocks are installed onto the bracket body to overcome the thrust of the return spring, thus completing the assembly of the bracket assembly. However, manual assembly relies entirely on experience, which makes it prone to tilting or jamming during installation, requiring multiple adjustments. Furthermore, repeated clamping and releasing can easily damage the product. The need for multiple placements and installations further prolongs the assembly time, thereby reducing the product's assembly efficiency and quality. Summary of the Invention

[0005] To improve product assembly efficiency and quality, this application provides a composite adjustable gripper for gripping bracket assemblies.

[0006] This application provides a composite adjustable gripper for grasping bracket assemblies, employing the following technical solution:

[0007] A composite adjustable gripper for gripping a bracket assembly includes a movable base, a secondary gripping device and a primary gripping device disposed on the base; the secondary gripping device and the primary gripping device sequentially grip two brake blocks and the bracket body for transport.

[0008] The secondary gripping device includes:

[0009] Two gripping claws are connected to a telescopic component and have gripping grooves at the bottom. They move closer to or further apart from each other under the driving action of the telescopic component.

[0010] A fixed sheet metal is placed on two clamping slots and has a vertically downward positioning part located between two clamping claws. The positioning part extends between two brake blocks and positions the top of the brake blocks against the lower surface of the fixed sheet metal. The two clamping claws come close to each other and clamp the two brake blocks, so that the two brake blocks abut against the positioning part for positioning.

[0011] The main gripping device includes:

[0012] Clamping plate one and clamping plate two are connected to telescopic component two and move closer or further apart under the driving action of telescopic component two;

[0013] An elastic positioning mechanism is rotatably mounted on clamping plate two. Clamping plate one and clamping plate two approach each other and drive clamping plate one and the elastic positioning mechanism to approach the support body simultaneously, so that clamping plate one presses against the side wall of the support body, and the elastic positioning mechanism, under the action of elastic force, is sleeved or pressed against the positioning pin to position the support body; if the elastic positioning mechanism is pressed against the positioning pin, the base drives the elastic positioning mechanism to approach and connect with the driving component, the driving component drives the elastic positioning mechanism to rotate and so that the elastic positioning mechanism is sleeved on the positioning pin for positioning, and the driving component drives the elastic positioning mechanism to rotate back to its original position and then disengage from the driving component.

[0014] By adopting the above technical solution, the base moves and drives multiple main gripping devices and auxiliary gripping devices to place the fixed sheet metal on two clamping slots. The base moves and drives multiple auxiliary gripping devices and the fixed sheet metal to approach the two brake blocks, so that the two brake blocks abut against the lower surface of the fixed sheet metal and the positioning part for positioning. The two gripping claws approach each other and press against the two brake blocks for positioning. The two gripping claws drive the two brake blocks to move upward.

[0015] Multiple main gripping devices approach the support body, causing the support body to move between multiple clamping plates and multiple elastic positioning mechanisms. The multiple main gripping devices are aligned with multiple positioning pins. Both clamping plates and elastic positioning mechanisms are close to the support body. Clamping plates press against the support body, and elastic positioning mechanisms are close to the positioning pins.

[0016] If the locating pin is aligned with the elastic locating mechanism, it will be inserted into the elastic locating mechanism for positioning, thus enabling the positioning of multiple locating pins at different positions and angles. If the locating pin is misaligned with the locating mechanism, the elastic locating mechanism will press against the locating pin under the action of elastic force for positioning. Then, the elastic locating mechanism will connect to the drive component, and the drive component will start to drive the elastic locating mechanism to overcome the friction with the locating pin and rotate relative to it, so that the elastic locating mechanism is aligned with the locating pin, and the locating pin is inserted into the elastic locating mechanism. Then, the drive component will drive the elastic locating mechanism and the locating pin to rotate back to their original positions. After the drive component stops, it will disengage from the elastic locating mechanism.

[0017] Multiple main gripping devices and auxiliary gripping devices grip the bracket body and two brake blocks and bring them close to the assembly fixture. First, the bracket body is placed in the assembly fixture. The multiple main gripping devices unlock away from the bracket body. Then, the assembly fixture clamps the bracket body and positions it using multiple positioning pins. The auxiliary gripping devices drive the two brake blocks to continue moving to install them. The two gripping claws move away from each other and disengage from the two brake blocks. Then, the multiple main gripping devices and auxiliary gripping devices move, causing the fixed sheet metal to disengage from the two brake blocks.

[0018] The bracket body and two brake blocks are positioned and transported sequentially by the secondary gripping device and the main gripping device, which makes the positions of the bracket body, the two brake blocks and multiple positioning pins more accurate, shortens the assembly time, and can also achieve pre-installation in advance, further saving assembly time. Moreover, the elastic positioning mechanism can be positioned under the action of elastic force, so that the position is more accurate after the drive component drives the positioning pin to rotate, while avoiding manual intervention, thereby improving the assembly efficiency and quality of the product.

[0019] Optionally, the elastic positioning mechanism includes:

[0020] The positioning rod is rotatably mounted on clamping plate two;

[0021] The sleeve is slidably mounted on the positioning rod and has a sleeve groove that fits onto the outer wall of the positioning pin.

[0022] A positioning post is coaxially mounted on the positioning rod and passes through the socket groove and extends to the outside of the socket groove. The end of the positioning post facing away from the positioning rod forms a spherical positioning end that is easy to insert and install onto the positioning pin.

[0023] An adjusting rod is coaxially mounted on a positioning rod and is a regular hexagonal prism. It is connected to the drive assembly after being plugged in. The drive assembly starts to drive the adjusting rod, the positioning rod, and the sleeve to rotate simultaneously.

[0024] The elastic element is sleeved on the positioning rod and connected to the clamping plate and the sleeve;

[0025] The detector is mounted on the second clamping plate and is used to detect the movement of the sleeve and is electrically connected to the drive assembly;

[0026] The positioning component positions the positioning rod under the action of elastic force and prevents the positioning rod from rotating; after the positioning rod rotates, it overcomes the elastic force to unlock.

[0027] By adopting the above technical solution, the base drive sleeve and the positioning column are both close to the positioning pin. Through the setting of the guide end, multiple positioning columns are first inserted and installed onto multiple positioning pins, and then the sleeve continues to approach the positioning pin.

[0028] If the two are aligned, the positioning pin is inserted into the socket groove for positioning, and the sleeve abuts against the positioning pin for positioning. At the same time, the clamping plate presses against the bracket body for positioning, thereby enabling the clamping and conveying bracket body to be held.

[0029] If the sleeve and the positioning pin are misaligned, the sleeve will be positioned against the positioning pin. The positioning pin will then push the sleeve to move. The detector will sense the movement of the sleeve, and the base will then drive the adjusting rod to connect with the driving assembly. This will connect the driving assembly with the adjusting rod, and the driving assembly will start the adjusting rod, positioning rod and sleeve to rotate. The rotation of the positioning rod will push the positioning assembly to unlock. The sleeve will overcome the friction between itself and the positioning pin, causing the sleeve and the positioning pin to rotate relative to each other.

[0030] After the sleeve is aligned with the positioning pin, it is fitted onto the positioning pin for positioning, so that the sleeve and the detector are relatively displaced. When the detector detects the sleeve's return movement, the drive assembly drives the adjusting rod, positioning rod and sleeve to rotate. The rotation of the sleeve causes the positioning pin to rotate to the required angle. The base drives the adjusting rod to disengage from the drive assembly, and the bracket body and the two brake blocks are transported, thereby positioning the bracket body and the two brake blocks, improving assembly efficiency and quality.

[0031] Optionally, the positioning rod has a spherical positioning groove, and the positioning assembly includes:

[0032] The threaded rod is threaded to the clamping plate two along a direction perpendicular to the axis of the positioning rod, and a receiving groove is coaxially opened at one end near the positioning groove.

[0033] The elastic element rests against the bottom of the receiving groove at one end;

[0034] A positioning ball is set on the elastic element and extends through the receiving groove to the outside of the receiving groove. The positioning ball is engaged and installed on the positioning groove for positioning under the action of elastic force.

[0035] By adopting the above technical solution, the positioning ball is snapped into the positioning groove for positioning under the action of the elastic component. When the positioning rod rotates, it pushes the positioning ball to disengage from the positioning groove. When the positioning rod rotates back, the positioning ball snaps into the positioning groove for positioning. This enables the positioning rod to be positioned, and also makes the positions of the adjusting rod, positioning rod and sleeve more accurate when they rotate back to their original positions, improving the efficiency and quality of assembly. At the same time, the threaded rod can be turned to disassemble and adjust the positioning components, further improving the efficiency and quality of assembly.

[0036] Optionally, the end of the socket groove near the clamping plate is provided with a guide surface that extends obliquely to the end face of the sleeve. The guide surface is long and six are connected at both ends. The guide surface is oblique along its own length direction and the oblique direction is the same, so that a step is formed at the connection of two guide surfaces.

[0037] When the locating pin and the sleeve are misaligned, both the sleeve and the guide surface are close to the locating pin, causing the locating pin to abut against the guide surface. As the guide surface moves, it pushes the locating pin to rotate until the locating pin is aligned with the sleeve.

[0038] By adopting the above technical solution, when the locating pin and the sleeve are misaligned, the sleeve approaches the locating pin, causing the six edges of one end of the locating pin to abut against the guide surface. First, under the action of the six guide surfaces, the locating pin approaches the socket groove, aligning the axes of the locating pin and the socket groove. Then, as the sleeve continues to approach, the inclined guide surface can push the locating pin to rotate, causing the locating pin to align with the socket groove. At the same time, the step formed at the connection of two adjacent guide surfaces prevents the locating pin from rotating too far. After the locating pin aligns with the socket groove, the locating pin is inserted and positioned on the socket groove under the action of elasticity. If the guide surface still cannot align the locating pin with the socket groove, it can push the sleeve to move and then achieve rotation through the drive component, thereby greatly reducing the number of times alignment is achieved through the drive component, further improving assembly efficiency and quality.

[0039] Optionally, a positioning ring is slidably and rotatably sleeved on the positioning rod. The elastic element is connected to the positioning ring and the clamping plate and pushes the positioning ring to press against the sleeve for positioning. When the sleeve is sleeved onto the positioning pin, it abuts against the annular body located on the positioning pin for positioning. The positioning ring is provided with a pressing component. When the sleeve approaches the positioning pin, the pressing component first presses against the annular body under the action of elasticity to provide a supporting force.

[0040] By adopting the above technical solution, when the sleeve and the locating pin are misaligned, the locating pin pushes the sleeve to squeeze the elastic element, resulting in a certain friction between the sleeve and the locating pin. This makes it easy for the locating pin to rotate when the sleeve rotates, thus greatly prolonging the assembly time. At the same time, the elastic element presses against the sleeve and the first clamping plate. The rotation of the sleeve will drive the elastic element to rotate, or cause relative rotation between the elastic element and the sleeve and the first clamping plate, which will easily lead to wear of the elastic element. It will also increase the force required for the sleeve to rotate, reducing assembly efficiency and quality.

[0041] The sleeve is rotatably connected to the positioning rod via a positioning ring. The rotation of the sleeve does not drive the elastic element to rotate, making the assembly process more stable and labor-saving. Both the sleeve and the pressing component are close to the positioning pin and the annular body. The pressing component first abuts against the annular body, which then pushes the pressing component back, allowing the sleeve to continue moving closer to the positioning pin. If the sleeve and positioning pin are aligned, the positioning pin overcomes the elastic force of the pressing component and engages with the sleeve for positioning. If the sleeve and positioning pin are misaligned, the positioning pin abuts against the sleeve and pushes the sleeve to slide on the positioning rod. Due to the reverse thrust of the pressing component on the positioning ring, the force between the sleeve and the positioning pin is greatly reduced. Simultaneously, the pressure exerted by the pressing component on the annular body prevents the positioning pin from rotating. This combination further reduces the risk of simultaneous rotation of the positioning pin and sleeve, saving assembly time. When the sleeve and positioning pin are aligned, the elastic force of the elastic element is released, pushing the sleeve onto the positioning pin for positioning, thereby improving assembly efficiency and quality.

[0042] Optionally, the pressure-absorbing component includes:

[0043] The pressure ring is slidably mounted on the positioning ring along the axis of the positioning rod via the pressure rod and is located on the side of the positioning ring closer to the clamping plate, and is used to abut against the ring body to provide a supporting force.

[0044] The elastic pusher is connected to the positioning ring and the pressing ring respectively, and its elastic force is less than that of the elastic element.

[0045] The blocking component is detachably mounted on the pressure rod. Under the action of elastic force, the pressure ring is kept close to the clamping plate and the blocking component is pressed against the pressure ring for positioning.

[0046] By adopting the above technical solution, the pressing component approaches the positioning pin, the pressing ring first abuts against the annular body, and then the pressing ring squeezes the elastic pushing member, causing the pressing rod and the blocking member to move. Then the positioning pin abuts against the sleeve. If the two are aligned, the positioning pin is inserted into the sleeve groove for positioning. If the two are misaligned, the positioning pin pushes the sleeve to move, and the annular body continues to push the pressing component to move. Then the sleeve rotates to align with the positioning pin, and the elastic member pushes the sleeve back, so that the positioning pin is inserted into the sleeve groove for positioning. This can greatly reduce the risk of the sleeve rotating and driving the positioning pin to rotate, and improve the efficiency and quality of the device.

[0047] Optionally, the sleeve is coaxially slidably fitted onto the positioning rod and has a guide hole along the axis of the positioning rod. A positioning element is threaded onto the positioning rod and passes through the guide hole. The positioning element causes the sleeve to slide along the axis of the positioning rod and causes the sleeve and the positioning rod to rotate simultaneously.

[0048] By adopting the above technical solution, the positioning component is threaded onto the positioning rod after passing through the guide hole. Therefore, the positioning component slides and is installed on the guide hole along the axis of the positioning rod, so that the sleeve slides and is installed on the positioning rod along the axis of the positioning rod. The sleeve and the positioning rod rotate simultaneously, and the sleeve can be replaced after the positioning component is removed, which further improves the assembly efficiency and quality.

[0049] Optionally, the sleeve is detachably mounted on the positioning rod, and the clamping plate 2 has a stepped mounting hole. A mounting platform is slidably mounted on the mounting hole along the axis of the positioning rod. A support sleeve is provided on the mounting platform. The positioning rod is rotatably mounted on the mounting platform and the positioning component is mounted on the support sleeve. The elastic element pushes the mounting platform against the mounting hole for positioning.

[0050] By adopting the above technical solution, the sleeve presses against the positioning pin under the action of elasticity. If the sleeve and the positioning pin are misaligned, the sleeve will be positioned against the positioning pin, which will push the mounting platform to move on the mounting hole. Compared with the sleeve being sleeved on the positioning rod, the positioning rod and the adjusting rod will move away from the bracket body. When the base drives the adjusting rod to approach the drive component, the adjusting rod can be inserted and connected to the drive component faster and earlier. When the sleeve is sleeved on the positioning pin, the sleeve pushes the adjusting rod away from the drive component under the action of elasticity, and at the same time drives the positioning rod to pull the mounting platform against the clamp plate two for positioning. Therefore, the distance of movement of the base drives the adjusting rod is greatly shortened, and the assembly efficiency and quality are further improved.

[0051] Compared to the sleeve sliding on the positioning rod, in this structure the positioning rod will not contact the positioning pin and interfere with the sleeve and positioning pin connection. Moreover, it will not require multiple structures due to the simultaneous rotation of the sleeve and the positioning rod, which would increase the space occupied by the sleeve and further improve assembly efficiency and quality.

[0052] Optionally, two main gripping devices are provided at intervals. The two clamping plates are clamped on opposite side walls of the support body and press against the side wall of the support body away from the elastic positioning mechanism, and together with the two elastic positioning mechanisms, they position the support body from two mutually perpendicular directions.

[0053] By adopting the above technical solution, the bracket body is clamped and positioned from two mutually perpendicular directions, which improves the convenience and stability of clamping and positioning, and improves assembly efficiency and quality.

[0054] Optionally, the two clamping plates are provided with guide angles that allow the bracket body to move between the two clamping plates.

[0055] By adopting the above technical solution, the bracket body is close to and abuts against the two guide corners. As the two clamping plates move, the clamping body moves between the two clamping plates, which facilitates the clamping and positioning of the bracket body and improves assembly efficiency and quality.

[0056] In summary, this application includes at least one of the following beneficial technical effects:

[0057] 1. The bracket body and two brake blocks are positioned and transported sequentially by the auxiliary gripping device and the main gripping device, which makes the positions of the bracket body, the two brake blocks and multiple positioning pins more accurate, shortens the assembly time, and can also achieve pre-installation in advance, further saving assembly time and improving the assembly efficiency and quality of the product.

[0058] 2. When the positioning pin and sleeve are misaligned, the six guide surfaces abut against the positioning pin and push the positioning pin to align with the sleeve groove. Under the action of elasticity, the positioning pin is inserted and installed on the sleeve groove for positioning, which greatly reduces the number of times alignment is achieved through the drive component, and further improves assembly efficiency and quality.

[0059] 3. The rotatable connection between the positioning ring and the positioning rod makes the assembly process more stable and labor-saving. The sleeve and the pressing component are close to the positioning pin and the ring body. The pressing component first abuts against the ring body to position the positioning pin. If the sleeve and the positioning pin are aligned, the positioning pin can be inserted into the sleeve for positioning. If the sleeve and the positioning pin are misaligned, the positioning pin pushes the sleeve to slide on the positioning rod, reducing the risk of the positioning pin and the sleeve rotating at the same time, saving assembly time, and thus improving assembly efficiency and quality. Attached Figure Description

[0060] Figure 1 This is a structural diagram of the bracket assembly and the fixed sheet metal;

[0061] Figure 2 This is a schematic diagram of the adjustable gripper embodiment 1 and the support assembly;

[0062] Figure 3 This is a plan view of embodiment 1 of the adjustable gripper;

[0063] Figure 4 This is a schematic diagram of the structure of the clamping plate 2 and the elastic positioning mechanism in embodiment 1 of the adjustable gripper;

[0064] Figure 5 This is a partial cross-sectional schematic diagram of embodiment 1 of the adjustable gripper, mainly showing the support sleeve and positioning components;

[0065] Figure 6 This is a partial structural diagram of the adjustable gripper in embodiment 2;

[0066] Figure 7This is a partial structural diagram of the adjustable gripper in embodiment 2, and it is in contact with the positioning pin and the guide surface;

[0067] Figure 8 This is a cross-sectional schematic diagram of embodiment 3 of the adjustable gripper;

[0068] Figure 9 This is a cross-sectional schematic diagram of embodiment 4 of the adjustable gripper.

[0069] Reference numerals: 1. Base; 11. Support body; 12. Positioning pin; 13. Positioning hole; 14. Ring body; 15. Braking block; 16. Guide surface; 17. Chamfer; 18. Positioning ring; 19. Step; 2. Secondary gripping device; 21. Gripping gripper; 22. Fixed sheet metal; 23. Telescopic component one; 24. Telescopic component two; 25. Positioning part; 26. Placement part; 27. Gripping groove; 3. Main gripping device; 31. Clamping plate one; 32. Clamping plate two; 33. Fixing plate one; 34. Fixing plate two; 35. 4. Support sleeve; 5. Elastic positioning mechanism; 6. Positioning rod; 7. Guide hole; 8. Positioning component; 9. Sleeve; 10. Sleeve groove; 11. Positioning pin; 12. Positioning end; 13. Adjusting rod; 14. Elastic component; 15. Detector; 26. Positioning assembly; 17. Threaded rod; 18. Elastic component; 19. Positioning ball; 20. Receiving groove; 21. Pressing assembly; 22. Pressing ring; 33. Elastic pushing component; 44. Blocking component; 55. Pressing rod; 66. Mounting hole; 77. Mounting platform. Detailed Implementation

[0070] The following provides a further detailed description of this application.

[0071] This application discloses a composite adjustable gripper for grasping bracket assemblies.

[0072] Example 1, referring to Figure 1 and Figure 2 The composite adjustable gripper for gripping the bracket assembly includes a movable base 1, a secondary gripping device 2 and multiple primary gripping devices 3 mounted on the base 1; the secondary gripping device 2 is used to clamp and position the two brake blocks 15; the multiple primary gripping devices 3 are the same number as the positioning pins 12 and are correspondingly arranged to position the bracket body 11 and the angle of the multiple positioning pins 12.

[0073] In this application, there are two main gripping devices 3, each corresponding to one of the two positioning pins 12. The base 1 is connected to an external drive structure. The drive structure is used to drive the base 1 to move horizontally in two mutually perpendicular directions and to drive the base 1 to move vertically. The drive structure is prior art and will not be described in detail here. The positioning pins 12 are rotatably mounted on the bracket body 11, and the positioning pins 12 are provided with positioning holes 13. The positioning pins 12 are regular hexagonal structures and have an annular ring 14 coaxially arranged on their outer side walls. First, the return spring is installed on the bracket body 11. The auxiliary gripping device 2 and the main gripping device 3 sequentially grip the two brake blocks 15 and the bracket body 11 for transport.

[0074] Reference Figures 1-3 The auxiliary gripping device 2 includes two gripping claws 21 and a fixed sheet metal 22. Telescopic components 1 and 24 are vertically and spaced apart on the side wall of the base 1. Telescopic component 1 23 is located below telescopic component 24 and is a horizontally placed double-headed electric actuator or double-headed cylinder. The two gripping claws 21 are respectively fixedly mounted on the two piston rods of telescopic component 1 23 and are vertically downward. Each gripping claw 21 has a gripping groove 27 at its bottom end and on its opposite side walls, extending through the gripping claw 21 along the axis perpendicular to the piston rod of telescopic component 1 23. Telescopic component 1 23 drives the two gripping claws 21 to move closer or further apart.

[0075] The lower surface of the fixed sheet metal 22 is the same as the upper surface of the brake block 15, so that the upper surface of the brake block 15 abuts against and fits against the lower surface of the fixed sheet metal 22 for positioning. Both ends of the fixed sheet metal 22 are integrally provided with vertically downward positioning parts 25, and the fixed sheet metal 22 is also provided with vertically downward placement parts 26. The two placement parts 26 are arranged along the length direction perpendicular to the fixed sheet metal 22, and the two positioning parts 25 are arranged along the length direction of the fixed sheet metal 22 and located between the two placement parts 26.

[0076] In the initial state, the two placement parts 26 located on the fixed sheet metal 22 are positioned on the two clamping slots 27, so that the fixed sheet metal 22 is connected to the two clamping claws 21. If the fixed sheet metal 22 needs to be replaced, the two clamping claws 21 can be replaced by moving away from each other. After the replacement is completed, the two clamping claws 21 move back to their original positions.

[0077] Two gripping claws 21 drive the fixed sheet metal 22 to move down and approach the two brake blocks 15, so that the two positioning parts 25 extend between the two brake blocks 15, and the upper surfaces of the two brake blocks 15 abut against the lower surface of the fixed sheet metal 22 for positioning. Then, after the two gripping claws 21 approach each other, they push the two brake blocks 15 against the opposite side walls of the positioning parts 25 for positioning, thereby achieving the clamping and positioning of the two brake blocks 15; the base 1 moves to drive the two brake blocks 15 to move.

[0078] There are two main gripping devices 3, each including a clamping plate 31 and a clamping plate 32, an elastic positioning mechanism 4, and two piston rods of the telescopic component 24 with vertically downward fixed plates 33 and 34 fixedly installed. The auxiliary gripping device 2 is located between the fixed plates 33 and 34. Both clamping plates 31 are fixedly installed on the bottom of the fixed plates 33 and are vertically downward, and both clamping plates 32 are fixedly installed on the bottom of the fixed plates 34 and are vertically downward. When the telescopic component 24 is activated, it drives the two clamping plates 31 and 32 to move closer or further apart.

[0079] The elastic positioning mechanism 4 is rotatably mounted on the second clamping plate 32 and is positioned under the action of elastic force. The first clamping plate 31 and the second clamping plate 32 are close to each other, and the first clamping plate 31 and the elastic positioning mechanism 4 are driven to approach the bracket body 11, so that the first clamping plate 31 presses against the side wall of the bracket body 11 and the elastic positioning mechanism 4 is sleeved on the positioning pin 12 to position the bracket body 11. If the elastic positioning mechanism 4 is misaligned with the positioning pin 12, the elastic positioning mechanism 4 presses against the positioning pin 12 to position, and the elastic positioning mechanism 4 is connected to the drive component, which can be a servo motor. The drive component drives the elastic positioning mechanism 4 to rotate, and the elastic positioning mechanism 4 is sleeved on the positioning pin 12 to position. After the drive component drives the elastic positioning mechanism 4 to rotate back to its original position, the elastic positioning mechanism 4 disengages from the drive component.

[0080] Each clamp 31 is positioned against the adjacent side walls of the support body 11. The two clamps 31 and the two elastic positioning mechanisms 4 are positioned against the adjacent side walls of the support body 11, thereby enabling the support body 11 to be positioned in the horizontal plane from two mutually perpendicular directions. The clamps 31 are provided with guide angles. When the clamps 31 are close to the support body 11, the guide angles contact the support body 11. Under the guidance of the guide angles, the support body 11 is moved between the two clamps 31 for positioning.

[0081] Reference Figure 1 , Figure 3 and Figure 4The elastic positioning mechanism 4 includes a positioning rod 41, a sleeve 42, a positioning pin 43, an adjusting rod 44, an elastic element 45, a detector 46, and a positioning assembly 5. The positioning rod 41 is rotatably mounted on the side wall of the clamping plate 2 32 near the clamping plate 1 31. The positioning rod 41 is horizontal and its axis is parallel to the axis of the piston rod of the telescopic element 1 23. The sleeve 42 is coaxially slidably sleeved on the positioning rod 41. A guide hole 411 is opened on the sleeve 42 along the axis of the positioning rod 41. A positioning element 412 is threadedly connected to the positioning rod 41, which passes upward through the guide hole 411 and extends out of the guide hole 411. The positioning element 412 slides on the guide hole 411, causing the sleeve 42 to slide along the axis of the positioning rod 41 and be mounted on the positioning rod 41. The positioning rod 41 and the sleeve 42 rotate simultaneously. A sleeve 42 is coaxially opened on the sleeve 42, which corresponds to the positioning pin 12. The positioning pin 12 can be inserted into the sleeve groove 421 for positioning.

[0082] The positioning rod 41 can extend into the sleeve groove 421. The positioning pin 43 is coaxially fixedly installed on the end of the positioning rod 41 near the sleeve 42. The outer diameter of the positioning pin 43 is smaller than the outer diameter of the positioning rod 41. The end of the positioning pin 43 away from the positioning rod 41 passes through the sleeve groove 421 and extends out of the sleeve groove 421, and is provided with a spherical positioning end 431.

[0083] The positioning pin 43 is inserted into the positioning hole 13 for positioning. The positioning end 431 makes it easier for the positioning pin 43 to be inserted into the positioning hole 13 for positioning. The end of the positioning rod 41 away from the sleeve 42 extends to the side of the clamping plate 2 32 away from the clamping plate 1 31. The adjusting rod 44 is coaxially set on the end of the positioning rod 41 away from the sleeve 42. The adjusting rod 44 is a regular hexagonal prism structure. The adjusting rod 44 is used to connect with the external drive component. When the drive component starts, it drives the adjusting rod 44, the positioning rod 41, and the sleeve 42 to rotate simultaneously.

[0084] The elastic element 45 is a spring, which is sleeved on the positioning rod 41 and its two ends press against the clamping plate 31 and the sleeve 42 for positioning, so that the positioning element 412 abuts against the guide hole 411 near the end of the clamping plate 32 for positioning; the detector 46 is fixedly installed on the side wall of the clamping plate 32 and located above the sleeve 42. The detection element of the detector 46 is set vertically downward. In the initial state, the detector 46 is located between the clamping plate 32 and the sleeve 42. After the sleeve 42 moves a certain distance closer to the clamping plate 31, the detector 46 detects the sleeve 42, or when the sleeve 42 moves away from the clamping plate 31, the detector 46 detects that the sleeve 42 has been moved away. The detector 46 can be a contact type or an inductive type, whichever is selected according to actual needs; the driving structure and driving components that drive the base 1 to move are controlled by the control box. The detector 46 transmits the detection signal to the control box for processing. The control box controls the start and stop of the driving structure and driving components according to the data.

[0085] The positioning component 5 positions the positioning rod 41 under the action of elastic force and prevents the positioning rod 41 from rotating. After the positioning rod 41 rotates, it overcomes the elastic force of the positioning component 5 and unlocks. A support sleeve 35 is fixedly installed on the side wall of the clamping plate 32 away from the sleeve 42 by screws. The positioning rod 41 passes through the support sleeve 35 coaxially. Two positioning components 5 are arranged in a circumferential array around the axis of the support sleeve 35. Two spherical positioning grooves are arranged on the positioning rod 41 and inside the support sleeve 35 in a circumferential array around the positioning rod 41.

[0086] Reference Figure 1 , Figures 3-5 The positioning component 5 includes a threaded rod 51, a spring element 52, and a positioning ball 53. The threaded rod 51 is radially arranged along the support sleeve 35 and threadedly connected to the support sleeve 35. One end of the threaded rod 51 extends into the inner side of the support sleeve 35 and has a coaxial receiving groove 54. The top end of the threaded rod 51 is located on the outer side of the support sleeve 35 and has a regular hexagonal groove. The groove is used to cooperate with an internal hex wrench to drive the threaded rod 51 to rotate. The spring element 52 is a spring. The spring element 52 is placed on the receiving groove 54. One end of the spring element 52 presses against the bottom of the receiving groove 54, and the other end of the spring element 52 extends to the opening of the receiving groove 54.

[0087] The positioning ball 53 is fixedly installed on the outer end of the elastic member 52 near the receiving groove 54. The receiving groove 54 has an inwardly contracting portion formed at its opening by stamping. This contracting portion prevents the positioning ball 53 from detaching from the receiving groove 54. Under the elastic force of the elastic member 52, the positioning ball 53 presses against the contracting portion for positioning, and part of the positioning ball 53 extends outside the receiving groove 54 and is engaged in the positioning groove for positioning. The positioning rod 41 rotates, pushing the positioning ball 53 away from the positioning groove. The positioning ball 53 presses against the positioning rod 41 for positioning. After the positioning rod 41 rotates back, the positioning ball 53 is engaged in the positioning groove for positioning.

[0088] The working principle of this application embodiment is as follows:

[0089] The base 1 moves to drive multiple main gripping devices 3 and auxiliary gripping devices 2 to move closer to the two brake blocks 15, so that the two brake blocks 15 abut against the lower surface of the fixed sheet metal 22 and the positioning part 25 for positioning. The two gripping claws 21 approach each other and press against the two brake blocks 15 for positioning. The two gripping claws 21 drive the two brake blocks 15 to move upward, so as to realize the gripping and conveying of the two brake blocks 15.

[0090] The main gripping device 3 approaches the support body 11, causing the support body 11 to move between the two clamping plates 31 and the two elastic positioning mechanisms 4. The multiple main gripping devices 3 are aligned with the multiple positioning pins 12. The clamping plates 31 and the elastic positioning mechanisms 4 are both close to the support body 11. The clamping plates 31 press against the support body 11, and the elastic positioning mechanisms 4 are close to the positioning pins 12.

[0091] If the positioning pin 12 is aligned with the sleeve 42, the positioning pin 12 is inserted into the sleeve groove 421 and abuts against the annular body 14 for positioning, and works with the clamping plate 31 to clamp and position the bracket body 11. If the positioning pin 12 is misaligned with the sleeve 42, the positioning pin 12 abuts against the sleeve 42 and pushes the sleeve 42 closer to the detector 46. When the detector 46 detects the sleeve 42, the base 1 drives the adjusting rod 44 to approach and connect with the driving component. The driving component drives the sleeve 42 to rotate. When the sleeve 42 rotates to be aligned with the positioning pin 12, the sleeve 42 approaches the positioning pin 12 and the positioning pin 12 is inserted into the sleeve groove 421 for positioning. After the sleeve 42 moves back, the detector 46 detects that the sleeve 42 has moved away. The driving component drives the sleeve 42 and the positioning pin 12 to rotate back to their original positions. Then the base 1 drives the adjusting rod 44 to disengage from the driving component, thereby achieving clamping and positioning of the clamping body and positioning of the angles of the two positioning pins 12 in both cases.

[0092] Multiple main gripping devices 3 and auxiliary gripping devices 2 grip the bracket body 11 and two brake blocks 15 close to the assembly fixture. First, the bracket body 11 is placed on the assembly fixture. The multiple main gripping devices 3 are then unlocked by moving away from the bracket body 11. Then, the assembly fixture can position the bracket body 11 by multiple positioning pins 12. Then, the auxiliary gripping device 2 drives the two brake blocks 15 to continue moving to install the two brake blocks 15. Next, the two gripping claws 21 move away from each other and disengage from the two brake blocks 15. Then, the multiple main gripping devices 3 and auxiliary gripping devices 2 move to disengage the fixed sheet metal 22 from the two brake blocks 15. Then, subsequent assembly continues, improving assembly efficiency.

[0093] Example 2, refer to Figures 3-4 , Figures 6-7 The difference between this embodiment and embodiment 1 is that the end of the socket groove 421 near the clamping plate 31 is provided with a guide surface 16 that extends obliquely to the end face of the sleeve 42. The guide surface 16 is obliquely elongated and six are connected at both ends, that is, one is provided on each of the six sides of the socket groove 421. The guide surface 16 is obliquely facing the socket groove 421, so that the positioning pin 12 is guided when it is inserted into the socket groove 421. At the same time, the guide surface 16 is oblique along its own length direction and the oblique direction is the same, so that a step 19 is formed at the connection of two guide surfaces 16. The end of the positioning pin 12 near the sleeve 42 is also provided with an oblique guide angle 17.

[0094] When the locating pin 12 is misaligned with the sleeve 42, both the sleeve 42 and the guide surface 16 approach the locating pin 12, causing the six chamfers 17 on the locating pin 12 to abut against the six guide surfaces 16 respectively. The guide surfaces 16 guide the locating pin 12 to move toward the socket groove 421. As the guide surfaces 16 continue to move, the six inclined guide surfaces 16 gradually push the locating pin 12 to rotate, causing the locating pin 12 to align with the socket groove 421. At the same time, the step 19 at the connection between two adjacent guide surfaces 16 can position the locating pin 12. After the locating pin 12 rotates to align with the socket groove 421, the locating pin 12 is inserted and installed on the socket groove 421 under the action of elasticity for positioning, which improves assembly efficiency and quality.

[0095] The working principle of this application embodiment is as follows:

[0096] When the positioning pin 12 is misaligned with the sleeve 42, the six chamfers 17 on the positioning pin 12 abut against the six guide surfaces 16 respectively. As the guide surfaces 16 continue to move, the six inclined guide surfaces 16 push the positioning pin 12 to align with the socket groove 421, so that the positioning pin 12 is inserted and installed on the socket groove 421 for positioning under the action of elastic force. This reduces the risk of wasting time by connecting with the drive component for driving, and improves assembly efficiency and quality.

[0097] Example 3, referring to Figures 3-4 , Figure 8 The difference between this embodiment and embodiment 1 is that after the positioning ring 18 is coaxially slidably installed on the positioning rod 41, the positioning ring 18 is rotatably connected to the positioning rod 41; the two ends of the elastic element 45 are connected to the positioning ring 18 and the clamping plate 32, and push the positioning ring 18 to press against the sleeve 42 for positioning. When the sleeve 42 is sleeved on the positioning pin 12, that is, when the positioning pin 12 is inserted into the sleeve groove 421, the sleeve 42 abuts against the annular body 14 for positioning; the positioning ring 18 is provided with a pressing component 6. When the sleeve 42 approaches the positioning pin 12, the pressing component 6 is driven to press against the annular body 14 for support under the action of elastic force. When the sleeve 42 continues to move, it squeezes the pressing component 6. The pressing component 6 is used to offset part of the pressing force of the elastic element 45 on the sleeve 42.

[0098] The pressing assembly 6 includes a pressing ring 61, an elastic pusher 62, and a blocking member 63; a pressing rod 64 is slidably inserted on the positioning ring 18 along the axis of the positioning rod 41, and multiple pressing rods 64 are arranged in a circumferential array around the axis of the positioning rod 41. The number of pressing rods 64 is designed according to needs and passes through the outside of the sleeve 42; the pressing ring 61 is fixedly installed on the same end of multiple pressing rods 64, the pressing ring 61 is located on the side of the sleeve 42 near the clamping plate 31, and is coaxially arranged with the sleeve 42, and can allow the positioning pin 12 to pass through.

[0099] The number of elastic pushers 62 and blocking members 63 is the same as that of the positioning rods 41 and they are correspondingly arranged. The elastic pusher 62 is a spring. The elastic pusher 62 is sleeved on the positioning rod 41 and its two ends press against the positioning ring 18 and the pressing ring 61, so that the pressing ring 61 tends to be close to the clamping plate 31, i.e., the positioning pin 12. The elastic force of the elastic pusher 62 is less than the elastic force of the elastic member 45. The blocking member 63 is detachably arranged on the pressing rod 64. The blocking member 63 can be a nut that is threadedly connected to the blocking member 63. Under the action of the elastic pusher 62, the blocking member 63 presses against the side wall of the positioning ring 18 on the side away from the elastic pusher 62.

[0100] The working principle of this application embodiment is as follows:

[0101] The sleeve 42 is close to the bracket body 11 and the positioning pin 12. The positioning pin 12 passes through the pressure ring 61, which abuts against the annular body 14. The annular body 14 pushes the pressure ring 61, the pressure rod 64, and the blocking member 63 to move simultaneously. The pressure ring 61 moves and compresses the elastic push member 62. Since the elastic force of the elastic push member 62 is less than that of the elastic member 45, the positioning ring 18 remains stationary until the positioning pin 12 contacts the sleeve 42. If the positioning pin 12 is aligned with the sleeve 42, the positioning pin 12 is inserted into the sleeve groove 421 for positioning. If the positioning pin 12 is misaligned with the sleeve 42, the positioning pin 12 pushes the sleeve 42 to move and squeeze the elastic member 45, and then the adjusting rod 44 is connected to the drive assembly.

[0102] The drive assembly drives the adjusting rod 44 to rotate. Since the elastic pusher 62 offsets part of the elastic force of the elastic member 45, the force between the positioning pin 12 and the sleeve 42 is reduced. At the same time, the pressing ring 61 presses against the annular body 14 for positioning, so that the annular body 14 and the positioning pin 12 are positioned. When the positioning rod 41 drives the sleeve 42 to rotate, the positioning rod 41 is rotatably connected to the positioning ring 18, so that the rotation of the sleeve 42 will not drive the positioning pin 12 to rotate, saving the time spent on adjustment and further improving assembly efficiency and quality.

[0103] Example 4, refer to Figure 3 , Figure 9 The difference between this embodiment and embodiment 1 is that the sleeve 42 is detachably mounted on the positioning rod 41, and the side wall of the clamping plate 32 opposite to the sleeve 42 is provided with a stepped mounting hole 71. The support sleeve 35 is fixedly mounted with a mounting platform 72 that slides along the axis of the positioning rod 41 and is mounted on the mounting hole 71. The positioning rod 41 is rotatably mounted on the mounting platform 72, and the elastic element 45 pushes the mounting platform 72 against the mounting hole 71 for positioning. The movement of the sleeve 42 drives the positioning rod 41, the mounting platform 72, the support sleeve 35 and the positioning assembly 5 to move simultaneously.

[0104] The working principle of this application embodiment is as follows:

[0105] Under the action of elastic force, the sleeve 42 presses against the positioning pin 12. If the sleeve 42 and the positioning pin 12 are misaligned, the sleeve 42 will be positioned against the positioning pin 12, thereby pushing the mounting platform 72 to move on the mounting hole 71. Relative to the sleeve 42 sliding and fitting on the positioning rod 41, in this structure, the positioning rod 41 and the adjusting rod 44 will move away from the bracket body 11. When the base 1 drives the adjusting rod 44 to approach the drive assembly, the adjusting rod 44 can be connected to the drive assembly more quickly and earlier. After the sleeve 42 is fitted with the positioning pin 12, the sleeve 42 pushes the adjusting rod 44 away from the drive assembly under the action of elastic force, and at the same time drives the positioning rod 41 to pull the mounting platform 72 against the mounting hole 71 for positioning. Therefore, the distance required for the base 1 to drive the adjusting rod 44 to connect with the drive assembly is greatly shortened, and the assembly efficiency and quality are further improved.

[0106] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A composite adjustable hand claw for stent assembly grasping, characterized by: It includes a movable base (1), a secondary gripping device (2) and a primary gripping device (3) mounted on the base (1); the secondary gripping device (2) and the primary gripping device (3) sequentially grip two brake blocks (15) and the support body (11) for transport; The secondary gripping device (2) includes: Two gripping claws (21) are connected to the telescopic component (23) and have gripping grooves (27) at the bottom. They move closer to each other or further apart under the driving action of the telescopic component (23). A fixed sheet metal (22) is placed on two clamping slots (27) and is provided with a vertically downward positioning part (25) located between two clamping claws (21). The positioning part (25) extends between two brake blocks (15) and positions the top of the brake blocks (15) against the lower surface of the fixed sheet metal (22). The two clamping claws (21) approach each other and clamp the two brake blocks (15) so that the two brake blocks (15) abut against the positioning part (25) for positioning. The main gripping device (3) includes: Clamping plate one (31) and clamping plate two (32) are connected to telescopic component two (24) and move closer or further apart under the driving action of telescopic component two (24); The elastic positioning mechanism (4) is rotatably mounted on the clamping plate two (32). The clamping plate one (31) and the clamping plate two (32) approach each other and drive the clamping plate one (31) and the elastic positioning mechanism (4) to approach the bracket body (11) at the same time, so that the clamping plate one (31) presses against the side wall of the bracket body (11), and the elastic positioning mechanism (4) is sleeved or pressed against the positioning pin (12) under the action of elastic force to position the bracket body (11); if the elastic positioning mechanism (4) presses against the positioning pin (12), the base (1) drives the elastic positioning mechanism (4) to approach the driving component and connect with it, the driving component drives the elastic positioning mechanism (4) to rotate and so that the elastic positioning mechanism (4) is sleeved on the positioning pin (12) for positioning, and the driving component drives the elastic positioning mechanism (4) to rotate back to the original position and then disengage from the driving component; The elastic positioning mechanism (4) includes: The positioning rod (41) is rotatably mounted on the clamping plate (32); The sleeve (42) is slidably mounted on the positioning rod (41) and has a sleeve groove (421) that is sleeved onto the outer wall of the positioning pin (12). The positioning post (43) is coaxially mounted on the positioning rod (41) and passes through the socket groove (421) and extends to the outside of the socket groove (421). The positioning post (43) has a spherical positioning end (431) at the end away from the positioning rod (41) that is easy to insert and install onto the positioning pin (12). The adjusting rod (44) is coaxially mounted on the positioning rod (41) and is a regular hexagonal prism. It is connected to the drive assembly after being plugged in. The drive assembly starts to drive the adjusting rod (44), the positioning rod (41) and the sleeve (42) to rotate simultaneously. The elastic element (45) is sleeved on the positioning rod (41) and connected to the clamping plate (32) and the sleeve (42); The detector (46) is mounted on the clamping plate (32) and is used to detect the movement of the sleeve (42) and is electrically connected to the drive assembly; The positioning component (5) positions the positioning rod (41) under the action of elastic force and prevents the positioning rod (41) from rotating; after the positioning rod (41) rotates, it overcomes the elastic force to unlock.

2. The composite adjustable gripper for grasping stent assemblies of claim 1, wherein: The positioning rod (41) has a spherical positioning groove, and the positioning assembly (5) includes: The threaded rod (51) is threaded to the clamping plate (32) along the axis perpendicular to the positioning rod (41) and has a receiving groove (54) coaxially opened at one end near the positioning groove. One end of the elastic element (52) rests against the bottom of the receiving groove (54); The positioning ball (53) is set on the elastic member (52) and extends through the receiving groove (54) to the outside of the receiving groove (54). The positioning ball (53) is positioned by being snapped into the positioning groove under the action of elasticity.

3. The composite adjustable gripper for grasping bracket assemblies according to claim 1, characterized in that: The sleeve groove (421) has a guide surface (16) that extends obliquely to the end face of the sleeve (42) at one end near the clamping plate (31). The guide surface (16) is long and six are connected at both ends. The guide surface (16) is oblique along its own length direction and the oblique direction is the same, so that a step (19) is formed at the connection of two guide surfaces (16). When the positioning pin (12) is misaligned with the sleeve (42), both the sleeve (42) and the guide surface (16) are close to the positioning pin (12) and the positioning pin (12) abuts against the guide surface (16). The guide surface (16) moves and pushes the positioning pin (12) to rotate until the positioning pin (12) is aligned with the sleeve (42).

4. The composite adjustable gripper for grasping a support assembly according to claim 1, characterized in that: The positioning rod (41) is slidably and rotatably fitted with a positioning ring (18). The elastic element (45) is connected to the positioning ring (18) and the clamping plate (32) and pushes the positioning ring (18) against the sleeve (42) for positioning. When the sleeve (42) is fitted onto the positioning pin (12), it abuts against the annular body (14) located on the positioning pin (12) for positioning. The positioning ring (18) is provided with a pressing component (6). When the sleeve (42) approaches the positioning pin (12), the pressing component (6) first presses against the annular body (14) under the action of elasticity to provide a supporting force.

5. A composite adjustable gripper for grasping a support assembly according to claim 4, characterized in that: The pressure-absorbing component (6) includes: The pressure ring (61) is slidably mounted on the positioning ring (18) along the axial direction of the positioning rod (41) via the pressure rod (64) and is located on the side of the positioning ring (18) near the clamping plate (31) and is used to abut against the ring body (14) to provide a supporting force. The elastic pusher (62) is connected to the positioning ring (18) and the pressing ring (61) respectively, and its elastic force is less than that of the elastic member (45); The blocking member (63) is detachably mounted on the pressure bar (64). The elastic pusher (62) causes the pressure ring (61) to keep close to the clamping plate (31) under the action of elastic force, and causes the blocking member (63) to press against the pressure ring (61) for positioning.

6. A composite adjustable gripper for grasping bracket assemblies according to claim 1, characterized in that: The sleeve (42) is coaxially slidably sleeved on the positioning rod (41) and has a guide hole (411) along the axis of the positioning rod (41). The positioning rod (41) is threaded with a positioning element (412) that passes through the guide hole (411). The positioning element (412) causes the sleeve (42) to slide along the axis of the positioning rod (41) and causes the sleeve (42) and the positioning rod (41) to rotate simultaneously.

7. A composite adjustable gripper for grasping bracket assemblies according to claim 1, characterized in that: The sleeve (42) is detachably mounted on the positioning rod (41). The clamping plate (32) has a stepped mounting hole (71). A mounting platform (72) is slidably mounted on the mounting hole (71) along the axis of the positioning rod (41). A support sleeve (35) is provided on the mounting platform (72). The positioning rod (41) is rotatably mounted on the mounting platform (72) and the positioning component (5) is provided on the support sleeve (35). The elastic element (45) pushes the mounting platform (72) against the mounting hole (71) for positioning.

8. A composite adjustable gripper for grasping bracket assemblies according to claim 1, characterized in that: The main gripping device (3) is provided in two intervals. The two clamping plates (31) are clamped on the opposite side walls of the support body (11) and press against the side wall of the support body (11) away from the elastic positioning mechanism (4). Together with the two elastic positioning mechanisms (4), they realize the positioning of the support body (11) from two mutually perpendicular directions.

9. A composite adjustable gripper for grasping a support assembly according to claim 8, characterized in that: The two clamps (31) are provided with guide angles that allow the support body (11) to move between the two clamps (31).

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