Vehicle door gripping device
By designing movable positioning and clamping components, the door gripping device can adapt to different door models, solving the problem of insufficient adaptability of gripping devices in the prior art. It enables multiple door models to be used together, reduces production costs, and improves gripping stability and efficiency.
Patent Information
- Application Number
- CN202520009407.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-02
- Publication Date
- 2025-11-21
- Estimated Expiration
- 2035-01-02
AI Technical Summary
Existing door gripping devices can only grip a limited number of door models, which leads to the need to frequently replace the device during vehicle production, increasing production costs.
A car door gripping device is designed, comprising a movable positioning component and a clamping component, which can adapt to the positioning holes and clamping positions of different car door models. The positioning component is movable along a first direction, and the clamping component is movable along a second and a third direction, thereby enabling the gripping of multiple car door models.
This device allows multiple models of car doors to share a single gripping device, reducing production costs and improving production efficiency and gripping stability.
Smart Images
Figure CN223575588U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to vehicle production technical field especially is related to a car door grabbing device. BACKGROUND
[0002] In the process of automobile production, a grabbing device is used to grab a car door. In different vehicle models, the models of the car doors are usually different. In the related art, when a vehicle is produced, the grabbing device can grab fewer models of the car doors, and when the model of the car door on the vehicle is changed, the grabbing device needs to be redesigned, which is high in production cost. SUMMARY
[0003] The utility model aims at solving one of the technical problems in the prior art. To this end, the utility model provides a car door grabbing device, which can be adapted to more models of car doors.
[0004] The car door grabbing device according to the utility model is used to grab a car door, the car door has a positioning hole, and the car door grabbing device comprises a frame, a positioning assembly movably arranged on the frame along a first direction, the positioning assembly being adapted to be positioned and matched with the positioning hole, and a clamping assembly movably arranged on the frame along a second direction and a third direction, the clamping assembly being adapted to clamp the car door, and the first direction, the second direction and the third direction being perpendicular to each other.
[0005] The car door grabbing device according to the utility model can grab more models of car doors by the positioning assembly being movable along the first direction and the clamping assembly being movable along the second direction and the third direction, and in the process of production, one car door grabbing device can be shared by multiple models of car doors, so that the production cost can be reduced.
[0006] According to some embodiments of the utility model, the positioning assembly comprises a positioning cylinder, a positioning pin and a first support, the first support is movably arranged on the frame along the first direction, the positioning cylinder is arranged on the first support, the positioning pin is arranged in the positioning cylinder, and the positioning cylinder is adapted to drive the positioning pin to extend out to cooperate with the positioning hole.
[0007] According to some embodiments of the utility model, the positioning assembly further comprises a jaw, the jaw is arranged in the positioning pin, and when the positioning pin extends out, the jaw is adapted to extend out from one end of the positioning pin extending into the positioning hole to hold the periphery of the positioning hole.
[0008] According to some embodiments of the utility model, the clamping assembly comprises: a clamping mechanism and a second support, the clamping mechanism is arranged on the second support, the second support is movably arranged on the frame along the second direction, the clamping mechanism comprises: a first swing arm, a second swing arm and a driving part, the first swing arm and the second swing arm are rotatably connected with the second support, the driving part is suitable for driving the first swing arm and the second swing arm to rotate, so that the first swing arm and the second swing arm clamp the door.
[0009] According to some embodiments of the utility model, one end of the first swing arm and one end of the second swing arm are connected with the driving part, the middle part of the first swing arm and the middle part of the second swing arm are rotatably connected with the second support, and the driving part is suitable for driving one end of the first swing arm and one end of the second swing arm to rotate, so that the other end of the first swing arm and the other end of the second swing arm clamp the door.
[0010] According to some embodiments of the utility model, a first clamping part is arranged on the first swing arm, a second clamping part is arranged on the second swing arm, the end faces of the first clamping part and the second clamping part arranged opposite to each other are arc faces, and the first swing arm and the second swing arm are suitable for clamping the door through the end faces of the first clamping part and the second clamping part.
[0011] According to some embodiments of the utility model, at least one of the first swing arm and the second swing arm is provided with a pressure sensor, and the pressure sensor is suitable for abutting against the door.
[0012] According to some embodiments of the utility model, a driving mounting part is arranged on the driving part, the driving mounting part is rotatably connected with the second support, one of the second support and the driving mounting part is provided with a limiting protrusion, the other of the second support and the driving mounting part is provided with a limiting groove, the limiting protrusion is movably arranged in the limiting groove, and the rotation stroke of the driving part is limited.
[0013] According to some embodiments of the utility model, a first sliding rail extending along the first direction is arranged on the frame, and the door grabbing device further comprises: a first sliding block and a first motor, the first sliding block is movably arranged on the first sliding rail along the first direction, the first motor is connected with the first sliding block, so as to drive the first sliding block to move on the first sliding rail along the first direction, and the positioning assembly is arranged on the first sliding block.
[0014] According to some embodiments of the present application, the frame is further provided with a second sliding rail extending along the second direction, and the door grabbing device further comprises a second sliding block and a second motor, the second sliding block is movably arranged on the frame along the second direction, the second motor is connected with the second sliding block to drive the second sliding block to move along the second direction on the second sliding rail, and the clamping assembly is arranged on the second sliding block.
[0015] According to some embodiments of the present application, the frame is further provided with a third sliding rail extending along the third direction, and the door grabbing device further comprises a third sliding block and a third motor, the third sliding block is movably arranged on the frame along the third direction, the third motor is connected with the third sliding block to drive the third sliding block to move along the second direction on the third sliding rail, and the second sliding rail is arranged on the third sliding block.
[0016] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS
[0017] Figure 1 is a schematic view of a door grabbing device according to an embodiment of the present application;
[0018] Figure 2 is Figure 1 a schematic view of a positioning assembly shown in FIG. 1;
[0019] Figure 3 is Figure 1 a schematic view of a clamping assembly shown in FIG. 1;
[0020] Figure 4 is Figure 3 a schematic view of the clamping assembly shown in FIG. 1 from another angle.
[0021] REFERENCE NUMERALS:
[0022] 100, a door grabbing device;
[0023] 10, a frame;
[0024] 20, a positioning assembly; 21, a positioning cylinder; 22, a positioning pin; 23, a first support;
[0025] 30, a clamping assembly; 31, a second support; 311, a limiting groove; 32, a first swing arm; 321, a first clamping part; 33, a second swing arm; 331, a second extension section; 332, a second clamping part; 34, a driving member; 341, a driving mounting part; 3411, a limiting protrusion; 342, a first driving pin; 343, a second driving pin; 35, a pressure sensor; 36, a rotating shaft;
[0026] 40. First slide rail; 41. First slider;
[0027] 50. Second slide rail; 51. Second slider;
[0028] 60. Third slide rail. Detailed Implementation
[0029] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.
[0030] The following is for reference. Figures 1-4 A door gripping device 100 according to a first aspect embodiment of the present invention is described.
[0031] like Figure 1 As shown, according to the first aspect of the present invention, the door gripping device 100 has a positioning hole in the door and includes a frame 10, a positioning component 20 and a clamping component 30.
[0032] Specifically, the positioning component 20 is movably disposed on the frame 10 along the first direction, and the positioning component 20 is adapted to be positioned and engaged with the positioning hole. The clamping component 30 is movably disposed on the frame 10 along the second direction and the third direction, and the clamping component 30 is adapted to clamp the door. The first direction, the second direction and the third direction are perpendicular to each other.
[0033] During the vehicle production process in the production system, the door gripping device 100 is first moved to a designated position. For example, a robotic arm can be used to move the door gripping device 100 to the designated position. Then, the positioning component 20 moves to the positioning hole position, and at the same time, the clamping component 30 moves to the corresponding position. Subsequently, the positioning component 20 and the positioning hole are positioned and engaged, and the clamping component 30 clamps the door at the set position. Then, the production system uses the door gripping device 100 to grip the door and perform subsequent operations on the door. Thus, the door gripping device 100 grips the door.
[0034] It is understandable that the positioning hole positions and clamping positions on different models of car doors are also different. In this embodiment, the positioning component 20 is movable in the first direction, and the positioning component 20 can be adjusted according to the different positions of the positioning holes on different models of car doors. The clamping component 30 is movable in the second and third directions, and the clamping component 30 can be adjusted according to the different clamping positions on different models of car doors, so that the car door gripping device 100 can grip different models of car doors.
[0035] According to the vehicle door grabbing device 100 of the first aspect of the present application, the positioning assembly 20 is movable along the first direction, and the clamping assembly 30 is movable along the second direction and the third direction, so that more types of vehicle doors can be grabbed, and in the production process, a vehicle door grabbing device 100 can be shared by various types of vehicle doors, thereby reducing the production cost.
[0036] In some embodiments of the present application, as shown in Figure 2 The positioning assembly 20 includes a positioning cylinder 21, a positioning pin 22, and a first support 23. The first support 23 is movably arranged on the frame 10 along the first direction. The positioning cylinder 21 is arranged on the first support 23. The positioning pin 22 is arranged in the positioning cylinder 21. The positioning cylinder 21 is adapted to drive the positioning pin 22 to extend out to cooperate with the positioning hole. The positioning cylinder 21 is responsive and easy to arrange, which can improve the production efficiency and reduce the design difficulty of the vehicle door grabbing device 100. The first support 23 is movably arranged on the frame 10 along the first direction, so that the positioning assembly 20 is movably arranged on the frame 10 along the first direction.
[0037] In some embodiments of the present application, the positioning assembly 20 further includes a clamping jaw. The clamping jaw is arranged in the positioning pin 22. When the positioning pin 22 extends out, the clamping jaw is adapted to extend out from one end of the positioning pin 22 extending into the positioning hole to hold the periphery of the positioning hole.
[0038] In the production process, when the positioning pin 22 extends out of the positioning cylinder 21 and extends into the positioning hole, the clamping jaw extends out of the positioning pin 22 and holds the periphery of the positioning hole. In this way, under the cooperation of the positioning assembly 20 and the clamping assembly 30, the stability and reliability of the vehicle door grabbing device 100 in grabbing the vehicle door can be improved.
[0039] In some embodiments of the present application, as shown in Figure 3 and Figure 4 The clamping assembly 30 includes a clamping mechanism and a second support 31. The clamping mechanism is arranged on the second support 31. The second support 31 is movably arranged on the frame 10 along the second direction. The clamping mechanism includes a first swing arm 32, a second swing arm 33, and a driving member 34. The first swing arm 32 and the second swing arm 33 are both rotatably connected to the second support 31. The driving member 34 is adapted to drive the first swing arm 32 and the second swing arm 33 to rotate, so that the first swing arm 32 and the second swing arm 33 cooperate to clamp the vehicle door.
[0040] In the production process, the driving member 34 drives the first swing arm 32 and the second swing arm 33 to rotate first, so that the first swing arm 32 and the second swing arm 33 are in an open state, and after the clamping assembly 30 moves to a specified position, the driving member 34 drives the first swing arm 32 and the second swing arm 33 to rotate to clamp the door, so that the clamping of the door by the clamping assembly 30 can be realized, and the structure of the clamping assembly 30 is relatively simple, wherein the second support 31 is movably arranged on the frame 10 in the second direction, so that the clamping assembly 30 can be moved in the second direction.
[0041] In some embodiments of the utility model, as shown in Figure 3 and Figure 4 , one end of the first swing arm 32 and one end of the second swing arm 33 are connected with the driving member 34 respectively, and the middle part of the first swing arm 32 and the middle part of the second swing arm 33 are rotatably connected with the second support 31, and the driving member 34 is suitable for driving one end of the first swing arm 32 and one end of the second swing arm 33 to rotate, so that the other end of the first swing arm 32 and the other end of the second swing arm 33 clamp the door.
[0042] In the process of product design, the shape of the first swing arm 32 and the second swing arm 33, the position of the first swing arm 32 and the second swing arm 33 rotatably connected with the second support 31 and other parameters can be adjusted, so that more product design needs can be met.
[0043] In some embodiments of the utility model, as shown in Figure 3 and Figure 4 , the first swing arm 32 is provided with a first clamping part 321, the second swing arm 33 is provided with a second clamping part 332, and the end faces of the first clamping part 321 and the second clamping part 332 arranged opposite to each other are arc faces, and the first swing arm 32 and the second swing arm 33 are suitable for clamping the door through the end faces of the first clamping part 321 and the second clamping part 332.
[0044] It can be understood that the surface arc of the clamping face on different models of doors is different, and the relative angle of the clamping assembly 30 and the clamping face may also be different when the clamping assembly 30 clamps different models of doors, so that the angle of the first clamping part 321 and the second clamping part 332 and the clamping face is also different when different models of doors are clamped, and the arc end faces of the first clamping part 321 and the second clamping part 332 clamp the door, when the angle of the first clamping part 321 and the second clamping part 332 and the clamping face changes, the end faces of the first clamping part 321 and the second clamping part 332 can still be in good contact with the clamping face, so as to further improve the adaptability of the door grabbing device 100.
[0045] In some embodiments of the utility model, as shown in Figure 3 and Figure 4As shown, at least one of the first swing arm 32 and the second swing arm 33 is provided with a pressure sensor 35, and the pressure sensor 35 is adapted to abut against the vehicle door. That is, one of the first swing arm 32 and the second swing arm 33 can be provided with the pressure sensor 35, or both of the first swing arm 32 and the second swing arm 33 can be provided with the pressure sensor 35. During the clamping process of the vehicle door, when the value of the pressure sensor 35 reaches a set threshold value, for example, when the value of the pressure sensor 35 reaches 300N, the driving member 34 stops driving the first swing arm 32 and the second swing arm 33 to rotate. In this way, the probability of damage to the vehicle door during the clamping process can be reduced, thereby improving the yield rate during the production process.
[0046] In some embodiments of the utility model, the driving member 34 is rotatably connected with the second support 31. Thus, when the clamping assembly 30 clamps vehicle doors of different models, the driving member 34 can rotate, so that the first swing arm 32 and the second swing arm 33 can have more postures, thereby further improving the adaptability of the vehicle door grabbing device 100.
[0047] In some embodiments of the utility model, as shown in Figure 3 and Figure 4 As shown, the driving member 34 is provided with a driving mounting portion 341, the driving mounting portion 341 is rotatably connected with the second support 31, one of the second support 31 and the driving mounting portion 341 is provided with a limiting protrusion 3411, the other of the second support 31 and the driving mounting portion 341 is provided with a limiting groove 311, and the limiting protrusion 3411 is movably arranged in the limiting groove 311 to limit the rotating stroke of the driving member 34. Thus, the driving member 34 can be prevented from rotating excessively, thereby improving the reliability of the vehicle door grabbing device 100 during the working process.
[0048] Preferably, the driving member 34 is a driving cylinder, the driving cylinder is connected with a first driving pin 342 and a second driving pin 343, the first swing arm 32 is rotatably connected with the first driving pin 342, the second swing arm 33 is rotatably connected with the second driving pin 343, and the driving cylinder is adapted to drive the first driving pin 342 and the second driving pin 343 to move, so as to drive the first swing arm 32 and the second swing arm 33 to rotate.
[0049] The middle part of the first swing arm 32 is provided with a first extension section, the first extension section is provided with a first rotating hole, the middle part of the second swing arm 33 is provided with a second extension section 331, the second extension section 331 is provided with a second rotating hole, the driving mounting portion 341 is provided with a third rotating hole, the second support 31 is provided with a rotating mounting hole, and the clamping assembly 30 further comprises a rotating shaft 36, the rotating shaft 36 sequentially passes through the first rotating hole, the second rotating hole and the third rotating hole, so as to realize the rotatable connection between the first swing arm 32, the second swing arm 33, the driving member 34 and the second support 31, and the structure of the clamping assembly 30 is relatively compact.
[0050] In some embodiments of the utility model, as shown in Figure 1 As shown in the figure, the frame 10 is provided with the first slide rail 40 extending along the first direction, the door grabbing device 100 further includes: the first sliding block 41 and the first motor, the first sliding block 41 is movably arranged on the first slide rail 40 along the first direction, the first motor is connected with the first sliding block 41 to drive the first sliding block 41 to move on the first slide rail 40 along the first direction, and the positioning assembly 20 is arranged on the first sliding block 41. Thus, the positioning assembly 20 can be moved along the first direction on the frame 10, wherein the cooperation structure of the first slide rail 40 and the first sliding block 41 is relatively simple, easy to arrange in the production process, and the motor driving response is relatively rapid, which can improve the production efficiency. Preferably, the first support 23 is movably arranged on the first slide rail 40.
[0051] In some embodiments of the utility model, as shown in Figure 1 As shown in the figure, the frame 10 is further provided with the second slide rail 50 extending along the second direction, the door grabbing device 100 further includes: the second sliding block 51 and the second motor, the second sliding block 51 is movably arranged on the frame 10 along the second direction, the second motor is connected with the second sliding block 51 to drive the second sliding block 51 to move on the second slide rail 50 along the second direction, and the clamping assembly 30 is arranged on the second sliding block 51. Thus, the clamping assembly 30 can be moved along the second direction on the frame 10, wherein the cooperation structure of the second slide rail 50 and the second sliding block 51 is relatively simple, easy to arrange in the production process, and the motor driving response is relatively rapid, which can improve the production efficiency. Preferably, the second support 31 is movably arranged on the second slide rail 50.
[0052] In some embodiments of the utility model, as shown in Figure 1 As shown in the figure, the frame 10 is further provided with the third slide rail 60 extending along the third direction, the door grabbing device 100 further includes: the third sliding block and the third motor, the third sliding block is movably arranged on the frame 10 along the third direction, the third motor is connected with the third sliding block to drive the third sliding block to move on the third slide rail 60 along the third direction, and the second slide rail 50 is arranged on the third sliding block. Thus, the clamping assembly 30 can be moved along the third direction on the frame 10, wherein the cooperation structure of the third slide rail 60 and the third sliding block is relatively simple, easy to arrange in the production process, and the motor driving response is relatively rapid, which can improve the production efficiency.
[0053] A specific working process of the door grabbing device 100 in the embodiment is described below.
[0054] Step one, the robot arm is connected with the door grabbing device 100.
[0055] Step two, the robot arm drives the door to move to the door position, the first motor drives the positioning assembly 20 to move to the positioning hole position, and the positioning pin 22 is opposite to the positioning hole, at the same time, the second motor and the third motor drive the clamping assembly 30 to move to the set clamping position.
[0056] Step three, the positioning cylinder 21 drives the positioning pin 22 to extend into the positioning hole, and the claw is extended from the positioning pin 22 and then clamps the periphery of the positioning hole.
[0057] Step four, the driving part 34 drives the first swing arm 32 and the second swing arm 33 to rotate, so that the first clamping part 321 and the second clamping part 332 gradually clamp the door, in the clamping process, under the action of the reaction force of the door clamping surface, the driving part 34 rotates relative to the second support 31, so that the posture of the first swing arm 32 and the second swing arm 33 adapts to the clamping surface of the door, when the pressure sensor 35 abuts against the door and the pressure value reaches the set threshold value, for example, the pressure value reaches 300N, the driving part 34 stops driving the first swing arm 32 and the second swing arm 33 to rotate, and the production system confirms that the grabbing action is completed.
[0058] Step five, the robot arm grabs the door through the door grabbing device 100 and performs subsequent operation.
[0059] According to the production system of the second aspect of the utility model, the door grabbing device 100 according to the first aspect of the utility model is arranged, and the production cost can be reduced.
[0060] According to the production system of the second aspect of the utility model, the door grabbing device 100 according to the first aspect of the utility model is arranged, and the production cost can be reduced.
[0061] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the utility model.
[0062] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and do not connote or imply any relative importance or order of magnitude. Thus, features with "first", "second", "third" designations can include one or more of the features implicitly or explicitly. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise expressly specified and limited.
[0063] In the present application, unless otherwise expressly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected, or it can be communicated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0064] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.
[0065] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.
Claims
1. A car door gripping device for gripping a car door, the car door having a positioning hole, characterized in that, include: frame; A positioning component, which is movably disposed on the frame along a first direction, and is adapted to engage with the positioning hole for positioning. A clamping assembly is movably disposed on the frame along a second direction and a third direction, the clamping assembly being adapted to clamp the vehicle door, wherein the first direction, the second direction, and the third direction are perpendicular to each other.
2. The door gripping device according to claim 1, characterized in that, The positioning component includes: a positioning cylinder, a positioning pin, and a first bracket. The first bracket is movably mounted on the frame along a first direction. The positioning cylinder is mounted on the first bracket. The positioning pin is located in the positioning cylinder. The positioning cylinder is adapted to drive the positioning pin to extend so as to cooperate with the positioning hole. The positioning component further includes a claw, which is disposed within the positioning pin. When the positioning pin extends, the claw is adapted to extend from one end of the positioning pin that extends into the positioning hole, so as to engage with the periphery of the positioning hole.
3. The door gripping device according to claim 1, characterized in that, The clamping assembly includes a clamping mechanism and a second support, wherein the clamping mechanism is disposed on the second support, and the second support is movably disposed on the frame along the second direction. The clamping mechanism includes a first swing arm, a second swing arm, and a driving member. The first swing arm and the second swing arm are rotatably connected to the second bracket. The driving member is adapted to drive the first swing arm and the second swing arm to rotate so that the first swing arm and the second swing arm clamp the car door.
4. The door gripping device according to claim 3, characterized in that, One end of the first swing arm and one end of the second swing arm are respectively connected to the driving member. The middle part of the first swing arm and the middle part of the second swing arm are rotatably connected to the second bracket. The driving member is adapted to drive one end of the first swing arm and one end of the second swing arm to rotate, so that the other end of the first swing arm and the other end of the second swing arm clamp the car door.
5. The door gripping device according to claim 4, characterized in that, The first swing arm is provided with a first clamping part, and the second swing arm is provided with a second clamping part. The opposing end faces of the first clamping part and the second clamping part are both arc surfaces. The first swing arm and the second swing arm are adapted to clamp the car door through the end faces of the first clamping part and the second clamping part.
6. The door gripping device according to claim 3, characterized in that, At least one of the first and second swing arms is provided with a pressure sensor, the pressure sensor being adapted to abut against the door.
7. The door gripping device according to claim 3, characterized in that, The driving component is provided with a driving mounting part, which is rotatably connected to the second bracket. One of the second bracket and the driving mounting part is provided with a limiting protrusion, and the other of the second bracket and the driving mounting part is provided with a limiting groove. The limiting protrusion is movably provided in the limiting groove to limit the rotation stroke of the driving component.
8. The door gripping device according to any one of claims 1-7, characterized in that, The frame is provided with a first slide rail extending along the first direction. The door gripping device further includes a first slider and a first motor. The first slider is movably disposed on the first slide rail along the first direction. The first motor is connected to the first slider to drive the first slider to move along the first direction on the first slide rail. The positioning component is disposed on the first slider.
9. The door gripping device according to claim 8, characterized in that, The frame is also provided with a second slide rail extending along the second direction. The door gripping device further includes a second slider and a second motor. The second slider is movably disposed on the frame along the second direction. The second motor is connected to the second slider to drive the second slider to move along the second direction on the second slide rail. The clamping assembly is disposed on the second slider.
10. The door gripping device according to claim 9, characterized in that, The frame is also provided with a third slide rail extending along the third direction. The door gripping device further includes a third slider and a third motor. The third slider is movably disposed on the frame along the third direction. The third motor is connected to the third slider to drive the third slider to move along the third direction on the third slide rail. The second slide rail is disposed on the third slider.