A kind of gripper device suitable for automatic installation of rail transit vehicle side window glass

Abstract

The utility model discloses a kind of gripper device suitable for rail transit vehicle side window glass automatic installation, including a gripper frame, four corners on the gripper frame are respectively provided with one servo cylinder, the output shaft of any one servo cylinder is connected with one suction disc device, displacement sensor is respectively arranged in the adjacent place of any one servo cylinder on the gripper frame, the gripper frame is provided with one line laser scanner.The utility model is monitored the distance of glass and vehicle body by multiple displacement sensors, and according to the feedback signal of these sensors, the parallelism deviation of glass and vehicle body is sensed in real time, and servo cylinder is driven to actively compensate, ensure that glass always maintains ideal parallelism with vehicle body in whole pressing process, the final height difference of glass surface and vehicle body surface is stably and reliably controlled in process requirement range.Servo cylinder is used instead of traditional cylinder, and each servo cylinder can receive independent displacement.