A hub feeding apparatus for wheel assembly

Abstract

The utility model discloses a kind of wheel hub supply equipment for wheel assembly, it is related to the technical field of automation equipment, including conveying equipment, wheel hub carrying mechanism and first drive mechanism;Conveying equipment is used to convey wheel hub, and the feeding position on conveying equipment is close to tire extractor;Wheel hub carrying mechanism includes lifting drive device, clamping drive device and jaw, and the output end of lifting drive device is fixedly connected with the upper end of jaw, lifting drive device is used to drive jaw lifting, clamping drive device is fixedly set in the upper end of jaw, for driving jaw opening and closing, jaw is used to clamp and place wheel hub;The output end of first drive mechanism is fixedly connected with lifting drive device, and first drive mechanism is used to drive wheel hub carrying mechanism reciprocating motion in the feeding position and the just above tire extractor.The utility model reduces the operation failure rate, improves the assembly efficiency of tire and wheel hub.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a wheel hub supply device for wheel assembly. Background Technology

[0002] The assembly and inflation of wheel rims and tires are currently done by specialized tire changers, but the loading of wheel rims is still mainly done manually.

[0003] Existing operating mode: 1. The placement of the wheel hubs is accomplished by a sliding material support with one end higher than the other and fitted with glass strips. Specifically, the end away from the tire changer is higher, and the end closer to the tire changer is lower. At the end of the support away from the tire changer, a worker is dedicated to placing the wheel hubs on the support, and at the end of the support closer to the tire changer, a worker is dedicated to attaching the tire bead and the wheel hub. The wheel hubs slide forward and are arranged in order by their own weight. 2. The worker at the end of the support near the tire changer takes the wheel hub from the support and places it in the wheel hub positioning platform on the tire changer platform; 3. The tire changer automatically assembles the wheel rim and tire and inflates them.

[0004] The existing work mode has the following drawbacks: 1. Workers frequently have to turn around to pick up and put down materials, resulting in high labor intensity; 2. Once the tire changer's operating time cycle is set, it will run automatically according to a fixed program. If, within a cycle, the worker fails to place the wheel hub on the machine's wheel hub positioning platform in time, the equipment will still continue to execute the subsequent processes. However, due to the lack of a wheel hub to be processed, the tire-wheel assembly and inflation operations cannot be successfully completed. Furthermore, the worker's error rate will increase with working hours, further exacerbating the aforementioned problems and ultimately hindering the improvement of the tire changer's assembly and inflation efficiency. Utility Model Content

[0005] The purpose of this invention is to provide a wheel hub supply device for wheel assembly, so as to solve the problems existing in the prior art, reduce the operation error rate, and improve the assembly efficiency of tires and wheel hubs.

[0006] To achieve the above objectives, this utility model provides the following solution: This utility model provides a wheel hub supply device for wheel assembly, including a conveying device, a wheel hub handling mechanism, and a first drive mechanism. The conveying device is used to convey wheel hubs, and the feeding position on the conveying device is close to the tire changer. The wheel hub handling mechanism includes a lifting drive device, a clamping drive device, and a gripper. The output end of the lifting drive device is fixedly connected to the upper end of the gripper, and the lifting drive device is used to drive the gripper to lift and lower. The clamping drive device is fixedly disposed on the upper end of the gripper, and the clamping drive device is used to drive the gripper to open and close. The gripper is used to clamp and place the wheel hub. The output end of the first drive mechanism is fixedly connected to the lifting drive device, and the first drive mechanism is used to drive the wheel hub handling mechanism to reciprocate above the feeding position and directly above the tire changer.

[0007] Preferably, the conveying equipment includes a main conveyor line and a positioning conveyor line, the discharge end of the main conveyor line is connected to the inlet end of the positioning conveyor line, the conveying direction of the main conveyor line and the positioning conveyor line is the same, and the feeding position is located at the positioning conveyor line.

[0008] Preferably, the upper conveying surface of the main conveyor line and the upper conveying surface of the positioning conveyor line are at the same height.

[0009] Preferably, the main conveyor line is connected to the host computer, a blocking cylinder is fixedly installed at the discharge end of the main conveyor line, the blocking cylinder is connected to the host computer, a feeding sensor is fixedly installed on the positioning conveyor line, the distance between the feeding sensor and the feeding end of the positioning conveyor line is the maximum diameter of a wheel hub, and the feeding sensor is connected to the host computer.

[0010] Preferably, the positioning conveyor line is electrically connected to the host computer, and a blocking component is fixedly provided at the discharge end of the positioning conveyor line. A positioning sensor is fixedly provided on the blocking component, and the positioning sensor is electrically connected to the host computer.

[0011] Preferably, baffles are fixedly installed on both sides of the main conveyor line to prevent the wheel hub from falling off from both sides of the main conveyor line.

[0012] Preferably, the baffle is made of aluminum alloy.

[0013] Preferably, the baffles on both sides of the main conveyor line are parallel to each other.

[0014] Preferably, the first drive mechanism includes a second servo motor and a horizontal slide rail. The horizontal slide rail is fixedly arranged above the feeding position and the tire changer. The wheel hub transport mechanism slides with the horizontal slide rail. The output end of the second servo motor is electrically connected to the lifting drive device.

[0015] Preferably, the hub transport mechanism further includes a fixing component, the side plate of which slides with the horizontal slide rail, the base plate of which is horizontally arranged and perpendicular to the side plate, and a mounting plate is fixedly arranged on the upper end of the base plate of which; the lifting drive device includes a first servo motor and a servo electric push rod, the output shaft of the first servo motor is connected to the input shaft inside the servo electric push rod through a coupling, the outer shell of the servo electric push rod is fixedly connected to the mounting plate, the output end of the servo electric push rod passes through the mounting plate and the fixing component and is fixedly connected to the upper end of the gripper, and two linear bearings are also fixedly arranged on the mounting plate, the two linear bearings are symmetrically distributed on both sides of the servo electric push rod, and a guide post is provided inside each of the two linear bearings, the guide post is clearance-fitted with the corresponding linear bearing, and the lower end of each guide post passes through the mounting plate and the fixing component and is fixedly connected to the upper end of the gripper.

[0016] The present invention achieves the following technical advantages over the prior art: The wheel hub supply equipment for wheel assembly of this utility model can automatically transport the wheel hubs on the conveying equipment to the wheel hub positioning platform on the tire changer by using the first drive mechanism and the wheel hub transport mechanism, so as to facilitate the subsequent assembly of the wheel hub and tire. The machine completely replaces manual operation, saving at least one worker who stands next to the tire changer, takes the wheel hub from the support and places it in the wheel hub positioning platform on the tire changer. In addition, the machine has a lower error rate than the manual operation, which can reduce the number of times the wheel hub is not placed in time within a tire changer operation cycle, thereby improving the tire and wheel hub assembly efficiency and the resource utilization rate of the tire changer. The daily output is about 5 percentage points higher than that of manual operation. Additionally, the support for sliding materials can be replaced with a main conveyor line and a positioning conveyor line. Traditional supports for sliding materials use the gravity of the wheel hub to transport them. During the transport process, adjacent wheel hubs are easily damaged due to collisions. The conveyor line uses a conveyor belt to transport the wheel hubs, which can avoid collision problems caused by gravity transport, thereby ensuring the quality of the wheel hubs and improving the quality of the wheels composed of wheel hubs and tires. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a schematic diagram of a wheel hub supply device for wheel assembly in some embodiments of the present invention. Figure 2 for Figure 1 A schematic diagram of the first drive mechanism and the hub transport mechanism of a hub supply device for wheel assembly.

[0019] In the diagram: 1. Wheel hub; 2. Conveying equipment support frame; 3. Main conveyor line; 4. Blocking cylinder; 5. Support frame; 6. Second servo motor; 7. Fixing component; 8. Linear bearing; 9. Guide column; 10. First servo motor; 11. Gripper cylinder; 12. Positioning conveyor line; 13. Gripper; 14. Blocking component; 15. Servo electric push rod; 16. Tire; 17. Wheel hub positioning platform; 18. Wheel; 19. Tire changer. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] The purpose of this invention is to provide a wheel hub supply device for wheel assembly, so as to solve the problems existing in the prior art, reduce the operation error rate, and improve the assembly efficiency of tires and wheel hubs.

[0022] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Example 1 See Figure 1 The wheel hub supply equipment for wheel assembly provided in this embodiment includes a conveying device, a wheel hub handling mechanism, and a first drive mechanism. The conveying device is used to convey wheel hubs, and the feeding position on the conveying device is close to the tire changer 19. The wheel hub handling mechanism includes a lifting drive device, a clamping drive device, and a gripper 13. The output end of the lifting drive device is fixedly connected to the upper end of the gripper 13, and the lifting drive device is used to drive the gripper 13 to lift and lower. The clamping drive device is fixedly installed on the upper end of the gripper 13, and the clamping drive device is used to drive the gripper 13 to open and close. The gripper 13 is used to clamp and place the wheel hub 1. The output end of the first drive mechanism is fixedly connected to the lifting drive device, and the first drive mechanism is used to drive the wheel hub handling mechanism to reciprocate directly above the feeding position and the tire changer 19.

[0024] The first drive mechanism can be hydraulically driven, electrically driven, or pneumatically driven, as long as it can drive the wheel hub conveying mechanism to reciprocate directly above the feeding position and the tire changer 19; the lifting drive device can also be hydraulically driven, electrically driven, or pneumatically driven, as long as it can drive the gripper 13 to lift and lower; the clamping drive device can also be hydraulically driven, electrically driven, or pneumatically driven, as long as it can drive the gripper 13 to open and close. The wheel hub supply equipment for wheel assembly provided in this embodiment can be used not only for assembling electric bicycle wheels but also for assembling automobile wheels.

[0025] The wheel hub supply equipment for wheel assembly provided in this embodiment can use the first drive mechanism to drive the wheel hub transport mechanism to reciprocate above the feeding position and the tire changer 19. In conjunction with the lifting drive device and the clamping drive device, the wheel hub 1 on the conveying device is automatically transported to the wheel hub positioning platform 17 on the tire changer 19. This saves at least one worker who has to stand next to the tire changer, take the wheel hub 1 from the support and place it in the wheel hub positioning platform 17 on the tire changer 19. The machine completely replaces manual operation, freeing up manpower and reducing the operational error rate that increases with the increase of working time, which greatly improves the assembly efficiency of the tire 16 and the wheel hub 1.

[0026] In a preferred embodiment, the conveying equipment is replaced by a main conveyor line 3 and a positioning conveyor line 12 instead of a traditional support frame. The discharge end of the main conveyor line 3 is connected to the feed end of the positioning conveyor line 12. The conveying directions of the main conveyor line 3 and the positioning conveyor line 12 are the same, and the feeding position is located at the positioning conveyor line 12. Traditional conveying equipment uses gravity to move the wheel hub 1 to the feeding position. During this process, adjacent wheel hubs 1 are prone to collisions, causing damage to the surface of the wheel hub 1. The main conveyor line 3 and the positioning conveyor line 12 use a conveyor belt to transport the wheel hub 1. The relative position of the wheel hub 1 and the conveyor belt remains unchanged, effectively avoiding collisions between adjacent wheel hubs 1, thereby improving the quality of the wheel hub 1, and further improving the quality of the wheel 18 assembled from the wheel hub 1 and the tire 16.

[0027] In a preferred embodiment, the main conveyor line 3 is electrically connected to a host computer. A blocking cylinder 4 is fixedly installed at the discharge end of the main conveyor line 3 and is also electrically connected to the host computer. A feeding sensor is fixedly installed at the feed end of the positioning conveyor line 12. The feeding sensor can be an infeed photoelectric sensor. The distance between the feeding sensor and the feed end of the positioning conveyor line 12 is the maximum diameter of the hub 1. When the feeding sensor detects that the hub 1 has completely entered the positioning conveyor line, it transmits an electrical signal to the host computer. Upon receiving the signal, the host computer controls the blocking cylinder 4 to advance, clamping the hub 1 at the discharge end of the long conveyor line and stopping its forward movement. Simultaneously, the host computer controls the main conveyor line 3 to stop running, thereby stopping the forward conveying of the hub 1.

[0028] In a preferred embodiment, the positioning conveyor line 12 is electrically connected to a host computer, and the first drive motor is also electrically connected to the host computer. A blocking member 14 is fixedly installed at the discharge end of the positioning conveyor line 12, and a positioning sensor is fixedly installed on the blocking member 14. The positioning sensor can be a forward positioning photoelectric sensor. After the positioning sensor detects that the hub 1 has completely entered the positioning conveyor line 12, the positioning sensor transmits an electrical signal to the host computer. After receiving the electrical signal, the host computer controls the positioning conveyor line 12 to stop running, thereby stopping the forward conveying of the hub 1. At the same time, it controls the first drive motor to drive the hub transport assembly to move directly above the positioning conveyor line 12, preparing to transport the hub 1 on the positioning conveyor line 12. If the positioning conveyor line 12 malfunctions and cannot stop running, the blocking member 14 can prevent the hub 1 from continuing to move forward, avoiding the hub 1 from falling off the positioning conveyor line 12.

[0029] In a preferred embodiment, both the main conveyor line 3 and the positioning conveyor line 12 have anti-slip treatment on their conveyor belts to prevent the hub 1 from shifting during transport. This anti-slip treatment can be achieved using conventional techniques in the art. Two baffles are fixedly installed on both sides of the main conveyor line 3, and these baffles are parallel to each other. This prevents the hub 1 from accidentally falling off the sides of the main conveyor line 3 during transport. The distance between the two parallel baffles can be set to the maximum diameter of the hub 1, further preventing the hub 1 from shifting during transport. The baffles are made of aluminum alloy, which is lightweight, easy to install, has a neat appearance, and can withstand the impact caused by hub shifting. Other materials can also be selected for the baffles, such as lightweight and low-cost engineering plastics or elastic rubber.

[0030] In a preferred embodiment, the first drive mechanism includes a second servo motor 6 and a horizontal slide rail. A translational winding component is provided on the horizontal slide rail. The translational winding component uses a belt or sprocket. The horizontal slide rail is fixedly installed above the feeding position and the tire changer 19 by a support frame 5. The lifting drive device slides in cooperation with the horizontal slide rail. The second servo motor 6 can drive the translational winding component to move, thereby driving the wheel hub conveying mechanism to reciprocate on the horizontal slide rail. It should be noted that the setting of the translational winding component can refer to the prior art in this field.

[0031] In a preferred embodiment, the hub transport mechanism further includes a fixing member 7. The side plate of the fixing member 7 slides with the horizontal slide rail. The bottom plate of the fixing member 7 is horizontally arranged and perpendicular to the side plate of the fixing member 7. A mounting plate is fixedly arranged on the upper end of the bottom plate of the fixing member 7. The lifting drive device includes a first servo motor 10 and a servo electric push rod 15. The output shaft of the first servo motor 10 is connected to the input shaft inside the servo electric push rod 15 through a coupling. The outer shell of the servo electric push rod 15 is fixedly connected to the mounting plate. The output end of the servo electric push rod 15 passes through the mounting plate and the fixing member 7 and is fixedly connected to the upper end of the gripper 13. Two linear bearings 8 are also fixedly arranged on the mounting plate. The two linear bearings 8 are symmetrically distributed on both sides of the servo electric push rod 15. A guide post 9 is provided inside each of the two linear bearings 8. The guide post 9 is clearance-fitted with the corresponding linear bearing 8. The lower end of each guide post 9 passes through the mounting plate and the fixing member 7 and is fixedly connected to the upper end of the gripper 13. The first servo motor 10 drives the output end of the servo electric push rod 15 to move up and down, thereby driving the gripper 13 to rise and fall.

[0032] In a preferred embodiment, the servo electric actuator 15 can also be replaced by a lifting screw and a lifting nut, and the replacement lifting drive device can refer to the prior art in this field.

[0033] This embodiment also provides a preferred embodiment of the working process of a hub supply device for wheel assembly: Before using the equipment, it must be tested and adjusted: First, turn on the power switch. After the power indicator light illuminates, set the HMI manual / automatic selector switch to manual mode. Verify that all photoelectric and reed switches at the PLC input points are functioning correctly, ensuring compliance with electrical principles. Figure 1 One-to-one correspondence; Then, press the start button of the main conveyor line 3 and check whether the running direction of the main conveyor line 3 is correct. If it is not correct, change the control terminal and check the positioning conveyor line 12 in the same way as above. After that, adjust the forward and backward movement of the blocking cylinder 4 and the opening and closing of the gripper 13 in sequence. The running speed of the first servo motor 10 and the second servo motor 6 should be gradually increased from small to large. The speed should not be set too high at the beginning. Adjust the relevant parameters of the driver to ensure that the running direction and the actual running distance are consistent with the set values ​​on the human-machine interface. Next, manually operate the lifting drive device and the first drive mechanism to return to the origin. Based on the model of wheel hub 1, manually operate the wheel hub transport mechanism to move it directly above wheel hub 1 on the positioning conveyor line 12, setting this as the gripping position of the wheel hub transport mechanism. Manually operate the lifting drive device to drive the gripper 13 to descend, placing wheel hub 1 inside the gripper 13, setting this as the gripping position of the wheel hub transport mechanism. Manually operate the clamping drive device to drive the gripper 13 to close and clamp wheel hub 1. Manually operate the lifting drive device to drive the gripper 13 to rise to the gripping position of the wheel hub transport mechanism. Manually operate the first drive mechanism to move the wheel hub transport assembly directly above the wheel hub positioning table 17 where material needs to be released, setting this as the waiting position for material release of the wheel hub transport mechanism. Manually operate the lifting drive device to drive the gripper 13 to descend, allowing the wheel hub 1 held by the gripper 13 to be smoothly placed into the wheel hub positioning table 17, setting this as the releasing position of the wheel hub transport mechanism. After setting the above positions, click the "Return to Origin" button to return the first drive mechanism and the wheel hub transport mechanism to the origin.

[0034] After debugging, the wheel hub transportation operation began: Switch the HMI to the automatic screen. In manual mode, press the wheel hub reset button once. The gripper 13 will open, the lifting drive device will reset, and after the reset is complete, the first drive mechanism will reset. After the first drive mechanism has reset, the HMI reset OK indicator light will illuminate and display the word "OK". Switch the human-machine interface to automatic mode. Press the start button for the wheel hub equipment, and the equipment will immediately enter operation. Both the main conveyor line 3 and the positioning conveyor line 12 will run. When the wheel hub 1 enters the positioning conveyor line 12 and is detected by the feed sensor, the blocking cylinder 4 will advance, and the main conveyor line 3 will stop. The wheel hub 1 will continue to move forward. When the wheel hub 1 is detected by the positioning sensor, the positioning conveyor line 12 will stop after a delay, and the material preparation will be completed. At the same time, the second servo motor 6 will drive the wheel hub handling mechanism to run directly above the wheel hub 1 on the positioning conveyor line 12. The first servo motor 10 will drive the gripper 13 to descend. After the gripper 13 descends to the designated position, the gripper cylinder 11 will drive the gripper 13 to close, thereby gripping the wheel hub 1. After gripping, the gripper 13 will be driven by the first servo motor 10 to... The wheel hub assembly mechanism rises directly above the positioning conveyor line 12. The host computer sends an OK signal to the wheel hub supply equipment used for wheel assembly. After the host computer's wheel hub detection photoelectric sensor confirms that there is no wheel hub 1 in the wheel hub positioning platform 17 where the wheel hub 1 needs to be placed, the second servo motor 6 drives the wheel hub transport mechanism to move directly above the wheel hub positioning platform 17 where the tire changer 19 needs to place the wheel hub 1. The gripper 13 descends and places the wheel hub 1 into the wheel hub positioning platform 17. After placement, the gripper 13 rises directly above the wheel hub positioning platform 17. After rising, it sends an operation signal to the host computer. When the new wheel hub 1 is detected by the positioning sensor, the wheel hub transport mechanism returns to directly above the positioning conveyor line 12 under the drive of the second servo motor 6, forming a reciprocating cycle to continue the transport operation of the wheel hub 1.

[0035] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A hub supply device for wheel assembly, characterized in that: The system includes a conveying device, a wheel hub transporting mechanism, and a first drive mechanism. The conveying device is used to transport wheel hubs, and the feeding position on the conveying device is close to the tire changer. The wheel hub transporting mechanism includes a lifting drive device, a clamping drive device, and a gripper. The output end of the lifting drive device is fixedly connected to the upper end of the gripper, and the lifting drive device is used to drive the gripper to lift and lower. The clamping drive device is fixedly disposed on the upper end of the gripper, and the clamping drive device is used to drive the gripper to open and close. The gripper is used to clamp and place the wheel hub. The output end of the first drive mechanism is fixedly connected to the lifting drive device, and the first drive mechanism is used to drive the wheel hub transporting mechanism to reciprocate above the feeding position and directly above the tire changer.

2. The hub supply device for wheel assembly according to claim 1, characterized in that: The conveying equipment includes a main conveyor line and a positioning conveyor line. The discharge end of the main conveyor line is connected to the inlet end of the positioning conveyor line. The conveying directions of the main conveyor line and the positioning conveyor line are the same. The feeding position is located at the positioning conveyor line.

3. A hub supply device for wheel assembly according to claim 2, characterized in that: The upper conveying surface of the main conveyor line and the upper conveying surface of the positioning conveyor line are at the same height.

4. A hub supply device for wheel assembly according to claim 2, characterized in that: The main conveyor line is connected to the host computer. A blocking cylinder is fixedly installed at the discharge end of the main conveyor line. The blocking cylinder is connected to the host computer. A feeding sensor is fixedly installed on the positioning conveyor line. The distance between the feeding sensor and the feeding end of the positioning conveyor line is the maximum diameter of a wheel hub. The feeding sensor is connected to the host computer.

5. A hub supply device for wheel assembly according to claim 2, characterized in that: The positioning conveyor line is connected to the host computer. A blocking component is fixedly installed at the discharge end of the positioning conveyor line. A positioning sensor is fixedly installed on the blocking component. The positioning sensor is connected to the host computer.

6. A hub supply device for wheel assembly according to claim 2, characterized in that: Baffles are fixedly installed on both sides of the main conveyor line to prevent the wheel hub from falling off the sides of the main conveyor line.

7. A hub supply device for wheel assembly according to claim 6, characterized in that: The baffle is made of aluminum alloy.

8. A hub supply device for wheel assembly according to claim 6, characterized in that: The baffles on both sides of the main conveyor line are parallel to each other.

9. A hub supply device for wheel assembly according to claim 1, characterized in that: The first drive mechanism includes a second servo motor and a horizontal slide rail. The horizontal slide rail is fixedly arranged above the feeding position and the tire changer. The lifting drive device slides with the horizontal slide rail. The output end of the second servo motor is electrically connected to the lifting drive device.

10. A hub supply device for wheel assembly according to claim 9, characterized in that: The hub transport mechanism also includes a fixing component. The side plate of the fixing component slides in cooperation with the horizontal slide rail. The bottom plate of the fixing component is horizontally set and perpendicular to the side plate. A mounting plate is fixedly set at the upper end of the bottom plate of the fixing component. The lifting drive device includes a first servo motor and a servo electric push rod. The output shaft of the first servo motor is connected to the input shaft inside the servo electric push rod through a coupling. The outer shell of the servo electric push rod is fixedly connected to the mounting plate. The output end of the servo electric push rod passes through the mounting plate and the fixing component and is fixedly connected to the upper end of the gripper. Two linear bearings are also fixedly set on the mounting plate. The two linear bearings are symmetrically distributed on both sides of the servo electric push rod. Each of the two linear bearings has a guide post inside. The guide post is clearance-fitted with the corresponding linear bearing. The lower end of each guide post passes through the mounting plate and the fixing component and is fixedly connected to the upper end of the gripper.

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