KR20130059647A - Fem gripper for multifarious vehicle - Google Patents

Abstract

PURPOSE: A various vehicle model correspondence FEM gripper corresponds flexibly to the change in vehicle model in various vehicles in a production line by efficiently controlling a part regardless of the vehicle models. CONSTITUTION: A various vehicle model correspondence FEM gripper comprises an upper and lower gripper bodies(10,11), a vehicle model conversion unit(13), an upper clamp unit(15), and a mounting position fixing unit(17). The upper and lower gripper bodies are comprised of a structure in which a plurality of frames is combined as a structure shape. The vehicle model conversion unit is installed in the front of the lower gripper body and controls a part by being inserted into a hole of a part side using a pin(12) for a vehicle model conversion on both sides. The vehicle model conversion unit supports the loads of the entire part. The upper clamp unit is installed on the upside lower part of the lower gripper body and fixes the upper end of the part side with two attachments(14b). The mounting position fixing unit is installed on both sides of the upper gripper body and is inserted into the body using a mounting position fixing pin(16). The mounting position fixing unit sets the part to the body side.

Description

フ ェ Ｍ gripper for multifarious vehicle

The present invention relates to a multi-vehicle-compatible FEM gripper, and more particularly, to a multi-vehicle-compatible FEM gripper for use in assembling a front end module (FEM) on the body side in a design equipment line.

In general, automobiles are manufactured by assembling numerous parts through various processes such as an assembly process or a welding process.

In order to assemble a vehicle assembly in a mass production process of such automobiles, a welding process of spot welding and joining a plurality of panels to each other and a hemming process of rolling the edges of the panels bonded to each other in such a welding process are performed. The process is carried out in conjunction with each other by a bogie or the like that is moved along the transfer line with the panel loaded.

As described above, in the automobile manufacturing process, the body assembly process is to assemble the body panels produced through the pressing process to produce the body as a white body, and to install a floor, a door, a trunk lid, a hood, and a fender on the body. You will go through the process.

For example, in an automobile production line such as a vehicle assembly line, parts are gripped by a clamp or the like to weld or assemble the parts by a robot or the like, or an assembly or a machining operation is performed by setting the parts in a jig.

Particularly, in the design equipment line, a process of assembling and modularizing various parts to a panel or member is also in progress.

For example, FEM (Front End Module), in which carrier, headlamp, radiator, front bumper beam, and other parts are assembled, is served on the final line, and the FEM is bolted to the body by loading the FEM into the mounting process. The assembly process on the side is performed.

However, in the current modularization process, the upper part of the FEM having various shapes and mounting of various parts for each vehicle type, and the position of the tooling hole in which the fender side tooling hole and the guide pin are inserted, which is a reference for mounting are different from each other, thereby limiting the response to the multi-vehicle model. There is.

In order to overcome this limitation, a device such as a clamp, a jig, a gripper, or the like has a shape corresponding to the vehicle body, such as a front end module, depending on the vehicle type.

In general, as a method for coping with a multi-vehicle model, there are a method of operating the air cylinder by installing a plurality of clamps and pins for each vehicle type in one gripper.

However, this method has a limitation that it can only respond to changes in the shape of the vehicle body, which is similar to the weight constraint.

As described above, the conventional multi-vehicle response method has many disadvantages, such as spatial constraints, time consuming, and compatibility limitations, in view of the response to the multi-vehicle production line producing various models of vehicles.

In other words, the automobile maker produces not only a single model but a variety of models according to the customer's floor and taste. Therefore, it is necessary to have a facility that meets all of these models, which causes a lot of economic burden.

For example, there is a limit to correspond to one to three vehicle models with an air cylinder and a dedicated clamp structure, when the new car is introduced, there is a problem in that the investment cost due to the entire facility renovation or new work increases, and the facility stabilization period is excessively required.

In addition, there is a problem that the additional weight of the facility is generated when the existing facility is modified by the introduction of new cars.

Therefore, it is very economically advantageous to have a facility that can be universally applied to various models of vehicles as possible.

Therefore, the present invention has been devised in view of the above, and it is possible to adjust the position of the H direction and L direction of the various pins for the parts and body regulation when setting for FEM assembly to effectively regulate the parts regardless of the vehicle model By implementing a new type of flexible flexible production system system, it is possible to flexibly respond to changes in the model of the multi-vehicle production line by actively responding to different models or different models with one facility. The purpose is to provide a corresponding FEM gripper.

In order to achieve the above object, the multi-vehicle corresponding FEM gripper provided in the present invention has the following characteristics.

The multi-vehicle-compatible FEM gripper is a part using an upper gripper body and a lower gripper body formed in the form of a frame structure and both vehicle model switching pins installed on the front surface of the lower gripper body and capable of moving in left, right, and up and down directions. An upper clamp part fitted to the side to support the lower part of the part, an upper clamp part installed at the upper bottom part of the lower gripper main body to hold the upper end of the part using two attachments operating in the front-rear direction and the rotational direction; Mounting position fixing parts which are installed on both sides of the upper gripper main body 11 and set to the body side while being fitted to the body side by using the mounting position fixing pin 16 which can be moved in the left and right and up and down directions. It is made of a structure that includes, and thus can flexibly and actively respond to changes in the vehicle model in the multi-vehicle production line It is characterized.

Here, as a preferred embodiment of the vehicle type switching unit, the switching unit plate which is supported by the switching unit LM guide installed in the lower gripper main body and movable up and down, and the switching unit cylinder for operating the switching unit plate, and the switching unit The pin plate movable in the left and right direction while being supported by the plate LM guide installed on the plate, and both the vehicle model switching pins installed horizontally extending from the front of the pin plate to the front side, and the vehicle model switching pins are operated in the left and right direction. It is possible to apply a form that includes a switch actuator actuating.

Particularly, in the case of the switching unit actuator in the vehicle type switching unit, the switching unit motor having a pinion on the shaft and the pin plate on both sides are arranged side by side in the left and right directions while maintaining a predetermined interval up and down, respectively. It is desirable to construct a structure comprising two actuating rods engaged with each other at the same time from the top and the bottom with the pinion in between.

And, as a preferred embodiment of the upper clamp portion, the clamp portion plate which is movable in the front and rear direction by the clamp portion cylinder and the clamp portion LM guide provided in the lower gripper body, and the front and back on the bottom surface of the clamp portion plate, By holding the front and the back at the same time, it is possible to apply a form including a mobile attachment located in the rear and a rotary attachment located in the front and the flip attachment is possible by the toggle clamp.

In addition, as a preferred embodiment of the mounting position fixing part, a fixing part main body supported by a fixing part LM guide provided in the upper gripper main body and movable in the left and right direction, and a fixing part cylinder for operating the fixing part main body; A pin assembly having a mounting position fixing pin supported by a main body LM guide installed at a side of the fixing part main body and movable in an up and down direction and fitted to the body side, and installed at the fixing part main body to operate the pin assembly It is possible to apply the form including the main cylinder to make it.

The multi-vehicle compatible FEM gripper provided by the present invention has the following advantages.

First, it is not only efficient to cope with the multi-vehicle model or change of various parts, but also can be set for each part as a single facility is very economical, there is an advantage that can significantly shorten the corresponding time for each car model.

Second, the upper clamp structure that applies the electric cylinder and LM guide structure to all parts (side member pin L / H direction, fender pin L / H direction, upper clamp T direction) that needs to be adjusted when changing the model. And by applying the mounting position fixing method using the electric cylinder torque mode, there is an advantage that can be responded only by teaching correction without retrofitting and installation of new vehicles.

Third, there is an advantage that can be applied to both the method of controlling the operation and the work order of the equipment by the PLC or the method of controlling the equipment by wiring using the work button and relay without the PLC.

1 to 4 is a perspective view showing a multi-vehicle corresponding FEM gripper according to an embodiment of the present invention
5A to 5C are front views illustrating an operating state of a vehicle type switching unit in a multi-vehicle corresponding FEM gripper according to an embodiment of the present invention.
6A and 6B are cross-sectional views illustrating a part fall preventing device of a vehicle type switching unit in a multi-vehicle model corresponding FEM gripper according to an embodiment of the present invention.
7A to 7D are side views illustrating an operating state of an upper clamp unit in a multi-vehicle corresponding FEM gripper according to an embodiment of the present invention.
8A to 8D are front views illustrating an operating state of a mounting position fixing unit in a multi-vehicle corresponding FEM gripper according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 to 4 is a perspective view showing a multi-vehicle corresponding FEM gripper according to an embodiment of the present invention.

As shown in FIGS. 1 to 4, the multi-vehicle-compatible FEM gripper is capable of producing and supplying various models to meet customer demands, and can cope with four or more vehicle types, and shorten the response period for new vehicles. It can be made in a form suitable for a multi-vehicle flexible production method.

To this end, the multi-vehicle-compatible FEM gripper regulates a part, for example, a vehicle switching part 13 for regulating the lower end of the front end module, an upper clamp part 15 for regulating the upper end of the part, and an entire part on the body side. The mounting position fixing unit 17, and the vehicle model switching unit 13, the upper clamp portion 15 and the upper and lower gripper body (10, 11) for supporting the mounting position fixing portion 17.

The upper gripper main body 10 and the lower gripper main body 11 have a structure in which a plurality of frames are combined in a structure form, and the upper and lower gripper main bodies 10 and 11 are connectors provided in the upper gripper main body 10. The plate 48 may be used in the form of being mounted and supported by a robot, a rail, a hanger, or the like.

Here, the upper gripper body 10 may be formed of a flat structure having two post members for supporting the connector plate 48, and the lower gripper body 11 may have an approximately "a" shape. It can be made of a structure.

Accordingly, the mounting position fixing portion 17 is provided on both sides of the front surface of the plate-shaped structure, the vehicle switching unit 13 is provided on the lower end of the front surface of the "b" shaped structure, the upper clamp portion 15 ) Is provided on the bottom of the ceiling of the "a" shaped structure.

The upper gripper main body 10 and the lower gripper main body 11 are integrally coupled by a main body LM guide 19 interposed between the bottom and the upper surface of the upper gripper main body 10 and the lower gripper main body 11 in this state. May be moved in the front-rear direction (T direction) which means the Z direction with respect to the upper gripper main body 10.

For example, main body LM guides 19 arranged side by side along the T direction are respectively provided on both upper surfaces of the lower gripper main body 11, and the upper gripper main body at the slider portion of the main body LM guide 19 thus installed. (10) is combined into a structure on which it is placed.

The rear gripper body 10 is coupled to the rear end portion of the main body cylinder 18 arranged side by side in the T direction with the rod toward the rear, and the rod of the main body cylinder 18 at this time is connected to the lower gripper body ( 10) is connected to the rod holder 49a attached to the rear of the upper surface.

Accordingly, the lower gripper main body 11 can move in the T direction while being guided by the main body LM guide 19 by the forward and backward movement of the main body cylinder 18.

The vehicle model switching unit 13 uses both vehicle model switching pins 12 that can be moved in a vertical direction (H direction), which means the Y-axis direction, and horizontally (L direction), which means the X-axis direction. As a means for regulating the part while being fitted in the hole on the part side, it serves to support the load of the entire part.

To this end, a long rectangular plate-shaped switching part plate 21 is disposed on the front part of the lower gripper main body 11, and the switching part plate 21 at this time is located at both sides of the front side of the lower gripper main body 11, respectively. It is coupled to the slider part of the switching part LM guide 20 provided through the rear surface, and is installed so that a movement to a H direction is possible.

The switching unit cylinder 22 is provided as a means for moving the switching unit plate 21 in the H direction.

The switch cylinder 22 is vertically installed with the rod down from the rear of the lower gripper main body 11, and the rod is connected to the rear of the switch plate 21 via the rod holder 49b.

Accordingly, when the switching unit cylinder 22 is moved back and forth, the switching unit plate 21 can move in the H direction while being guided by the switching unit LM guide 20.

And, both ends of the front of the switching plate 21 is provided with a pin plate 24 installed in a structure moved in the L direction by the plate LM guide 23, respectively, the front of each pin plate 24 at this time The vehicle model switch pin 12 which is inserted into the hole of a part side substantially and controls a part is provided.

The vehicle model switching pin 12 may be installed in a form of horizontally extending in a predetermined length toward the front, so that two vehicle model switching pins 12 are installed side by side so that they can be fitted into the part side hole. Will be.

The switching unit actuator 25 is provided as a means for moving the entire pin plate 24 including the vehicle model switching pin 12 in the L direction.

The switch actuator 25 is a type that can operate both sets of vehicle model switching pin 12 and the pin plate 24 at the same time, employing a rack and pinion.

To this end, two actuating rods 29 are arranged on the front of the switching unit plate 21 and are arranged side by side in the left and right direction while maintaining a predetermined distance from each other up and down, and each actuating rod 29 at this time. One end of is connected to the pin plate 24 while the other end is in the form of a free end.

And, each of the operation rods 29 are formed with a rack 28, respectively, at this time through the pinion 26 to be described later through each rack 28 to be engaged at the same time from the top and bottom to operate in opposite directions to each other. It becomes possible.

The actuating rod 29 may have a structure that is penetrated and supported by the bush plate 50 installed in the front of the switch plate 21 for accurate linear motion.

In addition, as a means for moving the operating rod 29, the pinion 26 is mounted on the shaft and at the same time the switch part motor 27 made of a kind of servo motor capable of position control, the switch part motor 27 at this time ) Is installed with the shaft with the pinion 26 on the rear side of the switching plate 21 in the forward direction.

Therefore, as shown in Figures 5a to 5c, when the switching unit motor 27 is operated, the two operating rods 29 up and down by the rack and pinion of the electric movement is linearly moved in the opposite direction to each other In the end, the vehicle model changeover pin 12 can be moved in the L direction, while the switchover cylinder 22 is operated, the switchover plate 21 as a whole moves up and down. Since the pin 12 can move its position in the H direction, it is possible to flexibly respond to various regulatory hole positions of the part, that is, the change of the vehicle type, by moving the position of the vehicle model switching pin 12 in the L and H directions. It becomes possible.

In particular, the present invention provides a device that can prevent the part from falling by providing a structure capable of ensuring a stable regulation state of the part to the vehicle model changeover pin 12.

That is, the vehicle model changeover pin 12 can be stably regulated while being fitted in a state of being pressed into the part-side hole, and thus, it is possible to completely eliminate concerns such as falling of the part.

To this end, as shown in Figures 6a and 6b, the front end of the vehicle model switching pin 12 is provided with a housing 31 having a spring 30 in the cylinder while having a cylinder capable of supplying air therein The housing 31 is coupled to a clamp rod 32 having a piston 32a in the cylinder and a large diameter portion 32b outside thereof, wherein the clamp rod 32 is a force exerted by the spring 30. And by the pressure of the air provided in the cylinder it is possible to move back and forth.

In addition, the front end of the housing 31 is provided with a collet 33 that can be expanded and contracted inward and outward, and the collet 33 at this time is in contact with the large diameter portion 32b of the clamp rod 32 moving therein. It can be spread outward or narrowed inward by the restoring force exerted by the elastic O-ring 51.

Accordingly, when air is supplied to the cylinder of the housing 31 in a state where the vehicle model switching pin 12 is fitted in the hole 110 of the part 100, the clamp rod 32 opens the spring 30. It is pulled backward while compressing, and then presses the inner circumferential surface of the collet 33 outward through the inclined surface around the outer circumference of the large diameter portion 32b of the clamp rod 32, so that the collet 33 at this time is expanded While being tightly fitted in the hole 110, the part 100 can be stably regulated on the vehicle model switching pin 12 by the pressing action of the collet 33.

The upper clamp portion 15 is a means for holding the upper end of the part by using the two attachments (14a, 14b) installed in the upper bottom portion of the lower gripper main body 11 and operating in the front-rear direction and the rotational direction, Along with the model switch that holds the bottom of the part, it will hold the top of the part firmly.

To this end, two parallel clamp part LM guides 35 on both sides of the lower gripper main body 11 are installed, and at the slider part of the clamp part LM guide 35, a clamp plate plate 36 having a square plate shape is formed. Is installed, and the clamp part plate 36 thus installed is movable along the clamp part LM guide 35 in the front-rear direction, that is, the T direction.

In addition, a clamp unit cylinder 34 supported by a cylinder bracket 52 provided on the bottom surface of the lower gripper main body 11 is provided on the rear side of the clamp unit plate 36, and the clamp unit cylinder ( The rod of 34 is connected to the clamp portion plate 36 via a rod holder 49c.

Accordingly, when the clamp unit cylinder 34 is operated, the clamp unit plate 36 may move in the T direction while being guided by the clamp unit LM guide 35.

A mobile attachment 14a and a rotary attachment 14b are provided as a means for holding the upper end of the part from the front and rear, and the movable attachment 14a at this time is located behind the bottom of the clamp part plate 36, and is rotatable. Attachment 14b is located in front of the bottom face of clamp part plate 36, respectively.

Here, the movable attach 14a is installed in the structure supported by the cylinder means described later on the front surface of the attach bracket 53 provided on the bottom of the clamp portion plate 36, and the rotary attach 14b. ) Is installed in the hinge structure rotatable to the side of the toggle clamp 37 is installed on the bottom of the clamp plate 36, and when the toggle clamp 37 is operated, the rotary attach 14b is It can be flipped.

That is, when the toggle clamp 37 is operated, the rotary attacher 14b, which was in a horizontal position, rotates 90 degrees around the hinge portion to take a vertical position while flipping down, so that the part is in this state. This will block the front of the top of the.

In particular, the movable attach 14a has a structure capable of moving the position back and forth to respond to the model change.

For example, an attach bracket 53 is installed on the bottom of the clamp portion plate 36, and an attach cylinder 54 is installed on the rear surface of the attach bracket 53, and at the same time, the attach cylinder 54 is formed. The rod of the penetrates through the bracket and is connected to the movable attacher 14a at the front thereof, and an attaching bar 55 guided by a bush is installed at the lower end of the attaching bracket 53 and through the tip thereof. It is connected with the movable attachment 14a.

Accordingly, the movable attach 14a can move in the front-rear direction while being guided by the attach bar 55 when the attach cylinder 54 is operated.

In addition, the upper clamp portion 15 comprises a combination of one movable attach 14a and two rotary attaches 14b in one set, and includes two sets so configured, so that both upper ends of the parts Is done in a way that balances

In this way, the upper clamp portion 15 utilizes two attach operation characteristics, in particular, an operating characteristic capable of moving the front and rear positions of the movable attach 14a, and together with the two attachments, the front and rear surfaces of the upper end of the part are held together. By using the operation method, the state can have a feature that can cope with this even if the specification of the model changes.

Therefore, as shown in FIGS. 7A to 7D, when the clamp cylinder 34 is moved forward, the entire clamp portion plate 36 including the movable attach 14a and the rotary attach 14b is closed. Advance to some extent in the T direction, the movable attach 14a is advanced by the operation of the attach cylinder 54 to support the back of the part.

Subsequently, while the movable attach 14a supports the back of the part in this manner, the rotary attach 14b is pushed down in the vertical position by the operation of the toggle clamp 37 to press the front of the part, The part can be held in a clamped state without shaking by the movable attach 14a and the rotary attach 14b.

The mounting position fixing part 17 is a means for setting the part on the body side while being fitted to the body side by using the mounting position fixing pin 16 which is movable in the L direction and the H direction.

To this end, fixing part cylinders 40 are installed on both sides of the upper surface of the upper gripper main body 10, and fixing part LM guides 41 are also provided on both sides of the front surface, respectively. The entire fixing part main body 39 including the mounting position fixing pin 16 is coupled to the slider portion of the), and the rod of the fixing part cylinder 40 is fixed to the fixing part main body 39 through the rod holder 49d. Is connected to the rear end.

Accordingly, when the fixed part cylinder 40 is operated, the fixed part main body 39 can move in the L direction, that is, move outward.

The pin assembly 42 is disposed on the side of the fixing unit main body 39, and the pin assembly 42 at this time is provided by the main body LM guide 41 installed at the side of the fixing unit main body 39. It can be supported and can be installed in a structure that is connected to the rod of the body cylinder 43 which is installed on the upper surface of the fixing part main body 39.

Accordingly, when the main body cylinder 43 in the fixing unit main body 39 is operated, the pin assembly 42 can move in the H direction while being guided by the main body LM guide 41.

The pin assembly 42 is largely composed of an assembly body 44 and an assembly arm 47, which is connected to the rod of the body cylinder 43 with the assembly cylinder 45 on top. At the same time, it is installed in a structure that is supported by the main body LM guide 41, the assembly arm 47 is an assembly in which the mounting position fixing pin 16 is attached to the end, which is installed in the vertical position on the assembly main body 44. It is connected to the rod of the cylinder 45 and is supported by the assembly LM guide 46 mounted on the side of the assembly main body 44 to move in the H direction together with the mounting position fixing pin 16. It becomes possible.

In the case of the mounting position fixing unit 17, the mounting position fixing pin 16 capable of moving in the L direction and the H direction may have a characteristic capable of coping with the model change.

Therefore, as shown in FIGS. 8A to 8D, when the fixing cylinder 40 is operated, the fixing body 39 moves in the L direction while being guided by the fixing LM guide 38, and continues. When the main cylinder 43 is operated, the pin assembly 42 moves downward in the H direction, and when the assembly cylinder 45 is operated continuously, the mounting position fixing pin 16 and the assembly arm 47 are removed. Since the entire assembly body 44, which includes it, moves downward again in the H direction, the mounting position fixing pin 16 is fitted into the body side hole while setting between the body and the part can be made.

Accordingly, a process of setting a part, for example, a front end module on the body side using the multi-vehicle-compatible FEM gripper configured as described above will be described as follows.

First, the positions of both of the two vehicle model switching pins 12 in the vehicle model switching unit 13 are moved in the L direction and the H direction to be fitted into the two restriction holes (not shown) in the part.

This allows the part to be supported in a state where it is mounted on the two vehicle model switching pins 12.

Next, both sets of attachments 14a and 14b in the upper clamp portion 15 are operated in the T direction to simultaneously hold the front and rear of the upper end of the part supported by the vehicle model changeover pin 12.

In this way, the part is supported by the vehicle model switching pin 12 at the lower side and the upper part at the gripper side while being stably supported by the attachments 14a and 14b.

In this state, the gripper is moved to move the position toward the body side, and then the two mounting position fixing pins 16 on the mounting position fixing part 17 are inserted into the regulation holes (not shown) in the body.

In this way, the entire gripper including the part can be accurately set on the body side, and in this state, various assembly operations are performed to assemble the part to the body, thereby completing the module assembly process.

10: upper gripper body 11: lower gripper body
12: vehicle model switch pin 13: vehicle model switch
14a, 14b: Attach 15: upper clamp portion
16: mounting position fixing pin 17: mounting position fixing
18: main body cylinder 19: main body LM guide
20: switch LM guide 21: switch plate
22: switch cylinder 23: plate LM guide
24: pin plate 25: switching part actuator
26: pinion 27: switching unit motor
28: rack 29: working rod
30: spring 31: housing
32: clamp rod 33: collet
34: Clamp part cylinder 35: Clamp part LM guide
36: clamp plate 37: toggle clamp
38: fixed part LM guide 39: fixed part body
40: fixed part cylinder 41: main body LM guide
42: pin assembly 43: body cylinder
44: assembly body 45: assembly cylinder
46: Assembly LM Guide 47: Assembly Arm
48: connector plate 49a, 49b, 49c, 49d: rod holder
50: bush plate 51: expansion O-ring
52: cylinder bracket 53: attach bracket
54: attach cylinder 55: attach bar

Claims (10)

An upper gripper body 10 and a lower gripper body 11 formed in a frame structure form;
Vehicle type switching unit 13 installed on the front part of the lower gripper main body 11 to support the lower part of the part while being fitted to the part side by using both vehicle model switching pins 12 that can be moved in the left and right and up and down directions. ;
An upper clamp part 15 installed at an upper bottom part of the lower gripper main body 11 to hold an upper end of a part side using two attachments 14a and 14b which operate in the front-rear direction and the rotational direction;
Mounting position fixing parts which are installed on both sides of the upper gripper main body 11 and set to the body side while being fitted to the body side by using the mounting position fixing pin 16 which can be moved in the left and right and up and down directions. (17);
Multi-vehicle support FEM gripper, characterized in that it comprises a.
2. The main body LM guide 19 according to claim 1, wherein the lower gripper main body 11 is connected to a rod of a main body cylinder 18 installed in the upper gripper main body 10 and is installed in the lower gripper main body 11. It is supported by, and can be moved in the front and rear direction, multi-vehicle-compatible FEM gripper, characterized in that. 2. The switch part plate 21 and the switch part plate of the vehicle type switch part 13 are movable in the vertical direction while being supported by the switch part LM guide 20 installed in the lower gripper main body 11. 21 and a pin plate 24 movable in the left and right directions while being supported by the plate LM guide 23 provided in the switch plate 21 and the plate LM guide 23. It is configured to include both vehicle model switching pins 12 installed horizontally extending from the front of the front to the front, and the switching unit actuator 25 for operating the vehicle model switching pins 12 in the left and right directions. Multi-model compatible FEM gripper
The switch part actuator 25 of the said vehicle model switch part 13 is a switch part motor 27 which has a pinion 26 in a shaft, and extends from both pin plates 24, and is mutually correct. Is arranged side by side in the left and right direction while maintaining a constant interval up and down, and includes two working rods 29 that are engaged in opposite directions by engaging at the same time from the top and bottom with the pinion 26 in between by using the rack 28 Multi-vehicle-compatible FEM gripper, characterized in that the configuration.
4. The vehicle model switching pin 12 of the vehicle model switching unit 13 is coupled to the housing 31 and a housing 31 having a spring 30 therein, and a spring force and air. A clamp rod 32 movable back and forth by pressure, and a collet 33 mounted on the distal end of the housing 31 and expanding and contracted by contact with the clamp rod 32 to be tightly fitted in the hole of the part. Multi-vehicle corresponding FEM gripper, characterized in that it comprises a.
The clamp part plate (36) of claim 1, wherein the upper clamp part (15) is movable in the front-rear direction by the clamp part cylinder (34) and the clamp part LM guide (35) provided in the lower gripper main body (11). And, installed on the bottom of the clamp portion plate 36 back and forth to simultaneously hold the front and back of the part, the movable attachment (14a) located in the rear and the front while being moved by the toggle clamp (37) A multi-vehicle-compatible FEM gripper, characterized by comprising a rotatable attachable 14b.
The upper clamp portion (15) is provided with two sets of attaching means consisting of a combination of one movable attach (14a) and two rotatable attaches (14b) to hold the upper end of the part on both sides. Multi-vehicle support FEM gripper characterized by being able to give. The movable attach 14a of the upper clamp portion 15 is operated by the attachment cylinder 54 and the attachment bar 55 of the attaching bracket 53. A multi-vehicle-compatible FEM gripper characterized by being able to move in the front-rear direction while being guided.
The fixing part main body 39 and the fixing part of claim 1, wherein the mounting position fixing part 17 is supported by the fixing part LM guide 38 provided in the upper gripper main body 10 and movable in the horizontal direction. It is supported by the fixed part cylinder 40 which operates the main body 39, and the main body LM guide 41 provided in the side of the said fixed part main body 39, and is movable to an up-down direction, and fitted to the body side. A pin assembly 42 having a mounting position fixing pin 16 and a main body cylinder 43 installed at the fixing unit main body 39 to operate the pin assembly 42. Multi-model FEM gripper.
10. The assembly assembly 44 according to claim 1 or 9, wherein the pin assembly 42 of the mounting position fixing section 17 is an assembly body 44 supported on the body cylinder 43 side, and an assembly cylinder installed on the assembly body 44. 45 and movable up and down while being supported by the assembly LM guide 46 which is connected to the rod of the assembly cylinder 45 and installed in the assembly main body 44, and has a mounting position fixing pin 16 at the distal end thereof. Multi-model corresponding FEM gripper, characterized in that it comprises an assembly arm (47) having.

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