CN210762724U

CN210762724U - Automatic loading and casting mechanism

Info

Publication number: CN210762724U
Application number: CN201921697849.3U
Authority: CN
Inventors: 刘自红; 蔡宇齐; 王敦磊; 曾杨吉
Original assignee: Southwest University of Science and Technology
Current assignee: Southwest University of Science and Technology
Priority date: 2019-10-11
Filing date: 2019-10-11
Publication date: 2020-06-16
Anticipated expiration: 2029-10-11

Abstract

The utility model discloses an automatic loading casts mechanism belongs to the robot field, and aim at solves current cast mechanism ubiquitous structure complicacy, and the application cost is higher, the limited problem of range of application. The automatic loading and casting mechanism comprises a base, a connecting support rod, a casting platform frame, a lifting cylinder, a casting assembly, a resetting assembly, a grabbing assembly, a position correcting assembly and a control system. This application has realized snatching, has loaded, the integration of casting the flow, and can realize repeatedly loading through the subassembly that resets and cast, has guaranteed the accuracy of casting through position correction subassembly and position sensor, has guaranteed the security of casting the process through micro-gap switch, through adopting the driving of connecting rope pulling force, has guaranteed the adjustability of casting object motion gesture. The utility model discloses think about ingenious, reasonable in design, simple structure, convenient to use easily adjusts, casts stably, accurately, reliably, to the design of casting machinery, has better reference meaning and reference value.

Description

Automatic loading and casting mechanism

Technical Field

The utility model belongs to the technical field of machinery and specifically relates to a mechanism is cast in automatic loading in robot field.

Background

In recent years, with the development of science and technology, the technology is gradually improved, and the trend of replacing manpower with machinery is becoming. In certain specific cases, it is necessary to continuously grab, load, and eject the articles.

At present, the existing casting mechanisms are roughly classified into electromagnetic casting, translational (elastic force, pulling force, cylinder as power) casting and the like. However, these ejection mechanisms are complex in construction and generally costly, which limits their range of applications.

To this end, a new device and/or structure is urgently needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The invention of the utility model aims to: aiming at the problems of complex structure, higher application cost and limited application range of the existing casting mechanism, the automatic loading casting mechanism is provided. The application throw mechanism can realize continuous operation of grabbing, loading and throwing, has a simple structure, and can conveniently throw the posture adjustment of an object. The application has the advantages of ingenious design, reasonable design and simple structure, can effectively simplify the structure of the casting mechanism, reduces the production cost, has higher application value, and is worthy of large-scale popularization and application.

The utility model adopts the technical scheme as follows:

an automatic loading and casting mechanism comprises a base, a connecting support rod, a casting platform frame, a lifting cylinder, a casting assembly, a reset assembly, a grabbing assembly, a position correcting assembly and a control system;

the connecting support rod is connected with the base, the base can provide support for the connecting support rod, the ejection platform frame is hinged with the connecting support rod, two ends of the lifting cylinder are respectively hinged with the base and the ejection platform frame, and the lifting cylinder can drive the ejection platform frame to rotate relative to a connecting point of the ejection platform frame and the connecting support rod, so that the angle of the ejection platform frame can be adjusted;

the throwing assembly comprises at least two polished rods, throwing sliding blocks, positioning baffles for positioning the object to be thrown, a motor base, a bearing seat, a throwing motor, a connecting rope and a steering wheel, the polished rods are connected with the throwing platform frame and are parallel to each other, the throwing sliding blocks are arranged on the polished rods and can move relative to the polished rods, the positioning baffles are fixedly connected with the throwing sliding blocks, and the throwing sliding blocks and the positioning baffles form a placing space for placing the object to be thrown;

the motor base and the bearing seat are respectively connected with the projection platform frame, the projection platform frame can respectively provide support for the motor base and the bearing seat, the projection motor is connected with the motor base and can provide support for the projection motor, a rotating shaft of the projection motor is movably connected with the bearing seat, and the rotating shaft of the projection motor can rotate relative to the bearing seat;

recording one end of the object to be projected, which is positioned at the initial position of the projection platform frame, as an initial end, recording one end of the object to be projected, which is separated from the projection platform frame, as a projection end, wherein the steering wheel is arranged at the projection end of the projection platform frame, is movably connected with the projection platform frame, and can rotate relative to the projection platform frame;

one end of the connecting rope is connected with a rotating shaft of the ejection motor, one end of the connecting rope penetrates through the steering wheel and then is connected with the ejection sliding block, and the rotating shaft of the ejection motor can drive the ejection sliding block to move relative to the ejection platform frame through the connecting rope;

the resetting component is connected with the polished rod and can reset the casting slide block on the polished rod;

the grabbing component is connected with the base and can place the object to be projected in the placing space;

the position correction assembly is connected with the base and can correct the position of the object to be projected in the placing space;

the lifting cylinder, the casting motor, the reset assembly, the grabbing assembly and the position correcting assembly are respectively connected with the control system.

The projecting assembly further comprises a buffer spring, and the buffer spring is arranged on the polished rod.

The buffer spring is positioned between the ejection platform frame and the ejection sliding block and can play a role in buffering when the ejection sliding block collides to the ejection platform frame.

Still include position sensor, position sensor sets up on the platform frame of throwing, position sensor links to each other with control system.

The automatic ejection device is characterized by further comprising a microswitch, wherein the microswitch is arranged on the ejection platform frame and is connected with the control system.

The reset assembly comprises a reset motor, a driving wheel, a driven wheel, a synchronous belt, a guide rod and a reset plate, and the reset motor is connected with the control system;

the device comprises a cast platform frame, a reset motor, a driven wheel, a synchronous belt, a cast platform frame, a driving motor, a driving belt, a driven wheel, a synchronous belt and a motor, wherein the reset motor is connected with the cast platform frame and can provide support for the reset motor;

the guide rod links to each other and guide rod and polished rod parallel arrangement with throwing platform frame, reset plate respectively with polished rod, guide rod swing joint and reset plate ability polished rod, guide rod slip relatively, reset plate and hold-in range fixed connection and synchronous belt can drive the relative polished rod motion of reset plate in order to realize throwing the slider on the lever and reset.

The grabbing component comprises a rotating motor, a rotating connecting rod, a grabbing bracket, a grabbing cylinder and a claw;

the rotary motor is arranged on the base, the rotary connecting rod is movably connected with the base and can rotate relative to the base, a rotating shaft of the rotary motor is fixedly connected with the rotary connecting rod, the grabbing bracket is fixedly connected with the rotary connecting rod, and the rotary motor can drive the grabbing bracket to synchronously rotate through the rotary connecting rod;

the grabbing cylinder is connected with the grabbing support, the grabbing support can provide support for the grabbing cylinder, the clamping jaws are C-shaped and at least two, the clamping jaws are hinged with the grabbing support and can rotate relative to the grabbing support, openings among the clamping jaws are oppositely arranged, one end of each clamping jaw is connected with a telescopic rod of the grabbing cylinder, and the telescopic rods of the grabbing cylinder can realize opening and closing of the clamping jaws through telescopic motion;

the rotating motor and the grabbing cylinder are respectively connected with the control system.

The grabbing component also comprises a group of rotating seats, and the rotating seats are arranged on the grabbing bracket;

the clamping jaw is hinged to the rotary seat, and the connecting point of the clamping jaw and the rotary seat is close to one side of the telescopic end of the clamping jaw.

The grabbing component further comprises a supporting seat, the supporting seat is a group and is arranged on the base, and the rotating connecting rod is movably connected with the supporting seat and can rotate relative to the supporting seat.

The grabbing cylinder is a square cylinder.

The position correction assembly comprises a correction base, a correction cylinder, a correction support arm and a correction positioning plate, and the correction cylinder is connected with the control system;

the correction base and the correction cylinder are respectively connected with the base, the base can provide support for the correction base and the correction cylinder, the correction support arm is hinged with the correction base, and the correction support arm can rotate relative to the correction base;

one end of the correction support arm is hinged to the correction cylinder, the correction cylinder can drive the correction support arm to rotate relative to the correction base, the other end of the correction support arm is connected with the correction positioning plate, and correction positioning of the object to be projected can be achieved through pushing of the correction positioning plate.

To aforementioned problem, the application provides an automatic loading casting mechanism, and it can realize treating the automatic convertible snatching of projectile, load, cast, the flow integration that resets through mutually supporting between the part, has great meaning to the demand field that realizes the automatic loading transmission of object.

The application throw mechanism include base, connecting support rod, throw platform frame, lift cylinder, throw subassembly, reset assembly, snatch subassembly, position correction subassembly and control system. In this application, the base is used for providing the support for throwing other parts of mechanism, and connecting support rod, lift cylinder then are used for adjusting the angle of throwing the platform frame to the realization is treated the adjustment of projectile throwing the angle.

The working process of the casting mechanism is as follows: the grabbing component grabs the object to be projected and places the object to be projected in the placing space; at the moment, the position correcting component corrects the position of the object to be projected; at the moment, the ejection motor works, the connecting rope is contracted, the positioning baffle is further stretched, the position sensor works, the positioning baffle reaches an accurate set position, and meanwhile, the lifting cylinder adjusts the angle of the ejection platform frame to the set position as required; then, the throwing component throws the object to be thrown; after the ejection is finished, the reset assembly resets, so that the next circulation is carried out.

The grabbing action is realized through the grabbing cylinder in the grabbing component, and the rotary filling operation is realized through the rotary motor in the grabbing component; meanwhile, a projecting motor is adopted in the projecting unit to wind the connecting rope to provide tension, the projecting process is realized, and the motion posture of the object to be projected can be changed by controlling the speed parameter of the projecting motor. Meanwhile, the position correction assembly is arranged for correcting the position of the object to be projected; the arrangement of the position sensor can be used for positioning and resetting the ejection assembly, so that the accuracy of the ejection assembly is ensured; furthermore, the micro switch is adopted to assist in power off, and the safety of the projecting mechanism is better guaranteed. In a specific example, the connecting rope is a nylon rope.

To sum up, this application has carried out the innovative design to throwing the mechanism, has adopted throwing motor and has connected rope matched with mode for modified throwing mechanism enables to wait that the projectile lands steadily. Because wait the projectile and when grabbing the subassembly and putting it and placing space in, there may be the position difference, this application has set up position correction subassembly for revise its position. Further, based on the improvement of treating projectile landing angle, set up positioning baffle in the projectile subassembly of this application for avoid treating the problem that the projectile can jack up in the launch process. Further, this application can realize treating the adjustment of projectile gesture through the adjustment to throwing motor speed parameter, and then makes its steady landing. Simultaneously, this application still is provided with reset assembly for the mechanism that casts of this application can load the demand of casting many times.

This application has realized snatching, has loaded, the integration of casting the flow, and can realize repeatedly loading through the subassembly that resets and cast, has guaranteed the accuracy of casting through position correction subassembly, position sensor, has guaranteed the security of casting the process through micro-gap switch, through adopting the nylon cord pulling force drive, has guaranteed the adjustability of casting object motion gesture. The utility model discloses think about ingenious, reasonable in design, simple structure, convenient to use easily adjusts, casts stably, accurately, reliably, to the design of casting machinery, has better reference meaning and reference value.

Drawings

Fig. 1 is a schematic view of the entire structure of embodiment 1.

Fig. 2 is a schematic view of the structure of the animal bone in example 1.

Fig. 3 is a combination diagram of the base and the connecting strut.

Fig. 4 is a schematic structural view of the grasping assembly.

Fig. 5 is a partial schematic view of the projectile.

The labels in the figure are: 1. polished rod, 2, throw slider, 3, locating baffle, 4, base, 5, motor cabinet, 6, bearing frame, 7, throw motor, 8, directive wheel, 9, beastly bone, 10, micro-gap switch, 11, position sensor, 12, correction base, 13, correction cylinder, 14, correction support arm, 15, correction locating plate, 16, rotating electrical machines, 17, rotating connecting rod, 18, snatch support, 19, snatch the cylinder, 20, jack catch, 21, reset motor, 22, action wheel, 23, follow driving wheel, 24, guide bar, 25, reset plate, 26, lift cylinder.

Detailed Description

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

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

As shown in the figure, the automatic loading and ejecting mechanism of the embodiment comprises a base, a connecting support rod, an ejecting platform frame, a lifting cylinder, an ejecting assembly, a resetting assembly, a grabbing assembly, a position correcting assembly and a control system. Wherein the base is used for providing support for the gas component of the ejection mechanism; the connecting support rod is fixedly connected with the base, the ejection platform frame is hinged with the connecting support rod, and two ends of the lifting cylinder are respectively hinged with the base and the ejection platform frame; based on this structure, throw the platform frame and can rotate relative connecting rod, and the lift cylinder then can drive throw the platform frame and rotate relative its tie point with connecting rod, and then realize the adjustment to throwing the platform frame angle.

In this embodiment, the casting assembly comprises a polished rod, a casting slider, a positioning baffle, a motor base, a bearing seat, a casting motor, a connecting rope and a steering wheel. In this embodiment, the polished rod is two, and the polished rod links to each other and polished rod is parallel to each other with throwing the platform frame, throws the slider setting on the polished rod, and the locating baffle with throw slider fixed connection. In the structure, the ejection slide block can move relative to the polish rod; the positioning baffle is used for providing positioning and supporting for the object to be projected in the projection process, the shape of the positioning baffle can be set according to the structure of the object to be projected, and the projection sliding block and the positioning baffle form a placing space for placing the object to be projected.

In this embodiment, motor cabinet, bearing frame link to each other with throwing platform frame respectively, and the motor that throws links to each other with the motor cabinet, throws the pivot and the bearing frame swing joint of motor. In this structure, throw the platform frame and can provide the support for motor cabinet, bearing frame respectively, the motor cabinet can provide the support for throwing the motor, throws the pivot of motor and can rotate relative to the bearing frame. Meanwhile, one end of the object to be projected, which is positioned at the initial position of the projection platform frame, is recorded as an initial end, and one end of the object to be projected, which is separated from the projection platform frame, is recorded as a projection end; in other words, the object to be projected is projected from one end of the projection platform frame, one end of the starting point is the initial end, and the end separated from the projection platform frame is the projection end. The steering wheel is arranged at the casting end of the casting platform frame and is movably connected with the casting platform frame. One end of the connecting rope is connected with a rotating shaft of the projection motor, and the other end of the connecting rope penetrates through the steering wheel and then is connected with the projection sliding block. Based on this structure, the pivot of casting the motor can drive through connecting the rope and cast the slider and cast the platform frame motion relatively, and the directive wheel plays the purpose that turns to connecting the rope, and is favorable to keeping the holistic stability of casting the mechanism, is favorable to casting the high-speed of process and goes on. In this embodiment, the connection rope is a nylon rope.

In this embodiment, the reset assembly includes reset motor, action wheel, follows driving wheel, hold-in range, guide bar, the board that resets. The ejection platform frame can provide support for the reset motor; the pivot of reset motor links to each other with the action wheel, follows the driving wheel with throw platform frame swing joint, action wheel, follow driving wheel are located respectively and throw the both ends of platform frame, and the hold-in range setting is on action wheel and follow driving wheel. The guide rod links to each other and guide rod and polished rod parallel arrangement with throwing platform frame, and the board that resets respectively with polished rod, guide rod swing joint, the board that resets and hold-in range fixed connection. In the structure, the synchronous belt drives the reset plate to move, the guide rod provides a guide effect for the movement of the reset plate, and the reset motor provides power for the movement of the reset plate; in the process that the reset plate can slide relative to the polish rod, the ejection slide block on the polish rod can be pushed back to the initial position, so that the reset effect is achieved. In this structure, being provided with of guide bar does benefit to the normal work of guaranteeing the board that resets, avoids the board that resets or throws the emergence of the dead condition of slider card.

In this embodiment, snatch the subassembly and include rotating electrical machines, rotatory connecting rod, snatch the support, snatch cylinder, jack catch. Wherein, the rotating motor is arranged on the base; the base is provided with a group of supporting seats which are parallel to each other; the rotating connecting rod is movably connected with a supporting seat on the base, so that the rotating connecting rod can rotate relative to the base; the rotating shaft of the rotating motor is fixedly connected with the rotating connecting rod, and the grabbing bracket is fixedly connected with the rotating connecting rod.

The grabbing cylinder is connected with the grabbing bracket, and the grabbing bracket can provide support for the grabbing cylinder; the clamping jaws are C-shaped and are at least two; as shown in the figure, the clamping jaws are hinged to the grabbing support, the openings between the clamping jaws are oppositely arranged, and one ends of the clamping jaws are connected with the telescopic rods of the grabbing cylinders. In this embodiment, the grabbing bracket is further provided with a rotating seat, and the rotating seats are a group. Recording one end of the clamping jaw, which is connected with a telescopic rod of the grabbing cylinder, as a telescopic end, and recording the other end of the clamping jaw as a grabbing end; the jack catch is articulated with the roating seat, and the tie point of jack catch and roating seat is located the flexible end one side that is close to the jack catch. In the structure, the rotary motor can drive the grabbing bracket to rotate relative to the base through the rotary connecting rod, so that the rotary operation of the object to be thrown is realized; the jack catch is articulated with the roating seat for the jack catch can rotate relative to the roating seat, and rotating electrical machines then provides corresponding motion power, through the jack catch in opposite directions, the motion of leaving mutually, in order to realize snatching, releasing operation of jack catch, the telescopic link that snatchs the cylinder promptly can realize opening and shutting of jack catch through concertina movement. In the embodiment, the grabbing cylinder is a square cylinder; the grabbing component comprises a crab clamp (namely a C-shaped claw) and a square cylinder of the crab clamp, and the square cylinder is controlled to stretch to realize the tensioning of the claw, so that the grabbing action is realized. In this embodiment, the rotating motor is a dc motor (in a specific embodiment, the rotating motor is the motor 775), and the filling purpose is achieved by rotating the rotating shaft of the dc motor. Based on this structure, snatch the subassembly and can realize treating the operation of snatching of projectile to through rotary motion, place it in placing the space.

In this embodiment, the position correction assembly includes a correction base, a correction cylinder, a correction support arm, and a correction positioning plate. The base can provide support for the correction base and the correction cylinder. The correction support arm is hinged with the correction base, so that the correction support arm can rotate relative to the correction base. Meanwhile, one end of the correction supporting arm is hinged with the correction cylinder, and the other end of the correction supporting arm is connected with the correction positioning plate. By adopting the structure, the correction base can provide a rotating fulcrum for the movement of the correction supporting arm, and the correction supporting arm can be driven to rotate relative to the correction base through the correction cylinder; the correction positioning plate is arranged at the tail end of the correction supporting arm, and the correction positioning plate can be driven to move synchronously when the correction supporting arm moves, so that correction positioning of the object to be projected is realized. In this application, revise the cylinder and can adopt circular cylinder, when the position correction subassembly mainly used waits that the projectile arranges in placing the space, revises its position for follow-up projectile process is more accurate.

In this embodiment, lift cylinder, throw motor, reset motor, rotating electrical machines, snatch the cylinder, revise the cylinder and link to each other with control system respectively.

Preferably, the throwing assembly further comprises a buffer spring, the buffer spring is arranged on the polished rod, and the buffer spring is located between the throwing platform frame and the throwing sliding block. By adopting the structure, when the casting slide block in the casting assembly is collided to the casting platform frame through the polish rod, the buffer spring can play a buffer role.

Further, this embodiment still includes position sensor, micro-gap switch, and position sensor, micro-gap switch set up respectively on throwing the platform frame, and position sensor is located initial end annex, and micro-gap switch is located and throws the end annex, and position sensor, micro-gap switch link to each other with control system respectively. In this embodiment, the position sensor may be a photoelectric sensor.

Further, the projecting mechanism of this embodiment still includes drive assembly, and it includes driving motor, omniwheel, and driving motor sets up on the base, and driving motor, omniwheel respectively with a pair, and the omniwheel setting is in driving motor's pivot and driving motor can drive the omniwheel and rotate, and driving motor and control system link to each other. In this example, the Re40 motor is selected as the driving motor.

Here, the inventors explain the procedure of the projectile device of the present embodiment as follows:

(1) grabbing

The control system controls the grabbing cylinders to work, the clamping claws are folded oppositely, and the object to be projected is clamped; after clamping is finished, the rotating motor works to drive the rotating connecting rod to rotate relative to the base, drive the object to be thrown to synchronously overturn and place the object in the placing space; after the placement is finished, the telescopic rod of the grabbing cylinder moves reversely, and the clamping jaws move away from each other and are opened to separate from the clamping of the object to be thrown; at the moment, the rotating motor rotates reversely to drive the grabbing bracket to move reversely until the grabbing bracket reaches an initial position;

(2) position correction

After the object to be projected is placed in the placing space, the correction cylinder drives the correction positioning plate to move synchronously through the correction supporting arm, and the correction positioning plate places the object to be projected on a positioning baffle plate of the projection assembly to realize the correction of the position of the object to be projected;

(3) throwing positioning

After the step (2) is finished, the ejection motor drives the positioning baffle and the object to be ejected on the positioning baffle to synchronously move through the nylon rope; when the positioning baffle and the object to be projected on the positioning baffle reach the measuring position of the position sensor, the positioning baffle sends a signal to the control system, and the projection motor stops moving when the control system finishes projection preparation work;

(4) is thrown and carried out

After the step (3) is finished, the control system sends an instruction to the ejection motor, the ejection motor rotates at a high speed, the nylon rope is wound on a rotating shaft of the rotating motor, and the ejection sliding block is driven by the nylon rope to rapidly move along the polished rod, so that the object to be ejected is ejected along a preset track; when the ejection sliding block reaches the tail end of the ejection platform frame, the buffer spring plays a role in buffering the ejection sliding block, the ejection sliding block starts to be powered off to the switch, the micro switch sends a signal to the control system, and the control system enables the ejection motor to be powered off, so that the safety of the ejection mechanism is ensured;

(5) reduction of position

After the step (4) is finished, the reset motor works and drives the ejection sliding block to return to the initial position through the mutual matching of the synchronous belt and the reset plate; when the ejection slide block reaches the initial position, the position sensor transmits a signal to the control system, and the reset motor stops working when the control system is used, so that the next circulation is carried out.

In conclusion, the grabbing action is realized by controlling the grabbing cylinder, the loading operation is realized by controlling the rotating motor, the throwing process is realized by adopting a mode that the throwing motor winds the nylon rope to provide tension, and the motion posture of the thrown object can be changed by easily adjusting the speed parameter of the throwing motor; meanwhile, the position of the object to be cast is corrected based on the position correction assembly, and accurate resetting of the cast sliding block is realized and the accuracy of the cast sliding block can be ensured based on the resetting of the cast sliding block and the detection of the position sensor; in the casting process, the casting slide block is powered off by shifting the microswitch, so that the safety of the casting mechanism is ensured; the synchronous belt is driven by the rotation of the rotating shaft of the reset motor, so that the reset of the cast sliding block is realized, and the reset accuracy is ensured by detecting through the position sensor. Therefore, the application can realize the integration of the processes of grabbing, filling and casting, and can realize repeated filling and casting for many times. The casting mechanism is reasonable in design, ingenious in conception and simple in structure, and has good reference significance and reference value for the design of other casting machines.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. An automatic loading and casting mechanism is characterized by comprising a base, a connecting support rod, a casting platform frame, a lifting cylinder, a casting assembly, a reset assembly, a grabbing assembly, a position correcting assembly and a control system;

2. The automatic loading projectile mechanism of claim 1 wherein the projectile assembly further comprises a cushioning spring disposed on the polished rod.

3. The automatic loading projectile mechanism of claim 2 wherein the buffer spring is located between the projectile platform carriage and the projectile slide and the buffer spring is capable of cushioning the projectile slide when it impacts against the projectile platform carriage.

4. The automatic loading projectile mechanism of claim 1 further comprising a position sensor disposed on the projectile platform shelf, said position sensor connected to a control system.

5. The automatic loading projectile mechanism of claim 1 further comprising a microswitch, said microswitch being disposed on the projectile platform shelf, said microswitch being connected to the control system.

6. The automatic loading projectile mechanism of claim 1 wherein said reset assembly comprises a reset motor, a drive wheel, a driven wheel, a timing belt, a guide bar, a reset plate, said reset motor being connected to a control system;

7. The automatic loading ejection mechanism according to any one of claims 1 to 6, wherein the grabbing component comprises a rotary motor, a rotary connecting rod, a grabbing bracket, a grabbing cylinder and a claw;

8. The automatic loading projectile mechanism of claim 7 wherein said gripping assembly further comprises a set of swivel mounts, said swivel mounts being disposed on a gripping support;

9. The automatic loading projectile mechanism of claim 7 wherein said gripping assembly further comprises a plurality of support bases, said support bases being mounted on a base, said rotating link being movably connected to said support bases and said rotating link being capable of rotating relative to said support bases.

10. The automatic loading projectile mechanism of any one of claims 1 to 6, 8 or 9 wherein said position correction assembly comprises a correction base, a correction cylinder, a correction support arm, and a correction positioning plate, said correction cylinder being connected to a control system;

11. The automatic loading projectile mechanism of claim 7 wherein said position correction assembly comprises a correction base, a correction cylinder, a correction support arm, a correction positioning plate, said correction cylinder being connected to a control system;