CN211225001U

CN211225001U - Metamorphic grabbing mechanism with automatic adjusting function

Info

Publication number: CN211225001U
Application number: CN201922163690.3U
Authority: CN
Inventors: 余观亮; 陈声佩
Original assignee: Fujian Institute Of Agricultural Mechanization (fujian Academy Of Mechanical Sciences)
Current assignee: Fujian Institute Of Agricultural Mechanization (fujian Academy Of Mechanical Sciences)
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2020-08-11
Anticipated expiration: 2029-12-05

Abstract

The utility model discloses a metamorphic snatchs mechanism with automatic adjustment function, metamorphic snatchs the mechanism and installs in pairs on the sideslip mechanism of upper ledge equipment, metamorphic mechanism who uses in pairs does synchronous antiport, sideslip mechanism is including the sideslip device that a plurality of transmissions are connected, the sideslip device that is located sideslip mechanism the top is including base and connecting plate, upper surface at the base is provided with a pair of lug, be provided with the basic shaft on the lug, below at the connecting plate is provided with the electro-magnet binding clasp, the basic shaft that sets up on the lug passes the connecting hole back both ends supporting of electro-magnet binding clasp on the lug, the one end of connecting plate links to each other with the elevating gear that the upper bracket was equipped with. The utility model discloses use 3 doubly fast mechanisms of a pair of gear train drive to accomplish equipment and be left and right sides two goods shelves putters on the shelf in the passageway, compare two sets of acceleration mechanism of common use and accomplish 3 doubly fast mechanisms, simplify the complexity and the assembly degree of difficulty of structure greatly.

Description

Metamorphic grabbing mechanism with automatic adjusting function

Technical Field

The utility model relates to an equipment of putting on shelf, especially a metamorphic snatchs mechanism with automatic adjustment function.

Background

For various storehouses or greenhouses for planting, especially for early storehouses or greenhouses, in order to fully utilize the space, only a narrow passage is often left to facilitate various operations, such as: the fungus bags are put on shelves and put off shelves manually by constructing an early fungus sending room storeroom, so the fungus sending room storeroom taking the manual work as the design criterion has the following characteristics:

1. the door is short and narrow, the height of the door is not more than 2m, the width of the door is about 0.95m, and the height of a shelf of the fungus growing room is more than 3.5 m;

2. the channel between the fungus growing racks is narrow, usually about 660mm, and the required equipment is arranged on two rows of left and right shelves in the channel

3. The method has the advantages of no existing equipment, difficult reconstruction and difficult investment of huge capital for fully reconstructing the storehouse or the spawn running rack.

4. The goods shelf is fixed, the height of each layer is limited, and the side of the goods shelf is provided with a flange, so that after the fungus bags are placed in the basket, the basket can only be lifted into the goods shelf and then placed down, or lifted out of the goods shelf, and the pushing-in and pushing-out method cannot be used.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's weak point, and provide one kind can conveniently walk in the passageway can realize that the goods is put on the shelf from top to bottom, does not influence the metamorphic of having the automatic adjustment function of other article simultaneously again and snatchs the mechanism.

The metamorphic grabbing mechanism comprises a rotating shaft, a driving plate, driven plate claws, a stop plate and a blocking round head, the driving plate is fixed on the rotating shaft to move along with the rotating shaft, the driven plate claws are connected to the driving plate through torsion spring hinges, the stop plate is connected to the driven plate and located on the opposite side of the torsion spring hinges, pre-tightening force rotating towards the side direction of the stop plate is preset on the torsion spring hinges, the blocking round head is fixed on a fixture near the stop plate and used for limiting movement of the driven plate claws, the metamorphic grabbing mechanism is installed on a transverse moving mechanism of an upper frame device in pairs, the metamorphic mechanisms used in pairs are synchronously and reversely rotated, the transverse moving mechanism comprises a plurality of transverse moving devices connected in a transmission mode, the transverse moving device located at the top of the transverse moving mechanism comprises a base and a connecting plate, and a fourth guide rail sliding block group is arranged on the transverse moving mechanism, The fourth rack and the fourth driving gear are arranged on the base, a pair of lugs is arranged on the upper surface of the base, a base shaft is arranged on the lugs, an electromagnet clamping device is arranged below the connecting plate, two ends of the base shaft arranged on the lugs are supported on the lugs after penetrating through a connecting hole of the electromagnet clamping device, a clamping sliding block of the electromagnet clamping device is pressed towards the connecting hole by a spring to lock the base shaft in the hole, when the electromagnet clamping device is electrified, the clamping sliding block is attracted by magnetic force to be away from the connecting hole, the base shaft is loosened to realize free rotation, and one end of the connecting plate is connected with a lifting device arranged on the upper frame.

The metamorphic gripping mechanism of the utility model has the trend that the driven plate claw rotates along the side of the stop plate around the rotation center of the torsional spring hinge under the action of the torsional spring pretension force of the torsional spring hinge, when the metamorphic grasping mechanism does a clamping action and moves in the opposite direction of the pre-tightening force of the torsion spring hinge, when the driven plate claw and the driving plate are in the same plane, the stop plate touches the driving plate to prevent the driven plate claw from continuously rotating along the direction of the pre-tightening force of the torsion spring hinge, when the metamorphic grasping mechanism rotates along the direction of the pretightening force of the torsion spring, the driven plate claw touches the blocking round head, the driving plate continues to rotate around the center of the shaft along the direction of the pre-tightening force of the torsion spring, the surface of the driven plate claw slides on the blocking round head and rotates around the rotation center of the torsion spring hinge, therefore, the metamorphic grasping mechanism can be opened when grasping is needed, and can be retracted when exiting, so that other objects are avoided. The metamorphic gripping mechanism is matched with the transverse moving mechanism for use, so that the moving range of the metamorphic gripping mechanism can be enlarged, and the metamorphic gripping mechanism can move leftwards or rightwards at one station. The transverse moving device at the top of the transverse moving mechanism is divided into a structure of a base and a connecting plate, the two parts are connected in an elastic adjustable mode, when the whole equipment is inclined due to the fact that the ground is uneven initially, the base shaft is loosened through the electromagnet clamping device, the transverse moving mechanism is automatically adjusted under the action of gravity balance of the transverse moving mechanism (the gravity center plumb line of the transverse moving mechanism passes through the center of the base shaft), and then the base shaft is clamped through the electromagnet clamping device. Therefore, the transverse moving mechanism can realize the function of left and right transverse movement with larger stroke under the condition of smaller peripheral dimension. The plurality of transverse moving devices are connected in sequence, so that the width of the upper and lower racks can be as small as possible under the condition of ensuring the transverse moving distance, and the metamorphic grasping mechanism with the automatic adjusting function can run on a narrow channel.

Two shafts of the metamorphic grasping mechanism which synchronously and reversely rotates are respectively driven by a gear and a chain wheel which are coaxially driven.

The coaxial driving gear and the chain wheel are adopted to respectively drive the shaft of the metamorphic grasping mechanism, the gear can be used for meshing transmission to drive the shaft of the adjacent metamorphic grasping mechanism, and the chain is used for driving the shaft at the far end, so that the coaxial driving is realized.

The metamorphic grabbing mechanism is arranged on the first transverse moving device at the lowest position, the metamorphic grabbing mechanism shaft is supported on the first transverse moving device, a driving plate, driven plate claws and a stop plate of the metamorphic grabbing mechanism are hung below the transverse moving device, the driven plate claws of the metamorphic grabbing mechanism which are arranged in pairs are arranged oppositely, and blocking round heads of the metamorphic grabbing mechanism are arranged on the first transverse moving device at the side of the stop plate.

The driving plate and the driven plate claw either extend continuously along the axis of the metamorphic grasping mechanism or are arranged at intervals along the axis of the metamorphic grasping mechanism.

And all the transverse moving devices of the transverse moving mechanism are in gear and rack transmission.

The transverse moving mechanism comprises a first transverse moving device, a second transverse moving device, a third transverse moving device and a fourth transverse moving device positioned at the top, wherein two first racks are arranged on the upper surface of the first transverse moving device in parallel, and the first racks extend along the width direction of the objective table;

the lower surface of the second traverse device is provided with a pair of second guide rail sliding block sets in parallel, the second guide rail sliding block sets extend along the width direction of the objective table, two sets of gear sets are arranged on the outer side of the second traverse device, the extending direction of a rotating shaft of each gear set is perpendicular to the direction of the second guide rail sliding block set, each set of gear sets comprises two rows of gears, the two rows of gears are respectively meshed with racks on the third traverse device and the fourth traverse device, an output gear meshed with the racks of the third traverse device is also meshed with the first rack at the same time, the gears meshed with the racks on the fourth traverse device are driving gears, and the two rows of gears on the second traverse device are in transmission connection through intermediate gears;

the upper surface and the lower surface of the third traversing device are respectively provided with a pair of racks, the lower surface of the third traversing device is also provided with a pair of third guide rail sliding block groups, and the racks and the third guide rail sliding block groups both extend along the width direction of the objective table;

a pair of fourth guide rail sliding block groups and fourth racks are arranged below the fourth transverse moving device and extend along the width direction of the object stage, a fourth driving gear is further arranged on the fourth transverse moving device, the first transverse moving device, the second transverse moving device, the third transverse moving device and the fourth transverse moving device are sequentially connected through the guide rail sliding block groups, the fourth driving gear of the fourth transverse moving device is meshed with the rack on the upper surface of the third transverse moving device, the fourth rack of the fourth transverse moving device is meshed with the driving gear of the second transverse moving device, the rack on the lower surface of the third transverse moving device is meshed with the output gear of the second transverse moving device, and the output gear of the second transverse moving device is simultaneously meshed with the first rack.

The first traverse device, the second traverse device, the third traverse device and the fourth traverse device are connected through the guide rail sliding block set in sequence, and corresponding gears are meshed with the racks, so that a fourth driving gear of the fourth traverse device drives the racks on the upper surface of the third traverse device to move and drives the third traverse device to move, the output gear is subjected to thrust through the meshing of the racks fixed on the lower surface of the third traverse device and the output gear of the second traverse device, the thrust is in the same direction as the moving direction of the third traverse device, because the output gear rotates in the same direction as the driving gear and the driving gear is meshed with the fourth rack, when the output gear is subjected to the thrust, the second traverse device moves in the same direction as the moving direction of the third traverse device, the moving speed is one time of that of the third traverse device, and because the output gear is meshed with the first rack of the first traverse device, therefore, the first traverse device moves in the same direction as the second traverse device, and the moving speed is twice that of the second traverse device, so that a 4-time speed mechanism driven by a gear rack is formed. From the above, assuming that the total travel of the third traverse device is a when the fourth traverse device is stationary, the theoretical maximum value of a is: l-s (linear guide length L, guide slider length s), the total travel of the second traverse is 2a, the total travel of the first traverse is 3a, and at least one of the two gears 1222 is engaged with the fourth rack in order to ensure the traverse of the mechanism, so the center distance of the two driving gears 1222 cannot be smaller than: and L-2 s.

The fourth driving gear is driven by a motor, and the motor is arranged on the base.

The intermediate gears of the second traverse device are odd number, one group of gears comprises driving wheels with the same number of teeth at two ends and intermediate transmission gears with odd number in the middle, the other group of gears comprises one output gear, the output gear is coaxial with the intermediate transmission gear at the middle, the reference circle diameter of the output gear is half of that of the driving gear, and the transmission gears are smaller than the driving gear.

When the rack is meshed with the two driving gears simultaneously, the teeth of the rack cannot interfere with the transmission gears, so that the driving gears can drive the driving gears to rotate in the same direction.

To sum up, the utility model discloses compare prior art following advantage:

the metamorphic gripping mechanism with the automatic adjusting function of the utility model can complete the gripping action and the withdrawing action of the gripping mechanism under different states when using a single motor; the utility model uses a pair of gear sets to drive the 3-speed mechanism to complete the equipment to be put on the shelf in two rows of left and right in the channel, thus greatly simplifying the complexity of the structure and the assembly difficulty compared with the common use of two sets of speed increasing mechanisms to complete the 3-speed mechanism; the cargo lifting device adopts a chain and rack speed increasing mechanism, so that equipment can pass through a short warehouse door, and meanwhile, the stroke requirement between the highest point of a shelf on which the fungus bags are put and the lowest point of the shelf is met; by utilizing the gravity center characteristic of the fungus bag basket, the metamorphic grasping mechanism is shorter than the three baskets in parallel, and a simple stop lever is used, so that the same equipment can meet the racking requirements of two baskets at a time and three baskets at a time; and a gravity self-balancing mechanism is designed on the fourth transverse moving device by utilizing the characteristic of lower gravity center, so that the transverse moving mechanism automatically restores to the direction parallel to the horizontal direction in the transverse moving direction. For the high-rise upper and lower racks, the friction force between the basket and the goods shelf needs to be overcome when the basket is fed and retracted in a pushing and pulling mode, and the vertical force arm is long, so that the side turning of the upper rack equipment can be caused when the self weight of the equipment is not enough to overcome the force arm generated by pushing or pulling, and the problem that the equipment is fed and discharged into and out of the goods shelf in a grabbing mode does not exist.

Drawings

Fig. 1 is an overall schematic diagram of the metamorphic grasping mechanism with the automatic adjustment function of the present invention.

FIG. 2 is a schematic view of the metamorphic grasping mechanism with the automatic adjustment function with the metamorphic grasping mechanism at a high position.

Fig. 3 is a schematic plan view of the metamorphic grasping mechanism with the automatic adjustment function with the metamorphic grasping mechanism at a high position.

Fig. 4 is a schematic structural view of the traversing mechanism.

FIG. 5 is a schematic view of a first traversing apparatus.

FIG. 6 is a schematic view of a second traversing apparatus.

FIG. 7 is a schematic view of a third traversing apparatus.

FIG. 8 is a plan view of a third traversing apparatus.

FIG. 9 is a perspective view of a fourth traverse device.

FIG. 10 is a plan view of a fourth traverse device.

FIG. 11 is a schematic view of a base of a fourth traverse device.

FIG. 12 is a schematic view of an engaging lug on a connecting plate of the fourth traversing device.

FIG. 13 is a schematic view of the engagement of the respective traverse devices.

Fig. 14 is a schematic view of the automatic return of the traversing mechanism to the initial state.

Fig. 15 is a return schematic view of the traversing mechanism.

FIG. 16 is a schematic view of a maximum leftward traverse.

FIG. 17 is a schematic view of a maximum rightward traverse.

FIG. 18 is a schematic diagram of a metamorphic grasping mechanism.

FIG. 19 is a schematic cross-sectional view of a metamorphic grasping mechanism.

FIG. 20 is a perspective view of the metamorphic grasping mechanism.

Detailed Description

The present invention will be described in more detail with reference to the following examples.

Example 1

The metamorphic grabbing mechanism with the automatic adjusting function comprises a vertical support, an object stage, a transverse moving mechanism and a lifting device, wherein the transverse moving mechanism transversely moves relative to the object stage, the lifting device drives the transverse moving mechanism to move up and down, one end of the object stage is connected to the vertical support, the lifting device moves up and down on the vertical support, the transverse moving mechanism is connected with the lifting device and follows the lifting device to move up and down, trundles convenient to walk are arranged on the vertical support and the object stage, and metamorphic grabbing mechanisms which are arranged in pairs towards the object stage and are synchronous and reverse to rotate are further arranged on the transverse moving mechanism.

As shown in figure 1, the metamorphic grasping mechanism with automatic adjustment function comprises a transverse moving mechanism 1, an object stage 2 and a lifting device 3,

as shown in FIG. 4, the traverse mechanism includes four parts, a first traverse device 11, a second traverse device 12, a third traverse device 13, and a fourth traverse device 14.

As shown in fig. 5, two first racks 112 are fixed on the first bottom plate 111 of the first traverse device 11, two ends of each first rack are fixed with a support plate 118, a blocking round head 119 is fixed on each support plate 118, a shaft 1131 of the metamorphic grasping mechanism 113 penetrates through a bearing seat fixed on each support plate 118 and is fixed with one sprocket of the sprocket chain set 116, the other sprocket of the sprocket chain set is fixed on an output shaft of the motor 114, one gear of the gear set 115 is fixed on the output shaft of the motor 114, the other gear of the gear set is fixed on the shaft 1131 of the metamorphic grasping mechanism 113 on the other side, the motor 114 drives the shafts 1131 of the metamorphic grasping mechanisms 113 to rotate through the above two transmission modes, and the shafts 1131 of the metamorphic grasping mechanisms 113 synchronously and reversely rotate. As shown in fig. 18-20, the metamorphic grasping mechanism includes a driving plate 1132 fixed to a shaft 1131, a driven pawl 1134 connected to the driving plate 1132 by a torsion spring hinge 1135, and a stop plate 1133 fixed to the driven pawl 1134, wherein the driven pawl 1134 tends to rotate clockwise around a rotation center of the torsion spring hinge 1135 due to a torsion spring pre-tightening force of the torsion spring hinge, when the metamorphic grasping mechanism performs a counterclockwise clamping operation, the driven pawl 1134 and the driving plate 1132 are in the same plane, the stop plate 1133 contacts the driving plate 1132 to prevent the driven pawl 1134 from rotating clockwise, and when the metamorphic grasping mechanism performs a clockwise operation, the driven pawl 1134 contacts a blocking circular head 119, the driven pawl 1132 continues to rotate clockwise around the center of the shaft 1131, and the surface of the driven pawl 1134 slides on the blocking circular head 119 and rotates around the rotation center of the torsion spring hinge 1135.

As shown in fig. 6, two sets of gear sets 122 are fixed to the upper surface of the base plate 121 of the second traverse device 12, and a pair of linear second guide slider sets 124 are fixed to the lower surface of the second base plate 121. Two driving gears 1222 are correspondingly disposed at both ends of two fixing plates 1221 of the gear set 122, an odd number of transmission gears 1223 engaged with the two driving gears 1222 are disposed inside, an output gear 1224 having half the number of teeth of the driving gear 1222 is axially fixed to the middle transmission gear 1223, and the transmission gear 1223 is smaller than the driving gear 1222, so that when a rack is engaged with the two driving gears 1222 simultaneously, the teeth of the rack do not interfere with the transmission gear 1223, so that the driving gear 1222 can drive the driving gear 1222 to rotate in the same direction, and the radius of the circle of the driving gear 1222 is half the radius of the circle of the driving gear 1222.

As shown in fig. 7 and 8, a pair of racks 132 are fixed to an upper surface of the third base plate 131 of the third traverse device 13, a pair of racks 135 are fixed to a lower surface of the third base plate 131, and a pair of linear third guide slider groups 134.

Referring to fig. 9-12, a lug 1412 is fixed on the upper surface of the fourth base 141 of the fourth traverse device 14, a base shaft 1411 is fixed on the lug 1412, the base shaft 1411 penetrates into the holes 1483 of the two electromagnet clampers 148 fixed on the connecting plate 142, the clamping sliders 1482 of the electromagnet clampers 148 are pressed toward the holes 1483 by the springs 1481, so that the base shaft 1411 is locked in the holes 1483, when the electromagnet clampers 148 are energized, the clamping sliders 1482 are attracted by magnetic force to be away from the holes 1483, so that the base shaft 1411 is loosened and can rotate freely, the two traverse driving gears 144 are connected with the motor 143 through shafts, i.e., the motor can drive the gears 144 to rotate, and a pair of linear fourth rail slider groups 145 and a fourth rack 146 are fixed on the lower surface of the fourth base plate 121.

As shown in fig. 13, the first traverse device 11, the second traverse device 12, the third traverse device 13, and the fourth traverse device 14 are sequentially connected to each other by the linear guide slider of each layer, and the corresponding gears are engaged with the racks, so that the third traverse device 13 is moved when the rack 132 is driven to move by the driving gear 144 of the fourth traverse device 14, and the output gear 1224 is subjected to a thrust force by the engagement of the rack 135 fixed to the third traverse device 13 with the output gear 1224, the thrust force being in the same direction as the moving direction of the third mechanism plate, since the output gear 1224 rotates in the same direction as the gear driving gear 1222 and the driving gear 1222 is engaged with the rack 146, the second traverse device 12 is moved in the same direction as the moving direction of the third traverse device 13 when the output gear 1224 is subjected to the thrust force, the moving speed is twice as that of the third traverse device 13, and since the output gear 1224 is engaged with the rack 112 of the first traverse device 11, therefore, the first traverse device 11 moves in the same direction as the second traverse device 12 at a speed twice that of the second traverse device 12, and a 4-speed mechanism driven by a rack and pinion is formed. As can be seen from the above, assuming that the total travel of the third traverse device 13 is a when the fourth traverse device 14 is stationary, the theoretical maximum value of a is: l-s (linear guide length L, guide slider length s), the total travel of the second traverse is 2a, the total travel of the first traverse is 3a, and at least one of the two gears 1222 is engaged with the rack 146 to ensure that the mechanism traverses, so that the center distance of the two driving gears 1222 cannot be smaller than: and L-2 s.

Referring to fig. 14 to 17, in 4 states of the traverse mechanism, that is, an initial state, an automatic aligning state, a maximum left shift state, and a maximum right shift state, when the whole apparatus is tilted due to unevenness of the ground at the initial time, the base shaft 1411 is released by the electromagnet clamper 148, the traverse mechanism is automatically aligned by using the self gravity balance of the traverse mechanism (the center of gravity of the traverse mechanism is perpendicular to the base shaft 1411), and then the electromagnet clamper 148 clamps the base shaft 1411. The transverse moving mechanism can realize the function of left and right transverse movement with larger stroke under the condition of smaller peripheral dimension.

The working principle is as follows: the motor 114 drives the metamorphic grasping mechanism 113 to clamp the edge of the basket, the motor 310 drives the gear rack to lift the objective table connecting frame 311 to a height corresponding to the shelf, the motor 143 drives the traversing mechanism 1 to feed the basket into the shelf, the motor 310 drives the gear rack to descend for a certain distance to enable the bottom of the basket to fall on the shelf, the motor 114 drives the metamorphic grasping mechanism 113 to open the driven plate claw 1134 to enable the metamorphic grasping mechanism 113 to be separated from the basket, the motor 310 drives the gear rack to lift the objective table connecting frame 311 for a certain distance, the bottom of the driven plate claw 1134 is not higher than the height of a fungus bag in the basket due to the limitation of the height of the upper surface in the shelf layer, the motor 114 continues to drive the metamorphic grasping mechanism 113 at the position to enable the driven plate claw 1134 to touch the blocking round head 119, the surface of the driven plate claw 1134 slides on the blocking round head 119 and rotates around the rotation center of the torsion spring hinge 1135, and accordingly the bottom of, in addition, the driven plate claw 1134 does not interfere with the basket space in the next door during the metamorphic process, and then the motor 143 drives the traversing mechanism 1 to exit the shelf to wait for the next basket to be put on the shelf, and the action of the taking-off process is similar to that of the basket without any redundancy.

The parts not described in the present embodiment are the same as those in the prior art.

Claims

1. The utility model provides a metamorphic snatchs mechanism with automatic adjustment function which characterized in that: the metamorphic grabbing mechanism comprises a rotating shaft, a driving plate, driven plate claws, a stopping plate and stopping round heads, wherein the driving plate is fixed on the rotating shaft and moves along with the rotating shaft, the driven plate claws are connected on the driving plate through torsion spring hinges, the stopping plate is connected on the driven plate and is positioned on the opposite side of the torsion spring hinges, pretightening force for rotating towards the side direction of the stopping plate is preset on the torsion spring hinges, the stopping round heads are fixed on fixtures near the stopping plate and are used for limiting the movement of the driven plate claws, the metamorphic grabbing mechanism is installed on a transverse moving mechanism of upper frame equipment in pairs, the metamorphic mechanisms used in pairs synchronously and reversely rotate, the transverse moving mechanism comprises a plurality of transverse moving devices in transmission connection, the transverse moving device positioned at the top of the transverse moving mechanism comprises a base and a connecting plate, a fourth guide rail sliding block group, a fourth rack and a fourth driving gear are all arranged on the base, the upper surface of the base is provided with a pair of lugs, the lugs are provided with base shafts, an electromagnet clamping device is arranged below the connecting plate, the base shafts arranged on the lugs penetrate through connecting holes of the electromagnet clamping device, then two ends of the base shafts are supported on the lugs, clamping sliding blocks of the electromagnet clamping device are pressed to the connecting holes by springs to lock the base shafts in the holes, when the electromagnet clamping device is electrified, the clamping sliding blocks are attracted by magnetic force to be away from the connecting holes, the base shafts are loosened to realize free rotation, and one end of the connecting plate is connected with a lifting device of the upper frame device.

2. The metamorphic grasping mechanism with automatic adjustment function according to claim 1, characterized in that: two shafts of the metamorphic grasping mechanism which synchronously and reversely rotates are respectively driven by a gear and a chain wheel which are coaxially driven.

3. The metamorphic grasping mechanism with automatic adjustment function according to claim 2, characterized in that: the metamorphic grabbing mechanism is arranged on the first transverse moving device at the lowest position, the metamorphic grabbing mechanism shaft is supported on the first transverse moving device, a driving plate, driven plate claws and a stop plate of the metamorphic grabbing mechanism are hung below the transverse moving device, the driven plate claws of the metamorphic grabbing mechanism which are arranged in pairs are arranged oppositely, and blocking round heads of the metamorphic grabbing mechanism are arranged on the first transverse moving device at the side of the stop plate.

4. The metamorphic grasping mechanism with automatic adjustment function according to claim 3, characterized in that: the driving plate and the driven plate claw either extend continuously along the axis of the metamorphic grasping mechanism or are arranged at intervals along the axis of the metamorphic grasping mechanism.

5. The metamorphic grasping mechanism with automatic adjustment function according to any of claims 1 to 4, characterized in that: the transverse moving mechanism comprises a first transverse moving device, a second transverse moving device, a third transverse moving device and a fourth transverse moving device positioned at the top, wherein two first racks are arranged on the upper surface of the first transverse moving device in parallel, and the first racks extend along the width direction of the objective table;

6. The metamorphic grasping mechanism with automatic adjustment function according to claim 5, characterized in that: the fourth driving gear is driven by a motor, and the motor is arranged on the base.

7. The metamorphic grasping mechanism with automatic adjustment function according to claim 6, characterized in that: the intermediate gears of the second traverse device are odd number, one group of gears comprises driving wheels with the same number of teeth at two ends and intermediate transmission gears with odd number in the middle, the other group of gears comprises one output gear, the output gear is coaxial with the intermediate transmission gear at the middle, the reference circle diameter of the output gear is half of that of the driving gear, and the transmission gears are smaller than the driving gear.