CN215788452U - Numerical control machine tool for automatically transferring storage positions of crankshafts - Google Patents

Abstract

The utility model relates to a numerical control machine tool for automatically transferring the storage position of a crankshaft, which comprises a rack, wherein a material tray for placing a plurality of workpieces is arranged on the rack, the workpieces are vertically arranged on the material tray, a grabbing mechanism for grabbing the workpieces, a first movement mechanism for controlling the material tray to move towards the grabbing mechanism and a second movement mechanism for controlling the grabbing mechanism to slide in a reciprocating manner are arranged on the rack, and a workpiece to-be-processed placing mechanism connected with the grabbing mechanism is also arranged on the rack. The grabbing mechanism comprises a grabbing device for clamping and loosening a workpiece, a rotating device for adjusting the horizontal state and the vertical state of the grabbing device, and a lifting device for controlling the grabbing device and the rotating device to move towards a material tray workpiece.

Description

Numerical control machine tool for automatically transferring storage positions of crankshafts

Technical Field

The utility model relates to auxiliary equipment for crankshaft machining, in particular to a numerical control machine tool for automatically transferring a storage position of a crankshaft.

Background

Chinese patent document No. CN204136033U discloses a bent axle shelf in 2015 year 5/month 4, which comprises a rectangular frame chassis, four stand columns welded at four corners of the chassis, four rollers mounted at four corners of the bottom of the chassis, a bent axle shelf supported by the stand columns and the chassis, rail type support frames on the left and right sides of the bent axle shelf, shelf baffles at two ends, a group of wave-shaped buffer frames in the middle of the rail type support frames at two sides, and two ends of the wave-shaped buffer frames are fixed on the shelf baffles. The placing frame is characterized in that a group of wavy buffer frames are additionally arranged between the left and right supporting frames, so that the problem that crankshafts are seriously worn or even scrapped due to mutual collision left and right in the process of moving and stopping the crankshafts placed on the placing frame side by side is solved, the product scrappage of the crankshafts is controlled, and the production cost of the crankshafts is reduced; however, the crankshafts are placed in a horizontal mode, the space occupancy rate of the crankshafts is large, the placed crankshafts also need to be conveyed by conveying equipment so as to be matched with automatic production, and due to the fact that the crankshafts placed in the horizontal mode have large space occupancy rates, the crankshafts are easy to collide with adjacent conveying equipment during conveying, and conveying stability is affected. Therefore, further improvements are necessary.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a numerical control machine tool for automatically transferring the storage position of a crankshaft, which reasonably utilizes the space of a material tray, effectively finishes the displacement of the crankshaft and adjusts the crankshaft from a vertical state to a horizontal state, so as to overcome the defects in the prior art.

The numerical control machine tool for automatically transferring the storage positions of the crankshafts comprises a rack, wherein a material tray for placing a plurality of crankshafts is arranged on the rack, the crankshafts are vertically arranged on the material tray, a grabbing mechanism for grabbing the crankshafts, a first movement mechanism for controlling the material tray to move towards the grabbing mechanism and a second movement mechanism for controlling the grabbing mechanism to slide in a reciprocating manner are arranged on the rack, and a crankshaft to-be-processed placing mechanism connected with the grabbing mechanism is further arranged on the rack; the grabbing mechanism comprises a grabbing device for clamping and loosening the crankshaft, a rotating device for adjusting the horizontal state and the vertical state of the grabbing device, and a lifting device for controlling the grabbing device and the rotating device to move towards the crankshaft of the material tray, the grabbing mechanism clamps the crankshaft of the material tray and adjusts the crankshaft into the horizontal state through the rotating device, and the grabbing mechanism places the crankshaft in the horizontal state on the crankshaft placing mechanism to be processed so as to complete the displacement of the crankshaft.

The grabbing device is provided with two clamping positions for grabbing the crankshaft, the rack is provided with a first detection mechanism for detecting the situation that the two clamping positions grab the crankshaft, and the rack is provided with a crankshaft waiting disposal cavity below the reciprocating sliding track of the grabbing mechanism; under the condition that the first detection mechanism detects that only one clamping position clamps the crankshaft, the second movement mechanism controls the grabbing device of the grabbing mechanism to slide above the crankshaft waiting processing cavity so as to place the crankshaft on the crankshaft waiting processing cavity.

The both sides that correspond the charging tray in the frame are equipped with second detection mechanism, and second detection mechanism is including the first support frame that is located charging tray one side, the second support frame that is located the charging tray opposite side, and first support frame, second support frame all are equipped with the detector that detects the bent axle and place at charging tray high position, and the detector of first support frame, second support frame is the subtend setting.

The material tray is provided with a plurality of shaft sleeves which are vertically inserted into the crankshaft, the shaft sleeves are arranged on the material tray in a row-line mode, a limiting strip is arranged on one side of each row of shaft sleeves, a clamping groove is formed in the limiting strip, a positioning ring is arranged on each shaft sleeve, the part of each positioning ring is located in each clamping groove, and a limiting groove is formed in each limiting strip to limit the rotational freedom of the crankshaft inserted into each shaft sleeve.

The mechanism is placed to bent axle waiting to process includes that first bent axle places the position, the position is placed to the second bent axle, first bent axle is placed the position, the position is placed to the second bent axle and is the interval setting, first bent axle is placed the position, the second bent axle is placed and is equipped with first lapse cylinder between the position, the piston rod of first lapse cylinder places a position part cooperation with the second bent axle and is connected, the piston rod of first lapse cylinder drives the second bent axle and places the position and be close to or keep away from first bent axle and place the position to the interval between the position is placed to two bent axles of adjustment.

The first crankshaft placing position and the second crankshaft placing position are fixed on the fixed seat, a second pushing cylinder is arranged on one side of the fixed seat, and a piston rod of the second pushing cylinder is matched and connected with the fixed seat; all be equipped with the third detection mechanism who detects the bent axle on first bent axle is placed the position, the second bent axle is placed the position, and first bent axle is placed the position, the second bent axle is placed the position and all is two fixed blocks that are the interval and set up around, is equipped with the supporting trench that is used for supporting the bent axle on every fixed block.

The rotating device comprises a pushing cylinder, a turning arm and a turning plate, wherein the turning arm is arranged through rotation of a rotating shaft, the turning plate is fixedly connected with the turning arm, the turning plate is matched and connected with the grabbing device part, a first gear is arranged on the rotating shaft, the first gear is provided with a first rack meshed with the first gear, a piston rod of the pushing cylinder is matched and connected with the first rack, the piston rod of the pushing cylinder drives the first rack to move, and the turning arm and the turning plate rotate along with the first gear to further drive the grabbing device to rotate.

The lifting device comprises a lifting cylinder, a piston rod of the lifting cylinder is matched and connected with the rotating device, a sliding block is arranged on the rotating device, a sliding rail in sliding fit with the sliding block is arranged on the rack, and the piston rod of the lifting cylinder drives the rotating device to move up and down along the sliding rail.

The first motion mechanism comprises a moving plate connected with the material tray in a matched mode, a second rack and a circular guide rail sliding assembly, the second rack and the circular guide rail sliding assembly are arranged on the moving plate, the first motion mechanism further comprises a motor, a speed reducer and a second gear which are sequentially connected in a transmission mode, the second gear is meshed with the second rack, the motor and the speed reducer drive the second gear to rotate, and the moving plate drives the material tray to move along the circular guide rail sliding assembly along with the movement of the second rack.

And a fourth detection mechanism for detecting the movement position of the material tray is arranged on the rack on the movement track of the material tray along the circular guide rail sliding assembly.

The second movement mechanism comprises a third rack arranged on the cross beam frame and a linear guide rail assembly arranged between the cross beam frame and the grabbing mechanism, a third gear meshed with the third rack is arranged on the grabbing mechanism, a driving assembly in transmission connection with the third gear is further arranged on the grabbing mechanism, the driving assembly drives the third gear to rotate, and the grabbing mechanism moves along the linear guide rail assembly along with the rotation of the third gear; on the motion trail of the grabbing mechanism, two ends of the cross beam frame are provided with buffer anti-collision pieces, the driving assembly comprises a 90-degree corner speed reducer and a rotating cylinder which are in transmission connection, and the 90-degree corner speed reducer is in transmission connection with the third gear.

The utility model has the following beneficial effects:

the material tray is provided with a shaft sleeve which is vertically inserted into the crankshaft, and a traditional structure that the crankshaft is horizontally placed and occupies a large placing space is eliminated.

Under the condition that the first detection mechanism detects that only one clamping position clamps the crankshaft, the second movement mechanism controls the grabbing device of the grabbing mechanism to slide above the crankshaft waiting processing cavity so as to place the crankshaft on the crankshaft waiting processing cavity. The two clamping positions of the grabbing mechanism are ensured to be clamped with crankshafts, so that the displacement of the two crankshafts is completed, and the next procedure is prevented from being mistaken.

First support frame, second support frame all are equipped with the detector that detects the bent axle and place at charging tray high position, and the detector of first support frame, second support frame is the subtend setting, if the bent axle height is higher, then can send out the police dispatch newspaper, should detect the function and can detect whole bent axle, and it is higher to appear a bent axle promptly, will discover the police dispatch newspaper to inform the user to arrange in order it, guarantee the operating stability of digit control machine tool.

Drawings

Fig. 1, 2 and 3 are schematic perspective views of numerically controlled machine tools for automatically transferring a crankshaft storage position in different directions according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a lifting device according to an embodiment of the present invention.

Fig. 5 is a schematic perspective sectional view of a numerically controlled machine tool for automatically transferring a storage position of a crankshaft according to an embodiment of the present invention.

Fig. 6 is an enlarged schematic view of a portion a in fig. 5.

Fig. 7 is a schematic perspective cross-sectional view of a numerically controlled machine tool for automatically transferring a crankshaft storage position according to an embodiment of the present invention.

Fig. 8 is an enlarged schematic view of a structure at B in fig. 7.

Fig. 9 is a schematic structural diagram of a portion of a gripping mechanism according to an embodiment of the present invention.

FIG. 10 is a schematic view of another orientation of a portion of a gripping mechanism according to an embodiment of the present invention.

Fig. 11 is a schematic structural view of a gripping device of a gripping mechanism in a horizontal state according to an embodiment of the present invention.

Fig. 12 is a schematic structural view illustrating that the crankshaft to-be-processed placing mechanism is fixed on the bracket according to an embodiment of the present invention.

Fig. 13 is a schematic view of another orientation structure of the crankshaft to-be-processed placing mechanism fixed on the bracket according to the embodiment of the utility model.

Fig. 14 is a schematic perspective view of a mechanism for placing a crankshaft to be processed according to an embodiment of the present invention.

Fig. 15 is a schematic perspective view of another orientation of a crankshaft waiting processing and placing mechanism according to an embodiment of the utility model.

Detailed Description

The utility model is further described with reference to the following figures and examples.

Referring to fig. 1-3, the numerical control machine tool for automatically transferring the storage positions of the crankshafts comprises a frame 1, wherein a material tray 3 for placing a plurality of crankshafts 2 is arranged on the frame 1, the plurality of crankshafts 2 are vertically arranged on the material tray 3, a grabbing mechanism 4 for grabbing the crankshafts 2, a first moving mechanism 8 for controlling the material tray 3 to move towards the grabbing mechanism 4, a second moving mechanism 9 for controlling the grabbing mechanism 4 to slide in a reciprocating manner are arranged on the frame 1, and a crankshaft to-be-processed placing mechanism 10 connected with the grabbing mechanism 4 is further arranged on the frame 1; the grabbing mechanism 4 comprises a grabbing device 5 for clamping and loosening the crankshaft 2, a rotating device 6 for adjusting the horizontal state and the vertical state of the grabbing device 5, and a lifting device 7 for controlling the grabbing device 5 and the rotating device 6 to move towards the crankshaft 2 of the material tray 3, the grabbing mechanism 4 clamps the crankshaft 2 of the material tray 3 and adjusts the crankshaft 2 to be in the horizontal state through the rotating device 6, and the grabbing mechanism 4 places the crankshaft 2 in the horizontal state on a crankshaft placement mechanism 10 to be processed so as to complete the displacement of the crankshaft 2.

Referring to fig. 3 and 5, the gripping device 5 is provided with two clamping positions 5.1 for gripping the crankshaft 2, the frame 1 is provided with a first detection mechanism for detecting the condition that the two clamping positions 5.1 grip the crankshaft 2, and the frame 1 is provided with a crankshaft waiting treatment cavity 11 below the reciprocating sliding track of the gripping mechanism 4; in the case that the first detection mechanism detects that only one of the clamping positions 5.1 clamps the crankshaft 2, the second movement mechanism 9 controls the gripping device 5 of the gripping mechanism 4 to slide above the crankshaft waiting and processing cavity 11 so as to place the crankshaft 2 on the crankshaft waiting and processing cavity 11.

Referring to fig. 2 and 5, the rack 1 is provided with second detection mechanisms 12 corresponding to two sides of the tray 3, each second detection mechanism 12 includes a first support frame 13 located on one side of the tray 3 and a second support frame 14 located on the other side of the tray 3, the first support frames 13 and the second support frames 14 are both provided with detectors 15 for detecting the height position of the tray 3 where the crankshaft 2 is placed, and the detectors of the first support frames 13 and the second support frames 14 are arranged in opposite directions.

Referring to fig. 1-3, 5 and 6, a plurality of shaft sleeves 16 are vertically inserted into the crankshaft on the tray 3, the shaft sleeves 16 are arranged on the tray 3 at intervals and are arranged in rows and columns, a limiting strip 17 is arranged on one side of each row of shaft sleeves 16, a clamping groove 17.1 is arranged on the limiting strip 17, a positioning ring 16.1 is arranged on each shaft sleeve 16, part of the positioning ring 16.1 is positioned in the clamping groove 17.1, and a limiting groove 17.2 is arranged on the limiting strip 17 to limit the rotational freedom of the crankshaft inserted into each shaft sleeve 16.

Referring to fig. 12-15, the mechanism 10 is placed to bent axle waiting to process includes that first bent axle places position 18, the position 19 is placed to the second bent axle, position 18 is placed to the first bent axle, the position 19 is placed to the second bent axle and is the interval setting, first bent axle places position 18, be equipped with first lapse cylinder 20 between the position 19 is placed to the second bent axle, the piston rod of first lapse cylinder 20 is connected with the position 19 part cooperation is placed to the second bent axle, the piston rod of first lapse cylinder 20 drives the position 19 is placed to the second bent axle and is close to or keep away from first bent axle and place position 18 to the interval between the two bent axle places positions of adjustment.

The first crankshaft placing position 18 and the second crankshaft placing position 19 are fixed on the fixed seat 21, a second pushing cylinder 22 is arranged on one side of the fixed seat 21, and a piston rod of the second pushing cylinder 22 is partially connected with the fixed seat 21 in a matched mode; all be equipped with the third detection mechanism 23 that detects bent axle 2 on first bent axle place position 18, the second bent axle place position 19, first bent axle place position 18, the second bent axle place position 19 all include two fixed blocks 24 that are the interval setting around, are equipped with the supporting trench 24.1 that is used for supporting bent axle 2 on every fixed block 24.

Referring to fig. 10-11, the rotating device 6 includes a pushing cylinder 25, a turning arm 28 rotatably disposed through a rotating shaft 29, and a turning plate 30 fixedly connected to the turning arm 28, the turning plate 30 is partially connected to the gripping device 5 in a matching manner, the rotating shaft 29 is provided with a first gear 27, the first gear 27 is provided with a first rack 26 meshed with the first gear 27, a piston rod of the pushing cylinder 25 is connected to the first rack 26 in a matching manner, the piston rod of the pushing cylinder 25 drives the first rack 26 to move, and the turning arm 28 and the turning plate 30 rotate along with the first gear 27 to drive the gripping device 5 to rotate.

Referring to fig. 4, the lifting device 7 includes a lifting cylinder 31, a piston rod of the lifting cylinder 31 is partially connected to the rotating device 6 in a matching manner, a sliding block 32 is disposed on the rotating device 6, a sliding rail 33 slidably engaged with the sliding block 32 is disposed on the frame 1, and the piston rod of the lifting cylinder 31 drives the rotating device 6 to move up and down along the sliding rail 33.

Referring to fig. 1 to 5, the first moving mechanism 8 includes a moving plate 34 connected to the tray 3 in a matching manner, a second rack 35 and a circular guide rail sliding assembly 36 disposed on the moving plate 34, the first moving mechanism 8 further includes a motor 39, a speed reducer 38 and a second gear 37 connected in sequence in a transmission manner, the second gear 37 is engaged with the second rack 35, the motor 39 and the speed reducer 38 drive the second gear 37 to rotate, and the moving plate 34 moves along with the second rack 35 to drive the tray 3 to move along the circular guide rail sliding assembly 36.

Referring to fig. 1-5, on the track of the tray 3 moving along the circular guide rail sliding assembly 36, the frame 1 is provided with a fourth detection mechanism 44 for detecting the moving position of the tray 3.

Referring to fig. 1 to 5, the second moving mechanism 9 includes a third rack 41 disposed on the beam frame 40 and a linear guide rail assembly 42 disposed between the beam frame 40 and the grabbing mechanism 4, the grabbing mechanism 4 is provided with a third gear engaged with the third rack 41, the grabbing mechanism 4 is further provided with a driving assembly in transmission connection with the third gear, the driving assembly drives the third gear to rotate, and the grabbing mechanism 4 moves along the linear guide rail assembly 42 along with the rotation of the third gear; on the motion trail of the grabbing mechanism 4, two ends of the cross beam frame 40 are provided with buffer anti-collision pieces 43, the driving assembly comprises a 90-degree corner speed reducer and a rotating cylinder which are in transmission connection, and the 90-degree corner speed reducer is in transmission connection with a third gear.

The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the utility model are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but various changes and modifications may be made without departing from the spirit and scope of the utility model as defined by the appended claims and their equivalents.

Claims (10)

1. The utility model provides a digit control machine tool for bent axle parking position automatic transfer, includes frame (1), its characterized in that: the crankshaft machining device is characterized in that a material tray (3) used for placing a plurality of crankshafts (2) is arranged on the rack (1), the crankshafts (2) are vertically arranged on the material tray (3), a grabbing mechanism (4) for grabbing the crankshafts (2), a first moving mechanism (8) for controlling the material tray (3) to move towards the grabbing mechanism (4) and a second moving mechanism (9) for controlling the grabbing mechanism (4) to slide in a reciprocating mode are arranged on the rack (1), and a crankshaft to-be-machined placing mechanism (10) connected with the grabbing mechanism (4) is further arranged on the rack (1); grabbing mechanism (4) including press from both sides tightly and grabbing device (5) of taking off crankshaft (2), adjusting grabbing device (5) level and vertical state's rotating device (6), control grabbing device (5) and rotating device (6) towards elevating gear (7) of charging tray (3) bent axle (2) motion, grabbing mechanism (4) are got bent axle (2) of charging tray (3) and are got and press from both sides and get bent axle (2) adjustment for the horizontality through rotating device (6), grabbing mechanism (4) place bent axle (2) of horizontality on bent axle treats processing placement mechanism (10), in order to accomplish the aversion of bent axle (2).

2. The numerical control machine tool for automatic transfer of a crankshaft storage position according to claim 1, characterized in that: the clamping device (5) is provided with two clamping positions (5.1) for grabbing the crankshaft (2), the rack (1) is provided with a first detection mechanism for detecting the situation that the two clamping positions (5.1) grab the crankshaft (2), and the rack (1) is provided with a crankshaft waiting treatment cavity (11) below the reciprocating sliding track of the grabbing mechanism (4); under the condition that the first detection mechanism detects that only one clamping position (5.1) clamps the crankshaft (2), the second movement mechanism (9) controls the grabbing device (5) of the grabbing mechanism (4) to slide above the crankshaft waiting treatment cavity (11) so as to place the crankshaft (2) on the crankshaft waiting treatment cavity (11).

3. The numerical control machine tool for automatic transfer of a crankshaft storage position according to claim 1, characterized in that: the both sides that correspond charging tray (3) on frame (1) are equipped with second detection mechanism (12), second detection mechanism (12) are including first support frame (13) that are located charging tray (3) one side, second support frame (14) that are located charging tray (3) opposite side, first support frame (13), second support frame (14) all are equipped with and detect bent axle (2) and place detector (15) at charging tray (3) high position, and the detector of first support frame (13), second support frame (14) is subtend setting.

4. The numerical control machine tool for automatic transfer of a crankshaft storage position according to claim 1, characterized in that: be equipped with vertical axle sleeve (16) that insert the bent axle on charging tray (3), axle sleeve (16) are equipped with a plurality of, and a plurality of axle sleeve (16) interval sets up and is ranks and arranges on charging tray (3), one side of every row of axle sleeve (16) is equipped with spacing (17), be equipped with draw-in groove (17.1) on spacing (17), be equipped with holding ring (16.1) on axle sleeve (16), holding ring (16.1) part is located draw-in groove (17.1), be equipped with spacing groove (17.2) on spacing (17), rotate the degree of freedom with the bent axle that the restriction inserted in axle sleeve (16).

5. The numerical control machine tool for automatic transfer of a crankshaft storage position according to claim 1, characterized in that: mechanism (10) is placed including first bent axle to the bent axle is waited to process, position (18) are placed to the second bent axle, position (19) are placed to first bent axle, position (18) are placed to the first bent axle, position (19) are the interval setting to the second bent axle, first bent axle is placed position (18), be equipped with first cylinder (20) of advancing between position (19) are placed to the second bent axle, the piston rod of first cylinder (20) of advancing is placed position (19) part cooperation with the second bent axle and is connected, the piston rod of first cylinder (20) of advancing drives second bent axle and is placed position (19) and be close to or keep away from first bent axle and place position (18) to the interval between the position is placed to two bent axles of adjustment.

6. The numerical control machine tool for automatic transfer of a storage position of crankshafts of claim 5, characterized in that: the first crankshaft placing position (18) and the second crankshaft placing position (19) are fixed on a fixed seat (21), a second pushing cylinder (22) is arranged on one side of the fixed seat (21), and a piston rod of the second pushing cylinder (22) is partially connected with the fixed seat (21) in a matching manner; all be equipped with third detection mechanism (23) that detect bent axle (2) on first bent axle is placed position (18), the second bent axle is placed position (19), and first bent axle is placed position (18), the second bent axle is placed position (19) and all is fixed block (24) that the interval set up around two, is equipped with supporting trench (24.1) that are used for supporting bent axle (2) on every fixed block (24).

7. The numerical control machine tool for automatic transfer of a crankshaft storage position according to claim 1, characterized in that: the rotating device (6) comprises a pushing cylinder (25), a turning arm (28) rotatably arranged through a rotating shaft (29), and a turning plate (30) fixedly connected with the turning arm (28), the turning plate (30) is partially matched and connected with the gripping device (5), a first gear (27) is arranged on the rotating shaft (29), the first gear (27) is provided with a first rack (26) meshed with the first gear (27), a piston rod of the pushing cylinder (25) is matched and connected with the first rack (26), the piston rod of the pushing cylinder (25) drives the first rack (26) to move, and the turning arm (28) and the turning plate (30) rotate along with the first gear (27) to further drive the gripping device (5) to rotate;

the lifting device (7) comprises a lifting cylinder (31), a piston rod of the lifting cylinder (31) is matched and connected with a part of the rotating device (6), a sliding block (32) is arranged on the rotating device (6), a sliding rail (33) in sliding fit with the sliding block (32) is arranged on the rack (1), and the piston rod of the lifting cylinder (31) drives the rotating device (6) to move up and down along the sliding rail (33).

8. The numerical control machine tool for automatic transfer of a crankshaft storage position according to claim 1, characterized in that: first motion (8) include movable plate (34) of being connected with charging tray (3) cooperation, set up second rack (35) and circular guide rail sliding component (36) on movable plate (34), first motion (8) still include motor (39), reduction gear (38), second gear (37) that transmission is connected in proper order, second gear (37) and second rack (35) meshing, motor (39), reduction gear (38) drive second gear (37) and rotate, movable plate (34) move along second rack (35) and drive charging tray (3) and move along circular guide rail sliding component (36).

9. The numerical control machine tool for automatic transfer of a crankshaft storage position according to claim 8, characterized in that: on the track that the charging tray (3) moves along the circular guide rail sliding assembly (36), a fourth detection mechanism (44) for detecting the movement position of the charging tray (3) is arranged on the rack (1).

10. The numerical control machine tool for automatic transfer of a crankshaft storage position according to claim 1, characterized in that: the second movement mechanism (9) comprises a third rack (41) arranged on the cross beam frame (40) and a linear guide rail assembly (42) arranged between the cross beam frame (40) and the grabbing mechanism (4), a third gear meshed with the third rack (41) is arranged on the grabbing mechanism (4), a driving assembly in transmission connection with the third gear is further arranged on the grabbing mechanism (4), the driving assembly drives the third gear to rotate, and the grabbing mechanism (4) moves along the linear guide rail assembly (42) along with the rotation of the third gear; on the motion trail of the grabbing mechanism (4), two ends of the beam frame (40) are respectively provided with a buffer anti-collision piece (43), the driving assembly comprises a 90-degree corner speed reducer and a rotating cylinder which are in transmission connection, and the 90-degree corner speed reducer is in transmission connection with the third gear.

Images