CN221114608U

CN221114608U - Material mechanism is grabbed in angle accompaniment

Info

Publication number: CN221114608U
Application number: CN202323301570.8U
Authority: CN
Inventors: 欧阳普; 吴客红; 陈红; 蔡敏强
Original assignee: Xiamen Putian Technology Co ltd
Current assignee: Xiamen Putian Technology Co ltd
Priority date: 2023-12-05
Filing date: 2023-12-05
Publication date: 2024-06-11
Anticipated expiration: 2033-12-05

Abstract

The application discloses an angle accompanying grabbing mechanism, which comprises: the device comprises a base, a connecting frame and a headstock, wherein a vertical plate is arranged at the top of the base, a driving plate is slidably arranged on one side of the vertical plate, a rack plate is arranged at one end, far away from the vertical plate, of the driving plate, a supporting plate is arranged on one side of the top of the vertical plate, a motor is arranged on the upper end face of the supporting plate, a driving rod is arranged at the output end of the motor, and the driving rod penetrates through the supporting plate, extends to the lower side of the supporting plate and is located on one side of the rack plate. According to the angle accompanying grabbing mechanism disclosed by the application, the grabbing range of the angle accompanying grabbing mechanism can be increased by adjusting the position and the angle of the grabbing sucker, so that the grabbing sucker is completely adsorbed on the corner protector of the paper box, the trouble that the paper box in a fixed space can only be grabbed is avoided, the situation that the paper box falls off due to incomplete adsorption of the grabbing sucker on the corner protector of the paper box caused by angular deviation between the grabbing sucker and the corner protector of the paper box is avoided, the stability of the paper box is ensured, and the practicability is strong.

Description

Material mechanism is grabbed in angle accompaniment

Technical Field

The utility model relates to the technical field of grabbing equipment, in particular to an angle accompanying grabbing mechanism.

Background

The automatic carton forming machine and the automatic carton opening machine are production line equipment for automatically opening a large number of cartons, automatically folding a lower cover and automatically sealing the lower adhesive tape, are controlled by a PLC+display screen, are greatly convenient to operate, are necessary equipment for automatic mass production, and are provided with an angle accompanying grabbing mechanism which is used for grabbing cartons on the carton packaging equipment, are corner protectors for adsorbing the cartons on the carton through grabbing suckers arranged on the angle accompanying grabbing mechanism, carry the cartons on a conveying line, feed and discharge the cartons by the conveying line, and facilitate processing and transportation of the cartons.

However, most of the positions of the existing angle accompanying mechanisms are fixed, so that articles in a fixed space can be only grabbed, certain space limitation is achieved, and the positions of the cartons are easy to deviate, the angle accompanying mechanisms can only grab the corner protectors of the cartons at the fixed positions, when the cartons are grabbed, certain angle deviation is easily achieved between the grabbing suction cups on the angle accompanying mechanisms and the corner protectors of the cartons, the grabbing suction cups cannot be completely adsorbed on the corner protectors of the cartons, and therefore the cartons are easy to fall off when grabbed, and certain mounting hidden trouble is achieved. Accordingly, one skilled in the art provides an angle-accompanied gripping mechanism to solve the problems set forth in the background art.

Disclosure of utility model

The utility model aims to provide an angle accompanying grabbing mechanism so as to solve the problems in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

An angle accompanies and grabs material mechanism includes: the device comprises a base, a connecting frame and a headstock, wherein a vertical plate is arranged at the top of the base, a driving plate is slidably arranged at one side of the vertical plate, a rack plate is arranged at one end of the driving plate, which is far away from the vertical plate, a supporting plate is arranged at one side of the top of the vertical plate, a motor is arranged on the upper end face of the supporting plate, a driving rod is arranged at the output end of the motor, the driving rod penetrates through the supporting plate to extend to the lower side of the supporting plate and is positioned at one side of the rack plate, a gear is arranged at one end of the driving rod, which is positioned below the supporting plate, the gear is meshed with the rack plate, the connecting frame is arranged at the end of the base, a limiting plate and an L-shaped side plate are respectively arranged at two sides of the connecting frame, wherein the limiting plate slides at one side of the vertical plate, one side of the driving plate is far away from the driving plate, a part of the L-shaped side plate is extended to the side of the driving plate and is slidably arranged at the side wall of the driving plate, a positioning column is arranged at the end of the driving plate, the positioning column penetrates through the L-shaped side plate and is slidably arranged inside the positioning column, the outer wall of the positioning column is positioned between the driving plate and the L-shaped side plate and is surrounded by a spring, the frame is arranged at one end of the connecting frame far away from the base, an adjusting frame is rotatably arranged at one end of the side wall of the frame close to the connecting frame, two clamping plates which are symmetrically distributed are arranged at the side wall of the adjusting frame, a rotating shaft is arranged between the two clamping plates, two supporting plates which are symmetrically distributed are arranged at one end of the connecting frame close to the frame, one ends of the two supporting plates far away from the connecting frame are all extended between the two clamping plates and are rotatably arranged on the outer wall of the rotating shaft, a first air cylinder is arranged at the back of the limiting plate, an extension rod is arranged at the output end of the first air cylinder, the other end of the extension rod is rotatably arranged at the end face of the adjusting frame, a second air cylinder is arranged at the side wall of the two clamping plates, a push rod is arranged at the output end of the second air cylinder, a push plate is arranged at the other end of the push rod, the push plate is rotatably arranged on the outer wall of the headstock, and the two ends of the headstock are provided with grabbing suckers for grabbing materials.

Preferably, the outer wall of the driving plate is provided with a sliding rail below the rack plate, a sliding groove is formed in the position, corresponding to the sliding rail, of the inner side of the L-shaped side plate, the sliding rail is slidably mounted in the sliding groove, a limiting sliding block is arranged on the outer wall of the other side of the driving plate, a groove is formed in the position, corresponding to the limiting sliding block, of the outer wall of the vertical plate, the limiting sliding block is slidably mounted in the groove, and the driving plate is slidably mounted between the vertical plate and the L-shaped side plate.

Preferably, the through hole is formed in the position of the L-shaped side plate corresponding to the positioning column, the positioning column penetrates through the through hole and extends to the outer portion of the L-shaped side plate, a circular baffle is arranged at one end of the positioning column, located on the outer portion of the L-shaped side plate, and the end face area of the circular baffle is larger than the opening area of the through hole.

Preferably, the top of base is located the riser and is kept away from one side of drive plate and is provided with spacing frame, and the spacing groove has been seted up to the inside of spacing frame, and limiting plate slidable mounting is in the inside of spacing groove.

Preferably, an empty slot is formed between the two clamping plates, the rotating shaft is arranged in the empty slot, and the two supporting plates extend to the inside of the empty slot and are rotatably arranged on the outer wall of the rotating shaft.

Preferably, the end face of the adjusting frame is provided with a convex seat at a position corresponding to the extending rod, one end of the extending rod, which is far away from the first cylinder, is provided with a connector, and the connector is rotatably arranged outside the convex seat.

Preferably, the shape of the sliding rail is convex, the sliding rail is clamped on the inner side of the L-shaped side plate through the sliding groove and slides on the inner side of the L-shaped side plate, and the width of the sliding rail is larger than that of the rack plate.

Compared with the prior art, the utility model has the advantages that:

Through arranging the connecting frame and the headstock, when the angle accompanying mechanism is used, the motor is driven to work firstly, the gear arranged on the connecting frame through the driving rod is driven to rotate, the rack plate meshed with the gear is driven to displace, the rack plate in displacement drives the driving plate fixed with the rack plate to displace between the vertical plate and the L-shaped side plate, the driving plate in displacement drives the connecting frame to displace on the base, and drives the headstock arranged on the connecting frame to displace, so that the position of the grabbing sucker on the headstock is regulated, meanwhile, the first cylinder works to drive the extension rod at the output end of the first cylinder to extend, drives the connector arranged on the first cylinder to displace, and then drives the connector arranged on the regulating frame to displace through the rotation of the convex seat, the regulating frame rotates at the end part of the connecting frame through the cooperation of the rotating shaft and the supporting plate, the regulation of the vertical angle of the headstock is realized, finally, the second air cylinders arranged at the two sides of the adjusting frame work to drive the push rod arranged at the output end of the adjusting frame to extend out and drive the push plate arranged on the push rod to displace, so that the push plate pushes or pulls the headstock at the two sides of the adjusting frame, the headstock deflects left and right at the end part of the adjusting frame, the transverse angle of the grabbing sucker on the headstock is adjusted, the grabbing range of the grabbing sucker with the grabbing mechanism can be increased by adjusting the position and angle of the grabbing sucker, the grabbing sucker is completely adsorbed at the corner protector of the paper box, the trouble that the grabbing sucker can only grab the paper box in a fixed space due to the fixed mounting position of the grabbing mechanism with the angle is avoided, the situation that the grabbing sucker is not completely adsorbed at the corner protector of the paper box due to the angle deviation between the grabbing sucker and the paper box is avoided, the stability of the carton is guaranteed, and the practicability is strong.

Drawings

FIG. 1 is a schematic perspective view of an angle-companion grabbing mechanism according to an embodiment of the present utility model;

FIG. 2 is a perspective view of an angle-companion grabbing mechanism according to an embodiment of the present utility model;

FIG. 3 is a perspective view of a base according to an embodiment of the utility model;

FIG. 4 is a perspective view of a connector according to an embodiment of the present utility model;

FIG. 5 is a perspective view of a head frame according to an embodiment of the present utility model;

fig. 6 is a schematic perspective view of a driving plate according to an embodiment of the present utility model;

Fig. 7 is a schematic connection diagram of a driving plate and an L-shaped side plate according to an embodiment of the present utility model.

In the figure: 1. a base; 11. a vertical plate; 111. a groove; 12. a supporting plate; 13. a motor; 14. a gear; 15. a driving plate; 151. a slide rail; 152. a limit sliding block; 16. rack plate; 17. positioning columns; 171. a circular baffle; 18. a spring; 19. a limit frame; 191. a limit groove; 2. a connecting frame; 21. a limiting plate; 22. an L-shaped side plate; 221. a chute; 222. a through hole; 23. a support plate; 24. a first cylinder; 241. an extension rod; 3. a headstock; 31. an adjusting frame; 32. a clamping plate; 321. a hollow groove; 33. a rotating shaft; 34. a convex seat; 35. a second cylinder; 351. a push plate; 36. and a material grabbing sucker.

Detailed Description

In the description of the present utility model, it should be understood that the terms "center," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more. In addition, the term "include" and any variations thereof are intended to cover a non-exclusive inclusion.

As shown in fig. 1, fig. 2, fig. 3, fig. 6 and fig. 7, the top of the base 1 is provided with a vertical plate 11, the outer wall of the other side of the driving plate 15 is provided with a limit slide block 152, the position of the outer wall of the vertical plate 11 corresponding to the limit slide block 152 is provided with a groove 111, the limit slide block 152 is slidably mounted in the groove 111, one end of the driving plate 15 far away from the vertical plate 11 is provided with a rack plate 16, one side of the top of the vertical plate 11 is provided with a supporting plate 12, the upper end surface of the supporting plate 12 is provided with a motor 13, the output end of the motor 13 is provided with a driving rod, the driving rod penetrates through the supporting plate 12 to extend below and is positioned at one side of the rack plate 16, one end of the driving rod positioned below the supporting plate 12 is provided with a gear 14, the gear 14 is meshed with the rack plate 16, the connecting frame 2 is arranged at the end of the base 1, two sides of the connecting frame 2 are respectively provided with a limiting plate 21 and an L-shaped side plate 22, wherein, the top of the base 1 is provided with a limit frame 19 at one side of the vertical plate 11 far away from the driving plate 15, a limit groove 191 is arranged in the limit frame 19, the limit plate 21 is slidably mounted in the limit groove 191, a slide rail 151 is arranged at the lower part of the rack plate 16 on the outer wall of the driving plate 15, a slide groove 221 is arranged at the position corresponding to the slide rail 151 on the inner side of the L-shaped side plate 22, the slide rail 151 is slidably mounted in the slide groove 221, a positioning column 17 is arranged at the end of the driving plate 15, a through hole 222 is arranged at the position corresponding to the positioning column 17 on the L-shaped side plate 22, the positioning column 17 penetrates through the through hole 222 and extends to the outside of the L-shaped side plate 22, a circular baffle 171 is arranged at one end of the positioning column 17 positioned outside the L-shaped side plate 22, the end surface area of the circular baffle 171 is larger than the opening area of the through hole 222, the outer wall of the positioning column 17 is positioned between the driving plate 15 and the L-shaped side plate 22 and is surrounded by a spring 18.

In one embodiment, when adjusting the position of the headstock 3, the motor 13 is driven to work, the gear 14 mounted on the motor 13 through the driving rod is driven to rotate positively, the rack plate 16 meshed with the gear 14 is driven to displace, then the rack plate 16 in displacement drives the driving plate 15 to displace, the driving plate 15 is driven to displace between the vertical plate 11 and the L-shaped side plate 22 through the matching of the sliding rail 151, the limit sliding block 152, the groove 111 and the sliding groove 221, then the driving plate 15 in displacement drives the L-shaped side plate 22 to displace, the connecting frame 2 mounted on the L-shaped side plate 22 is driven to displace on the base 1 through the matching of the limit plate 21 and the limit groove 191, and meanwhile, the connecting frame 2 in displacement drives the headstock 3 mounted on the connecting frame 3 to displace, so that the position of the grabbing sucker 36 on the headstock 3 is adjusted, the position of the grabbing sucker 36 can be adjusted, the grabbing range of the angle accompanying the grabbing mechanism is increased, the trouble that the cartons in the fixed space can only be grabbed due to the fact that the installation positions of the angle accompanying the grabbing mechanism are fixed is avoided, and the cartons in different positions are suitable for grabbing.

In one embodiment, when the driving plate 15 pushes the connecting frame 2 to displace, the driving plate 15 slides between the vertical plate 11 and the L-shaped side plate 22 to push the connecting frame 2, so that the positioning column 17 mounted on the driving plate 15 slides in the through hole 222, the driving plate 15 extrudes the spring 18, the thrust of the driving plate 15 can be buffered by the spring 18, the condition that the connecting frame 2 is damaged due to the fact that the force of collision between the driving plate 15 and the L-shaped side plate 22 is large due to the fact that the thrust of the driving plate 15 is large is avoided, and the service life of the connecting frame 2 is prolonged.

In one embodiment, when resetting the position of the headstock 3, the motor 13 is driven to work, the gear 14 mounted on the motor 13 through the driving rod is driven to reversely rotate, the rack plate 16 meshed with the gear 14 is driven to displace, the driving plate 15 is driven to displace by the rack plate 16 in displacement, the driving plate 15 is displaced between the vertical plate 11 and the L-shaped side plate 22 to the end far away from the connecting frame 2 through the cooperation of the sliding rail 151, the limit sliding block 152, the groove 111 and the sliding groove 221, the positioning column 17 mounted on the driving plate 15 slides in the through hole 222, and the circular baffle 171 mounted on the positioning column 17 is attached to the outer wall of the L-shaped side plate 22, so that the connecting frame 2 and the headstock 3 are pulled to reset, and the position of the grabbing sucker 36 on the headstock 3 is adjusted.

As shown in fig. 1, fig. 2, fig. 4 and fig. 5, the frame 3 is disposed at one end of the connecting frame 2 far away from the base 1, and the side wall of the frame 3 is close to one end of the connecting frame 2 and is rotatably provided with the adjusting frame 31, the side wall of the adjusting frame 31 is provided with two clamping plates 32 which are symmetrically distributed, a hollow groove 321 is formed between the two clamping plates 32, the rotating shaft 33 is disposed in the hollow groove 321, one end of the connecting frame 2 close to the frame 3 is provided with two supporting plates 23 which are symmetrically distributed, one ends of the two supporting plates 23 far away from the connecting frame 2 are all extended to the hollow groove 321 and rotatably mounted on the outer wall of the rotating shaft 33, the back of the limiting plate 21 is provided with a first cylinder 24, the output end of the first cylinder 24 is provided with an extending rod 241, one end of the adjusting frame 31 corresponding to the extending rod 241 is provided with a connector, the connector is rotatably mounted on the outer portion of the convex seat 34, and the side walls of the two clamping plates 32 are both provided with a second cylinder 35, the output end of the second cylinder 35 is provided with a pushing plate 351, and the other end of the pushing plate 351 is rotatably mounted on the outer wall of the frame 3, and the other end of the pushing plate 351 is provided with a material grabbing plate 36.

In one embodiment, when the angle of the grabbing sucker 36 is adjusted, the first air cylinder 24 works to drive the extending rod 241 at the output end of the grabbing sucker to extend, and drive the connector mounted on the extending rod 241 to displace, then the connector mounted on the adjusting frame 31 is rotated by the convex seat 34 to push the adjusting frame 31 to displace, the adjusting frame 31 is rotated at the end of the connecting frame 2 through the matching of the rotating shaft 33 and the support plate 23, the vertical angle of the machine head frame 3 is adjusted, finally, the second air cylinder 35 mounted on two sides of the adjusting frame 31 works to drive the push rod mounted on the output end of the adjusting frame 31 to extend, and drive the push plate 351 mounted on the push rod to displace, so that the push plate 351 pushes or pulls the machine head frame 3 on two sides of the adjusting frame 31, the transverse angle of the machine head frame 3 is adjusted, the angle of the grabbing sucker 36 on the machine head frame 3 is adjusted, the angle of the grabbing sucker 36 can be adjusted, the grabbing sucker 36 is completely adsorbed at the corner of the carton, and the carton 36 is prevented from being adsorbed and being damaged due to the corner of the carton.

The working principle of the utility model is as follows: when the angle accompanying mechanism is used, the motor 13 is driven to work, the gear 14 arranged on the motor is driven to rotate forwards through the driving rod, the rack plate 16 meshed with the gear 14 is driven to displace, the rack plate 16 in displacement drives the driving plate 15 to displace, the driving plate 15 is driven to displace between the vertical plate 11 and the L-shaped side plate 22 through the matching of the sliding rail 151, the limit sliding block 152, the groove 111 and the sliding groove 221, the driving plate 15 in displacement drives the L-shaped side plate 22 to displace, the connecting frame 2 arranged on the L-shaped side plate 22 is driven to displace on the base 1 through the matching of the limit plate 21 and the limit groove 191, the connecting frame 2 in displacement drives the machine head frame 3 arranged on the connecting frame, the position of the grabbing sucker 36 on the machine head frame 3 is regulated, the extending rod 241 at the output end of the machine head frame 3 is driven to extend through the working of the first cylinder 24, and drive the connector installed on the extension rod 241 to displace, then let the connector installed on the adjusting frame 31 rotate through the convex seat 34 to push the adjusting frame 31 to displace, let the adjusting frame 31 rotate at the end of the connecting frame 2 through the cooperation of the rotating shaft 33 and the supporting plate 23, thereby realizing the adjustment of the vertical angle of the machine head frame 3, finally, drive the push rod installed at the output end of the adjusting frame 31 to extend through the second air cylinder 35 installed at both sides of the adjusting frame 31, and drive the push plate 351 installed on the push rod to displace, let the push plate 351 push or pull the machine head frame 3 at both sides of the adjusting frame 31, let the machine head frame 3 offset left and right at the end of the adjusting frame 31, realize the adjustment of the transverse angle of the machine head frame 3, thereby completing the adjustment of the position and angle of the grabbing sucker 36 on the machine head frame 3, and increasing the grabbing range of the angle accompanying grabbing mechanism through adjusting the position and angle of the grabbing sucker 36, let grab material sucking disc 36 adsorb completely at the angle bead of carton, avoided because of the fixed trouble appearance that leads to it to snatch the carton in the fixed space of installation position that grabs material mechanism is accompanied to the angle, also avoided because of grabbing the angle deviation between the angle bead of material sucking disc 36 and carton and having the condition emergence that the carton drops because of grabbing the angle bead that material sucking disc 36 is not fully adsorbed at the carton, guaranteed the steadiness of carton, the practicality is strong.

The foregoing description is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical solution of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims

1. An angle accompanies and grabs material mechanism includes: base (1), link (2) and aircraft nose frame (3), characterized in that, the top of base (1) is provided with riser (11), one side slidable mounting of riser (11) has drive plate (15), one end that drive plate (15) kept away from riser (11) is provided with rack board (16), the top one side of riser (11) is provided with layer board (12), the up end of layer board (12) is provided with motor (13), the output of motor (13) is provided with the actuating lever, the actuating lever run through in layer board (12) extend to its below and lie in one side of rack board (16), and the actuating lever is located one end below layer board (12) is provided with gear (14), gear (14) with rack board (16) mesh, link (2) set up the tip of base (1) and, both sides of link (2) are provided with limiting plate (21) and L type curb plate (22) respectively, wherein, drive plate (21) extend to one side of riser (15) is kept away from to one side of drive plate (15), and the end of the driving plate (15) is provided with a positioning column (17), the positioning column (17) penetrates through the L-shaped side plate (22) and is slidably mounted in the L-shaped side plate, a spring (18) is arranged between the driving plate (15) and the L-shaped side plate (22) in a surrounding manner on the outer wall of the positioning column (17), the machine head frame (3) is arranged at one end of the connecting frame (2) far away from the base (1), an adjusting frame (31) is rotatably mounted at one end of the side wall of the machine head frame (3) close to the connecting frame (2), two clamping plates (32) which are symmetrically distributed are arranged at the side wall of the adjusting frame (31), a rotating shaft (33) is arranged between the two clamping plates (32), two supporting plates (23) which are symmetrically distributed are arranged at one end of the connecting frame (2) close to the machine head frame (3), one end of the two supporting plates (23) far away from the connecting frame (2) is extended to the two clamping plates (32) and rotatably mounted at one end of the first air cylinder (241) extends out of the first end face (24) of the first air cylinder (241), the lateral walls of two splint (32) all are provided with second cylinder (35), the output of second cylinder (35) is provided with the push rod, and push pedal (351) are installed to the other end of push rod, push pedal (351) are rotated and are installed the outer wall of frame (3), the both ends of frame (3) all are provided with and are used for grabbing material sucking disc (36) of grabbing the material.

2. The angle accompanying grabbing mechanism according to claim 1, wherein the outer wall of the driving plate (15) is located below the rack plate (16) and provided with a sliding rail (151), a sliding groove (221) is formed in the position, corresponding to the sliding rail (151), of the inner side of the L-shaped side plate (22), the sliding rail (151) is slidably mounted in the sliding groove (221), a limit sliding block (152) is arranged on the outer wall of the other side of the driving plate (15), a groove (111) is formed in the position, corresponding to the limit sliding block (152), of the outer wall of the vertical plate (11), the limit sliding block (152) is slidably mounted in the groove (111), and the driving plate (15) is slidably mounted between the vertical plate (11) and the L-shaped side plate (22).

3. The angle accompanying grabbing mechanism according to claim 1, wherein a through hole (222) is formed in a position, corresponding to the positioning column (17), of the L-shaped side plate (22), the positioning column (17) penetrates through the through hole (222) and extends to the outer portion of the L-shaped side plate (22), a circular baffle plate (171) is arranged at one end, located on the outer portion of the L-shaped side plate (22), of the positioning column (17), and the end face area of the circular baffle plate (171) is larger than the opening area of the through hole (222).

4. The angle accompanying grabbing mechanism according to claim 1, wherein a limiting frame (19) is arranged on one side, away from the driving plate (15), of the vertical plate (11) at the top of the base (1), a limiting groove (191) is formed in the limiting frame (19), and the limiting plate (21) is slidably mounted in the limiting groove (191).

5. An angle accompanying grabbing mechanism as claimed in claim 1, wherein a hollow groove (321) is formed between two clamping plates (32), the rotating shaft (33) is mounted in the hollow groove (321), and two supporting plates (23) extend into the hollow groove (321) and are rotatably mounted on the outer wall of the rotating shaft (33).

6. An angle accompanying grabbing mechanism as claimed in claim 1, wherein a convex seat (34) is provided at a position of the end face of the adjusting frame (31) corresponding to the protruding rod (241), a connector is provided at one end of the protruding rod (241) away from the first cylinder (24), and the connector is rotatably mounted outside the convex seat (34).

7. An angle accompanying grabbing mechanism as claimed in claim 2, wherein the shape of the sliding rail (151) is convex, the sliding rail (151) is clamped on the inner side of the L-shaped side plate (22) through the sliding groove (221) and slides on the inner side of the L-shaped side plate, and the width of the sliding rail (151) is larger than the width of the rack plate (16).