A CNC machine tool for automatically transferring the storage position of a crankshaft

Abstract

The present invention relates to a CNC machine tool for automatically transferring the storage position of a crankshaft, comprising a frame, a material tray for placing a plurality of workpieces is arranged on the frame, the plurality of workpieces are arranged vertically on the material tray, a grasping mechanism for grasping the workpieces, a first motion mechanism for controlling the material tray to move toward the grasping mechanism, a second motion mechanism for controlling the reciprocating sliding of the grasping mechanism is provided on the frame, and a workpiece placement mechanism to be processed connected to the grasping mechanism is also provided on the frame. The grasping mechanism of the present invention comprises a grasping device for clamping and loosening the workpiece, a rotating device for adjusting the horizontal and vertical states of the grasping device, and a lifting device for controlling the grasping device and the rotating device to move toward the workpiece on the material tray. The grasping mechanism clamps the workpiece on the material tray and adjusts the workpiece to a horizontal state through the rotating device. The grasping mechanism places the workpiece in a horizontal state on the workpiece placement mechanism to be processed to complete the displacement of the workpiece.

Description

Technical Field

[0001] The invention relates to a crankshaft machining auxiliary device, in particular to a numerically controlled machine tool for automatically transferring the storage position of a crankshaft. Background Art

[0002] The Chinese patent document number CN204136033U disclosed a crankshaft display rack on May 4, 2015, which includes a rectangular frame frame, four columns welded to the four corners of the frame, four rollers installed at the four corners of the bottom of the frame, a crankshaft display table supported by the columns and the frame, and a railing support frame on the left and right sides of the crankshaft display table, and a display rack baffle at both ends, and a group of wavy buffer frames in the middle of the railing support frames on both sides, and the two ends of the wavy buffer frames are fixed on the display rack baffle. It is said that the display rack solves the problem of severe wear and even scrapping caused by left and right collisions during the stop and start process of the crankshafts placed side by side on the display rack by adding a group of wavy buffer frames in the middle of the left and right support frames, controls the product scrap rate of the crankshaft, and thus reduces the production cost of the crankshaft; however, the crankshaft is placed horizontally, and its space occupancy rate is large. The placed crankshaft also needs to be transported by handling equipment to cooperate with automated production, but due to the large space occupancy rate of the horizontally placed crankshaft, it is easy to collide with the adjacent handling equipment during transportation, affecting the handling stability. Therefore, further improvement is necessary. Summary of the invention

[0003] The purpose of the present invention is to provide a CNC machine tool for automatically transferring the crankshaft storage position, which can reasonably utilize the space of the material tray, effectively complete the crankshaft displacement, and adjust the crankshaft from a vertical state to a horizontal state, so as to overcome the shortcomings of the prior art.

[0004] A CNC machine tool designed for the purpose of automatically transferring the storage position of a crankshaft comprises a frame, a material tray for placing a plurality of crankshafts is arranged vertically on the material tray, a grasping mechanism for grasping the crankshaft, a first motion mechanism for controlling the material tray to move toward the grasping mechanism, a second motion mechanism for controlling the reciprocating sliding of the grasping mechanism is provided on the frame, and a crankshaft to-be-processed placement mechanism connected to the grasping mechanism is also provided on the frame; the grasping mechanism comprises a grasping device for clamping and loosening the crankshaft, a rotating device for adjusting the horizontal and vertical states of the grasping device, and a lifting device for controlling the grasping device and the rotating device to move toward the crankshaft of the material tray, the grasping mechanism clamps the crankshaft of the material tray and adjusts the crankshaft to a horizontal state through the rotating device, and the grasping mechanism places the crankshaft in a horizontal state on the crankshaft to-be-processed placement mechanism to complete the displacement of the crankshaft.

[0005] The gripping device is provided with two clamping positions for gripping the crankshaft, and the frame is provided with a first detection mechanism for detecting the gripping of the crankshaft by the two clamping positions, and the frame is provided with a crankshaft waiting disposal chamber below the reciprocating sliding track of the gripping mechanism; when the first detection mechanism detects that only one of the clamping positions grips the crankshaft, the second motion mechanism controls the gripping device of the gripping mechanism to slide above the crankshaft waiting disposal chamber to place the crankshaft on the crankshaft waiting disposal chamber.

[0006] A second detection mechanism is provided on both sides of the frame corresponding to the material tray, and the second detection mechanism includes a first support frame located on one side of the material tray and a second support frame located on the other side of the material tray. The first support frame and the second support frame are both provided with detectors for detecting the height position of the crankshaft placed on the material tray, and the detectors of the first support frame and the second support frame are arranged opposite to each other.

[0007] The material tray is provided with a sleeve that is vertically inserted into the crankshaft. There are a plurality of sleeves, and the sleeves are spaced apart and arranged in rows and columns on the material tray. A limit bar is provided on one side of each column of sleeves, and a groove is provided on the limit bar. A positioning ring is provided on the sleeve, and the positioning ring is partially located in the groove. A limit groove is provided on the limit bar to limit the rotational freedom of the crankshaft inserted into the sleeve.

[0008] The crankshaft to be processed placement mechanism includes a first crankshaft placement position and a second crankshaft placement position, the first crankshaft placement position and the second crankshaft placement position are arranged at intervals, a first push cylinder is arranged between the first crankshaft placement position and the second crankshaft placement position, the piston rod of the first push cylinder is partially connected with the second crankshaft placement position, and the piston rod of the first push cylinder drives the second crankshaft placement position to approach or move away from the first crankshaft placement position to adjust the interval between the two crankshaft placement positions.

[0009] The first crankshaft placement position and the second crankshaft placement position are both fixed on a fixed seat, a second push cylinder is provided on one side of the fixed seat, and the piston rod of the second push cylinder is cooperatively connected with the fixed seat part; the first crankshaft placement position and the second crankshaft placement position are both provided with a third detection mechanism for detecting the crankshaft, and the first crankshaft placement position and the second crankshaft placement position both include two fixed blocks arranged at a front-to-back interval, and each fixed block is provided with a supporting groove for supporting the crankshaft.

[0010] The rotating device includes a pushing cylinder, a flip arm rotatably arranged through a rotating shaft, and a flap fixedly connected to the flip arm. The flap is partially connected in a cooperative manner with the grasping device. A first gear is provided on the rotating shaft. The first gear is provided with a first rack meshing with the first gear. The piston rod of the pushing cylinder is connected in a cooperative manner with the first rack. The piston rod of the pushing cylinder drives the first rack to move. The flip arm and the flap rotate with the first gear and thereby drive the grasping device to rotate.

[0011] The lifting device includes a lifting cylinder, a piston rod of the lifting cylinder is connected with a rotating device, a sliding block is provided on the rotating device, and a slide rail that slides with the sliding block is provided on the frame. The piston rod of the lifting cylinder drives the rotating device to move up and down along the slide rail.

[0012] The first motion mechanism includes a moving plate connected to the material tray, a second rack arranged on the moving plate and a circular guide rail sliding assembly. The first motion mechanism also includes a motor, a reducer, and a second gear connected in sequence. The second gear is meshed with the second rack. The motor and the reducer drive the second gear to rotate. The moving plate moves with the second rack, driving the material tray to move along the circular guide rail sliding assembly.

[0013] On the track where the material tray moves along the circular guide rail sliding assembly, a fourth detection mechanism for detecting the moving position of the material tray is provided on the frame.

[0014] The second motion mechanism includes a third rack arranged on the crossbeam frame, and a linear guide rail assembly arranged between the crossbeam frame and the grasping mechanism, the grasping mechanism is provided with a third gear meshing with the third rack, and the grasping mechanism is also provided with a driving assembly connected to the third gear. The driving assembly drives the third gear to rotate, and the grasping mechanism moves along the linear guide rail assembly as the third gear rotates; on the motion trajectory of the grasping mechanism, buffer and anti-collision parts are provided at both ends of the crossbeam frame, and the driving assembly includes a 90-degree angle reducer and a rotating cylinder connected in transmission, and the 90-degree angle reducer is connected in transmission with the third gear.

[0015] The beneficial effects of the present invention are as follows:

[0016] A shaft sleeve which is vertically inserted into the crankshaft is arranged on the material tray, eliminating the structure in which the traditional crankshaft is placed horizontally and occupies a large placement space.

[0017] When the first detection mechanism detects that only one of the clamping positions has clamped the crankshaft, the second motion mechanism controls the gripping device of the gripping mechanism to slide above the crankshaft waiting cavity to place the crankshaft on the crankshaft waiting cavity. Ensure that the two clamping positions of the gripping mechanism clamp the crankshaft to complete the displacement of the two crankshafts and avoid errors in the next process.

[0018] The first support frame and the second support frame are both provided with detectors for detecting the height position of the crankshaft placed on the material tray, and the detectors of the first support frame and the second support frame are arranged opposite to each other. If the height of the crankshaft is relatively high, an alarm will be issued. This detection function can detect the entire row of crankshafts, that is, if one crankshaft appears to be at a relatively high height, an alarm will be issued to notify the user to sort it out and ensure the operating stability of the CNC machine tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 , Figure 2 , Figure 3They are schematic diagrams of three-dimensional structures in different orientations of a CNC machine tool for automatic transfer of a crankshaft storage position according to an embodiment of the present invention.

[0020] Figure 4 The figure is a schematic structural diagram of a lifting device according to an embodiment of the present invention.

[0021] Figure 5 It is a schematic diagram of the three-dimensional cross-sectional structure of a CNC machine tool for automatically transferring the storage position of a crankshaft according to an embodiment of the present invention.

[0022] Figure 6 for Figure 5 A in the figure is an enlarged structural diagram.

[0023] Figure 7 It is a schematic diagram of a three-dimensional cross-sectional structure from another perspective of a CNC machine tool for automatically transferring the storage position of a crankshaft according to an embodiment of the present invention.

[0024] Figure 8 for Figure 7 The enlarged structural diagram at B in FIG.

[0025] Fig. 9 It is a partial structural schematic diagram of a grabbing mechanism according to an embodiment of the present invention.

[0026] Fig.10 This is a schematic diagram of the structure of the grasping mechanism in another aspect of an embodiment of the present invention.

[0027] Fig.11 It is a structural schematic diagram of a grasping device of a grasping mechanism in a horizontal state according to an embodiment of the present invention.

[0028] Fig.12 It is a schematic structural diagram of a crankshaft to-be-processed placement mechanism fixed on a bracket according to an embodiment of the present invention.

[0029] Fig.13 This is a schematic structural diagram of another orientation of a crankshaft to-be-processed placement mechanism fixed on a bracket according to an embodiment of the present invention.

[0030] Fig.14 It is a schematic diagram of the three-dimensional structure of a crankshaft to be processed placement mechanism according to an embodiment of the present invention.

[0031] Fig.15 It is a schematic diagram of the three-dimensional structure of another orientation of the crankshaft to be processed placement mechanism according to one embodiment of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] See also Figure 1-Figure 3The present invention relates to a numerically controlled machine tool for automatically transferring the storage position of a crankshaft, comprising a frame 1, a material tray 3 for placing a plurality of crankshafts 2 is arranged on the frame 1, and the plurality of crankshafts 2 are arranged vertically on the material tray 3. A grasping mechanism 4 for grasping the crankshaft 2, a first motion mechanism 8 for controlling the material tray 3 to move toward the grasping mechanism 4, and a second motion mechanism 9 for controlling the reciprocating sliding of the grasping mechanism 4 are arranged on the frame 1. The frame 1 is also provided with a crankshaft to-be-processed placement mechanism 10 connected with the grasping mechanism 4; the grasping mechanism 4 comprises a grasping device 5 for clamping and loosening the crankshaft 2, a rotating device 6 for adjusting the horizontal and vertical states of the grasping device 5, and a lifting device 7 for controlling the grasping device 5 and the rotating device 6 to move toward the crankshaft 2 of the material tray 3. The grasping mechanism 4 clamps the crankshaft 2 of the material tray 3 and adjusts the crankshaft 2 to a horizontal state through the rotating device 6. The grasping mechanism 4 places the crankshaft 2 in a horizontal state on the crankshaft to-be-processed placement mechanism 10 to complete the displacement of the crankshaft 2.

[0034] See also Figure 3 , Figure 5 The grasping device 5 is provided with two clamping positions 5.1 for grasping the crankshaft 2, and the frame 1 is provided with a first detection mechanism for detecting the grasping of the crankshaft 2 by the two clamping positions 5.1, and the frame 1 is provided with a crankshaft waiting disposal chamber 11 below the reciprocating sliding track of the grasping mechanism 4; when the first detection mechanism detects that only one of the clamping positions 5.1 clamps the crankshaft 2, the second motion mechanism 9 controls the grasping device 5 of the grasping mechanism 4 to slide above the crankshaft waiting disposal chamber 11 to place the crankshaft 2 on the crankshaft waiting disposal chamber 11.

[0035] See also Figure 2 , Figure 5 A second detection mechanism 12 is provided on both sides of the frame 1 corresponding to the material tray 3. The second detection mechanism 12 includes a first support frame 13 located on one side of the material tray 3 and a second support frame 14 located on the other side of the material tray 3. The first support frame 13 and the second support frame 14 are both provided with a detector 15 for detecting the height position of the crankshaft 2 placed on the material tray 3, and the detectors of the first support frame 13 and the second support frame 14 are arranged opposite to each other.

[0036] See also Figure 1-Figure 3 ,as well as Figure 5 , Figure 6 A sleeve 16 is provided on the material tray 3 for vertically inserting the crankshaft. A plurality of sleeves 16 are provided, and the plurality of sleeves 16 are arranged at intervals and in rows and columns on the material tray 3. A limiting strip 17 is provided on one side of each column of sleeves 16. A groove 17.1 is provided on the limiting strip 17. A positioning ring 16.1 is provided on the sleeve 16. A portion of the positioning ring 16.1 is located in the groove 17.1. A limiting groove 17.2 is provided on the limiting strip 17 to limit the rotational freedom of the crankshaft inserted into the sleeve 16.

[0037] See also Figure 12-Figure 15The crankshaft placement mechanism 10 for processing includes a first crankshaft placement position 18 and a second crankshaft placement position 19. The first crankshaft placement position 18 and the second crankshaft placement position 19 are arranged at intervals. A first push cylinder 20 is arranged between the first crankshaft placement position 18 and the second crankshaft placement position 19. The piston rod of the first push cylinder 20 is partially connected with the second crankshaft placement position 19. The piston rod of the first push cylinder 20 drives the second crankshaft placement position 19 to approach or move away from the first crankshaft placement position 18 to adjust the interval between the two crankshaft placement positions.

[0038] The first crankshaft placement position 18 and the second crankshaft placement position 19 are both fixed on a fixing seat 21, a second push cylinder 22 is provided on one side of the fixing seat 21, and the piston rod of the second push cylinder 22 is partially connected with the fixing seat 21; the first crankshaft placement position 18 and the second crankshaft placement position 19 are both provided with a third detection mechanism 23 for detecting the crankshaft 2, the first crankshaft placement position 18 and the second crankshaft placement position 19 both include two fixing blocks 24 spaced apart in front and back, and each fixing block 24 is provided with a supporting groove 24.1 for supporting the crankshaft 2.

[0039] See also Figure 10-11 The rotating device 6 includes a pushing cylinder 25, a flip arm 28 rotatably arranged through a rotating shaft 29, and a flap 30 fixedly connected to the flip arm 28. The flap 30 is partially connected with the grasping device 5. A first gear 27 is provided on the rotating shaft 29. The first gear 27 is provided with a first rack 26 meshing with the first gear 27. The piston rod of the pushing cylinder 25 is connected with the first rack 26. The piston rod of the pushing cylinder 25 drives the first rack 26 to move. The flip arm 28 and the flip plate 30 rotate with the first gear 27 and then drive the grasping device 5 to rotate.

[0040] See also Figure 4 The lifting device 7 includes a lifting cylinder 31, the piston rod of the lifting cylinder 31 is connected with the rotating device 6, a slider 32 is provided on the rotating device 6, and a slide rail 33 that slides with the slider 32 is provided on the frame 1. The piston rod of the lifting cylinder 31 drives the rotating device 6 to move up and down along the slide rail 33.

[0041] See also Figure 1-Figure 5 The first motion mechanism 8 includes a moving plate 34 connected to the material tray 3, a second rack 35 arranged on the moving plate 34 and a circular guide rail sliding assembly 36. The first motion mechanism 8 also includes a motor 39, a reducer 38, and a second gear 37 that are sequentially connected in transmission. The second gear 37 is meshed with the second rack 35. The motor 39 and the reducer 38 drive the second gear 37 to rotate. The moving plate 34 moves with the second rack 35 to drive the material tray 3 to move along the circular guide rail sliding assembly 36.

[0042] See also Figure 1-Figure 5On the trajectory of the material tray 3 moving along the circular guide rail sliding assembly 36 , a fourth detection mechanism 45 for detecting the moving position of the material tray 3 is provided on the frame 1 .

[0043] See also Figure 1-Figure 5 The second motion mechanism 9 includes a third rack 41 arranged on the crossbeam frame 40, and a linear guide rail assembly 42 arranged between the crossbeam frame 40 and the grasping mechanism 4. The grasping mechanism 4 is provided with a third gear meshing with the third rack 41. The grasping mechanism 4 is also provided with a driving assembly connected to the third gear. The driving assembly drives the third gear to rotate, and the grasping mechanism 4 moves along the linear guide rail assembly 42 as the third gear rotates. On the motion trajectory of the grasping mechanism 4, buffer and anti-collision parts 43 are provided at both ends of the crossbeam frame 40. The driving assembly includes a 90-degree angle reducer and a rotating cylinder connected in transmission, and the 90-degree angle reducer is connected in transmission with the third gear.

[0044] The above is a preferred embodiment of the present invention, which shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. The present invention may have various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention to be protected, and the scope of the present invention to be protected is defined by the attached claims and their equivalents.

Claims

1. A CNC machine tool for automatically transferring the storage position of a crankshaft, comprising a frame (1), characterized in that: The frame (1) is provided with a material tray (3) for placing a plurality of crankshafts (2), the plurality of crankshafts (2) are arranged vertically on the material tray (3), the frame (1) is provided with a gripping mechanism (4) for gripping the crankshafts (2), a first motion mechanism (8) for controlling the material tray (3) to move toward the gripping mechanism (4), and a second motion mechanism (9) for controlling the gripping mechanism (4) to slide back and forth, and the frame (1) is also provided with a crankshaft to-be-processed placement mechanism (10) connected to the gripping mechanism (4); the gripping mechanism (4) includes a gripping mechanism (4) for gripping the crankshafts (2) A gripping device (5) for clamping and loosening, a rotating device (6) for adjusting the horizontal and vertical states of the gripping device (5), and a lifting device (7) for controlling the gripping device (5) and the rotating device (6) to move toward the crankshaft (2) of the material tray (3); the gripping mechanism (4) grips the crankshaft (2) of the material tray (3) and adjusts the crankshaft (2) to a horizontal state through the rotating device (6); the gripping mechanism (4) places the crankshaft (2) in a horizontal state on a crankshaft placement mechanism (10) to complete the displacement of the crankshaft (2); 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 whether the two clamping positions (5.1) grip the crankshaft (2), and the frame (1) is provided with a crankshaft waiting chamber (11) below the reciprocating sliding track of the gripping mechanism (4); when the first detection mechanism detects that only one of the clamping positions (5.1) grips the crankshaft (2), the second motion mechanism (9) controls the gripping device (5) of the gripping mechanism (4) to slide above the crankshaft waiting chamber (11) so as to place the crankshaft (2) on the crankshaft waiting chamber (11); A second detection mechanism (12) is provided on both sides of the frame (1) corresponding to the material tray (3), the second detection mechanism (12) comprising a first support frame (13) located on one side of the material tray (3) and a second support frame (14) located on the other side of the material tray (3), the first support frame (13) and the second support frame (14) both being provided with a detector (15) for detecting the height position of the crankshaft (2) placed at the material tray (3), and the detectors of the first support frame (13) and the second support frame (14) being arranged opposite to each other; The material tray (3) is provided with a shaft sleeve (16) vertically inserted into the crankshaft, a plurality of shaft sleeves (16) are provided, and the plurality of shaft sleeves (16) are arranged at intervals and arranged in rows and columns on the material tray (3), a limiting strip (17) is provided on one side of each column of shaft sleeves (16), a retaining groove (17.1) is provided on the limiting strip (17), a positioning ring (16.1) is provided on the shaft sleeve (16), a portion of the positioning ring (16.1) is located in the retaining groove (17.1), and a limiting groove (17.2) is provided on the limiting strip (17) to limit the rotational freedom of the crankshaft inserted into the shaft sleeve (16); The crankshaft placement mechanism (10) comprises a first crankshaft placement position (18) and a second crankshaft placement position (19). The first crankshaft placement position (18) and the second crankshaft placement position (19) are arranged at an interval. A first push cylinder (20) is arranged between the first crankshaft placement position (18) and the second crankshaft placement position (19). The piston rod of the first push cylinder (20) is partly connected to the second crankshaft placement position (19). The piston rod of the first push cylinder (20) drives the second crankshaft placement position (19) to approach or move away from the first crankshaft placement position (18) so as to adjust the interval between the two crankshaft placement positions.

2. The CNC machine tool for automatically transferring the crankshaft storage position according to claim 1, characterized in that: The first crankshaft placement position (18) and the second crankshaft placement position (19) are both fixed on a fixing seat (21); a second push cylinder (22) is provided on one side of the fixing seat (21); a piston rod of the second push cylinder (22) is partially connected to the fixing seat (21); a third detection mechanism (23) for detecting the crankshaft (2) is provided on the first crankshaft placement position (18) and the second crankshaft placement position (19); the first crankshaft placement position (18) and the second crankshaft placement position (19) each include two fixing blocks (24) arranged at a front-to-back interval; each fixing block (24) is provided with a supporting slot (24.1) for supporting the crankshaft (2).

3. The CNC machine tool for automatically transferring the crankshaft storage position according to claim 1, characterized in that: The rotating device (6) comprises a pushing cylinder (25), a flip arm (28) rotatably arranged via a rotating shaft (29), and a flap (30) fixedly connected to the flip arm (28); the flap (30) is partially connected to the grasping device (5); a first gear (27) is provided on the rotating shaft (29); the first gear (27) is provided with a first rack (26) meshing with the first gear (27); the piston rod of the pushing cylinder (25) is connected to the first rack (26); the piston rod of the pushing cylinder (25) drives the first rack (26) to move; the flip arm (28) and the flap (30) rotate along with the first gear (27) and thereby drive the grasping device (5) to rotate; The lifting device (7) comprises a lifting cylinder (31), a piston rod of the lifting cylinder (31) being connected to a portion of the rotating device (6), a slider (32) being provided on the rotating device (6), a slide rail (33) being slidably matched with the slider (32) being provided 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 slide rail (33).

4. The CNC machine tool for automatically transferring the crankshaft storage position according to claim 1, characterized in that: The first motion mechanism (8) comprises a moving plate (34) connected to the material tray (3), a second rack (35) arranged on the moving plate (34) and a circular guide rail sliding assembly (36). The first motion mechanism (8) further comprises a motor (39), a reducer (38) and a second gear (37) which are sequentially connected in transmission. The second gear (37) is meshed with the second rack (35). The motor (39) and the reducer (38) drive the second gear (37) to rotate. The moving plate (34) drives the material tray (3) to move along the circular guide rail sliding assembly (36) as the second rack (35) moves.

5. The CNC machine tool for automatically transferring the crankshaft storage position according to claim 4, characterized in that: On the trajectory of the material tray (3) moving along the circular guide rail sliding assembly (36), a fourth detection mechanism (45) for detecting the moving position of the material tray (3) is provided on the frame (1).

6. The CNC machine tool for automatically transferring the crankshaft storage position according to claim 1, characterized in that: The second motion mechanism (9) comprises a third rack (41) arranged on the crossbeam frame (40), and a linear guide rail assembly (42) arranged between the crossbeam frame (40) and the grasping mechanism (4); the grasping mechanism (4) is provided with a third gear meshing with the third rack (41); the grasping mechanism (4) is also provided with a driving assembly connected to the third gear, the driving assembly drives the third gear to rotate, and the grasping mechanism (4) moves along the linear guide rail assembly (42) as the third gear rotates; on the motion track of the grasping mechanism (4), buffer and anti-collision parts (43) are provided at both ends of the crossbeam frame (40); the driving assembly comprises a 90-degree angle reducer and a rotary cylinder connected in a transmission manner, and the 90-degree angle reducer is connected in a transmission manner to the third gear.

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