A grabbing device for aerogel substrate loading tooling

Abstract

The present invention discloses a grabbing device for aerogel substrate loading tooling, comprising: a hanging tube, a hanging seat fixed on the lower end of the hanging tube, the top of the hanging seat upwardly passing through the lower end of the hanging tube and inserted into the hanging tube, an annular seat fixed on the bottom of the hanging seat, a cavity and a vertical rod provided in the hanging seat, the cavity and the inner circle of the annular seat communicate with each other up and down, the vertical rod is vertically penetrated in the hanging seat, the top of the vertical rod upwardly passing through the top of the hanging seat and inserted into the hanging tube, the bottom of the vertical rod is located in the cavity, a limit block and a first sensing block are provided on the rod body of the vertical rod inserted into the hanging tube, a spring seat is provided on the bottom of the vertical rod, a reset spring is sleeved on the vertical rod between the spring seat and the hanging seat, at least three hanging tongues are penetrated on the annular seat, a hanging tongue driving mechanism is provided on the hanging seat, and a first upper proximity switch is penetrated on the hanging tube. The grabbing device can quickly grab and reliably lift the aerogel substrate loading tooling.

Description

Technical Field

[0001] The invention relates to the field of aerogel production equipment, and in particular to a grabbing device for an aerogel substrate loading tool. Background Art

[0002] The aerogel substrate needs to go through multiple processing steps before it can be processed into aerogel. In order to improve processing efficiency, the aerogel substrate is usually processed in rolls. After the aerogel substrate is rolled on the loading jig, the loading jig with the aerogel substrate is usually lifted by a hook, and then hoisted into a process tank for processing. The hook needs to be manually adjusted before it can hook the aerogel substrate loading jig. Therefore, the lifting efficiency of the aerogel substrate loading jig lifted by the hook is low, and during the lifting process, the hook is easily unhooked, making it impossible to reliably lift the aerogel substrate loading jig. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a grabbing device for an aerogel substrate loading tooling which can quickly grab and reliably hoist the aerogel substrate loading tooling.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is: a grabbing device for aerogel substrate loading tooling, characterized in that it includes: a vertically arranged hanging tube, the upper end of the hanging tube is used to be fixed to the lifting device, a hanging seat is fixed on the lower end of the hanging tube, the top of the hanging seat passes through the lower end of the hanging tube upward and is inserted into the hanging tube, an annular seat is fixed on the bottom of the hanging seat, a cavity and a vertical rod are arranged in the hanging seat, the bottom of the cavity is open, the cavity is connected with the inner circle of the annular seat up and down, and the vertical rod is vertically penetrated in the hanging seat, The top of the vertical rod passes upward through the top of the hanging seat and is inserted into the hanging tube. The bottom of the vertical rod is located in the cavity. A limit block and a first sensing block located above the limit block are arranged on the rod body of the vertical rod inserted into the hanging tube. The limit block can prevent the vertical rod from falling by abutting against the top of the hanging seat. A spring seat is arranged on the bottom of the vertical rod. A return spring is installed on the vertical rod between the spring seat and the hanging seat. The two ends of the return spring abut against the spring seat and the hanging seat respectively, so that the return spring can press the vertical rod downward until the limit block abuts against the top of the hanging seat. At least three lifting tongues arranged around the center of the annular seat are provided on the annular seat along the radial direction of the annular seat, each lifting tongue can pass through the inner wall of the annular seat and extend into the inner circle of the annular seat, and a lifting tongue driving mechanism for driving each lifting tongue to synchronously extend into the inner circle of the annular seat or synchronously retract into the annular seat is provided on the lifting seat, a first upper proximity switch is provided on the lifting pipe, and the first sensing block on the vertical rod can trigger the first upper proximity switch after the vertical rod moves upward, and the lifting device drives the lifting seat to move downward through the lifting pipe to grab the aerogel substrate below it for loading During the installation, the lifting head of the aerogel substrate loading tool can pass through the inner circle of the annular seat upward and extend into the cavity of the lifting seat. Then the lifting head can overcome the elastic force of the reset spring and the gravity of the vertical rod and push the vertical rod upward. When the vertical rod moves upward to the position where the first sensing block can trigger the first upper proximity switch, each lifting tongue can be synchronously inserted into the inner circle of the annular seat under the drive of the lifting tongue driving mechanism, and then synchronously inserted into the annular groove on the side wall of the lifting head. At this time, the lifting device drives the lifting pipe to move up with the lifting seat, and then the aerogel substrate loading tool can be lifted through each lifting tongue.

[0005] Furthermore, in the aforementioned grabbing device for an aerogel substrate loading tool, a first lower proximity switch lower than the first upper proximity switch is also provided on the lifting tube. When the lifting seat moves upward to lift the aerogel substrate loading tool, the aerogel substrate loading tool will move downward relative to the lifting seat due to the upper and lower gaps between the lifting tongues and the annular grooves until the lifting head rests on each lifting tongue. At this time, the first sensing block will drop with the vertical rod to a position that can trigger the first lower proximity switch. The first lower proximity switch is provided to confirm that the aerogel substrate loading tool is lifted. If the aerogel substrate loading tool is not lifted, the vertical rod will fall to a position where the limit block abuts against the top of the lifting seat. At this time, the first lower proximity switch will not be triggered by the first sensing block.

[0006] Further, the aforementioned grabbing device for aerogel substrate loading tooling, wherein: a mounting plate is fixedly mounted on the middle part of the lifting seat, an annular pressing plate is arranged below the mounting plate, the annular pressing plate is hollowly sleeved on the outside of the annular seat, three vertically arranged guide columns are arranged on the upper surface of the annular pressing plate, the three guide columns all pass through the mounting plate upward, three guide sleeves are arranged on the upper surface of the mounting plate, the three guide columns pass through the three guide sleeves respectively, the guide sleeves can vertically guide the annular pressing plate through the guide columns, the tops of the three guide columns are provided with bosses, and the annular pressing plate can respectively press against the three bosses When the lifting device drives the lifting seat downward through the lifting tube to grab the aerogel substrate loading tooling located below it, the annular pressure plate will be lifted up by the aerogel substrate loading tooling, and each guide column between the annular pressure plate and the mounting plate is provided with a pressing spring, and the two ends of each pressing spring are respectively against the mounting plate and the annular pressure plate, so that the annular pressure plate can elastically press the aerogel substrate loading tooling downward when being lifted up by the aerogel substrate loading tooling, so that after the aerogel substrate loading tooling is lifted, the annular pressure plate can press the tooling to prevent the tooling from shaking.

[0007] Since the aerogel substrate loading tool can be elastically pressed after being hoisted, the shaking amplitude of the tool during hoisting will be very small, so that the aerogel substrate loading tool can be placed into the process tank for process processing more quickly, accurately and safely, thereby greatly improving production efficiency.

[0008] Furthermore, in the aforementioned grasping device of an aerogel substrate loading tool, a pressure sensor is installed on the mounting plate, and the pressure sensor is located above a guide column, and the guide column can press the pressure sensor as the annular pressure plate is lifted by the aerogel substrate loading tool.

[0009] During grabbing, if the pressure value detected by the pressure sensor is not within the set range, it means that the aerogel substrate loading tooling is raised or the grabbing device is lowered too low or the grabbing device is not lowered into place. At this time, it is necessary to stop the machine for inspection.

[0010] Furthermore, the aforementioned grabbing device for aerogel substrate loading tooling, wherein: the structure of the lifting tongue driving mechanism is: a driving ring and a pinion are arranged above the annular seat, the driving ring can be rotatably mounted on the lifting seat, a circle of teeth is arranged on the outer ring of the driving ring, the pinion and the teeth on the outer ring of the driving ring are meshed for transmission, a gear driving device for driving the pinion to rotate is arranged on the mounting plate, an arc-shaped driving groove corresponding to each lifting tongue one by one is arranged on the lower surface of the driving ring, a driving block is fixed on each lifting tongue, and a long strip-shaped avoidance notch corresponding to each driving block one by one and arranged along the radial direction of the annular seat is arranged on the upper surface of the annular seat, and the driving block is located In the avoidance gap, the avoidance gap is used to avoid the driving block, so that the driving block can move radially inward and outward along the annular seat. An axially vertically arranged circular wheel is installed on each driving block, and each circular wheel is inserted into the arc driving groove corresponding to the lifting tongue where it is located. After the driving ring is driven by the gear driving device to rotate forward with each arc driving groove, each arc driving groove can drive each lifting tongue to extend synchronously into the inner circle of the annular seat along the radial direction of the annular seat by pushing each circular wheel. Then, after the driving ring is driven by the gear driving device to rotate reversely with each arc driving groove, each arc driving groove can drive each lifting tongue to retract synchronously into the annular seat along the radial direction of the annular seat by pushing each circular wheel.

[0011] Furthermore, the aforementioned grasping device for an aerogel substrate loading tooling, wherein: a pin rod capable of passing downward through the mounting plate and a pin rod driving device for driving the pin rod to move up and down are also provided on the mounting plate, a pin hole is provided on the driving ring, and after the driving ring drives each lifting tongue to be inserted into the annular groove on the side wall of the lifting head of the aerogel substrate loading tooling, the pin rod can be inserted into the pin hole under the drive of the pin rod driving device to lock the driving ring.

[0012] Furthermore, the aforementioned grasping device for an aerogel substrate loading tooling, wherein: the pin rod driving device is a two-way cylinder with both ends of a piston rod extending out of the two ends of a cylinder body respectively, the two-way cylinder is vertically arranged, one end of the two-way cylinder is fixed to the pin rod, and a second sensing block is fixed to the other end of the two-way cylinder, and a second upper proximity switch and a second lower proximity switch lower than the second upper proximity switch are also installed on the mounting plate, after the pin rod is inserted downward into the pin hole under the drive of the two-way cylinder, the second sensing block will trigger the second lower proximity switch, and after the pin rod is moved upward and pulled out of the pin hole under the drive of the two-way cylinder, the second sensing block will trigger the second upper proximity switch.

[0013] Furthermore, the aforementioned grasping device for an aerogel substrate loading tooling, wherein: a third proximity switch and a fourth proximity switch are installed on the mounting plate, and a third sensing block is installed on the upper surface of the driving ring, and after the driving ring drives each lifting tongue to insert into the annular groove on the side wall of the lifting head, the third sensing block will trigger the third proximity switch, and after the driving ring drives each lifting tongue to retract into the annular seat, the third sensing block will trigger the fourth proximity switch.

[0014] The advantages of the present invention are as follows: the grabbing device can automatically and quickly grab the aerogel substrate loading tooling without the assistance of workers, and since a plurality of lifting tongues are used to lift the aerogel substrate loading tooling, the aerogel substrate loading tooling can be reliably lifted; in addition, during the lifting process, since the aerogel substrate loading tooling can be elastically pressed, the aerogel substrate loading tooling can be prevented from shaking, so that the aerogel substrate loading tooling can be placed in the process tank more quickly, more accurately and more safely for process processing, thereby greatly improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the three-dimensional structure of a gripping device for aerogel substrate loading tooling according to the present invention from one perspective.

[0016] Figure 2 This is a schematic diagram of the three-dimensional structure of the grabbing device of the aerogel substrate loading tooling according to the present invention from another perspective.

[0017] Figure 3 It is a schematic cross-sectional structural diagram of the grabbing device of the aerogel substrate loading tooling of the present invention when not grabbing.

[0018] Figure 4 It is a schematic cross-sectional structure diagram of the grabbing device of the aerogel substrate loading tooling of the present invention when grabbing.

[0019] Figure 5 for Figure 3 Schematic diagram of the structure of the annular seat, drive ring and pinion shown in .

[0020] Figure 6 for Figure 5 Schematic diagram of the structure of the drive ring shown in .

[0021] Figure 7 for Figure 5 Schematic diagram of the structure of the annular seat shown in . DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with specific embodiments and drawings.

[0023] In order to cooperate with the grabbing device of the present invention, a lifting head 91 needs to be provided on the top of the aerogel substrate loading tool 9 , and a circle of annular grooves 92 also need to be provided on the side wall of the lifting head 91 .

[0024] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7As shown, the grabbing device of the aerogel substrate loading tooling comprises: a vertically arranged hanging tube 1, the upper end of the hanging tube 1 is used to be fixed with the lifting device, a hanging seat 2 is fixed on the lower end of the hanging tube 1, the top of the hanging seat 2 passes through the lower end of the hanging tube 1 upward and is inserted into the hanging tube 1. In this embodiment, the top of the hanging seat 2 is threadedly connected with the lower end of the hanging tube 1, and is threadedly connected to the cap on the top of the hanging seat 2 and tightened, an annular seat 3 is fixed on the bottom of the hanging seat 2, a cavity 22 and a vertical rod 21 are arranged in the hanging seat 2, the bottom of the cavity 22 is open, the cavity 22 is connected with the inner circle of the annular seat 3 up and down, and the vertical rod 21 is vertically penetrated in the hanging seat In the seat 2, the top of the vertical rod 21 passes through the top of the hanging seat 2 upward and is inserted into the hanging pipe 1. The bottom of the vertical rod 21 is located in the cavity 22. A limit block 23 and a first sensing block 24 located above the limit block 23 are arranged on the rod body of the vertical rod 21 inserted into the hanging pipe 1. The limit block 23 can prevent the vertical rod 21 from falling by abutting against the top of the hanging seat 2. A spring seat 25 is arranged on the bottom of the vertical rod 21. A return spring 26 is sleeved on the vertical rod 21 between the spring seat 25 and the hanging seat 2. The two ends of the return spring 26 are respectively abutted against the spring seat 25 and the hanging seat 2, so that the return spring 26 can press the vertical rod 21 downward until the limit block 2 3 is against the top of the hanging seat 2, and four hanging tongues 31 arranged around the center of the annular seat 3 are evenly penetrated on the annular seat 3 along the radial direction of the annular seat 3, and each hanging tongue 31 can pass through the inner wall of the annular seat 3 and extend into the inner circle of the annular seat 3. A hanging tongue driving mechanism for driving each hanging tongue 31 to synchronously extend into the inner circle of the annular seat 3 or to synchronously retract into the annular seat 3 is provided on the hanging seat 2. A horizontally arranged first upper proximity switch 11 is penetrated on the hanging pipe 1, and the first sensing block 24 on the vertical rod 21 can trigger the first upper proximity switch 11 after the vertical rod 21 moves upward. The lifting device drives the hanging seat 2 to move downward through the hanging pipe 1 to grab the gas condensate located below it. When the aerogel substrate loading tooling 9 is used, the lifting head 91 of the aerogel substrate loading tooling 9 can pass upward through the inner circle of the annular seat 3 and extend into the lifting seat cavity 22, and then the lifting head 91 can overcome the elastic force of the reset spring 26 and the gravity of the vertical rod 21 to push the vertical rod 21 upward. When the vertical rod 21 moves upward to the position where the first sensing block 24 can trigger the first upper proximity switch 11, each lifting tongue 31 can be synchronously inserted into the inner circle of the annular seat 3 under the drive of the lifting tongue driving mechanism, and then synchronously inserted into the annular groove 92 on the side wall of the lifting head 91. At this time, the lifting device drives the lifting pipe 1 to move up with the lifting seat 2, and then can lift the aerogel substrate loading tooling 9 through each lifting tongue 31.

[0025] like Figure 1As shown, in this embodiment, a first lower proximity switch 12 arranged horizontally lower than the first upper proximity switch 11 is also provided on the hoisting tube 1. When the hoisting seat 2 moves upward to hoist the aerogel substrate loading tooling 9, the aerogel substrate loading tooling 9 will move downward relative to the hoisting seat 2 due to the upper and lower gaps between the hoisting tongues 31 and the annular grooves 92, until the hoisting head 91 rests on each hoisting tongue 31, at which time the first sensing block 24 will drop with the vertical rod 21 to a position that can trigger the first lower proximity switch 12. The first lower proximity switch 12 is provided to confirm that the aerogel substrate loading tooling 9 is hoisted. If the aerogel substrate loading tooling 9 is not hoisted, the vertical rod 21 will fall to a position where the limit block 23 abuts against the top of the hoisting seat 2, and at this time the first lower proximity switch 12 will not be triggered by the first sensing block 24.

[0026] When the grabbing device puts down the lifted aerogel substrate loading tooling 9, only after the aerogel substrate loading tooling 9 touches the ground and lifts the vertical rod 21 to the first sensing block 24 to trigger the first upper proximity switch 11, and upper and lower gaps appear between each lifting tongue 31 and the annular groove 92, each lifting tongue 31 will be driven by the lifting tongue driving mechanism to synchronously retract into the annular seat 3, because only after the upper and lower gaps appear between the lifting tongue 31 and the annular groove 92, the lifting tongue 31 will not be pressed by the lifting head 92 and can be successfully retracted.

[0027] like Figure 3 , Figure 4As shown, the structure of the lifting tongue driving mechanism is as follows: a mounting plate 4 is fixedly mounted on the middle part of the lifting seat 2, a driving ring 5 and a pinion 6 are arranged between the mounting plate 4 and the annular seat 3, the driving ring 5 is rotatably mounted on the lifting seat 2, a circle of teeth is arranged on the outer ring of the driving ring 5, the pinion 6 and the teeth on the outer ring of the driving ring 5 are meshed for transmission, a gear driving device for driving the pinion 6 to rotate is arranged on the mounting plate 4, in this embodiment, the gear driving device is a motor, an arcuate driving groove 51 corresponding to each lifting tongue 31 is arranged on the lower surface of the driving ring 5, a driving block 32 is fixed on each lifting tongue 31, and a long strip-shaped avoidance notch 33 corresponding to each driving block 32 and arranged radially along the annular seat 3 is arranged on the upper surface of the annular seat 3, and the driving block 32 is located in the avoidance notch 33 The avoidance gap 33 is used to avoid the driving block 32, so that the driving block 32 can move radially inward and outward along the annular seat 3. An axially vertically arranged circular wheel 34 is installed on each driving block 32. Each circular wheel 34 is inserted into the arc driving groove 51 corresponding to the lifting tongue 31 where it is located. After the driving ring 5 rotates forward with each arc driving groove 51 driven by the motor, each arc driving groove 51 can drive each lifting tongue 31 to extend synchronously into the inner circle of the annular seat 3 along the radial direction of the annular seat 3 by pushing each circular wheel 34. Then, after the driving ring 5 rotates reversely with each arc driving groove 51 driven by the motor, each arc driving groove 51 can drive each lifting tongue 31 to retract synchronously into the annular seat 3 along the radial direction of the annular seat 3 by pushing each circular wheel 34. In order to reduce friction, the circular wheel 34 is usually set as a rotatable wheel.

[0028] An annular pressing plate 7 is arranged below the mounting plate 4. The annular pressing plate 7 is hollowly sleeved on the outside of the annular seat 3. Three vertically arranged guide columns 71 are evenly arranged on the upper surface of the annular pressing plate 7. The three guide columns 71 all pass through the mounting plate 4 upward. Three guide sleeves 72 are arranged on the upper surface of the mounting plate 4. The three guide columns 71 pass through the three guide sleeves 72 respectively. The guide sleeves 72 can vertically guide the annular pressing plate 7 through the guide columns 71. Bosses 73 are arranged on the tops of the three guide columns 71. The annular pressing plate 7 can be suspended on the lower surface of the mounting plate 4 through the three bosses 73 respectively resting against the tops of the guide sleeves 72. When the lifting device drives the lifting seat 2 to move downward through the lifting pipe 1 to grab the aerogel substrate loading tooling 9 located below it, the annular pressure plate 7 will be lifted up by the aerogel substrate loading tooling 9, and each guide column 71 between the annular pressure plate 7 and the mounting plate 4 is equipped with a pressing spring 74, and the two ends of each pressing spring 74 are respectively against the mounting plate 4 and the annular pressure plate 7, so that the annular pressure plate 7 can elastically press the aerogel substrate loading tooling 9 downward when lifted up by the aerogel substrate loading tooling 9, so that after the aerogel substrate loading tooling 9 is lifted, the annular pressure plate 7 can press the tooling to prevent the tooling from shaking. Since the aerogel substrate loading tooling 9 can be elastically pressed after being lifted, the shaking amplitude of the tooling during lifting will be very small, so that the aerogel substrate loading tooling 9 can be placed into the process tank more quickly, more accurately, and more safely for process processing, thereby greatly improving production efficiency.

[0029] A pressure sensor 75 is installed on the mounting plate 4. The pressure sensor 75 is located above a guide column 71. The guide column 71 can press the pressure sensor 75 as the annular pressure plate 7 is lifted by the aerogel substrate loading tool 9. In this embodiment, a vertical stud is threadedly connected to the top of the guide column 71 that presses the pressure sensor 75. After the guide column 71 rises, it presses the pressure sensor 75 through the stud. The height of the stud can be adjusted by rotating the stud, thereby adjusting the pressure of the stud on the pressure sensor 75. During grasping, if the pressure value detected by the pressure sensor 75 is not within the set range, it indicates that the aerogel substrate loading tool 9 is raised or the grasping device is lowered too low or the grasping device is not lowered into place. At this time, it is necessary to stop the machine for inspection.

[0030] A pin rod that can pass through the mounting plate 4 downward and a pin rod driving device 8 for driving the pin rod to move up and down are also provided on the mounting plate 4. A pin hole 52 is provided on the driving ring 5. After the driving ring 5 drives each lifting tongue 31 to be inserted into the annular groove 92 on the side wall of the lifting head 91 of the aerogel substrate loading tooling 9, the pin rod can be driven by the pin rod driving device 8 to be inserted into the pin hole 52 to lock the driving ring 5. After such a setting, the tooling can be reliably lifted. In actual production, a plurality of pin holes 52 can be evenly provided, which can facilitate the installation of the driving ring 5 on the one hand, and on the other hand, after the driving ring 5 drives each lifting tongue 31 to retreat into the annular seat 3, the pin rod can be driven by the pin rod driving device 8 to be inserted into another pin hole 52 to lock the driving ring 5.

[0031] The pin rod driving device 8 is a two-way cylinder with two ends of a piston rod extending out of the two ends of the cylinder body respectively. The two-way cylinder 8 is arranged vertically, one end of the two-way cylinder 8 is fixed to the pin rod, and a second sensing block 81 is fixed to the other end of the two-way cylinder 8. A second upper proximity switch 82 and a second lower proximity switch 83 lower than the second upper proximity switch 82 are also installed on the mounting plate 4. The second upper proximity switch 82 and the second lower proximity switch 83 are both arranged horizontally. After the pin rod is inserted downward into the pin hole 52 under the drive of the two-way cylinder 8, the second sensing block 81 will trigger the second lower proximity switch 83. After the pin rod is moved upward and pulled out of the pin hole 52 under the drive of the two-way cylinder 8, the second sensing block 81 will trigger the second upper proximity switch 82. This arrangement can be used to monitor whether the pin rod is inserted into or pulled out of the pin hole.

[0032] A third proximity switch 84 and a fourth proximity switch 85 are also installed on the mounting plate 4. The third and fourth proximity switches 84 and 85 are arranged vertically downward. A third sensing block 86 is installed on the upper surface of the driving ring 5. After the driving ring 5 drives each lifting tongue 31 to be inserted into the annular groove 92 on the side wall of the lifting head 91, the third sensing block 86 will trigger the third proximity switch 84. After the driving ring 5 drives each lifting tongue 31 to retract into the annular seat 3, the third sensing block 86 will trigger the fourth proximity switch 85. This arrangement can be used to monitor whether the driving ring 5 is rotated into place.

Claims

1. A grabbing device for aerogel substrate loading tooling, characterized in that: include: A vertically arranged lifting pipe, the upper end of which is used to be fixed to the lifting device, a lifting seat is fixed on the lower end of the lifting pipe, the top of the lifting seat passes upward through the lower end of the lifting pipe and is inserted into the lifting pipe, an annular seat is fixed on the bottom of the lifting seat, a cavity and a vertical rod are arranged in the lifting seat, the bottom of the cavity is open, the cavity is connected with the inner circle of the annular seat up and down, the vertical rod is vertically penetrated in the lifting seat, the top of the vertical rod passes upward through the top of the lifting seat and is inserted into the lifting pipe, the bottom of the vertical rod is located in the cavity, and the vertical rod is fixed on the bottom of the lifting seat. A limit block and a first sensing block located above the limit block are arranged on the rod body inserted into the hanging tube. The limit block can prevent the vertical rod from falling by abutting against the top of the hanging seat. A spring seat is arranged on the bottom of the vertical rod. A return spring is sleeved on the vertical rod between the spring seat and the hanging seat. The two ends of the return spring abut against the spring seat and the hanging seat respectively, so that the return spring can press the vertical rod downward until the limit block abuts against the top of the hanging seat. At least three rings are penetrated on the annular seat along the radial direction of the annular seat. A lifting tongue is arranged at the center of the seat, each lifting tongue can pass through the inner ring wall of the annular seat and extend into the inner circle of the annular seat, and a lifting tongue driving mechanism for driving each lifting tongue to synchronously extend into the inner circle of the annular seat or synchronously retract into the annular seat is arranged on the lifting seat, and a first upper proximity switch is passed through the lifting pipe, and the first sensing block on the vertical rod can trigger the first upper proximity switch after the vertical rod moves upward. When the lifting device drives the lifting seat to move downward through the lifting pipe to grab the aerogel substrate loading tooling located below it, the aerogel substrate loading tooling The installed lifting head can pass through the inner circle of the annular seat upward and extend into the cavity of the lifting seat. Then the lifting head can overcome the elastic force of the reset spring and the gravity of the vertical rod to push the vertical rod upward. When the vertical rod moves upward to the position where the first sensing block can trigger the first upper proximity switch, each lifting tongue can be synchronously inserted into the inner circle of the annular seat under the drive of the lifting tongue driving mechanism, and then synchronously inserted into the annular groove on the side wall of the lifting head. At this time, the lifting device drives the lifting pipe to move up with the lifting seat, and then the aerogel substrate loading tooling can be lifted through each lifting tongue.

2. The grabbing device for aerogel substrate loading tooling according to claim 1, characterized in that: A first lower proximity switch lower than the first upper proximity switch is also provided on the lifting tube. When the lifting seat moves upward to lift the aerogel substrate loading tooling, the aerogel substrate loading tooling will move downward relative to the lifting seat due to the upper and lower gaps between the lifting tongues and the annular grooves until the lifting head rests on each lifting tongue. At this time, the first sensing block will descend together with the vertical rod to a position that can trigger the first lower proximity switch.

3. A grabbing device for aerogel substrate loading tooling according to claim 1 or 2, characterized in that: A mounting plate is fixedly mounted on the middle part of the lifting seat, and an annular pressing plate is arranged below the mounting plate. The annular pressing plate is hollowly mounted on the outer side of the annular seat, and three vertically arranged guide columns are arranged on the upper surface of the annular pressing plate. The three guide columns all pass through the mounting plate upwards, and three guide sleeves are arranged on the upper surface of the mounting plate. The three guide columns pass through the three guide sleeves respectively, and the guide sleeves can vertically guide the annular pressing plate through the guide columns. Bosses are arranged on the tops of the three guide columns, and the annular pressing plate can be suspended on the mounting plate by the three bosses respectively leaning against the tops of the guide sleeves. When the lifting device drives the lifting seat to move downward through the lifting pipe to grab the aerogel substrate loading tooling located below it, the annular pressure plate will be lifted up by the aerogel substrate loading tooling, and each guide column between the annular pressure plate and the mounting plate is equipped with a pressing spring, and the two ends of each pressing spring are respectively abutted against the mounting plate and the annular pressure plate, so that the annular pressure plate can elastically press the aerogel substrate loading tooling downward when being lifted up by the aerogel substrate loading tooling, so that after the aerogel substrate loading tooling is lifted, the annular pressure plate can press the tooling to prevent the tooling from shaking.

4. The grabbing device for aerogel substrate loading tooling according to claim 3, characterized in that: A pressure sensor is installed on the mounting plate. The pressure sensor is located above a guide column. The guide column can press the pressure sensor as the annular pressure plate is lifted up by the aerogel substrate loading tooling.

5. The grabbing device for aerogel substrate loading tooling according to claim 1 or 2, characterized in that: The structure of the lifting tongue driving mechanism is as follows: a driving ring and a pinion are arranged above the annular seat, the driving ring can be rotatably mounted on the lifting seat, a circle of teeth is arranged on the outer ring of the driving ring, the pinion and the teeth on the outer ring of the driving ring are meshed for transmission, and a gear driving device for driving the pinion to rotate is also provided, an arc-shaped driving groove corresponding to each lifting tongue one by one is provided on the lower surface of the driving ring, a driving block is fixed on each lifting tongue, and a long strip-shaped avoidance notch corresponding to each driving block one by one and arranged along the radial direction of the annular seat is provided on the upper surface of the annular seat, the driving block is located in the avoidance notch, and the avoidance notch is used to avoid the driving Block, so that the driving block can move radially inward and outward along the annular seat, an axially vertically arranged circular wheel is installed on each driving block, each circular wheel is inserted into the arc driving groove corresponding to the lifting tongue where it is located, and after the driving ring is driven by the gear driving device to rotate forward with each arc driving groove, each arc driving groove can drive each lifting tongue to extend synchronously into the inner circle of the annular seat along the radial direction of the annular seat by pushing each circular wheel, and then after the driving ring is driven by the gear driving device to rotate reversely with each arc driving groove, each arc driving groove can drive each lifting tongue to retract synchronously into the annular seat along the radial direction of the annular seat by pushing each circular wheel.

6. The grabbing device for aerogel substrate loading tooling according to claim 5, characterized in that: A mounting plate is fixedly mounted on the middle part of the lifting seat, and the mounting plate is located above the driving ring. A pin rod that can pass through the mounting plate downward and a pin rod driving device for driving the pin rod to move up and down are also arranged on the mounting plate. A pin hole is arranged on the driving ring. After the driving ring drives each lifting tongue to be inserted into the annular groove on the side wall of the lifting head of the aerogel substrate loading tooling, the pin rod can be inserted into the pin hole under the drive of the pin rod driving device to lock the driving ring.

7. The grabbing device for aerogel substrate loading tooling according to claim 6, characterized in that: The pin rod driving device is a two-way cylinder with both ends of a piston rod extending out of the two ends of the cylinder body respectively. The two-way cylinder is arranged vertically, one end of the two-way cylinder is fixed to the pin rod, and a second sensing block is fixed to the other end of the two-way cylinder. A second upper proximity switch and a second lower proximity switch lower than the second upper proximity switch are also installed on the mounting plate. After the pin rod is inserted downward into the pin hole under the drive of the two-way cylinder, the second sensing block will trigger the second lower proximity switch. After the pin rod moves upward and is pulled out of the pin hole under the drive of the two-way cylinder, the second sensing block will trigger the second upper proximity switch.

8. The grabbing device for aerogel substrate loading tooling according to claim 5, characterized in that: A mounting plate is fixedly mounted on the middle part of the lifting seat, and the mounting plate is located above the driving ring. A third proximity switch and a fourth proximity switch are mounted on the mounting plate. A third sensing block is mounted on the upper surface of the driving ring. After the driving ring drives each lifting tongue to be inserted into the annular groove on the side wall of the lifting head, the third sensing block will trigger the third proximity switch. After the driving ring drives each lifting tongue to retract into the annular seat, the third sensing block will trigger the fourth proximity switch.

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