Automatic mechanical grabbing device and grabbing method thereof

Abstract

The invention discloses an automatic mechanical grabbing device and a grabbing method thereof, and relates to the technical field of grabbing devices.The grabbing device comprises a vertical frame, a transverse frame is arranged on one side of the vertical frame, a carrying platform is arranged below the transverse frame, a carrying disc is arranged at one end of the carrying platform, and a hydraulic cylinder is arranged at the upper end of the carrying disc; a gripper carrying disc is arranged below the carrying disc. The grabbing device further comprises grabbing hand connecting bases which are welded to the lower end of the grabbing hand carrying disc, the number of the grabbing hand connecting bases is four, grabbing hand plates are movably arranged at the lower ends of the four grabbing hand connecting bases through connecting shafts, and a linkage rod is welded to the bottom of a piston rod of the hydraulic cylinder; the problems that an existing grabbing device assists sliding and lifting movement through an arranged moving structure and an arranged lifting structure, however, in the using process, a grabbing hand cannot movably adjust the grabbing position of an object, steering operation is inconvenient, and therefore automatic grabbing work is limited are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of grabbing devices, and in particular to an automated mechanical grabbing device and a grabbing method thereof. Background Art

[0002] A mechanical gripper is a device used to clamp and move objects. It is widely used in industrial automation production. It can be controlled by robots, machining centers, CNC machine tools and other machines.

[0003] For example, the announcement number is: CN218087767U (named as a mechanical automatic grasping device), which includes a base frame and a grasping mechanism, a pulley is provided at the bottom of the base frame, a lifting plate is slidably provided above the base frame, a lifting component for driving the lifting plate to rise and fall is provided on the top of the base frame, and the grasping mechanism includes a fixed rod, a movable plate and a telescopic rod, the fixed rod is provided at the bottom of the lifting plate, a fixed plate is provided at the bottom of the fixed rod, clamping plates are rotatably connected on both sides of the fixed plate, the movable plate is slidably sleeved on the fixed rod, and rotating rods are hinged at both ends of the movable plate, and the two rotating rods are respectively rotatably connected to the adjacent clamping plates The telescopic rod is arranged on the top of the lifting plate, and the output shaft of the telescopic rod passes through the lifting plate and is connected to the moving plate. The pulley at the bottom of the base frame is used to move the device, so that the grabbing mechanism is located above the product to be grabbed, and the grabbing mechanism is driven to rise and fall through the lifting assembly, so that the clamping plates on both sides are located on the outside of the product. Starting the telescopic rod makes the moving plate move upward. Because the moving plate is slidably sleeved on the fixed rod, rotating rods are hinged at both ends of the moving plate, and the two rotating rods are respectively rotatably connected to the adjacent clamping plates. Therefore, the upward movement of the moving plate will drive the rotating rods on both sides to tilt, thereby driving the clamping plates on both sides to approach each other to complete the product grabbing work.

[0004] The above-mentioned grasping device assists sliding and lifting activities through the set moving structure and lifting structure, but the gripper cannot be adjusted according to the grasping position of the object during use, and the steering operation is relatively inconvenient, resulting in limitations in the automated grasping work. For this reason, we provide an automated mechanical grasping device and a grasping method thereof. Summary of the invention

[0005] The object of the present invention is to provide an automated mechanical grasping device and a grasping method thereof, so as to solve the problem that the existing grasping device proposed in the above background technology assists sliding and lifting activities through the setting of a moving structure and a lifting structure, but the gripper cannot be adjusted according to the grasping position of the object during use, and the steering operation is relatively inconvenient, resulting in limitations in the automated grasping work.

[0006] To achieve the above object, the present invention provides the following technical solution: an automated mechanical grasping device, comprising a vertical frame, a horizontal frame is arranged on one side of the vertical frame, a carrying platform is arranged below the horizontal frame, a carrying tray is arranged at one end of the carrying platform, a hydraulic cylinder is arranged at the upper end of the carrying tray, and a gripper carrying tray is arranged below the carrying tray; Also includes: A gripper seat is welded and arranged at the lower end of the gripper carrier, four gripper seats are arranged, and the lower ends of the four gripper seats are movably provided with gripper plates through connecting shafts, and a linkage rod is welded and arranged at the bottom of the piston rod of the hydraulic cylinder, and the linkage rod is movably connected with the gripper carrier through penetration; A connecting end plate is welded and arranged at the lower end of the linkage rod, and four outer notches are arranged on the outer wall of the connecting end plate, and the four outer notches are arranged at equal intervals about the center point of the connecting end plate. A linkage block is welded and arranged on the inner wall of the grip plate, and a movable connecting rod is arranged between the linkage block and the outer notches; A mounting coupling is integrally formed and arranged on the outer walls of both sides of the supporting plate, the supporting plate is movably connected to the supporting platform through two mounting couplings, and an extension shaft is welded at one end of one mounting coupling, the extension shaft is movably connected to the supporting platform through penetration, a linkage turntable is welded at one end of the extension shaft, an inner groove is arranged on the outer wall of one side of the supporting platform, an electromagnet is fixed inside the inner groove by nail-free glue, and the linkage turntable is adsorbed and connected to the supporting platform through the electromagnet; A threaded screw is arranged inside the transverse frame, and a connecting seat is integrally formed at the center position of the upper end of the supporting platform, a hanging connecting rod is welded to the upper end of the connecting seat, and a movable connecting block is welded to the upper end of the hanging connecting rod.

[0007] Preferably, a power box is provided on the outer wall of one side of the vertical frame, a switch button is provided on one side of the connecting seat, a power supply connection is provided between the switch button and the power box, the output end of the power box is electrically connected to the input end of the switch button, and the output end of the switch button is electrically connected to the input end of the electromagnet.

[0008] Preferably, a supporting pole is welded at the bottom of the vertical frame, a protective cover is provided at the lower end of the supporting pole, a mounting seat is fixed at the bottom of the protective cover by screws, and a steering motor is sleeved inside the protective cover.

[0009] Preferably, a coupling is provided at the connection position between the output shaft of the steering motor and the supporting pole, and the steering motor is transmission-connected to the supporting pole via the coupling.

[0010] Preferably, an electric push rod is welded on the rear end face of the vertical frame, a movable groove is provided inside the vertical frame, an extension slider is movably provided inside the movable groove, the extension slider is an integrated structure with the transverse frame, and the extension slider is welded and connected to the top position of the piston rod of the electric push rod.

[0011] Preferably, two ends of the movable connecting rod are movably connected to the linkage block and the outer notch respectively through a connecting shaft, and four movable connecting rods are provided.

[0012] Preferably, a lead screw slider is welded to the upper end of the movable joint, and the lead screw slider is movably connected to the transverse frame through a threaded lead screw.

[0013] Preferably, four connecting rods are provided between the supporting plate and the gripper supporting plate, and two ends of the four connecting rods are respectively welded to the supporting plate and the gripper supporting plate.

[0014] Preferably, a servo motor is provided at one end of the transverse frame, and the output shaft of the servo motor is drivingly connected to the threaded screw inside the transverse frame through a coupling mechanism.

[0015] Preferably, the grasping method of the automated mechanical grasping device comprises the following steps: Step 1: The electric push rod drives the extension slider to move up and down along the movable groove, thereby driving the horizontal frame to move up and down, and then adjusting the height of the gripper position of the device; Step 2: The servo motor drives the threaded screw in the transverse frame to rotate, thereby driving the screw slider to slide horizontally along the transverse frame, so that the gripper position of the device grabs the object and carries it; Step 3: The hydraulic cylinder drives the linkage rod to move downward, so that the four gripper plates are opened. After the electric push rod drives the gripper to move downward, the four gripper plates are connected to the gripping position of the object. Then the hydraulic cylinder drives the linkage rod to rise, and the object is fixed and gripped through the four gripper plates. Step 4: Through the movable connection between the supporting plate and the supporting platform, the hydraulic cylinder is adjusted to tilt. After the adjustment is completed, the switch button is pressed so that the power box supplies power to the electromagnet. After the electromagnet is powered, magnetic force is generated to adsorb the linkage turntable to locate the position of the hydraulic cylinder after tilt adjustment; Step 5: After the hydraulic cylinder is tilted and adjusted, the gripper position is driven to tilt synchronously, so that the four gripper plates grasp the side end position of the object; Step 6: The steering motor drives the vertical frame to rotate, so that the gripper position grabs the item and then turns to the unloading position. Finally, the hydraulic cylinder drives the linkage rod to descend, so that the four gripper plates release the item.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention enables the hydraulic cylinder to be tilted and adjusted through the active connection between the supporting plate and the supporting platform. After the adjustment is completed, the switch button is pressed so that the power box supplies power to the electromagnet. The electromagnet generates magnetic force after being energized, and adsorbs the linkage turntable to locate the position of the hydraulic cylinder after the tilt adjustment. After the hydraulic cylinder is tilted and adjusted, the gripper position is driven to tilt synchronously, so that the four gripper plates grab the side end position of the object, and the vertical frame is driven to rotate by the steering motor, so that the gripper position grabs the object and then turns to the unloading position, thereby overcoming the problem that the existing gripping device assists in sliding and lifting activities by means of the mobile structure and the lifting structure, but the gripper cannot be adjusted according to the gripping position of the object during use, and the steering operation is relatively inconvenient, resulting in limitations in the automated gripping work.

[0017] 2. The electric push rod drives the extension slider to move up and down along the movable groove, thereby driving the horizontal frame to move up and down, and then adjusting the height of the gripper position of the device. The servo motor drives the threaded screw in the horizontal frame to rotate, thereby driving the screw slider to slide horizontally along the horizontal frame, so that the gripper position of the device can grab the object and carry it, so as to facilitate the operation of grabbing objects in all directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view of the structure of the automated mechanical grasping device of the present invention; Figure 2 It is a side view of the structure of the automated mechanical grasping device of the present invention; Figure 3 It is a schematic diagram of the internal structure of the automated mechanical grasping device of the present invention; Figure 4 A bottom view of the structure of the automated mechanical grasping device of the present invention; Figure 5 It is an enlarged schematic diagram of the structure of part A of the present invention; Figure 6 It is a schematic diagram of the connection structure between the supporting tray and the supporting platform of the present invention; Figure 7 It is an enlarged schematic diagram of the structure of part B of the present invention; In the figure: 1. vertical frame; 2. horizontal frame; 3. servo motor; 4. supporting pole; 5. protective cover; 6. mounting seat; 7. supporting platform; 8. supporting plate; 9. erection shaft; 10. hydraulic cylinder; 11. gripper plate; 12. connecting rod; 13. linkage rod; 14. gripper seat; 15. gripper plate; 16. movable groove; 17. electric push rod; 18. linkage turntable; 19. connecting end plate; 20. hanging connecting rod; 21. movable connecting block; 22. switch button; 23. power supply wiring; 24. connecting seat; 25. coupling; 26. steering motor; 27. extension slider; 28. lead screw slider; 29. ​​threaded screw; 30. outer notch; 31. linkage block; 32. movable connecting rod; 33. extension shaft; 34. embedded groove; 35. electromagnet; 36. power box. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] See also Figure 1-7 , an embodiment provided by the present invention: an automated mechanical grasping device, comprising a vertical frame 1, a horizontal frame 2 is arranged on one side of the vertical frame 1, a supporting platform 7 is arranged below the horizontal frame 2, a supporting tray 8 is arranged at one end of the supporting platform 7, a hydraulic cylinder 10 is arranged at the upper end of the supporting tray 8, and a gripper tray 11 is arranged below the supporting tray 8; Also includes: A gripper seat 14 is welded and arranged at the lower end of the gripper carrier 11. Four gripper seats 14 are arranged, and a gripper plate 15 is movably arranged at the lower end of each of the four gripper seats 14 through a connecting shaft. A linkage rod 13 is welded and arranged at the bottom of the piston rod of the hydraulic cylinder 10. The linkage rod 13 is movably connected with the gripper carrier 11 through a through connection. The connecting end plate 19 is welded at the lower end of the linkage rod 13, and four outer notches 30 are arranged on the outer wall of the connecting end plate 19, and the four outer notches 30 are arranged at equal intervals about the center point of the connecting end plate 19. A linkage block 31 is welded on the inner wall of the grip plate 15, and a movable connecting rod 32 is arranged between the linkage block 31 and the outer notches 30; A mounting coupling 9 is integrally formed and arranged on the outer walls of both sides of the supporting plate 8. The supporting plate 8 is movably connected to the supporting platform 7 through two mounting couplings 9, and an extension shaft 33 is welded at one end of one mounting coupling 9. The extension shaft 33 is movably connected to the supporting platform 7 through penetration. A linkage turntable 18 is welded at one end of the extension shaft 33. An inner groove 34 is arranged on the outer wall of one side of the supporting platform 7. An electromagnet 35 is fixed inside the inner groove 34 by nail-free glue. The linkage turntable 18 is adsorbed and connected to the supporting platform 7 through the electromagnet 35. The threaded screw 29 is arranged inside the transverse frame 2, and a connecting seat 24 is integrally formed at the center position of the upper end of the supporting platform 7. A hanging connecting rod 20 is welded to the upper end of the connecting seat 24, and a movable connecting block 21 is welded to the upper end of the hanging connecting rod 20.

[0021] See also Figure 6 and Figure 7 A power box 36 is provided on the outer wall of one side of the vertical frame 1, a switch button 22 is provided on one side of the connecting seat 24, a power supply connection 23 is provided between the switch button 22 and the power box 36, the output end of the power box 36 is electrically connected to the input end of the switch button 22, and the output end of the switch button 22 is electrically connected to the input end of the electromagnet 35. The power box 36 provided on the outer wall of one side of the vertical frame 1 serves to supply power to the electromagnet 35.

[0022] See also Figure 3 A supporting pole 4 is welded at the bottom of the vertical frame 1, a protective cover 5 is arranged at the lower end of the supporting pole 4, a mounting seat 6 is fixed at the bottom of the protective cover 5 by screws, a steering motor 26 is sleeved inside the protective cover 5, and the supporting pole 4 welded at the bottom of the vertical frame 1 plays a role in supporting the active steering of the vertical frame 1.

[0023] See also Figure 3 A coupling 25 is provided at the connection position between the output shaft of the steering motor 26 and the support pole 4. The steering motor 26 is transmission-connected to the support pole 4 through the coupling 25. The coupling 25 provided at the connection position between the output shaft of the steering motor 26 and the support pole 4 plays the role of transmission connection between the steering motor 26 and the support pole 4.

[0024] See also Figure 3 An electric push rod 17 is welded on the rear end surface of the vertical frame 1, and a movable groove 16 is arranged inside the vertical frame 1. An extension slider 27 is movably arranged inside the movable groove 16. The extension slider 27 is an integrated structure with the transverse frame 2. The extension slider 27 is welded to the top position of the piston rod of the electric push rod 17. The electric push rod 17 welded on the rear end surface of the vertical frame 1 plays a role in driving the transverse frame 2 to move up and down.

[0025] See also Figure 5 The two ends of the movable connecting rod 32 are movably connected to the linkage block 31 and the outer notch 30 through the connecting shaft. Four movable connecting rods 32 are provided. The movable connecting rod 32 plays the role of movably connecting the linkage block 31 and the outer notch 30, so that the linkage rod 13 drives the four gripping plates 15 to perform the retraction and expansion activities.

[0026] See also Figure 4 A lead screw slider 28 is welded at the upper end of the movable joint 21, and the lead screw slider 28 is movably connected to the transverse frame 2 through a threaded screw 29. The lead screw slider 28 welded at the upper end of the movable joint 21 plays a role in driving the movable joint 21 to slide, thereby driving the gripper position to move and carry the grasped items.

[0027] See also Figure 1 Four connecting rods 12 are arranged between the supporting plate 8 and the gripping plate 11, and the two ends of the four connecting rods 12 are respectively welded to the supporting plate 8 and the gripping plate 11. The four connecting rods 12 arranged between the supporting plate 8 and the gripping plate 11 play the role of reinforcing the connection between the supporting plate 8 and the gripping plate 11.

[0028] See also Figure 1 and Figure 3 A servo motor 3 is provided at one end of the transverse frame 2, and the output shaft of the servo motor 3 is transmission-connected to the threaded screw 29 inside the transverse frame 2 through a coupling mechanism. The servo motor 3 provided at one end of the transverse frame 2 plays a role in driving the threaded screw 29 to rotate.

[0029] See also Figure 1-7 , a grasping method of an automated mechanical grasping device, comprising the following steps: Step 1: The electric push rod 17 drives the extension slider 27 to move up and down along the movable through slot 16, thereby driving the transverse frame 2 to move up and down, and then adjusting the height of the gripper position of the device; Step 2: The servo motor 3 drives the threaded screw 29 in the transverse frame 2 to rotate, thereby driving the screw slider 28 to slide horizontally along the transverse frame 2, so that the gripper position of the device grabs the object and then carries it; Step 3: The hydraulic cylinder 10 drives the linkage rod 13 to move downward, so that the four gripping plates 15 are opened. After the electric push rod 17 drives the gripper to move downward, the four gripping plates 15 are sleeved to the gripping position of the object. Then, the hydraulic cylinder 10 drives the linkage rod 13 to rise, and the object is fixedly gripped by the four gripping plates 15. Step 4: The hydraulic cylinder 10 is adjusted to tilt by the movable connection between the supporting plate 8 and the supporting platform 7. After the adjustment is completed, the switch button 22 is pressed, so that the power box 36 supplies power to the electromagnet 35. The electromagnet 35 generates magnetic force after being powered, and attracts the linkage turntable 18 to locate the position of the hydraulic cylinder 10 after tilt adjustment. Step 5: After the hydraulic cylinder 10 is tilted and adjusted, the gripper position is driven to tilt synchronously, so that the four gripper plates 15 grip the side end position of the object; Step 6: The vertical frame 1 is driven to rotate by the steering motor 26, so that the gripper position grabs the item and then turns to the unloading position. Finally, the hydraulic cylinder 10 drives the linkage rod 13 to descend, so that the four gripper plates 15 release the item.

[0030] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An automated mechanical grasping device, comprising a vertical frame (1), a transverse frame (2) being arranged on one side of the vertical frame (1), a supporting platform (7) being arranged below the transverse frame (2), a supporting tray (8) being arranged at one end of the supporting platform (7), a hydraulic cylinder (10) being arranged at the upper end of the supporting tray (8), and a gripper tray (11) being arranged below the supporting tray (8); Features: Also includes: A gripper seat (14) is welded and arranged at the lower end of the gripper carrier (11), four gripper seats (14) are arranged, and a gripper plate (15) is movably arranged at the lower end of each of the four gripper seats (14) via a connecting shaft, a linkage rod (13) is welded and arranged at the bottom of the piston rod of the hydraulic cylinder (10), and the linkage rod (13) is movably connected to the gripper carrier (11) through penetration; A connecting end plate (19) is welded and arranged at the lower end of the linkage rod (13), and four outer notches (30) are arranged on the outer wall of the connecting end plate (19), and the four outer notches (30) are arranged at equal intervals about the center point of the connecting end plate (19). A linkage block (31) is welded and arranged on the inner wall of the grip plate (15), and a movable connecting rod (32) is arranged between the linkage block (31) and the outer notches (30); A mounting shaft (9) is integrally formed and arranged on the outer walls of both sides of the supporting plate (8); the supporting plate (8) is movably connected to the supporting platform (7) through the two mounting shafts (9); an extension shaft (33) is welded to one end of one mounting shaft (9); the extension shaft (33) is movably connected to the supporting platform (7) through interlocking; a linkage rotating disk (18) is welded to one end of the extension shaft (33); an inner groove (34) is arranged on the outer wall of one side of the supporting platform (7); an electromagnet (35) is fixed inside the inner groove (34) by nail-free glue; the linkage rotating disk (18) is adsorbed and connected to the supporting platform (7) through the electromagnet (35); A threaded screw (29) is arranged inside the transverse frame (2), and a connecting seat (24) is integrally formed at the center position of the upper end of the supporting platform (7), a hanging connecting rod (20) is welded to the upper end of the connecting seat (24), and a movable connecting block (21) is welded to the upper end of the hanging connecting rod (20).

2. An automated mechanical grasping device according to claim 1, characterized in that: A power box (36) is provided on an outer wall of one side of the vertical frame (1), a switch button (22) is provided on one side of the connection seat (24), a power supply connection (23) is provided between the switch button (22) and the power box (36), an output end of the power box (36) is electrically connected to an input end of the switch button (22), and an output end of the switch button (22) is electrically connected to an input end of the electromagnet (35).

3. An automated mechanical grasping device according to claim 2, characterized in that: A support pole (4) is welded to the bottom of the vertical frame (1), a protective cover (5) is provided at the lower end of the support pole (4), a mounting seat (6) is fixed at the bottom of the protective cover (5) by screws, and a steering motor (26) is sleeved inside the protective cover (5).

4. An automated mechanical grasping device according to claim 3, characterized in that: A coupling (25) is provided at the connection position between the output shaft of the steering motor (26) and the supporting upright pole (4), and the steering motor (26) is transmission-connected to the supporting upright pole (4) via the coupling (25).

5. The automatic mechanical grasping device according to claim 4, characterized in that: An electric push rod (17) is welded to the rear end surface of the vertical frame (1), a movable through slot (16) is provided inside the vertical frame (1), an extension slider (27) is movably provided inside the movable through slot (16), the extension slider (27) and the transverse frame (2) are an integral structure, and the extension slider (27) is welded to the top of the piston rod of the electric push rod (17).

6. An automated mechanical grasping device according to claim 5, characterized in that: Both ends of the movable connecting rod (32) are movably connected to the linkage block (31) and the outer notch (30) respectively through a connecting shaft, and four movable connecting rods (32) are provided.

7. An automated mechanical grasping device according to claim 6, characterized in that: A lead screw slider (28) is welded to the upper end of the movable joint block (21), and the lead screw slider (28) is movably connected to the transverse frame (2) via a threaded lead screw (29).

8. An automated mechanical grasping device according to claim 7, characterized in that: Four connecting rods (12) are arranged between the supporting plate (8) and the gripper supporting plate (11), and two ends of the four connecting rods (12) are respectively welded to the supporting plate (8) and the gripper supporting plate (11).

9. An automated mechanical grasping device according to claim 8, characterized in that: A servo motor (3) is provided at one end of the transverse frame (2), and an output shaft of the servo motor (3) is transmission-connected to a threaded screw (29) inside the transverse frame (2) via a coupling mechanism.

10. The grasping method of the automatic mechanical grasping device according to claim 9, characterized in that: The following steps are involved: Step 1: The electric push rod (17) drives the extension slider (27) to move up and down along the movable through slot (16), thereby driving the transverse frame (2) to move up and down, thereby adjusting the height of the gripper position of the device; Step 2: The threaded screw (29) in the transverse frame (2) is driven to rotate by the servo motor (3), thereby driving the screw slider (28) to slide horizontally along the transverse frame (2), so that the gripper position of the device can grasp the object and then carry it; Step 3: The hydraulic cylinder (10) drives the linkage rod (13) to move downward, thereby opening the four gripping plates (15). After the electric push rod (17) drives the gripper to move downward, the four gripping plates (15) are sleeved onto the gripping position of the object. Then, the hydraulic cylinder (10) drives the linkage rod (13) to rise, and the object is fixedly gripped by the four gripping plates (15). Step 4: The hydraulic cylinder (10) is adjusted to tilt by the movable connection between the supporting plate (8) and the supporting platform (7). After the adjustment is completed, the switch button (22) is pressed so that the power box (36) supplies power to the electromagnet (35). The electromagnet (35) generates magnetic force after being powered, and attracts the linkage rotating plate (18) to locate the position of the hydraulic cylinder (10) after the tilt adjustment. Step 5: After the hydraulic cylinder (10) is tilted and adjusted, the gripper position is driven to tilt synchronously, so that the four gripper plates (15) are positioned at the side end of the gripper object; Step 6: The vertical frame (1) is driven to rotate by the steering motor (26), so that the gripper position grabs the object and then turns to the unloading position. Finally, the hydraulic cylinder (10) drives the linkage rod (13) to descend, so that the four gripper plates (15) release the object.

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