Mechanical mechanism for grabbing concave cylinder

Abstract

The invention belongs to the technical field of transportation, and particularly relates to a mechanical mechanism for grabbing a concave cylinder, the mechanical mechanism comprises a mounting disc, a plurality of connecting columns are fixedly connected to the lower end face of the mounting disc, a fixing disc is fixedly connected to the lower ends of the connecting columns, and an adjustable clamping assembly is arranged on the fixing disc; the adjustable clamping assembly comprises a groove plate slidably connected to the lower end face of the fixing disc, a supporting rod is slidably connected to a sliding groove of the groove plate, a first rack is slidably connected to one side of the lower end of the supporting rod, and a lifting disc is fixedly connected to the lower end of the first rack. By means of the adjustable clamping assembly and the expansion assembly, gaps between the placed concave cylinders can be expanded before the concave cylinders are placed on the rectangular tray, so that the concave cylinders can contain another concave cylinder, and the situation that subsequent transfer is affected due to placement failure caused by insufficient gaps is avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of transportation, in particular to a mechanical mechanism for grabbing concave cylinders. BACKGROUND

[0002] The concave cylinder is a kind of cylinder with concave structure on the bottom or side, and its geometric feature is that the main body is cylindrical, but there is a local concave design. This structure is often found in industrial products (such as containers, mechanical parts) or packaging design. In the industrial automation scene, concave cylinders are often used in assembly line assembly or warehouse logistics, and concave cylinder parts need to be transported for assembly. Traditional manual transportation is low in efficiency and high in cost, and automatic grabbing can reduce labor cost.

[0003] Patent No. CN110217591B discloses a mechanical mechanism for grabbing concave cylinders, mainly including an execution mechanism, a mounting plate, an electromagnetic adsorption mechanism and a protection mechanism. The execution mechanism is mainly composed of a mounting seat, a pin shaft a, an electric push rod, a pin shaft b, a pull rod, a guide seat, a pull hook and a pin shaft c. The electromagnetic adsorption mechanism is mainly composed of a sliding sleeve, a magnet sleeve and an electromagnet. The protection mechanism is provided with a rubber strip for preventing the grabbed object from colliding with the whole grabbing mechanism. The mechanical mechanism for grabbing concave cylinders of the patent realizes the gripping and releasing of the concave cylinder through the electric push rod driving the pull hook, and has the characteristics of simple structure and reliable gripping and releasing.

[0004] However, the above technical solution has the following disadvantages in actual application: Although the concave cylinder can be gripped, in some cases, the gripped concave cylinder needs to be placed on a rectangular tray, which is a common loading tool in industrial transportation. It is beneficial to improve the transfer efficiency by cooperating with the forklift. When the concave cylinder is placed on the rectangular tray, other concave cylinders may have been placed on the rectangular tray. These concave cylinders are closely gathered and the placement state is not regular. Although there are some gaps, they are not enough to accommodate the subsequent concave cylinders, so that the concave cylinder to be placed cannot be smoothly placed on the rectangular tray, thereby affecting the smooth progress of the subsequent transfer work. SUMMARY

[0005] In order to make up for the deficiencies of the prior art and solve at least one technical problem proposed in the background art, the present application proposes a mechanical mechanism for grabbing concave cylinders.

[0006] The technical scheme adopted by the present application to solve its technical problems is: a mechanical mechanism for grabbing concave cylinders, comprising a mounting disc, a plurality of connecting columns are fixedly connected to the lower end face of the mounting disc, a fixed disc is fixedly connected to the lower end of the connecting column, and an adjustable gripping assembly is arranged on the fixed disc. The adjustable clamping assembly comprises a groove plate slidably connected to the lower end surface of the fixed disc, a support rod slidably connected to the groove of the groove plate, a rack one slidably connected to one side of the lower end of the support rod, a lifting disc fixedly connected to the lower end of the rack one, and a plurality of connecting rods five radially distributed and rotatably arranged at the lower end of the lifting disc. The support rod is further provided with an expansion assembly. The expansion assembly comprises a rack two and a lifting rod slidably connected to both sides of the lower end of the support rod, and a support ring fixedly connected to the lower end of each of the rack two and the lifting rod.

[0007] Preferably, a gear one is rotatably arranged on one side of the lower end of the support rod, the gear one is intermeshed with the tooth blocks on the rack one, a motor nine is fixedly connected to one side of the lower end of the support rod, the output end of the motor nine is fixedly connected to the gear one, a worm gear is fixedly connected to one end of the connecting rod five, the worm gear is rotatably arranged on the lifting disc, a worm is rotatably arranged on the middle of the lower end surface of the lifting disc, a motor ten is fixedly connected to the middle of the upper end surface of the lifting disc, and the output end of the motor ten is fixedly connected to one end of the worm.

[0008] Preferably, a gear two is rotatably arranged on one side of the lower end of the support rod, the gear two is intermeshed with the tooth blocks on the rack two, and a motor eleven is fixedly connected to one side of the lower end of the support rod.

[0009] Preferably, a connecting rod six is rotatably arranged on one end of the expansion rod, an adjusting ring two is rotatably arranged on one end of the connecting rod six, a threaded rod three is threadedly connected to one side of the adjusting ring two, the lower end of the threaded rod three is rotatably arranged on the support ring, a motor thirteen is fixedly connected to one side of the support ring, the output end of the motor thirteen is fixedly connected to one end of the threaded rod three, a motor twelve is fixedly connected to one side of the lower end of the expansion rod, and the output end of the motor twelve is fixedly connected to one end of the winding drum two.

[0010] Preferably, the fixed disc is further provided with an expansion protection assembly. The expansion protection assembly comprises a plurality of adjusting rods distributed in the radial direction and slidingly connected to the end surface of the fixed disc, a mounting column fixedly connected to the lower end of the adjusting rod, a support rod slidingly connected to one side of the mounting column, two connecting rods seven rotatably arranged on one side of the support rod, a connecting rod four rotatably arranged at one end of the connecting rod seven, an adjusting plate two rotatably arranged at one end of the connecting rod four, two support rods rotatably arranged at the lower end of the left adjusting plate two, a sleeve three inserted and slidingly connected to the support rod, a sliding rod three rotatably connected to the right end of the right support rod, two adjusting plates two rotatably arranged at the lower end of the left support rod, a sleeve four slidingly connected to the adjusting plate two, a sliding rod four rotatably connected to the right end of the right adjusting plate two, the sleeve three, the sliding rod three, the sleeve four and the sliding rod four being wound with the same cloth one, two connecting rods three rotatably arranged on one side of the support rod, a connecting rod two rotatably arranged at one end of the connecting rod three, an adjusting plate one rotatably arranged at one end of the connecting rod two, a sleeve one rotatably arranged at the lower end of the support rod on one side, a sliding rod one slidingly connected to the sleeve one, the sliding rod one rotatably arranged on the front side of the support rod at one end, a sleeve two rotatably arranged at the lower end of the adjusting plate, a sliding rod two slidingly connected to the sleeve two, the sliding rod two rotatably arranged on the front side of the adjusting plate one at one end, and the sleeve one, the sliding rod one, the sleeve two and the sliding rod two being wound with the same cloth two.

[0011] Preferably, the lower end of the two support rods on the back side is fixedly connected with a motor three, the output end of the motor three is fixedly connected with one end of the sleeve one, the lower end of the two adjusting plates on the back side is fixedly connected with a motor four, the output end of the motor four is fixedly connected with one end of the sleeve two, one side of the support rod is fixedly connected with a motor six, and the output end of the motor six is fixedly connected with one end of the connecting rod three.

[0012] Preferably, one side of the lower end of the two support rods on the left side is fixedly connected with a motor seven, the output end of the motor seven is fixedly connected with one end of the sleeve three, one side of the lower end of the two adjusting plates two on the left side is fixedly connected with a motor eight, the output end of the motor eight is fixedly connected with one end of the sleeve four, one side of the support rod is fixedly connected with a motor five, and the output end of the motor five is fixedly connected with one end of the connecting rod seven.

[0013] Preferably, one end of the support rod on one side is threadedly connected with a threaded rod two, both ends of the threaded rod two are rotatably arranged on the mounting column, one end of the mounting column is fixedly connected with a motor two, and the output end of the motor two is fixedly connected with one end of the threaded rod two.

[0014] Preferably, one side of the groove plate is threadedly connected with a threaded rod four, both ends of the threaded rod four are rotationally arranged on a fixed disc, one side of the lower end surface of the fixed disc is fixedly connected with a motor fifteen, the output end of the motor fifteen is fixedly connected with one end of the threaded rod four, the upper end of the supporting rod is threadedly connected with a threaded rod five, both ends of the threaded rod five are rotationally arranged on the groove plate, one end of the groove plate is fixedly connected with a motor fourteen, the output end of the motor fourteen is fixedly connected with one end of the threaded rod five.

[0015] Preferably, the adjusting rod is rotationally arranged with a connecting rod one on one side of the upper end, the connecting rod one is rotationally arranged with an adjusting ring one on one end, the adjusting ring one is threadedly connected with a threaded rod one on one side, the upper end of the threaded rod one is rotationally arranged on the mounting disc, the lower end is rotationally arranged on the fixed disc, one side of the upper end surface of the mounting disc is fixedly connected with a motor one, the output end of the motor one is fixedly connected with one end of the threaded rod one, both ends of the mounting column are rotationally arranged with a winding drum one on one side, the winding drum one is arranged with a plurality of rope ones on the upper end, one side of the upper end of the mounting column is fixedly connected with a motor sixteen, the output end of the motor sixteen is fixedly connected with one end of the winding drum one.

[0016] The beneficial effects of the present application are as follows: 1. The mechanical mechanism for grabbing the concave cylinder, which utilizes the adjustable clamping assembly and the expansion assembly, can expand the gap between the placed concave cylinders before placing another concave cylinder on the rectangular tray, so as to avoid placement failure due to insufficient gap and affect subsequent transportation.

[0017] 2. The mechanical mechanism for grabbing the concave cylinder, which utilizes the expansion protection assembly, when the expansion assembly pushes the concave cylinders on the rectangular tray, since the plurality of rope ones form a surrounding barrier on the rectangular tray, even if the concave cylinders are squeezed, they will not fall off the rectangular tray due to the interception of the rope ones, ensuring the smooth progress of subsequent transportation. In addition, the blocking cloth one and the blocking cloth two cooperate to form a shielding piece above the concave cylinders, and the shielding piece has an opening, the subsequent concave cylinders can be placed on the rectangular tray from the rectangular opening, and the rectangular opening also provides a working space for the expansion assembly. Since the plurality of concave cylinders on the rectangular tray are vertically limited by the blocking cloth one and the blocking cloth two, the concave cylinders will not move upward due to squeezing, thereby avoiding the phenomenon that the concave cylinders move upward due to squeezing when pushing the concave cylinders, and the plurality of concave cylinders on the rectangular tray are vertically limited by the blocking cloth one and the blocking cloth two, so that the plurality of concave cylinders are at the same height, which is convenient for subsequent use, and also avoids the phenomenon that the concave cylinders overlap, which is prone to cause the concave cylinders to fall off the rectangular tray during subsequent transportation. BRIEF DESCRIPTION OF DRAWINGS

[0018] The application will be further described in connection with the accompanying drawings.

[0019] Figure 1 is a perspective view of the structure of the application (rectangular tray is shown); Figure 2 is a perspective view of the structure of the rope (rectangular tray is shown); Figure 3 is Figure 2 is an enlarged view of part A in the structure; Figure 4 is a perspective view of the structure of the support rod; Figure 5 is Figure 4 is an enlarged view of part B in the structure; Figure 6 is Figure 4 is an enlarged view of part C in the structure; Figure 7 is a perspective view of the structure of the cloth; Figure 8 is Figure 7 is an enlarged view of part D in the structure; Figure 9 is a perspective view of the structure of the cloth from another angle; Figure 10 is a perspective view of the structure of the fixing disc; Figure 11 is a perspective view of the structure of the cloth; Figure 12 is a perspective view of the structure of the adjusting ring.

[0020] In the figure: 1, fixed disc; 2, mounting disc; 3, motor one; 4, connecting column; 5, threaded rod one; 6, adjusting ring one; 7, connecting rod one; 8, adjusting rod; 9, rope one; 10, mounting column; 11, support rod; 12, adjusting plate one; 13, cloth one; 14, cloth two; 15, adjusting plate two; 16, drum one; 17, sleeve one; 18, sliding rod one; 19, threaded rod two; 20, motor two; 21, connecting rod two; 22, connecting rod three; 23, motor three; 24, motor four; 25, sleeve two; 26, sliding rod two; 27, connecting rod seven; 28, connecting rod four; 29, motor five; 30, motor six; 31, motor seven; 32, motor eight; 33, sleeve three; 34, sliding rod three; 35, rack one; 36, gear one; 37, motor nine; 38, lifting disc; 39, motor ten; 40, lifting rod; 41, gear two; 42, motor eleven; 43, rack two; 44, worm; 45, worm gear; 46, connecting rod five; 47, positioning block; 48, expansion rod; 49, motor twelve; 50, drum two; 51, adjusting ring two; 52, motor thirteen; 53, threaded rod three; 54, support ring; 55, motor fourteen; 56, slot plate; 57, threaded rod four; 58, motor fifteen; 59, threaded rod five; 60, sleeve four; 61, sliding rod four; 62, rope two; 63, connecting rod six; 64, motor sixteen. DETAILED DESCRIPTION

[0021] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0022] Please refer to Figures 1-12 The present application provides a technical solution: a mechanical mechanism for grabbing a concave cylinder, comprising a mounting disc 2, a plurality of connecting columns 4 are fixedly connected to the lower end surface of the mounting disc 2, a fixed disc 1 is fixedly connected to the lower end of the connecting column 4, and an adjustable clamping assembly is arranged on the fixed disc 1; The adjustable clamping assembly comprises a slot plate 56 slidably connected to the lower end surface of the fixed disc 1, a support rod 11 slidably connected in the sliding groove of the slot plate 56, a rack one 35 slidably connected to one side of the lower end of the support rod 11, a lifting disc 38 fixedly connected to the lower end of the rack one 35, and a plurality of connecting rods five 46 radially distributed and rotationally arranged at the lower end of the lifting disc 38. The support rod 11 is further provided with an expansion assembly; The expansion assembly comprises rack two 43 and lifting rod 40 slidingly connected to both sides of the lower end of support rod 11, support ring 54 fixedly connected to the lower end of rack two 43 and lifting rod 40, a plurality of expansion rods 48 slidingly connected along the circumference of support ring 54 and distributed uniformly in the radial direction, winding drum two 50 rotatably arranged on one side of the lower end of expansion rod 48, and a plurality of ropes two 62 wound on winding drum two 50, one end of rope two 62 fixedly connected to the other expansion rod 48.

[0023] In this embodiment, as shown in Figures 4-6 、 Figure 12 Gear one 36 is rotatably arranged on one side of the lower end of support rod 11, and the gear block on rack one 35 is engaged with gear one 36, motor nine 37 is fixedly connected to one side of the lower end of support rod 11, one end of connecting rod five 46 is fixedly connected to worm gear 45, worm gear 45 is rotatably arranged on lifting disc 38, worm 44 is rotatably arranged on the middle of the lower end surface of lifting disc 38, motor ten 39 is fixedly connected to the middle of the upper end surface of lifting disc 38, and the output end of motor ten 39 is fixedly connected to one end of worm 44.

[0024] Gear two 41 is rotatably arranged on one side of the lower end of support rod 11, and the gear block on rack two 43 is engaged with gear two 41, motor eleven 42 is fixedly connected to one side of the lower end of support rod 11, and the output end of motor eleven 42 is fixedly connected to gear two 41.

[0025] One end of expansion rod 48 is rotatably arranged with connecting rod six 63, one end of connecting rod six 63 is rotatably arranged with adjusting ring two 51, threaded rod three 53 is threadedly connected to one side of adjusting ring two 51, the lower end of threaded rod three 53 is rotatably arranged on support ring 54, motor thirteen 52 is fixedly connected to one side of support ring 54, the output end of motor thirteen 52 is fixedly connected to one end of threaded rod three 53, motor twelve 49 is fixedly connected to one side of the lower end of expansion rod 48, and the output end of motor twelve 49 is fixedly connected to one end of winding drum two 50.

[0026] Specifically, in the prior art, although the concave cylinder can be clamped, in some cases, the clamped concave cylinder needs to be placed on a rectangular tray, which is a common loading tool in industrial transportation. It is beneficial to improve the transfer efficiency by cooperating with a forklift. When the concave cylinder is placed on the rectangular tray, other concave cylinders may have been placed on the rectangular tray. These concave cylinders are closely gathered and the placement state is irregular. Although there are some gaps, they are not enough to accommodate the subsequent concave cylinders, so that the concave cylinders to be placed cannot be smoothly placed on the rectangular tray, thereby affecting the smooth progress of the subsequent transfer work.

[0027] Therefore, in order to solve the above problems, the installation disc 2 is connected to one end of the mechanical arm in use. The displacement of the installation disc 2 is controlled by the mechanical arm. The lower end of the expansion rod 48 is higher than the upper end surface of the lifting disc 38 in the initial state. After the to-be-grabbed concave cylinder is between the plurality of positioning blocks 47, the worm 44 is driven to rotate by the motor 10 39, and the plurality of worm gears 45 and the plurality of connecting rods 46 simultaneously rotate, so that the positioning blocks 47 approach the concave cylinder, until the plurality of positioning blocks 47 are attached to the surface of the concave cylinder, and the concave cylinder is clamped. Then, the concave cylinder is placed on the rectangular tray by controlling the displacement of the installation disc 2. When the rectangular tray has already placed other concave cylinders, and these concave cylinders are closely gathered, the placement state is not regular, although there is a gap, but it is not enough to accommodate the subsequent concave cylinder, the gear 2 41 is driven to rotate by the motor 11 42, the rack 2 43 and the lifting rod 40 are lowered, until the upper end surface of the expansion rod 48 is lower than the bottom of the concave cylinder, then the threaded rod 3 53 is driven to rotate by the motor 13 52, the adjusting ring 2 51 is raised, at the same time, the expansion rod 48 is driven to slide on the support ring 54 by the plurality of connecting rods 6 63, so that the plurality of expansion rods 48 approach each other, at the same time, the motor 12 49 drives the drum 2 50 to rotate, and the rope 2 62 is wound, so that the unwound part of the rope 2 62 is always kept in a tight state. When the plurality of expansion rods 48 approach each other to the limit position, because the plurality of expansion rods 48 are in a gathered state at this time, the plurality of expansion rods 48 can easily extend into the gap between the concave cylinders on the rectangular tray. Then drive the installation disc 2 to move, so that the plurality of expansion rods 48 extend into the gap between the concave cylinders, then drive the plurality of expansion rods 48 to move away from each other again, at the same time, the drum 2 50 unwinds the rope 2 62, so that the concave cylinders can be pushed away by the cooperation of the plurality of expansion rods 48 and the rope 2 62, so that the gap is enlarged, until the subsequent concave cylinder can be placed, then drive the concave cylinder to descend and place on the rectangular tray. Therefore, before the concave cylinder is placed on the rectangular tray, the gap between the placed concave cylinders is first enlarged, so that it can accommodate another concave cylinder, avoiding the failure of placement due to insufficient gap, affecting the subsequent transfer.

[0028] In the embodiment, as shown in Figure 2 、 Figure 3 、 Figures 7-11 , the fixed disc 1 is also provided with an expansion protection assembly; The expansion protection assembly comprises a plurality of adjusting rods 8 distributed in the radial direction and slidingly connected to the end surface of the fixed disc 1, the lower end of the adjusting rod 8 is fixedly connected with a mounting column 10, one side of the mounting column 10 is slidingly connected with a supporting rod 11, one side of the supporting rod 11 is rotatably provided with two connecting rods seven 27, one end of the connecting rod seven 27 is rotatably provided with a connecting rod four 28, one end of the connecting rod four 28 is rotatably provided with an adjusting plate two 15, the lower end of the left two supporting rods 11 is rotatably provided with a sleeve three 33, the sleeve three 33 is inserted and slidingly connected with a sliding rod three 34, the right end of the sliding rod three 34 is rotatably connected to the right supporting rod 11, the lower end of the left two adjusting plates two 15 is rotatably provided with a sleeve four 60, the sleeve four 60 is slidingly connected with a sliding rod four 61, the right end of the sliding rod four 61 is rotatably connected to the right adjusting plate two 15, the sleeve three 33, the sliding rod three 34, the sleeve four 60 and the sliding rod four 61 are wound with the same piece of cloth one 13, one side of the supporting rod 11 is rotatably provided with two connecting rods three 22, one end of the connecting rod three 22 is rotatably provided with a connecting rod two 21, one end of the connecting rod two 21 is rotatably provided with an adjusting plate one 12, one side of the lower end of the rear two supporting rods 11 is rotatably provided with a sleeve one 17, the sleeve one 17 is slidingly connected with a sliding rod one 18, one end of the sliding rod one 18 is rotatably provided on the front supporting rod 11, the lower end of the adjusting plate one 12 is rotatably provided with a sleeve two 25, the sleeve two 25 is slidingly connected with a sliding rod two 26, one end of the sliding rod two 26 is rotatably provided on the front adjusting plate one 12, the sleeve one 17, the sliding rod one 18, the sleeve two 25 and the sliding rod two 26 are collectively wound with the same piece of cloth two 14.

[0029] One side of the lower end of the rear two supporting rods 11 is fixedly connected with a motor three 23, the output end of the motor three 23 is fixedly connected with one end of the sleeve one 17, one side of the lower end of the rear two adjusting plates one 12 is fixedly connected with a motor four 24, the output end of the motor four 24 is fixedly connected with one end of the sleeve two 25, one side of the supporting rod 11 is fixedly connected with a motor six 30, the output end of the motor six 30 is fixedly connected with one end of the connecting rod three 22.

[0030] One side of the lower end of the left two supporting rods 11 is fixedly connected with a motor seven 31, the output end of the motor seven 31 is fixedly connected with one end of the sleeve three 33, one side of the lower end of the left two adjusting plates two 15 is fixedly connected with a motor eight 32, the output end of the motor eight 32 is fixedly connected with one end of the sleeve four 60, one side of the supporting rod 11 is fixedly connected with a motor five 29, the output end of the motor five 29 is fixedly connected with one end of the connecting rod seven 27.

[0031] One end of the supporting rod 11 is threadedly connected with a threaded rod two 19, both ends of the threaded rod two 19 are rotatably provided on the mounting column 10, one end of the mounting column 10 is fixedly connected with a motor two 20, the output end of the motor two 20 is fixedly connected with one end of the threaded rod two 19.

[0032] The threaded rod four 57 is rotatably arranged at both ends of the groove plate 56, and the motor fifteen 58 is fixedly connected to one side of the lower end surface of the fixed disc 1. The output end of the motor fifteen 58 is fixedly connected to one end of the threaded rod four 57. The threaded rod five 59 is threadedly connected to the upper end of the support rod 11 and rotatably arranged at both ends of the groove plate 56. The motor fourteen 55 is fixedly connected to one end of the threaded rod five 59.

[0033] The connecting rod one 7 is rotatably arranged at one side of the upper end of the adjusting rod 8. The adjusting ring one 6 is rotatably arranged at one end of the connecting rod one 7. The threaded rod one 5 is threadedly connected to one side of the adjusting ring one 6. The threaded rod one 5 is rotatably arranged at the upper end of the mounting disc 2 and the lower end of the fixed disc 1. The motor one 3 is fixedly connected to one side of the upper end surface of the mounting disc 2. The output end of the motor one 3 is fixedly connected to one end of the threaded rod one 5. The winding drum one 16 is rotatably arranged at one side of the mounting column 10. The plurality of rope one 9 is wound on the winding drum one 16. The motor sixteen 64 is fixedly connected to one side of the upper end of the mounting column 10. The output end of the motor sixteen 64 is fixedly connected to one end of the winding drum one 16.

[0034] Specifically, in the above embodiment, although the expansion assembly can be used to expand the gap between the concave cylinders on the rectangular tray, when the concave cylinders are pushed, the concave cylinders will move towards the edge of the rectangular tray due to the extrusion, thereby causing the risk of the concave cylinders falling off from the edge of the rectangular tray, affecting the smooth progress of the subsequent transfer work.

[0035] Therefore, in order to avoid this situation, according to the area of the rectangular tray, the adjusting ring one 6 is lifted by rotating the threaded rod one 5 driven by the motor one 3, and the plurality of adjusting rods 8 is simultaneously slid under the cooperation of the connecting rod one 7. At the same time, the uncoiled part of the rope one 9 is kept in a straight state by rotating the winding drum one 16 driven by the motor sixteen 64. Until the plurality of mounting columns 10 respectively aligns with the four corners of the rectangular tray, and the bottom of the mounting column 10 contacts the surface of the rectangular tray. Then, under the action of rotating the threaded rod five 59 driven by the motor fourteen 55 and rotating the threaded rod four 57 driven by the motor fifteen 58, the support rod 11 slides in multiple directions, adjusts the position of the concave cylinder and the expansion assembly, and performs subsequent placement work. When the expansion assembly pushes the concave cylinder on the rectangular tray, since the plurality of rope one 9 forms a surrounding barrier on the rectangular tray, even if the concave cylinder is extruded, it will not fall off from the rectangular tray due to the interception of the rope one 9, thereby ensuring the smooth progress of the subsequent transfer work.

[0036] And, although the problem of the rectangular tray can be intercepted by a plurality of ropes 9, in some cases, in order to facilitate subsequent access, the need for the concave cylinder on the rectangular tray does not overlap. Because the concave cylinder is limited in the transverse direction, when the concave cylinder is forced on multiple sides, if the friction between the concave cylinders is small, the concave cylinders may move upward due to extrusion, resulting in the phenomenon of overlapping concave cylinders, not only affecting subsequent access, but also when the concave cylinders overlap, it is easy to tip over during subsequent transportation, or even slip off the rectangular tray.

[0037] Therefore, in order to avoid the above situation, the cloth 13 and the cloth 14 are used as coverings, and the two cloths 13 and 14 cooperate with the rectangular opening. When the mounting column 10 moves, the sleeve 17 slides relative to the slide rod 18, the sleeve 25 slides relative to the slide rod 26, the sleeve 33 slides relative to the slide rod 34, and the sleeve 60 slides relative to the slide rod 61, always corresponding to the position of the mounting column 10. And, by driving the connecting rod 27 and the connecting rod 28 with the motor 29, and driving the connecting rod 3 and the connecting rod 2 with the motor 30, the distance between the adjusting plate 12, the adjusting plate 15 and the support rod 11 can be adjusted. At the same time, under the action of the motor 23, the motor 24, the motor 31 and the motor 32, the sleeve 17, the slide rod 18, the sleeve 25, the slide rod 26, the sleeve 33, the slide rod 34, the sleeve 60 and the slide rod 61 rotate, and the cloth 13 and the cloth 14 are wound and unwound, so that the unwound part of the cloth 13 and the cloth 14 is always tight. And because the cloth 13 and the cloth 14 are elastic, no matter how the sleeve 17, the slide rod 18, the sleeve 25, the slide rod 26, the sleeve 33, the slide rod 34, the sleeve 60 and the slide rod 61 are adjusted, the cloth 13 and the cloth 14 can be kept tight by winding and unwinding. Then, by the above adjustment method, the position of the rectangular opening formed by the cloth 13 and the cloth 14 can be adjusted, and by rotating the threaded rod 19 with the motor 20, the cloth 13 and the cloth 14 can be lowered until they are at the upper end of the concave cylinder on the rectangular tray. Then the subsequent concave cylinder can be placed on the rectangular tray from the rectangular opening, and the rectangular opening also provides a working space for the expansion assembly. Because the multiple concave cylinders on the rectangular tray are longitudinally limited by the cloth 13 and the cloth 14, the concave cylinders will not move upward due to extrusion, thereby avoiding the phenomenon that when the concave cylinders are pushed, the concave cylinders on the rectangular tray are forced on multiple sides, and the friction between the concave cylinders is small, the concave cylinders move upward due to extrusion, and further overlap the concave cylinders, ensuring that the multiple concave cylinders are at the same height, facilitating subsequent access, and also avoiding the situation that the concave cylinders overlap and are prone to tip over during subsequent transportation, or even slip off the rectangular tray.

[0038] Working principle: the installation disc 2 is connected with the mechanical hand one end. Through the mechanical hand control installation disc 2 displacement. The initial state of the expansion rod 48 lower end is higher than the lifting disc 38 upper end, when the to be grabbed concave cylinder is between multiple positioning block 47, then use motor ten 39 drive worm 44 rotation, then multiple worm wheel 45 and multiple connecting rod five 46 rotate simultaneously, make positioning block 47 close to concave cylinder, until multiple positioning block 47 and concave cylinder surface fit, can clamp concave cylinder. Then through control installation disc 2 displacement, place concave cylinder on rectangular tray. And when the rectangular tray has placed other concave cylinder, and these concave cylinder gather closely, the placement state is not enough regular, although there is part of the gap, but not enough to accommodate the subsequent concave cylinder, can through motor eleven 42 drive gear two 41 rotation, make rack two 43 and lifting rod 40 lower, until the expansion rod 48 upper end is lower than the bottom of concave cylinder, then use motor thirteen 52 drive threaded rod three 53 rotation, make adjustment ring two 51 rise, at the same time, use multiple connecting rod six 63 drive expansion rod 48 slide on support ring 54, make multiple expansion rod 48 close to each other, at the same time, motor twelve 49 drive reel two 50 rotation, winding rope two 62, make the unwound part of rope two 62 always keep tight state. When multiple expansion rod 48 close to each other to the limit position, because multiple expansion rod 48 is in the gathering state at this time, so multiple expansion rod 48 is easy to stretch into the gap between the concave cylinder on the rectangular tray. Then drive installation disc 2 to move, make multiple expansion rod 48 stretch into the gap between the concave cylinder, then, drive multiple expansion rod 48 away from each other again, at the same time, reel two 50 unwinds rope two 62, then can push the concave cylinder away in all directions under the cooperation of multiple expansion rod 48 and rope two 62, make the gap expand, until the subsequent concave cylinder can be put in, then drive the concave cylinder to descend and place on the rectangular tray. So you can expand the gap between the placed concave cylinder before placing the concave cylinder on the rectangular tray, so that it can accommodate another concave cylinder, avoid the failure of placement due to insufficient gap, affect the subsequent transfer. According to the area of rectangular tray, through the rotation of threaded rod one 5 driven by motor one 3, make adjustment ring one 6 rise and fall, and make multiple adjustment rod 8 slide simultaneously under the cooperation of connecting rod one 7, at the same time, reel one 16 is driven by motor sixteen 64, make the unwound part of rope one 9 keep straight. Until multiple mounting column 10 respectively align the four corners of rectangular tray, and the bottom of mounting column 10 contacts with the surface of rectangular tray. Then under the action of screw rod five 59 driven by motor fourteen 55 and screw rod four 57 driven by motor fifteen 58, make support rod 11 slide in multiple directions, adjust the position of concave cylinder and expansion assembly, and carry out subsequent placement work.When the expansion assembly pushes the concave cylinders on the rectangular tray, since the plurality of ropes 9 form a surrounding barrier on the rectangular tray, even if the concave cylinders are squeezed, they will not fall off the rectangular tray due to the interception of the ropes 9, ensuring the smooth progress of subsequent transfer work. And although the plurality of ropes 9 can intercept the problems on the rectangular tray, in some cases, in order to facilitate subsequent use, the concave cylinders on the rectangular tray need not to overlap. Since the concave cylinders are limited in the transverse direction, when the concave cylinders are subjected to force on multiple sides, if the friction between the concave cylinders is small, the concave cylinders may move upward due to squeezing, resulting in the phenomenon of overlapping concave cylinders, which not only affects subsequent use, but also makes the concave cylinders prone to tipping over during subsequent transfer, and even falling off the rectangular tray. Therefore, in order to avoid the above situation, the blocking cloth 13 and the blocking cloth 14 are used as coverings, and the two blocking cloth 13 and the blocking cloth 14 cooperate with the rectangular opening. When the mounting column 10 moves, the sleeve 17 slides relative to the slide rod 18, the sleeve 25 slides relative to the slide rod 26, the sleeve 33 slides relative to the slide rod 34, and the sleeve 60 slides relative to the slide rod 61, always corresponding to the position of the mounting column 10. And by rotating the connecting rod 27 and the connecting rod 28 driven by the motor 29, and rotating the connecting rod 22 and the connecting rod 21 driven by the motor 30, the distance between the adjusting plate 12, the adjusting plate 15 and the support rod 11 can be adjusted. At the same time, under the action of the motor 23, the motor 24, the motor 31 and the motor 32, the sleeve 17, the slide rod 18, the sleeve 25, the slide rod 26, the sleeve 33, the slide rod 34, the sleeve 60 and the slide rod 61 are rotated to wind and unwind the blocking cloth 13 and the blocking cloth 14, so that the unwound part of the blocking cloth 13 and the blocking cloth 14 is always kept tight. And since the blocking cloth 13 and the blocking cloth 14 are elastic, no matter how the sleeve 17, the slide rod 18, the sleeve 25, the slide rod 26, the sleeve 33, the slide rod 34, the sleeve 60 and the slide rod 61 are adjusted, the blocking cloth 13 and the blocking cloth 14 can be kept tight by winding and unwinding.The position of the rectangular opening formed by the cooperation of the baffle cloth 13 and the baffle cloth 14 can be adjusted by the above adjustment mode, and the baffle cloth 13 and the baffle cloth 14 can be lowered by rotating the threaded rod 19 driven by the motor 20 until the upper end surface of the concave cylinder on the rectangular tray, so that the subsequent concave cylinders can be placed on the rectangular tray from the rectangular opening, and the rectangular opening also provides a working space for the expansion assembly. Since the multiple concave cylinders on the rectangular tray are longitudinally limited by the baffle cloth 13 and the baffle cloth 14, the concave cylinders will not move upward due to extrusion, thereby avoiding the phenomenon that the concave cylinders overlap due to the upward movement of the concave cylinders caused by extrusion when the concave cylinders are pushed, and ensuring that the multiple concave cylinders are at the same height, facilitating subsequent use, and also avoiding the situation that the concave cylinders are easily dumped or even slide off the rectangular tray during subsequent transfer due to the overlapping of the concave cylinders.

[0039] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A mechanical mechanism for concave cylindrical body gripping comprising a mounting disc (2), characterized in that: The lower end surface of the mounting disc (2) is fixedly connected with a plurality of connecting columns (4), the lower end of the connecting column (4) is fixedly connected with a fixed disc (1), and the fixed disc (1) is provided with an adjustable clamping assembly; The adjustable clamping assembly comprises a groove plate (56) slidably connected to the lower end surface of the fixed disc (1), a support rod (11) slidably connected to the groove of the groove plate (56), a rack one (35) slidably connected to one side of the lower end of the support rod (11), a lifting disc (38) fixedly connected to the lower end of the rack one (35), a plurality of connecting rods five (46) radially distributed and rotatably arranged on the lower end of the lifting disc (38), and a positioning block (47) rotatably arranged on the lower end of the connecting rod five (46). The support rod (11) is further provided with an expansion assembly; The expansion assembly comprises a rack two (43) and a lifting rod (40) slidably connected to both sides of the lower end of the support rod (11), the lower end of the rack two (43) and the lifting rod (40) is fixedly connected with a support ring (54), a plurality of expansion rods (48) are uniformly distributed and slidably connected around the support ring (54), a winding drum two (50) is rotatably arranged on one side of the lower end of the expansion rod (48), a plurality of rope two (62) are wound on the winding drum two (50), and one end of the rope two (62) is fixedly connected to the other expansion rod (48).

2. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 1, wherein: A gear one (36) is rotatably arranged on one side of the lower end of the support rod (11), the gear one (36) is meshed with the tooth block on the rack one (35), a motor nine (37) is fixedly connected to one side of the lower end of the support rod (11), the output end of the motor nine (37) is fixedly connected with the gear one (36), one end of the connecting rod five (46) is fixedly connected with a worm gear (45), the worm gear (45) is rotatably arranged on the lifting disc (38), a worm (44) is rotatably arranged on the middle of the lower end surface of the lifting disc (38), a motor ten (39) is fixedly connected to the middle of the upper end surface of the lifting disc (38), and the output end of the motor ten (39) is fixedly connected with one end of the worm (44).

3. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 1, wherein: A gear two (41) is rotatably arranged on one side of the lower end of the support rod (11), the gear two (41) is meshed with the tooth block on the rack two (43), and a motor eleven (42) is fixedly connected to one side of the lower end of the support rod (11). The output end of the motor eleven (42) is fixedly connected with the gear two (41).

4. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 1, wherein: One end of the expansion rod (48) is rotatably arranged with a connecting rod six (63), the connecting rod six (63) is rotatably arranged with an adjusting ring two (51) at one end, the adjusting ring two (51) is threadedly connected with a threaded rod three (53) at one side, the threaded rod three (53) is rotatably arranged on the support ring (54) at the lower end, the support ring (54) is fixedly connected with a motor thirteen (52) at one side, the output end of the motor thirteen (52) is fixedly connected with one end of the threaded rod three (53), the expansion rod (48) is fixedly connected with a motor twelve (49) at one side of the lower end, and the output end of the motor twelve (49) is fixedly connected with one end of the winding drum two (50).

5. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 1, wherein: The fixed disc (1) is further provided with an expansion protection assembly; The expansion protection assembly includes a plurality of adjusting rods (8) radially distributed and slidingly connected to the upper end surface of the fixed disc (1), the lower end of the adjusting rod (8) is fixedly connected with a mounting column (10), one side of the mounting column (10) is slidingly connected with a support rod (11), one side of the support rod (11) is rotatably provided with two connecting rods seven (27), one end of the connecting rod seven (27) is rotatably provided with a connecting rod four (28), one end of the connecting rod four (28) is rotatably provided with an adjusting plate two (15), the lower end of the two support rods (11) on the left side is rotatably provided with a sleeve three (33), the sleeve three (33) is inserted and slidingly connected with a sliding rod three (34), the right end of the sliding rod three (34) is rotatably connected with the right support rod (11), the lower end of the two adjusting plate two (15) on the left side is rotatably provided with a sleeve four (60), the sleeve four (60) is slidingly connected with a sliding rod four (61), the right end of the sliding rod four (61) is rotatably connected with the right adjusting plate two (15), the sleeve three (33), the sliding rod three (34), the sleeve four (60) and the sliding rod four (61) are wound with the same cloth one (13), one side of the support rod (11) is rotatably provided with two connecting rods three (22), one end of the connecting rod three (22) is rotatably provided with a connecting rod two (21), one end of the connecting rod two (21) is rotatably provided with an adjusting plate one (12), one side of the lower end of the two support rods (11) on the rear side is rotatably provided with a sleeve one (17), the sleeve one (17) is slidingly connected with a sliding rod one (18), one end of the sliding rod one (18) is rotatably provided on the front side support rod (11), the lower end of the adjusting plate one (12) is rotatably provided with a sleeve two (25), the sleeve two (25) is slidingly connected with a sliding rod two (26), one end of the sliding rod two (26) is rotatably provided on the front side adjusting plate one (12), the sleeve one (17), the sliding rod one (18), the sleeve two (25) and the sliding rod two (26) are collectively wound with the same cloth two (14).

6. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 5 wherein: One side of the lower end of the two support rods (11) on the rear side is fixedly connected with a motor three (23), the output end of the motor three (23) is fixedly connected with one end of the sleeve one (17), one side of the lower end of the two adjusting plate one (12) on the rear side is fixedly connected with a motor four (24), the output end of the motor four (24) is fixedly connected with one end of the sleeve two (25), one side of the support rod (11) is fixedly connected with a motor six (30), the output end of the motor six (30) is fixedly connected with one end of the connecting rod three (22).

7. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 5 wherein: One side of the lower end of the two support rods (11) on the left side is fixedly connected with a motor seven (31), the output end of the motor seven (31) is fixedly connected with one end of the sleeve three (33), one side of the lower end of the two adjusting plate two (15) on the left side is fixedly connected with a motor eight (32), the output end of the motor eight (32) is fixedly connected with one end of the sleeve four (60), one side of the support rod (11) is fixedly connected with a motor five (29), the output end of the motor five (29) is fixedly connected with one end of the connecting rod seven (27).

8. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 5 wherein: One end of one side of the support rod (11) is screw connected with threaded rod two (19), both ends of the threaded rod two (19) are rotatably arranged on the mounting column (10), one end of the mounting column (10) is fixedly connected with motor two (20), the output end of the motor two (20) is fixedly connected with one end of the threaded rod two (19).

9. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 1, wherein: One side of the groove plate (56) is screw connected with threaded rod four (57), both ends of the threaded rod four (57) are rotatably arranged on the fixed disc (1), one side of the lower end surface of the fixed disc (1) is fixedly connected with motor fifteen (58), the output end of the motor fifteen (58) is fixedly connected with one end of the threaded rod four (57), the upper end of the support rod (11) is screw connected with threaded rod five (59), both ends of the threaded rod five (59) are rotatably arranged on the groove plate (56), one end of the groove plate (56) is fixedly connected with motor fourteen (55), the output end of the motor fourteen (55) is fixedly connected with one end of the threaded rod five (59).

10. A mechanical mechanism for concave cylindrical body gripping as claimed in claim 5 wherein: The upper end of the adjusting rod (8) is rotatably provided with a connecting rod one (7) on one side, one end of the connecting rod one (7) is rotatably provided with an adjusting ring one (6), one side of the adjusting ring one (6) is screw connected with a threaded rod one (5), the upper end of the threaded rod one (5) is rotatably arranged on the mounting disc (2), and the lower end is rotatably arranged on the fixed disc (1), one side of the upper end surface of the mounting disc (2) is fixedly connected with motor one (3), the output end of the motor one (3) is fixedly connected with one end of the threaded rod one (5), both ends of one side of the mounting column (10) are rotatably provided with a winding drum one (16), a plurality of rope one (9) are arranged on the winding drum one (16), one side of the upper end of the mounting column (10) is fixedly connected with motor sixteen (64), the output end of the motor sixteen (64) is fixedly connected with one end of the winding drum one (16).

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