A vertically holding rotating assembly structure and lipstick tube assembly equipment

Abstract

This invention relates to the field of lipstick tube assembly equipment technology, and more particularly to a rotating assembly structure based on vertical holding and a lipstick tube assembly device. The technical solution includes a machine body, a turntable, a driver, and a connecting plate arranged in a circular array. The connecting plate has multiple positioning pins arranged in an arc. The equipment is equipped with multiple dedicated robotic arms, each consisting of a support frame, a right-angle drive mechanism, a flipping component, an equidistant adjustment module, and a gripper drive module. The gripper drive module uses cylinders to push a push plate with an elastic telescopic rod, driving the connecting body of multiple gripper cylinders to slide, adaptively changing it from a linear arrangement to an arc arrangement that fits against the arc positioning plate. This precisely transfers and assembles the linearly arranged components conveyed by the vibratory feeder onto the arc positioning pins of the turntable. This invention greatly improves the turntable space utilization and assembly efficiency, realizing fully automatic, highly flexible, and high-precision assembly of lipstick tube components from linear feeding to arc assembly.

Description

Technical Field

[0001] This invention relates to the field of lipstick tube assembly equipment technology, and more particularly to a rotating assembly structure based on vertical holding and a lipstick tube assembly device. Background Technology

[0002] In traditional automated lipstick tube assembly equipment, a rotating assembly structure based on vertical holding is often used. This means that a central turntable drives circumferentially distributed fixtures to rotate intermittently, and robotic arms are arranged at each workstation to assemble the parts sequentially.

[0003] However, the positioning pins in this structure are usually arranged in a straight line along the radial direction of the turntable. While this facilitates linear pick-and-place operations by the robotic arm, it creates a spatial mismatch with the turntable's circular motion trajectory. This results in the ineffective utilization of the turntable's edge area, limiting the number of workpieces that can be accommodated in a single cycle. This technical bottleneck is particularly prominent in mass production scenarios, as the low space utilization caused by the straight-line arrangement directly restricts further increases in the equipment's per-unit-time productivity. To solve this problem, it is urgent to optimize the existing layout. By changing the lipstick tubes from a straight-line arrangement to an arc-shaped arrangement concentrically with the turntable, the number of tubes can be significantly increased, improving the load-bearing density per unit space.

[0004] The key to achieving this optimization lies in developing a special robotic arm with shape transformation capabilities. This robotic arm needs to be able to uniformly grip the horizontally arranged lipstick tubes and then transform their spatial trajectory, so that the multiple grippers can adaptively switch from a horizontally arranged state to a curved distribution state that matches the arc-shaped positioning pins, thereby completing an efficient and precise loading operation. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the prior art by proposing a vertically held rotating shaft assembly structure and lipstick tube assembly equipment that increases the number of workpieces that can be accommodated in a single cycle.

[0006] On one hand, this application proposes a vertically held rotating shaft assembly structure, including a body, and further comprising: a turntable rotatably mounted on the body, wherein a driver for driving the turntable to rotate is installed inside the body; multiple connecting plates detachably and arranged in a circular array on the turntable, wherein multiple positioning pins are fixedly mounted on the connecting plates, and the multiple positioning pins are arranged in an arc shape; multiple robotic arms mounted on the body, wherein each robotic arm includes a support frame fixedly mounted on the body, a right-angle drive mechanism mounted on the support frame, a flipping component mounted on the right-angle drive mechanism, and multiple sets of sliders mounted on the flipping component, wherein the right-angle drive mechanism drives the flipping component to move in the vertical direction, and the flipping component drives the sliders to flip; the robotic arm further comprises an equidistant adjustment module mounted on the flipping component, wherein the equidistant adjustment module controls the spacing between two adjacent sets of sliders, wherein a gripper drive module is mounted on the slider, wherein the gripper drive module includes multiple slidably arranged gripper cylinders, and the gripper drive module drives the arrangement of the multiple gripper cylinders, wherein the arrangement includes an arc arrangement and a vertical arrangement.

[0007] Optionally, the support frame includes a column fixedly installed on the machine body and a horizontal plate fixedly installed on the column.

[0008] Optionally, the right-angle drive mechanism includes a first sliding plate slidably mounted on a horizontal plate and a first cylinder fixedly mounted on the horizontal plate. The output shaft of the first cylinder is fixedly connected to the first sliding plate. A second sliding plate is slidably mounted on the first sliding plate and a second cylinder is fixedly mounted thereon. The output shaft of the second cylinder is fixedly connected to the second sliding plate.

[0009] Optionally, the flipping assembly includes a motor fixedly mounted on a second sliding plate, a rotating plate fixedly mounted on the output shaft of the motor, a base plate fixedly mounted on the rotating plate, and a slider slidably connected to the base plate.

[0010] Optionally, the equidistant adjustment module includes a synchronization plate fixedly installed on the same group of sliders, one of the synchronization plates being fixedly connected to the base plate, a connecting rod being rotatably installed on the synchronization plate, two adjacent connecting rods being rotatably connected, a third cylinder being fixedly installed on the base plate, and the output shaft of the third cylinder being fixedly connected to one of the freely movable synchronization plates.

[0011] Optionally, the gripper drive module includes a transverse plate fixedly mounted on the same group of sliders, a support portion fixedly mounted on the transverse plate, a sliding groove on the support portion, a connecting body slidably mounted on the sliding groove, the connecting body being fixedly connected to the gripper cylinder, a circular positioning block being fixedly mounted on the connecting body, and an arc-shaped positioning plate being fixedly mounted on multiple support portions; the gripper drive module also includes a power component that drives multiple connecting bodies to move and controls all connecting bodies to contact the positioning plate.

[0012] Optionally, the power assembly includes multiple guide rods slidably mounted on a rotating plate, a push plate fixedly mounted on the multiple guide rods, multiple elastic telescopic rods corresponding one-to-one with the connecting body fixedly mounted on the push plate, the other end of the telescopic rods being fixedly connected to the connecting body, a fourth cylinder fixedly mounted on the rotating plate, and the output shaft of the fourth cylinder being fixedly connected to the push plate.

[0013] Optionally, the telescopic rod includes a sleeve fixedly installed on the push plate and a slide rod slidably installed inside the sleeve, with a spring fixedly installed between the slide rod and the sleeve.

[0014] Optionally, multiple vibratory feeders are fixedly installed on the machine body, and each vibratory feeder corresponds to one of the robotic arms and extends to the bottom of the robotic arm.

[0015] On the other hand, this application proposes a rotating assembly device based on vertical holding, including the rotating assembly structure based on vertical holding described above.

[0016] In summary, this application includes at least one of the following beneficial technical effects: By innovatively changing the traditional straight-line arrangement of the positioning pins on the turntable to an arc-shaped arrangement, this invention greatly improves the space utilization rate and single-workpiece capacity of the circular turntable, thereby directly increasing the equipment's production capacity; This device is equipped with a special robotic arm with shape conversion function. Through the equidistant adjustment module and the gripper drive module driven by the elastic telescopic rod, it realizes adaptive, synchronous, and precise switching of the gripper group between straight and arc-shaped arrangement states, effectively solving the shape matching problem between arc-shaped workstations and straight material feeding; This mechanism also has high flexibility. By quickly changing the connecting plate and adjusting the gripper spacing, it can quickly adapt to the production needs of different product models, making shape change convenient. The whole machine integrates high-precision rectangular coordinate drive, flip positioning, and force adaptive clamping, which significantly improves the production efficiency and automation level of lipstick tube assembly while ensuring assembly accuracy, and is particularly suitable for large-scale mass production. Attached Figure Description

[0017] Figure 1 A schematic diagram of a rotating shaft assembly device;

[0018] Figure 2for Figure 1 A magnified view of a section at point A in the middle;

[0019] Figure 3 Schematic diagram of the robotic arm Figure 1 ;

[0020] Figure 4 Schematic diagram of the robotic arm Figure 2 ;

[0021] Figure 5 Schematic diagram of the robotic arm Figure 3 ;

[0022] Figure 6 Schematic diagram of the robotic arm Figure 4 ;

[0023] Figure 7 This is a schematic diagram of the gripper drive module.

[0024] Figure 8 for Figure 7 A magnified view of a section at point B in the middle;

[0025] Figure 9 This is a schematic diagram showing the position of the gripper cylinder;

[0026] Figure 10 Schematic diagram of the equidistant adjustment module Figure 1 ;

[0027] Figure 11 Schematic diagram of the equidistant adjustment module Figure 2 .

[0028] Reference numerals: 1. Body; 2. Turntable; 21. Driver; 3. Connecting plate; 31. Positioning pin; 4. Robotic arm; 41. Support frame; 411. Column; 412. Horizontal plate; 42. Right-angle drive mechanism; 421. First sliding plate; 422. First cylinder; 423. Second sliding plate; 424. Second cylinder; 43. Tilting assembly; 431. Motor; 432. Turning plate; 433. Base plate; 434. Slider; 44. Isometric adjustment module; 441 442. Synchronous plate; 443. Connecting rod; 444. Third cylinder; 45. Gripper drive module; 451. Transverse plate; 452. Support part; 4521. Slide groove; 453. Connector; 4531. Positioning block; 454. Gripper cylinder; 455. Positioning plate; 46. Power component; 461. Guide rod; 462. Push plate; 463. Telescopic rod; 4631. Sleeve; 4632. Slide rod; 4633. Spring; 464. Fourth cylinder; 5. Vibratory feeder. Detailed Implementation

[0029] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] Example: Figure 1 and Figure 2 As shown, this application proposes a rotating assembly structure based on vertical holding, including a body 1 and a turntable 2 rotatably mounted on the body 1. A driver 21 is installed inside the body 1 to drive the turntable 2 to rotate. The turntable 2 is used to carry the lipstick tube and drives the turntable 2 to rotate under the action of the driver 21, so that the lipstick tube can rotate with the turntable 2. The rotating lipstick tube can pass through multiple assembly stations in sequence to finally complete the overall assembly.

[0031] like Figure 1 , Figure 2 As shown, the rotating assembly structure of this embodiment also includes multiple detachable connecting plates 3 arranged in a circular array on the turntable 2. Multiple positioning pins 31 are fixedly installed on the connecting plates 3. The multiple positioning pins 31 are arranged in an arc shape. The arc-shaped arrangement of the positioning pins 31 effectively increases the load capacity of a single lipstick tube assembly, effectively improving the assembly efficiency. Furthermore, the detachable design of the connecting plates 3 allows for the replacement of the corresponding connecting plates 3 and positioning pins 31 when changing the entire product line, thus adapting to the new production line and effectively improving the convenience of production line changeover.

[0032] It should be noted that using a straight-line arrangement of lipstick tubes on the circular turntable 2 results in a significantly lower space utilization rate compared to an arc-shaped arrangement. The fundamental reason for this is the mismatch in geometric shapes: the turntable 2 is essentially a symmetrical circular area centered on the rotation axis, with its edge area having the largest area. The straight-line arrangement of the positioning pins is equivalent to embedding a line segment within the circular area. This "chord" can only occupy the narrow strip area covered by the diameter of the circle, and cannot effectively utilize the two arched dead angle areas formed between the "chord" and the circular boundary, resulting in a waste of space at the edge of the turntable. In contrast, the arc-shaped arrangement of the positioning pins 31 follows the circumferential direction of the turntable 2, and its curvature perfectly matches the edge of the turntable. It is as if the workpieces are closely arranged along the "radial" direction of the turntable, maximizing the filling of the usable area within the circular outline. With the same turntable size, a longer workstation line can be set, thereby significantly increasing the number of workpieces that can be loaded in a single cycle, achieving a high degree of unity between space resource allocation and equipment movement.

[0033] like Figures 3 to 5As shown, the rotating assembly structure of this embodiment also includes multiple robotic arms 4 mounted on the machine body 1. Each robotic arm 4 includes a support frame 41 fixedly mounted on the machine body 1 and a right-angle drive mechanism 42 mounted on the support frame 41. The support frame 41 includes a column 411 fixedly mounted on the machine body 1 and a horizontal plate 412 fixedly mounted on the column 411. The column 411 and the horizontal plate 412 together form the support structure of the robotic arm 4. The right-angle drive mechanism 42 can drive the components of the lipstick tube to move in mutually perpendicular vertical and horizontal directions, and can transfer the lipstick components to be picked up to the positioning pin 31.

[0034] Furthermore, the right-angle drive mechanism 42 includes a first sliding plate 421 slidably mounted on the horizontal plate 412 and a first cylinder 422 fixedly mounted on the horizontal plate 412. The output shaft of the first cylinder 422 is fixedly connected to the first sliding plate 421. A second sliding plate 423 is slidably mounted on the first sliding plate 421 and a second cylinder 424 is fixedly mounted on it. The output shaft of the second cylinder 424 is fixedly connected to the second sliding plate 423. The first cylinder 422 can drive the first sliding plate 421 to move, which in turn can drive the second sliding plate 423 to move horizontally. The second cylinder 424 can drive the second sliding plate 423 to move vertically, which in turn can drive the second sliding plate 423 to move in both horizontal and vertical directions. A clamping member for clamping the lipstick tube is provided on the second sliding plate 423 to transfer the lipstick tube.

[0035] like Figures 3 to 6 , Figure 9 , Figure 10 As shown, the rotating assembly structure of this embodiment also includes a flipping component 43 mounted on a right-angle drive mechanism 42 and multiple sets of sliders 434 mounted on the flipping component 43. The right-angle drive mechanism 42 drives the flipping component 43 to move in the vertical direction, specifically driving multiple sets of sliders 434 to move. The flipping component 43 drives the sliders 434 to flip. The flipping component 43 includes a motor 431 fixedly mounted on a second sliding plate 423. A rotating plate 432 is fixedly mounted on the output shaft of the motor 431. A base plate 433 is fixedly mounted on the rotating plate 432. The sliders 434 are slidably connected to the base plate 433. The motor 431 can drive the rotating plate 432 to rotate. The rotating plate 432 can drive the base plate 433 connected to it to rotate. The rotating base plate 433 can drive the sliders 434 to rotate, thereby changing the angle of multiple sliders 434, which facilitates the alignment of the lipstick tube with the positioning pin 31 and installation.

[0036] like Figure 10 and Figure 11As shown, in this embodiment, the robotic arm 4 also includes an equidistant adjustment module 44 mounted on the flipping assembly 43. The equidistant adjustment module 44 controls the spacing between two adjacent sets of sliders 434. When changing product lines, the positioning pins 31 need to be replaced to adapt to the new product lines. At this time, the spacing of the positioning pins 31 may change, and the equidistant adjustment module 44 needs to adjust the spacing of multiple sliders 434 so that multiple sliders 434 can adapt to the positioning pins 31 on the new production line.

[0037] Furthermore, the equidistant adjustment module 44 includes a synchronization plate 441 fixedly mounted on the same group of sliders 434. A connecting rod 442 is rotatably mounted on the synchronization plate 441, and two adjacent connecting rods 442 are rotatably connected. A third cylinder 443 is fixedly mounted on the base plate 433. The output shaft of the third cylinder 443 is fixedly connected to one of the freely movable synchronization plates 441. The third cylinder 443 can drive the connected synchronization plate 441 to move. The moving synchronization plate 441 will drive the connected connecting rod 442 to rotate. Since one of the synchronization plates 441 is fixedly connected to the base plate 433, one group of sliders 434 cannot move. At this time, through the transmission of the connecting rod 442, the other groups of sliders 434 can expand outward or contract inward with the fixed slider 434 as the reference, and the distance between two adjacent groups of sliders 434 can always be kept consistent.

[0038] like Figures 6 to 9 As shown, in this embodiment, a gripper drive module 45 is installed on multiple sets of sliders 434. The gripper drive module 45 includes multiple slidably arranged gripper cylinders 454. The gripper cylinders 454 can perform gripping actions, which can grip various components of the lipstick tube and transfer the lipstick tube in conjunction with the overall power of the robot arm 4. The gripper drive module 45 drives the arrangement of the multiple gripper cylinders 454, including arc arrangement and vertical arrangement. The lipstick tube is fed by the feeding device. The lipstick tubes after feeding are generally arranged in a straight line. The multiple gripper cylinders 454 in the straight line can grip the lipstick tubes on the feeding device. After gripping, the arrangement of the multiple gripper cylinders 454 is changed to an arc arrangement corresponding to the arc arrangement of the positioning pin 31, which facilitates the quick installation of the lipstick tube on the positioning pin 31.

[0039] Furthermore, the gripper drive module 45 includes a transverse plate 451 fixedly mounted on the same set of sliders 434, and a support part 452 fixedly mounted on the transverse plate 451. The support part 452 is provided with a slide groove 4521, and a connector 453 is slidably mounted on the slide groove 4521. The connector 453 is fixedly connected to the gripper cylinder 454, so that multiple gripper cylinders 454 can slide along the slide groove 4521. By controlling the maximum sliding distance of different gripper cylinders 454, multiple gripper cylinders can be arranged in an arc. A circular positioning block 4531 is fixedly mounted on the connector 453, and an arc-shaped positioning plate 455 is fixedly mounted on multiple support parts 452. The positioning plate 455 blocks the movement path of the positioning block 4531, thereby limiting the maximum displacement of the positioning block 4531, so that multiple gripper cylinders 454 can fit against the positioning plate 455 and be arranged in an arc.

[0040] The gripper drive module 45 further includes a power component 46 that drives multiple connectors 453 to move and controls all connectors 453 to contact the positioning plate 455. The power component 46 includes multiple guide rods 461 slidably mounted on a rotating plate 432. A push plate 462 is fixedly mounted on the multiple guide rods 461. Multiple elastic telescopic rods 463, each corresponding to a connector 453, are fixedly mounted on the push plate 462. The other end of each telescopic rod 463 is fixedly connected to a connector 453. A fourth cylinder 464 is fixedly mounted on the rotating plate 432. The output shaft of the fourth cylinder 464 is fixed to the push plate 462. The connection is achieved by the fourth cylinder 464 driving the push plate 462 to move. The moving push plate 462 drives multiple telescopic rods 463 to move synchronously. At this time, the multiple telescopic rods 463 can drive the connecting body 453 to move, which in turn pushes the gripper cylinder 454 to move. When the positioning block 4531 contacts the positioning plate 455, the continuing to move push plate 462 will drive the telescopic rods 463 to retract, so as not to affect the movement of the other connecting bodies 453 that have not contacted the positioning plate 455, until all positioning blocks 4531 are in contact with the positioning plate 455, thus completing the arc arrangement of the gripper cylinders 454.

[0041] Furthermore, the telescopic rod 463 includes a sleeve 4631 fixedly installed on the push plate 462 and a slide rod 4632 slidably installed inside the sleeve 4631. A spring 4633 is fixedly installed between the slide rod 4632 and the sleeve 4631. The spring 4633 ensures that the multiple telescopic rods 463 maintain the same length when not affected by external force. At this time, the multiple gripper cylinders 454 are arranged in a straight line, and the slide rod 4632 can slide inside the sleeve 4631. Thus, when one gripper cylinder 454 moves into place, it will not affect the movement of the other gripper cylinders 454.

[0042] like Figure 1As shown, in this embodiment, multiple vibratory feeders 5 are fixedly installed on the body 1. The vibratory feeders 5 correspond one-to-one with the robotic arm 4 and extend to the bottom of the robotic arm 4. It should be noted that the lipstick tube in this embodiment is composed of a base, an inner tube, a middle bundle, an outer tube, and a cap. This device also includes a servo screwing mechanism and a servo pressing mechanism. During assembly, the robotic arm 4 first clamps the base onto the positioning pin 31 on the turntable 2. Then, another robotic arm 4 moves the inner tube to the top of the base, and the servo screwing mechanism precisely screws it in to complete the threaded connection. Next, the robotic arm 4 puts the middle bundle component into the outer tube and presses it into place with constant pressure through the servo pressing mechanism (both the servo screwing mechanism and the servo pressing mechanism are existing structures and will not be described in detail here).

[0043] During the assembly of the lipstick tube, it is necessary to ensure that each component maintains the correct vertical orientation and relative position. First, the multiple positioning pins 31 on the turntable 2 are vertically arranged to provide a precise vertical positioning reference for the lipstick tube component. When the lipstick tube component is placed on the positioning pins 31, its axis naturally remains vertical. Second, the right-angle drive mechanism 42 of the robotic arm 4 controls the movement of the first sliding plate 421 and the second sliding plate 423 through the first cylinder 422 and the second cylinder 424 respectively, ensuring that the clamping component maintains a stable vertical posture during horizontal movement and vertical lifting. In the gripper drive module 45, the power component 46 pushes the push plate 462 through the fourth cylinder 464, and uses the elastic telescopic rod 463 to drive the connecting body 453 to slide along the slide groove 4521. This design ensures that each gripper can smoothly transition from a straight line arrangement to an arc arrangement during the process of multiple gripper cylinders 454, without generating additional torsional torque on the clamped component, thereby maintaining the vertical stability of the component.

[0044] Meanwhile, this application also proposes a rotating assembly device based on vertical holding, including the above-mentioned rotating assembly structure based on vertical holding. The drive 21 drives the turntable 2 to rotate intermittently, causing the arc-shaped connecting plates 3 and positioning pins 31 in a circular array to pass through each station sequentially. The right-angle drive mechanism 42 of the robot arm 4 drives the first sliding plate 421 and the second sliding plate 423 through the first cylinder 422 and the second cylinder 424, realizing the movement of the grippers in the horizontal and vertical directions. After the vibratory feeder 5 arranges and transports the components, multiple gripper cylinders 454 in a linear arrangement clamp the components. Subsequently, the motor 431 of the flipping assembly 43 can drive the rotating plate... 432 and the base plate 433 are flipped together to adjust the angle; the fourth cylinder 464 pushes the push plate 462, and through multiple telescopic rods 463 with springs 4633, pushes each connector 453 to slide in the slide groove 4521 until the circular positioning blocks 4531 on all connectors 453 are in contact with and fit against the arc-shaped positioning plate 455, so that the gripper cylinders 454 adaptively switch from a straight arrangement to an arc arrangement that matches the turntable positioning pin 31. Finally, the robot arm 4 accurately places the parts on the arc-shaped positioning pin 31, and completes the threaded connection and press-fit assembly of the base and inner tube and other parts through servo screwing or pressing mechanism, realizing fully automatic and efficient assembly.

[0045] The above specific embodiments are merely several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A rotating assembly structure based on vertical holding, comprising a body (1), characterized in that: Also includes: A turntable (2) is mounted on the machine body (1), and a driver (21) for driving the turntable (2) to rotate is installed inside the machine body (1); multiple connecting plates (3) are detachable and arranged in a circular array on the turntable (2), and multiple positioning pins (31) are fixedly installed on the connecting plates (3), and the multiple positioning pins (31) are arranged in an arc shape; multiple robotic arms (4) are mounted on the machine body (1), and the robotic arms (4) include a support frame (41) fixedly mounted on the machine body (1), a right-angle drive mechanism (42) mounted on the support frame (41), a flipping component (43) mounted on the right-angle drive mechanism (42), and multiple sets of sliders (434) mounted on the flipping component (43), and the right-angle drive mechanism (434) is fixedly mounted on the machine body (1). 2) The drive flipping assembly (43) moves vertically and vertically, and the flipping assembly (43) drives the slider (434) to flip; the robot (4) also includes an equidistant adjustment module (44) installed on the flipping assembly (43), the equidistant adjustment module (44) controls the distance between two adjacent sets of sliders (434), the slider (434) is equipped with a gripper drive module (45), the gripper drive module (45) includes multiple sliding gripper cylinders (454), the gripper drive module (45) drives the arrangement of the multiple gripper cylinders (454), the arrangement includes arc arrangement and vertical arrangement; the support frame (41) includes a stand fixedly installed on the body (1) The column (411) and the horizontal plate (412) fixedly installed on the column (411); the right-angle drive mechanism (42) includes a first sliding plate (421) slidably installed on the horizontal plate (412) and a first cylinder (422) fixedly installed on the horizontal plate (412). The output shaft of the first cylinder (422) is fixedly connected to the first sliding plate (421). A second sliding plate (423) is slidably installed on the first sliding plate (421) and a second cylinder (424) is fixedly installed on it. The output shaft of the second cylinder (424) is fixedly connected to the second sliding plate (423). The flipping assembly (43) includes a motor (431) fixedly installed on the second sliding plate (423). A rotating plate (432) is fixedly mounted on the output shaft of the 431, and a base plate (433) is fixedly mounted on the rotating plate (432). The slider (434) is slidably connected to the base plate (433). The equidistant adjustment module (44) includes a synchronous plate (441) fixedly mounted on the same set of sliders (434), one of the synchronous plates (441) being fixedly connected to the base plate (433). A connecting rod (442) is rotatably mounted on the synchronous plate (441), and two adjacent connecting rods (442) are rotatably connected. A third cylinder (443) is fixedly mounted on the base plate (433), and the output shaft of the third cylinder (443) is fixedly connected to one of the freely movable synchronous plates (441).The gripper drive module (45) includes a transverse plate (451) fixedly mounted on the same set of sliders (434), and a support part (452) fixedly mounted on the transverse plate (451). The support part (452) has a groove (4521), and a connecting body (453) is slidably mounted on the groove (4521). The connecting body (453) is fixedly connected to the gripper cylinder (454), and a circular positioning block (4531) is fixedly mounted on the connecting body (453). An arc-shaped positioning plate (455) is fixedly mounted on each of the multiple support parts (452). The gripper drive module (45) also includes a power component (46) that drives multiple connecting bodies (453) to move and controls each connecting body (453) to contact the positioning plate (455).

2. The rotating assembly structure based on vertical holding according to claim 1, characterized in that, The power assembly (46) includes multiple guide rods (461) slidably mounted on a rotating plate (432). A push plate (462) is fixedly mounted on the multiple guide rods (461). Multiple elastic telescopic rods (463) corresponding one-to-one with the connecting body (453) are fixedly mounted on the push plate (462). The other end of the telescopic rods (463) is fixedly connected to the connecting body (453). A fourth cylinder (464) is fixedly mounted on the rotating plate (432). The output shaft of the fourth cylinder (464) is fixedly connected to the push plate (462).

3. The rotating assembly structure based on vertical holding according to claim 2, characterized in that, The telescopic rod (463) includes a sleeve (4631) fixedly installed on the push plate (462) and a slide rod (4632) slidably installed inside the sleeve (4631). A spring (4633) is fixedly installed between the slide rod (4632) and the sleeve (4631).

4. The rotating assembly structure based on vertical holding according to claim 3, characterized in that, Multiple vibratory plates (5) are fixedly installed on the body (1). The vibratory plates (5) correspond one-to-one with the robotic arm (4) and extend to the bottom of the robotic arm (4).

5. A rotating assembly device based on vertical holding shaft, characterized in that, Includes the vertically held rotating assembly structure as described in claim 4.

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