Mechanical lifting automatic grabbing mechanism and grabbing method

Abstract

The application discloses a kind of mechanical lifting automatic grabbing mechanism and grabbing method, including bearing frame, lifting hook support, lifting hook and limiting rod;Lifting hook support is arranged below longitudinal beam, and the inner side of lifting hook is sequentially provided with first inclined plane, grabbing plane, limiting vertical surface and second inclined plane from bottom to top;Limiting rod is outwardly inclined and arranged on the outer side of lifting hook support, and the inner side of limiting rod is provided with magnetic block at lower part.The present application is a pure mechanical automatic grabbing mechanism, which realizes two-step opening through the first and second inclined planes on the inner side of the lifting hook, and is combined with the magnetic block on the limiting rod after opening to be adsorbed and kept, saving electronic components, grabbing, lifting, pulling and hoisting of high-temperature smelting cylinder, and efficiently solving the bottleneck of mass production of new energy vehicle parts (including steering knuckles) smelting technology.

Description

Technical Field

[0001] This invention belongs to the field of mechanical technology, and in particular relates to an automatic mechanical lifting and gripping mechanism and method for gripping, lifting, traction and rotating the casting cylinder in the manufacturing process of new energy vehicle parts. Background Technology

[0002] In the industrial sector, mechanical gripping technology replaces manual labor in tasks such as material handling, assembly, and sorting through automation and intelligent means. It has become a core means to improve production efficiency, reduce costs, and ensure safety. Its applications cover multiple industries such as manufacturing, logistics, and resource extraction, and its boundaries continue to expand with technological iterations.

[0003] Metal smelting and component casting are key steps in the mass production of automotive metal castings, involving the melting, refining, and composition adjustment of metal raw materials. The application of mechanical grippers in this process is mainly reflected in operations such as raw material feeding and transfer casting, refining and slag removal, and material replenishment and dilution. The primary role of grippers in the automotive smelting process is to keep operators away from the high-temperature environment of smelting, such as gripping, lifting, pulling, and transferring molten metal from the smelting cylinder, ensuring operator safety. In particular, with the rapid development of new energy vehicles, the demand for automotive castings has exploded (reaching hundreds of thousands of units), and existing manual operations can no longer meet the requirements of current large-scale production, constituting a technological bottleneck.

[0004] Grabbing is typically performed using hooks or other gripping components. These hooks, when gripping and lifting the cylinder, require the hook to open, close, and reopen to achieve complete lifting, hoisting, traction, and rotation. Currently, the opening and closing of the hook is often driven by cylinders or motors. However, in the high-temperature environment of steelmaking, the electronic components used for control are prone to failure and damage, resulting in low reliability and posing a significant safety risk in the smelting operations of automotive parts production.

[0005] Currently, some mechanical automatic lifting devices exist for high-temperature smelting processes. For example, patent CN2125574 discloses an automatic lifting device that uses a Y-shaped beam and linkage mechanism to automatically lift high-temperature workpieces. However, its structure is complex, the hook opening is a one-time action, lacking the stability of gradual opening and resulting in low reliability. Another example is patent CN220116039U, which discloses a bidirectional magnetic hook lifting device that uses magnetic attraction for limiting the position. However, it relies on magnetic force to maintain the hook state, and the magnetic force easily weakens in high-temperature environments, making it unreliable and unsuitable for purely mechanical smelting processes. Therefore, existing technologies still suffer from insufficient gripping stability and reliability in high-temperature operations that do not require electronic components. Summary of the Invention

[0006] To address the aforementioned problems, this invention aims to provide an automatic gripping mechanism and method for mechanical lifting. The automatic gripping mechanism can achieve fully mechanical operation without the assistance of electronic components, thereby efficiently ensuring the stability and reliability of gripping, lifting, traction, and transfer operations in the high-temperature smelting process of new energy vehicle parts.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an automatic mechanical lifting and grasping mechanism, comprising a load-bearing frame, a hook support, a hook, and a limiting rod;

[0008] The load-bearing frame is a planar rectangular frame structure, consisting of longitudinal beams on the left and right sides and transverse beams on the front and rear sides, with the hook bracket located below the longitudinal beams;

[0009] The hook is a long plate-shaped structure, with its top end hinged to the bottom of the hook bracket. The inner side of the hook is provided with a first inclined surface, a gripping plane, a limiting vertical surface and a second inclined surface from bottom to top.

[0010] The limiting rod is inclined outward on the outer side of the hook bracket, and a magnetic block is provided on the lower part of the inner side of the limiting rod;

[0011] When the object being lifted contacts the first inclined plane, the hook opens outward for the first time; and when the object being lifted contacts the second inclined plane, the hook opens outward for the second time. During the second opening, the horizontal width of the point where the first inclined plane meets the gripping plane is greater than the width of the object being lifted, and after the second opening, the outer side of the hook contacts and magnetically attracts the magnetic block.

[0012] Preferably, two sets of hook supports are symmetrically arranged below the longitudinal beam.

[0013] Preferably, the hook brackets are spaced more than two sets apart at the front and rear distances below the longitudinal beam.

[0014] Preferably, the object being suspended is arc-shaped, and an arc measuring plate is hinged to the limiting vertical surface, the arc measuring plate being able to fit against the arc of the side of the object being suspended.

[0015] Preferably, a support plate parallel to the arc measuring plate is provided on the outer surface of the hook, and a balance spring is provided at both ends between the two.

[0016] Preferably, both ends of the arc measuring plate are provided with adjusting rollers, and the outer diameter of the adjusting rollers is larger than the horizontal width of the arc measuring plate.

[0017] Preferably, the adjusting roller is configured as a conical structure with a smaller top and a larger bottom.

[0018] Preferably, a transition arc surface is provided between the bottom end of the first inclined surface and the bottom end of the outer side of the hook.

[0019] A gripping method using the aforementioned mechanical lifting automatic gripping mechanism involves moving the hook above the object to be lifted before gripping it. The hook is then lowered, and as the first inclined plane contacts the side of the object, the hook continues to be lowered. Simultaneously, the object drives the lower end of the hook to open outwards in a first open state. After the gripping surface of the object passes the contact point between the first inclined plane and the gripping plane, the hook returns to a vertical position under gravity. The hook is then lifted, and the object is raised after the gripping plane is flush with the gripping surface of the object.

[0020] After the object being lifted and moved into position, the hook is lowered until the object is received. Then, the hook is lowered further until the side of the object is in contact with the second inclined surface. At the same time, the object drives the lower end of the hook to open outward in a second open state, and the hook is attracted and fixed to the strong magnet. Subsequently, the hook moves upward and detaches from the object.

[0021] A gripping method using the aforementioned automatic mechanical lifting and gripping mechanism involves moving the hook above the object to be lifted before gripping it. The hook is then lowered, and as the first inclined plane contacts the side of the object, it continues to be lowered. Simultaneously, the object drives the lower end of the hook to open outwards. After the gripping surface of the object passes the contact point between the first inclined plane and the gripping plane, the hook resets under gravity, causing the adjusting roller to abut against the arcuate side of the object. The hook is then swung back and forth, and the adjusting roller rolls on the arcuate side. Under the action of the balance spring, the arcuate measuring plate moves to be perpendicular to the hook, meaning the hook grips the centerline of the object. The hook is then lifted, and the object is raised after the gripping plane is flush with the gripping surface of the object.

[0022] After the object being lifted and moved into position, the hook is lowered until the object is received. Then, the hook is lowered further until the side of the object is disengaged from the adjusting roller and contacts the second inclined surface. At the same time, the object drives the lower end of the hook to open outward in a second open state, and the hook is attracted and fixed to the strong magnet. Subsequently, the hook moves upward and detaches from the object.

[0023] The beneficial effects of this invention are as follows: The automatic lifting and gripping mechanism disclosed in this invention can automatically open the hook and grip the object upon initial contact with it, and can automatically open the hook again after the object has been lifted and rotated. Throughout the entire lifting and rotation process, all actions are achieved through a mechanical structure, eliminating the electronic components currently used in lifting and rotating operations. Therefore, the automatic gripping mechanism of this invention can be stably and reliably applied in processes such as automotive smelting, effectively solving the impact of high temperatures on the normal operation of automated lifting hooks and other gripping components.

[0024] The mechanical lifting and automatic gripping mechanism disclosed in this invention includes various structural types, which can be applied to the lifting and rotating operations of square tank-shaped objects, and can also be adapted to the lifting and rotating operations of circular smelting cylinders. Furthermore, during the lifting and rotating operation of the smelting cylinder, the structural design ensures that the lifting point of the hook is located at the center line of the cylinder, thereby effectively avoiding the inertial swaying of the high-temperature molten liquid inside the cylinder during the lifting and rotating process, which could lead to the cylinder tipping over. This further ensures the safety of lifting and rotating the smelting cylinder. Attached Figure Description

[0025] Figure 1 This is a front view structural diagram of the hook of the present invention.

[0026] Figure 2 This is a top view of the load-bearing frame of the present invention.

[0027] Figure 3 This diagram illustrates the first open state of the lifting hook of the present invention, where the hook moves downward to contact the object being lifted and the hook is turned outward.

[0028] Figure 4 For the present invention in Figure 3 The diagram shows the hook resetting inward and gripping the object being lifted.

[0029] Figure 5 This diagram illustrates the second open state of the hook as the object being lifted is lowered after rotation.

[0030] Figure 6 For the present invention Figure 5 The diagram shows the lifting hook picking up the magnetic block and then moving upwards to detach from the suspended object.

[0031] Figure 7 For the present invention in Figure 6 The diagram illustrates how the hook can be reset by shaking it with external force or by de-energizing the electromagnetic chuck.

[0032] Figure 8 This is a top view of the left and right single hooks of the present invention gripping the object being lifted.

[0033] Figure 9This is a top view of two sets of hooks gripping the object in Embodiment 1 of the present invention.

[0034] Figure 10 This is a top view of multiple sets of hooks grabbing the object being lifted, according to Embodiment 2 of the present invention.

[0035] Figure 11 This diagram illustrates the centerline deviation when the single-set hook of Embodiment 1 is used to grab the cylinder according to the present invention.

[0036] Figure 12 This is an illustration of an arc-shaped measuring plate installed on a hook in Embodiment 3 of the present invention.

[0037] Figure 13 For the present invention Figure 12 Top view of the structure.

[0038] Figure 14 This is a diagram showing the state of the arc measuring plate when the hook is deviated from the center line of the cylinder according to the present invention.

[0039] Figure 15 For the present invention in Figure 14 The diagram shows the method of moving the hook position until it coincides with the center line of the cylinder.

[0040] Figure 16 This diagram illustrates the supporting plate and balance spring provided on the basis of the arc measuring plate in this invention.

[0041] Figure 17 For the present invention Figure 16 Top view of the structure.

[0042] Figure 18 The circular arc measuring plate of this invention keeps the hook at the center line of the cylinder under the pressure of the balance spring.

[0043] Figure 19 This is a diagram illustrating the force on the balance spring when the hook is at an arbitrary offset position from the centerline of the cylinder during the grabbing action in Embodiment 3 of the present invention.

[0044] Figure 20 For the present invention in Figure 19 The radially swinging hook on the base makes the hook located at the center line of the cylinder.

[0045] Figure 21 This is a diagram illustrating the position of the hook at the center line of the cylinder when the two balancing springs are in equilibrium.

[0046] Figure 22 The diagram shows that adjustment rollers are set at both ends of the arc measuring plate in Embodiment 3 of the present invention.

[0047] Figure 23 The present invention allows the hook to be moved to the center line of the cylinder under the rolling action of the adjusting roller.

[0048] Figure 24 This is an overall illustration of the two hooks located at the center line of the cylinder in Embodiment 3 of the present invention.

[0049] Figure 25 This is a diagram illustrating the adjustment roller in Embodiment 3 of the present invention, which is a conical structure with a larger bottom and a smaller top.

[0050] Figure 26 This diagram illustrates the disengagement of the adjusting roller from the side of the cylinder when the hook moves downwards, as per the present invention.

[0051] In the diagram: 1-Supporting frame; 11-Longitudinal beam; 12-Horizontal beam; 2-Hook bracket; 3-Hook; 3a-First inclined plane; 3b-Grabbing plane; 3c-Limiting vertical plane; 3d-Second inclined plane; 3e-Transition arc surface; 4-Limiting rod; 5-Magnetic block; 6-Arc measuring plate; 7-Support plate; 8-Balance spring; 9-Adjusting roller; 10-Lifted object; 10a-Grabbing surface. Detailed Implementation

[0052] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0053] See attached document Figures 1-26 The mechanical lifting automatic gripping mechanism shown includes a load-bearing frame 1, a hook support 2, a hook 3, and a limit rod 4.

[0054] like Figure 2 As shown, the load-bearing frame 1 is a planar rectangular frame structure, consisting of longitudinal beams 11 on the left and right sides and crossbeams 12 on the front and rear sides (the longitudinal beams 11 and crossbeams 12 are preferably I-beams). The hook bracket 2 is located below the longitudinal beams 11, while lifting components such as wire ropes and winches are installed above the load-bearing frame 1.

[0055] like Figure 1 As shown, the hook 3 is a long plate-shaped structure (preferably a plate with load-bearing capacity), and its top end is hinged to the bottom of the hook bracket 2. The inner side of the hook 3 is provided with a first inclined surface 3a, a gripping plane 3b, a limiting vertical surface 3c and a second inclined surface 3d from bottom to top.

[0056] like Figure 1 As shown, the limiting rod 4 is inclined outward on the outer side of the hook bracket 2, and a magnetic block 5 is provided on the lower part of the inner side of the limiting rod 4.

[0057] When grabbing the suspended object 10, if Figure 3-7 The process is as follows: When the suspended object 10 contacts the first inclined plane 3a (the suspended object 10 is stationary and the hook 3 is lowered), the hook 3 is opened outward for the first time (i.e., it is pushed outward). Figure 3 (As shown in the diagram), after opening, hook 3 continues to lower, as... Figure 4 As shown, the gripping surface 10a of the object being lifted (the present invention exemplifies the object being lifted 10 with a flange or folded structure, such as a cylinder, a trough, a plate suspended on the ground, etc.) can be positioned above the gripping plane 3b of the hook 3. Then, the hook 3 can be reset to a vertical position under the action of gravity, so that the gripping plane 3b of the hook 3 is positioned below the gripping surface 10a of the object being lifted. Then, the hook 3 is lifted, and the object being lifted 10 can be lifted without the need for operator intervention.

[0058] After the suspended object 10 is transferred and placed, the hook 3 moves down, causing the suspended object 10 to contact the second inclined surface 3d, opening the hook 3 outward for the second time. During this second opening, the horizontal width of the point where the first inclined surface 3a connects with the gripping plane 3b is (…). Figure 5 The width dimension d (as shown) is greater than the width of the object 10 being lifted, allowing the hook 3 to detach upwards from the object 10. Upon the second opening, the outer surface of the hook 3 contacts and magnetically attracts the magnetic block 5, securing the hook 3 and preventing it from automatically resetting during the lifting process and failing to detach smoothly.

[0059] Before lifting the next load 10, the hook 3 can be moved and stopped quickly during the movement, allowing inertia to disengage it from the magnetic block 5 and return it to its initial vertical lifting position. Alternatively, an electromagnetic block can be used, and the hook 3 can be disengaged by cutting off the power. Figure 7 As shown.

[0060] To ensure stable lifting operations for different structures of the object 10, the present invention adds the following different structural components to the above structure to adapt to the lifting of common object 10 structures:

[0061] Example 1

[0062] like Figure 9 As shown, the hook brackets 2 are symmetrically arranged in two sets below the longitudinal beam 11. This structure allows for four hooks 3, which can stably lift most of the objects 10, such as cylinders, short troughs, and plates. Figure 9 That is, a short or relatively square trough (the trough must have a flange).

[0063] Example 2

[0064] like Figure 10 As shown, the hook bracket 2 is arranged with a spacing of more than two sets below the longitudinal beam 11. This structure ensures that there are no fewer than four hooks 3, making it suitable for lifting relatively long objects 10. Figure 10 The long groove shown.

[0065] Example 3

[0066] This embodiment 3 is mainly used for lifting cylinders, such as metal smelting cylinders in the casting process of automotive parts, which require frequent grabbing and lifting. And such as Figure 11 As shown, when hook 3 is in one set, during the grabbing process, hook 3 cannot be accurately positioned on the center line of the cylinder. During the lifting process after grabbing, there is a risk of the cylinder tilting and deflecting as indicated by the arc arrow in the diagram. If the cylinder is a smelting cylinder, this could lead to the spillage of molten metal, posing a significant safety hazard. While setting two sets of hooks 3 improves lifting stability, the two sets of hooks 3 are not symmetrically positioned on either side of the cylinder's center line, still resulting in a misalignment between the lifting point and the cylinder's center line. During the translation of the smelting cylinder, the inertial swaying of the molten metal inside further increases the possibility of the cylinder tilting. Therefore, when grabbing and lifting a circular metal smelting cylinder, it is essential to ensure that the lifting point coincides with the cylinder's center line as much as possible to overcome the increased swaying effect of the molten metal inside the cylinder during the lifting and rotation process.

[0067] Therefore, this embodiment 3 is suitable for gripping and lifting metal smelting cylinders, and its structure is as follows: Figure 12-13 As shown, an arc-shaped measuring plate 6 is hinged on the limiting vertical surface 3c, and the arc-shaped measuring plate 6 can be in contact with the arc of the side of the suspended object 10. When gripping the cylinder, first ensure that the hook 3 is basically aligned vertically with the cylinder, then lower the hook 3, open the hook 3 as in Embodiments 1-2, and make the flange or flank of the cylinder located on the gripping plane 3b of the hook 3. After the hook 3 is reset to a vertical state by gravity, the arc-shaped measuring plate 6 is in contact with the side circumferential surface of the flange or flank of the cylinder. If the arc-shaped measuring plate 6 is not perpendicular to the hook 3 ( Figure 14 (As shown in the diagram), this proves that hook 3 is misaligned with the centerline of the cylinder. Figure 15 The hook 3 is moved in the direction of the middle arrow. When the arc measuring plate 6 is perpendicular to the hook 3, it proves that the hook 3 is located on the center line of the cylinder, and then it can be lifted.

[0068] There is still a deviation in the perpendicularity of the arc measuring plate 6 and the hook 3 when observed manually. Therefore, to solve this problem, such as... Figure 16-17 As shown, a support plate 7 parallel to the arc-shaped measuring plate 6 is provided on the outer surface of the hook 3. The support plate 7 is preferably welded to the outer surface of the hook 3. Balance springs 8 are provided at both ends between the support plate 7 and the arc-shaped measuring plate 6. The function of the balance springs 8 is as follows: Figure 19 As shown, when the hook 3 is lowered but not at the center line of the cylinder, the front and rear balance springs 8 are compressed or stretched differently, meaning the contact force between the hook 3 and the cylinder is unbalanced. This can be addressed by using a wire rope to drive the hook 3 to swing back and forth slightly. Figure 20 As shown, the arc-shaped measuring plate 6 can move on the side circumferential surface of the flange or ferrule of the cylinder, so that the balance springs 8 on the front and rear sides reach a balanced state of equal length. In this balanced state, as... Figure 21 As shown by the horizontal arrow, the balance springs 8 on both sides apply the same force to the arc measuring plate 6. The (small amplitude) swing of the wire rope on the hook 3 will not cause the arc measuring plate 6 to have a large displacement on the cylinder. Therefore, when the wire rope drives the arc measuring plate 6 to move until the arc measuring plate 6 stops under the initial swing action, it proves that the hook 3 has been adjusted to the center line of the cylinder. This solves the problem of the operator's error in judging the perpendicularity of the arc measuring plate 6 and the hook 3, and then the lifting can be carried out.

[0069] To reduce the resistance to the displacement of the aforementioned arc measuring plate 6 on the side circumferential surface of the flange or ferrule of the cylinder, such as Figure 22-23 As shown, both ends of the arc measuring plate 6 are equipped with adjusting rollers 9, and the outer diameter of the adjusting rollers 9 is larger than the horizontal width of the arc measuring plate 6. The adjusting rollers 9 allow the arc measuring plate 6 to disengage from the cylinder, facilitating smooth movement and rapid adjustment under the swinging action of the wire rope, reducing the lifting time of the cylinder by up to 2 / 3, and significantly improving work efficiency.

[0070] After the rotation is completed, to facilitate the upward disengagement of the cylinder side from the adjusting roller 9, as follows: Figure 25-26 As shown, the adjusting roller 9 is configured as a conical structure with a smaller upper diameter and a larger lower diameter. When the hook 3 disengages from the cylinder, the hook 3 continues to move downwards, and the adjusting roller 9 descends along the side of the cylinder. The outer diameter of the adjusting roller 9 decreases from bottom to top. Therefore, as the adjusting roller 9 moves downwards along the side of the cylinder, its reduced outer diameter can reduce the friction between it and the side of the cylinder, reducing the relative wear between the two and facilitating the disengagement of the hook 3 from the cylinder.

[0071] To avoid the problem of the bottom surface of the hook 3 contacting the upper surface of the object being lifted 10 and thus preventing the hook 3 from opening smoothly, such as... Figure 1 As shown, a transition arc surface 3e is provided between the bottom end of the first inclined surface 3a and the bottom end of the outer side of the hook 3. This transition arc surface 3e avoids the problem of the hook 3 being in flat contact with the upper surface of the object being lifted 10 when the bottom end of the hook 3 is a flat structure, making it difficult to open the hook 3. By setting the transition arc surface 3e to connect with the arc of the first inclined surface 3a, the problem of flat contact can be effectively avoided when in contact with the object being lifted 10, allowing the hook 3 to be opened smoothly and avoiding jamming during lifting operations.

[0072] The present invention also provides a gripping method using the above-described mechanical lifting automatic gripping mechanism, the steps of which are as follows: before gripping the object 10 to be lifted, the hook 3 is moved above the object 10 to be lifted, and then the hook 3 is lowered. During the lowering process, the hook 3 approaches the object 10 to be lifted, and the position of the hook 3 is adjusted in time so that it is basically aligned with the object 10 to be lifted.

[0073] like Figure 3-10As shown, after the first inclined surface 3a contacts the side of the suspended object 10, the hook 3 continues to be lowered. At the same time, the suspended object 10 drives the lower end of the hook 3 to open outward in a first open state. After the gripping surface 10a of the suspended object 10 passes the contact point between the first inclined surface 3a and the gripping plane 3b, the hook 3 returns to a vertical state under the action of gravity. Then the hook 3 is lifted up. After the gripping plane 3b is flat against the gripping surface 10a of the suspended object 10, the suspended object 10 is lifted.

[0074] After the suspended object 10 is lifted and transferred to the position, the hook 3 is lowered until the suspended object 10 is received. Then, the hook 3 is lowered further so that the side of the suspended object 10 contacts the second inclined surface 3d. At the same time, the suspended object 10 drives the lower end of the hook 3 to open outward in a second open state, and the hook 3 is attracted and fixed to the strong magnet. Then, the hook 3 moves upward and detaches from the suspended object 10.

[0075] When lifting a cylindrical object 10, the hook 3 is moved above the object 10, and then lowered. After the first inclined surface 3a contacts the side of the object 10, the hook 3 continues to be lowered. Simultaneously, the object 10 drives the lower end of the hook 3 to open outwards. The gripping surface 10a of the object 10 passes the contact point between the first inclined surface 3a and the gripping plane 3b, as... Figure 19-24 As shown, the hook 3 resets under the action of gravity, causing the adjusting roller 9 to abut against the arc side of the suspended object 10. The hook 3 swings back and forth, and the adjusting roller 9 rolls on the arc side. Under the action of the balance spring 8, the arc measuring plate 6 moves to be perpendicular to the hook 3, that is, the hook 3 grabs the center line of the suspended object 10. Then the hook 3 is lifted up, and the gripping plane 3b is flat against the gripping surface 10a of the suspended object 10, and the suspended object 10 is lifted.

[0076] After the suspended object 10 is lifted and transferred to the position, the hook 3 is lowered until the suspended object 10 is received. Then, the hook 3 is lowered further so that the side of the suspended object 10 is separated from the adjusting roller 9 and contacts the second inclined surface 3d. At the same time, the suspended object 10 drives the lower end of the hook 3 to open outward in a second open state, and the hook 3 is attracted and fixed to the strong magnet. Then, the hook 3 moves upward and separates from the suspended object 10.

[0077] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention.

Claims

1. An automatic mechanical lifting and gripping mechanism, characterized in that, Includes load-bearing frame, hook bracket, hook and limit bar; The load-bearing frame is a planar rectangular frame structure, consisting of longitudinal beams on the left and right sides and transverse beams on the front and rear sides, with the hook bracket located below the longitudinal beams; The hook is a long plate-shaped structure, with its top end hinged to the bottom of the hook bracket. The inner side of the hook is provided with a first inclined surface, a gripping plane, a limiting vertical surface and a second inclined surface from bottom to top. The limiting rod is inclined outward on the outer side of the hook bracket, and a magnetic block is provided on the lower part of the inner side of the limiting rod; When the object being lifted contacts the first inclined plane, the hook opens outward for the first time; and when the object being lifted contacts the second inclined plane, the hook opens outward for the second time. During the second opening, the horizontal width of the point where the first inclined plane meets the gripping plane is greater than the width of the object being lifted, and after the second opening, the outer side of the hook contacts and magnetically attracts the magnetic block.

2. The automatic mechanical lifting and gripping mechanism according to claim 1, characterized in that: Two sets of hook supports are symmetrically arranged below the longitudinal beam.

3. The automatic mechanical lifting and gripping mechanism according to claim 1, characterized in that: The hook supports are spaced more than two sets apart at the front and rear intervals below the longitudinal beam.

4. The automatic mechanical lifting and gripping mechanism according to claim 1, characterized in that: The object being suspended is arc-shaped, and an arc measuring plate is hinged to the vertical limiting surface, which can be in contact with the arc side of the object being suspended.

5. The automatic mechanical lifting and gripping mechanism according to claim 4, characterized in that: A support plate parallel to the arc measuring plate is provided on the outer surface of the hook, and a balance spring is provided at both ends between the two.

6. The automatic mechanical lifting and gripping mechanism according to claim 4 or 5, characterized in that: Both ends of the arc measuring plate are equipped with adjusting rollers, and the outer diameter of the adjusting rollers is larger than the horizontal width of the arc measuring plate.

7. The automatic mechanical lifting and gripping mechanism according to claim 6, characterized in that: The adjusting roller is designed with a tapered structure that is smaller at the top and larger at the bottom.

8. The automatic mechanical lifting and gripping mechanism according to claim 1, characterized in that: A transition arc surface is provided between the bottom end of the first inclined surface and the bottom end of the outer side of the hook.

9. A gripping method using the automatic gripping mechanism for mechanical lifting as described in any one of claims 1-3, characterized in that: Before grabbing the object to be lifted, the hook is moved above the object and then lowered. When the first inclined plane contacts the side of the object, the hook is lowered further. At the same time, the object drives the lower end of the hook to open outward. After the gripping surface of the object passes the contact point between the first inclined plane and the gripping plane, the hook returns to a vertical position under the action of gravity. Then the hook is lifted. After the gripping plane is flat against the gripping surface of the object, the object is lifted. After the object being lifted and moved into position, the hook is lowered until the object is received. Then, the hook is lowered further until the side of the object is in contact with the second inclined surface. At the same time, the object drives the lower end of the hook to open outward in a second open state, and the hook is attracted and fixed to the strong magnet. Subsequently, the hook moves upward and detaches from the object.

10. A gripping method using the automatic gripping mechanism for mechanical lifting as described in claim 7, characterized in that: Before grabbing the object to be lifted, the hook is moved above the object and then lowered. When the first inclined plane contacts the side of the object, the hook is lowered further. At the same time, the object drives the lower end of the hook to open outward. After the grabbing surface of the object passes the contact point between the first inclined plane and the grabbing plane, the hook returns to its original position under the action of gravity, so that the adjusting roller abuts against the arc side of the object. The hook is swung back and forth, and the adjusting roller rolls on the arc side. Under the action of the balance spring, the arc measuring plate moves to be perpendicular to the hook, that is, the hook grabs the center line of the object. Then the hook is lifted, and the object is lifted after the grabbing plane is flat against the grabbing surface of the object. After the object being lifted and moved into position, the hook is lowered until the object is received. Then, the hook is lowered further until the side of the object is disengaged from the adjusting roller and contacts the second inclined surface. At the same time, the object drives the lower end of the hook to open outward in a second open state, and the hook is attracted and fixed to the strong magnet. Subsequently, the hook moves upward and detaches from the object.

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