Tire grabbing device of aircraft tire vulcanizing machine

Abstract

The utility model relates to the technical field of tire grippers, in particular to a tire gripper of an aircraft tire vulcanizing machine, which is convenient for quickly gripping and moving aircraft tires with different sizes, can protect the aircraft tires from being damaged during gripping and improves the quality of the aircraft tires. Comprising a lifting mechanism; the robot further comprises a rotating mechanism, a position adjusting mechanism, a grabbing mechanism, a driving mechanism and a protection mechanism, the rotating mechanism is installed on the lifting mechanism, the position adjusting mechanism is installed on the lifting mechanism, the grabbing mechanism is installed on the position adjusting mechanism, the driving mechanism is installed in the grabbing mechanism, and the protection mechanism is installed on the grabbing mechanism. The tire grabbing height is conveniently adjusted through the lifting mechanism, the conveying angle after tire grabbing and the tire grabbing feeding angle and direction are adjusted through the rotating mechanism, and the tire grabbing position is adjusted through the position adjusting mechanism.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of tire grabbers, in particular to an aviation tire vulcanizing machine tire grabber. BACKGROUND

[0002] When the tire vulcanizing machine vulcanizes the formed tire, the tire grabber is needed to load and unload the tire because of the high-temperature steam in the vulcanizing chamber.

[0003] The existing tire grabber, such as the prior art with the application number CN201310730227.7, comprises a lifting mechanism, a stand, a guide rail, a lifting cylinder joint, a small spherical gasket, a connecting flange, a large spherical gasket, a cylinder connecting rod, a connecting bolt and a connecting surface, etc. The small spherical gasket in the lifting cylinder joint and the connecting surface of the connecting flange, and the large spherical gasket and the connecting surface of the cylinder connecting rod are matched as spherical surfaces, so that the lifting frame and the lifting cylinder form a spherical universal connection, and the accumulated error at the connection of the two is eliminated.

[0004] However, the prior art needs to adjust the position of the proximity switch when grabbing the aviation tires of different sizes, which reduces the convenience, and the prior art is complicated in grabbing, which reduces the practicability. UTILITY MODEL CONTENT

[0005] To solve the above technical problems, the utility model provides an aviation tire vulcanizing machine tire grabber which can quickly grab and move the aviation tires of different sizes, protect the aviation tires from being damaged during grabbing, and improve the quality of the aviation tires.

[0006] The utility model discloses a kind of aviation tire vulcanizing machine tire grabbers, including lifting mechanism;Still including rotating mechanism, position adjusting mechanism, grabbing mechanism, driving mechanism and protection mechanism, rotating mechanism is installed on lifting mechanism, position adjusting mechanism is installed on lifting mechanism, grabbing mechanism is installed on position adjusting mechanism, driving mechanism is installed in grabbing mechanism, protection mechanism is installed on grabbing mechanism, the height of grabbing tire is adjusted by lifting mechanism, rotating mechanism adjusts the angle of transport after grabbing tire and the angle and direction of feeding after grabbing tire, position adjusting mechanism adjusts the position of grabbing tire, grabbing mechanism driving driving mechanism is quickly fixed and grabbed to aviation tire of different diameter size, protection mechanism controls force when grabbing mechanism grabs aviation tire;The height of grabbing tire is adjusted by lifting mechanism, and then the action of tire grabbing and lifting down is completed, rotating mechanism adjusts the angle of transport after grabbing tire and the angle and direction of feeding after grabbing tire, position adjusting mechanism adjusts the position of grabbing tire, improve practicability, grabbing mechanism driving driving mechanism is quickly fixed and grabbed to aviation tire of different diameter size, improve convenience, protection mechanism controls force when grabbing mechanism grabs aviation tire, protect aviation tire from being damaged by grabbing mechanism when grabbing, improve the quality of aviation tire.

[0007] Preferably, the lifting mechanism includes a base plate, a rotating seat, a sliding sleeve, a sliding rod, a first lead screw and a first motor, the rotating seat is rotatably installed on the base plate, the sliding sleeve is installed on the rotating seat, the sliding rod is slidably installed in the sliding sleeve through a guide block, the first lead screw is rotatably installed in the sliding sleeve, the first lead screw is threadedly connected with the sliding rod, the first motor is installed at the bottom end of the rotating seat, and the output end of the first motor is connected with the first lead screw; the first lead screw is driven to rotate by turning on the first motor, then the sliding rod is driven to slide in the sliding sleeve through the threaded connection, thereby adjusting the height of grabbing tire, and then completing the action of tire grabbing and lifting down.

[0008] Preferably, the rotating mechanism includes a gear ring, a first gear and a second motor, the gear ring is installed on the outer wall of the rotating seat, the first gear is rotatably installed on the base plate, the gear ring is engaged with the first gear, the second motor is installed at the bottom end of the base plate, and the output end of the second motor is connected with the first gear; the first gear is driven to rotate by turning on the second motor, then the rotating seat is driven to rotate through the engagement, thereby adjusting the angle and direction of the grabbing mechanism, so as to adjust the angle of transport after grabbing tire and the angle and direction of feeding after grabbing tire.

[0009] Preferably, the position adjusting mechanism comprises an adjusting frame, a second lead screw, a sliding seat and a third motor, the adjusting frame is installed at the top end of the sliding rod, the adjusting frame is provided with a driving sliding groove, the second lead screw is rotatably installed in the driving sliding groove of the adjusting frame, the sliding seat is slidably installed on the adjusting frame, the second lead screw is in threaded cooperation with the sliding seat, the third motor is installed on the side wall of the adjusting frame, and the output end of the third motor is connected with the second lead screw; the third motor is turned on to drive the second lead screw to rotate, then the sliding seat is driven to slide on the adjusting frame through the threaded cooperation, and then the position of the grabbing mechanism is adjusted, so that the position of the grabbed tire is adjusted.

[0010] Preferably, the grabbing mechanism comprises a grabbing shell, four guide rods, four sliding blocks, four first springs and four L-shaped grabbing rods, the grabbing shell is installed at the bottom end of the sliding seat, the grabbing shell is provided with a driving cavity, the bottom surface of the grabbing shell is provided with four sliding grooves, the four guide rods are installed in the four sliding grooves, the four sliding blocks are slidably installed in the four sliding grooves and on the four guide rods, the four first springs are connected between the four sliding blocks and the inner walls of the four sliding grooves, and the four L-shaped grabbing rods are respectively installed at the bottom ends of the four sliding blocks; the driving mechanism is turned on to drive the four sliding blocks to slide on the four guide rods, and the first springs are elongated, so that the four L-shaped grabbing rods grab the tire.

[0011] Preferably, the driving mechanism comprises four extrusion rollers, a four-corner protrusion, an inner gear ring, a driving motor and a driving gear, the four extrusion rollers are rotatably installed on the four sliding blocks, the four-corner protrusion is rotatably installed at the bottom end in the interior of the grabbing shell, the four-corner protrusion can be in contact with and extruded by the extrusion rollers, the inner gear ring is installed on the top surface of the four-corner protrusion, the driving motor is installed at the top end in the interior of the grabbing shell, the driving gear is installed on the output end of the driving motor, and the driving gear is in meshing engagement with the inner gear ring; the driving motor is turned on to drive the driving gear to rotate, then the four-corner protrusion is rotated through the meshing engagement, and then the four-corner protrusion extrudes the extrusion rollers through the surface of the four-corner protrusion, so that the four sliding blocks slide on the four guide rods while the first springs are elongated, and then the four L-shaped grabbing rods grab the tire; when the tire is placed, the driving motor is controlled to be reversely rotated to drive the four-corner protrusion to be reversely rotated, and then the sliding blocks are elastically pulled to slide on the guide rods and be reset through the first springs.

[0012] Preferably, the protection mechanism comprises four pressure sensors, a plurality of second springs and four extrusion plates, the four pressure sensors are installed on the four L-shaped grabbing rods, the four extrusion plates are installed on the pressure sensors through the second springs, and the four extrusion plates are slidably installed on the bottom surfaces of the L-shaped grabbing rods; when the L-shaped grabbing rods grab the tire, the tire is in contact with the extrusion plates and extrudes the second springs, so that the pressure sensors are extruded, the pressure sensors control the driving motor to stop working when a certain pressure is detected, the aviation tire is protected from being damaged during grabbing, and the quality of the aviation tire is improved.

[0013] Compared with the prior art, the utility model has the advantages that: through the lifting mechanism, the height of the tire grabbing is adjusted, and then the tire grabbing and lifting and descending actions are completed, the rotating mechanism adjusts the angle of transportation after the tire grabbing and the angle and direction of tire feeding, the position adjusting mechanism adjusts the position of the tire grabbing, the practicality is improved, the driving mechanism of the grabbing mechanism drives the quick fixing and grabbing of the aviation tire with different diameters, the convenience is improved, the protection mechanism controls the force of the grabbing mechanism when grabbing the aviation tire, the aviation tire is protected from being damaged by the grabbing mechanism during grabbing, and the quality of the aviation tire is improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is the first axonometric structure schematic diagram of the utility model, and

[0015] Figure 2 It is the second axonometric structure schematic diagram of the utility model, and

[0016] Figure 3 It is the third axonometric structure schematic diagram of the utility model, and

[0017] Figure 4 It is the fourth axonometric structure schematic diagram of the utility model, and

[0018] Figure 5 It is the front view cross section structure schematic diagram of the utility model, and

[0019] Figure 6 It is the top view cross section axonometric structure schematic diagram of the utility model, and

[0020] Figure 7 It is the fifth axonometric structure schematic diagram of the utility model, and

[0021] Figure 8 It is the Figure 7 Enlarged structure schematic diagram of A place in the utility model, and

[0022] Mark in the drawing: 01, lifting mechanism, 11, bottom plate, 12, rotating seat, 13, sliding sleeve, 14, sliding rod, 15, first lead screw, 16, first motor, 02, rotating mechanism, 21, gear ring, 22, first gear, 23, second motor, 03, position adjusting mechanism, 31, adjusting frame, 32, second lead screw, 33, sliding seat, 34, third motor, 04, grabbing mechanism, 41, grabbing shell, 42, guide rod, 43, sliding block, 44, first spring, 45, L type grabbing rod, 05, driving mechanism, 51, extrusion roller, 52, four corner protruding block, 53, inner gear ring, 54, driving motor, 55, driving gear, 06, protection mechanism, 61, pressure sensor, 62, second spring, 63, extrusion plate. DETAILED DESCRIPTION

[0023] For the purpose of facilitating the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0024] Embodiment 1

[0025] As Figures 1 to 5 shown, a tire grabber of an aviation tire vulcanizing machine comprises a lifting mechanism 01, a rotating mechanism 02, a position adjusting mechanism 03, a grabbing mechanism 04, a driving mechanism 05 and a protection mechanism 06, the rotating mechanism 02 is installed on the lifting mechanism 01, the position adjusting mechanism 03 is installed on the lifting mechanism 01, the grabbing mechanism 04 is installed on the position adjusting mechanism 03, the driving mechanism 05 is installed in the grabbing mechanism 04, and the protection mechanism 06 is installed on the grabbing mechanism 04;

[0026] The lifting mechanism 01 is convenient for adjusting the height of the tire grabbing, the rotating mechanism 02 adjusts the angle and direction of the transportation after the tire grabbing and the feeding of the tire grabbing, the position adjusting mechanism 03 adjusts the position of the tire grabbing, the grabbing mechanism 04 drives the driving mechanism 05 to quickly fix and grab the aviation tires with different diameters, and the protection mechanism 06 controls the force when the grabbing mechanism 04 grabs the aviation tires;

[0027] The lifting mechanism 01 comprises a bottom plate 11, a rotating seat 12, a sliding sleeve 13, a sliding rod 14, a first lead screw 15 and a first motor 16, the rotating seat 12 is rotationally installed on the bottom plate 11, the sliding sleeve 13 is installed on the rotating seat 12, the sliding rod 14 is slidingly installed in the sliding sleeve 13 through a guide sliding block, the first lead screw 15 is rotationally installed in the sliding sleeve 13, the first lead screw 15 is threadedly matched with the sliding rod 14, the first motor 16 is installed at the bottom end of the rotating seat 12, and the output end of the first motor 16 is connected with the first lead screw 15;

[0028] The rotating mechanism 02 comprises a gear ring 21, a first gear 22 and a second motor 23, the gear ring 21 is installed on the outer wall of the rotating seat 12, the first gear 22 is rotationally installed on the bottom plate 11, the gear ring 21 is meshed with the first gear 22, the second motor 23 is installed at the bottom end of the bottom plate 11, and the output end of the second motor 23 is connected with the first gear 22;

[0029] The position adjusting mechanism 03 comprises an adjusting frame 31, a second screw rod 32, a sliding seat 33 and a third motor 34. The adjusting frame 31 is installed at the top end of the sliding rod 14, and a driving sliding groove is arranged on the adjusting frame 31. The second screw rod 32 is rotatably installed in the driving sliding groove of the adjusting frame 31. The sliding seat 33 is slidably installed on the adjusting frame 31, and the second screw rod 32 is in threaded cooperation with the sliding seat 33. The third motor 34 is installed on the side wall of the adjusting frame 31, and the output end of the third motor 34 is connected with the second screw rod 32.

[0030] By opening the first motor 16 to drive the first screw rod 15 to rotate, the sliding rod 14 is then driven to slide in the sliding sleeve 13 through the threaded cooperation, so as to adjust the height of the tire grabbing, and then complete the tire grabbing and lifting and descending actions. By opening the second motor 23 to drive the first gear 22 to rotate, the rotating seat 12 is then driven to rotate through the meshing relationship, so as to adjust the angle and direction of the grabbing mechanism 04, thereby adjusting the angle of the tire transportation after grabbing and the angle and direction of the tire feeding after grabbing. By opening the third motor 34 to drive the second screw rod 32 to rotate, the sliding seat 33 is then driven to slide on the adjusting frame 31 through the threaded cooperation, so as to adjust the position of the grabbing mechanism 04, thereby adjusting the position of the tire after grabbing.

[0031] Embodiment 2

[0032] As shown in Figure 4 , Figure 6 and Figure 8 , a tire grabber of an aviation tire vulcanizing machine comprises a lifting mechanism 01, a rotating mechanism 02, a position adjusting mechanism 03, a grabbing mechanism 04, a driving mechanism 05 and a protection mechanism 06. The rotating mechanism 02 is installed on the lifting mechanism 01. The position adjusting mechanism 03 is installed on the lifting mechanism 01. The grabbing mechanism 04 is installed on the position adjusting mechanism 03. The driving mechanism 05 is installed in the grabbing mechanism 04. The protection mechanism 06 is installed on the grabbing mechanism 04.

[0033] The lifting mechanism 01 is convenient for adjusting the height of the tire grabbing. The rotating mechanism 02 adjusts the angle of the tire transportation after grabbing and the angle and direction of the tire feeding after grabbing. The position adjusting mechanism 03 adjusts the position of the tire grabbing. The grabbing mechanism 04 drives the driving mechanism 05 to quickly fix and grab the aviation tires of different diameters. The protection mechanism 06 controls the force of the grabbing mechanism 04 when grabbing the aviation tires.

[0034] The grabbing mechanism 04 comprises a grabbing shell 41, four guide rods 42, four sliding blocks 43, four first springs 44 and four L-shaped grabbing rods 45, the grabbing shell 41 is installed at the bottom end of the sliding seat 33, a driving cavity is arranged in the grabbing shell 41, four sliding grooves are arranged on the bottom surface of the grabbing shell 41, the four guide rods 42 are installed in the four sliding grooves, the four sliding blocks 43 are slidingly installed in the four sliding grooves and simultaneously slidingly installed on the four guide rods 42, the four first springs 44 are connected between the four sliding blocks 43 and the inner walls of the sliding grooves respectively, and the four L-shaped grabbing rods 45 are installed at the bottom ends of the four sliding blocks 43 respectively.

[0035] The driving mechanism 05 comprises four extrusion rollers 51, a four-corner protrusion 52, an inner tooth ring 53, a driving motor 54 and a driving gear 55, the four extrusion rollers 51 are rotatably installed on the four sliding blocks 43, the four-corner protrusion 52 is rotatably installed at the bottom end inside the grabbing shell 41 and can be in contact with the extrusion rollers 51 for extrusion, the inner tooth ring 53 is installed on the top surface of the four-corner protrusion 52, the driving motor 54 is installed at the top end inside the grabbing shell 41, and the driving gear 55 is installed on the output end of the driving motor 54 and is in meshing connection with the inner tooth ring 53.

[0036] The protection mechanism 06 comprises four pressure sensors 61, a plurality of second springs 62 and four extrusion plates 63, the four pressure sensors 61 are installed on the four L-shaped grabbing rods 45, the four extrusion plates 63 are installed on the pressure sensors 61 through the second springs 62, and the four extrusion plates 63 are slidingly installed on the bottom surfaces of the L-shaped grabbing rods 45.

[0037] By rotating the driving gear 55 through the driving motor 54, the four-corner protrusion 52 is rotated through the meshing relationship, the extrusion rollers 51 are extruded through the surface of the four-corner protrusion 52, the four sliding blocks 43 slide on the four guide rods 42, and the first springs 44 are elongated, so that the four L-shaped grabbing rods 45 grab the tire, when the tire is placed, the four-corner protrusion 52 is reversed through the reverse rotation of the driving motor 54, the sliding blocks 43 slide on the guide rods 42 through the elastic pulling of the first springs 44, when the L-shaped grabbing rods 45 grab the tire, the tire is in contact with the extrusion plates 63 and extrudes the second springs 62, so that the pressure sensors 61 are extruded, when the pressure sensors 61 detect a certain pressure, the pressure sensors 61 control the driving motor 54 to stop working, the aviation tire is protected from being damaged during grabbing, and the quality of the aviation tire is improved.

[0038] As Figures 1 to 8As shown, the aviation tire vulcanizing machine tire grabber of the utility model, when working, through opening the first motor 16 drives the first lead screw 15 to rotate, then through the threaded relationship drives the sliding rod 14 to slide in the sliding sleeve 13, and then the height of the tire grabbing is adjusted, and then the tire grabbing and lifting and descending actions are completed, through opening the second motor 23 drives the first gear 22 to rotate, then through the meshing relationship drives the rotating seat 12 to rotate, and then the angle and direction of the grabbing mechanism 04 are adjusted, so that the angle of the tire transportation after grabbing and the angle and direction of the tire feeding after grabbing are adjusted, through opening the third motor 34 drives the second lead screw 32 to rotate, then through the threaded relationship drives the sliding seat 33 to slide on the adjusting frame 31, and then the position of the grabbing mechanism 04 is adjusted, so that the position of the tire after grabbing is adjusted, through opening the driving motor 54 drives the driving gear 55 to rotate, then through the meshing relationship the four corner blocks 52 rotate, and then the four corner blocks 52 are extruded by the extrusion roller 51, so that the four sliding blocks 43 slide on the four guide rods 42, and the first spring 44 is elongated, and then the four L-shaped grabbing rods 45 are driven to grab the tire, when the tire is placed, the four corner blocks 52 are reversed by controlling the driving motor 54 to reverse, and then the sliding block 43 slides on the guide rod 42 and resets by the elasticity of the first spring 44, when the L-shaped grabbing rod 45 grabs the tire, the tire contacts the extrusion plate 63 and extrudes the second spring 62, and then the extrusion plate 63 generates extrusion to the pressure sensor 61, when the pressure sensor 61 detects a certain pressure, the pressure sensor 61 controls the driving motor 54 to stop working, so that the aviation tire is not damaged during grabbing, and the quality of the aviation tire is improved.

[0039] The first motor 16, the second motor 23, the third motor 34, the driving motor 54 and the second spring 62 of the utility model are purchased on the market, and the technical personnel in the industry only need to install and operate according to the use instruction book attached, without the technical personnel in the field paying creative labor.

[0040] The utility model realizes the main function of: in the working process of the tire grabber, different sizes of aviation tires can be quickly grabbed and moved, and the aviation tires can be protected from being damaged during grabbing, and the quality of the aviation tires is improved.

[0041] The above only is the preferred implementation manner of the utility model, and it should be pointed out that, for ordinary technical personnel in the technical field, on the premise of not departing from the technical principle of the utility model, a plurality of improvements and modifications can be made, and the improvements and modifications should be regarded as the protection range of the utility model.

Claims

1. A tire gripper for a tire curing machine for aircraft tires, comprising a lifting mechanism (01); characterized in that, Also include rotating mechanism (02), position adjusting mechanism (03), grabbing mechanism (04), driving mechanism (05) and protection mechanism (06), rotating mechanism (02) is installed on lifting mechanism (01), position adjusting mechanism (03) is installed on lifting mechanism (01), grabbing mechanism (04) is installed on position adjusting mechanism (03), driving mechanism (05) is installed in grabbing mechanism (04), protection mechanism (06) is installed on grabbing mechanism (04); The lifting mechanism (01) is convenient for adjusting the height of the tire grabbing, the rotating mechanism (02) adjusts the angle and direction of the tire grabbing and transporting, the position adjusting mechanism (03) adjusts the position of the tire grabbing, the grabbing mechanism (04) drives the driving mechanism (05) to quickly fix and grab the aviation tire with different diameters, and the protection mechanism (06) controls the force when the grabbing mechanism (04) grabs the aviation tire; The lifting mechanism (01) includes a bottom plate (11), a rotating seat (12), a sliding sleeve (13), a sliding rod (14), a first lead screw (15) and a first motor (16), the rotating seat (12) is rotatably installed on the bottom plate (11), the sliding sleeve (13) is installed on the rotating seat (12), the sliding rod (14) is slidably installed in the sliding sleeve (13) through a guide sliding block, the first lead screw (15) is rotatably installed in the sliding sleeve (13), the first lead screw (15) is threadedly connected with the sliding rod (14), and the first motor (16) is installed at the bottom end of the rotating seat (12); The output end of the first motor (16) is connected with the first lead screw (15); The rotating mechanism (02) includes a gear ring (21), a first gear (22) and a second motor (23), the gear ring (21) is installed on the outer wall of the rotating seat (12), the first gear (22) is rotatably installed on the bottom plate (11), the gear ring (21) is engaged with the first gear (22), and the second motor (23) is installed at the bottom end of the bottom plate (11); The output end of the second motor (23) is connected with the first gear (22); The position adjusting mechanism (03) includes an adjusting frame (31), a second lead screw (32), a sliding seat (33) and a third motor (34), the adjusting frame (31) is installed at the top end of the sliding rod (14), the adjusting frame (31) is provided with a driving sliding groove, the second lead screw (32) is rotatably installed in the driving sliding groove of the adjusting frame (31), the sliding seat (33) is slidably installed on the adjusting frame (31), the second lead screw (32) is threadedly connected with the sliding seat (33), and the third motor (34) is installed on the side wall of the adjusting frame (31); The output end of the third motor (34) is connected with the second lead screw (32). The grabbing mechanism (04) comprises a grabbing shell (41), four guide rods (42), four sliding blocks (43), four first springs (44) and four L-shaped grabbing rods (45), the grabbing shell (41) is installed at the bottom end of the sliding seat (33), a driving cavity is arranged in the grabbing shell (41), four sliding grooves are arranged on the bottom surface of the grabbing shell (41), the four guide rods (42) are installed in the four sliding grooves, the four sliding blocks (43) are slidingly installed in the four sliding grooves and are slidingly installed on the four guide rods (42) at the same time, the four first springs (44) are connected between the four sliding blocks (43) and the inner walls of the sliding grooves respectively, and the four L-shaped grabbing rods (45) are installed at the bottom ends of the four sliding blocks (43); The driving mechanism (05) comprises four extrusion rollers (51), a four-corner protrusion (52), an inner tooth ring (53), a driving motor (54) and a driving gear (55), the four extrusion rollers (51) are rotatably installed on the four sliding blocks (43), the four-corner protrusion (52) is rotatably installed at the bottom end inside the grabbing shell (41), the four-corner protrusion (52) can be in contact with and extruded by the extrusion roller (51), the inner tooth ring (53) is installed on the top surface of the four-corner protrusion (52), the driving motor (54) is installed at the top end inside the grabbing shell (41), and the driving gear (55) is installed on the output end of the driving motor (54) and is in meshing connection with the inner tooth ring (53).

2. A tire gripper for a tire curing press as defined in claim 1 wherein, The protection mechanism (06) comprises four pressure sensors (61), a plurality of second springs (62) and four extrusion plates (63), the four pressure sensors (61) are installed on the four L-shaped grabbing rods (45), the four extrusion plates (63) are installed on the pressure sensors (61) through the second springs (62), and the four extrusion plates (63) are slidingly installed on the bottom surfaces of the L-shaped grabbing rods (45).

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