Square tube feeding and discharging clamping jaw mechanism

Abstract

This utility model relates to a square tube loading and unloading gripper mechanism, including a platform, a positioning frame disposed within the platform, and inlet and outlet slots respectively opened at both ends of the platform. A positioning slot is opened at the top of the positioning frame, with its two ends corresponding to the inlet and outlet slots respectively. A rack is fixedly connected to the bottom of the positioning frame, with gears meshing on the rack. A magnetic shaft is fixedly connected inside the gears, and a rotating motor is rotatably mounted at one end of the magnetic shaft. Several rollers are rotatably mounted on the inner sidewall of the platform. Movable holes are opened on the inner sidewall of the positioning slot. The rollers are connected to the output shaft of the rotating motor via a transmission mechanism. A sliding groove is provided between two rollers, and a gripper is disposed within the sliding groove. A drive mechanism is provided at the bottom of the positioning frame, and a limiting plate fixedly attached to the top of the platform is fitted to the top of the positioning frame. A top rod is positioned directly above the positioning slot. This utility model not only facilitates the loading and fixing of square tubes by workers but also facilitates the unloading of square tubes.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, specifically to a square tube loading and unloading clamping mechanism. Background Technology

[0002] Square tubes are long hollow tubes with a square cross-section. Currently, the commonly used equipment for clamping square tubes includes vises, pressure plates, and V-clamps. These clamps provide relatively tight clamping. However, square tube processing often involves processing blind holes or through holes, and such processing needs are often in large quantities. Therefore, traditional clamping equipment generally has certain technical problems.

[0003] For example, traditional square tube clamping equipment mostly relies on manual or semi-automatic feeding methods, requiring operators to push the square tubes into the positioning slots one by one. This operating mode not only significantly increases the labor intensity of the workers, but the high-intensity labor may also cause inconvenience to the workers in the processes of feeding, fixing, and unloading the square tubes. Utility Model Content

[0004] This utility model addresses the shortcomings of existing technologies by providing a square tube loading and unloading gripper mechanism that not only facilitates the loading and fixing of square tubes by workers, but also makes it easier for square tubes to be unloaded.

[0005] This utility model is achieved through the following technical solution: a square tube loading and unloading gripper mechanism is provided, including a platform, a positioning frame disposed within the platform, and inlet and outlet slots respectively opened at both ends of the platform. The positioning frame has a positioning slot on its top, with its two ends corresponding to the inlet and outlet slots respectively. A vertically extending rack is fixedly connected to the bottom of the positioning frame, and a gear meshes on the rack. A magnetic shaft, rotatably connected to the platform, is fixedly connected inside the gear. A rotating motor, fixed to the platform, is rotatably mounted at one end of the magnetic shaft. Several rollers are rotatably arranged on the inner wall of the platform, distributed laterally and passing through the positioning groove. The inner wall of the positioning groove has movable holes adapted to the rollers. The rollers are connected to the output shaft of the rotating motor through a transmission mechanism. A sliding groove is provided between two rollers on one side wall of the positioning groove. A gripper is provided in the sliding groove. A drive mechanism is provided at the bottom of the positioning frame to move the gripper back and forth. A limiting plate is fixed to the top of the platform and fitted to the top of the positioning frame. A top rod is fixed to the top of the positioning frame and located directly above the positioning groove.

[0006] In use, this utility model comprises a platform, a positioning frame within the platform, and inlet and outlet slots at both ends of the platform. The positioning frame has a positioning slot at its top, with its two ends corresponding to the inlet and outlet slots, respectively. A vertically extending rack is fixed to the bottom of the positioning frame, with gears meshing on the rack. A magnetic shaft, rotatably connected to the platform, is fixed inside the gears. A rotating motor, fixed to the platform, is rotatably mounted at one end of the magnetic shaft. Several rollers, distributed laterally and passing through the positioning slots, are rotatably mounted on the inner wall of the platform. Movable holes adapted to the rollers are provided on the inner wall of the positioning slots. The rollers are connected to the output shaft of the rotating motor via a transmission mechanism. A sliding groove, located on one side wall of the positioning slot, is provided between two rollers. The device is equipped with grippers, and a drive mechanism at the bottom of the positioning frame allows the grippers to reciprocate. A limiting plate, fixed to the top of the platform, is fitted against the top of the positioning frame. A top rod, fixed to the top of the positioning frame, is located directly above the positioning slot. In use, the device first requires controlling a rotating motor to rotate its output shaft in the forward direction. Because the magnetic shaft is attracted and fixed to the motor's output shaft, the magnetic shaft rotates on the platform along with the motor's output shaft, driving the gear to rotate. This drives the meshing rack to move upwards, causing the positioning frame to move upwards within the platform along with the rack. However, because the top of the positioning frame is fitted against the limiting plate, the positioning frame cannot move upwards at this point. The gear, rack, and magnetic shaft remain relatively fixed. At this time, the rotating motor... The machine's output shaft overcomes the attraction and fixation with the magnetic shaft, rotating on the magnetic shaft. This causes the output shaft of the rotating motor to drive the roller to rotate within the movable hole and positioning slot via the transmission mechanism. Then, one end of the square tube is placed into the top of the roller in the positioning slot through the inlet slot on the platform, allowing the square tube to fully enter the positioning slot under the roller's drive. Once the square tube is in the positioning slot, the rotating motor's output shaft is controlled to rotate in the opposite direction. Because the magnetic shaft and the rotating motor's output shaft are attracted and fixed together, the magnetic shaft rotates on the platform along with the rotating motor's output shaft, driving the gear to rotate. This drives the meshing rack to move downwards, causing the positioning frame to move downwards within the platform along with the rack. The movement causes the movable hole to move along with the positioning frame on the roller, and the push rod moves downward with the positioning frame, contacting the square tube at the top of the roller to fix the square tube vertically. During this process, the output shaft of the rotating motor, driven by the transmission mechanism, also drives the roller to rotate within the movable hole and positioning groove, causing the square tube to move under the drive of the roller. After the worker has completed the vertical fixation of the square tube, the drive mechanism is controlled to move the gripper from the slide groove into the positioning groove and abut against the square tube in the positioning groove to fix the square tube horizontally, thus facilitating the worker's processing of the square tube in the positioning groove. After processing is completed, the drive mechanism is controlled to move the gripper back from the positioning groove into the slide groove, and it no longer abuts against the square tube in the positioning groove.The square tube is no longer horizontally fixed. Instead, the output shaft of the rotating motor rotates clockwise. Because the magnetic shaft is attracted and fixed to the output shaft of the rotating motor, the magnetic shaft rotates on the platform along with the output shaft, driving the gear to rotate. This drives the rack meshing with the magnetic shaft to move upwards, causing the positioning frame to move upwards within the platform. The movable hole moves on the roller along with the positioning frame, and the push rod moves upwards with the positioning frame, disengaging from the square tube at the top of the roller. The square tube is no longer vertically fixed. During this process, the output shaft of the rotating motor, via the transmission mechanism, also drives the roller to rotate within the movable hole and positioning groove, causing the square tube to move under the drive of the roller. When the positioning... After the rack moves upward and engages with the limiting plate, the output shaft of the rotary motor continues to rotate forward. At this point, because the top of the positioning frame is engaged with the limiting plate, the positioning frame cannot move upward. The gears, rack, and magnetic shaft remain relatively fixed. The output shaft of the rotary motor then overcomes the attraction between itself and the magnetic shaft, rotating on the magnetic shaft. This causes the output shaft of the rotary motor to drive the roller through the transmission mechanism, rotating it within the movable hole and positioning groove. This allows the processed square tube to move from the positioning groove through the exit groove on the platform to the next process, thus completing the unloading operation of the square tube and facilitating subsequent operations. This not only makes it easier for workers to load and fix the square tube but also facilitates unloading.

[0007] Preferably, the transmission mechanism includes a first sprocket sleeved on the outer wall of the output shaft of the rotating motor, and a second sprocket sleeved on the outer wall of the drum above the first sprocket. The first sprocket and the second sprocket are connected by a transmission chain. In use, the rotation of the output shaft of the rotating motor drives the first sprocket to rotate, and the second sprocket on the outer wall of the drum rotates along with the first sprocket via the transmission chain. This causes the drum to rotate within the movable hole and the positioning groove, thereby moving the square tube within the positioning groove under the drive of the drum.

[0008] Preferably, the driving mechanism includes a cylinder fixedly connected to the bottom of the positioning frame, and the end of the cylinder output shaft is fixedly connected to the side wall of the gripper away from the positioning groove. In use, by controlling the cylinder, the output shaft of the cylinder extends or retracts, thereby causing the gripper to move from the slide groove into the positioning groove or back from the positioning groove into the slide groove.

[0009] Preferably, a rubber pad is provided on the inner sidewall of the gripper. By providing a rubber pad on the inner sidewall of the gripper, direct contact between the gripper and the square tube can be avoided, thus preventing damage to the square tube.

[0010] Preferably, two gears are arranged on the magnetic shaft, with the two gears located on the left and right sides of the positioning groove, respectively. By arranging two gears on the magnetic shaft, with the two gears located on the left and right sides of the positioning groove, the stability of the positioning frame movement during use can be improved.

[0011] Preferably, two limiting plates are provided on the top of the platform, with the two limiting plates located on the left and right sides of the positioning groove, respectively. By providing two limiting plates on the top of the platform, with the two limiting plates located on the left and right sides of the positioning groove, the stability of the device during use can be improved.

[0012] The beneficial effects of this utility model are as follows: A platform, a positioning frame within the platform, and inlet and outlet slots respectively opened at both ends of the platform are provided. The positioning frame has a positioning slot at its top, with its two ends corresponding to the inlet and outlet slots respectively. A vertically extending rack is fixedly connected to the bottom of the positioning frame, with gears meshing on the rack. A magnetic shaft, rotatably connected to the platform, is fixedly connected inside the gears. A rotating motor, fixed to the platform, is rotatably mounted at one end of the magnetic shaft. Several rollers, distributed laterally and passing through the positioning slots, are rotatably mounted on the inner wall of the platform. Movable holes adapted to the rollers are opened on the inner wall of the positioning slots. The rollers are connected to the output shaft of the rotating motor via a transmission mechanism. A sliding groove is provided between two rollers on one side wall of the positioning slot, and the sliding groove contains... The device is equipped with grippers, and a drive mechanism at the bottom of the positioning frame allows the grippers to reciprocate. A limiting plate, fixed to the top of the platform, is fitted against the top of the positioning frame. A top rod, fixed to the top of the positioning frame, is located directly above the positioning slot. In use, the device first requires controlling a rotating motor to rotate its output shaft in the forward direction. Because the magnetic shaft is attracted and fixed to the motor's output shaft, the magnetic shaft rotates on the platform along with the motor's output shaft, driving the gear to rotate. This drives the meshing rack to move upwards, causing the positioning frame to move upwards within the platform along with the rack. However, because the top of the positioning frame is fitted against the limiting plate, the positioning frame cannot move upwards at this point. The gear, rack, and magnetic shaft remain relatively fixed. At this time, the rotating motor... The machine's output shaft overcomes the attraction and fixation with the magnetic shaft, rotating on the magnetic shaft. This causes the output shaft of the rotating motor to drive the roller to rotate within the movable hole and positioning slot via the transmission mechanism. Then, one end of the square tube is placed into the top of the roller in the positioning slot through the inlet slot on the platform, allowing the square tube to fully enter the positioning slot under the roller's drive. Once the square tube is in the positioning slot, the rotating motor's output shaft is controlled to rotate in the opposite direction. Because the magnetic shaft and the rotating motor's output shaft are attracted and fixed together, the magnetic shaft rotates on the platform along with the rotating motor's output shaft, driving the gear to rotate. This drives the meshing rack to move downwards, causing the positioning frame to move downwards within the platform along with the rack. The movement causes the movable hole to move along with the positioning frame on the roller, and the push rod moves downward with the positioning frame, contacting the square tube at the top of the roller to fix the square tube vertically. During this process, the output shaft of the rotating motor, driven by the transmission mechanism, also drives the roller to rotate within the movable hole and positioning groove, causing the square tube to move under the drive of the roller. After the worker has completed the vertical fixation of the square tube, the drive mechanism is controlled to move the gripper from the slide groove into the positioning groove and abut against the square tube in the positioning groove to fix the square tube horizontally, thus facilitating the worker's processing of the square tube in the positioning groove. After processing is completed, the drive mechanism is controlled to move the gripper back from the positioning groove into the slide groove, and it no longer abuts against the square tube in the positioning groove.The square tube is no longer horizontally fixed. Instead, the output shaft of the rotating motor rotates clockwise. Because the magnetic shaft is attracted and fixed to the output shaft of the rotating motor, the magnetic shaft rotates on the platform along with the output shaft, driving the gear to rotate. This drives the rack meshing with the magnetic shaft to move upwards, causing the positioning frame to move upwards within the platform. The movable hole moves on the roller along with the positioning frame, and the push rod moves upwards with the positioning frame, disengaging from the square tube at the top of the roller. The square tube is no longer vertically fixed. During this process, the output shaft of the rotating motor, via the transmission mechanism, also drives the roller to rotate within the movable hole and positioning groove, causing the square tube to move under the drive of the roller. When the positioning... After the rack moves upward and engages with the limiting plate, the output shaft of the rotary motor continues to rotate forward. At this point, because the top of the positioning frame is engaged with the limiting plate, the positioning frame cannot move upward. The gears, rack, and magnetic shaft remain relatively fixed. The output shaft of the rotary motor then overcomes the attraction between itself and the magnetic shaft, rotating on the magnetic shaft. This causes the output shaft of the rotary motor to drive the roller through the transmission mechanism, rotating it within the movable hole and positioning groove. This allows the processed square tube to move from the positioning groove through the exit groove on the platform to the next process, thus completing the unloading operation of the square tube and facilitating subsequent operations. This not only makes it easier for workers to load and fix the square tube but also facilitates unloading. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a left view of the structure of this utility model; Figure 3 for Figure 2 Top view of the structure; Figure 4 for Figure 2 Structural perspective view; Figure 5 for Figure 4 Schematic diagram of part A in the middle; Figure 6 for Figure 5 Structural perspective view; Figure 7 for Figure 6 Structural perspective view; Figure 8 for Figure 4 Perspective view of section B; Figure 9 for Figure 4 Perspective view of the C section structure; As shown in the figure: 1. Platform, 2. Transmission chain, 3. Top rod, 4. Limiting plate, 5. Rack, 6. Rotary motor, 7. Inlet slot, 8. Gear, 9. Magnetic shaft, 10. Positioning frame, 11. Positioning slot, 12. Roller, 13. Outlet slot, 14. Cylinder, 15. Gripper, 16. Movable hole, 17. Slide groove, 18. Rubber pad, 19. Second sprocket, 20. First sprocket. Detailed Implementation

[0014] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0015] like Figures 1-9 The square tube loading and unloading gripper mechanism of this utility model includes a platform 1, a positioning frame 10 disposed within the platform 1, and an inlet slot 7 and an outlet slot 13 respectively opened at both ends of the platform 1. The positioning frame 10 has a positioning groove 11 on its top, with both ends corresponding to the inlet slot 7 and the outlet slot 13 respectively. A vertically extending rack 5 is fixedly connected to the bottom of the positioning frame 10, and a gear 8 meshes with the rack 5. A magnetic rotating shaft 9, rotatably connected to the platform 1, is fixedly connected inside the gear 8. A rotating motor 6, fixed to the platform 1, is rotatably mounted at one end of the magnetic rotating shaft 9. A rotating motor 6 is rotatably mounted on the inner wall of the platform 1. Several rollers 12 are distributed laterally and pass through the positioning groove 11. The inner sidewall of the positioning groove 11 is provided with movable holes 16 that are adapted to the rollers 12. The rollers 12 are connected to the output shaft of the rotating motor 6 through a transmission mechanism. A sliding groove 17 is provided between two rollers 12 and is provided on one sidewall of the positioning groove 11. A gripper 15 is provided in the sliding groove 17. A drive mechanism is provided at the bottom of the positioning frame 10 to move the gripper 15 back and forth. A limiting plate 4 is fixedly connected to the top of the platform 1 and fitted to the top of the positioning frame 10. A top rod 3 is fixedly connected to the top of the positioning frame 10 and positioned directly above the positioning groove 11.

[0016] The transmission mechanism includes a first sprocket 20 sleeved on the outer wall of the output shaft of the rotary motor 6, and a second sprocket 19 sleeved on the outer wall of the roller 12 above the first sprocket 20. The first sprocket 20 and the second sprocket 19 are connected by a transmission chain 2. When the device is in use, the rotation of the output shaft of the rotary motor 6 will drive the first sprocket 20 to rotate, and the second sprocket 19 on the outer wall of the roller 12 will rotate along with the first sprocket 20 via the transmission chain 2. This will drive the roller 12 to rotate within the movable hole 16 and the positioning groove 11, thereby causing the square tube to move within the positioning groove 11 under the drive of the roller 12. The drive mechanism includes a cylinder 14 fixedly connected to the bottom of the positioning frame 10. The output shaft end of the cylinder 14 is fixedly connected to the side wall of the gripper 15 away from the positioning groove 11. During use, the cylinder 14 is controlled to extend or retract its output shaft, thereby causing the gripper 15 to move from the slide groove 17 into the positioning groove 11 or back from the positioning groove 11 into the slide groove 17. Rubber pads 18 are provided on the inner side wall of the gripper 15 to prevent direct contact between the gripper 15 and the square tube, thus avoiding damage to the square tube. Two gears 8 are provided on the magnetic shaft 9, located on the left and right sides of the positioning groove 11 respectively, which improves the stability of the positioning frame 10 during use. Two limiting plates 4 are provided on the top of the platform 1, located on the left and right sides of the positioning groove 11 respectively, which further improves the stability of the device during use.

[0017] Combined with appendix Figure 1-9The method of using this utility model is as follows: First, the output shaft of the rotating motor 6 is rotated in the forward direction by controlling the rotating motor 6. At this time, because the magnetic shaft 9 is attracted and fixed together with the output shaft of the rotating motor 6, the magnetic shaft 9 will rotate on the platform 1 along with the output shaft of the rotating motor 6, and drive the gear 8 to rotate, thereby driving the rack 5 meshing with it to move upward, and causing the positioning frame 10 to move upward in the platform 1 along with the rack 5. However, at this time, because the top of the positioning frame 10 is attached to the limiting plate 4, the positioning frame 10 cannot move upward. The gear 8, rack 5 and magnetic shaft 9 remain relatively fixed. At this time, the output shaft of the rotating motor 6 will overcome the attraction and fixation between itself and the magnetic shaft 9, and move on the magnetic shaft 9. The rotation causes the output shaft of the rotating motor 6 to drive the first sprocket 20 on it to rotate, and the second sprocket 19 on the outer wall of the roller 12 rotates along with the first sprocket 20 via the transmission chain 2. This causes the roller 12 to rotate within the movable hole 16 and the positioning groove 11. Then, one end of the square tube is placed into the top of the roller 12 in the positioning groove 11 through the inlet groove 7 on the platform 1, so that the square tube is fully driven into the positioning groove 11 by the roller 12. After the square tube enters the positioning groove 11, the output shaft of the rotating motor 6 is controlled to rotate in the opposite direction. At this time, because the magnetic shaft 9 is attracted and fixed together with the output shaft of the rotating motor 6, the magnetic shaft 9 will rotate on the platform 1 along with the output shaft of the rotating motor 6. The motor 6 rotates, causing gear 8 to rotate, which in turn drives rack 5 to move downwards. Positioning bracket 10 moves downwards within platform 1 along with rack 5, causing movable hole 16 to move on roller 12 along with positioning bracket 10. Top rod 3 moves downwards with positioning bracket 10 and contacts the square tube at the top of roller 12, thus vertically fixing the square tube. During this process, the output shaft of motor 6 drives the first sprocket 20 to rotate, and via transmission chain 2, the second sprocket 19 on the outer wall of roller 12 rotates along with the first sprocket 20. This causes roller 12 to rotate within movable hole 16 and positioning groove 11, allowing the square tube to move within positioning groove 11 under the drive of roller 12. When the worker finishes... After the square tube is vertically fixed, the output shaft of the control cylinder 14 extends, causing the gripper 15 to enter the positioning groove 11 from the slide groove 17. The rubber pad 18 on the inner wall of the gripper 15 then abuts against the square tube in the positioning groove 11, thus fixing the square tube laterally. This facilitates processing of the square tube within the positioning groove 11. After processing, the output shaft of the control cylinder 14 retracts, causing the gripper 15 to return from the positioning groove 11 to the slide groove 17. The rubber pad 18 on the inner wall of the gripper 15 no longer abuts against the square tube in the positioning groove 11, thus ceasing lateral fixation. Then, the output shaft of the control motor 6 rotates clockwise.At this time, because the magnetic shaft 9 is attracted and fixed together with the output shaft of the rotating motor 6, the magnetic shaft 9 will rotate on the platform 1 along with the output shaft of the rotating motor 6, and drive the gear 8 to rotate, thereby driving the rack 5 meshing with it to move upward, and causing the positioning frame 10 to move upward in the platform 1 along with the rack 5. This causes the movable hole 16 to move on the roller 12 along with the positioning frame 10, and the push rod 3 moves upward with the positioning frame 10, disengaging from the square tube at the top of the roller 12, and no longer fixing the square tube vertically. During this process, the output shaft of the rotating motor 6 will also drive the roller 12 to rotate in the movable hole 16 and the positioning groove 11 through the transmission mechanism, causing the square tube to move upward in the roller 12. The positioning frame 10 moves upward along with the rack 5 and comes into contact with the limiting plate 4. The output shaft of the rotary motor 6 continues to rotate forward. At this point, because the top of the positioning frame 10 is in contact with the limiting plate 4, the positioning frame 10 cannot move upward. The gear 8, rack 5, and magnetic shaft 9 remain relatively fixed. The output shaft of the rotary motor 6 overcomes the attraction and fixation between itself and the magnetic shaft 9, rotating on the magnetic shaft 9. This causes the output shaft of the rotary motor 6 to drive the roller 12 to rotate within the movable hole 16 and the positioning groove 11 via the transmission mechanism. This allows the processed square tube to move from the positioning groove 11 through the outlet groove 13 on the platform 1 to the next process, driven by the roller 12.

[0018] Of course, the above description is not limited to the examples above. Technical features of this utility model not described can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solution of this utility model and are not intended to limit this utility model. This utility model has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model do not depart from the spirit of this utility model and should also fall within the protection scope of the claims of this utility model.

Claims

1. A square tube loading and unloading gripper mechanism, comprising a platform (1), a positioning frame (10) disposed within the platform, and an inlet slot (7) and an outlet slot (13) respectively opened at both ends of the platform, wherein a positioning slot (11) is provided on the top of the positioning frame, and the two ends of the positioning slot correspond to the inlet slot and the outlet slot respectively, characterized in that: The bottom of the positioning frame is fixedly connected to a rack (5) extending vertically, and a gear (8) meshes on the rack. A magnetic shaft (9) connected to the platform is fixedly connected inside the gear. A rotating motor (6) fixed to the platform is rotatably installed at one end of the magnetic shaft. Several rollers (12) distributed horizontally and passing through the positioning groove are rotatably installed on the inner side wall of the platform. Movable holes (16) adapted to the rollers are opened on the inner side wall of the positioning groove. The rollers are connected to the output shaft of the rotating motor through a transmission mechanism. A sliding groove (17) is opened on one side wall of the positioning groove between the two rollers. A gripper (15) is installed in the sliding groove. A drive mechanism for reciprocating movement of the gripper is installed at the bottom of the positioning frame. A limiting plate (4) fixed to the top of the platform is fitted to the top of the positioning frame. A top rod (3) fixed to the top of the positioning frame is installed directly above the positioning groove.

2. The square tube loading and unloading gripper mechanism according to claim 1, characterized in that: The transmission mechanism includes a first sprocket (20) sleeved on the outer wall of the output shaft of the rotating motor, and a second sprocket (19) sleeved on the outer wall of the drum above the first sprocket. The first sprocket and the second sprocket are connected by a transmission chain (2).

3. The square tube loading and unloading gripper mechanism according to claim 1, characterized in that: The drive mechanism includes a cylinder (14) fixedly connected to the bottom of the positioning frame, and the end of the cylinder output shaft is fixedly connected to the side wall of the gripper away from the positioning groove.

4. The square tube loading and unloading gripper mechanism according to claim 1, characterized in that: A rubber pad (18) is provided on the inner wall of the gripper.

5. The square tube loading and unloading gripper mechanism according to claim 4, characterized in that: Two gears are provided on the magnetic shaft, and the two gears are located on the left and right sides of the positioning groove, respectively.

6. The square tube loading and unloading gripper mechanism according to claim 4, characterized in that: Two limiting plates are provided on the top of the platform, and the two limiting plates are located on the left and right sides of the positioning groove, respectively.

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