CN114955530A

CN114955530A - Special-shaped pipe packing is with unloading arm of tool

Info

Publication number: CN114955530A
Application number: CN202210902057.5A
Authority: CN
Inventors: 倪宋; 陈奇; 吴铭
Original assignee: Jiangsu Hongyi Steel Pipe Co ltd
Current assignee: Jiangsu Hongyi Steel Pipe Co ltd
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2022-08-30

Abstract

The application discloses dysmorphism pipe packing is with unloading arm of a machine belongs to automatic machine technical field. Mainly include the direction arm and install in the gripper of direction arm front end, the gripper including rotate connect in the direction arm front end the claw arm, respectively sliding connection in the grip block board of claw arm front end both sides, respectively fixed mounting in each the outer grip block at grip block board front side both ends, and be located two interior grip block between the outer grip block, the special pipe is held in two outer grip block and two between the interior grip block, outer grip block one side fixed mounting has the gyro wheel piece, just one side of gyro wheel piece is provided with a plurality of gyro wheel grooves, gyro wheel inslot portion rotates and is connected with the gyro wheel, the gyro wheel is made by elastic material, interior grip block with grip block board fixed connection, two the relative one side of two interior grip blocks is inwards sunken to be formed with the slider groove. The application of a mechanical arm of unloading for the special-shaped tube packing has reached and has let the special-shaped tube tail end flagging effect naturally.

Description

Special-shaped pipe packing is with unloading arm of tool

Technical Field

The application relates to the technical field of automatic machinery, concretely relates to special-shaped tube packing is with unloading arm of machines.

Background

The existing mechanical arm usually directly grasps the pipeline to unload and load, and during packaging, the pipeline needs to be placed on a support or a plane without a fixing device, so that a special-shaped pipe with unstable gravity easily rotates after the mechanical arm is loosened, and the special-shaped pipe collides with other special-shaped pipes, the ground or the support to be damaged.

Therefore, it is necessary to provide a discharging arm for a profiled tube package to solve the above problems.

Disclosure of Invention

Based on the above problems in the prior art, the embodiments of the present application are directed to: the utility model provides a special-shaped tube packing is with unloading arm of machines, has reached and has let special-shaped tube tail end flagging effect naturally.

The technical scheme adopted by the application for solving the technical problem is as follows: a discharging mechanical arm for packaging a special-shaped pipe comprises a direction arm and a mechanical claw arranged at the front end of the direction arm, wherein the mechanical claw comprises a claw arm rotatably connected to the front end of the direction arm, clamp plates respectively connected to two sides of the front end of the claw arm in a sliding manner, outer clamp blocks respectively fixedly arranged at two ends of the front side of each clamp plate, and an inner clamp block positioned between the two outer clamp blocks, the special-shaped pipe is clamped between the two outer clamp blocks and the two inner clamp blocks, a roller block is fixedly arranged on one side of each outer clamp block, a plurality of roller grooves are formed in one side of each roller block, rollers are rotatably connected to the inner portions of the roller grooves and are made of elastic materials, the inner clamp blocks are fixedly connected with the clamp plate, sliding block grooves are formed in the opposite sides of the two inner clamp blocks in an inwards recessed manner, sliding blocks are slidably connected to the inner portions of the sliding block grooves, the slider is made by elastic material, slider opposite side fixed mounting has the slide, the slide with fixed mounting has a plurality of hydraulic stems between the slider tank bottom, install the adjustment mechanism who is used for controlling the hydraulic stem on the direction arm.

Furthermore, one side of the roller block is an inward concave arc, and one side of the sliding block is an inward concave arc.

Furthermore, the adjusting mechanism comprises a fixed rod fixedly mounted on one side of the upper end of the direction arm, a piston hinged to the tail end of the fixed rod, an outer plate fixedly mounted at the lower end of the piston and provided with a downward opening, and a hollow cylinder hinged to the surface of the claw arm, the fixed rod and the mechanical claw are located on the same side of the direction arm, the upper end of the piston is hinged to the tail end of the fixed rod, and the interior of the piston is connected with a pipeline inside the hydraulic rod.

Furthermore, an inner plate groove with a downward opening is formed in the outer plate, racks are fixedly mounted on two sides of the inner plate groove, teeth are arranged on one side, opposite to the racks, of the two racks, a cloth opening is formed in one side of the cylinder, the inner wall of the cylinder is communicated with the outer wall of the cylinder through the cloth opening, two inner plates are fixedly mounted on the edge of the outer end of the cloth opening, the two inner plates are located in the inner plate groove, a rotating clamping block groove is formed in the top end, away from one side, of each inner plate, a rotating clamping block is arranged in the rotating clamping block groove, two sides of one end of each rotating clamping block are rotatably connected with two sides of the top end of the corresponding rotating clamping block groove, a second elastic piece is fixedly mounted between the side wall of the corresponding end of the corresponding rotating clamping block and the side wall of the corresponding rotating clamping block groove, and the other end of the corresponding rotating clamping block is located between the teeth.

Further, the rack is made of an elastic material, and the rotating clamping block is made of an elastic material.

Further, the inside fixed mounting of drum has the fixed axle, it is connected with hollow cloth section of thick bamboo to rotate on the fixed axle, cloth section of thick bamboo inner wall with fixed mounting has first elastic component between the fixed axle surface, the winding has the connection cloth on the cloth section of thick bamboo, connect cloth one end with cloth section of thick bamboo outer wall fixed connection, the connection cloth other end passes cloth mouth and two between the inner panel, fixed connection to inner panel groove top inner wall.

Furthermore, a clamping groove is formed in the middle of the other two sides of the inner plate groove, extension cloth is arranged on two sides of one end of the connecting cloth, and the extension cloth is fixedly connected with the inside of the clamping groove.

Furthermore, an inner plate groove inclined plane is arranged at the edge of the lower end of the inner plate groove, and an inner plate inclined plane is arranged at the top end of the inner plate.

The beneficial effect of this application is: the application provides a pair of special-shaped pipe packing is with unloading arm, when the special-shaped pipe that the gripper grabbed, on the one hand, drive gyro wheel centre gripping special-shaped pipe through outer clamp splice and gyro wheel piece, on the other hand still drives slider centre gripping special-shaped pipe through slide and hydraulic stem, when the hydraulic stem shortens, just the clamping force of slider is less, mainly rely on the gyro wheel to carry out the centre gripping and let, the gyro wheel can only restrict special-shaped pipe and can not slide in the gripper this moment, but allow it to rely on self gravity to rotate, keep the focus under, keep the tail end flagging promptly, it is rotatory to avoid special-shaped pipe to relax at the arm, lead to with other special-shaped pipe, ground or support collision take place the damage.

Drawings

The present application is further described below with reference to the drawings and examples.

In the figure:

fig. 1 is an overall schematic view of a discharging robot for packaging a special-shaped tube in the present application;

FIG. 2 is a schematic view of a hydraulic circuit of the gripper of FIG. 1;

FIG. 3 is a schematic view of the gripper of FIG. 1 in an operational state;

FIG. 4 is an exploded view of the outer and inner clamping blocks of FIG. 3;

FIG. 5 is an exploded schematic view of the adjustment mechanism of FIG. 3;

FIG. 6 is a schematic cross-sectional view of the adjustment mechanism of FIG. 1;

FIG. 7 is a schematic cross-sectional view of the adjustment mechanism of FIG. 3 in the operating condition of the gripper;

FIG. 8 is an enlarged schematic view at A of FIG. 7;

wherein, in the figures, the respective reference numerals:

1. a base; 2. a moving arm; 3. a direction arm;

4. a gripper; 41. a claw arm; 42. a clamp plate; 43. an outer clamping block; 431. a roller block; 432. a roller groove; 433. a roller; 44. an inner clamping block; 441. a slider slot; 442. a slider; 443. a slide plate; 444. a hydraulic lever;

5. an adjustment mechanism; 51. fixing the rod; 52. a piston; 53. an outer plate; 531. an inner plate groove; 532. a rack; 533. teeth; 534. a card slot; 535. an inner plate groove inclined plane; 54. a cylinder; 541. a fixed shaft; 542. a cloth cylinder; 543. a first elastic member; 544. an inner plate; 5441. an inner plate inclined plane; 5442. rotating the block slot; 5443. rotating the fixture block; 5444. a second elastic member; 545. connecting cloth; 5451. extending the cloth; 546. arranging a cloth opening;

6. a special pipe.

Detailed Description

The present application will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, and only illustrates the basic structure of the present application in a schematic manner, and therefore it only shows the structure related to the present application.

As shown in fig. 1 to 8, the present application provides a discharging robot for packaging a special-shaped tube, which includes a base 1, a moving arm 2 mounted on the upper end of the base 1, a direction arm 3 mounted on the front end of the moving arm 2, a gripper 4 mounted on the front end of the direction arm 3, and an adjusting mechanism 5 mounted on the direction arm 3, wherein the special-shaped tube 6 is held by the gripper 4.

The gripper 4 includes the claw arm 41 of rotation connection in the direction arm 3 front end, sliding connection is in the clamp splice board 42 of claw arm 41 front end both sides respectively, outer clamp splice 43 of fixed mounting in each clamp splice board 42 front side both ends respectively, and be located the interior clamp splice 44 between two outer clamp splice 43, special-shaped pipe 6 is held between two outer clamp splice 43 and two interior clamp splice 44, outer clamp splice 43 one side fixed mounting has roller block 431, roller block 431 one side is inside sunken arc, and one side of roller block is provided with a plurality of roller grooves 432, roller groove 432 internal rotation is connected with roller 433, roller 433 is made by elastic material.

The inner clamping blocks 44 are fixedly connected with the clamping block plates 42, the opposite sides of the two inner clamping blocks 44 are inwards recessed to form a sliding block groove 441, the sliding block 442 is slidably connected with the inside of the sliding block groove 441 and is made of elastic materials, one side of the sliding block 442 is in an inwards recessed arc shape, the other side of the sliding block 442 is fixedly provided with a sliding plate 443, and a plurality of hydraulic rods 444 are fixedly arranged between the sliding plate 443 and the bottoms of the sliding block grooves 441.

The adjusting mechanism 5 comprises a fixed rod 51 fixedly arranged on one side of the upper end of the direction arm 3, a piston 52 hinged at the tail end of the fixed rod 51, an outer plate 53 fixedly arranged at the lower end of the piston 52 and opened downwards, and a hollow cylinder 54 hinged on the surface of the claw arm 41, wherein the fixed rod 51 and the mechanical claw 4 are positioned on the same side of the direction arm 3, the upper end of the piston 52 is hinged with the tail end of the fixed rod 51, and the interior of the piston 52 is connected with an internal pipeline of a hydraulic rod 444, as shown in fig. 3.

The inside downward open-ended inner panel groove 531 that is provided with of planking 53, the equal fixed mounting in the inside both sides of inner panel groove 531 has rack 532, and the relative one side of two rack 532 all is provided with tooth 533, and rack 532 is made by elastic material, all is provided with draw-in groove 534 in the middle of the other both sides of inner panel groove 531, and inner panel groove 535 is provided with at inner panel groove 531 lower extreme edge.

The inner part of the cylinder 54 is fixedly provided with a fixed shaft 541, the fixed shaft 541 is rotatably connected with a hollow cloth barrel 542, a first elastic piece 543 is fixedly arranged between the inner wall of the cloth barrel 542 and the surface of the fixed shaft 541, one side of the cylinder 54 is provided with a cloth opening 546, the inner wall of the cylinder 54 is communicated with the outer wall through the cloth opening 546, the edge of the outer end of the cloth opening 546 is fixedly provided with two inner plates 544, the two inner plates 544 are all positioned inside the inner plate groove 531, the cloth barrel 542 is wound with a connecting cloth 545, one end of the connecting cloth 545 is fixedly connected with the outer wall of the cloth barrel 542, the other end of the connecting cloth 545 penetrates through the cloth opening 546 and between the two inner plates 544 and is fixedly connected to the inner wall at the top end of the inner plate groove 531, both sides of the end are provided with extension cloth 5451, and the extension cloth 5451 is fixedly connected with the inside of the clamping groove 534.

The top end of the inner plate 544 is provided with an inner plate inclined plane 5441, the top ends of two sides of the inner plate 544, which are away from each other, are provided with rotating fixture block grooves 5442, rotating fixture blocks 5443 are arranged in the rotating fixture block grooves 5442, the rotating fixture blocks 5443 are made of elastic materials, two sides of one end of each rotating fixture block 5443 are rotatably connected with two sides of the top end of each rotating fixture block groove 5442, a second elastic piece 5444 is fixedly installed between one side of the end and the side wall of each rotating fixture block groove 5442, and the other end of each rotating fixture block 5443 is located between the teeth 533.

In this embodiment, the cylinder 54 is formed by two cylindrical parts (not shown) with openings at one side thereof, which are fixedly connected at the openings, and is convenient to install, the first elastic member 543 is a volute spring, the second elastic member 5444 is a torsion spring, the moving arm 2 is used for driving the direction arm 3 and the gripper 4 to move, and adjusting the directions of the direction arm 3 and the gripper 4 on the vertical plane, the direction arm 3 is used for adjusting the directions of the gripper 4 on the parallel plane, and driving the gripper 4 to rotate, and the clamping block plate 42 can slide at the front end of the gripper arm 41, which are common operation modes of a mechanical arm.

When the profiled tube 6 gripped by the gripper 4 is in a horizontal state as shown in fig. 1, the inner plate 544 fully extends into the inner plate groove 531, and the piston 52 is in a fully retracted state, and when the piston 52 is extended by a pulling force, as shown in fig. 5, the piston block in the piston 52 is driven to press hydraulic oil below the piston block into the hydraulic rod 444, so that the hydraulic rod 444 tends to extend, and the slide block 442 is driven by the slide plate 443 to press and clamp the profiled tube 6 inward, and therefore, the clamping force of the slide block 442 on the profiled tube 6 is increased as the pulling force applied to the piston 52 is increased.

As shown in fig. 1, since the special pipe 6 is in a horizontal state and the piston 52 is in a fully retracted state, the piston 52 does not input hydraulic oil into the hydraulic rod 444, so the clamping force of the sliding block 442 on the special pipe 6 is small, the gripper 4 drives the roller 433 to clamp the special pipe 6 mainly through the outer clamping block 43 and the roller block 431, at this time, the roller 433 only limits the special pipe 6 not to slide in the gripper 4, but allows the special pipe 6 to rotate around the axis of the clamped part thereof by its own gravity, so as to keep the center of gravity down, i.e., keep the tail end to droop.

The first embodiment is as follows:

when the special-shaped pipe 6 is used for discharging after transportation is completed, if the special-shaped pipe 6 needs to be placed into processing equipment in a fixed posture, namely the angle and the direction of the clamped special-shaped pipe 6 need to be adjusted during transportation, the mechanical claw 4 firstly grabs the special-shaped pipe 6 from a shelf, and the special-shaped pipe 6 is in a horizontal state as shown in fig. 1, at the moment, the direction of the direction arm 3 and the direction arm 4 are adjusted to rotate on a vertical surface through the moving arm 2, the special-shaped pipe 6 rotates relative to the mechanical claw 4 by means of the gravity of the special-shaped pipe 6 until the special-shaped pipe 6 rotates to a required orientation, and then the mechanical claw 4 rotates integrally to start to adjust the angle of the special-shaped pipe 6.

When the gripper 4 rotates, the cylinder 54 is hinged to the surface of the gripper arm 41, so that the gripper arm 41 is allowed to rotate, and the cylinder 54 is driven to move together, at this time, the cylinder 54 drives the piston 52 to rotate relative to the fixing rod 51 by driving the outer plate 53, and the cylinder 54 moves away from the fixing rod 51, that is, the cylinder 54 drives the inner plate 544 to be drawn out from the inner plate groove 531, that is, the inner plate 544 tends to move downward relative to the inner plate groove 531 as shown in fig. 3.

Due to the elasticity of the second elastic piece 5444, the rotating latch 5443 is kept tilted, and one end of the rotating latch 5443 is latched between the teeth 533, when the inner plate 544 tends to move downward relative to the inner plate groove 531, the rotating latch 5443 maintains the latch with the teeth 533 by being supported by the inner wall at the top end of the rotating latch groove 5442, and prevents the inner plate 544 and the outer plate 53 from moving relative to each other, so that the cylinder 54 directly stretches the piston 52 through the inner plate 544 and the outer plate 53, the hydraulic rod 444 is rapidly extended, the slider 442 is driven to rapidly press the special-shaped tube 6 with a large force, and the slider 442 provides a large friction force to the special-shaped tube 6 at this time, thereby preventing the special-shaped tube 6 from rotating relative to the mechanical gripper 4, and fixing the orientation of the special-shaped tube 6.

After the special-shaped tube 6 is completely clamped, the special-shaped tube 6 will support the slider 442 in reverse at this time, so as to prevent the hydraulic rod 444 from continuing to extend, meanwhile, hydraulic oil cannot continue to flow into the hydraulic rod 444, hydraulic oil cannot continue to flow out of the piston 52, the piston 52 cannot extend, and then, if the gripper 4 continues to rotate, the cylinder 54 continues to be away from the fixing rod 51, since the piston 52 and the hydraulic rod 444 cannot continue to extend, the acting force between the rotary clamping block 5443 and the teeth 533 becomes large, since the rotary clamping block 5443 and the teeth 533 have elasticity, both continuously deform and finally lose clamping, the rotary clamping block 5443 is clamped between the teeth 533 below, so that the inner plate 544 and the outer plate 53 move relatively, thereby, the gripper 4 cannot continue to rotate, and the piston 52 cannot be loosened, the fixed clamping of the special-shaped tube 6 is maintained, until the inner plate 544 completely disengages from the inner plate groove 531.

When the rotating block 5443 and the teeth 533 are not engaged, and the inner plate 544 extends out of the inner plate groove 531, the cylinder 54 is away from the outer plate 53, because one end of the connecting cloth 545 is fixedly connected with the inner wall of the top end of the inner plate groove 531, the connecting cloth 545 is pulled, the cloth tube 542 is driven to rotate, the first elastic member 543 is driven to deform, the elastic force of the first elastic member forms a pulling force on the outer plate on the connecting cloth 545, the pulling force is small at the beginning, but the pulling force is continuously increased along with the continuous extension of the inner plate 544, and when the inner plate 544 is completely separated from the inner plate groove 531, the pulling force can maintain the state of the hydraulic rod 444, maintain the fixed clamping of the special pipe 6, and allow the subsequent mechanical claw 4 to continuously rotate in a large range.

Therefore, the effect of quickly converting the movable clamping into the fixed clamping is achieved, the orientation and the angle of the special-shaped pipe 6 are adjusted in the unloading and loading process, and the subsequent device is conveniently loaded.

Example two:

when the feeding before the transportation, need press from both sides the processing equipment with fixed centre gripping mode with the special-shaped pipe 6, avoid the special-shaped pipe 6 rotatory to hit equipment, put on bottom surface or goods shelves with the tail end natural flagging state again, avoid gripper 4 to loosen the back, special-shaped pipe 6 takes place to rotate, strikes ground, goods shelves or special-shaped pipe 6 etc. and damages.

Firstly, the mechanical claw 4 rotates to a proper angle to grab the special-shaped pipe 6, if the special-shaped pipe 6 needs to be horizontally clamped out, the special-shaped pipe 6 is grabbed after rotating for a half circle, at this time, according to the principle in the first embodiment, the special-shaped pipe 6 can be clamped out in a fixed clamping mode, after the special-shaped pipe 6 leaves the device, the mechanical claw 4 rotates back to the state shown in fig. 1, in the process, the cloth cylinder 542 gradually rotates back to collect the connecting cloth 545 through the elasticity of the first elastic piece 543, and meanwhile, the force on the piston 52 is also continuously reduced along with the gradual reduction of the elasticity of the first elastic piece 543.

When the connection cloth 545 is collected, the inner plate inclined surface 5441 can prevent the connection cloth 545 from being scraped by the inner plate 544, and meanwhile, because the extension cloth 5451 is fixedly connected with the inside of the clamping groove 534, one end of the connection cloth 545 is always positioned in the middle of the inner plate groove 531, the inner plate 544 can be guided into the inner plate groove 531 when the connection cloth 545 is collected, and the inner plate inclined surface 5441 is matched with the inner plate groove inclined surface 535 to help the inner plate 544 to enter the inner plate groove 531.

In the process that the inner plate 544 extends into the inner plate groove 531, as shown in fig. 8, for the inner plate 544 to move upward relative to the inner plate groove 531, at this time, the tooth 533 toggles the rotation locking block 5443 downward, and since there is no support of the rotation locking block groove 5442 in this direction, the rotation locking block 5443 is rotated into the rotation locking block groove 5442, that is, the inner plate 544 is not prevented from extending into the inner plate groove 531.

Therefore, in the rotation process of the mechanical claw 4, only the connecting cloth 545 acts on the piston 52 to slowly decrease the holding force of the sliding block 442, so that the special-shaped pipe 6 cannot be released at a time and slowly and naturally sags, and the friction force of the sliding block 442 is fast and stable, so that when the special-shaped pipe 6 is loaded before transportation, the special-shaped pipe 6 can be fast and stably changed into a naturally sagged state, the special-shaped pipe 6 is prevented from rotating and colliding the ground, a shelf or the special-shaped pipe 6 and the like to damage the ground, the shelf or the special-shaped pipe 6 and the like

Example three:

when the whole fixed clamping is needed, the mechanical claw 4 is kept in a state of rotating at least one circle before being used for grabbing, and at the moment, when the special-shaped pipe 6 is conveyed, the connecting cloth 545 is kept in a state of stretching the piston 52 all the time, and the sliding block 442 is enabled to clamp the special-shaped pipe 6 all the time to keep the fixed clamping.

In light of the foregoing description of preferred embodiments according to the present application, many modifications and variations can be made by a person skilled in the art without departing from the scope of the present application. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides a special-shaped pipe packing is with unloading arm of tool which characterized in that: the special-shaped pipe clamping device comprises a direction arm and a mechanical claw arranged at the front end of the direction arm, wherein the mechanical claw comprises a claw arm rotationally connected to the front end of the direction arm, clamp plates respectively connected to two sides of the front end of the claw arm in a sliding manner, outer clamp blocks respectively fixedly arranged at two ends of the front side of each clamp plate, and an inner clamp block positioned between the two outer clamp blocks, a special-shaped pipe is clamped between the two outer clamp blocks and the two inner clamp blocks, a roller block is fixedly arranged on one side of each outer clamp block, a plurality of roller grooves are formed in one side of each roller block, rollers are rotationally connected inside the roller grooves and are made of elastic materials, the inner clamp blocks are fixedly connected with the clamp plates, one opposite sides of the two inner clamp blocks are inwards sunken to form slider grooves, the sliders are slidably connected with the sliders inside of the slider grooves, the sliders are made of the elastic materials, and a sliding plate is fixedly arranged on the other side of the sliders, a plurality of hydraulic rods are fixedly installed between the sliding plate and the bottom of the sliding block groove, and an adjusting mechanism used for controlling the hydraulic rods is installed on the direction arm.

2. The unloading mechanical arm for the special-shaped pipe packaging in claim 1 is characterized in that: one side of the roller block is an inward concave arc, and one side of the sliding block is an inward concave arc.

3. The unloading mechanical arm for the special-shaped pipe packaging in claim 1 is characterized in that: the adjusting mechanism comprises a fixed rod fixedly mounted on one side of the upper end of the direction arm, a piston hinged to the tail end of the fixed rod, an outer plate fixedly mounted at the lower end of the piston and provided with a downward opening, and a hollow cylinder hinged to the surface of the claw arm, the fixed rod and the mechanical claw are located on the same side of the direction arm, the upper end of the piston is hinged to the tail end of the fixed rod, and the interior of the piston is connected with a pipeline inside the hydraulic rod.

4. The unloading robot arm for a special-shaped tube package according to claim 3, wherein: the improved structure of the drum is characterized in that an inner plate groove with a downward opening is formed in the outer plate, racks are fixedly mounted on two sides of the inner plate groove, teeth are arranged on one side of each rack, a cloth opening is formed in one side of the drum and is communicated with the inner wall and the outer wall of the drum, two inner plates are fixedly mounted at the outer end edge of the cloth opening and are located in the inner plate groove, a rotating clamping block groove is formed in the top end, away from one side, of the inner plate, a rotating clamping block is arranged in the rotating clamping block groove, two sides of one end of the rotating clamping block are rotatably connected with two sides of the top end of the rotating clamping block groove, a second elastic piece is fixedly mounted between the side walls of the rotating clamping block groove, and the other end of the rotating clamping block is located between the teeth.

5. The unloading mechanical arm for the special-shaped pipe packaging in claim 4 is characterized in that: the rack is made of an elastic material, and the rotating clamping block is made of an elastic material.

6. The unloading mechanical arm for the special-shaped pipe packaging in claim 4 is characterized in that: the inner wall of the cloth cylinder is fixedly provided with a fixed shaft, the fixed shaft is connected with a hollow cloth cylinder in a rotating mode, a first elastic piece is fixedly arranged between the surfaces of the cloth cylinder and the fixed shaft, a connecting cloth is wound on the cloth cylinder, one end of the connecting cloth is fixedly connected with the outer wall of the cloth cylinder, and the other end of the connecting cloth penetrates through a cloth opening and two inner plates and is fixedly connected to the inner wall of the top end of the inner plate groove.

7. The unloading mechanical arm for the special-shaped pipe packaging in claim 6 is characterized in that: the middle of the other two sides of the inner plate groove is provided with a clamping groove, the two sides of one end of the connecting cloth are provided with extension cloth, and the extension cloth is fixedly connected with the inside of the clamping groove.

8. The unloading robot arm for a special-shaped tube package according to claim 7, wherein: the edge of the lower end of the inner plate groove is provided with an inner plate groove inclined plane, and the top end of the inner plate is provided with an inner plate inclined plane.