CN211361274U

CN211361274U - Large-hilt clamping mechanism

Info

Publication number: CN211361274U
Application number: CN201921888947.5U
Authority: CN
Inventors: 成亚飞; 陈健康; 王辉
Original assignee: Dongguan Modebao Intelligent Technology Co ltd
Current assignee: Dongguan Modebao Intelligent Technology Co ltd
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2020-08-28
Anticipated expiration: 2029-11-04

Abstract

The utility model provides a big hilt clamping machine constructs, including sleeve, hilt body, the fixed subassembly of sleeve and locking Assembly, the sleeve set up in the top of hilt body, locking Assembly connect in the hilt body, the fixed subassembly of sleeve connect in the sleeve can realize accomplishing the clamping of multiple type cutter on an operating equipment. The transferring mechanism comprises a support, a platform lifting assembly and a beam driving assembly, the mechanical transferring and placing of the cutter can be achieved, and the mounting precision and efficiency of the cutter can be improved by matching with the use of a sensor.

Description

Large-hilt clamping mechanism

Technical Field

The utility model belongs to the numerical control processing field relates to a cutter clamping machine constructs, especially indicates a big handle of a knife clamping machine constructs.

Background

In the field of numerical control machining, a cutter is arranged on a cutter handle in different locking modes, and the cutter handle are fixed to perform part machining processes such as cutting and paring. The cutter has certain wearing and tearing, trouble etc. when daily use, reduces the efficiency and the precision of processing gradually, consequently needs often to change the cutter, satisfies daily work demand. In the process of machining a part, various machining processes are required, so that different types of cutters and adaptive cutters are required. Under the condition of the prior art, a tool holder is often fixed on an operation table, and tools with different requirements are manually placed at the position of the tool holder for locking. The knife handle which can be installed on one operation table in the operation mode is single in type, and installation of various types of knife handles can be met only by a plurality of operation tables, so that enterprise cost is increased. In addition, the position is difficult to be accurate when the cutter is manually placed, and the extension length of the cutter is difficult to control. Meanwhile, the manual locking mode cannot guarantee the locking force, and the cutter stretching length cannot be effectively guaranteed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve is: the large-cutter-handle clamping mechanism can clamp various cutters, and is high in mounting precision and mounting speed.

In order to solve the technical problem, the utility model discloses a technical scheme be: the large hilt clamping mechanism comprises a sleeve, a hilt body, a sleeve fixing component and a locking component, wherein the sleeve is arranged at the top of the hilt body, the locking component is connected to the hilt body, and the sleeve fixing component is used for limiting the rotation and the movement of the sleeve.

Further, the locking assembly comprises a side locking assembly and a bottom locking assembly; the side locking assembly comprises a connecting rod, a first servo motor and a first air cylinder, the telescopic end of the first air cylinder is connected to the first servo motor, the rotating shaft of the first servo motor is connected to the first end of the connecting rod through a coupler, and the second end of the connecting rod is connected with a connecting hole formed in the side of the tool holder body; the bottom locking assembly comprises a hilt base and a second servo motor, a clamping groove is formed in the top of the hilt base, the clamping groove in the top of the hilt base is connected with the clamping groove in the bottom of the hilt body, and the second servo motor is connected to the bottom of the hilt base through a coupler.

Further, the sleeve fixing assembly comprises a second cylinder, a third cylinder, a fourth cylinder and a fifth cylinder, telescopic ends of the second cylinder, the third cylinder, the fourth cylinder and the fifth cylinder are respectively connected with a buckling piece, the second cylinder and the fourth cylinder are arranged oppositely, the third cylinder and the fifth cylinder are arranged oppositely, and the buckling pieces connected with the telescopic ends of the second cylinder, the third cylinder, the fourth cylinder and the fifth cylinder are of different types.

Further, one side of the knife handle base is provided with a resetting detection device, and the resetting detection device comprises a sixth air cylinder.

Furthermore, the large hilt clamping mechanism is connected with a transferring mechanism, the transferring mechanism comprises a support, a platform lifting assembly and a beam driving assembly, and the platform lifting assembly and the beam driving assembly are installed on the support.

Further, the support includes stand, back timber and motor mount, the back timber connect in the stand top forms the bow member structure, the motor mount set up in on the back timber.

Further, platform lifting unit includes work platform, vertical guide, first swing arm, third servo motor, a grabbing device and first sensor, a grabbing device pass through the connecting piece with work platform connects, the last horizontal sliding groove that is provided with of work platform, vertical guide set up in work platform bottom, first sensor connect in vertical guide bottom, the work platform both ends respectively set up a vertical guide, third servo motor passes through the motor mount connect in the back timber, third servo motor's axis of rotation pass through the shaft coupling with first swing arm is connected, first swing arm with vertical guide connects.

Further, the beam driving assembly comprises a fourth servo motor, a second rotary rod, a rotary rod connecting piece, a vertical guide rail, a beam, a transverse guide rail, a seventh cylinder, a transverse sliding piece, a second grabbing device and a second sensor, the fourth servo motor is connected to the top beam through the motor fixing frame, the fourth servo motor is connected to the second rotary rod through a coupler, the second rotary rod is connected to the rotary rod connecting piece, the vertical guide rail is connected to the upright column, the rotary rod connecting piece is connected to the vertical guide rail, the beam is connected to the two rotary rod connecting pieces, the transverse guide rail is connected to the beam, the transverse sliding piece is connected to the transverse guide rail, the second grabbing device is connected to the transverse sliding piece, the second sensor is connected to the second grabbing device, and the body of the seventh cylinder is connected to the rotary rod connecting piece, the telescopic end of the seventh cylinder is connected to the transverse sliding piece, and the telescopic direction of the seventh cylinder is consistent with the sliding direction of the transverse guide rail.

Further, the sleeve fixing assembly is connected to the working platform, the second cylinder and the fourth cylinder are transversely distributed, the telescopic ends of the second cylinder and the fourth cylinder slide along the transverse sliding groove, the third cylinder and the fifth cylinder are longitudinally distributed, and the telescopic ends of the third cylinder and the fifth cylinder slide along the longitudinal guide piece.

Furthermore, the large knife handle clamping mechanism is installed on an operating platform, and the operating platform comprises a supporting platform and a support structure.

The beneficial effects of the utility model reside in that: the clamping of the large-handle cutters of various different types can be realized, the cost of purchasing various operation platforms by enterprises is reduced, and the mechanical volume is simplified.

Drawings

The specific structure of the present invention is detailed below with reference to the accompanying drawings:

FIG. 1 is a perspective view of the large hilt clamping mechanism of the present invention;

FIG. 2 is a schematic view of a locking assembly of the large hilt clamping mechanism of the present invention;

FIG. 3 is a schematic view of a sleeve fixing component of the large hilt clamping mechanism of the present invention;

fig. 4 is a schematic view of the loading and delivering mechanism of the large hilt clamping mechanism of the utility model.

Detailed Description

In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following description is given in conjunction with the embodiments and the accompanying drawings.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In this embodiment, the transverse direction is the X-axis direction, the longitudinal direction is the Y-axis direction, and the vertical direction is the Z-axis direction.

Referring to fig. 1 to 4, the present invention provides a large hilt clamping mechanism, which includes a sleeve 10, a hilt body 11, a sleeve fixing assembly and a locking assembly. The locking component is connected with the tool holder body 11 and used for driving the tool holder body 11 to move. The sleeve fixing assembly is used for fixing the position of the sleeve 10 and limiting the rotation and the movement of the sleeve 10. The locking assembly can independently drive the clamping device inside the hilt body 11 to contract to clamp a large hilt tool, and also can drive the hilt body 11 to rotate relative to the sleeve 10 to clamp the tool through the sleeve 10, so that clamping of various types of large hilt tools is realized.

The large hilt clamping mechanism is mounted on an operating platform, and the operating platform comprises a supporting platform 300 and a support structure 301. Operation platform constructs for big hilt clamping and provides stable support, and supporting platform 300 installs on supporting structure 301, has a plurality of preformed holes on the supporting platform 300 for the position of fixed each device, the stability of guarantee mechanism during operation.

The locking assembly comprises a side locking assembly and a bottom locking assembly.

Specifically, the side locking assembly includes a connecting rod 121, a first servo motor 122 and a first cylinder 123.

The body of the first cylinder 123 is connected to the supporting platform 300 through a cushion block, the first servo motor 122 is connected to the supporting platform 300 through a sliding device 124, a guide rail of the sliding device 124 is installed on the supporting platform 300, a sliding block of the sliding device 124 is connected with the first servo motor 122, the telescopic end of the first cylinder 123 is connected with the tail of the first servo motor 122, and the telescopic direction of the first cylinder 123 is consistent with the sliding direction of the sliding device 124. The rotating shaft of the first servo motor 122 is connected to the first end of the connecting rod 121 through a coupling, and the second end of the connecting rod 121 is prism-shaped. The side part of the handle body 11 is provided with a connecting hole which can be matched with the prism end of the connecting rod 121, when the prism end of the connecting rod 121 is inserted into the connecting hole at the side part of the handle body 11 and rotates, the clamping device inside the handle body 11 can be driven to contract, and then the handle body 11 can be locked to the tool, and the tool is clamped by the internal clamping device of the handle body 11 in the locking mode without the action of the sleeve 10.

After the tool holder body 11 is placed into the tool, when the lateral locking assembly is required to drive, the telescopic end of the first cylinder 123 extends forwards to drive the first servo motor 122 to move forwards along the sliding device 124, the prism end of the connecting rod 121 extends into the connecting hole of the tool holder body 11, the first servo motor 122 drives the connecting rod 121 to rotate, and then the clamping device inside the tool holder body 11 is driven to contract to lock the tool. When the lateral locking assembly is not needed to work, the telescopic end of the first cylinder 123 contracts backwards to drive the first servo motor 122 to move backwards, so that space is vacated, and the hilt body 11 is replaced. Therefore, the side locking assembly can clamp the tool for the large tool holders with the connecting holes at the side parts of the tool holder body 11.

Specifically, the bottom lock assembly described above includes a handle base 131 and a second servomotor 132. The knife holder base 131 is installed on the supporting platform 300, the second servo motor 132 is connected with the supporting platform 300 through the fixing support 133, and a rotating shaft of the second servo motor 132 is connected with the bottom of the knife holder base 131 through a coupler and can drive the knife holder base 131 to rotate. The hilt body 11 is placed on the hilt base 131, the bottom of the hilt body 11 is provided with a clamping groove which can be matched with the clamping groove on the hilt base 131, the sleeve 10 is placed on the upper portion of the hilt body 11, when the second servo motor 132 drives the hilt base 131 to rotate, the sleeve 10 does not rotate, the hilt body 11 rotates along with the clamping groove of the hilt base 131, the outer side of the upper portion of the hilt body 10 is provided with threads which are matched with internal threads of the sleeve 10, and when the two rotate relatively, the sleeve 10 is connected with the hilt body 11 through threads. The clamping device is arranged in the sleeve 10, and when the sleeve 10 and the hilt body 11 are screwed relatively, the clamping device extends into the hilt body 11, and the deeper the sleeve extends, the more the clamping device contracts. When a tool is placed into the sleeve 10, the bottom locking assembly is activated, the handle body 11 is rotated relative to the sleeve 10 and screwed tightly by the action of the threads, and the clamping device inside the sleeve 10 provides a clamping action on the tool. The bottom locking assembly is driven by a second servo motor 132, and the torque is controlled by the second servo motor 132, so that the locking force of the cutter is controlled.

Specifically, the sleeve fixing assembly includes a second cylinder 141, a third cylinder 142, a fourth cylinder 143, and a fifth cylinder 144, and the telescopic ends of the second cylinder 141, the third cylinder 142, the fourth cylinder 143, and the fifth cylinder 144 are respectively connected to a different type of fastener 145. The second cylinder 141, the third cylinder 142, the fourth cylinder 143 and the fifth cylinder 144 are symmetrically, vertically and oppositely distributed in a horizontal plane, in this embodiment, the second cylinder 141 and the fourth cylinder 143 are transversely distributed in the horizontal plane, and the third cylinder 142 and the fifth cylinder 144 are longitudinally distributed in the horizontal plane. Each type of latch 145 is matched to one type of socket 10, so that four types of latches 145 can be used to secure four types of sockets 10.

When the telescopic end of the second cylinder 141 extends to a certain position, the fastener 145 is located right above the corresponding sleeve 10, and at the moment, the fastener 145 moves downwards under the external action to restrain the sleeve 10 and limit the rotation and movement of the sleeve 10, and when the bottom locking assembly drives the hilt body 11 to rotate, the sleeve 10 and the hilt body 11 rotate relatively, so that the clamping device in the sleeve 10 contracts to clamp the hilt. Therefore, the second cylinder 141, the third cylinder 142, the fourth cylinder 143 and the fifth cylinder 144 can fix the four sleeves 10, so that the four types of tools can be clamped.

In the large hilt cutter clamping process, firstly, the corresponding hilt body 11 is placed into the clamping groove of the hilt base 131 for constraint, then, the sleeve 10 is placed at the top of the hilt body 11, the single cylinder telescopic end of the sleeve fixing component extends out, the buckling piece 145 is aligned to the position of the sleeve 10, at the moment, the buckling piece 145 moves downwards under the external action, the sleeve 10 is constrained, the buckling piece 145 constrains the rotation and the movement of the sleeve 10, at the moment, a manual or mechanical cutter can be placed into the sleeve 10, under the driving of the second servo motor 132, the hilt body 11 is screwed in relative to the sleeve 10, and then the clamping device of the sleeve 10 clamps the cutter. For different types of sleeve heads 10, different types of fasteners 145 can be selectively extended out, so that four types of tool clamping can be realized.

From the above description, the beneficial effects of the present invention are: the locking mechanism has the advantages that two locking modes of side locking and bottom locking can be achieved on one device, the clamping function of at least five types of cutters and the tool holder can be achieved, the cost of enterprises for purchasing different devices is reduced, meanwhile, the locking of the cutters is achieved under mechanical control, and the force of a lockset can be controlled.

Example 1

When the tool is clamped, the second servo motor 132 of the bottom locking assembly drives the tool holder base 131 to rotate, and the clamping groove at the bottom of the tool holder body 11 and the clamping groove of the tool holder base 131 rotate together to lock the tool. When the tool is locked and the tool holder body 11 needs to be taken out, the tool holder body 11 needs to be reset to the initial position. In order to confirm whether the handle body 11 is at the initial position relative to the slot of the handle base 131, in this embodiment, a reset detection device 1311 is installed near the slot of the handle base 131, the reset detection device 1311 includes a sixth cylinder, and a rod with a tip is installed on the telescopic end of the sixth cylinder. After the hilt body 11 is reset, the telescopic end of the sixth cylinder extends out, and the rod tip is used for detecting whether the clamping groove at the bottom of the hilt body 11 corresponds to the clamping groove of the hilt base 131. When the draw-in groove corresponds each other, can take out hilt body 11 smoothly, when the draw-in groove resets and breaks down, need the operator to adjust.

Example 2

In order to improve the mechanization level of tool installation, a loading and transferring mechanism can be arranged in the process of placing and transferring the tool, and the extension length and the installation precision of the tool can be accurately controlled under the mechanical control.

Specifically, the transfer mechanism comprises a support, a platform lifting assembly and a beam driving assembly.

The support comprises a vertical column 201, a top beam 202 and a motor fixing frame 203. The upright 201 is vertically arranged, the bottom of the upright 201 is arranged on the supporting platform 300, the top beam 202 is connected with the two uprights 201 to form an arch structure, and the motor fixing frame 203 is arranged on the top beam 202. In this embodiment, the two arch structures are arranged in parallel.

The platform lifting assembly described above includes a work platform 211, a longitudinal guide 212, a vertical guide 213, a first swing arm 214, a third servo motor 215, a first gripper 216, and a first sensor. The first gripper 216 is mounted on the work platform 211 by means of a coupling for gripping an external mechanical or manual tool. The working platform 211 is provided with a lateral sliding groove, so that the fastener 145 can slide along the lateral sliding groove directionally. The longitudinal guide 212 is installed at the bottom of the working platform 211 to be arranged in the longitudinal direction, and the first sensor is installed at the bottom of the longitudinal guide 212 to detect the position of the sleeve 10. The vertical guide 213 is connected to both ends of the working platform 211, and the vertical guide 213 is connected with the first rotating rod 214, so that when the first rotating rod 214 rotates, the working platform 211 can ascend or descend along with the vertical guide 213. A third servo motor 215 is installed on the top beam 202 of the bracket through a motor fixing frame 203, and a rotating shaft of the third servo motor 215 is connected with the first rotating rod 214 through a coupling. As can be seen from the above description, the third servo motor 215 can be controlled to rotate clockwise or counterclockwise to control the lifting motion of the working platform 211.

The beam driving assembly described above includes a fourth servo motor 221, a second swing arm 222, a swing arm connector 223, a vertical guide rail 224, a beam 225, a transverse guide rail 226, a seventh air cylinder 227, a transverse sliding member 228, a second grasping device 229 and a second sensor 230. The fourth servo motor 221 is mounted on the top beam 202 of the bracket through the motor fixing frame 203, the rotating shaft of the fourth servo motor 221 is connected with the second rotating rod 222 through a coupler, and the second rotating rod 222 is connected with the rotating rod connecting piece 223. When the second lever 222 is rotated, the lever coupler 223 may move up or down. The vertical guide rail 224 is installed on the column 201, and the lever connector 223 is connected to the vertical guide rail 224, so that when the second lever 222 is rotated, the lever connector 223 can stably ascend or descend along the vertical guide rail 224. A cross-member 225 connects the two parallel-arranged lever connections 223, and a cross-rail 226 is mounted on the cross-member 225, along which cross-rail 226 a cross-slide 228 is slidable. One end of the lateral slide 228 is provided with a second downwardly directed gripping device 229, and a jaw of the second gripping device 229 is provided with a second sensor 230. The body of the seventh cylinder 227 is connected with the rotary rod connecting piece 223, the telescopic end of the seventh cylinder 227 is connected with the transverse sliding piece 228, and the extension and contraction of the telescopic end of the seventh cylinder 227 can control the movement of the transverse sliding piece 228 along the transverse guide rail 226.

As can be seen from the above description, the tool can be mechanically or manually placed in the first grabbing device 216, and the third servo motor 215 rotates clockwise or counterclockwise to control the lifting of the working platform 211, so as to drive the tool in the first grabbing device 216 to move upward or downward. The beam 225 is moved up and down by the rotation of the fourth servo motor 221, and is placed at a proper height, and the telescopic rod of the seventh cylinder 227 drives the lateral slide 228 to move, so that the second gripper 229 on the lateral slide 228 is aligned with the first gripper 216, and the tool is transferred to the second gripper 229. The beam 225 is driven by the fourth servo motor 221 to move downwards, and a second sensor 230 is mounted on one jaw of the second gripper 229 to measure the distance from the second gripper 229 to the sleeve 10, so that the tool is inserted into the sleeve to a precise depth, and the mounting length of the tool is precisely controlled.

Example 3

When carrying out the cutter clamping, can install sleeve fixed subassembly on work platform 211, when changing the handle of a knife of different grade type, can promote work platform 211, and then drive sleeve fixed subassembly and keep away from handle of a knife body 11, vacate operating space.

Specifically, the second cylinder 141 and the fourth cylinder 143 are distributed in the horizontal plane in the transverse direction, and the telescopic end of the cylinder is connected with the fastener 145 and moves along the transverse sliding groove of the working platform 211. The third cylinder 142 and the fifth cylinder 144 are distributed along the longitudinal direction in the horizontal plane, and the telescopic ends of the cylinders are connected with the buckling pieces 145 and slide along the longitudinal guide piece 212. The bottom of the longitudinal guide 212 is provided with a first sensor which can detect the position of the sleeve 10, and when the position of the fastener 145 is misaligned with the sleeve 10, the sleeve fixing component is adjusted according to information fed back by the first sensor until the position of the fastener 145 is matched with the position of the sleeve 10. At this time, the working platform 211 drives the sleeve fixing component to move downwards, and the position of the fastener 145 aligned with the sleeve 10 moves downwards to restrain the sleeve 10. The clamping work of the cutter is completed by matching with the driving of the bottom locking component.

The utility model provides a big hilt clamping machine constructs can realize the clamping work of multiple big hilt cutter on an operating equipment, can save the expense that the enterprise purchased multiple locking equipment. Mechanical control can be realized under the cooperation of the sensors, and the position precision is higher. The operation of putting the large handle tool into the handle body is carried out by the transferring mechanism or the mechanical arm, so that the mounting precision of the tool can be ensured. The whole process of the locking assembly is mechanically controlled, so that the working efficiency is improved, and meanwhile, the mechanical control is favorable for controlling the force when the cutter is installed.

The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.

Claims

1. The utility model provides a big hilt clamping machine structure which characterized in that: the tool handle comprises a sleeve, a tool handle body, a sleeve fixing assembly and a locking assembly, wherein the sleeve is arranged at the top of the tool handle body, the locking assembly is connected to the tool handle body, and the sleeve fixing assembly is used for limiting the rotation and the movement of the sleeve.

2. The large hilt clamping mechanism according to claim 1, characterized in that: the locking assembly comprises a side locking assembly and a bottom locking assembly; the side locking assembly comprises a connecting rod, a first servo motor and a first air cylinder, the telescopic end of the first air cylinder is connected to the first servo motor, the rotating shaft of the first servo motor is connected to the first end of the connecting rod through a coupler, and the second end of the connecting rod is connected with a connecting hole formed in the side of the tool holder body; the bottom locking assembly comprises a hilt base and a second servo motor, a clamping groove is formed in the top of the hilt base, the clamping groove in the top of the hilt base is connected with the clamping groove in the bottom of the hilt body, and the second servo motor is connected to the bottom of the hilt base through a coupler.

3. The large hilt clamping mechanism according to claim 2, characterized in that: the sleeve fixing assembly comprises a second cylinder, a third cylinder, a fourth cylinder and a fifth cylinder, the telescopic ends of the second cylinder, the third cylinder, the fourth cylinder and the fifth cylinder are respectively connected with a buckling piece, the second cylinder and the fourth cylinder are arranged oppositely, the third cylinder and the fifth cylinder are arranged oppositely, and the buckling pieces connected with the telescopic ends of the second cylinder, the third cylinder, the fourth cylinder and the fifth cylinder are of different types.

4. The large hilt clamping mechanism according to claim 3, characterized in that: the knife handle is characterized in that a reset detection device is arranged on one side of the knife handle base and comprises a sixth air cylinder.

5. The large hilt clamping mechanism according to claim 4, characterized in that: the large hilt clamping mechanism is connected with a transferring mechanism, the transferring mechanism comprises a support, a platform lifting assembly and a beam driving assembly, and the platform lifting assembly and the beam driving assembly are installed on the support.

6. The large hilt clamping mechanism according to claim 5, characterized in that: the support includes stand, back timber and motor mount, the back timber connect in the stand top forms the bow member structure, the motor mount set up in on the back timber.

7. The large hilt clamping mechanism according to claim 6, characterized in that: platform lifting unit includes work platform, vertical guide, first swing arm, third servo motor, a grabbing device and first sensor, a grabbing device pass through the connecting piece with work platform connects, the last horizontal sliding tray that is provided with of work platform, vertical guide set up in the work platform bottom, first sensor connect in vertical guide bottom, the work platform both ends respectively set up a vertical guide, third servo motor passes through the motor mount connect in the back timber, third servo motor's axis of rotation pass through the shaft coupling with first swing arm is connected, first swing arm with vertical guide is connected.

8. The large hilt clamping mechanism according to claim 7, characterized in that: the beam driving component comprises a fourth servo motor, a second rotary rod, rotary rod connecting pieces, a vertical guide rail, a beam, a transverse guide rail, a seventh cylinder, a transverse sliding piece, a second grabbing device and a second sensor, the fourth servo motor is connected to the top beam through the motor fixing frame, the fourth servo motor is connected to the second rotary rod through a coupling, the second rotary rod is connected to the rotary rod connecting pieces, the vertical guide rail is connected to the stand column, the rotary rod connecting pieces are connected to the vertical guide rail, the beam is connected to the two rotary rod connecting pieces, the transverse guide rail is connected to the beam, the transverse sliding piece is connected to the transverse guide rail, the second grabbing device is connected to the transverse sliding piece, the second sensor is connected to the second grabbing device, and the body of the seventh cylinder is connected to the rotary rod connecting pieces, the telescopic end of the seventh cylinder is connected to the transverse sliding piece, and the telescopic direction of the seventh cylinder is consistent with the sliding direction of the transverse guide rail.

9. The large hilt clamping mechanism according to claim 8, characterized in that: the sleeve fixing assembly is connected to the working platform, the second cylinder and the fourth cylinder are transversely distributed, the telescopic ends of the second cylinder and the fourth cylinder slide along the transverse sliding groove, the third cylinder and the fifth cylinder are longitudinally distributed, and the telescopic ends of the third cylinder and the fifth cylinder slide along the longitudinal guide piece.

10. The large hilt clamping mechanism according to claim 9, characterized in that: the large hilt clamping mechanism is arranged on an operating platform, and the operating platform comprises a supporting platform and a support structure.