CN208746865U - Grasping mechanism - Google Patents

Abstract

The utility model relates to a kind of grasping mechanisms, flexible driving unit including prong unit and driving prong unit motion, prong unit include fixed frame, be installed on fixed frame and can fix relatively frame movement the first prong and with the connection of the first prong and can in the opposite fixed frame movement of the first prong the first tine motion relatively the second prong, flexible driving unit is connect with the first prong, for driving the relatively fixed frame movement of the first prong.The grasping mechanism of the utility model is by being arranged flexible driving unit and prong unit, grasping mechanism is stretched, when grasping mechanism is installed to and uses in movable equipment such as robot, movable equipment can grab cargo in such a way that side is inserted, and movable equipment without moving further along after turning or original place rotation, to save the width in passageway, the arrangement in warehouse is more compact, while improving the utilization rate in warehouse, the distance of cargo transport is shortened, improves cargo transport efficiency.

Description

Grasping mechanism

Technical field

The utility model relates to warehouse logistics technical fields, more particularly to a kind of grasping mechanism.

Background technique

Warehouse logistics refer mainly to utilize self-built or lease storehouse, place, storage, keeping, handling, dispatching cargo.Closely Over year under the overall situation of e-commerce rapid development, when the robot cargo transport technology in modern warehouse logistics field has become Lower hot spot.Compared with traditional shipping mode, have high degree of automation, flexible in application, safe and reliable, high-efficient etc. many excellent Point, these advantages are but also robot cargo transport technology becomes the important technology in modern logistics warehousing system.

Currently, during robot cargo transport grasping mechanism can be installed with robot, grasping mechanism can not be opposite Robot extends or shortens in the horizontal direction, therefore, when robot works, is typically turned by robot, Then certain distance is kept between cargo, then close to cargo, protrudes into grasping mechanism below cargo, then by cargo Crawl.In order to meet the needs of robot work, need to be arranged wider passageway between two rows of counters, it is therefore desirable to purchase or Bigger storehouse or place are leased, cost is not only increased in this way and increases the distance of cargo transport, low efficiency of freighting.

Utility model content

Based on this, it is necessary in view of the above technical problems, a kind of grasping mechanism is provided, to solve crawl in the prior art The technical problem that mechanism can not stretch.

In order to achieve the above objectives, the utility model uses following technical proposal:

A kind of grasping mechanism, the flexible driving unit including prong unit and the driving prong unit motion are described Prong unit includes fixed frame, is installed on the fixed frame and is capable of the first prong, the Yi Jiyu of the relatively described fixed frame movement First prong connection and can in first prong fixed frame movement relatively relatively described first tine motion The second prong, the flexible driving unit is connect with first prong, for driving first prong relatively described solid Determine frame movement.

Further, connected between first prong and second prong and the fixed frame by connection component It connects, the connection component is to drive second prong with respect to institute when first prong fixed frame relatively moves State the first tine motion.

Further, the connection component is stroke amplifier module, and the stroke amplifier module can be in the flexible drive When moving cell drives first tine motion, the movement travel of second prong is set to be greater than first prong relatively described The movement travel of fixed frame.

Further, the stroke amplifier module includes first pulley, the first drawstring, second pulley and the second drawstring, The first pulley is fixed on first prong, and the fixed frame is fixed in one end of first drawstring, the other end around In the first pulley and it is fixed on second prong, the second pulley is fixed on first prong, and described second Second prong is fixed in one end of drawstring, and the other end is around in the second pulley and is fixed on the fixed frame.

Further, be equipped between the fixed frame and first prong to be oriented to first tine motion the One guide frame is equipped with the second guiding knot to be oriented to the second tine motion between first prong and second prong Structure.

Further, first guide frame includes the first directive wheel on the fixed frame and is opened in institute The first guide groove on the first prong is stated, first directive wheel is adapted to first guide groove.

Further, second guide frame includes the second directive wheel on second prong and is opened in The second guide groove on first prong, second directive wheel are adapted to second guide groove.

Further, the flexible driving unit includes the first actuator, gear and rack gear, on first actuator Equipped with output shaft, first actuator is installed on the fixed frame, and the gear is installed on the output shaft, the rack gear It is connect with first prong and the rack gear and the gear mesh.

Further, the grasping mechanism further includes that lifting unit can move in the vertical direction, the prong unit It is connect with the lifting unit.

Further, the grasping mechanism further includes rotary unit, and the rotary unit is connect simultaneously with the lifting unit It can rotate relative to the lifting unit, and be gone up and down under the drive of the lifting unit, the prong unit is mounted on described On rotary unit.

Compared with prior art, the grasping mechanism of the utility model, which passes through, is arranged flexible driving unit and prong unit, Grasping mechanism is stretched, is installed in movable equipment such as robot in grasping mechanism in use, movable equipment Cargo can be grabbed in such a way that side is inserted, movable equipment without moving further along after turning or original place rotation, to save The arrangement of the width in province passageway, warehouse is more compact, while improving the utilization rate in warehouse, shortens the distance of cargo transport, mentions High cargo transport efficiency.

Detailed description of the invention

Fig. 1 is warehouse structure schematic diagram provided by the utility model；

Fig. 2 is the structural schematic diagram of movable equipment provided by the utility model；

Fig. 3 is the side view of movable equipment provided by the utility model；

Fig. 4 is the structural schematic diagram of grasping mechanism provided by the utility model；

Fig. 5 is the side view of grasping mechanism provided by the utility model；

Fig. 6 is the enlarged drawing in Fig. 5 provided by the utility model at A；

Fig. 7 is the structural schematic diagram of stroke amplifier module provided by the utility model；

Fig. 8 is the working state schematic representation of movable equipment provided by the utility model；

Fig. 9 is another working state schematic representation of movable equipment provided by the utility model；

Figure 10 is another working state schematic representation of movable equipment provided by the utility model.

In figure, warehouse 10, shelf 11, channel 12, object to be handled 14, movable equipment 200, main body 21, driving unit 210, carrier frame 211, driving wheel 212, storage unit 220, pillar 221, partition 222, grasping mechanism 22, lifting unit 240, Mounting plate 241, sliding block 2411, positioning plate 2412, rotary unit 250, the second actuator 251, turntable 252, flexible driving unit 260, the first actuator 261, gear 262, rack gear 263, prong unit 270, fixed frame 271, fixed plate 2711, the first prong 272, the second prong 273, recessing groove 273a, stroke amplifier module 274, first pulley 2741, the first drawstring 2742, second pulley 2743, the second drawstring 2744, the first guide frame 275, the first directive wheel 275a, the first guide groove 275b, the second guide frame 276, the second directive wheel 276a, the second guide groove 276b, image acquisition units 280.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

It should be noted that it can be directly on another component when component is referred to as " being installed in " another component Or there may also be components placed in the middle.When a component is considered as " being set to " another component, it, which can be, is directly set Set on another component or may be simultaneously present component placed in the middle.When a component is considered as " being fixed on " another group Part, it, which can be, is directly anchored on another component or may be simultaneously present component placed in the middle.

Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include Any and all combinations of one or more related listed items.

Referring to Fig. 1, the utility model provides a kind of movable equipment 200, the movable equipment 200 is applied to warehouse 10, to grab and carry object to be handled, the warehouse 10 includes multiple picking stations (not shown), multiple rows of shelf 11, the storehouse Equipped with control centre's (not shown) in library 10, X, Y, Z three-dimensional system of coordinate are constructed in the warehouse, is equipped in the warehouse Positioning identifier, multiple rows of 11 compartment of terrain of shelf are set in the warehouse 10, are formed and are supplied between the adjacent two rows shelf 11 The channel 12 that the movable equipment 200 passes through, the picking station, the shelf 11 are equipped with object 14 to be handled；The control Center to send instruction, control the movable equipment 200 moved in the warehouse 10 and with the picking station, shelf 11 Or movable equipment 200 interacts in itself, realizes automatically grabbing and automatically for object 14 to be handled on picking station and shelf 11 It carries in the present embodiment, can be pallet on the object 14 to be handled, be also possible to container or cargo.Certainly, the support Cargo or container can also be stored on disk, or empty pallet.

Please refer to figs. 2 and 3, the grasping mechanism that the movable equipment 200 includes main body 21, connect with the main body 21 22 and processing unit (not shown), the main body 21 can move, the grasping mechanism 22 is to be handled to grab and carry Object 14, the processing unit receives the transmitted instruction of the control centre to interact with the control centre, described in control Main body 21 is mobile and grasping mechanism 22 grabs and carry object 14 to be handled.Certainly, in other embodiments, the processing unit Independent operating, and by the independently transmitted instruction of the processing unit, control the mobile main body 21 and the crawl of grasping mechanism 22 and Carry object 14 to be handled.

The main body 21 includes driving unit 210, storage unit 220 and positioning unit (not shown), the driving unit 210 locomotive function to realize the movable equipment 200, the storage unit 220 are set on the driving unit 210, To store the object to be handled 14, the positioning unit is set on the driving unit 210, to match with the positioning identifier It closes to obtain the current location information of the movable equipment 200.The grasping mechanism 22 is set in the storage unit 220 and uses To grab and carry object 14 to be handled.Herein, it is to be understood that the object to be handled of the grasping mechanism 22 crawl and carrying 14 can be, and the grasping mechanism 22 is grabbed from the goods station, shelf, be also possible to the grasping mechanism 22 from storage unit It is grabbed on 220.

The driving unit 210 includes carrier frame 211, driving wheel 212, driving motor (not shown) and the driving Motor is set in the carrier frame 211, and the driving wheel 212 is installed on the carrier frame 211, and electric with the driving Machine connection.The driving motor drives the driving wheel 212 to move, to realize the advance, retrogressing, turning of the movable equipment And the movement such as rotate in place.

Specifically, there are two the driving wheel 212 at least has, and two driving wheels 212 be symmetrically installed on it is described 11 two sides of carrier frame.The quantity of the driving motor can be with the quantity Matching of the driving wheel 212, each driving wheel 212 can drive movement by matching driving motor, i.e., each driving wheel 212 is driven by individual driving motor, with Keep the movement of the movable equipment 200 more flexible.

The driving motor is servo motor or other kinds of motor.The control centre or movable equipment 200 send instruction, and the processing unit on the movable equipment 200 receives instruction, and the instruction is transferred to the driving list Member 210, the driving motor receive instruction, and the driving wheel 212 is driven to keep the movable equipment 200 mobile.

Storage unit 220 includes pillar 221 and partition 222, and the quantity of the pillar 221 has more, the more branch Column 221 is vertically set to the carrier frame 211.Preferably, the more pillars 221 are in a manner of array etc. vertically i.e. along Z Axis direction is set on the carrier frame 11, for example, the quantity of the pillar 221 is three, three pillars 221 can be with The mode of triangular pitch is set on the carrier frame 11；For another example, the quantity of the pillar 221 is four, four branch Column 221 can be set on the carrier frame 11 in such a way that quadrangle is arranged.The partition 222 is connect with the pillar 221, Space of the partition 222 to separate the storage unit 220, to form the moving goods rack for storing the object 14 to be handled 223.Preferably, the partition 222 can be for whole face plate or with hollow out or partition.

The positioning unit is set to the bottom of the carrier frame 211, and the positioning unit is visual sensor or penetrates Video sensor, when the movable equipment 200 is moved to designated position, the positioning unit and the positioning identifier cooperate, To obtain the position of the positioning identifier, that is, the X-coordinate and Y-coordinate value of designated position are obtained, and the location information is fed back To the processing unit of the movable equipment 200, so that the location information is fed back to the control by the movable equipment 200 Center, with arrival designated position of the determination movable equipment 200.

The grasping mechanism 22 main body 21 can move relatively, and the grasping mechanism 22 includes lifting unit 240, rotation Turn unit 250, flexible driving unit 260, prong unit 270 and image acquisition units 280, the lifting unit 240 to install In in the storage unit 220, the rotary unit 250 is installed on the lifting unit 240, and in the lifting unit 24 Under the action of along the main body vertical direction elevating movement, the flexible driving unit 260 and the prong unit 270 are set to On rotary unit 250, and rotate under the action of rotary unit 250, the flexible driving unit 260 with it is described Prong unit 270 connects, and to drive the prong unit 270 to move, the prong unit 270 is to grab object to be handled 14, to object 14 to be handled is put into the storage unit 220 from picking station, the crawl of shelf 11, alternatively, by described to be handled Object 14 is removed from the storage unit 220 is put into the picking station, on shelf 11.Described image acquisition unit 280 is to adopt Collect the pose of object 14 to be handled on the prong unit 270.

Referring to Figure 4 together and Fig. 5, lifting unit 240 include third actuator (not shown), mounting plate 241 and guide rail (not shown), the guide rail are set on the pillar 221 along the length direction of the pillar 221, and the mounting plate 241 is installed on On the guide rail, the rotary unit 250 is installed on the mounting plate 241, the third actuator and the mounting plate 241 It directly or indirectly connects, to drive the mounting plate 241 to move along the guide rail, to realize the rotary unit 250 Lifting, that is, realize 280 integral elevating of the flexible driving unit 260, prong unit 270 and image acquisition units.

Further, the third actuator is equipped with the encoder (not shown) to link with the third actuator, institute Encoder is stated to calculate the circle number of the third actuator rotation, and the circle number of calculating is fed back into the processing unit, institute Stating processing unit controls the start and stop of the third actuator according to the value of feedback, and then controls the mounting plate 241 along institute The height of lifting rail is stated, to realize the whole of the flexible driving unit 260, prong unit 270 and image acquisition units 280 Body is elevated to designated position, and grabs and carry object to be handled by the prong unit 270.

Specifically, the elemental height of the prong unit 270 is in the three-dimensional system of coordinate it is known that the object to be handled Three-dimensional coordinate is it is known that which after the movable equipment reaches the designated position in the warehouse, the control centre is to institute The processing unit for stating movable equipment 200 sends the instruction of the required height gone up and down, and the processing unit receives described instruction, and The circle number that the third actuator needs to rotate is calculated by the encoder, is led to control the mounting plate 241 along described The specified height of rail lifting, so that the prong unit 270 lifting is to specified height crawl and carries object to be handled.

Certainly, in other embodiments, the lifting unit 240 is not limited to above-mentioned described structure, can also be it His mechanism, for example, the lifting unit 240 is pulley mechanism, link chain mechanism etc..

Further, the mounting plate 241 includes the sliding block 2411 being installed on the guide rail, and is set to the sliding block Positioning plate 2412 on 2411, the rotary unit 250 are installed on the positioning plate 2412.

Referring to Fig. 6, the rotary unit 250 includes the second actuator 251 and turntable 252, second actuator 251 It is installed on the mounting plate 241, the turntable 252 is rotatably mounted on the mounting plate 241 and drives with described second Part 251 connects, and second actuator 251 drives the turntable 252 to turn an angle, by 12 both racks of channel Object to be handled 14 on 11 grabs, and is put into the storage unit 220, or will be to be handled on the moving goods rack 225 The crawl of object 14 is put into 12 both racks 11 of channel.The flexible driving unit 260, the prong unit 270 and institute It states image acquisition units 280 to be mounted on the turntable 252, and can be rotated with the turntable 252, thus, when described turn When disk 252 rotates, the flexible driving unit 260, the prong unit 270 and described image acquisition unit 280 can be made Unitary rotation.

Further, the angle that the turntable 252 rotates is determined by the movable equipment 200 or the control centre Fixed, the movable equipment 200 or the control centre send rotation instruction, and second actuator 251 receives the rotation Turn instruction, and the turntable 252 is driven to rotate to specified angle.Preferably, second actuator 251 can be servo motor Or other kinds of motor.

Preferably, second actuator 251 is equipped with the encoder to link with second actuator 251 and (schemes not Show), the circle number that the encoder is rotated to calculate second actuator 251, and the circle number of calculating is fed back into the place Unit is managed, the processing unit controls the start and stop of second actuator 251 according to the value of feedback, turns so that control is described The angle that disk 252 rotates, so that the flexible driving unit 260, the prong unit 270 and described image acquisition unit 280 can rotate specified angle, and make to carry object described in 270 face of prong unit.

The flexible driving unit 260 includes the first actuator 261, gear 262 and rack gear 263, first driving Part 261 is equipped with output shaft (not shown), and first actuator 261 is installed on the prong unit 270, the gear 262 are installed on the output shaft, and the rack gear 263 is connect with the prong unit 270 and the rack gear 263 and the gear 262 is ratcheting.First actuator 261 drives the gear 262 to rotate, so that the rack gear 263 be made to hang down in the rack gear 263 It directly in the plane where the column 221, i.e., is moved in X0Y plane, so that the prong unit 270 be driven to move.

First actuator 261 can be servo motor or other kinds of motor.The flexible driving unit 260 Movement travel determine that the movement travel of that is, described rack gear 263 is by can by the movable equipment 200 or the control centre Perhaps the control centre determines that the movable equipment 200 or the control centre send movement and refer to mobile device 200 It enables, is rotated to control first actuator 261, so that the movement of the rack gear 263.

Preferably, first actuator 261 is equipped with the encoder to link with first actuator 261 and (schemes not Show), the circle number that the encoder is rotated to calculate first actuator 261, and the circle number of calculating is fed back into the place Unit is managed, the processing unit controls the start and stop of first actuator 261 according to the value of feedback, to control the tooth The circle number of 262 rotation of wheel, so that the rack gear 263 moves to designated position, so that it is specified to move to the prong unit 270 Position, to carry out carrying the crawl and carrying of object.

Certainly, in other embodiments, the flexible driving unit 260 can also be other flexible driving units, such as It can directly be motor.

The prong unit 270 is collapsible prong unit, and the prong unit 270 includes fixed frame 271, the first prong 272 and second prong 273, the fixed frame 271 be fixed on the turntable 252 and rotated with the rotation of the turntable 252, First prong 272 is installed on the fixed frame 271 and is fixedly connected with the rack gear 263, and simultaneously can be relatively described Fixed frame 271 moves, it is preferable that and the rack gear 263 drives first prong 272 to do exercises in X0Y plane, and described the Two prongs 273 connect with first prong 272 to grab the object to be handled 14, the second prong 273 and can be described Relatively described first prong 272 is in the flat in-plane moving of X0Y when first prong 272 fixed frame 271 relatively moves.

Specifically, the fixed plate 2711 that the fixed frame 271 can be in substantially " rectangle " and be disposed in parallel relation to one another by two pieces It constituting, two pieces of fixed plates 2711 are fixed on the turntable 252 and the height of two pieces of fixed plates 2711 is consistent, and two pieces Installation space is formed between the fixed plate 2711, the gear 262 and rack gear 263 are located in the installation space.It is described First prong 272 is substantially in " rectangle ".Second prong 273 is substantially in " rectangle ", second prong 273 and described first Prong 272 is arranged in parallel.Further, offer recessing groove 273a on second prong 273, the recessing groove 273a to The position for avoiding described image acquisition unit 280, so that described image acquisition unit 280 can be acquired positioned at second prong The posture information of object to be handled on 273.

Further, pass through company between first prong 272 and second prong 273 and the fixed frame 271 Connected components 274 connect, the connection component 274 to first prong 272 relatively the fixed frame 271 move when, band Relatively described first prong 271 of second prong 273 is moved to move.

Preferably, the connection component 274 is stroke amplifier module, and the stroke amplifier module can be in the flexible drive When moving cell 260 drives first prong 272 to move, the movement travel of second prong 273 is made to be greater than first fork The movement travel of the relatively described fixed frame 11 of tooth 272.In the present embodiment, the stroke amplifier module 274 makes described first The movement travel of the relatively described fixed frame 11 of prong 272 and the movement travel of the relatively described fixed frame 11 of first prong 272 It is proportional to.Herein, the movement travel of the relatively described fixed frame 11 of first prong 272 and first prong 272 The proportionality coefficient of relatively described 11 movement travel of fixed frame is K, and the K can be 2,3 or other numerical value.Certainly, the tool of K Body numerical value can be set according to practical situation.In the present embodiment, for example, working as the K=2, first prong 272 Path increment is 300mm, then the path increment of second prong 273 is 600mm.From the description above it is found that setting stroke is put Big component 274 is capable of increasing the stroke of second prong 273, thus reduce the size of the entire 27 prong unit 270 with Save space.

Specifically, referring to Fig. 7, the stroke amplifier module includes first pulley 2741, the first drawstring 2742, second cunning Wheel 2743 and the second drawstring 2744, the first pulley 2741 are fixed on first prong 272, first drawstring The fixed frame 271 is fixed in 2742 one end, and the other end is around in the first pulley 2741 and is fixed on second prong 273, the second pulley 2743 is fixed on first prong 272, and one end of second drawstring 2744 is fixed on described Second prong 273, the other end are around in the second pulley 2743 and are fixed on the fixed frame 271.Preferably, described first is sliding Take turns the center of 2741 centers and the second pulley 2743 in the same plane.

When second prong 273 stretches out, the rack gear 263 drives first prong 272 to stretch out, at this point, described First pulley 2741 is used as driving wheel, and the second pulley 2743 is used as driven wheel, and first drawstring 2742 pulls described the Two prongs 273 are stretched out to amplify 273 elongation of the second prong.When second prong 273 retraction, the rack gear 263 First prong 272 is driven to bounce back, at this point, the second pulley 2743 is used as driving wheel, 2741 conduct of first pulley Driven wheel, second drawstring 2744 pull the retraction of the second prong 273 to amplify 273 amount of recovery of the second prong.

Preferably, the first pulley 2741 is fixed pulley, and the second pulley 2743 is also fixed pulley.

In other embodiments, the stroke amplifier module is not limited to above-mentioned described structure, the stroke amplification group Part can also be realized using other mechanisms, such as ratchet assembly etc..

Further, it is equipped between the fixed frame 271 and first prong 272 to be oriented to first prong First guide frame 275 of 272 movements；It is equipped between first prong 272 and second prong 273 described to be oriented to Second guide frame 276 of the second prong 273 movement.

Specifically, first guide frame 275 include the first directive wheel 275a on the fixed frame 271 and The first the guide groove 275b, the first directive wheel 275a and first guide groove being opened on first prong 272 275b adaptation, the first directive wheel 275a can be slided along the first guide groove 275b；Second guide frame 276 wraps Include the second directive wheel 276a being set on second prong 273 and second be opened on first prong 272 guiding Slot 276b, the second directive wheel 276a are adapted to the second guide groove 276b, and the second directive wheel 276a can be along institute State the second guide groove 276b sliding.Preferably, the first guide groove 275b, the second guide groove 276b are along described first The length direction of prong 272 opens up.

Certainly, in other embodiments, the first guide frame 275, second guide frame 276 are not limited to above-mentioned institute State the structure of description.First guide frame 275, second guide frame 276 can use his structure with it to realize, For example, by using guide rail, slide block structure.

Described image acquisition unit 280 is visual sensor or radio frequency sensor.During use, when described second Prong 273, which stretches out, grabs object to be handled, and the object to be handled bounces back with second prong 273 to be resetted, and described image acquisition is single The pose image of object to be handled on second prong 273 at this time 280 is acquired by member, and by collected pose image It is transferred to the processing unit, and the control centre, the control centre or the processing are transferred to by the processing unit Obtained level appearance image to be handled is compared by unit with the standard pose image of object to be handled, described to be handled to judge Whether object has deviation in the pose of second prong 273, thus in order to correct the deviation.Herein, the deviation includes X Axis deviation, Y-axis deviation, angular deviation.

And specific deviation correction method and principle are as described below.

The use process of the movable equipment 200 is described below:

The movable equipment 200 by prong unit 270 by the shelf 11 of passageway two sides object to be handled 14 carry/ The process grabbed in the storage unit 220 is as follows:

Firstly, as shown in Figure 1, the movable equipment 200 is moved to specified 11 side of shelf from the passageway 12；It is described Prong unit 270 is located at initial position, and the lifting unit 240 drives the rotary unit 250, the flexible driving unit 260 rise to the first specified height, make the object 14 to be handled of specifying on shelf 11 described in 270 face of prong unit, such as Shown in Fig. 8, Fig. 9 and Figure 10, the flexible driving unit 260 drives second prong 273 elongation to specifying object to be handled 14 lower section；The lifting unit 240 continues to rise, and contacts the bottom of the object to be handled 14 with second prong 273 And it lifts；The flexible driving unit 260 drives second prong 273 to bounce back, so that first prong 272 and described the Two prongs 273 fold, so that the object to be handled 14 bounces back simultaneously；

Then, the lifting unit 240 drives the rotary unit 250, the flexible driving unit 260 to rise to specified Second height；The rotation of rotary unit 250 makes storage described in 270 face of prong unit to specified first angle Unit 220；The flexible driving unit 260 drives second prong 273 to extend, and the object to be handled 14 is driven to move jointly Move storage unit 220；The lifting unit 240 declines, and keeps the bottom of the object to be handled 14 and second prong 273 de- From；The flexible driving unit 260 drives second prong 273 to bounce back, so that realizing will be on the shelf 11 of passageway two sides Object 14 to be handled is carried/is grabbed in the storage unit 220.

The movable equipment 200 by prong unit 270 by the storage unit 220 object to be handled 14 carry/ The process grabbed on the shelf 11 of the passageway two sides is as follows:

Firstly, the movable equipment 200 is moved to specified 11 side of shelf from the passageway；Lifting unit 240 drives The rotary unit 250, the flexible driving unit 260 rise to the second specified height, and the rotation of rotary unit 250 is extremely Specified first angle makes to specify object 14 to be handled in storage unit 220 described in 270 face of prong unit；It is described to stretch Contracting driving unit 260 drives the elongation of the second prong 273 to the lower section for specifying object 14 to be handled；The lifting unit 240 after It is continuous to rise, so that the bottom of the object to be handled 14 is contacted and is lifted with second prong 273；The flexible driving unit 260 Second prong 273 is driven to bounce back, so that the object to be handled 14 bounces back simultaneously.

Then, the lifting unit 240 drives the rotary unit 250, the flexible driving unit 260 to rise to specified The first height, make shelf 11 described in 270 face of prong unit, the flexible driving unit 260 drives second fork Tooth 273 extends, and the object to be handled 14 is driven to be moved to the shelf 11 jointly, and the lifting unit 240 declines, and makes described The bottom of object 14 to be handled and second prong 273 are detached from；The flexible driving unit 260 drives second prong 273 Retraction folded with first prong 272, thus realize by the storage unit 220 object to be handled 14 carrying and Grab the shelf 11 of the passageway two sides.

Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.

Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (10)

1. a kind of grasping mechanism, which is characterized in that the flexible driving including prong unit and the driving prong unit motion Unit, the prong unit include fixed frame, are installed on the fixed frame and be capable of the first fork of the relatively described fixed frame movement Tooth and with first prong connection and can be in first prong opposite fixed frame movement relatively described first Second prong of tine motion, the flexible driving unit are connect with first prong, for driving the first prong phase The fixed frame is moved.

2. grasping mechanism according to claim 1, which is characterized in that first prong and second prong and institute It states and is connected between fixed frame by connection component, the connection component is in the relatively described fixed frame movement of first prong When, drive relatively described first tine motion of the second prong.

3. grasping mechanism according to claim 2, which is characterized in that the connection component is stroke amplifier module, described Stroke amplifier module can make the movement of second prong when the flexible driving unit drives first tine motion Stroke is greater than the movement travel of the relatively described fixed frame of first prong.

4. grasping mechanism according to claim 3, which is characterized in that the stroke amplifier module includes first pulley, One drawstring, second pulley and the second drawstring, the first pulley are fixed on first prong, and the one of first drawstring The fixed frame is fixed at end, and the other end is around in the first pulley and is fixed on second prong, and the second pulley is solid Due on first prong, second prong is fixed in one end of second drawstring, and it is sliding that the other end is around in described second It takes turns and is fixed on the fixed frame.

5. grasping mechanism according to claim 1, which is characterized in that be equipped between the fixed frame and first prong To be oriented to the first guide frame of first tine motion, between first prong and second prong be equipped with to It is oriented to the second guide frame of the second tine motion.

6. grasping mechanism according to claim 5, which is characterized in that first guide frame includes being set to the fixation The first directive wheel on frame and the first guide groove being opened on first prong, first directive wheel and described first Guide groove adaptation.

7. grasping mechanism according to claim 5, which is characterized in that second guide frame includes being set to described second The second directive wheel on prong and the second guide groove being opened on first prong, second directive wheel and described the Two guide grooves adaptation.

8. grasping mechanism according to claim 1, which is characterized in that the flexible driving unit include the first actuator, Gear and rack gear, first actuator are equipped with output shaft, and first actuator is installed on the fixed frame, described Gear is installed on the output shaft, and the rack gear is connect with first prong and the rack gear and the gear mesh.

9. grasping mechanism according to any one of claims 1 to 8, which is characterized in that the grasping mechanism further includes lifting Unit can move in the vertical direction, and the prong unit is connect with the lifting unit.

10. grasping mechanism according to claim 9, which is characterized in that the grasping mechanism further includes rotary unit, described Rotary unit connect with the lifting unit and can rotate relative to the lifting unit, and under the drive of the lifting unit Lifting, the prong unit are mounted on the rotary unit.