CN110386389B - Grabbing device - Google Patents

Abstract

The invention discloses a grabbing device, in particular to a grabbing device applied to a stereoscopic warehouse, which is characterized by comprising a longitudinal moving mechanism and grabbing arms, wherein the longitudinal moving mechanism is provided with a longitudinal moving rod; a grabbing arm is arranged at one end of the longitudinal moving rod; the grabbing arm is used for grabbing and placing cargoes; the longitudinal moving mechanism drives the longitudinal moving rod to realize reciprocating motion in the longitudinal direction, so that the grabbing arm mounted on the longitudinal moving rod also realizes reciprocating motion in the longitudinal direction. The invention has the characteristics of firm grabbing, stable movement, high working efficiency and the like.

Description

Grabbing device

Technical Field

The invention relates to a grabbing device, in particular to a mechanical grabbing device which can be suitable for being applied to rail tunnel stackers of stereoscopic warehouses; the device comprises a longitudinal moving mechanism and a grabbing arm, wherein one end of a longitudinal moving rod on the longitudinal moving mechanism is provided with the grabbing arm; the grabbing arm is used for grabbing and placing cargoes; the longitudinal moving mechanism drives the longitudinal moving rod to realize reciprocating motion in the longitudinal direction, so that the grabbing arm mounted on the longitudinal moving rod also realizes reciprocating motion in the longitudinal direction.

Background

The stereoscopic warehouse has high space utilization rate and strong warehouse-in and warehouse-out capability, and the stereoscopic warehouse can facilitate enterprises to implement modern management by combining with computers for control management, becomes an indispensable warehouse technology for enterprise logistics and production management, and is deeply valued by enterprises.

The automatic stereoscopic warehouse is a complex automatic system composed of stereoscopic shelves, a rail tunnel stacker, a warehouse-in and warehouse-out tray conveyor system, a size detection bar code reading system, a communication system, an automatic control system, a computer monitoring system, a computer management system and other auxiliary equipment such as a wire and cable bridge distribution cabinet, a tray, an adjusting platform, a steel structure platform and the like. The first-class integrated logistics concept is utilized, advanced control, bus, communication and information technology are adopted, and the warehouse-in and warehouse-out operation is carried out through the coordinated actions of the equipment. But the access of current stereoscopic warehouse to the goods still relies on conveyer or manual drive fork truck to realize mainly, and its position that can not the automatic adjustment goods, and fork truck or conveyer are more troublesome to the access of the goods that is located the eminence of product warehouse, influence the warehouse entry efficiency of goods, therefore current stereoscopic warehouse need be equipped with a grabbing device and be used for satisfying the device of snatching and putting to the goods.

Disclosure of Invention

The invention aims at overcoming the defects of the prior art, and provides a grabbing device which is firm in grabbing, stable in moving and high in working efficiency, and the grabbing device can be installed on a rail tunnel stacker of a stereoscopic warehouse.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

A grabbing device comprises a fixing frame, wherein a guide piece is arranged at the top of the fixing frame, and a longitudinal tail fin is arranged on the inner top surface of a sliding channel on the guide piece;

the longitudinal moving rod is provided with a longitudinal dovetail groove on the longitudinal top surface and a translational rack on the longitudinal bottom surface, the longitudinal dovetail groove is matched and arranged on a longitudinal tail wing, the translational rack is in meshed transmission connection with a longitudinal driving gear arranged below the translational rack, and the longitudinal driving gear is arranged on a longitudinal driving motor;

the grabbing support is fixedly arranged on the transverse end face of the longitudinal moving rod, one end of the grabbing support is provided with a transverse tail I, and the other end of the grabbing support is provided with a transverse tail II;

the top surface of the first grabbing arm is provided with a first dovetail groove, the bottom corresponding to the first dovetail groove is provided with a first rack, and the first dovetail groove is arranged on the transverse tail wing I in a matching manner;

The top surface of the second grabbing arm is provided with a second rack, the bottom corresponding to the second rack is provided with a second dovetail groove, and the second dovetail groove is arranged on the transverse tail II in a matching manner; the second rack is in meshed transmission connection with a transverse driving gear arranged above the second rack, and the top of the transverse driving gear is in meshed transmission connection with the first rack; and the transverse driving gear is fixedly arranged on the rotating shaft of the grabbing driving motor.

The longitudinal driving motor drives the longitudinal driving gear to rotate, and the longitudinal driving gear drives the longitudinal moving rod to realize linear reciprocating movement in the longitudinal direction; the longitudinal moving rod drives the grabbing support to realize linear reciprocating movement in the longitudinal direction, and the grabbing support drives the first grabbing arm and the second grabbing arm arranged on the grabbing support to reciprocate in the longitudinal direction.

The horizontal driving gear is driven to rotate by the grabbing driving motor arranged on the grabbing support, the upper part of the horizontal driving gear is in meshed transmission connection with the first rack of the first grabbing arm, and the lower part of the horizontal driving gear is in meshed transmission connection with the second rack of the second grabbing arm, so that under the driving action of the horizontal driving gear, the first grabbing arm and the second grabbing arm do opposite motions, and when the horizontal driving gear rotates clockwise, the gap between the first grabbing arm and the second grabbing arm is reduced, and the horizontal driving gear is in a grabbing state; when the transverse driving gear rotates anticlockwise, a gap between the first grabbing arm and the second grabbing arm is increased, and the grabbing state is relieved.

As a further improvement of the invention, the lower inner side walls of the first grabbing arm and the second grabbing arm are respectively provided with clamping pieces, and the clamping pieces are aligned oppositely. The installation folder can increase the area of contact between first arm and second arm and the goods, and steady firm when snatching the goods.

As a further improvement of the present invention, the clip includes a first movable jaw and a second movable jaw; one end of the first movable claw is provided with a notch, and the notch is provided with a shaft hole; one end of the second movable claw is provided with a connector; the connector is provided with a shaft hole at a position corresponding to the shaft hole of the notch; the connector is inserted into the notch and connected through the shaft hole hinge. The hinge connection is adopted, so that the first movable claw and the second movable claw can be opened in a fan shape around the hinge point, and the circular object can be effectively grabbed.

As a further improvement of the invention, a spring is also arranged and connected between the first movable claw and the second movable claw; one end of the spring is fixedly arranged in the spring hole of the first movable claw, and the other end of the spring is fixedly arranged in the spring hole of the second movable claw corresponding to the spring hole of the first movable claw. The spring can be favorable for realizing automatic reset after the first movable claw and the second movable claw are opened; meanwhile, the first movable claw and the second movable claw can be limited.

As a further development of the invention, the first movable jaw and the second movable jaw are each provided with a toothed belt on their respective sides. The toothed belt can increase friction force, so that the grabbing of goods is firmer, and the grabbing of round goods can be facilitated.

As a further development of the invention, the transverse tail i and the transverse tail ii are aligned in a vertical direction. The first grabbing arm and the second grabbing arm can be conveniently installed, and the space position is reduced. The transverse tail I and the transverse tail II can play roles in supporting, guiding and sliding. The transverse tail I supports the first grabbing arm to slide freely in the transverse direction, and the transverse tail II supports the second grabbing arm to slide freely in the transverse direction.

As a further development of the invention, the second dovetail groove extends through the second gripper arm. The second dovetail groove can have a sufficient sliding distance on the transverse tail II so that the transverse tail II can penetrate through the second grabbing arm.

As a further development of the invention, the gripping drive motor is fixedly mounted in the gripping support. The grabbing support is fully utilized, and redundant parts are prevented from being added, so that the weight of the whole equipment can be reduced, and the practical amount of materials can be saved.

As a further improvement of the invention, the longitudinal driving motor is fixedly arranged on a longitudinal driving motor support, and the longitudinal driving motor support and the fixing frame are arranged and fixed side by side. Can provide a good mounting base for the longitudinal driving motor and ensure the stable operation of the longitudinal driving motor thereon.

As a further improvement of the invention, a supporting piece is arranged below the fixing frame. The guide piece and the support piece form the fixing frame, the support piece can provide good supporting effect for the guide piece, and the support plane of the guide piece and the support piece can be enabled to have a certain height, and then the first grabbing arm, the second grabbing arm and the support plane are enabled to have a reasonable height in the vertical direction, the first grabbing arm and the second grabbing arm are prevented from being damaged due to the fact that the first grabbing arm and the second grabbing arm collide with the support plane in the moving process.

As a further development of the invention, the gripping support is in the shape of a U-shaped or square slot. The cross sections of the two ends of the U-shaped notch can be positioned in the same vertical plane, and the first grabbing arm and the second grabbing arm can be arranged vertically up and down. The corresponding side surfaces of the square notch can be aligned in parallel, and the installation layout of the first grabbing arm and the second grabbing arm is facilitated. Can realize the full utilization of the internal cavity structure.

The working principle of the invention is as follows: the grabbing driving motor drives the transverse driving gear to drive, and the top and the bottom of the transverse driving gear are respectively connected with the first grabbing arm and the second grabbing arm in a corresponding meshed transmission manner; when the transverse driving gear is used for transmission, the first grabbing arm and the second grabbing arm realize opposite movement, and when the transverse driving gear is used for clockwise transmission, the first grabbing arm and the second grabbing arm move in opposite directions, and goods grabbing operation is realized through the clamping piece; when the transverse driving gear drives anticlockwise, the first grabbing arm and the second grabbing arm are separated from each other, so that the clamping piece is driven to separate from the goods, and the placing operation is realized; the longitudinal moving mechanism drives the longitudinal moving rod to realize reciprocating motion in the longitudinal direction, and the gripping arm is arranged on the longitudinal moving rod, so that the gripping arm can also realize reciprocating motion in the longitudinal direction; the position adjustment can be realized.

The motors of the invention can be connected to the general control panel through data to realize the control of the computer or the panel. The motor is controlled through an algorithm, so that goods can be accurately grabbed.

Compared with the prior art, the invention has the following advantages:

1. The invention adopts a longitudinal moving mechanism and a grabbing arm, wherein one end of a longitudinal moving rod on the longitudinal moving mechanism is provided with the grabbing arm; the grabbing arm is used for grabbing and placing cargoes; the longitudinal moving mechanism drives the longitudinal moving rod to realize reciprocating motion in the longitudinal direction, so that the grabbing arm arranged on the longitudinal moving rod also realizes reciprocating motion in the longitudinal direction, thereby realizing position adjustment in the longitudinal direction and being beneficial to grabbing and placing cargoes. The invention can realize the adjustment of the vertical height and the horizontal displacement when being arranged on the rail tunnel stacker, thereby realizing the adjustment of the longitudinal and vertical positions.

2. The grabbing arm adopts a first grabbing arm, a second grabbing arm and a grabbing driving motor; the top of a transverse driving gear on the grabbing driving motor is in meshed transmission connection with the first grabbing arm, and the bottom of the transverse driving gear is in meshed transmission connection with the second grabbing arm; the connection mode enables the movement direction between the first grabbing arm and the second grabbing arm to achieve different movement directions; when the grabbing driving motor rotates clockwise, the first grabbing arm and the second grabbing arm move oppositely, so that grabbing operation is realized; when the grabbing driving motor rotates anticlockwise, the first grabbing arm and the second grabbing arm are separated from each other, so that the placing operation is realized, namely, the goods are placed at the designated positions.

3. The longitudinal moving rod and the longitudinal tail wing on the longitudinal moving mechanism are connected in a matched mode through the longitudinal dovetail groove on the longitudinal moving rod, the connecting mode is stable, the limiting effect can be achieved, and the longitudinal moving rod can slide smoothly on the longitudinal tail wing.

4. The first grabbing arm and the second grabbing arm are respectively connected with a transverse tail fin on a grabbing driving motor support in a matching way; the transverse tail fin realizes the limiting action on the first grabbing arm and the second grabbing arm and can provide good guiding and sliding actions for the first grabbing arm and the second grabbing arm; the first grabbing arm, the second grabbing arm and the transverse driving gear on the grabbing driving motor can be well meshed and connected in a transmission mode.

5. The clamping pieces are arranged at the lower parts of the first grabbing arm and the second grabbing arm, so that the contact area between the clamping pieces and the cargoes can be increased, and the stability and the firmness of grabbing the cargoes are improved; the parallel supporting of the bottom surface of the goods can be realized, namely the clamping piece is inserted from a gap between the conveying belt and the bottom of the goods, so that the goods can be stably supported. The clamping pieces are arranged in opposite alignment, so that the stability and firmness of grabbing goods can be improved.

6. The clamping piece comprises the first movable claw and the second movable claw, and the first movable claw and the second movable claw are connected through the hinge, so that the first movable claw and the second movable claw can be opened in a fan shape under the first grabbing arm or the second grabbing arm, and grabbing of round goods can be facilitated; the first movable claw and the second movable claw are both straight sections at two ends and arc-shaped in the middle; after the first movable claw and the second movable claw are spliced, the arc shape is spliced into a large arc shape, and the circular goods can be grabbed by the arc; moreover, the toothed belts are arranged on the grabbing surfaces of the first movable claw and the second movable claw, so that friction force can be increased, and the firmness and stability of grabbing goods are improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

FIG. 1 is a schematic view of a gripping device according to the present invention;

FIG. 2 is a schematic view of the structure of the fixing frame in FIG. 1;

FIG. 3 is a schematic view of the attachment of the gripping support of FIG. 1 to a longitudinally movable rod;

FIG. 4 is a schematic view of the connection between the first moveable jaw and the second moveable jaw in FIG. 1;

FIG. 5 is a schematic side elevational view of the present invention;

Element name and number in the figure: the vertical drive motor support 15, the vertical drive motor 16, the fixed frame 17, the guide 171, the support 172, the sliding passage 173, the vertical tail 108, the vertical drive gear 19, the vertical moving rod 20, the translational rack 21, the vertical dovetail groove 22, the grasping drive motor 23, the grasping support 203, the horizontal drive gear 24, the horizontal tail i 206, the horizontal tail ii 207, the first rack 25, the first dovetail groove 26, the first grasping arm 27, the clip 28, the first movable claw 281, the shaft hole 282, the spring 283, the second movable claw 284, the spring hole 285, the toothed belt 286, the notch 287, the connector 288, the second rack 29, the second dovetail groove 30, and the second grasping arm 31.

Detailed Description

Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.

As shown in fig. 1 to 5, a gripping device comprises a fixed frame 17, a guide member 171 is arranged at the top, and a longitudinal tail 108 is arranged on the inner top surface of a sliding channel 173 on the guide member 171; the longitudinal moving rod 20, the longitudinal top surface of which is provided with a longitudinal dovetail groove 22, and the longitudinal bottom surface of which is provided with a translation rack 21, the longitudinal dovetail groove 22 is arranged on the longitudinal tail fin 108 in a matching way, the translation rack 21 is in meshed transmission connection with a longitudinal driving gear 19 arranged below the translation rack 21, and the longitudinal driving gear 19 is arranged on the longitudinal driving motor 16;

The gripping support 203 is fixedly installed on the transverse end surface of the longitudinal moving rod 20, and is provided with a transverse tail I206 at one end and a transverse tail II 207 at the other end; the top surface of the first grabbing arm 27 is provided with a first dovetail groove 26, the bottom corresponding to the first dovetail groove 26 is provided with a first rack 25, and the first dovetail groove 26 is installed on the transverse tail I206 in a matching mode; the top surface of the second grabbing arm 31 is provided with a second rack 29, the bottom corresponding to the second rack 29 is provided with a second dovetail groove 30, and the second dovetail groove 30 is matched and installed on the transverse tail II 207; the second rack 29 is in meshed transmission connection with a transverse driving gear 24 arranged above the second rack 29, and the top of the transverse driving gear 24 is in meshed transmission connection with the first rack 25; and the transverse driving gear 24 is fixedly installed on the rotation shaft of the grip driving motor 23. The longitudinal driving motor 16 drives the longitudinal driving gear 19 to rotate, the longitudinal driving gear 19 is in meshed transmission with the translational rack 21 below the longitudinal moving rod 20, the longitudinal driving gear 19 drives the longitudinal moving rod 20 to realize linear reciprocating movement in the longitudinal direction, the longitudinal moving rod 20 drives the grabbing support 203 to move in the longitudinal direction, and the grabbing support 203 drives the first grabbing arm 27 and the second grabbing arm 31 to linearly reciprocate in the longitudinal direction; the cargo gripped between the first gripping arm 27 and the second gripping arm 31 can be adjusted in position in the longitudinal direction.

As shown in fig. 2, the fixing frame 17 includes a guide member 171 and a support member 172, and the guide member 171 is fixedly installed at the top of the support member 172. The support 172 supports and fixes the guide 171.

As shown in fig. 1 and 3, the transverse tail i 206 and the transverse tail ii 207 are aligned in a vertical direction. The first gripper arm 27 mounted on the transverse tail i 206 and the second gripper arm 31 mounted on the transverse tail ii 207 can advantageously be positioned with their transverse centers in the same vertical plane. The first gripper arm 27 and the second gripper arm 31 can be moved toward each other accurately.

As shown in fig. 1 and 3, the grip driving motor 23 is fixedly installed in the grip support 203. It can be seen that the spatial position of the gripping support 203 can be fully utilized, so that the spatial structure of the whole apparatus can be reduced. So that the structure is compact and stable.

As shown in fig. 1, the longitudinal driving motor 16 is fixedly mounted on the longitudinal driving motor support 15, and the longitudinal driving motor support 15 is fixedly arranged side by side with the fixing frame 17. When the longitudinal driving motor 16 drives the longitudinal driving gear 19, the longitudinal driving motor 16 is subjected to a reaction force of the longitudinal driving gear 19, and is fixedly mounted on the longitudinal driving motor support 15 in order to ensure the position stability of the longitudinal driving motor 16, so that the longitudinal driving motor 16 can provide enough supporting force during operation. So that the longitudinal driving motor 16 works stably and the meshing transmission efficiency between the longitudinal driving gear 19 and the translational rack 21 on the longitudinal moving rod 20 is improved.

As shown in fig. 2, a support 172 is fixedly connected below the guide 171. The supporting piece 172 and the guiding piece 171 form the fixing frame 17, the supporting piece 172 enables the guiding piece 171 to have a certain height from a supporting plane of the supporting piece 172, and further a reasonable gap is formed between the bottommost parts of the first grabbing arm 27 and the second grabbing arm 31 and the supporting plane, so that the first grabbing arm 27 and the second grabbing arm 31 are prevented from being damaged due to collision with the supporting plane in the moving process.

As shown in fig. 1 and 3, the grasping support 203 has a U-shaped notch or square notch shape. The cross sections of the two ends of the U-shaped notch can be positioned in the same vertical plane, and the first grabbing arm and the second grabbing arm can be arranged vertically up and down. The corresponding side surfaces of the square notch can be aligned in parallel, and the installation layout of the first grabbing arm and the second grabbing arm is facilitated. Can realize the full utilization of the internal cavity structure.

As shown in fig. 1, the first gripper arm 27 and the second gripper arm 31 have a 7-shaped structure. The first grabbing arm 27 and the second grabbing arm 31 can be facilitated to be stressed stably when grabbing goods, and the grabbed goods can be stressed stably.

As shown in FIG. 1, a second dovetail slot 30 extends through the bottom of the second gripper arm 31. The second dovetail groove can have a sufficient sliding distance on the transverse tail II so that the transverse tail II can penetrate through the second grabbing arm. The second dovetail groove 30 can slide on the transverse tail II 207 more freely.

As shown in fig. 1, in order to increase the contact area between the first and second gripper arms 27 and 31 and the cargo, clip members 28 are provided on the lower inner side walls of the first and second gripper arms 27 and 31, respectively, and the clip members 28 are aligned opposite to each other. The force on the clip 28 can be equalized when gripping cargo.

As shown in fig. 1 and 4, the clip 28 includes a first movable claw 281 and a second movable claw 284; one end of the first movable jaw 281 is provided with a notch 287, and the notch 287 is provided with a shaft hole 282; one end of the second movable claw 284 is provided with a connector 288; the connecting head 288 is provided with a shaft hole 282 at a position corresponding to the shaft hole 282 of the notch 287; the connector 288 is inserted into the slot 287 and hingedly connected by the axle bore 282. The notch 287 on the first movable claw 281 and the connecting head 288 on the second movable claw 284 are spliced, the shaft holes 282 respectively arranged on the notch 287 and the connecting head 288 are aligned with each other, and are sleeved on the connecting shaft arranged at the lower part of the first grabbing arm 27 or the second grabbing arm 31, and the first movable claw 281 and the second movable claw 284 are limited to prevent 360-degree rotation, namely the first movable claw 281 and the second movable claw 284 are limited respectively. The clamp 28 can be ensured to work normally, and the stress is balanced when the goods are grabbed.

The first movable claw 281 and the second movable claw 284 have the structural shape that both ends are straight sections and the middle is arc-shaped; the first movable claw 281 and the second movable claw 284 are spliced to form an arch bridge-like structure, which is beneficial to balancing stress; the grabbing goods are stable and firm.

As shown in fig. 4, a spring 283 is further installed between the first movable jaw 281 and the second movable jaw 284; one end of the spring 283 is fixedly installed in the spring hole 285 of the first movable jaw 281, and the other end thereof is fixedly installed in the spring hole 285 of the second movable jaw 284 corresponding to the spring hole 285 of the first movable jaw 281. The spring 283 may be mounted adjacent to the connection of the notch 287 and the connector 288. The spring 283 can not only realize a limiting function on the first movable claw 281 and the second movable claw 284, but also realize elastic reset between the first movable claw 281 and the second movable claw 284. The spring hole 285 is disposed in the first movable claw 281 and the second movable claw 284, so that the spring 283 is hidden in the first movable claw 281 and the second movable claw 284 when installed, and does not occupy redundant space. When the first movable jaw 281 and the second movable jaw 284 are opened in a fan shape, the spring 283 can form a tensile force between the first movable jaw 281 and the second movable jaw 284 due to elastic deformation, thereby providing an auxiliary tension force for gripping the goods.

As shown in fig. 4, toothed belts 286 are provided on the respective sides of the first movable claw 281 and the second movable claw 284, respectively. The toothed belt 286 can increase friction and improve stability and firmness when grabbing goods.

The concrete installation and connection mode of the invention is as follows: the fixed mount 17 and the longitudinal driving motor support 15 are fixed firmly as required, a longitudinal moving rod is inserted into a guide piece at the top of the fixed mount 17, and a longitudinal dovetail groove 22 on the longitudinal moving rod 20 is connected with a longitudinal tail fin 108 at the inner top of the guide piece in a matched manner; a longitudinal driving motor 16 is fixedly arranged on the longitudinal driving motor support 15, and a longitudinal driving gear 19 on the longitudinal driving motor 16 is in meshed transmission connection with a translational rack 21 on a longitudinal moving rod 20; a grabbing support 203 is fixedly arranged at one end of the longitudinal moving rod 20, a grabbing driving motor 23 is fixedly arranged in the grabbing support 203, a transverse tail I206 and a transverse tail II 207 are correspondingly arranged at the upper end and the lower end of the grabbing support 203, the upper transverse tail I206 is in matched sliding connection with a first dovetail groove 26 on a first grabbing arm 27, and the first grabbing arm 27 is in meshed transmission connection with a transverse driving gear 24 on a previous driving motor 23 relative to a first rack 25 on the bottom of the first dovetail groove 26; the lower transverse tail II 207 is in matched sliding connection with the second dovetail groove 30 on the second grabbing arm 31, and the second rack 29 on the top of the second grabbing arm 31 opposite to the second dovetail groove 30 is in meshed transmission connection with the transverse driving gear 24; a clip 28 is provided below each of the first and second gripper arms 27 and 31.

The invention can be arranged on a rail tunnel stacker of a stereoscopic warehouse, and the vertical height and the horizontal displacement can be changed through the rail tunnel stacker.

The concrete working mode of the invention is as follows: starting the longitudinal driving motor 16, driving the longitudinal driving gear 19 to rotate by the longitudinal driving motor 16, driving the longitudinal moving rod 20 to generate displacement change by the longitudinal driving gear 19, driving the first grabbing arm 27 and the second grabbing arm 31 to be positioned right above the goods by the longitudinal moving rod 20, and stopping the longitudinal driving motor 16; starting the grabbing driving motor 23, driving the transverse driving gear 24 to rotate by the grabbing driving motor 23, driving the first grabbing arm 27 and the second grabbing arm 31 to move by the transverse driving gear 24, enabling gaps between clamping pieces 28 on the first grabbing arm 27 and the second grabbing arm 31 to be changed, enabling the clamping pieces 28 on the first grabbing arm 27 and the second grabbing arm 31 to be respectively aligned with the goods at reasonable intervals, and stopping grabbing the driving motor 23; the heights of the first grabbing arm 27 and the second grabbing arm 31 are adjusted downwards to be adjusted to grabbing points for grabbing goods, the grabbing driving motor 23 is driven to enable the distance between the first grabbing arm 27 and the second grabbing arm 31 to be contracted, after goods are grabbed through the clamping piece 28 between the first grabbing arm 27 and the second grabbing arm 31, the grabbing driving motor 23 is stopped, and the grabbing driving motor 23 is used for grabbing the goods stably under the action of a self-locking function; starting the longitudinal driving motor 16, driving the longitudinal moving rod 20, driving the first grabbing arm 27 and the second grabbing arm 31 after grabbing goods to move to a safe position by the longitudinal moving rod 20, and stopping the longitudinal driving motor 16; then the whole is moved to a position where goods are appointed to be placed, the longitudinal driving motor 16 is started/stopped to adjust the position of the goods, the goods are adjusted to the appointed position, the height is adjusted downwards, after the goods are in good contact with the goods placing supporting surface, the grabbing driving motor 23 is started, the first grabbing arm 27 and the second grabbing arm 31 are separated from the goods, and the clamping pieces 28 on the first grabbing arm 27 and the second grabbing arm 31 are separated from the goods; and integrally adjusting and resetting to a safe position, and entering the next grabbing procedure.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (7)

1. A gripping device, comprising

A fixed frame (17) is provided with a guide piece (171) at the top, and a longitudinal tail wing (108) is arranged on the inner top surface of a sliding channel (173) on the guide piece (171);

The longitudinal moving rod (20) is provided with a longitudinal dovetail groove (22) on the longitudinal top surface and a translational rack (21) on the longitudinal bottom surface, the longitudinal dovetail groove (22) is arranged on the longitudinal tail wing (108) in a matching way, the translational rack (21) is in meshed transmission connection with a longitudinal driving gear (19) arranged below the translational rack, and the longitudinal driving gear (19) is arranged on the longitudinal driving motor (16);

A gripping support (203) fixedly mounted on the lateral end surface of the longitudinally movable rod (20), and provided with a lateral tail I (206) at one end and a lateral tail II (207) at the other end;

the first grabbing arm (27) is provided with a first dovetail groove (26) on the top surface, a first rack (25) is arranged at the bottom corresponding to the first dovetail groove (26), and the first dovetail groove (26) is installed on the transverse tail I (206) in a matching mode;

The top surface of the second grabbing arm (31) is provided with a second rack (29), the bottom corresponding to the second rack (29) is provided with a second dovetail groove (30), and the second dovetail groove (30) is installed on the transverse tail II (207) in a matching way; the second rack (29) is in meshed transmission connection with a transverse driving gear (24) arranged above the second rack, and the top of the transverse driving gear (24) is in meshed transmission connection with the first rack (25); the transverse driving gear (24) is fixedly arranged on the rotating shaft of the grabbing driving motor (23);

The lower inner side walls of the first grabbing arm (27) and the second grabbing arm (31) are respectively provided with a clamping piece (28), and the two clamping pieces (28) are aligned in opposite directions;

The clamping piece (28) comprises a first movable claw (281) and a second movable claw (284); one end of the first movable claw (281) is provided with a notch (287), and the notch (287) is provided with a shaft hole (282); one end of the second movable claw (284) is provided with a connector (288); the connector (288) is provided with a shaft hole (282) at a position corresponding to the shaft hole (282) of the notch (287); the connector (288) is inserted into the notch (287) and is hinged through the shaft hole (282);

The first movable claw (281) and the second movable claw (284) are of a structure shape with straight ends and a circular arc middle; the first movable claw (281) and the second movable claw (284) are spliced to form an arch bridge structure;

A spring (283) is also arranged and connected between the first movable claw (281) and the second movable claw (284); one end of the spring (283) is fixedly arranged in a spring hole (285) of the first movable claw (281), and the other end of the spring (283) is fixedly arranged in a spring hole (285) of the second movable claw (284) corresponding to the spring hole (285) of the first movable claw (281).

2. The grasping device according to claim 1, wherein: toothed belts (286) are respectively arranged on corresponding side surfaces of the first movable claw (281) and the second movable claw (284).

3. The grasping device according to claim 1, wherein: the transverse tail I (206) and the transverse tail II (207) are aligned in a vertical direction.

4. The grasping device according to claim 1, wherein: the second dovetail groove (30) penetrates through the second grabbing arm (31).

5. The grasping device according to claim 1, wherein: the grabbing driving motor (23) is fixedly arranged in the grabbing support (203).

6. The grasping device according to claim 1, wherein: the longitudinal driving motor (16) is fixedly arranged on the longitudinal driving motor support (15), and the longitudinal driving motor support (15) and the fixing frame (17) are arranged and fixed side by side.

7. The grasping device according to claim 6, wherein: a supporting piece (172) is arranged below the fixing frame (17).