CN114074838A - Clamping unit and storage type clamping device - Google Patents

Abstract

The invention relates to the technical field of article conveying, and particularly discloses a clamping unit and a storage type clamping device. The clamping unit comprises clamping jaws, a telescopic driving mechanism and a clamping driving mechanism, wherein the two clamping jaws are arranged in parallel along the K direction at intervals; the telescopic driving mechanism comprises a telescopic driver and two belt telescopic assemblies, the two belt telescopic assemblies are arranged in parallel along the K direction at intervals, the output ends of the belt telescopic assemblies are fixedly connected with the clamping jaws, and the telescopic driver can simultaneously drive the two belt telescopic assemblies to drive the clamping jaws to move along the Y direction; the clamping driving mechanism comprises a clamping driver and a belt clamping assembly, the two belt telescopic assemblies are connected to the output end of the belt clamping assembly, and the clamping driver can drive the belt clamping assembly to drive the two belt telescopic assemblies to move towards or away from each other along K so that the two clamping jaws move towards or away from each other along K. The clamping unit is simple in structure, convenient to install, free of installing a drag chain, small in overall weight and good in safety.

Description

Clamping unit and storage type clamping device

Technical Field

The invention relates to the technical field of article conveying, in particular to a clamping unit and a storage type clamping device.

Background

In order to achieve automatic picking and placing of an article and provide operation efficiency, as shown in fig. 1, the conventional picking and placing mechanism includes a sensor 100, a clamping jaw 200, a clamping driving mechanism 300, an extending driving mechanism 400, a supporting frame 500 and a push rod 600, wherein when an article picking and placing action is performed, the sensor 100 is used for detecting the length of the article to ensure that the article picking and placing is correct; when the article clamping action is executed, the clamping driving mechanism 300 realizes the opposite and reverse movement of the two clamping jaws 200 through the cooperation of the gear and the rack, and the extending driving mechanism 400 drives the clamping driving mechanism 300 to move and drives the clamping jaws 200 to extend or retract; when the article placing action is executed, when the number of the articles on the supporting frame 500 is multiple, the clamping jaws 200 clamp the outermost article, the push rod 600 pushes out to press against the innermost article, and the push rod 600 and the clamping jaws 200 are matched to realize the article placing action.

The existing clamping mechanism has the following problems: 1) the gear and rack matching in the clamping driving mechanism 300 has high requirements on the installation precision, so that the whole machine is difficult to install, and the weight of the whole machine is easily increased by the gear and rack; 2) the clamping drive mechanism 300 moves with the clamping jaw 200, requiring a tow chain to be installed to store the motor wires, taking up space, and increasing overall machine weight and cost, presenting a safety risk.

Therefore, a gripping unit is needed to solve the above problems.

Disclosure of Invention

The clamping unit is simple in structure, convenient to install, free of a drag chain, small in overall weight and good in safety.

Another object of the present invention is to provide a storage type clamping device, which is convenient to install, does not need to install a drag chain, has a light weight, and has good safety.

In order to realize the purpose, the following technical scheme is provided:

in one aspect, there is provided a gripping unit including:

the two clamping jaws are arranged in parallel along the K direction at intervals;

the telescopic driving mechanism comprises a telescopic driver and belt telescopic assemblies, the two belt telescopic assemblies are arranged in parallel along the K direction at intervals, the output ends of the belt telescopic assemblies are fixedly connected with the clamping jaws, and the telescopic driver can simultaneously drive the two belt telescopic assemblies to drive the clamping jaws to move along the Y direction;

the clamping driving mechanism comprises a clamping driver and a belt clamping assembly, wherein the belt telescopic assembly is connected to the output end of the belt clamping assembly, the clamping driver can drive the belt clamping assembly to drive the belt telescopic assembly to move in opposite directions or in opposite directions along K, so that the clamping jaw moves in opposite directions or in opposite directions along K.

As an alternative to the gripping unit, the belt clamping assembly is disposed perpendicular to the belt stretching assembly, and the belt clamping assembly is supported below a middle position of the belt stretching assembly.

As the alternative of getting the unit, flexible actuating mechanism still includes the pivot, two the belt telescopic component connect respectively in the both ends of pivot, flexible driver connect in the intermediate position of pivot, flexible driver can drive the pivot is rotated, with the simultaneous drive two the belt telescopic component drives the clamping jaw is along Y to removing.

As the alternative of getting the unit, the flexible subassembly of belt includes flexible action wheel, flexible from driving wheel and flexible drive belt, flexible action wheel with the pivot is passed through spline transmission and is connected, flexible from the driving wheel with flexible action wheel sets up to the interval along Y, flexible drive belt is around establishing flexible action wheel with it is flexible from the driving wheel on, just the clamping jaw is fixed on the flexible drive belt, flexible driver can drive the pivot is rotated, in order to drive flexible action wheel rotates.

As an alternative of the clamping unit, the rotating shaft extends along the direction K, the belt stretching assembly further comprises a clamping jaw support, the clamping jaw support is mounted on the rotating shaft and can move along the direction K relative to the rotating shaft, and the clamping jaw is movably arranged on the clamping jaw support along the direction Y.

As an alternative to the gripping unit, the telescopic driving mechanism further comprises a telescopic guide rail fixed on the clamping jaw support and extending along the Y direction, and the clamping jaw is in sliding fit with the telescopic guide rail.

As the alternative of getting the unit, the flexible subassembly of belt still includes flexible tensioning seat, flexible tensioning seat detachably fixes on the clamping jaw supports, and it is in the mounted position on the clamping jaw supports is adjustable along Y, it is flexible to be in from the driving wheel rotationally set up on the flexible tensioning seat.

As an alternative of the clamping unit, the clamping driving mechanism further comprises a support and a clamping guide rail arranged in parallel with the rotating shaft, the lower end of the support is in sliding fit with the clamping guide rail, the upper end of the support is fixedly connected with the clamping jaw support, and the clamping driver can drive the support to move along the clamping guide rail, so that the clamping jaw support moves along the rotating shaft.

As the alternative of getting the unit, belt clamping component is including pressing from both sides tight action wheel, pressing from both sides tight from driving wheel and pressing from both sides tight drive belt, press from both sides tight action wheel with press from both sides tight from driving wheel along K to the interval setting, press from both sides tight drive belt around establishing press from both sides tight action wheel with press from both sides tightly from driving wheel on, the support is fixed press from both sides tight drive belt on, press from both sides tight driver and can drive press from both sides tight action wheel and rotate, so that press from both sides tight drive belt and rotate the drive the support is to removing along K.

In another aspect, there is provided a storage type gripping apparatus including the gripping unit as described above as a frame unit on which the gripping unit is provided.

Compared with the prior art, the invention has the beneficial effects that:

the clamping unit provided by the invention comprises the clamping jaws, the telescopic driving mechanism and the clamping driving mechanism, the clamping jaws extend out or retract through the belt telescopic assembly of the telescopic driving mechanism, and the two clamping jaws are clamped or separated through the belt clamping assembly of the clamping driving mechanism.

The storage type clamping device provided by the invention is convenient to mount, does not need to mount a drag chain, and has small overall weight and good safety by applying the clamping unit.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

FIG. 1 is a schematic view of a prior art gripping mechanism;

fig. 2 is a schematic structural view illustrating an opened state of a door panel of a storage type gripping device according to an embodiment of the present invention;

fig. 3 is a schematic structural view illustrating a closed state of a door panel of a storage type gripping device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a frame unit according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a gripping unit according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a cache unit according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a rotary bin gate unit according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram of a memory cell according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a push rod unit according to an embodiment of the present invention.

Reference numerals:

100-item

1-a frame unit; 11-a rear substrate; 12-side plates; 13-an upper connecting plate; 14-a base substrate;

2-a gripping unit; 21-a clamping jaw;

22-a telescopic drive mechanism; 221-telescoping driver; 222-a shaft; 223-a belt retractor assembly; 2231-telescopic driving wheel; 2232-a telescopic driven wheel; 2233-telescopic belts; 2234-jaw support; 2235-a telescopic tensioning seat; 224-telescoping rail;

23-a clamping drive mechanism; 231-a clamping actuator; 232-a scaffold; 233-a belt clamping assembly; 2331-grip capstan; 2332-grip driven wheel; 2333-clamping the belt; 2334-a support plate; 234-clamping rail;

3-a cache unit; 31-a cache driver; 32-a cache board; 33-buffer belt drive assembly; 331-cache driving wheel; 332-cache slave wheels; 333-buffer drive belt; 334-a drive plate; 335-buffer tension seat; 34-cache rail; 35-a buffer slider;

4-rotating the bin gate unit; 41-a rotary drive; 42-bin gate panel; 43-bin gate shaft; 44-bin gate limiting plate; 45-mounting seat; 46-bin gate fixing plate; 47-bin gate belt drive assembly;

5-a storage unit; 51-a storage drive; 52-storing the belt drive assembly; 53-drive roll; 54-a driven roller; 55-a conveyor belt; 56-a support plate; 57-storing the tensioning seat; 58-adjusting screw;

6-a pusher unit; 61-a push rod driver; 62-a push rod; 63-a push rod belt drive assembly; 631-push rod drive belt; 632 — a push rod driven wheel; 64-a push rod drive plate; 65-push rod fixing block; 66-a push rod slider; 67-push rod guide.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", "front", "rear", and the like are used in the orientations and positional relationships shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 2 to 3, the present embodiment provides a storage type gripping apparatus including a frame unit 1, a gripping unit 2, a buffer unit 3, a rotary gate unit 4, a storage unit 5, and a push rod unit 6.

In this embodiment, a storage chamber having a loading port and a discharge port is formed in the frame unit 1, the loading port being located at the upper end of the storage chamber, and the discharge port being located at the front end of the storage chamber. The clamping unit 2, the caching unit 3 and the push rod unit 6 are arranged on the frame unit 1 and located above the storage cavity, the clamping unit 2 can clamp articles and prevent the articles 100 from wanting the caching unit 3, and the output end of the push rod unit 6 can move along the Y direction to push the articles 100 on the caching unit 3 down into the storage cavity through the goods inlet.

This device is got to storage formula clamp through setting up frame unit 1 that has the storage chamber, getting unit 2, buffer unit 3 and push rod unit 6, has realized getting of article 100 and has put and store integration function, and can realize that the many single times of the same kind of article 100 are got and put to and different article 100 are got and are put many times, once only get goods, sparingly get the goods time, improve the operating efficiency.

In the present embodiment, the storage unit 5 is disposed in the storage chamber for conveying the article 100 in the storage chamber. Specifically, the articles 100 in the storage cavity are positioned on the storage unit 5, and when the articles are stored, the storage unit 5 conveys the articles 100 backwards along the Y direction, so that the storage cavity can continuously receive the articles 100, and the storage capacity of the storage cavity is improved; when taking goods, the storage unit 5 conveys the articles 100 forward along the Y direction, so that the articles 100 in the storage cavity move to the goods outlet of the storage cavity, thereby facilitating the taking of goods and improving the goods taking efficiency.

In the embodiment, the rotary door unit 4 is arranged on the frame unit 1 and located at the delivery port of the storage cavity, in the process of taking goods by the clamping unit 2, the rotary door unit 4 is closed, the clamping unit 2 clamps the goods 100 and places the goods 100 on the cache unit 3, and the cache unit 3 is matched with the push rod unit 6 to transfer the goods 100 on the cache unit 3 to the storage unit 5 through the delivery port; when the articles 100 in the storage unit 5 need to be transferred out, the rotary door unit 4 is opened, and the goods are taken out at the delivery port at one time.

As shown in fig. 4, the frame unit 1 includes a rear base plate 11, a side plate 12, an upper connecting plate 13, and a bottom base plate 14, the length of the upper connecting plate 13 is smaller than that of the side plate 12, and the rear base plate 11, the side plate 12, the upper connecting plate 13, and the bottom base plate 14 form a storage chamber having an upper end and a front end with an opening, wherein the opening of the upper end is a cargo inlet, and the opening of the front end is a cargo outlet. Specifically, the two side plates 12 are arranged in parallel along the direction K at intervals, and the side plates 12 extend along the direction Y; the rear base plate 11 is fixedly connected to the rear end parts of the two side plates 12; two ends of the upper connecting plate 13 are respectively fixedly connected with one side plate 12, and the upper connecting plate 13 is positioned on one side of the upper part of the side plate 12 close to the rear substrate 11; two ends of the bottom substrate 14 are respectively fixedly connected with one side plate 12, and the bottom substrate 14 is located at one side of the bottom of the side plate 12 close to the rear substrate 11.

This frame unit 1 compact structure connects firmly, and the key position sets up constant head tank, locating hole, guarantees size precision through machine tooling, simple to operate, easily guarantees the installation accuracy.

Preferably, the length of the bottom substrate 14 is smaller than that of the side panel 12, and the bottom substrate 14 is also located at a side close to the rear substrate 11.

Illustratively, the upper connecting plate 13 includes a plurality of vertical plates and a flat plate vertically and fixedly connected to the plurality of vertical plates. The plurality of vertical plates are arranged in parallel at intervals along the Y direction, and the flat plates are arranged in parallel with the bottom substrate 14. Wherein the length of the upper connecting plate 13 refers to the length of the flat plate in the Y direction.

As shown in fig. 5, the gripping unit 2 includes two gripping jaws 21, a telescopic driving mechanism 22 and a clamping driving mechanism 23, the two gripping jaws 21 are arranged in parallel along the direction K at intervals, and the telescopic driving mechanism 22 can simultaneously drive the two gripping jaws 21 to move forwards or backwards along the direction Y; the clamping driving mechanism 23 can drive the two clamping jaws 21 to move towards or away from each other along the direction K to clamp the article 100 or release the article 100.

In this embodiment, the clamping driving mechanism 23 is integrally disposed at the middle position of the frame unit 1, the power end of the telescopic driving mechanism 22 is disposed on the rear substrate 11 of the frame unit 1, and the output end of the telescopic driving mechanism 22 extends along the Y direction and is supported by the clamping driving mechanism 23, so that the whole stress of the frame unit 1 is uniform, the stability of the whole device is ensured, and the risk of falling is reduced.

Preferably, the clamping jaws 21 are long rod-shaped, and the gripping ends of the clamping jaws 21 are provided with anti-slip pads to grip the article 100 more stably, preventing the article 100 from falling.

Preferably, the telescopic driving mechanism 22 comprises a telescopic driver 221, a rotating shaft 222, two belt telescopic assemblies 223 and a telescopic guide rail 224, wherein the number of the belt telescopic assemblies 223 is two, each belt telescopic assembly 223 is connected with one clamping jaw 21, and the two belt telescopic assemblies 223 are arranged in parallel along the direction K at intervals. The telescopic driver 221 drives the two belt telescopic assemblies 223 to move simultaneously through the rotating shaft 222.

Optionally, the telescopic driver 221 is a servo motor.

Illustratively, the telescopic driver 221 is fixed on the rear base plate 11, and both ends of the rotating shaft 222 are fixed on the two side plates 12 through bearing seats. The belt retractor 223 is supported by the clamp driving mechanism 23 and the frame unit 1.

The telescopic driving mechanism 22 drives the two clamping jaws 21 to extend forwards or retract backwards along the Y direction through a telescopic driver 221, so that the space occupation is small, the structure is compact, the cost is low, and the synchronism of the two clamping jaws 21 can be ensured.

The clamping driving mechanism 23 can drive the two belt stretching assemblies 223 to move towards or away from each other along the direction K, so that the two clamping jaws 21 move towards or away from each other along the direction K.

Continuing with fig. 5, belt retractor assembly 223 includes a retractable drive pulley 2231, a retractable driven pulley 2232, a retractable drive belt 2233, a jaw support 2234, and a retractable tension mount 2235.

In this embodiment, the telescopic driving wheel 2231 is in transmission connection with the rotating shaft 222 through a spline, that is, the rotating shaft 222 rotates to drive the telescopic driving wheel 2231 to rotate, and the telescopic driving wheel 2231 can move along the axial direction of the rotating shaft 222. The telescopic driven wheel 2232 and the telescopic driving wheel 2231 are arranged at intervals along the Y direction, the telescopic driving belt 2233 is wound on the telescopic driving wheel 2231 and the telescopic driven wheel 2232, and the clamping jaw 21 is fixed on the telescopic driving belt 2233 through a telescopic fixing block. The telescopic driver 221 drives the telescopic driving wheel 2231 to rotate through the rotating shaft 222, and further drives the telescopic driven wheel 2232 and the telescopic driving belt 2233 to rotate, so that the clamping jaw 21 moves along the Y direction.

Preferably, the jaw support 2234 is movably disposed on the shaft 222, i.e., the jaw support 2234 can only move on the shaft 222 and not rotate with the rotation of the shaft 222. The telescopic driving wheel 2231 is rotatably disposed on the jaw support 2234, and the telescopic driving wheel 2231 moves along the rotating shaft 222 together with the jaw support 2234.

Preferably, the telescopic guide rail 224 extends along the Y direction and is fixed on the jaw support 2234, and the jaw 21 is provided with a telescopic slider matched with the telescopic guide rail 224, and the telescopic slider is fixedly connected with the telescopic fixing block, so that the jaw 21 stably moves along the Y direction along the telescopic guide rail 224.

In this embodiment, the telescopic tensioning seat 2235 is detachably fixed on the jaw support 2234, and the mounting position of the telescopic tensioning seat 2235 on the jaw support 2234 is adjustable along the Y direction, and the telescopic driven wheel 2232 is rotatably disposed on the telescopic tensioning seat 2235, and the telescopic tensioning seat 2235 is used for adjusting the position of the telescopic driven wheel 2232 in the Y direction to the tensioning telescopic transmission belt 2233 ensures power transmission.

As shown in fig. 5, the clamping driving mechanism 23 includes two clamping drivers 231, two brackets 232, two belt clamping assemblies 233 and two clamping rails 234, the two brackets 232 are symmetrically disposed along the K direction, each bracket 232 is fixedly connected to a clamping jaw support 2234 of one belt stretching assembly 223, and the clamping driver 231 drives the two brackets 232 to move toward or away from each other along the K direction through the belt clamping assemblies 233, that is, the two belt stretching assemblies 223 are driven to drive the two clamping jaws 21 to move toward or away from each other, so as to clamp the article 100 or release the article 100.

This press from both sides tight actuating mechanism 23 realizes two clamping jaws 21 and moves or move back to back through a clamp driver 231, and the space occupies fewly, compact structure, and belt clamping component 233 transmission, and clamping jaw 21 operation is more stable, guarantees the synchronism of action simultaneously.

Optionally, the jaw driver 231 is a servo motor.

Preferably, the belt clamping assembly 233 is perpendicular to the belt stretching assembly 223, and the belt clamping assembly 233 is supported below the middle position of the belt stretching assembly 223, so that the belt clamping assembly 233 can drive the two belt stretching assemblies 223 to stably move along the direction K.

In this embodiment, the clamping driver 231 is mounted on the side plate 12 of the frame unit 1 by a fixing bracket, the belt clamping unit 233 is fixed on the outer side wall of the side plate 12 by two L-shaped fixing plates, and the bracket 232 is connected with the output end of the belt clamping unit 233.

Preferably, referring to fig. 4 and 3, the side plate 12 is provided with a positioning groove in which the belt clamping assembly 233 is received, and the bracket 232 is located above the belt clamping assembly 233. On one hand, the storage type clamping device has a more compact structure and occupies less space, and the bracket 232 can be prevented from colliding with the side plate 12 when moving along the K direction; on the other hand, the installation stability of the belt clamping assembly 233 can be ensured, and the safety of the whole machine is improved.

Continuing with fig. 5, belt clamp assembly 233 includes a clamp drive pulley 2331, a clamp driven pulley 2332, a clamp drive belt 2333, and a support plate 2334.

In this embodiment, two ends of the supporting plate 2334 are fixedly connected to an L-shaped fixing plate, the supporting plate 2334 extends along the direction K, the driving clamp wheel 2331 and the driven clamp wheel 2332 are disposed at two ends of the supporting plate 2334, and the clamping rail 234 extends along the direction K and is disposed on the supporting plate 2334. The clamp belt 2333 is wound around the clamp driving wheel 2331 and the clamp driven wheel 2332, the two brackets 232 are fixedly connected with two sides of the clamp belt 2333 through clamp fixing blocks, respectively, and when the clamp driving wheel 2333 is driven by the clamp driving wheel 231 to rotate, the two brackets 232 can approach to or separate from each other. In addition, the bottom of the bracket 232 is provided with a clamping slide block, and the clamping slide block is in sliding fit with the clamping guide rail 234, so that the bracket 232 can stably move along the clamping guide rail 234, and the stability of the clamping jaw 21 is ensured.

Preferably, the mounting position of the clamp follower 2332 on the support plate 2334 is adjustable in the direction K to tension the clamp belt 2333 to ensure power transmission.

Optionally, the bracket 232 includes first connecting portion, stand and second connecting portion that fixed connection in proper order, and first connecting portion are the triangle-shaped, and a limit and the clamping jaw of first connecting portion support 2234 fixed connection, guarantee first connecting portion and clamping jaw support 2234's joint strength. One end of the stand column is vertically and fixedly connected with one corner of the first connecting part, the other end of the stand column is vertically and fixedly connected with the second connecting part, and the clamping slide block is fixed on the lower surface of the second connecting part.

As shown in fig. 6, the buffer unit 3 includes a buffer driver 31, a buffer board 32, a buffer belt driving assembly 33, a buffer guide rail 34, and a buffer slider 35.

In this embodiment, the buffer driver 31 is fixed on the rear substrate 11 of the frame unit 1 by a buffer fixing plate, and the buffer driver 31 drives the buffer plate 32 to move in the Y direction by a buffer belt driving assembly 33.

Optionally, the buffer driver 31 is a servo motor.

In this embodiment, on the vertical plate of the upper connecting plate 13 of the frame unit 1 fixed by the buffer guide rail 34, the buffer guide rail 34 extends along the Y direction, and two buffer guide rails 34 are arranged along the K direction to the parallel interval, the buffer slider 35 is fixed on the lower surface of the buffer plate 32, and the buffer slider 35 is in sliding fit with the buffer guide rail 34, so as to ensure that the buffer plate 32 can stably move along the buffer guide rail 34, and ensure the stability of the buffer plate 32.

Preferably, the length of the buffer plate 32 in the Y direction is smaller than the length of the side plate 12, so that the articles 100 on the buffer plate 32 can be transferred to the storage unit 5 by adjusting the position of the buffer plate 32 in the Y direction. The initial position of the buffer plate 32 is located at the foremost end of the frame unit 1 in the Y direction and is shielded above the storage chamber, the clamping jaws 21 place the gripped article 100 on the buffer plate 32, when the article 100 needs to be transferred to the storage unit 5, and the buffer plate 32 moves toward the rear base plate 11, the upper portion of the storage chamber is in an open state, and the pusher unit 6 pushes down the article 100 onto the storage unit 5.

As shown in fig. 6, the buffer belt transmission assembly 33 includes a buffer driving wheel 331, a buffer driven wheel 332, a buffer transmission belt 333 and a driving plate 334, the buffer driving wheel 331 is connected to the output end of the buffer driver 31, the buffer driven wheel 332 is rotatably disposed on the upper connecting plate 13 through a mounting block, the buffer transmission belt 333 is wound around the buffer driving wheel 331 and the buffer driven wheel 332, the driving plate 334 is fixedly connected to the buffer transmission belt 333, and the buffer plate 32 is fixedly connected to the driving plate 334. When the buffer driver 31 drives the buffer transmission belt 333 to rotate, the driving board 334 drives the buffer board 32 to move smoothly along the buffer guide rail 34.

Preferably, the buffer belt transmission assembly 33 further comprises a buffer tensioning seat 335, and the buffer tensioning seat 335 is used for tensioning the buffer belt 333 to ensure power transmission.

As shown in fig. 7, the rotary door unit 4 includes a rotary driver 41, a door plate 42, a door shaft 43, a door stopper plate 44, a mounting seat 45, and a door fixing plate 46.

In the present embodiment, the rotary driver 41 is fixed to the front end of the side plate 12 of the frame unit 1 in the Y direction through the mounting seat 45, the two side plates 12 are each fixedly provided with a door fixing plate 46 at the front end in the Y direction, two ends of the door shaft 43 are respectively rotatably provided on one door fixing plate 46, and the door plate 42 is fixedly connected to the door shaft 43.

Alternatively, the rotary driver 41 is a servo motor.

Further, the rotating bin gate unit 4 further comprises a bin gate belt transmission assembly 47, an output end of the rotating driver 41 is parallel to the bin gate shaft 43, the rotating driver 41 is located in the storage cavity, and the rotating driver 41 drives the bin gate shaft 43 to rotate through the bin gate belt transmission assembly, so as to drive the bin gate plate 42 to rotate to open the storage cavity or close the storage cavity.

As shown in fig. 4 and fig. 3, door belt transmission assembly 47 includes a door driving wheel, a door driven wheel and a door transmission belt, the door driving wheel is fixedly connected with the output end of rotary driver 41 and located outside the storage chamber, the door driven wheel is fixedly connected with door shaft 43, the door transmission belt is wound on the door driving wheel and the door driven wheel, there is driver 41 to drive the door driving wheel to rotate, the door driven wheel is driven to rotate through the door transmission belt, and then drive door shaft 43 to rotate.

The side plate 12 is provided with a long hole extending along the Y direction, and the mounting seat 45 is fixedly mounted at the long hole on the side plate 12 through a fastener, so that the position of the mounting seat 45 in the Y direction can be conveniently adjusted as required, and the distance between the cabin door driving wheel and the cabin door driven wheel can be adjusted to tension the cabin door transmission belt.

In the present embodiment, the door limiting plate 44 is fixed on one side of the upper end of the door panel 42, and is used for limiting the rotation angle of the rotating door panel 42, so as to realize the position positioning when the rotating door panel 42 is closed.

As shown in fig. 8, the storage unit 5 includes a storage drive 51, a storage belt drive assembly 52, a drive roller 53, a driven roller 54, a conveying belt 55, a pallet 56, a storage tension seat 57, and an adjustment screw 58.

In the present embodiment, the storage drive 51 is fixed to the side plate 12 by a storage mounting plate, and the storage drive 51 drives the drive roller 53 to rotate by a storage belt transmission assembly 52. The drive roller 53 is rotatably provided at the rear Y end of the side plate 12, the driven roller 54 is rotatably provided at the front Y end of the side plate 12, and the conveyor belt 55 is wound around the drive roller 53 and the driven roller 54, the conveyor belt 55 being for receiving the article 100 dropped from the buffer plate 32. When the front end Y of the conveyor belt 55 is filled with the article 100, the conveyor belt 55 is rotated in the direction Y toward the rear base plate 11 to move the article 100 to the rear of the storage chamber, and then the front end of the conveyor belt 55 can receive the article 100 again to increase the storage capacity of the storage chamber.

In addition, when goods are taken, the conveying belt 55 is driven to convey the goods 100 to the front end outlet of the storage cavity, so that the goods 100 can be taken out of the storage cavity conveniently, the goods taking time is shortened, and the goods taking efficiency is improved.

Optionally, the storage drive 51 is a servo motor.

Preferably, the pallet 56 is supported between the conveyor belts 55 to support the conveyor belts 55. The pallets 56 are effective to support articles 100 on the conveyor belt 55 for smooth transport as the articles 100 are used on the conveyor belt 55.

Illustratively, the Y rear ends of both side plates 12 are provided with storage tension seats 57, and the drive roller 53 is rotatably provided on the storage tension seats 57.

In order to ensure power transmission of the drive roller 53 and the driven roller 54, a storage tension seat 57 is detachably fixed to the rear end of the side plate 12, and the mounting position thereof on the side plate 12 is adjustable in the Y direction, and the drive roller 53 is rotatably provided on the storage tension seat 57 to enable adjustment of the mounting position of the drive roller 53 on the side plate 12 to tension the conveying belt 55. Illustratively, the storage tension seat 57 is secured to the side plate 12 by fasteners.

In this embodiment, the adjusting screw 58 is used for adjusting the installation position of the storage tension seat 57, an adjusting block is provided on the side plate 12, the adjusting screw 58 is in threaded connection with a threaded hole of the adjusting block, the other end of the adjusting screw 58 abuts against the storage tension seat 57, and the adjusting screw 58 extends in the Y direction. The specific adjustment process is to loosen the fastening piece fastening the storage tension seat 57, then to screw the adjusting screw 58, the adjusting screw 58 pushes the storage tension seat 57 to move along the Y direction, to tension the conveyor belt 55, and then to fix the storage tension seat 57 on the side plate 12 again.

As shown in fig. 9, the push rod unit 6 includes a push rod driver 61, a push rod 62, a push rod belt transmission assembly 63, a push rod driving plate 64, a push rod fixing block 65, a push rod slider 66, and a push rod guide 67.

In this embodiment, the push rod driver 61 is fixed on the rear substrate 11 of the frame unit 1 through the push rod mounting plate, the push rod belt transmission assembly 63 is disposed on the upper connecting plate 13 of the frame unit 1, the push rod 62 is fixed on the output end of the push rod belt transmission assembly 63, and the push rod driver 61 drives the push rod 62 to move along the Y direction through the push rod belt transmission assembly 63, so as to push the articles 100 on the buffer plate 32 to fall onto the conveyor belt 55.

Optionally, the push rod driver 61 is a servo motor.

Preferably, the push rod belt transmission assembly 63 includes a push rod driving wheel (not shown), a push rod driven wheel 632 and a push rod transmission belt 631, the push rod transmission belt 631 is wound on the push rod driving wheel and the push rod driven wheel 632, and the push rod driver 61 drives the push rod driving wheel to rotate so as to drive the push rod transmission belt 631 to rotate. The push rod driving plate 64 is used as an output end of the push rod belt transmission component 63 and is fixed on the push rod transmission belt 631, and the push rod 62 is fixedly connected with the push rod driving plate 64 through the push rod fixing block 65, so that the push rod 62 is driven to move along the Y direction when the push rod transmission belt 631 rotates.

Further, the push rod guide rail 67 is fixed on the upper connecting plate 13 of the frame unit 1, the push rod guide rail 67 extends along the Y direction, the push rod slider 66 is fixed on the lower surface of the push rod fixing block 65, and the push rod slider 66 is in sliding fit with the push rod guide rail 67 to ensure that the push rod 62 can move stably along the push rod guide rail 67.

For convenience of understanding, the storage type gripping apparatus provided in the present embodiment can perform both the storing and taking out actions of the article 100.

When the article 100 needs to be gripped, the buffer plate 32 is at the maximum position in the Y direction, the push rod 62 is at the minimum position in the Y direction, the two clamping jaws 21 are controlled by the gripping unit 2, the article 100 is opened to a specified width along the K direction, then the distance corresponding to the number of the articles 100 extends along the Y direction, the article 100 to be gripped is located between the two clamping jaws 21, the clamping jaws 21 grip the article 100 along the K direction, the clamping jaws 21 retract backwards along the Y direction, and thus the article 100 is placed on the buffer plate 32. When it is desired to store an article 100 on a shelf, the jaws 21 grip the article 100 to extend in the Y direction a distance corresponding to the number of articles 100, and after the article 100 is positioned over the shelf, the two jaws 21 are opened, the article 100 is placed on the shelf, and the jaws 21 are retracted in the Y direction. In this manner, the storage operation of the article 100 is completed. This action may allow for one or more quantities of the same item 100 to be picked up and stored at a single time.

When the article 100 is to be taken out of the shelf, the gripping jaw 21 is controlled by the gripping unit 2 to open to a specified width in the direction K and then to extend a distance corresponding to the number of articles 100 in the positive direction Y, the gripping jaw 21 grips in the direction K to grip one or more articles 100 from the shelf of the article 100, the gripping jaw 21 is retracted to the initial position in the negative direction Y, and the one or more articles 100 are located above the buffer plate 32. At this time, the buffer plate 32 is retracted backward in the Y direction, the jaws 21 are opened in the K direction, the article 100 falls onto the buffer plate 32 of the buffer unit 3, at this time, the pusher 62 is pushed forward in the Y direction to push the article 100 falling onto the buffer plate 32 onto the conveyor belt 55, the conveyor belt 55 is reversed, and one or more articles 100 are transported to the innermost side of the storage unit 5. After this, the apparatus repeats the above operation, and picks up another one or more items 100 and places them on the conveyor belt 55 until the storage unit 5 is full or the picking task is completed. When the storage unit 5 is full or the gripping task is completed, the device moves to a designated delivery port, the rotating door plate 42 is rotated and opened under the control of the rotating door unit 4, the conveying belt 55 rotates forwards to convey one or more articles 100 in the storage unit 5 to the delivery port, and the one or more articles 100 are taken out. The unique design of the storage unit 5 realizes the task of taking out a plurality of one or more articles 100 in quantity at one time, and greatly improves the goods taking efficiency.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A gripping unit, comprising:

the clamping jaws (21) are arranged in parallel along the K direction at intervals;

the telescopic driving mechanism (22) comprises a telescopic driver (221) and belt telescopic assemblies (223), the two belt telescopic assemblies (223) are arranged in parallel along the K direction at intervals, the output ends of the belt telescopic assemblies (223) are fixedly connected with the clamping jaw (21), and the telescopic driver (221) can drive the two belt telescopic assemblies (223) to drive the clamping jaw (21) to move along the Y direction;

press from both sides tight actuating mechanism (23), including pressing from both sides tight driver (231) and belt clamping component (233), two belt telescopic component (223) connect in on the output of belt clamping component (233), press from both sides tight driver (231) can drive belt clamping component (233) drive two belt telescopic component (223) are along K to removing in opposite directions or back of the body mutually, so that two clamping jaw (21) are along K to removing in opposite directions or back of the body mutually.

2. The gripping unit of claim 1, wherein the belt gripping assembly (233) is disposed perpendicular to the belt retractor assembly (223), and the belt gripping assembly (233) is supported below a middle position of the belt retractor assembly (223).

3. The gripping unit of claim 2, wherein the telescopic driving mechanism (22) further comprises a rotating shaft (222), two belt telescopic assemblies (223) are respectively connected to two ends of the rotating shaft (222), the telescopic driver (221) is connected to a middle position of the rotating shaft (222), and the telescopic driver (221) can drive the rotating shaft (222) to rotate so as to drive the two belt telescopic assemblies (223) to drive the clamping jaw (21) to move along the Y direction.

4. The clamping unit as claimed in claim 3, wherein the belt stretching assembly (223) comprises a stretching driving wheel (2231), a stretching driven wheel (2232) and a stretching transmission belt (2233), the stretching driving wheel (2231) is connected with the rotating shaft (222) through spline transmission, the stretching driven wheel (2232) and the stretching driving wheel (2231) are arranged at intervals along the Y direction, the stretching transmission belt (2233) is wound on the stretching driving wheel (2231) and the stretching driven wheel (2232), the clamping jaw (21) is fixed on the stretching transmission belt (2233), and the stretching driver (221) can drive the rotating shaft (222) to rotate so as to drive the stretching driving wheel (2231) to rotate.

5. The gripping unit of claim 4, wherein the shaft (222) extends in the direction K, the belt retraction assembly (223) further comprising a jaw support (2234), the jaw support (2234) being mounted on the shaft (222) and being movable in the direction K relative to the shaft (222), the jaw (21) being movably arranged in the direction Y on the jaw support (2234).

6. Gripping unit according to claim 5, wherein the telescopic drive mechanism (22) further comprises a telescopic guide (224), the telescopic guide (224) being fixed on the jaw support (2234) and extending in the Y-direction, the jaws (21) being slidingly engaged with the telescopic guide (224).

7. The gripping unit of claim 5, characterized in that the belt retractor assembly (223) further comprises a telescopic tensioning mount (2235), the telescopic tensioning mount (2235) being detachably fixed to the jaw support (2234) and the mounting position thereof on the jaw support (2234) being adjustable in the Y-direction, the telescopic driven wheel (2232) being rotatably arranged on the telescopic tensioning mount (2235).

8. The gripping unit of claim 5, wherein the gripping drive mechanism (23) further comprises a bracket (232) and a gripping rail (234) disposed parallel to the rotating shaft (222), wherein a lower end of the bracket (232) is slidably engaged with the gripping rail (234), an upper end of the bracket (232) is fixedly connected with the jaw support (2234), and the gripping driver (231) can drive the bracket (232) to move along the gripping rail (234) to move the jaw support (2234) along the rotating shaft (222).

9. The gripping unit as claimed in claim 8, wherein the belt clamping assembly (233) comprises a driving clamping wheel (2331), a driven clamping wheel (2332) and a clamping transmission belt (2333), the driving clamping wheel (2331) and the driven clamping wheel (2332) are arranged at intervals along the K direction, the clamping transmission belt (2333) is wound on the driving clamping wheel (2331) and the driven clamping wheel (2332), the support (232) is fixed on the clamping transmission belt (2333), and the clamping driver (231) can drive the driving clamping wheel (2331) to rotate, so that the clamping transmission belt (2333) rotates to drive the support (232) to move along the K direction.

10. A storage gripper comprising a frame unit (1) as claimed in any one of claims 1-9, said gripper unit being arranged on said frame unit (1).

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