CN210456122U

CN210456122U - Gripping device

Info

Publication number: CN210456122U
Application number: CN201921055734.4U
Authority: CN
Inventors: 韦江华; 林杰; 林智鸣; 赖琪琪; 秦文东; 李铀; 郑特; 钟盛壮; 严建祺; 容振鹏; 林家恒; 池灿淼; 李培安; 王海洋; 徐海华
Original assignee: Guangxi University of Science and Technology
Current assignee: Guangxi University of Science and Technology
Priority date: 2019-07-08
Filing date: 2019-07-08
Publication date: 2020-05-05
Anticipated expiration: 2029-07-08

Abstract

The utility model discloses a gripping device, in particular to a gripping device applied to a stereoscopic warehouse, which is characterized by comprising a longitudinal moving mechanism and a gripping arm, wherein the longitudinal moving mechanism is provided with a longitudinal moving rod; one end of the longitudinal moving rod is provided with a grabbing arm; the grabbing arms grab and place goods; the longitudinal moving mechanism drives the longitudinal moving rod to reciprocate in the longitudinal direction, so that the grabbing arm mounted on the longitudinal moving rod also reciprocates in the longitudinal direction. The utility model has the characteristics of snatch firmly, remove steadily and work efficiency height.

Description

Gripping device

Technical Field

The utility model relates to a gripping device, in particular to a mechanical gripping device which can be applied to a rail roadway stacker of a stereoscopic warehouse; the device comprises a longitudinal moving mechanism and a grabbing arm, wherein the grabbing arm is arranged at one end of a longitudinal moving rod on the longitudinal moving mechanism; the grabbing arm realizes grabbing and placing of goods; the longitudinal moving mechanism drives the longitudinal moving rod to reciprocate in the longitudinal direction, so that the grabbing arm mounted on the longitudinal moving rod also reciprocates in the longitudinal direction.

Background

The stereoscopic warehouse has high space utilization rate and strong warehousing and ex-warehousing capacity, and the stereoscopic warehouse can be convenient for enterprises to implement modern management by combining with a computer for control management, so that the stereoscopic warehouse becomes an indispensable warehousing technology for enterprise logistics and production management and is deeply valued by the enterprises.

The automatic stereoscopic warehouse is a complex automatic system consisting of stereoscopic goods shelves, a rail roadway 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, trays, an adjusting platform, a steel structure platform and the like. The first-class integrated logistics concept is applied, advanced control, bus, communication and information technologies are adopted, and warehouse entry and exit operations are carried out through the coordination action of the devices. But current stereoscopic warehouse mainly still relies on conveyer or manual driving fork truck to the access of goods to realize, and its position that can not automatic adjustment goods, and fork truck or conveyer are more troublesome to the access of the goods that are located the eminence in 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 that snatchs and put the goods.

SUMMERY OF THE UTILITY MODEL

The utility model aims at prior art's defect, and provide one kind and snatch firmly, remove steady and the high grabbing device of work efficiency, this grabbing device mountable is on stereoscopic warehouse's rail tunnel stacker.

In order to realize the purpose of the utility model, the utility model adopts the technical scheme that:

a gripping device comprises a fixed frame, wherein the top of the fixed frame is provided with a guide piece, and the inner top surface of a sliding channel on the guide piece is provided with a longitudinal tail wing;

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 mounted on the longitudinal tail wing in a matching manner, the translational rack is in meshing transmission connection with a longitudinal driving gear mounted below the translational rack, and the longitudinal driving gear is mounted on a longitudinal driving motor;

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

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 installed on the transverse tail wing I in a matching mode;

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

The longitudinal driving gear is driven to rotate by the longitudinal driving motor and drives the longitudinal moving rod to linearly reciprocate 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 which are installed on the grabbing support to reciprocate in the longitudinal direction.

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

As a further improvement, the first arm and the second of snatching are provided with the folder on the below inside wall of arm separately, and align in opposite directions between these two folders. The installation folder can increase the area of contact between the first grabbing arm and the goods and the second grabbing arm, and is stable and firm when grabbing the goods.

As a further improvement of the present invention, the clamping member 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 the position corresponding to the shaft hole of the notch; the connector is inserted into the notch and is hinged through the shaft hole. Adopt hinged joint to do benefit to first movable jaw and second movable jaw and be fan-shaped around the pin joint and open, can effectively snatch circular object.

As a further improvement of the utility model, a spring is also installed and connected between the first movable jaw and the second movable jaw; 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 facilitate the first movable claw and the second movable claw to automatically reset after being opened; simultaneously, can also play limiting displacement to first movable jaw and second movable jaw.

As a further improvement of the present invention, the first movable jaw and the second movable jaw are provided with toothed belts on corresponding sides thereof, respectively. The toothed belt can increase friction force, so that the goods can be grabbed more firmly, and the circular goods can be grabbed more conveniently.

As a further improvement of the utility model, the transverse tail wing I and the transverse tail wing II are aligned oppositely in the vertical direction. Can be convenient for install first arm and the second of snatching and snatch the arm, reduce spatial position. The transverse tail wing I and the transverse tail wing II can play a role in supporting, guiding and sliding. The transverse tail wing I supports the first grabbing arm to freely slide in the transverse direction, and the transverse tail wing II supports the second grabbing arm to freely slide in the transverse direction.

As a further improvement of the present invention, the second dovetail groove penetrates the second grabbing arm. The second dovetail groove can have enough sliding distance on the transverse tail wing II, so that the transverse tail wing II can penetrate through the second grabbing arm.

As a further improvement, the grabbing driving motor is fixedly installed in the grabbing support. The grabbing support is fully utilized, and redundant parts are prevented from being increased, so that the weight of the whole equipment can be reduced, and the material consumption can be saved.

As a further improvement, the longitudinal driving motor is fixedly mounted on the longitudinal driving motor support, and the longitudinal driving motor support is fixed with the fixing frame in a side-by-side manner. Can provide good installation base for the longitudinal driving motor and ensure that the longitudinal driving motor on the installation base runs stably.

As a further improvement of the utility model, a support piece is arranged below the fixing frame. Guide and support piece constitute the mount, and support piece can provide good supporting role for the guide, and can make guide and support piece's supporting plane have certain height, and then makes first arm and the second of snatching snatch and support plane have reasonable height in vertical direction, avoids removing in-process collision supporting plane, causes first arm and the second of snatching the damage of arm.

As a further improvement of the utility model, the grabbing support is in the shape of a U-shaped notch or a square notch. The cross sections of the two ends of the U-shaped notch can be located in the same vertical plane, and the first grabbing arm and the second grabbing arm can be arranged vertically. The corresponding side surfaces of the square notches can be aligned in parallel, and the first grabbing arm and the second grabbing arm can be conveniently installed and distributed. The internal cavity structure can be fully utilized.

The utility model discloses a theory of operation does: the grabbing driving motor drives the transverse driving gear to transmit, and the top and the bottom of the transverse driving gear are respectively and correspondingly meshed with the first grabbing arm and the second grabbing arm in a transmission way; when the transverse driving gear drives the first grabbing arm and the second grabbing arm to move oppositely, when the transverse driving gear drives the transverse driving gear clockwise, the first grabbing arm and the second grabbing arm move oppositely, and the goods are grabbed by the clamping pieces; when the transverse driving gear is in anticlockwise transmission, the first grabbing arm and the second grabbing arm are in separation motion, so that the clamping piece is driven to be separated from the goods, and the placing operation is realized; the longitudinal moving mechanism drives the longitudinal moving rod to reciprocate in the longitudinal direction, and the longitudinal moving rod is provided with a grabbing arm, so that the grabbing arm can also reciprocate in the longitudinal direction; position adjustment can be achieved.

The utility model discloses an equal accessible data connection of motor is to total control panel, realizes computer or panel control. The motor is controlled through an algorithm, and the goods are accurately grabbed.

Compared with the prior art, the utility model, the progress that gains:

1. the utility model adopts a longitudinal moving mechanism and a grabbing arm, wherein the grabbing arm is arranged at one end of a longitudinal moving rod on the longitudinal moving mechanism; the grabbing arm realizes grabbing and placing of goods; the longitudinal moving mechanism drives the longitudinal moving rod to reciprocate in the longitudinal direction, so that the grabbing arm arranged on the longitudinal moving rod also reciprocates in the longitudinal direction, and therefore longitudinal position adjustment is achieved, and goods can be grabbed and placed conveniently. And the utility model discloses can realize the adjustment of vertical direction height and horizontal direction displacement when installing on rail tunnel stacker, thereby make the utility model discloses realize vertical and vertical position adjustment.

2. The grabbing arm of the utility model 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 moving directions of the first grabbing arm and the second grabbing arm to realize different moving directions; when the grabbing driving motor rotates clockwise, the first grabbing arm and the second grabbing arm move oppositely to realize grabbing operation; when snatching driving motor anticlockwise rotation, first snatch and be the motion that breaks away from between the arm with the second, realize putting the operation, be about to the goods and place the assigned position.

3. The utility model discloses a be connected through the cooperation of the vertical dovetail on the longitudinal movement pole between the longitudinal movement pole on the longitudinal movement mechanism and the longitudinal tail wing, this kind of connected mode is firm, can also play spacing effect, can do benefit to the longitudinal movement pole again and slide smoothly on the longitudinal tail wing.

4. The first grabbing arm and the second grabbing arm of the utility model are respectively connected with the transverse tail wing on the grabbing driving motor support in a matching way; the transverse tail wing achieves the limiting effect on the first grabbing arm and the second grabbing arm and can provide good guiding sliding effect for the first grabbing arm and the second grabbing arm; and the first grabbing arm and the second grabbing arm can be well meshed and connected with the transverse driving gear on the grabbing driving motor in a transmission manner.

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 goods can be increased, and the stability and firmness of grabbing the goods are improved; the parallel supporting of the bottom surface of the goods can be realized, namely the clamping pieces are inserted from the gap between the conveying belt and the bottom of the goods, so that the goods can be stably supported. The clamp pieces are oppositely aligned, so that the stability and firmness for grabbing goods can be improved.

6. The clamping piece of the utility model comprises a first movable claw and a second movable claw which are connected by a hinge, so that the first movable claw and the second movable claw are opened in a fan shape below a first grabbing arm or a second grabbing arm, which is beneficial to grabbing round goods; 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 arc shape is favorable for grabbing round goods; moreover, the first movable claw and the second movable claw are provided with toothed belts on the grabbing surface, so that the friction force can be increased, and the firmness and the 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 embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic structural view of a gripping device of the present invention;

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

FIG. 3 is a schematic view of the grasping support coupled to the longitudinal moving bar of FIG. 1;

FIG. 4 is a schematic illustration of the coupling of a first moveable jaw and a second moveable jaw of FIG. 1;

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

element names and serial numbers in the drawings: the device comprises a longitudinal driving motor support 15, a longitudinal driving motor 16, a fixing frame 17, a guide member 171, a support member 172, a sliding channel 173, a longitudinal tail 108, a longitudinal driving gear 19, a longitudinal moving rod 20, a translational rack 21, a longitudinal dovetail groove 22, a grabbing driving motor 23, a grabbing support 203, a transverse driving gear 24, a transverse tail I206, a transverse tail II 207, a first rack 25, a first dovetail groove 26, a first grabbing arm 27, a clamping member 28, a first movable claw 281, a shaft hole 282, a spring 283, a second movable claw 284, a spring hole 285, a toothed belt 286, a notch 287, a connecting head 288, a second rack 29, a second dovetail groove 30 and a second grabbing arm 31.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1 to 5, a grasping apparatus includes a fixed frame 17, a guide member 171 is provided on the top, and a longitudinal tail 108 is provided on the top surface of a sliding channel 173 of the guide member 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 matched and installed on a longitudinal tail wing 108, the translational rack 21 is in meshing transmission connection with a longitudinal driving gear 19 installed below the translational rack, and the longitudinal driving gear 19 is installed on a longitudinal driving motor 16; the grabbing support 203 is fixedly arranged on the transverse end surface of the longitudinal moving rod 20, and is provided with a transverse tail wing I206 at one end and a transverse tail wing 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 matched and installed on the transverse tail I206; 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 meshing transmission connection with a transverse driving gear 24 arranged above the second rack, and the top of the transverse driving gear 24 is in meshing transmission connection with the first rack 25; and the traverse driving gear 24 is fixedly installed on the rotation shaft of the grasping driving motor 23. The longitudinal driving motor 16 drives the longitudinal driving gear 19 to rotate, the longitudinal driving gear 19 is in meshing transmission with the translation rack 21 below the longitudinal moving rod 20, the longitudinal driving gear 19 drives the longitudinal moving rod 20 to linearly reciprocate 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 goods gripped between the first gripper arm 27 and the second gripper 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 mounted on the top of the support member 172. The support member 172 supports and fixes the guide member 171.

As shown in fig. 1 and 3, the lateral tail i 206 and the lateral tail ii 207 are aligned to face each other in the vertical direction. It is advantageous that the lateral centers of the first grasping arm 27 attached to the lateral rear wing i 206 and the second grasping arm 31 attached to the lateral rear wing ii 207 are located in the same vertical plane. The first and

second gripper arms

27, 31 can be moved accurately toward each other.

As shown in fig. 1 and 3, the grasping drive motor 23 is fixedly installed in the grasping support 203. Therefore, the space position of the grabbing support 203 can be fully utilized, and the space structure of the whole equipment can be reduced. Making the structure compact and robust.

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 and the fixing frame 17 are fixedly arranged side by side. When the longitudinal driving motor 16 drives the longitudinal driving gear 19, the longitudinal driving gear 19 can be subjected to a reaction force, and in order to ensure the stable position of the longitudinal driving motor 16, the longitudinal driving gear is fixedly arranged on the longitudinal driving motor support 15 and can provide enough supporting force for the longitudinal driving motor 16 during operation. The longitudinal driving motor 16 can work 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 to a lower portion of the guide 171. The supporting member 172 and the guiding member 171 form the fixing frame 17, and the supporting member 172 enables the guiding member 171 to have a certain height from the supporting plane of the supporting member 172, so that a reasonable gap is formed between the bottom of the first grabbing arm 27 and the supporting plane of the second grabbing arm 31, and the first grabbing arm 27 and the second grabbing arm 31 are prevented from colliding with the supporting plane and being damaged in the moving process.

As shown in fig. 1 and 3, the grasping support 203 has a U-shaped notch or a square notch shape. The cross sections of the two ends of the U-shaped notch can be located in the same vertical plane, and the first grabbing arm and the second grabbing arm can be arranged vertically. The corresponding side surfaces of the square notches can be aligned in parallel, and the first grabbing arm and the second grabbing arm can be conveniently installed and distributed. The internal cavity structure can be fully utilized.

As shown in fig. 1, the first and

second gripper arms

27 and 31 have a 7-shaped configuration. Can do benefit to first snatch arm 27, second snatch arm 31 atress when snatching the goods stable to can be stable to the goods atress of snatching.

As shown in fig. 1, the second dovetail groove 30 penetrates the bottom of the second catching arm 31. The second dovetail groove can have enough sliding distance on the transverse tail wing II, so that the transverse tail wing II can penetrate through the second grabbing arm. The second dovetail groove 30 can slide on the transverse tail wing 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 goods, the clip members 28 are respectively disposed on the lower inner sidewalls of the first and

second gripper arms

27 and 31, and the two clip members 28 are aligned with each other. The clamping member 28 is evenly stressed when the goods are grabbed.

As shown in fig. 1 and 4, clamp 28 includes a first movable jaw 281 and a second movable jaw 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 jaw 284 is provided with a connector 288; the coupling head 288 is provided with a shaft hole 282 at a position corresponding to the shaft hole 282 of the notch 287; connector 288 is inserted into slot 287 and is hingedly connected via axle hole 282. A notch 287 of the first movable jaw 281 and a connecting head 288 of the second movable jaw 284 are engaged, and the notch 287 and the connecting head 288 are aligned with each other and are sleeved on a connecting shaft arranged at the lower part of the first or second

gripping arm

27 or 31, and the first movable jaw 281 and the second movable jaw 284 are limited against 360 degrees of rotation, i.e., the first movable jaw 281 and the second movable jaw 284 are limited. Not only can ensure that the clamping piece 28 works normally, but also can ensure that the stress is balanced when the goods are grabbed.

First movable jaw 281 and second movable jaw 284 are both straight at two ends and arc in the middle; after being spliced, the first movable claw 281 and the second movable claw 284 form a structure similar to an arch bridge, so that the stress balance can be facilitated; the goods are grabbed stably and firmly.

As shown in FIG. 4, a spring 283 is also mounted between first moveable jaw 281 and second moveable jaw 284; spring 283 has one end fixedly mounted within spring aperture 285 of first moveable jaw 281 and another end fixedly mounted within spring aperture 285 of second moveable jaw 284 that corresponds to spring aperture 285 of first moveable jaw 281. The mounting position of the spring 283 may be close to the connection position of the notch 287 and the connector 288. Spring 283 both acts as a stop for first moveable jaw 281 and second moveable jaw 284 and also acts as a resilient return between first moveable jaw 281 and second moveable jaw 284. Spring apertures 285 are located within first moveable jaw 281 and second moveable jaw 284 such that spring 283 is concealed within first moveable jaw 281 and second moveable jaw 284 when installed, thereby occupying no additional space. Spring 283 provides tension between first moveable jaw 281 and second moveable jaw 284 due to elastic deformation when first moveable jaw 281 and second moveable jaw 284 are fanned out, thereby providing additional tension for grasping a load.

As shown in FIG. 4, first movable jaw 281 and second movable jaw 284 are each provided with a toothed belt 286 on corresponding sides. Toothed belt 286 can increase the effect of frictional force, stability and fastness when improving and snatch the goods.

The utility model discloses a concrete erection joint mode does: the fixed frame 17 and the longitudinal driving motor support 15 are firmly fixed according to requirements, a longitudinal moving rod is inserted into a guide piece at the top of the fixed frame 17, and a longitudinal dovetail groove 22 on the longitudinal moving rod is matched and connected with a longitudinal tail wing 108 at the top in the guide piece; 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 meshing transmission connection with a translation 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 transverse tail I206 at the upper part is matched and slidably connected with a first dovetail groove 26 on a first grabbing arm 27, and the first grabbing arm 27 is meshed and in transmission connection with a transverse driving gear 24 on the 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 matched and slidably connected 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 relative to the second dovetail groove 30 is in meshing transmission connection with the transverse driving gear 24; a clip 28 is provided and mounted below each of the first and second gripper arms 27, 31.

The utility model discloses can install on stereoscopic warehouse's rail tunnel stacker, realize the change of vertical height and horizontal displacement through rail tunnel stacker.

The utility model discloses a concrete working method does: 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 drive motor 23, driving the transverse drive gear 24 to rotate by the grabbing drive motor 23, driving the first grabbing arm 27 and the second grabbing arm 31 to move by the transverse drive gear 24, changing the gap between the clamping pieces 28 on the first grabbing arm 27 and the second grabbing arm 31 to ensure that the clamping pieces 28 on the first grabbing arm 27 and the second grabbing arm 31 respectively have reasonable intervals with the side faces aligned with the goods, and stopping the grabbing drive motor 23; then, the heights of the first grabbing arm 27 and the second grabbing arm 31 are adjusted downwards, the grabbing points for grabbing the goods are adjusted, the grabbing driving motor 23 is driven, the distance between the first grabbing arm 27 and the second grabbing arm 31 is contracted, after the goods are grabbed through the clamping pieces 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 stably grabs the goods under the self-locking function; starting the longitudinal driving motor 16 to drive the longitudinal moving rod 20, driving the longitudinal moving rod 20 to drive the first grabbing arm 27 and the second grabbing arm 31 which grab the goods to move to the safe position, and stopping the longitudinal driving motor 16; the whole body is moved to the position where the goods are placed, the longitudinal driving motor 16 is started/stopped to adjust the position of the goods to the specified position, the height is adjusted downwards, after the goods are well contacted 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, namely the clamping pieces 28 on the first grabbing arm 27 and the second grabbing arm 31 are separated from the goods; the whole body is adjusted and reset to a safe position, and the next grabbing procedure is carried out.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims

1. A gripping device is characterized by comprising

The device comprises a fixed frame (17), a longitudinal moving rod (20), a grabbing support (203), a first grabbing arm (27) and a second grabbing arm (31);

the longitudinal moving rod (20) is provided with a longitudinal dovetail groove (22) on the longitudinal top surface, a translational rack (21) on the longitudinal bottom surface, the longitudinal dovetail groove (22) is installed on the fixed frame (17) in a matching mode, the translational rack (21) is in meshed transmission connection with a longitudinal driving gear (19) installed below the translational rack, and the longitudinal driving gear (19) is installed on the longitudinal driving motor (16);

the grabbing support (203) is fixedly arranged on the transverse end surface of the longitudinal moving rod (20), a transverse tail wing I (206) is arranged at one end of the grabbing support, and a transverse tail wing II (207) is arranged at the other end of the grabbing support;

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 mounted on the transverse tail wing I (206) in a matching mode;

a second grabbing arm (31), the top surface of which 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 wing II (207); the second rack (29) is in meshing transmission connection with a transverse driving gear (24) arranged above the second rack, and the top of the transverse driving gear (24) is in meshing transmission connection with the first rack (25); and the transverse driving gear (24) is fixedly arranged on the rotating shaft of the grabbing driving motor (23).

2. The grasping apparatus according to claim 1, wherein: the fixed frame (17) comprises a guide part (171) and a support part (172), the guide part (171) is installed on the support part (172), and a longitudinal tail wing (108) is arranged on the inner top surface of a sliding channel (173) of the guide part (171); the longitudinal tail fin (108) is matched and connected with the longitudinal dovetail groove (22) of the longitudinal moving rod (20).

3. The grasping apparatus according to claim 1, wherein: clamping pieces (28) are respectively arranged on the inner side walls below the first grabbing arm (27) and the second grabbing arm (31), and the two clamping pieces (28) are aligned oppositely.

4. The grasping apparatus according to claim 3, wherein: said clamp (28) comprising a first movable jaw (281) and a second movable jaw (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 jaw (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 notch (287) and is hinged through the shaft hole (282).

5. The grasping apparatus according to claim 4, wherein: a spring (283) is also installed and connected between the first movable jaw (281) and the second movable jaw (284); one end of the spring (283) is fixedly mounted in a spring hole (285) of the first moveable jaw (281), and the other end thereof is fixedly mounted in a spring hole (285) of the second moveable jaw (284) corresponding to the spring hole (285) of the first moveable jaw (281).

6. The grasping apparatus according to claim 4 or 5, wherein: toothed belts (286) are respectively arranged on corresponding side surfaces of the first movable claw (281) and the second movable claw (284).

7. The grasping apparatus according to claim 1, wherein: the transverse tail I (206) and the transverse tail II (207) are aligned to each other in the vertical direction.

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

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

10. The grasping apparatus 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 fixed frame (17) are arranged and fixed side by side; and a supporting piece (172) is arranged below the fixed frame (17).