CN212497822U

CN212497822U - Electric gripper and transfer robot

Info

Publication number: CN212497822U
Application number: CN202020843903.7U
Authority: CN
Inventors: 龚林
Original assignee: Guangdong Evolut Robotics Co ltd
Current assignee: Guangdong Evolut Robotics Co ltd
Priority date: 2020-05-19
Filing date: 2020-05-19
Publication date: 2021-02-09
Anticipated expiration: 2030-05-19

Abstract

The utility model discloses an electric mechanical claw and a transfer manipulator, wherein, the electric mechanical claw comprises a shell component which is provided with an opening and an installation cavity communicated with the opening; the push-pull electromagnet is arranged in the installation cavity and is provided with a push-pull rod; the rotating shaft is rotatably arranged in the mounting cavity; one end of the mechanical claw extends out of the opening, the other end of the mechanical claw is positioned in the mounting cavity, and the mechanical claw is hinged with the rotating shaft; one end of the connecting hinge is hinged with the push-pull rod, and the other end of the connecting hinge is hinged with one end of the mechanical claw positioned in the mounting cavity; the first limiting piece is arranged in the mounting cavity; and the second limiting part and the first limiting part are arranged at intervals, and the second limiting part is arranged in the opening. The utility model discloses technical scheme aims at providing an electric mechanical claw that the suitability is strong, the security performance is good, stable in structure, bearing capacity are big and the fault rate is low.

Description

Electric gripper and transfer robot

Technical Field

The utility model relates to a move and carry manipulator technical field, in particular to electric gripper and use this electric gripper move and carry manipulator.

Background

Move and carry the manipulator and be applied to stereoscopic warehouse or other automatic storage cabinets, the gripper is for moving the component of carrying the manipulator, and the gripper stretches out or retracts for the manipulator body, is used for lifting goods shelves when the gripper stretches out in order to realize the access material.

In the prior art, the mechanical claw is extended or retracted by means of compressed air or motor driving.

However, in the process of implementing the technical solution of the present invention in the embodiment of the present application, the inventor of the present application finds that the above-mentioned technology has at least the following technical problems:

the gripper passes through the defect that the suitability is poor that there is the cylinder drive, can't realize in the occasion that does not have compressed air, then needs higher service power through motor drive, and the energy consumption is high and the security performance is poor, and current gripper structure is stable inadequately, and the bearing capacity is little, and the fault rate is high, influences the result of use.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an electric mechanical claw, aim at providing an suitability strong, the security performance is good, stable in structure, bearing capacity are big and the low electric mechanical claw of fault rate.

In order to achieve the above object, the utility model provides an electric gripper for the equipment moves carries the manipulator, electric gripper includes:

the shell assembly is provided with an opening and an installation cavity communicated with the opening;

the push-pull electromagnet is arranged in the installation cavity and is provided with a push-pull rod;

the rotating shaft is rotatably arranged in the mounting cavity;

one end of the mechanical claw extends out of the opening, the other end of the mechanical claw is located in the mounting cavity, and the mechanical claw is hinged with the rotating shaft;

one end of the connecting hinge is hinged with the push-pull rod, and the other end of the connecting hinge is hinged with one end of the mechanical claw, which is positioned in the mounting cavity;

the first limiting piece is arranged in the installation cavity; and

the second limiting piece and the first limiting piece are arranged at intervals, and the second limiting piece is arranged in the opening;

the push-pull rod extends or retracts to drive the mechanical claw to be close to the first limiting piece or the second limiting piece.

In one embodiment, the electromechanical jaw further comprises a spring, one end of the spring is connected to the housing assembly, and the other end of the spring is connected to the end of the mechanical jaw extending out of the opening.

In one embodiment, the mechanical claw comprises a first claw part and a second claw part which are connected, and the first claw part and the second claw part are arranged at an angle;

the first claw part is hinged with the rotating shaft, and one end of the first claw part, which is far away from the second claw part, is hinged with the connecting hinge;

the second claw portion is connected with one end of the spring, which is far away from the shell assembly.

In one embodiment, the first claw part is provided with a first positioning surface, the second claw part is provided with a second positioning surface, the push-pull electromagnet is defined to be powered on and retracted into the push-pull rod to be at a first position, and the push-pull electromagnet is defined to be powered off and extend out of the push-pull rod to be at a second position;

when the push-pull rod is at the first position, the first claw part rotates towards the direction far away from the first limiting piece, the first positioning surface is far away from the first limiting piece, and the second positioning surface is abutted against the second limiting piece;

when the push-pull rod is at the second position, the first claw part rotates towards the direction close to the first limiting piece, the first positioning surface is abutted against the first limiting piece, and the second positioning surface is far away from the second limiting piece.

In one embodiment, the housing assembly comprises:

a front side plate;

the rear side plate and the front side plate are arranged at intervals; and

one end of the connecting plate is connected with the front side plate, and the other end of the connecting plate is connected with the rear side plate;

the front side plate, the rear side plate and the connecting plate are enclosed to form the mounting cavity.

In an embodiment, the housing assembly further includes a fixing plate, the fixing plate is disposed on a side of the connecting plate facing away from the mounting cavity, a spring mounting hole is formed in the connecting plate, and the spring mounting hole communicates the fixing plate and the mounting cavity.

In one embodiment, the two ends of the spring are provided with connecting rings, a first spring support is arranged on one side of the fixing plate facing the mounting cavity, the first spring support is provided with a first connecting hole, one end of the gripper extending out of the opening is provided with a second spring support, the second spring support is provided with a second connecting hole, one connecting ring is sleeved on the first connecting hole, and the other connecting ring is sleeved on the second connecting hole.

In an embodiment, the first limiting member is a limiting rod, one end of the limiting rod is connected with the front side plate, and the other end of the limiting rod is connected with the rear side plate; the second limiting part is a limiting plate, the limiting plate and the connecting plate are arranged at intervals, one end of the limiting plate is connected with the front side plate, and the other end of the limiting plate is connected with the rear side plate.

In an embodiment, the front side plate is provided with a first bearing, the rear side plate is provided with a second bearing at a corresponding position, one end of the rotating shaft is connected with the first bearing, and the other end of the rotating shaft is connected with the second bearing.

The utility model discloses still provide a move and carry manipulator for lifting goods shelves, move and carry the manipulator and include the manipulator body and as aforesaid the electromechanical claw, the electromechanical claw is located the relative both sides of manipulator body.

The technical proposal of the utility model is that the shell component is provided with an installation cavity with an opening and a communicating opening, a push-pull electromagnet is arranged in the installation cavity, the push-pull electromagnet is provided with a push-pull rod, a rotating shaft is rotatablely arranged in the installation cavity, one end of a mechanical claw extends out of the opening, the other end is arranged in the installation cavity, and the mechanical claw is hinged with the rotating shaft, the technical proposal that a first limiting part and a second limiting part are arranged at intervals is also included, the first limiting part is arranged in the installation cavity to play a limiting role, the second limiting part is arranged in the opening to play a limiting role, because the technical means that the mechanical claw is driven by the push-pull rod to extend out or retract so as to be close to the first limiting part or the second limiting part is adopted, the defect of poor applicability of the mechanical claw driven by a cylinder, need higher service power then through motor drive, the energy consumption is high and the security performance is poor, and current gripper structure is stable inadequately, and the bearing capacity is little, and the fault rate is high, influences the technical problem such as result of use, and then has realized that the suitability is strong, the security performance is good, stable in structure, the bearing capacity is big and the technical effect that the fault rate is low.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, 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 structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of an electromechanical gripper according to the present invention;

fig. 2 is a schematic structural diagram of an embodiment of the electromechanical gripper according to the present invention;

fig. 3 is a schematic view of the internal structure of the electric gripper of the present invention;

FIG. 4 is a schematic structural view of the gripper of the present invention;

FIG. 5 is a schematic structural view of the gripper of the present invention;

fig. 6 is a schematic top view of the push-pull rod when the push-pull rod is extended in case of power failure;

FIG. 7 is a schematic sectional view taken along line A-A of FIG. 6;

fig. 8 is a schematic top view of the push-pull rod of the present invention when it is retracted after being powered;

FIG. 9 is a schematic cross-sectional view taken along line B-B of FIG. 8;

fig. 10 is a schematic structural view of an embodiment of a transfer robot according to the present invention;

the reference numbers illustrate:

an electromechanical gripper 100; a housing assembly 10; a front side plate 11; a first bearing 111; a rear side plate 12; a second bearing 121; a connecting plate 13; a fixed plate 14; a first spring support 141; a push-pull electromagnet 20; a push-pull rod 21; a rotating shaft 30; a push-pull rod 21; a rotating shaft 30; a limit snap ring 31; a limit snap ring 31; a gripper 40; a first claw portion 41; a first positioning surface 411; a second claw portion 42; a second positioning surface 421; a second spring support 422; a connecting hinge 50; a first stopper 60; a second stopper 70; a spring 80; and a connection ring 81.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides an electric gripper 100, electric gripper 100 is for moving the component that carries the manipulator, through stretching out or withdrawal of plug-type electro-magnet 20 and then realize that electric gripper 100 closes or opens for the manipulator body, under the state that electric gripper 100 closed, move and carry the manipulator and can reciprocate and contactless goods shelves in three-dimensional goods shelves, under the state that electric gripper 100 opened, move and carry the manipulator and can contact with goods shelves for the lifting perhaps puts down arbitrary goods shelves.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

In an embodiment of the present invention, the electromechanical gripper 100 is used for assembling a transfer robot, as shown in fig. 1, fig. 2 and fig. 3, wherein fig. 1 and fig. 2 are schematic structural diagrams of the electromechanical gripper 100 at different viewing angles, fig. 3 is a schematic internal structural diagram of the electromechanical gripper 100, the electromechanical gripper 100 includes a housing assembly 10, a push-pull electromagnet 20, a rotating shaft 30, a gripper 40, a connecting hinge 50, a first limiting member 60 and a second limiting member 70, wherein the housing assembly 10 is provided with an opening and an installation cavity communicating the opening; the push-pull electromagnet 20 is arranged in the installation cavity, and the push-pull electromagnet 20 is provided with a push-pull rod 21; the rotating shaft 30 is rotatably arranged in the mounting cavity; one end of the mechanical claw 40 extends out of the opening, the other end of the mechanical claw 40 is positioned in the installation cavity, and the mechanical claw 40 is hinged with the rotating shaft 30; one end of the connecting hinge 50 is hinged with the push-pull rod 21, and the other end of the connecting hinge 50 is hinged with one end of the mechanical claw 40 positioned in the installation cavity; the first limiting piece 60 is arranged in the installation cavity; the second limiting member 70 is spaced apart from the first limiting member 60, and the second limiting member 70 is disposed in the opening; the push-pull rod 21 is extended or retracted to drive the gripper 40 to be close to the first limiting member 60 or close to the second limiting member 70.

It is understood that the push-pull electromagnet 20 generates a magnetic field by current according to the distance of electromagnetic induction, so that the push-pull electromagnet 20 has two states of power-on and power-off, and in this embodiment, a pull electromagnet is used, i.e., the push-pull rod 21 is extended when the power is off, and the push-pull rod 21 is retracted when the power is on, so that the push-pull action is performed. The gripper 40 is in a closed state when the push-pull rod 21 is extended, and the gripper 40 is in an open state when the push-pull rod 21 is retracted. The push-pull type electromagnet 20 can be heated due to long-term electrification, the electromagnet can be seriously damaged, the mechanical claw 40 is closed when the mechanical claw moves up and down between the goods shelves according to the actual working state of the transfer manipulator, and the mechanical claw 40 is opened only when the goods shelves need to be lifted or put down. Therefore, the gripper 40 is in a closed state most of the time, so that in the embodiment, a pull-type electromagnet is adopted, and the push-pull rod 21 retracts to drive the gripper 40 to open only when power is supplied, so that the effects of saving power and protecting the electromagnet are achieved. In addition, the push-pull electromagnet 20 has the advantage of low energy consumption compared with a common driving motor, can be driven by a 24V direct-current power supply, is safe in use, and is suitable for occasions without compressed air. In the embodiment, the mechanical claw 40 is hinged to the rotating shaft 30, and a connecting hinge 50 is provided for connecting the mechanical claw 40 and the push-pull rod 21, so that the mechanical claw 40 can be rotated relative to the rotating shaft 30 by extending or retracting the push-pull rod 21, thereby opening or closing the mechanical claw 40.

In the embodiment of the present invention, as shown in fig. 7 or fig. 9, the push-pull electromagnet 20 is horizontally placed at the bottom of the installation cavity, and the push-pull rod 21 retracts or extends in the horizontal direction when power is turned on or off.

The technical scheme of the utility model is that the shell component 10 is provided with an installation cavity with an opening and a communicating opening, the installation cavity is internally provided with the push-pull electromagnet 20, the push-pull electromagnet 20 is provided with a push-pull rod 21, the rotating shaft 30 is rotatably arranged in the installation cavity, one end of the gripper 40 extends out of the opening, the other end of the gripper 40 is arranged in the installation cavity, the gripper 40 is hinged with the rotating shaft 30, the technical scheme is characterized in that a first limiting part 60 and a second limiting part 70 are arranged at intervals, the first limiting part 60 is arranged in the installation cavity to play a limiting role, the second limiting part 70 is arranged in the opening to play a limiting role, and as the technical means that the gripper 40 is driven to be close to the first limiting part 60 or the second limiting part 70 by extending or retracting through the push-pull rod 21 is adopted, the defect of poor applicability of the gripper 40, the mechanical claw 40 has the advantages that the mechanical claw cannot be realized in the situation without compressed air, high service power is needed through motor driving, the energy consumption is high, the safety performance is poor, the structure of the existing mechanical claw is not stable enough, the bearing capacity is small, the failure rate is high, the technical problems of influence on the use effect and the like are solved, and the technical effects of strong applicability, good safety performance, stable structure, large bearing capacity and low failure rate are realized.

In an embodiment of the present invention, as shown in fig. 1, 2, 3, 7 and 9, the electromechanical gripper 100 further includes a spring 80, one end of the spring 80 is connected to the housing assembly 10, and the other end of the spring 80 is connected to the end of the gripper 40 extending out of the opening. When the power is on, the push-pull rod 21 retracts, the push-pull rod 21 drives the connecting hinge 50 to further drive the mechanical claw 40 to rotate, so that the mechanical claw 40 is in an open state, the mechanical claw 40 is far away from the first limiting part 60 and close to the second limiting part 70, and at the moment, the spring 80 is stretched; when the power is off, the push-pull rod 21 extends out, the push-pull rod 21 drives the connecting hinge 50 to further drive the gripper 40 to rotate, so that the gripper 40 is in a closed state, the gripper 40 is far away from the second limiting part 70 and close to the first limiting part 60, the spring 80 is connected with one end, extending out of the opening, of the gripper 40, and the gripper 40 can be quickly reset through the force of the spring 80. The push-pull type electromagnet 20 is only used for driving the mechanical claw 40 to reset, the hidden danger that the mechanical claw 40 cannot reset in time or cannot reset in place when power is lost can occur, and when the mechanical claw 40 cannot reset in time or cannot reset in place, the moving manipulator moves up and down relative to the goods shelf, the mechanical claw 40 can collide with the goods shelf possibly, and the mechanical claw 40 is damaged, so that the spring 80 is added, when the push-pull rod 21 is powered off, the spring 80 can rapidly drive the mechanical claw 40 to reset, and the mechanical claw 40 is prevented from colliding with the goods shelf.

In the embodiment of the present invention, as shown in fig. 4 and 5, the mechanical claw 40 includes a first claw portion 41 and a second claw portion 42 connected to each other, and the first claw portion 41 and the second claw portion 42 are disposed at an angle; the first claw part 41 is hinged with the rotating shaft 30, and one end of the first claw part 41, which is far away from the second claw part 42, is hinged with the connecting hinge 50; the second claw 42 is connected to an end of the spring 80 remote from the housing assembly 10. The first claw part 41 is positioned in the installation cavity and plays a role of hinge connection, the second claw part 42 extends out of the opening and is synchronously closed or opened when the push-pull type electromagnet 20 is powered off or powered on, and in the opening state, the second claw part 42 is contacted with the goods shelf to further lift the goods shelf or put down the goods shelf. In the present embodiment, the angle formed between the first claw portion 41 and the second claw portion 42 is defined as θ, and the angle range of θ is 90 ° < θ < 120 °.

In the embodiment of the present invention, as shown in fig. 4 and 5, the first claw portion 41 has a first positioning surface 411, the second claw portion 42 has a second positioning surface 421, the first position is defined as the position where the push-pull electromagnet 20 retracts into the push-pull rod 21 when the power is turned on, and the second position is defined as the position where the push-pull electromagnet 20 extends out of the push-pull rod 21 when the power is turned off; when the push-pull rod 21 is at the first position, the first claw portion 41 rotates in a direction away from the first limiting member 60, the first positioning surface 411 is away from the first limiting member 60, the second positioning surface 421 abuts against the second limiting member 70, and the schematic structural diagram of the first position is shown in fig. 8 and 9; when the push-pull rod 21 is at the second position, the first claw portion 41 rotates in a direction approaching the first limiting member 60, the first positioning surface 411 abuts against the first limiting member 60, the second positioning surface 421 is away from the second limiting member 70, and the structural schematic diagram of the second position is shown in fig. 6 and 7. The second positioning surface 421 is a flat surface, and the second claw 42 further has a contact surface that contacts the shelf, and the contact surface is parallel to the second positioning surface 421.

In the embodiment of the present invention, as shown in fig. 1 and 2, the housing assembly 10 includes a front side plate 11, a rear side plate 12 and a connecting plate 13, wherein the rear side plate 12 is spaced apart from the front side plate 11; one end of the connecting plate 13 is connected with the front side plate 11, and the other end of the connecting plate 13 is connected with the rear side plate 12; the front side plate 11, the rear side plate 12 and the connecting plate 13 enclose to form a mounting cavity. The front side plate 11, the rear side plate 12 and the connecting plate 13 are flat, and the front side plate 11, the rear side plate 12 and the connecting plate 13 can be fixed in a detachable connection mode or in an integrated forming mode. The push-pull electromagnet 20 is arranged at the bottom of the installation cavity, and the push-pull electromagnet 20 is connected with the front side plate 11 or the rear side plate 12 through a threaded fastener.

In the embodiment of the present invention, as shown in fig. 1 and fig. 2, the housing assembly 10 further includes a fixing plate 14, the fixing plate 14 is disposed on one side of the connecting plate 13, which faces away from the mounting cavity, the connecting plate 13 is provided with a mounting hole for the spring 80, and the mounting hole for the spring 80 communicates with the fixing plate 14 and the mounting cavity. The connecting plate 13 has been seted up the constant head tank towards the one side of fixed plate 14, has seted up the location boss that the position corresponds on the fixed plate 14, and fixed plate 14 realizes the location through the cooperation of this location boss with this constant head tank with connecting plate 13 to realize fixed connection through threaded fastener.

In the embodiment of the present invention, as shown in fig. 1, fig. 2, fig. 3, fig. 7 and fig. 9, the two ends of the spring 80 are provided with the connection rings 81, the fixing plate 14 is provided with a first spring 80 support 141 toward one side of the installation cavity, the first spring 80 support 141 is provided with a first connection hole, one end of the gripper 40 extending out of the opening is provided with a second spring 80 support 422, the second spring 80 support 422 is provided with a second connection hole, one connection ring 81 is sleeved on the first connection hole, and the other connection ring 81 is sleeved on the second connection hole. The connecting ring 81 is connected to the spring 80 by welding or is integrally formed at both ends of the spring 80, the pillar 141 of the first spring 80 is threadedly mounted to the fixing plate 14, and the pillar 422 of the second spring 80 is threadedly mounted to one end of the gripper 40 extending out of the opening, specifically, the second claw portion 42.

In the embodiment of the present invention, as shown in fig. 7 and 9, the first position-limiting member 60 is a position-limiting rod, one end of the position-limiting rod is connected to the front side plate 11, and the other end of the position-limiting rod is connected to the rear side plate 12; the second limiting member 70 is a limiting plate, the limiting plate and the connecting plate 13 are arranged at an interval, one end of the limiting plate is connected with the front side plate 11, and the other end of the limiting plate is connected with the rear side plate 12. The connection of the front side plate 11 or the rear side plate 12 of the limiting rod can be in a detachable mode, such as a threaded connection mode, a clamping connection mode and the like, and can also be in a non-detachable mode, such as a welding mode, an interference fit mode and the like, so that limitation is not required. In the present embodiment, the stopper rod is spaced apart from the rotation shaft 30 and parallel to each other. The limiting plate passes through threaded fastener's mode and is connected with preceding curb plate 11 and posterior lateral plate 12, and the constant head tank has been seted up towards one side of limiting plate to preceding curb plate 11 and posterior lateral plate 12, sets up the location boss that the position corresponds on the limiting plate, and the limiting plate realizes the location through the cooperation of this location boss and this constant head tank with preceding curb plate 11 and posterior lateral plate 12 to realize fixed connection through threaded fastener. The limiting plate has the top surface that realizes the butt with second location face 421, and this top surface is the plane, has improved gripper 40's stability through the butt of second location face 421 with the top surface.

In the embodiment of the present invention, as shown in fig. 1 and fig. 2, the front side plate 11 is provided with a first bearing 111, the corresponding position of the rear side plate 12 is provided with a second bearing 121, one end of the rotating shaft 30 is connected to the first bearing 111, and the other end of the rotating shaft 30 is connected to the second bearing 121. The rotation shaft 30 is connected with the front side plate 11 and the rear side plate 12 through bearings, and rotation sensitivity is improved.

In the embodiment of the present invention, as shown in fig. 1 and fig. 2, the end of the rotating shaft 30 extending out of the first bearing 111 is provided with a limit snap ring 31, and the end of the rotating shaft 30 extending out of the second bearing 121 is provided with a limit snap ring 31. The limit snap ring 31 limits the axial play of the rotary shaft 30 with respect to the first bearing 111 or the second bearing 121.

In the embodiment of the present invention, as shown in fig. 3, fig. 6 and fig. 8, two shaft sleeves are further sleeved on the rotating shaft 30, the two shaft sleeves are located on two opposite sides of the gripper 40, one end of one shaft sleeve abuts against one end face of the gripper 40, the other end of one shaft sleeve abuts against the front side plate 11, one end of the other shaft sleeve abuts against the other end face of the gripper 40, and the other end of the other shaft sleeve abuts against the rear side plate 12. The sleeve functions to protect the rotary shaft 30.

The utility model discloses still provide a move and carry manipulator for the lifting goods shelves, as shown in figure 10, move and carry the manipulator and include the manipulator body and as above-mentioned electromechanical claw 100, electromechanical claw 100 locates the relative both sides of manipulator body. The specific structure of the electric gripper 100 refers to the above embodiments, and since the present transfer robot adopts all the technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.

As shown in the figure, the shelf sequentially passes through the guide rod, the transferring manipulator is arranged close to the shelf, and when articles on a certain layer of shelf need to be stored and taken, the transferring manipulator moves to the upper part of the layer of shelf to lift the shelf above the layer of shelf. In an initial state, the push-pull type electromagnet 20 is powered off, the electric mechanical claw 100 is in a closed state, and the electric mechanical claw 100 can slide on the linear slide rail and does not contact with a goods shelf. Defining the goods shelves as a first layer goods shelf, a second layer goods shelf, a third layer goods shelf … …, an Nth layer goods shelf and an N +1 layer goods shelf from bottom to top in sequence, when articles on the Nth layer goods shelf are to be stored and taken, enabling the transfer manipulator to slide upwards along the linear slide rail to a position between the Nth layer goods shelf and the (N + 1) th layer goods shelf, enabling the push-pull electromagnet 20 to be powered on, enabling the electric mechanical claw 100 to be in an open state, enabling the transfer manipulator to continue to move upwards, lifting the goods shelves above the Nth layer goods shelf to a certain height, wherein the height meets the height of storing and taking goods, and realizing the goods storage and taking through staff or; after the goods are stored and taken, the transfer manipulator slides downwards along the linear slide rail to enable the goods shelves above the N-th layer of goods shelves to descend until the (N + 1) -th layer of goods shelves are in contact with the N-th layer of goods shelves, the push-pull type electromagnet 20 is powered off, the electric mechanical claw 100 is in a closed state, and the electric mechanical claw 100 is not in contact with the goods shelves and continues to descend to the original point.

The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. An electromechanical gripper for assembling a transfer robot, the electromechanical gripper comprising:

the rotating shaft is rotatably arranged in the mounting cavity;

the first limiting piece is arranged in the installation cavity; and

2. The electromechanical jaw of claim 1, further comprising a spring, one end of the spring coupled to the housing assembly and the other end of the spring coupled to an end of the mechanical jaw extending out of the opening.

3. The electromechanical jaw of claim 2, wherein the mechanical jaw comprises a first jaw portion and a second jaw portion connected, the first jaw portion and the second jaw portion being angularly disposed;

4. The electromechanical jaw of claim 3, wherein the first jaw portion has a first detent surface and the second jaw portion has a second detent surface that defines a first position in which the push-pull electromagnet is energized to retract the push-pull rod and a second position in which the push-pull electromagnet is de-energized to extend the push-pull rod;

5. The electromechanical jaw of claim 2, wherein the housing assembly comprises:

a front side plate;

the rear side plate and the front side plate are arranged at intervals; and

6. The electromechanical jaw of claim 5, wherein the housing assembly further comprises a mounting plate disposed on a side of the connecting plate opposite to the mounting cavity, the connecting plate defining a spring mounting hole, the spring mounting hole communicating the mounting plate and the mounting cavity.

7. The electromechanical claw according to claim 6, wherein the spring has two ends provided with coupling rings, a first spring support is provided on a side of the fixing plate facing the mounting cavity, the first spring support is provided with a first coupling hole, a second spring support is provided on an end of the electromechanical claw extending out of the opening, the second spring support is provided with a second coupling hole, one of the coupling rings is fitted over the first coupling hole, and the other coupling ring is fitted over the second coupling hole.

8. The electromechanical jaw of claim 5, wherein the first retaining member is a retaining bar, one end of the retaining bar is connected to the front side plate, and the other end of the retaining bar is connected to the rear side plate; the second limiting part is a limiting plate, the limiting plate and the connecting plate are arranged at intervals, one end of the limiting plate is connected with the front side plate, and the other end of the limiting plate is connected with the rear side plate.

9. The electromechanical jaw of claim 5 wherein said front plate has a first bearing and said rear plate has a second bearing at a corresponding location, said first bearing being connected to one end of said shaft and said second bearing being connected to the other end of said shaft.

10. A transfer robot for lifting a rack, comprising a robot body and electromechanical jaws according to any of claims 1 to 9, the electromechanical jaws being provided on opposite sides of the robot body.