CN220765771U - Grabbing device - Google Patents

Abstract

The grabbing device is used for grabbing the tray and comprises a supporting mechanism, a claw mechanism, a pressing mechanism and a lifting mechanism, wherein the claw mechanism, the pressing mechanism and the lifting mechanism are connected to the supporting mechanism; the pressing mechanism comprises a pressing piece which clamps the tray; the lifting mechanism is configured to extend into the bottom wall of the tray held by the claw mechanism to lift the tray after the claw mechanism and the pressing mechanism cooperate to hold the tray. Among the above-mentioned grabbing device, two jack catch in the jack catch mechanism hook one of them tray, and another tray is pushed down to the casting die down, and two jack catch and casting die provide three strong points for a plurality of trays of stacking to cooperate the card to hold a plurality of trays, and lifting mechanism moves to the bottom of tray in order to bear a plurality of trays of stacking simultaneously, improves the stability when jack catch mechanism and pushing down the mechanism snatch the tray, and the automation snatchs a plurality of trays, improves and snatchs efficiency.

Description

Grabbing device

Technical Field

The application relates to the technical field of processing, in particular to a grabbing device.

Background

The existing pallet is transported in the transportation process by adopting a manual transportation mode, and the pallet can be generally only grabbed in each manual transportation process, so that the automation degree is low and the transportation efficiency is low.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a gripping device that can improve the automation of the pallet transportation process, while improving the pallet transportation efficiency.

The embodiment of the application provides a grabbing device, which is used for grabbing a plurality of stacked trays, wherein the side wall of each tray is convexly provided with a protruding part, the protruding part is provided with a first surface and a second surface which are oppositely arranged, the second surface is concavely provided with a limit groove, the grabbing device comprises a supporting mechanism, a claw mechanism, a pressing mechanism and a lifting mechanism, the claw mechanism is movably connected with the supporting mechanism along a first direction, the claw mechanism comprises two claws which are arranged at intervals, and the two claws are configured to extend into the limit groove and prop against the second surface of one tray in the first direction; the pushing mechanism is movably connected to the supporting mechanism along the first direction and is opposite to the jaw mechanism along the first direction, and the pushing mechanism comprises a pushing piece which is configured to be abutted against the first surface of one of the trays in the first direction; the lifting mechanism is slidably connected to the supporting mechanism along a second direction, the first direction is perpendicular to the second direction, and the lifting mechanism is configured to extend into the bottom wall of the tray held by the jaw mechanism to lift the tray after the jaw mechanism and the pushing mechanism are matched to clamp the tray.

The embodiment of the application comprises the following technical effects: among the above-mentioned grabbing device, two jack catchs in the jack catch mechanism stretch into the spacing groove of tray in order to catch one of them tray, and the first surface of another tray is pushed down to the casting die, and two jack catchs and casting die provide three strong points for a plurality of trays of stacking and hold a plurality of trays with the cooperation card, and the mechanism of lifting moves to the bottom of tray in order to bear a plurality of trays of stacking simultaneously, improves the stability when jack catch mechanism and the mechanism of pushing down snatch the tray, and the automation snatchs a plurality of trays, improves and snatchs efficiency.

In some embodiments of the present application, the supporting mechanism includes a first supporting member and a second supporting member, the first supporting member is located the jack catch mechanism with between the pushing member, the one end of second supporting member connect in first supporting member, the other end is followed the second direction is kept away from first supporting member extends and sets up, the jack catch mechanism connect in second supporting member, the pushing mechanism connect in first supporting member, the lifting end of lifting mechanism is located the jack catch mechanism deviates from pushing mechanism's one end.

The embodiment of the application comprises the following technical effects: the first support piece and the second support piece provide supporting points for the claw mechanism, the pressing mechanism and the lifting mechanism, the first support piece improves the moving range of the claw and the pressing piece in the first direction, and the second support piece improves the moving range of the lifting mechanism in the second direction, so that the claw, the pressing piece and the lifting mechanism can be matched to grasp a plurality of trays.

In some embodiments of the present application, the jaw mechanism further includes a first driving member and a first connecting member, the first driving member is connected to the second supporting member near one end of the first supporting member, the first connecting member is connected to the first driving member, two jaws are connected to two ends of the first connecting member opposite in a third direction, each jaw includes a first clamping portion, a second clamping portion and a third clamping portion, one end of the first clamping portion is connected to the first connecting member, one end of the first clamping portion far away from the first connecting member is connected to the second clamping portion, the second clamping portion is far away from the second supporting member in a second direction, one end of the second clamping portion far away from the first clamping portion is connected to the third clamping portion, the third clamping portion is far away from the first clamping portion in a first direction toward the lower pressing mechanism, and the third clamping portion is used for extending into the first groove in a first direction and the third direction.

The embodiment of the application comprises the following technical effects: the third clamping part stretches into the limiting groove, the clamping claw and the protruding part are mutually clamped so that the clamping claw can hook the tray, meanwhile, the stability of the clamping claw mechanism when grabbing the tray is improved by the two clamping claws, the first driving piece drives the first connecting piece and the clamping claw connected with the first connecting piece to hook the tray, and the action of hooking the tray is achieved.

In some embodiments of the present application, the pressing mechanism further includes a second driving member and a second connecting member, the second driving member is connected to the first supporting member and is away from one end of the second supporting member, the second connecting member includes a first connecting portion and a second connecting portion, the first connecting portion is connected to the second driving member, one end of the second connecting portion is connected to the first connecting portion, the other end is along the first direction and is away from the first connecting portion and extends and set up, and the pressing member is connected to one side of the second connecting portion deviating from the first connecting portion.

The embodiment of the application comprises the following technical effects: the second driving piece drives the second connecting piece and the lower pressing piece connected with the second connecting piece to press the tray, so that the tray is pressed.

In some embodiments of the present application, the pressing mechanism further includes a first fixing member and a second fixing member, the first connecting portion is provided with a first adjustment hole, the first connecting portion can move along the second direction relative to the second driving member, the first fixing member is configured to pass through the first adjustment hole to connect the second driving member after the first connecting portion moves to a preset position, the second connecting portion is provided with a second adjustment hole, the pressing member can move along the first direction relative to the first supporting member, and the second fixing member is configured to pass through the pressing member to connect the second connecting portion after the pressing member moves to the preset position.

The embodiment of the application comprises the following technical effects: the first connecting part can move relative to the second driving part to adjust the distance between the second connecting part and the tray, and the pressing part can move relative to the second connecting part to adjust the position between the pressing part and the tray, so that the pressing mechanism is suitable for trays of different types, and the universality of the grabbing device is improved.

In some embodiments of the present application, the hold-down piece includes interconnect's first hold-down part and second hold-down part, first hold-down part connect in second connecting portion, first hold-down part orientation one side of jack catch mechanism is equipped with the holding tank, second hold-down part is located in the holding tank, second hold-down part includes first holding down plate, second holding down plate and third holding down plate, first holding down plate connect in the cell wall of holding tank, the second holding down plate connect in first holding down plate is close to the one end of second connecting portion, the third holding down plate connect in first holding down plate is kept away from the one end of second connecting portion, first holding down plate second holding down plate with the third holding down plate is used for the cooperation to support the bulge of tray.

The embodiment of the application comprises the following technical effects: the first pressing part and the second pressing part which are connected with each other improve the structural strength of the pressing part, and meanwhile, the second pressing part reduces the risk that the second fixing piece contacts with the tray in the process of clamping the tray to scratch the surface of the tray.

In some embodiments of the present application, the second pressing portion further includes a first protection plate and a second protection plate, one end of the first protection plate is connected to the second pressing plate and is away from one end of the first pressing plate, the other end faces the second connection portion is inclined, one end of the second protection plate is connected to the third pressing plate and is away from one end of the first pressing plate, and the other end is away from the second connection portion is inclined.

The embodiment of the application comprises the following technical effects: the first protection plate and the second protection plate reduce the risk that the tray is separated from the second clamping groove in the process of clamping the protruding part by the pressing piece.

In some embodiments of the present application, the lifting mechanism includes a third connecting member, a third driving member and a bearing member, the third connecting member is connected to the second supporting member, the third driving member is connected to a side of the third connecting member away from the second supporting member, the bearing member is connected to the third driving member, and the third driving member is configured to drive the bearing member to move toward the tray along the second direction so that the bearing member supports the tray.

The embodiment of the application comprises the following technical effects: the third driving piece drives the bearing piece that third connecting piece and third connecting piece are connected and lifts a plurality of trays of stacking, improves the stability of tray transportation in-process, and the in-process that the tray was held in casting die and jack catch cooperation card has reduced the bearing piece and has led to the fact the risk of tray damage towards the in-process that the tray removed, improves the life of tray.

In some embodiments of the present application, the gripping device further comprises two first sensing pieces and two second sensing pieces, the two first sensing pieces are connected to the first supporting pieces on two opposite side walls in the third direction, the first sensing pieces are configured to detect the distance between the supporting mechanism and the tray so as to adjust the distance between the clamping jaws and move towards the tray, the first supporting pieces are further provided with through holes, the second sensing pieces are arranged in the through holes, and the second sensing pieces are configured to detect the distance between the supporting mechanism and the tray so as to adjust the distance between the pressing pieces and move towards the tray.

The embodiment of the application comprises the following technical effects: the positions of the tray and the supporting mechanism are sensed through the first sensing piece and the second sensing piece, so that the moving distance of the clamping jaw and the pressing piece to the tray is adjusted, and the automation degree of the grabbing device is improved.

In some embodiments of the present application, the gripping device further includes a transfer member, where the transfer member is connected to one end of the second support member away from the first support member, and the transfer member is used to drive the support mechanism to move to a position of the tray to grip the tray and move the tray to a preset position.

The embodiment of the application comprises the following technical effects: the transfer part can drive the supporting mechanism and the claw mechanism, the pressing mechanism and the lifting mechanism on the supporting mechanism to grasp and put down the tray, so that the flexibility and the automation degree of the grasping device are improved.

Among the above-mentioned grabbing device, two jack catchs in the jack catch mechanism stretch into the spacing groove of tray in order to catch one of them tray, and the first surface of another tray is pushed down to the casting die, and two jack catchs and casting die provide three strong points for a plurality of trays of stacking and hold a plurality of trays with the cooperation card, and the mechanism of lifting moves to the bottom of tray in order to bear a plurality of trays of stacking simultaneously, improves the stability when jack catch mechanism and the mechanism of pushing down snatch the tray, and the automation snatchs a plurality of trays, improves and snatchs efficiency.

Drawings

Fig. 1 is a schematic structural diagram of a gripping device according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a first surface of a tray according to an embodiment of the present application.

Fig. 3 is a schematic structural view of a second surface of a tray according to an embodiment of the present application.

Fig. 4 is a schematic structural view of a supporting mechanism according to an embodiment of the present application.

Fig. 5 is a schematic structural view of a jaw mechanism according to an embodiment of the present application.

Fig. 6 is a schematic structural diagram of a pressing mechanism according to an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a first sensing element and a second sensing element according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of a transfer member according to an embodiment of the present application.

Description of the main reference signs

Gripping device 100

Tray 10

Projection 11

First surface 111

Second surface 112

Limiting groove 1121

Support mechanism 20

First support 21

Through hole 211

Second support 22

Jaw mechanism 30

Jaw 31

First clamping portion 311

Second clamping portion 312

Third holding portion 313

First driving member 32

First connector 33

Depressing mechanism 40

Lower press 41

First hold-down 411

Accommodating groove 4111

Second hold-down portion 412

First lower pressure plate 4121

Second lower pressure plate 4122

Third lower pressure plate 4123

First protection plate 4124

Second protection plate 4125

Second driving member 42

Second connector 43

First connection portion 431

First adjustment aperture 4311

Second connection portion 432

Second adjusting hole 4321

First fixing member 44

Second fixing member 45

Lifting mechanism 50

Third connecting piece 51

Third driving member 52

Bearing 53

First sensing element 60

Second sensing element 70

Transfer unit 80

Tray rack 90

First direction Z

Second direction X

Third direction Y

The following detailed description will further illustrate the application in conjunction with the above-described figures.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments.

It will be understood that when an element is referred to as being "mounted" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items. The terms "vertical," "horizontal," "left," "right," "top," "bottom," and the like are used herein for illustrative purposes only and are not intended to limit the present application.

It will be appreciated that when describing a parallel/perpendicular arrangement of two components, the angle between the two components allows for a tolerance of + -10% relative to standard parallel/perpendicular.

The embodiment of the application provides a grabbing device for snatch a plurality of trays of stacking, every lateral wall protrusion of tray is formed with the bulge, and the bulge is equipped with relative first surface and the second surface that sets up, and the concave spacing groove that is equipped with of second surface. The grabbing device comprises a supporting mechanism, a claw mechanism, a pressing mechanism and a lifting mechanism, wherein the claw mechanism is movably connected to the supporting mechanism along a first direction. The jaw mechanism comprises two jaws which are arranged at intervals, and the two jaws are configured to extend into the limit groove and prop against the second surface of one tray in the first direction. The pressing mechanism is movably connected to the supporting mechanism along a first direction and is arranged opposite to the claw mechanism along the first direction. The hold-down mechanism includes a hold-down member configured to bear against a first surface of one of the trays in a first direction. The lifting mechanism is slidably connected to the supporting mechanism along a second direction, the first direction is perpendicular to the second direction, and the lifting mechanism is configured to extend into the bottom wall of the tray held by the clamping jaw mechanism after the clamping jaw mechanism and the pushing mechanism are matched to clamp the tray so as to lift the tray.

Among the above-mentioned grabbing device, two jack catchs in the jack catch mechanism stretch into the spacing groove of tray in order to catch one of them tray, and the first surface of another tray is pushed down to the casting die, and two jack catchs and casting die provide three strong points for a plurality of trays of stacking and hold a plurality of trays with the cooperation card, and the mechanism of lifting moves to the bottom of tray in order to bear a plurality of trays of stacking simultaneously, improves the stability when jack catch mechanism and the mechanism of pushing down snatch the tray, and the automation snatchs a plurality of trays, improves and snatchs efficiency.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1, fig. 2 and fig. 3 together, the gripping device 100 provided in the embodiment of the present application is configured to grip a plurality of stacked trays 10, wherein a protrusion 11 is formed on a side wall of each tray 10 in a protruding manner, the protrusion 11 is provided with a first surface 111 and a second surface 112 that are disposed opposite to each other, and the second surface 112 is concavely provided with a limiting slot 1121. The gripping device 100 includes a support mechanism 20, a click-on mechanism 30, a pressing mechanism 40, and a lifting mechanism 50, the click-on mechanism 30 being movably connected to the support mechanism 20 in a first direction Z. The jaw mechanism 30 comprises two spaced apart jaws 31, the two jaws 31 being configured to extend into the limit slot 1121 and to abut against the second surface 112 of one of the trays 10 in the first direction Z. The pressing mechanism 40 is movably connected to the supporting mechanism 20 along the first direction Z, and is disposed opposite to the jaw mechanism 30 along the first direction Z. The hold-down mechanism 40 includes a hold-down 41, the hold-down 41 being configured to abut against the first surface 111 of one of the trays 10 in the first direction Z. The lifting mechanism 50 is slidably connected to the supporting mechanism 20 along a second direction X, the first direction Z is perpendicular to the second direction X, and the lifting mechanism 50 is configured to extend into a bottom wall of the tray 10 held by the jaw mechanism 30 to lift the tray 10 after the jaw mechanism 30 and the pressing mechanism 40 cooperate to clamp the tray 10.

In the above-mentioned grabbing device 100, two claws 31 in the claw mechanism 30 extend into the limit groove 1121 of the tray 10 to hook one of the trays 10, the pressing piece 41 presses the first surface 111 of the other tray 10, the two claws 31 and the pressing piece 41 provide three supporting points for the stacked trays 10 to cooperatively clamp the stacked trays 10, and meanwhile, the lifting mechanism 50 moves to the bottom of the tray 10 to bear the stacked trays 10, so that the stability of the claw mechanism 30 and the pressing mechanism 40 when grabbing the tray 10 is improved, the stacked trays 10 are automatically grabbed, and the grabbing efficiency is improved.

Referring to fig. 1 and 4 together, in some embodiments, the support mechanism 20 includes a first support member 21 and a second support member 22, the first support member 21 is disposed between the jaw mechanism 30 and the pressing member 41, one end of the second support member 22 is connected to the first support member 21, and the other end extends away from the first support member 21 along the second direction X. The jaw mechanism 30 is connected to the second support member 22, the pressing mechanism 40 is connected to the first support member 21, and the lifting end of the lifting mechanism 50 is located at an end of the jaw mechanism 30 facing away from the pressing mechanism 40. The first support 21 and the second support 22 provide support points for the jaw mechanism 30, the pressing down mechanism 40 and the lifting mechanism 50, and the first support 21 increases the movable range of the jaw 31 and the pressing down 41 in the first direction Z, and the second support 22 increases the movable range of the lifting mechanism 50 in the second direction X, so that the jaw 31, the pressing down 41 and the lifting mechanism 50 can cooperatively grip a plurality of trays 10.

Referring to fig. 3, 4 and 5, in some embodiments, the jaw mechanism 30 further includes a first driving member 32 and a first connecting member 33, the first driving member 32 is connected to an end of the second supporting member 22 near the first supporting member 21, and the first connecting member 33 is connected to the first driving member 32. Two claws 31 are connected to opposite ends of the first connecting member 33 in the third direction Y, and each claw 31 includes a first holding portion 311, a second holding portion 312, and a third holding portion 313. One end of the first clamping portion 311 is connected with the first connecting piece 33, one end of the first clamping portion 311 away from the first connecting piece 33 is connected with the second clamping portion 312, the second clamping portion 312 extends away from the second supporting piece 22 along the second direction X, one end of the second clamping portion 312 away from the first clamping portion 311 is connected with the third clamping portion 313, the third clamping portion 313 extends towards the pressing mechanism 40 along the first direction Z, the third clamping portion 313 is used for extending into the limiting groove 1121, and the first direction Z, the second direction X and the third direction Y are perpendicular. The third clamping portion 313 extends into the limiting groove 1121, the clamping jaw 31 and the protruding portion 11 are clamped with each other, so that the clamping jaw 31 can hook the tray 10, meanwhile, the two clamping jaws 31 improve stability when the clamping jaw mechanism 30 grabs the tray 10, and the first driving piece 32 drives the first connecting piece 33 and the clamping jaw 31 connected with the first connecting piece 33 to hook the tray 10, so that the action of hooking the tray 10 is achieved.

Referring to fig. 2, 4 and 6, in some embodiments, the pressing mechanism 40 further includes a second driving member 42 and a second connecting member 43, where the second driving member 42 is connected to an end of the first supporting member 21 away from the second supporting member 22. The second connecting piece 43 includes a first connecting portion 431 and a second connecting portion 432, the first connecting portion 431 is connected to the second driving piece 42, one end of the second connecting portion 432 is connected to the first connecting portion 431, the other end extends away from the first connecting portion 431 along the first direction Z, and the pressing piece 41 is connected to one side of the second connecting portion 432 away from the first connecting portion 431. The second driving member 42 drives the second connecting member 43 and the pressing member 41 connected to the second connecting member 43 to press the tray 10, thereby realizing the pressing operation of the tray 10.

With continued reference to fig. 2, 4 and 6, in some embodiments, the pressing mechanism 40 further includes a first fixing member 44 and a second fixing member 45, the first connecting portion 431 is provided with a first adjusting hole 4311, the first connecting portion 431 is movable along the second direction X relative to the second driving member 42, and the first fixing member 44 is configured to connect to the second driving member 42 through the first adjusting hole 4311 after the first connecting portion 431 moves to the preset position. The second connection portion 432 is provided with a second adjustment hole 4321, the lower pressing piece 41 is movable in the first direction Z relative to the first supporting piece 21, and the second fixing piece 45 is configured to connect the second connection portion 432 through the lower pressing piece 41 after the lower pressing piece 41 is moved to a preset position. The first connection portion 431 is movable relative to the second driving member 42 to adjust the distance between the second connection member 43 and the tray 10, and the pressing member 41 is movable relative to the second connection portion 432 to adjust the position between the pressing member 41 and the tray 10, so that the pressing mechanism 40 is adapted to different types of trays 10.

With continued reference to fig. 2, 4 and 6, in some embodiments, the pressing member 41 includes a first pressing portion 411 and a second pressing portion 412 that are connected to each other, the first pressing portion 411 is connected to the second connecting portion 432, a receiving groove 4111 is formed on a side of the first pressing portion 411 facing the jaw mechanism 30, and the second pressing portion 412 is disposed in the receiving groove 4111. The second pressing portion 412 includes a first pressing plate 4121, a second pressing plate 4122, and a third pressing plate 4123, where the first pressing plate 4121 is connected to a groove wall of the accommodating groove 4111, and the second pressing plate 4122 is connected to an end of the first pressing plate 4121 near the second connecting portion 432. The third lower pressure plate 4123 is connected to an end of the first lower pressure plate 4121 away from the second connecting portion 432, and the first lower pressure plate 4121, the second lower pressure plate 4122 and the third lower pressure plate 4123 are used to cooperate to abut against the protruding portion 11 of the tray 10. The first and second pressing portions 411 and 412 connected to each other improve the structural strength of the pressing member 41, while the second pressing portion 412 reduces the risk that the second fixing member 45 contacts the tray 10 during the holding of the tray 10 to scratch the surface of the tray 10.

With continued reference to fig. 2, 4 and 6, in some embodiments, the second pressing portion 412 further includes a first protection plate 4124 and a second protection plate 4125, one end of the first protection plate 4124 is connected to an end of the second pressing plate 4122 away from the first pressing plate 4121, and the other end is disposed obliquely toward the second connecting portion 432. One end of the second protection plate 4125 is connected to one end of the third lower pressure plate 4123 away from the first lower pressure plate 4121, and the other end is disposed obliquely away from the second connection portion 432. The first and second shielding plates 4124 and 4125 reduce the risk that the tray 10 will be separated from the second catching groove during the catching of the projection 11 by the hold-down piece 41. The first and second protection plates 4124 and 4125, which are provided obliquely at the same time, serve as guides to reduce the risk of shifting when the hold-down piece 41 catches the tray 10.

Referring to fig. 1 and 4 together, in some embodiments, the lifting mechanism 50 includes a third connecting member 51, a third driving member 52 and a carrying member 53, wherein the third connecting member 51 is connected to the second supporting member 22, and the third driving member 52 is connected to a side of the third connecting member 51 away from the second supporting member 22. The carrying element 53 is connected to the third driving element 52, and the third driving element 52 is configured to drive the carrying element 53 to move toward the tray 10 along the second direction X so that the carrying element 53 supports the tray 10. The third driving piece 52 drives the third connecting piece 51 and the bearing piece 53 connected with the third connecting piece 51 to lift the plurality of stacked trays 10, stability of the trays 10 in the transportation process is improved, risks of damage to the trays 10 caused in the process that the bearing piece 53 moves towards the trays 10 are reduced in the process that the lower pressing piece 41 and the clamping jaw 31 are matched to clamp the trays 10, and service life of the trays 10 is prolonged.

Referring to fig. 1 and fig. 7 together, in some embodiments, the gripping device 100 further includes two first sensing elements 60 and a second sensing element 70, the two first sensing elements 60 are connected to two opposite sidewalls of the first supporting element 21 in the third direction Y, and the first sensing elements 60 are configured to detect the distance between the supporting mechanism 20 and the tray 10 to adjust the distance that the claw 31 moves toward the tray 10. The first supporting member 21 is further provided with a through hole 211, the second sensing member 70 is disposed in the through hole 211, and the second sensing member 70 is configured to detect a distance between the supporting mechanism 20 and the tray 10 to adjust a distance that the pressing member 41 moves toward the tray 10. The positions of the tray 10 and the supporting mechanism 20 are sensed by the first sensing member 60 and the second sensing member 70, so that the moving distance of the claw 31 and the pressing member 41 to the tray 10 is adjusted, and the automation degree of the gripping device 100 is improved.

Referring to fig. 1 and fig. 8 together, in some embodiments, the gripping device 100 further includes a transfer member 80 and a tray rack 90, wherein the transfer member 80 is connected to an end of the second support member 22 away from the first support member 21, and the tray rack 90 is used for accommodating a plurality of stacked trays 10, so that the transfer member 80 drives the support mechanism 20 to move to the tray rack 90 to grip the trays 10 and move the trays 10 to a predetermined position. The transfer member 80 can drive the supporting mechanism 20 and the jaw mechanism 30, the pressing mechanism 40 and the lifting mechanism 50 on the supporting mechanism 20 to grasp and put down the tray 10, so as to improve the flexibility and the automation degree of the grasping device 100. Alternatively, the transfer member 80 is a robotic arm.

Specifically, when the gripping device 100 needs to grip one tray 10, the transfer member 80 drives the first support member 21 and the second support member 22, and the claw mechanism 30, the pressing mechanism 40, and the lifting mechanism 50 on the first support member 21 and the second support member 22 to move toward the tray 10. After the first sensing element 60 and the second sensing element 70 sense the specific position of the tray 10, the first driving element 32 adjusts the positions of the two claws 31 in the first direction Z, so that the third holding portions 313 on the claws 31 can extend into the limiting slots 1121 of the tray 10. At this time, the second driving member 42 adjusts the position of the hold-down member 41 in the first direction Z so that the hold-down member 41 catches the projection 11 of the tray 10. After the two claws 31 and the hold-down 41 limit the position of the tray 10, the third driving member 52 drives the carrying member 53 to move in the second direction X so that the carrying member 53 extends into the bottom of the tray 10 and lifts the tray 10.

It will be appreciated that when the gripping device 100 needs to grip a plurality of trays 10 stacked in sequence on the tray frame 90, the transfer member 80 drives the first support member 21 and the second support member 22, and the claw mechanism 30, the pressing mechanism 40, and the lifting mechanism 50 on the first support member 21 and the second support member 22 to move toward the tray 10. After the first sensing member 60 and the second sensing member 70 sense specific positions of the uppermost and lowermost trays 10 in the tray frame 90, the first driving member 32 adjusts the positions of the two jaws 31 in the first direction Z so that the third clamping portions 313 of the jaws 31 can extend into the limiting grooves 1121 of the lowermost tray 10. At this time, the second driving member 42 adjusts the position of the hold-down member 41 in the first direction Z so that the hold-down member 41 catches the convex portion 11 of the uppermost tray 10. After the two claws 31 and the hold-down 41 limit the position of the tray 10, the third driving member 52 drives the carrying member 53 to move in the second direction X, so that the carrying member 53 extends into the bottom of the lowermost tray 10 and lifts up the plurality of stacked trays 10.

It will be appreciated by those skilled in the art that the above embodiments are provided for illustration only and not as limitations of the present application, and that suitable modifications and variations of the above embodiments are within the scope of the disclosure of the present application as long as they are within the true spirit of the present application.

Claims (10)

1. A grabbing device for snatch a plurality of trays of piling up, every the lateral wall protrusion of tray is formed with the bulge, the bulge is equipped with relative first surface and the second surface that sets up, the concave spacing groove that is equipped with of second surface, its characterized in that, grabbing device includes:

a support mechanism;

the clamping jaw mechanism is movably connected to the supporting mechanism along a first direction and comprises two clamping jaws which are arranged at intervals, and the two clamping jaws are configured to extend into the limit groove and prop against the second surface of one tray in the first direction;

a hold-down mechanism movably connected to the support mechanism in the first direction and disposed opposite the jaw mechanism in the first direction, the hold-down mechanism including a hold-down member configured to abut against a first surface of one of the trays in the first direction;

and the lifting mechanism is slidably connected to the supporting mechanism along a second direction, the first direction is perpendicular to the second direction, and the lifting mechanism is configured to extend into the bottom wall of the tray held by the jaw mechanism to lift the tray after the jaw mechanism and the pushing mechanism are matched to clamp the tray.

2. The grasping device according to claim 1, wherein: the supporting mechanism comprises a first supporting piece and a second supporting piece, the first supporting piece is arranged between the jaw mechanism and the pressing piece, one end of the second supporting piece is connected with the first supporting piece, the other end of the second supporting piece is far away from the first supporting piece in the second direction and extends, the jaw mechanism is connected with the second supporting piece, the pressing mechanism is connected with the first supporting piece, and the lifting end of the lifting mechanism is located at one end, deviating from the pressing mechanism, of the jaw mechanism.

3. The grasping device according to claim 2, wherein: the claw mechanism further comprises a first driving piece and a first connecting piece, the first driving piece is connected to one end, close to the first supporting piece, of the second supporting piece, the first connecting piece is connected to the first driving piece, two claws are connected to two opposite ends of the first connecting piece in the third direction, each claw comprises a first clamping part, a second clamping part and a third clamping part, one end of the first clamping part is connected with the first connecting piece, one end of the first clamping part, far away from the first connecting piece, is connected with the second clamping part, far away from the second supporting piece in the second direction, is connected with the third clamping part, one end of the second clamping part, far away from the first clamping part, is arranged towards the pressing mechanism in the first direction, and is used for extending into the limiting groove in the first direction, the second direction and the third direction are perpendicular to each other.

4. The grasping device according to claim 2, wherein: the pressing mechanism further comprises a second driving piece and a second connecting piece, the second driving piece is connected to the first supporting piece and is far away from one end of the second supporting piece, the second connecting piece comprises a first connecting portion and a second connecting portion, the first connecting portion is connected to the second driving piece, one end of the second connecting portion is connected to the first connecting portion, the other end of the second connecting portion is far away from the first connecting portion along the first direction and extends, and the pressing piece is connected to one side, deviating from the first connecting portion, of the second connecting portion.

5. The grasping device according to claim 4, wherein: the pressing mechanism further comprises a first fixing piece and a second fixing piece, the first connecting portion is provided with a first adjusting hole, the first connecting portion can move relative to the second driving piece along the second direction, the first fixing piece is configured to penetrate through the first adjusting hole to be connected with the second driving piece after the first connecting portion moves to a preset position, the second connecting portion is provided with a second adjusting hole, the pressing piece can move relative to the first supporting piece along the first direction, and the second fixing piece is configured to penetrate through the pressing piece to be connected with the second connecting portion after the pressing piece moves to the preset position.

6. The grasping device according to claim 5, wherein: the pushing piece comprises a first pushing part and a second pushing part which are connected with each other, the first pushing part is connected with the second connecting part, one side of the first pushing part, which faces the claw mechanism, is provided with a containing groove, the second pushing part is arranged in the containing groove, the second pushing part comprises a first pushing plate, a second pushing plate and a third pushing plate, the first pushing plate is connected with the groove wall of the containing groove, the second pushing plate is connected with one end, close to the second connecting part, of the first pushing plate, the third pushing plate is connected with one end, far away from the second connecting part, of the first pushing plate, and the second pushing plate and the third pushing plate are used for being matched and propped against the protruding part of the tray.

7. The grasping device according to claim 6, wherein: the second pushes down the portion still including first guard plate and second guard plate, the one end of first guard plate connect in the second holding down plate is kept away from the one end of first holding down plate, and the other end orientation the slope of second connecting portion sets up, the one end of second guard plate connect in the third holding down plate is kept away from the one end of first holding down plate, the other end is kept away from the slope of second connecting portion sets up.

8. The grasping device according to claim 2, wherein: the lifting mechanism comprises a third connecting piece, a third driving piece and a bearing piece, wherein the third connecting piece is connected with the second supporting piece, the third driving piece is connected with one side, far away from the second supporting piece, of the third connecting piece, the bearing piece is connected with the third driving piece, and the third driving piece is configured to drive the bearing piece to move towards the tray along the second direction so that the bearing piece supports the tray.

9. A gripping device according to claim 3, characterised in that: the grabbing device further comprises two first sensing pieces and two second sensing pieces, the two first sensing pieces are connected to the first supporting pieces on two opposite side walls of the third direction, the first sensing pieces are configured to detect the distance between the supporting mechanism and the tray so as to adjust the distance between the clamping jaws moving towards the tray, the first supporting pieces are further provided with through holes, the second sensing pieces are arranged in the through holes, and the second sensing pieces are configured to detect the distance between the supporting mechanism and the tray so as to adjust the distance between the pressing piece moving towards the tray.

10. The grasping device according to claim 2, wherein: the grabbing device further comprises a transferring part, the transferring part is connected to one end, far away from the first supporting part, of the second supporting part, and the transferring part is used for driving the supporting mechanism to move to the position of the tray to grab the tray and move the tray to a preset position.