CN114074838B - Clamping unit and storage type clamping device - Google Patents

Abstract

The invention relates to the technical field of article conveying, and particularly discloses a clamping unit and a storage type clamping device. The clamping unit comprises clamping jaws, a telescopic driving mechanism and a clamping driving mechanism, wherein the two clamping jaws are arranged in parallel at intervals along the K direction; the telescopic driving mechanism comprises a telescopic driver and belt telescopic assemblies, the two belt telescopic assemblies are arranged in parallel along the K direction at intervals, the output end of the belt telescopic assemblies is fixedly connected with the clamping jaw, and the telescopic driver can drive the two belt telescopic assemblies to drive the clamping jaw to move along the Y direction; the clamping driving mechanism comprises a clamping driver and a belt clamping assembly, wherein the two belt telescopic assemblies are connected to the output end of the belt clamping assembly, and the clamping driver can drive the belt clamping assembly to drive the two belt telescopic assemblies to move towards opposite directions or back to back along K, so that the two clamping jaws can move towards opposite directions or back to back along K. The clamping unit has the advantages of simple structure, convenient installation, no need of installing a drag chain, small overall weight and good safety.

Description

Clamping unit and storage type clamping device

Technical Field

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

Background

In order to achieve automatic picking and placing of articles and provide operation efficiency, as shown in fig. 1, the existing clamping and picking mechanism comprises a sensor 100, a clamping jaw 200, a clamping driving mechanism 300, an extension driving mechanism 400, a supporting frame 500 and a push rod 600, wherein when the picking and placing actions of articles are executed, the sensor 100 is used for detecting the length of the articles and ensuring that the articles are picked and placed correctly; when the article clamping action is executed, the clamping driving mechanism 300 realizes the opposite movement of the two clamping jaws 200 through the matching of the gear and the rack, and the stretching driving mechanism 400 drives the clamping driving mechanism 300 to move and drives the clamping jaws 200 to stretch or retract; when the article placing operation is performed, if the number of articles on the support frame 500 is plural, the holding jaw 200 grips the outermost article, the push rod 600 pushes out and presses against the innermost article, and the push rod 600 and the holding jaw 200 cooperate to perform the article placing operation.

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

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

Disclosure of Invention

The invention aims to provide the clamping unit which is simple in structure, convenient to install, small in overall weight and good in safety, and a drag chain is not required to be installed.

The invention further aims to provide a storage type clamping device, by applying the clamping unit, the storage type clamping device is convenient to install, a drag chain is not required to be installed, the whole machine is small in weight, and the safety is good.

In order to achieve the above object, the following technical scheme is provided:

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

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

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

the clamping driving mechanism comprises a clamping driver and a belt clamping assembly, wherein the two belt stretching assemblies are connected to the output end of the belt clamping assembly, and the clamping driver can drive the belt clamping assembly to drive the two belt stretching assemblies to move towards opposite directions or back to back along K so as to enable the two clamping jaws to move towards opposite directions or back to back along K.

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

As the alternative scheme of clamping the unit, flexible actuating mechanism still includes the pivot, two belt telescopic assembly connect respectively in the both ends of pivot, flexible driver connect in the intermediate position of pivot, flexible driver can drive the pivot rotates to drive simultaneously two belt telescopic assembly drives the clamping jaw moves along Y.

As the alternative scheme of clamping unit, the flexible subassembly of belt includes flexible action wheel, flexible follow driving wheel and flexible drive belt, flexible action wheel with the pivot passes through spline transmission and is connected, flexible follow driving wheel with flexible action wheel sets up along Y to the interval, flexible drive belt winds flexible action wheel with flexible follow the epaxial, just the clamping jaw is fixed flexible drive belt, flexible driver can drive the pivot rotates, in order to drive flexible action wheel rotates.

As an alternative to the gripping unit, the shaft extends in the K direction, and the belt retraction assembly further includes a jaw support mounted on the shaft and movable in the K direction relative to the shaft, the jaw being movably disposed on the jaw support in the Y direction.

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

As an alternative to the gripping unit, the belt stretching assembly further comprises a stretching tensioning seat, the stretching tensioning seat is detachably fixed on the clamping jaw support, the installation position of the stretching tensioning seat on the clamping jaw support is adjustable along the Y direction, and the stretching driven wheel is rotatably arranged on the stretching tensioning seat.

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

As an alternative scheme of the clamping unit, the belt clamping assembly comprises a clamping driving wheel, a clamping driven wheel and a clamping driving belt, wherein the clamping driving wheel and the clamping driven wheel are arranged at intervals along the direction K, the clamping driving belt is wound on the clamping driving wheel and the clamping driven wheel, the support is fixed on the clamping driving belt, and the clamping driver can drive the clamping driving wheel to rotate so that the clamping driving belt rotates to drive the support to move along the direction K.

In another aspect, there is provided a storage gripping device comprising a frame unit as described above, the gripping unit being provided on the frame unit.

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

the clamping unit comprises clamping jaws, a telescopic driving mechanism and a clamping driving mechanism, the clamping jaws extend or retract through the belt telescopic assembly of the telescopic driving mechanism, the clamping or separating of the two clamping jaws is achieved through the belt clamping assembly of the clamping driving mechanism, the clamping unit is simple in structure, convenient to install, small in overall weight and good in safety, and a drag chain is not required to be installed.

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

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.

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

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

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

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

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

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

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

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

fig. 9 is a schematic structural view of a putter unit according to an embodiment of the present invention.

Reference numerals:

100-article

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

2-a clamping unit; 21-clamping jaw;

22-a telescopic driving mechanism; 221-a telescoping drive; 222-a rotating shaft; 223-belt retraction assembly; 2231-a telescoping drive wheel; 2232-telescoping driven wheel; 2233-telescoping drive belt; 2234-jaw support; 2235-telescoping tensioner; 224—telescoping rail;

23-a clamping drive mechanism; 231-a clamping driver; 232-a bracket; 233-a belt clamping assembly; 2331-clamping drive wheel; 2332-clamping driven wheel; 2333-clamping the drive belt; 2334-a support plate; 234-clamping the guide rail;

a 3-cache unit; 31-a cache driver; 32-a cache plate; 33-a buffer belt drive assembly; 331-buffering a driving wheel; 332-buffering the driven wheel; 333-buffer drive belt; 334-drive plate; 335-buffering a tensioning seat; 34-buffer rails; 35-caching the slider;

4-a rotary bin gate unit; 41-a rotary drive; 42-bin door panels; 43-door spindle; 44-bin gate opening plate; 45-mounting seats; 46-bin gate fixing plates; 47-door belt drive assembly;

a 5-memory unit; 51-a storage drive; 52-a storage belt drive assembly; 53-drive roll; 54-driven roller; 55-conveying belt; 56-supporting plates; 57-store the tensioning mount; 58-adjusting the screw;

6-a push rod unit; 61-push rod driver; 62-pushing rod; 63-a push rod belt drive assembly; 631-a push rod drive belt; 632-push rod driven wheel; 64-pushrod drive plate; 65-a push rod fixing block; 66-push rod slide block; 67-push rod guide rail.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be further described by the following detailed description with reference to the accompanying drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", "front", "rear", and the like are orientation or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

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

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

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

In the present embodiment, the storage unit 5 is provided in the storage chamber for conveying the article 100 in the storage chamber. Specifically, when the articles 100 in the storage cavity are positioned on the storage unit 5 and are in stock, the storage unit 5 conveys the articles 100 backwards along the Y direction, so that the storage cavity can continuously receive the articles 100, and the storage capacity of the storage cavity is improved; when picking up goods, the storage unit 5 conveys the goods 100 forwards along the Y direction, so that the goods 100 in the storage cavity can be moved to a goods outlet of the storage cavity, the goods can be picked up conveniently, and the goods picking efficiency is improved.

In this embodiment, the rotary door unit 4 is disposed on the frame unit 1 and is located at the delivery port of the storage cavity, and during the process of taking the goods by the clamping unit 2, the rotary door unit 4 is closed, the clamping unit 2 clamps the goods 100 and places the goods 100 on the buffer unit 3, and the buffer unit 3 cooperates with the push rod unit 6 to transfer the goods 100 on the buffer unit 3 to the storage unit 5 through the delivery port; when the articles 100 in the storage unit 5 need to be transferred out, the rotary bin gate unit 4 is opened, so that the articles can be taken out at the shipment port at one time.

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

The frame unit 1 is compact in structure, stable in connection, convenient to install and easy to guarantee the installation accuracy, and the key positions are provided with the positioning grooves and the positioning holes, and the dimensional accuracy is guaranteed through machining.

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

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

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

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

Preferably, the clamping jaw 21 has a long rod shape, and the clamping end of the clamping jaw 21 is provided with an anti-slip pad to more stably clamp the article 100, preventing the article 100 from falling.

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

Optionally, the telescoping drive 221 is a servo motor.

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

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

The clamp drive mechanism 23 is capable of driving the two belt retractor assemblies 223 in a direction K toward or away from each other to move the two jaws 21 in a direction K toward or away from each other.

As further shown in fig. 5, the belt retraction assembly 223 includes a retraction drive pulley 2231, a retraction driven pulley 2232, a retraction drive belt 2233, a jaw support 2234, and a retraction tension seat 2235.

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

Preferably, the jaw support 2234 is movably disposed on the rotation shaft 222, i.e., the jaw support 2234 can only move on the rotation shaft 222 and not rotate with rotation of the rotation shaft 222. The telescoping drive wheel 2231 is rotatably disposed on the jaw support 2234, and the telescoping drive wheel 2231 moves along the rotational axis 222 along with the jaw support 2234.

Preferably, the telescopic guide rail 224 is fixed on the clamping jaw support 2234 in a manner of extending along the Y direction, and the clamping jaw 21 is provided with a telescopic sliding block matched with the telescopic guide rail 224, and the telescopic sliding block is fixedly connected with the telescopic fixed block, so that the clamping jaw 21 moves along the telescopic guide rail 224 stably along the Y direction.

In this embodiment, the telescopic tensioning seat 2235 is detachably fixed on the jaw support 2234, the installation position of the telescopic tensioning seat 2235 on the jaw support 2234 is adjustable along the Y direction, the telescopic driven wheel 2232 is rotatably arranged on the telescopic tensioning seat 2235, and the telescopic tensioning seat 2235 is used for adjusting the position of the telescopic driven wheel 2232 along the Y direction so as to tension the telescopic transmission belt 2233 and ensure power transmission.

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

The clamping driving mechanism 23 realizes the opposite movement or the opposite movement of the two clamping jaws 21 through one clamping driver 231, so that the space occupation is small, the structure is compact, the belt clamping assembly 233 is driven, the clamping jaws 21 run more stably, and the action synchronism is ensured.

Optionally, the jaw driver 231 is a servo motor.

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

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

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

As further shown in fig. 5, the belt clamping assembly 233 includes a clamping driving pulley 2331, a clamping driven pulley 2332, a clamping belt 2333, and a support plate 2334.

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

Preferably, the mounting position of the clamping driven pulley 2332 on the support plate 2334 is adjustable in the K-direction to tension the clamping drive belt 2333, ensuring power transmission.

Optionally, the bracket 232 includes a first connecting portion, an upright post, and a second connecting portion that are sequentially and fixedly connected, where the first connecting portion is in a triangle shape, and one side of the first connecting portion is fixedly connected with the jaw support 2234, so as to ensure the connection strength between the first connecting portion and the jaw support 2234. One end of the upright post is vertically and fixedly connected with one corner of the first connecting part, the other end of the upright post is vertically and fixedly connected with the second connecting part, and the clamping sliding block is fixed on the lower surface of the second connecting part.

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

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

Optionally, the buffer driver 31 is a servo motor.

In this embodiment, on the vertical plate of the upper connection plate 13 of the frame unit 1 where the buffer guide rails 34 are fixed, the buffer guide rails 34 extend along the Y direction, and the two buffer guide rails 34 are arranged at intervals in parallel along the K direction, the buffer slide blocks 35 are fixed on the lower surface of the buffer plate 32, and the buffer slide blocks 35 are in sliding fit with the buffer guide rails 34, so that the buffer plate 32 can be ensured to stably move along the buffer guide rails 34, and the stability of the buffer plate 32 is ensured.

Preferably, the length of the buffer board 32 in the Y direction is smaller than the length of the side board 12, so that the articles 100 on the buffer board 32 are transferred to the storage unit 5 by adjusting the position of the buffer board 32 in the Y direction. The initial position of the buffer plate 32 is located at the forefront end of the frame unit 1 in the Y direction and is shielded above the storage cavity, the clamping jaw 21 places the clamped article 100 on the desired buffer plate 32, when the article 100 needs to be transferred to the storage unit 5, the buffer plate 32 moves towards the rear base plate 11, the upper part of the storage cavity is in an open state, and the push rod unit 6 pushes the article 100 down onto the storage unit 5.

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

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

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

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

Alternatively, the rotary drive 41 is a servo motor.

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

As shown in fig. 4 in combination with fig. 3, the door belt transmission assembly 47 includes a door driving wheel, a door driven wheel and a door transmission belt, the door driving wheel is fixedly connected with the output end of the rotary driver 41 and is located at the outer side of the storage cavity, the door driven wheel is fixedly connected with the door shaft 43, the door transmission belt is wound on the door driving wheel and the door driven wheel, the driver 41 drives the door driving wheel to rotate, and the door driven wheel is driven to rotate by the door transmission belt so as to drive the door shaft 43 to rotate.

The side plate 12 is provided with an elongated hole extending along the Y direction, and the mounting seat 45 is fixedly mounted at the elongated hole on the side plate 12 through a fastener so as to adjust the position of the mounting seat 45 along the Y direction according to the requirement, thereby realizing the adjustment of the distance between the driving wheel of the bin gate and the driven wheel of the bin gate and tensioning the driving belt of the bin gate.

In this embodiment, a door opening plate 44 is fixed to one side of the upper end of the door panel 42, for limiting the rotation angle of the door panel 42, and positioning the door panel 42 when closed.

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

In this embodiment, the storage drive 51 is secured to the side plates 12 by a storage mounting plate, and the storage drive 51 drives the drive roller 53 through a storage belt drive assembly 52. A driving roller 53 is rotatably provided at the Y-direction rear end of the side plate 12, a driven roller 54 is rotatably provided at the Y-direction front end of the side plate 12, a conveyor belt 55 is wound around the driving roller 53 and the driven roller 54, and the conveyor belt 55 is for receiving the articles 100 dropped from the buffer plate 32. When the Y-direction front end of the conveyor belt 55 is full of the articles 100, the conveyor belt 55 rotates in the Y-direction toward the rear base plate 11 to move the articles 100 to the rear of the storage chamber, and then the front end of the conveyor belt 55 can receive the articles 100 again, improving the storage capacity of the storage chamber.

In addition, when getting goods, through the transport belt 55 of drive to the front end exit transport article 100 of storage chamber, be convenient for article 100 take out from the storage chamber, shorten the time of getting goods, improve and get goods efficiency.

Alternatively, the storage drive 51 is a servo motor.

Preferably, the pallets 56 are supported between the conveyor belts 55, supporting the conveyor belts 55. The pallet 56 effectively supports the articles 100 on the conveyor belt 55 for smooth conveyance when the articles 100 are used on the conveyor belt 55.

Illustratively, the Y-rearward ends of both side plates 12 are provided with storage tensioning mounts 57, and the drive roller 53 is rotatably disposed on the storage tensioning mounts 57.

In order to ensure power transmission of the driving roller 53 and the driven roller 54, a storage tension seat 57 is detachably fixed to the rear end of the side plate 12, and its installation position on the side plate 12 is adjustable in the Y direction, and the driving roller 53 is rotatably provided on the storage tension seat 57 to achieve adjustment of the installation position of the driving roller 53 on the side plate 12, thereby tensioning the conveyor belt 55. The storage tensioner 57 is illustratively secured to the side plate 12 by fasteners.

In this embodiment, the adjusting screw 58 is used for adjusting the installation position of the storage tensioning seat 57, an adjusting block is arranged on the side plate 12, the adjusting screw 58 is in threaded connection with a threaded hole of the adjusting block, the other end of the adjusting screw 58 is abutted against the storage tensioning seat 57, and the adjusting screw 58 extends along the Y direction. The specific adjustment process is that the fastener for fastening the storage tensioning seat 57 is firstly loosened, then the adjusting screw rod 58 is screwed, the adjusting screw rod 58 pushes the storage tensioning seat 57 to move along the Y direction, the conveyer belt 55 is tensioned, and then the storage tensioning seat 57 is fixed on the side plate 12 again.

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

In the present embodiment, the pusher driver 61 is fixed to the rear base plate 11 of the frame unit 1 through a pusher mounting plate, the pusher belt transmission assembly 63 is provided to the upper connecting plate 13 of the frame unit 1, the pusher 62 is fixed to the output end of the pusher belt transmission assembly 63, and the pusher driver 61 drives the pusher 62 to move in the Y direction through the pusher belt transmission assembly 63 to push the articles 100 on the buffer plate 32 down onto the conveyor belt 55.

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

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

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

For easy understanding, the storage type gripping device provided in this embodiment can realize two actions of storing and taking out the article 100.

When the article 100 needs to be clamped, the buffer plate 32 is at the maximum position in the Y direction, the push rod 62 is at the minimum position in the Y direction, the two clamping jaws 21 are controlled by the clamping unit 2 to be opened to a specified width in the K direction, then extend out by a distance corresponding to the number of articles 100 in the Y direction, the article 100 to be clamped is positioned between the two clamping jaws 21, the clamping jaws 21 clamp the article 100 in the K direction, and the clamping jaws 21 retract backwards in the Y direction, so that the article 100 is placed on the buffer plate 32. When it is desired to store an article 100 on a shelf, the jaws 21 clamp the article 100 a distance extending in the Y-direction a corresponding number of articles 100, the two jaws 21 are opened to hold the article 100 above the shelf, the article 100 is placed on the shelf, and the jaws 21 are retracted in the Y-direction. Thus, the storage operation of the article 100 is completed. This action may enable the gripping and storage of one or more of the same species of articles 100 at a time.

When the articles 100 are to be taken out from the shelves, the clamping jaw 21 is controlled by the clamping unit 2 to be opened to a specified width along the K direction and then to extend out by a distance corresponding to the number of articles 100 along the Y direction, the clamping jaw 21 clamps along the K direction, one or more articles 100 are clamped from the shelves of the articles 100, the clamping jaw 21 returns to the initial position along the Y direction, and one or more articles 100 are positioned above the buffer plate 32. At this time, the buffer plate 32 is retreated backward in the Y direction, the jaws 21 are opened in the K direction, the article 100 falls onto the buffer plate 32 of the buffer unit 3, at this time, the push rod 62 is pushed forward in the Y direction, the article 100 falling onto the buffer plate 32 is pushed onto the conveyor belt 55, the conveyor belt 55 is reversed, and the one or more articles 100 are transported to the innermost side of the storage unit 5. After this is done, the device repeats the above, gripping the other article or articles 100 on the conveyor belt 55 until the storage unit 5 is full or the gripping task is completed. When the storage unit 5 is full or the clamping task is completed, the device moves to a specified delivery port, the rotary door plate 42 is rotated and opened under the control of the rotary door unit 4, the conveying belt 55 rotates forward, one or more articles 100 in the storage unit 5 are sent to the delivery port, and the removal action of one or more articles 100 is completed. The unique design of the storage unit 5 achieves the task of taking out a plurality of one or more articles 100 at a time, and greatly improves the picking efficiency.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (6)

1. A gripping unit, comprising:

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

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

the clamping driving mechanism (23) comprises a clamping driver (231) and a belt clamping assembly (233), wherein the two belt telescopic assemblies (223) are connected to the output end of the belt clamping assembly (233), and the clamping driver (231) can drive the belt clamping assembly (233) to drive the two belt telescopic assemblies (223) to move towards each other or away from each other along the K direction so as to enable the two clamping jaws (21) to move towards each other or away from each other along the K direction;

the belt clamping assembly (233) is arranged perpendicular to the belt telescoping assembly (223), and the belt clamping assembly (233) is supported below the middle position of the belt telescoping assembly (223);

the belt telescopic assembly (223) comprises a clamping jaw support (2234), and the clamping jaw (21) is movably arranged on the clamping jaw support (2234) along the Y direction;

the telescopic driving mechanism (22) further comprises a telescopic guide rail (224), the telescopic guide rail (224) is fixed on the clamping jaw support (2234) and extends along the Y direction, and the clamping jaw (21) is in sliding fit with the telescopic guide rail (224);

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

the belt telescopic assembly (223) comprises a telescopic driving wheel (2231), a telescopic driven wheel (2232) and a telescopic transmission belt (2233), the telescopic driving wheel (2231) is connected with the rotating shaft (222) through spline transmission, the telescopic driven wheel (2232) and the telescopic driving wheel (2231) are arranged at intervals along the Y direction, the telescopic transmission belt (2233) winds the telescopic driving wheel (2231) and the telescopic driven wheel (2232), the clamping jaw (21) is fixed on the telescopic transmission belt (2233), and the telescopic driver (221) can drive the rotating shaft (222) to rotate so as to drive the telescopic driving wheel (2231) to rotate.

2. The gripping unit according to claim 1, characterized in that the rotation shaft (222) extends in the K-direction, the jaw support (2234) being mounted on the rotation shaft (222) and being movable in the K-direction with respect to the rotation shaft (222).

3. The gripping unit according to claim 2, characterized in that the belt telescopic assembly (223) further comprises a telescopic tensioning mount (2235), the telescopic tensioning mount (2235) being detachably fixed on the jaw support (2234) and its mounting position on the jaw support (2234) being adjustable in the Y-direction, the telescopic driven wheel (2232) being rotatably arranged on the telescopic tensioning mount (2235).

4. The clamping unit according to claim 2, wherein the clamping driving mechanism (23) further comprises a bracket (232) and a clamping guide rail (234) arranged in parallel with the rotating shaft (222), the lower end of the bracket (232) is in sliding fit with the clamping guide rail (234), the upper end of the bracket (232) is fixedly connected with the clamping jaw support (2234), and the clamping driver (231) can drive the bracket (232) to move along the clamping guide rail (234) so as to enable the clamping jaw support (2234) to move along the rotating shaft (222).

5. The clamping unit according to claim 4, wherein the belt clamping assembly (233) comprises a clamping driving wheel (2331), a clamping driven wheel (2332) and a clamping transmission belt (2333), the clamping driving wheel (2331) and the clamping driven wheel (2332) are arranged at intervals along the direction K, the clamping transmission belt (2333) is wound on the clamping driving wheel (2331) and the clamping driven wheel (2332), the bracket (232) is fixed on the clamping transmission belt (2333), and the clamping driver (231) can drive the clamping driving wheel (2331) to rotate so that the clamping transmission belt (2333) rotates to drive the bracket (232) to move along the direction K.

6. A storage gripping device, characterized by comprising a frame unit (1) a gripping unit according to any one of claims 1-5, said gripping unit being arranged on said frame unit (1).