CN110386389A - A kind of grabbing device - Google Patents

Abstract

The invention discloses a grabbing device, specifically a grabbing device applied to a three-dimensional warehouse, which is characterized in that it includes a longitudinal movement mechanism and a gripping arm, and the longitudinal movement mechanism is provided with a longitudinal movement rod; One end of the longitudinal moving rod is provided with a grabbing arm; the grabbing arm can grasp and place the goods; the longitudinal moving mechanism drives the longitudinal moving rod to reciprocate in the longitudinal direction, thereby making the The grabbing arm also achieves reciprocating motion in the longitudinal direction. The invention has the characteristics of firm grip, stable movement, high working efficiency and the like.

Description

a grabbing device

technical field

The invention relates to a grabbing device, in particular to a mechanical grabbing device, which can be suitably applied to a rail roadway stacker in a three-dimensional warehouse; the device includes a longitudinal moving mechanism and a grabbing arm, and the longitudinal moving mechanism on the One end of the rod is provided with a grabbing arm; the grabbing arm can grab and place the goods; the longitudinal moving mechanism drives the longitudinal moving rod to reciprocate in the longitudinal direction, so that the grabbing arm installed on the longitudinal moving rod also moves vertically direction to achieve reciprocating motion.

Background technique

The three-dimensional warehouse has a high space utilization rate and strong inbound and outbound capabilities, and the three-dimensional warehouse can facilitate the implementation of modern management by combining computer control and management. It has become an indispensable storage technology for enterprise logistics and production management, and is well received by enterprises. attention.

The automated three-dimensional warehouse is composed of three-dimensional shelves, tracked roadway stackers, inbound and outbound pallet conveyor systems, size detection barcode reading systems, communication systems, automatic control systems, computer monitoring systems, computer management systems and others such as wire and cable bridge distribution. A complex automation system composed of auxiliary equipment such as cabinets, pallets, adjustment platforms, and steel structure platforms. Use the first-class integrated logistics concept, adopt advanced control, bus, communication and information technology, and carry out warehouse entry and exit operations through the coordinated actions of the above equipment. However, the existing three-dimensional warehouses mainly rely on conveyors or manually driven forklifts to realize the access to goods, which cannot automatically adjust the position of goods, and forklifts or conveyors can access goods located at high places in the product warehouse. It is cumbersome and affects the efficiency of goods in and out of the warehouse. Therefore, the existing three-dimensional warehouse needs to be equipped with a grabbing device to meet the needs of grabbing and placing the goods.

Contents of the invention

The object of the present invention is to address the defects of the prior art, and provide a grabbing device with firm gripping, stable movement and high working efficiency, which can be installed on the rail roadway stacker of the three-dimensional warehouse.

In order to realize the above-mentioned purpose of the invention, the technical scheme adopted in the present invention is:

A grabbing device, comprising a fixed frame, a guide piece is provided on the top, and a longitudinal fin is provided on the inner top surface of the sliding channel on the guide piece;

The longitudinal moving rod has a longitudinal dovetail groove on its longitudinal top surface, and a translation rack on its longitudinal bottom surface. The longitudinal dovetail groove is matched with the longitudinal empennage, and the translation rack meshes with the longitudinal drive gear installed below it. Transmission connection, the longitudinal drive gear is installed on the longitudinal drive motor;

Grab the support, which is fixedly installed on the transverse end surface of the longitudinal moving rod, and one end is provided with a transverse empennage I, and the other end is provided with a transverse empennage II;

The first grabbing arm is provided with a first dovetail slot on its top surface, and a first rack is provided at the bottom corresponding to the first dovetail slot, and the first dovetail slot is matched with and installed on the transverse empennage I;

The second grabbing arm is provided with a second rack on its top surface, and a second dovetail slot is provided at the bottom corresponding to the second rack, and the second dovetail slot is matched and installed on the transverse empennage II; the second rack and The horizontal drive gear installed above it is in meshing transmission connection, and the top of the horizontal driving gear is in meshing transmission connection with the first rack; and the horizontal driving gear is fixedly installed on the rotating shaft of the grasping drive motor.

The longitudinal driving motor drives the longitudinal driving gear to rotate, and the longitudinal driving gear drives the longitudinal moving rod to realize linear reciprocating movement in the longitudinal direction; the longitudinal moving rod drives the grasping support to realize linear reciprocating movement in the longitudinal direction, and the grasping support drives and installs on it The first grabbing arm and the second grabbing arm reciprocate in the longitudinal direction.

The horizontal driving gear is driven to rotate through the grasping drive motor installed on the grasping support. The upper part of the transverse driving gear is meshed with the first rack of the first grasping arm, and the lower part is connected with the second tooth of the second grasping arm. Therefore, under the drive of the transverse drive gear, the first grab arm and the second grab arm move in opposite directions. When the transverse drive gear rotates clockwise, the first grab arm and the second grab arm The gap between the first and second grabbing arms becomes larger when the lateral drive gear rotates counterclockwise, and the gripping state is released.

As a further improvement of the present invention, clamping strips are respectively provided on the lower inner side walls of the first grabbing arm and the second grabbing arm, and the two clamping strips are aligned with each other. The installation of the clip can increase the contact area between the first grabbing arm and the second grabbing arm and the goods, and the goods are grabbed stably and firmly.

As a further improvement of the present invention, the clip includes a first movable claw and a second movable claw; a notch is provided at one end of the first movable claw, and a shaft hole is arranged on the notch; One end is provided with a connecting head; the connecting head is provided with a shaft hole corresponding to the shaft hole of the notch; the connecting head is inserted into the notch and connected by a hinge through the shaft hole. The hinged connection can facilitate the first movable claw and the second movable claw to fan out around the hinge point, and can effectively grasp circular objects.

As a further improvement of the present invention, a spring is also installed and connected between the first movable claw and the second movable claw; one end of the spring is fixedly installed in the spring hole of the first movable claw, and the other end is fixedly installed in the second The spring hole of a movable claw corresponds to the spring hole of the second movable claw. The spring can facilitate automatic reset after the first movable claw and the second movable claw are opened; at the same time, it can also limit the position of the first movable claw and the second movable claw.

As a further improvement of the present invention, toothed belts are respectively provided on the corresponding side surfaces of the first movable claw and the second movable claw. The toothed belt can increase the friction force, making the grabbing of goods more firm, and it is also more conducive to grabbing round goods.

As a further improvement of the present invention, the transverse empennage I and the transverse empennage II are vertically aligned. The first grabbing arm and the second grabbing arm can be installed conveniently, and the space position can be reduced. Transverse stabilizer I and transverse stabilizer II can play the role of support and guide sliding. The transverse empennage I supports the first grabbing arm to slide freely in the lateral direction, and the transverse empennage II supports the second grabbing arm to slide freely in the lateral direction.

As a further improvement of the present invention, the second dovetail groove runs through the second grabbing arm. The second dovetail slot can have a sufficient sliding distance on the transverse empennage II, so that the transverse empennage II can penetrate the second grabbing arm.

As a further improvement of the present invention, the grasping drive motor is fixedly installed in the grasping support. Make full use of the gripping support and avoid adding redundant parts, thereby reducing the weight of the overall equipment and saving the practical amount of materials.

As a further improvement of the present invention, the longitudinal drive motor is fixedly installed on the support of the longitudinal drive motor, and the support of the longitudinal drive motor is arranged and fixed side by side with the fixing frame. It can provide a good installation base for the longitudinal drive motor, and ensure the smooth operation of the longitudinal drive motor on it.

As a further improvement of the present invention, a support is provided under the fixing frame. The guide piece and the support piece form a fixed frame, and the support piece can provide good support for the guide piece, and can make the supporting plane of the guide piece and the support piece have a certain height, so that the first grabbing arm and the second grabbing arm It has a reasonable height in the vertical direction from the support plane, so as to avoid collision with the support plane during the movement, causing damage to the first grabbing arm and the second grabbing arm.

As a further improvement of the present invention, the grasping support is in the shape of a U-shaped notch or a square notch. The cross-sections of the two ends of the U-shaped notch can be located in the same vertical plane, which can facilitate the vertical arrangement of the first grabbing arm and the second grabbing arm. The corresponding sides of the square notch can be aligned parallel to each other, which is also beneficial to the installation layout of the first grabbing arm and the second grabbing arm. Both can realize the full utilization of the internal cavity structure.

The working principle of the present invention is as follows: the grabbing drive motor drives the transverse drive gear transmission, and the top and bottom of the transverse drive gear respectively correspond to the meshing transmission to connect the first grabbing arm and the second grabbing arm; when the transverse drive gear is driving, the first The grabbing arm and the second grabbing arm move in opposite directions. When the lateral drive gear is driven clockwise, the first grabbing arm and the second grabbing arm move in opposite directions, and the cargo is grabbed by the clamp; the lateral drive When the gear is driven counterclockwise, there is a disengagement movement between the first grabbing arm and the second grabbing arm, thereby driving the clamp to separate from the goods and realizing the placement operation; the longitudinal moving mechanism drives the longitudinal moving rod to realize reciprocating motion in the longitudinal direction, The grabbing arm is installed on the longitudinal moving rod, so that the grabbing arm can also realize reciprocating motion in the longitudinal direction; the position adjustment can be realized.

The motors of the present invention can be connected to the general control panel through data to realize computer or panel control. The motor is controlled by an algorithm to achieve accurate grasping of the goods.

Compared with the prior art, the progress achieved by the present invention:

1. The present invention adopts a longitudinal movement mechanism and a grabbing arm, and one end of the longitudinal movement bar on the longitudinal movement mechanism is provided with a grabbing arm; the grabbing arm realizes grabbing and placing goods; the longitudinal movement mechanism drives the longitudinal movement bar in The reciprocating movement is realized in the longitudinal direction, and then the grabbing arm installed on the longitudinal moving rod also realizes the reciprocating movement in the longitudinal direction, thereby realizing the position adjustment in the longitudinal direction, which is beneficial to grabbing and placing the goods. When the present invention is installed on the rail roadway stacker, it can realize the adjustment of the height in the vertical direction and the displacement in the horizontal direction, so that the present invention can realize the vertical and vertical position adjustment.

2. The grabbing arm of the present invention adopts the first grabbing arm, the second grabbing arm and the grabbing drive motor; the top of the transverse drive gear on the grabbing drive motor is meshed with the first grabbing arm, and its bottom is connected to the second grabbing arm. The two grabbing arms are engaged in transmission connection; this kind of connection makes the moving direction between the first grabbing arm and the second grabbing arm realize different moving directions; when the grabbing drive motor rotates clockwise, the first grabbing arm It moves opposite to the second grabbing arm to realize the grabbing operation; when the grabbing drive motor rotates counterclockwise, the first grabbing arm and the second grabbing arm are in a disengagement motion to realize the placement operation, that is, The goods are placed in the designated location.

3. The longitudinal moving rod on the longitudinal moving mechanism of the present invention is connected with the longitudinal tail fin through the longitudinal dovetail groove on the longitudinal moving rod. This kind of connection is stable, and can also play the role of position limitation, and can also facilitate the longitudinal movement The bars slide smoothly on the longitudinal fin.

4. The first grabbing arm and the second grabbing arm of the present invention are respectively matched and connected with the transverse fins on the grasping drive motor support; the transverse fins realize the limiting effect on the first grabbing arm and the second grabbing arm, It can also provide a good guiding and sliding effect for the first grabbing arm and the second grabbing arm; it can also make the first grabbing arm, the second grabbing arm and the lateral drive gear on the grabbing drive motor have good meshing transmission connect.

5. The present invention is provided with clips at the bottom of the first grabbing arm and the second grabbing arm, which can increase the contact area with the goods by using the clips, and improve the stability and firmness of grabbing the goods; it can also benefit To achieve parallel lifting of the bottom surface of the goods, that is, the clip is inserted from the gap between the conveyor belt and the bottom of the goods, so that the goods can be lifted smoothly. The alignment and arrangement of the clips is more conducive to improving the stability and firmness of the grabbed goods.

6. The clip of the present invention includes a first movable claw and a second movable claw, and a hinge connection is adopted between the first movable claw and the second movable claw, so that the first movable claw and the second movable claw are positioned between the first grabbing arm or the second movable claw. The lower part of the second grabbing arm is opened in the form of a fan, which can facilitate the grabbing of circular goods; while the first movable claw and the second movable claw are both straight at both ends and arc-shaped in the middle; After the first movable claw and the second movable claw are spliced together, the circular arc shape is spliced into a large circular arc shape, and the arc shape can facilitate the grasping of circular goods; moreover, the first movable claw and the second movable claw are on the grasping surface Both are equipped with toothed belts, which can help increase friction and improve the firmness and stability of grabbing goods.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the specific embodiments or the prior art. Throughout the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, elements or parts are not necessarily drawn in actual scale.

Fig. 1 is the structural representation of a kind of grasping device of the present invention;

Fig. 2 is a schematic structural view of the fixed mount in Fig. 1;

Fig. 3 is a structural schematic diagram of the connection between the grasping support and the longitudinal moving rod in Fig. 1;

Fig. 4 is a structural schematic diagram of the connection between the first movable claw and the second movable claw in Fig. 1;

Fig. 5 is the side structure schematic diagram of the present invention;

Component names and serial numbers in the figure: longitudinal drive motor support 15, longitudinal drive motor 16, fixed frame 17, guide 171, support 172, sliding channel 173, longitudinal empennage 108, longitudinal drive gear 19, longitudinal movement rod 20, flat Moving rack 21, longitudinal dovetail groove 22, grasping driving motor 23, grasping support 203, transverse driving gear 24, transverse empennage I 206, transverse empennage II 207, first rack 25, first dovetail groove 26, first grasping Get arm 27, clip 28, first movable claw 281, shaft hole 282, spring 283, second movable claw 284, spring hole 285, toothed belt 286, notch 287, connector 288, second rack 29, The second dovetail groove 30, the second grabbing arm 31.

Detailed ways

Embodiments of the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present invention more clearly, and therefore are only examples, rather than limiting the protection scope of the present invention.

As shown in Figures 1 to 5, a kind of grasping device comprises fixed frame 17, and guide piece 171 is arranged on the top, and the inner top surface of sliding channel 173 on this guide piece 171 is provided with longitudinal empennage 108; The longitudinal top surface is provided with a longitudinal dovetail groove 22, and its longitudinal bottom surface is provided with a translation rack 21, the longitudinal dovetail groove 22 is matched and mounted on the longitudinal empennage 108, and the translation rack 21 is connected with the longitudinal drive gear 19 installed below it. Mesh transmission connection, the longitudinal drive gear 19 is installed on the longitudinal drive motor 16; grabbing support 203 is fixedly installed on the transverse end face of the longitudinal moving rod 20, and one end is provided with a transverse empennage I 206, and the other end is provided with Transverse empennage II 207; the top surface of the first grabbing arm 27 is provided with a first dovetail groove 26, and the bottom corresponding to the first dovetail groove 26 is provided with a first rack 25, and the first dovetail groove 26 is matched and installed on the transverse empennage I206; the top surface of the second grabbing arm 31 is provided with a second rack 29, and the bottom corresponding to the second rack 29 is provided with a second dovetail groove 30, and the second dovetail groove 30 is matched and installed on the transverse empennage II207; The second rack 29 is engaged and connected with the horizontal drive gear 24 mounted above it, and the top of the horizontal drive gear 24 is connected with the first rack 25 in meshed transmission; On the rotating shaft of motor 23. The longitudinal drive motor 16 drives the longitudinal drive gear 19 to rotate, and the longitudinal drive gear 19 is engaged with the translation rack 21 below the longitudinal moving rod 20 for transmission. The moving rod 20 drives the grasping support 203 to move longitudinally, and the grasping support 203 drives the first grasping arm 27 and the second grasping arm 31 to move linearly back and forth in the longitudinal direction; the first grasping arm 27 and the second The position of the goods grasped between the grasping arms 31 can be adjusted longitudinally.

As shown in FIG. 2 , the fixing frame 17 is composed of a guide piece 171 and a support piece 172 , and the guide piece 171 is fixedly installed on the top of the support piece 172 . The supporting piece 172 supports and fixes the guiding piece 171 .

As shown in Figures 1 and 3, the transverse empennage I 206 and the transverse empennage II 207 are vertically aligned. It can facilitate the lateral centers of the first grabbing arm 27 installed on the transverse empennage I 206 and the second grabbing arm 31 installed on the transverse empennage II 207 to be located in the same vertical plane. The relative movement of the first grabbing arm 27 and the second grabbing arm 31 can be made accurate.

As shown in FIGS. 1 and 3 , the grab driving motor 23 is fixedly installed in the grab support 203 . It can be seen that the spatial position of the grasping support 203 can be fully utilized, thereby reducing the spatial structure of the overall device. Make the structure compact and stable.

As shown in FIG. 1 , the longitudinal drive motor 16 is fixedly installed on the longitudinal drive motor support 15 , and the longitudinal drive motor support 15 and the fixing frame 17 are arranged and fixed side by side. When the longitudinal drive motor 16 drives the longitudinal drive gear 19, it will be subjected to the reaction force of the longitudinal drive gear 19. In order to ensure the stable position of the longitudinal drive motor 16, it is fixedly mounted on the longitudinal drive motor support 15, which can be a longitudinal drive motor 16 provides sufficient support when working. The longitudinal driving motor 16 works stably, and the meshing transmission efficiency between the longitudinal driving gear 19 and the translation rack 21 on the longitudinal moving rod 20 is improved.

As shown in FIG. 2 , a support member 172 is fixedly connected below the guide member 171 . The support member 172 and the guide member 171 constitute the fixed frame 17, and the support member 172 makes the guide member 171 have a certain height from the support plane of the support member 172, so that the bottom of the first grabbing arm 27 and the second grabbing arm 31 are in contact with There is a reasonable gap between the supporting planes, so as to prevent the first grabbing arm 27 and the second grabbing arm 31 from colliding with the supporting planes and causing damage.

As shown in FIGS. 1 and 3 , the grasping support 203 is in the shape of a U-shaped notch or a square notch. The cross-sections of the two ends of the U-shaped notch can be located in the same vertical plane, which can facilitate the vertical arrangement of the first grabbing arm and the second grabbing arm. The corresponding sides of the square notch can be aligned parallel to each other, which is also beneficial to the installation layout of the first grabbing arm and the second grabbing arm. Both can realize the full utilization of the internal cavity structure.

As shown in FIG. 1 , the first grabbing arm 27 and the second grabbing arm 31 are in a 7-shaped structure. It can help the first grabbing arm 27 and the second grabbing arm 31 to be stable in force when grabbing goods, and can be stable in force on the grabbed goods.

As shown in FIG. 1 , the second dovetail slot 30 runs through the bottom of the second grabbing arm 31 . The second dovetail slot can have a sufficient sliding distance on the transverse empennage II, so that the transverse empennage II can penetrate the second grabbing arm. It is beneficial for the second dovetail groove 30 to slide relatively freely on the transverse empennage II 207 .

As shown in Figure 1, in order to increase the contact area between the first grabbing arm 27 and the second grabbing arm 31 and the goods, a There are clamping pieces 28, and the two clamping pieces 28 are aligned with each other. When grabbing the goods, the force on the clip 28 is balanced.

As shown in Figures 1 and 4, the clip 28 includes a first movable claw 281 and a second movable claw 284; one end of the first movable claw 281 is provided with a notch 287, and the notch 287 is provided with a shaft hole 282; One end of the movable claw 284 is provided with a connector 288; the connector 288 is provided with a shaft hole 282 at a position corresponding to the shaft hole 282 of the notch 287; The notch 287 on the first movable claw 281 and the connecting head 288 on the second movable claw 284 are spliced, and the axis holes 282 that are respectively provided with on the notch 287 and the connecting head 288 are aligned with each other, and then inserted into the first On the connecting shaft that is provided with on the bottom of grabbing arm 27 or the second grabbing arm 31, and limit first movable claw 281 and second movable claw 284 to prevent 360 ° of rotation, that is to first movable claw 281 and second movable claw respectively Claw 284 is limited. It can not only ensure the normal operation of the clip 28, but also ensure that the force is balanced when grabbing the goods.

The structural shapes of the first movable claw 281 and the second movable claw 284 are that both ends are straight segments and the center is an arc shape; the first movable claw 281 and the second movable claw 284 are spliced to form a similar arch bridge structure, which can facilitate The force is balanced; the grasping goods are stable and firm.

As shown in Figure 4, a spring 283 is also installed and connected between the first movable claw 281 and the second movable claw 284; In the spring hole 285 of the second movable claw 284 corresponding to the spring hole 285 of the first movable claw 281 . The installation position of the spring 283 can be close to the connection position of the notch 287 and the connection head 288 . The spring 283 can not only realize the position limiting effect on the first movable claw 281 and the second movable claw 284 , but also enable elastic reset between the first movable claw 281 and the second movable claw 284 . And the spring hole 285 is arranged in the first movable claw 281 and the second movable claw 284, therefore, when the spring 283 is installed, it is hidden in the first movable claw 281 and the second movable claw 284, and does not take up unnecessary space. When the first movable claw 281 and the second movable claw 284 are opened in the form of a fan, the spring 283 can form a tension between the first movable claw 281 and the second movable claw 284 due to elastic deformation, thereby providing assistance for grabbing goods tension effect.

As shown in FIG. 4 , toothed belts 286 are provided on corresponding sides of the first movable claw 281 and the second movable claw 284 . The toothed belt 286 can increase the friction effect, and improve the stability and firmness when grabbing goods.

The specific installation and connection method of the present invention is: the fixed frame 17 and the longitudinal drive motor support 15 are fixed firmly according to the requirements, the guide piece on the top of the fixed frame 17 is inserted into the longitudinal moving rod, and the longitudinal dovetail groove 22 on the longitudinal moving rod 20 is aligned with the guide The longitudinal empennage 108 at the top of the part is connected in cooperation; the longitudinal drive motor 16 is fixedly installed on the longitudinal drive motor support 15, and the longitudinal drive gear 19 on the longitudinal drive motor 16 is meshed with the translation rack 21 on the longitudinal movement bar 20 Transmission connection; one end on the vertically moving rod 20 is fixedly installed with a grasping support 203, and a fixed grasping drive motor 23 is installed in the grasping support 203, and the upper and lower ends of the grasping support 203 are correspondingly provided with transverse Empennage I 206, transverse empennage II 207, the upper transverse empennage I206 is slidably connected with the first dovetail groove 26 on the first grasping arm 27, and the first grasping arm 27 is relative to the first dovetail groove on the bottom of the first dovetail groove 26. The rack 25 is engaged and connected with the transverse drive gear 24 on the previous drive motor 23; the lower transverse empennage II 207 is connected with the second dovetail slot 30 on the second grasping arm 31 in cooperation and sliding, while the second grasping arm 31 is opposite The second rack 29 on the top of the second dovetail groove 30 is meshed and connected with the lateral drive gear 24 ; the clips 28 are installed under the first grabbing arm 27 and the second grabbing arm 31 .

The invention can be installed on the rail roadway stacker of the three-dimensional warehouse, and realize the change of vertical height and horizontal displacement through the rail roadway stacker.

The specific working method of the present invention is: start the longitudinal drive motor 16, the longitudinal drive motor 16 drives the longitudinal drive gear 19 to rotate, the longitudinal drive gear 19 drives the longitudinal movement rod 20 to change in displacement, and the longitudinal movement rod 20 drives the first grasping arm 27 and the second grabbing arm 31 is located directly above the goods, stop the longitudinal drive motor 16; start the grabbing drive motor 23, the grabbing drive motor 23 drives the horizontal drive gear 24 to rotate, and the horizontal drive gear 24 drives the first grabbing arm 27 and The second grabbing arm 31 moves so that the gap between the clips 28 on the first grabbing arm 27 and the second grabbing arm 31 changes, reaching the position on the first grabbing arm 27 and the second grabbing arm 31 There is a reasonable distance between the sides of the clips 28 that are aligned with the goods, and the grabbing drive motor 23 is stopped; then the height of the first grabbing arm 27 and the second grabbing arm 31 is lowered to adjust to the grabbing point for grabbing the goods. Drive and grab the drive motor 23, so that the distance between the first grab arm 27 and the second grab arm 31 shrinks, and the clamp 28 between the first grab arm 27 and the second grab arm 31 realizes the goods After grabbing, stop grabbing the driving motor 23, and the grabbing driving motor 23 realizes stable grabbing of the goods under the action of the self-locking function; start the longitudinal driving motor 16, drive the longitudinal moving rod 20, and the longitudinal moving rod 20 drives the grabbing of the goods The first grabbing arm 27 and the second grabbing arm 31 move to a safe position, stop the longitudinal drive motor 16; then move to the designated position of the goods as a whole, start/stop the longitudinal drive motor 16 to adjust the position of the goods, adjust To the designated position, lower the height so that the goods are in good contact with the supporting surface on which the goods are placed, start the grabbing drive motor 23, and the first grabbing arm 27 and the second grabbing arm 31 are separated from the goods, that is, the first grabbing arm 27 1. The upper clamp 28 of the second grabbing arm 31 is separated from the goods; the overall adjustment is reset to a safe position, and the next grabbing process is entered.

Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims (10)

1. A grabbing device, characterized in that, comprising Fixing frame (17), the top is provided with guide piece (171), and the inner top surface of sliding channel (173) on this guide piece (171) is provided with longitudinal empennage (108); The longitudinal moving rod (20) is provided with a longitudinal dovetail groove (22) on its longitudinal top surface, and a translation rack (21) is provided on its longitudinal bottom surface, and the longitudinal dovetail groove (22) is matched and installed on the longitudinal empennage (108), The translation rack (21) is engaged and connected with the longitudinal drive gear (19) installed below it, and the longitudinal drive gear (19) is installed on the longitudinal drive motor (16); Grab the support (203), which is fixedly installed on the transverse end surface of the longitudinal moving rod (20), with a transverse empennage I (206) on one end and a transverse empennage II (207) on the other end; First grabbing arm (27), its top surface is provided with first dovetail groove (26), and the bottom corresponding with first dovetail groove (26) is provided with first rack (25), and this first dovetail groove ( 26) matched and mounted on the transverse empennage I (206); The second grabbing arm (31), its top surface is provided with a second rack (29), and the bottom corresponding to the second rack (29) is provided with a second dovetail groove (30), the second dovetail groove ( 30) It is matched and installed on the transverse empennage II (207); the second rack (29) is engaged and connected with the transverse drive gear (24) installed above it, and the top of the transverse drive gear (24) is connected with the first gear The bar (25) is meshed with the transmission connection; and the horizontal drive gear (24) is fixedly mounted on the rotating shaft of the grasping drive motor (23). 2. The grabbing device according to claim 1, characterized in that: the lower inner walls of the first grabbing arm (27) and the second grabbing arm (31) are respectively provided with clips (28), And the two clips (28) are aligned with each other. 3. The grabbing device according to claim 2, characterized in that: the clip (28) comprises a first movable claw (281) and a second movable claw (284); One end of the first movable claw (281) is provided with a notch (287), and the notch (287) is provided with a shaft hole (282); One end of the second movable claw (284) is provided with a connector (288); the connector (288) is provided with a shaft hole (282) at a position corresponding to the shaft hole (282) of the notch (287); The connecting head (288) is inserted into the notch (287) and hinged through the shaft hole (282). 4. The gripping device according to claim 3, characterized in that: a spring (283) is also installed and connected between the first movable claw (281) and the second movable claw (284); the spring (283) One end is fixedly installed in the spring hole (285) of the first movable claw (281), and the other end is fixedly installed in the second movable claw (284) corresponding to the spring hole (285) of the first movable claw (281). inside the spring hole (285). 5. The grabbing device according to claim 3 or 4, characterized in that: toothed belts (286) are provided on corresponding side surfaces of the first movable claw (281) and the second movable claw (284). 6. The grabbing device according to claim 1, characterized in that: said transverse fin I (206) and transverse fin II (207) are vertically aligned. 7. The grabbing device according to claim 1, characterized in that: the second dovetail groove (30) runs through the second grabbing arm (31). 8. The grabbing device according to claim 1, characterized in that: the grabbing driving motor (23) is fixedly installed in the grabbing support (203). 9. The grabbing device according to claim 1, characterized in that: the longitudinal drive motor (16) is fixedly mounted on the longitudinal drive motor support (15), and the longitudinal drive motor support (15) is fixed to Frame (17) is fixed side by side. 10. The grabbing device according to claim 9, characterized in that a support (172) is arranged under the fixing frame (17).