CN-224211692-U - Clamping structure, fork structure, robot and warehouse system

Abstract

The embodiment of the application provides a clamping structure, a fork structure, a robot and a warehousing system, and belongs to the technical field of warehousing logistics. The clamping structure comprises a mounting seat, a driving mechanism arranged on the mounting seat, a clamping assembly comprising two clamping pieces, wherein the two clamping pieces are arranged on the mounting seat at intervals along the height direction of the mounting seat in a rotating manner and are connected with the driving mechanism, and the driving mechanism is configured to move relative to the mounting seat so as to drive the two clamping pieces to rotate and approach or separate from each other, so that the two clamping pieces clamp or release the connecting part of the material box together. The two clamping pieces clamp the upper side and the lower side of the connecting part together, so that the clamping effect that the connecting part is separated from the clamping piece is avoided, and the reliability of the connection of the robot and the feed box is higher.

Inventors

• XU CONG

Assignees

• 深圳市海柔创新科技有限公司

Dates

Publication Date

20260508

Application Date

20250605

Claims (20)

1. 1. A gripping structure, comprising: A mounting base; The driving mechanism is arranged on the mounting seat; the clamping assembly comprises two clamping pieces, and the two clamping pieces are arranged on the mounting seat in a rotating manner at intervals along the height direction of the mounting seat and are connected with the driving mechanism; The driving mechanism is configured to move relative to the mounting seat to drive the two clamping members to rotate and move towards or away from each other so that the two clamping members jointly clamp or release the connecting part of the feed box.
2. 2. The gripping structure of claim 1, wherein the drive mechanism comprises: the two clamping pieces are inserted on the moving piece; the first driving assembly is connected with the moving piece; The first driving assembly is configured to drive the moving member to move relative to the mounting seat so that the moving member drives the two clamping members to rotate and move towards or away from each other.
3. 3. The clamping structure according to claim 2, wherein two insertion holes are formed in the moving member at intervals, and the two clamping members are correspondingly inserted into the insertion holes; the distance between the two jacks is larger than the distance between the two clamping pieces and the rotating axis of the mounting seat; When the moving part moves away from the mounting seat, the two clamping parts are respectively driven to be close to each other through the two jacks, and when the moving part is close to the mounting seat, the two clamping parts are respectively driven to be far away from each other through the two jacks.
4. 4. The gripping structure of claim 2, wherein the drive mechanism further comprises a transmission assembly, the first drive assembly and the moving member being respectively connected to the transmission assembly; The first driving assembly drives the moving piece to reciprocate through the transmission assembly.
5. 5. The gripping structure of claim 4, wherein the transmission assembly comprises: The rotating shaft is rotatably arranged on the mounting seat and is connected with the first driving assembly; The stirring piece is arranged on the rotating shaft; The follower is arranged on the mounting seat, and the stirring piece is connected with the moving piece through the follower; The stirring piece is configured to rotate along with the rotating shaft and drive the follow-up piece to reciprocate relative to the mounting seat, so that the follow-up piece drives the moving piece to reciprocate.
6. 6. The gripping structure of claim 5, wherein the toggle member is an eccentric cam, and the follower abuts radially opposite sides of the eccentric cam.
7. 7. The clamping structure according to claim 6, wherein two protrusions are arranged on the follower at intervals in the moving direction of the follower, and the two protrusions are abutted against the eccentric cam.
8. 8. The gripping structure according to claim 5, wherein the transmission assembly further includes a guide member slidably provided on the mount, a sliding direction of the guide member being in accordance with a moving direction of the moving member; The follower is connected with the moving member through the guide member.
9. 9. The gripping structure of any one of claims 1 to 8 further comprising a pushing member connected to the mounting base, the pushing member being adapted to abut the bin to push the bin.
10. 10. The gripping structure of claim 9, wherein the gripping assembly has a gap with the connecting portion when the pusher abuts the bin; when the clamping assembly is abutted with the connecting part, the pushing piece and the feed box are provided with a gap.
11. 11. The clip structure of any one of claims 1-8, further comprising a cushioning assembly, the mount being disposed on the cushioning assembly, the mount being vertically elevated along the cushioning assembly.
12. 12. The gripping structure of claim 11, wherein the cushioning assembly comprises: The upright post is vertically arranged; The buffer seat is arranged on the upright post in a sliding manner, and is limited to lift along the extending direction of the upright post, and the mounting seat is arranged on the buffer seat.
13. 13. The clamping structure of claim 12, wherein the buffer assembly further comprises two limit buffer blocks arranged on the upright at intervals along the vertical direction, and the buffer seat is located between the two limit buffer blocks.
14. 14. The clamping structure of claim 12, wherein the buffer assembly further comprises a tension spring connecting the buffer seat and the upright post to drive the buffer seat to descend in the vertical direction.
15. 15. The clip structure of any one of claims 1-8, wherein the mount comprises an upper housing and a lower housing, the upper housing and lower housing being connected and defining a receiving space, at least a portion of the drive mechanism being disposed within the receiving space.
16. 16. A fork structure comprising a fork body and a gripping structure according to any one of claims 1 to 15 disposed on the fork body.
17. 17. The fork structure of claim 16, wherein said fork body comprises: A base; The second driving assembly is arranged on the base and connected with the mounting seat of the clamping structure so as to drive the clamping structure to move relative to the base.
18. 18. The fork structure of claim 17, wherein said second drive assembly comprises: the sliding seat is arranged on the base in a sliding manner, and the mounting seat is arranged on the sliding seat; the driving piece is connected with the sliding seat so as to drive the sliding seat to drive the mounting seat to move relative to the base.
19. 19. The fork structure of claim 18, wherein the fork body further comprises a travel guide assembly disposed on the base, the slide mount being slidably disposed on the travel guide assembly and being slidable along the extension of the travel guide assembly.
20. 20. The fork structure of claim 19, wherein said movement guide assembly comprises: The sliding seat is connected with the sliding rail in a sliding way; the transmission piece is arranged at intervals with the sliding rail; The driving piece is arranged on the sliding seat and is in transmission fit with the transmission piece so as to drive the sliding seat to slide on the sliding rail.

Description

Clamping structure, fork structure, robot and warehouse system Technical Field The application relates to the technical field of warehouse logistics, in particular to a clamping structure, a fork structure, a robot and a warehouse system. Background The robot can get the blowing case through flexible fork structure. Among the prior art, the robot includes the robot body and sets up fork structure, telescopic machanism and elevating system on the robot body, and the end of fork structure sets up and colludes the piece. The fork structure can extend out of the robot body under the drive of the telescopic mechanism so that the hooking piece moves to the material box, and the hooking piece rises or descends so that the hooking piece is connected with the material box and drives the material box to move. However, in the process that the hooking member drives the feed box to move, the hooking member may be disconnected from the feed box, so that the reliability of connection between the robot and the feed box is poor. Disclosure of utility model The embodiment of the application provides a clamping structure, a fork structure, a robot and a storage system, which are used for achieving the effect of improving the reliability of the connection of the robot and a feed box. In a first aspect, an embodiment of the present application provides a gripping structure, including: A mounting base; the driving mechanism is arranged on the mounting seat; The clamping assembly comprises two clamping pieces which are arranged on the mounting seat in a rotating manner along the height direction of the mounting seat and are connected with the driving mechanism; The drive mechanism is configured to move relative to the mount to drive the two grippers to rotate and toward or away from each other so that the two grippers commonly grip or release the connection of the bin. In one possible implementation manner, the clamping structure provided by the embodiment of the application, the driving mechanism includes: The two clamping pieces are inserted on the moving piece; The first driving assembly is connected with the moving piece; The first driving component is configured to drive the moving piece to move relative to the mounting seat so that the moving piece drives the two clamping pieces to rotate and move towards or away from each other. In a possible implementation manner, in the clamping structure provided by the embodiment of the application, two jacks are arranged on the moving part at intervals, and the two clamping parts are correspondingly inserted into the jacks; The distance between the two jacks is larger than the distance between the two clamping pieces and the rotation axis of the mounting seat; When moving the piece away from the mount pad and removing, drive two respectively through two jacks and press from both sides and get the piece and be close to each other, when moving the piece and being close to the mount pad and remove, drive two respectively through two jacks and press from both sides and get the piece and keep away from each other. In a possible implementation manner, the clamping structure provided by the embodiment of the application further comprises a transmission assembly, and the first driving assembly and the moving member are respectively connected with the transmission assembly; The first driving assembly drives the moving piece to reciprocate through the transmission assembly. In one possible implementation manner, the clamping structure provided by the embodiment of the application, the transmission assembly includes: the rotating shaft is rotatably arranged on the mounting seat and is connected with the first driving assembly; the stirring piece is arranged on the rotating shaft; The follower is arranged on the mounting seat, and the stirring piece is connected with the moving piece through the follower; The stirring piece is configured to rotate along with the rotating shaft and drive the follower to reciprocate relative to the mounting seat so that the follower drives the moving piece to reciprocate. In a possible implementation manner, in the clamping structure provided by the embodiment of the application, the stirring piece is an eccentric cam, and the follower is abutted with two opposite radial sides of the eccentric cam. In a possible implementation manner, in the clamping structure provided by the embodiment of the application, two protrusions are arranged on the follower at intervals along the moving direction of the follower, and the two protrusions are abutted with the eccentric cam. In a possible implementation manner, in the clamping structure provided by the embodiment of the application, the transmission assembly further comprises a guide piece, the guide piece is slidably arranged on the mounting seat, and the sliding direction of the guide piece is consistent with the moving direction of the moving piece; the follower is connected with the moving member through the guide member