An end picking device

Abstract

The application discloses an end picking device and relates to the technical field of automation. The end picking device comprises an execution assembly, a first clamping jaw and a second clamping jaw, a first connecting plate and a second connecting plate, and a driving assembly. The first clamping jaw is connected with the first connecting plate, and the second clamping jaw is connected with the second connecting plate. The driving assembly is arranged separately from the execution assembly and is connected with the execution assembly through a transmission rope. The power and movement of the driving assembly are transmitted to the execution assembly through the transmission rope to drive the first connecting plate and the second connecting plate to move towards each other and drive the first clamping jaw and the second clamping jaw to perform opening and closing actions so as to grab or release storage boxes. According to the technical scheme of the application, the storage interval between the storage boxes can be reduced, the storage density is improved, the warehouse storage space can be fully utilized, and the end picking device can be used in various working environments.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, and in particular to an end picking device. BACKGROUND

[0002] The existing end picking device of the cargo box is mostly driven by a pneumatic cylinder or an electric cylinder to directly drive the clamping jaw of the end picking device to achieve the grabbing or releasing of the cargo box (cargo storage box). The structure of directly driving the clamping jaw of the end picking device by the pneumatic cylinder or the electric cylinder has a large size of the end picking device and a short distance from the cargo box, so that the end picking device cannot be used when the cargo boxes are placed densely. In addition, when the pneumatic cylinder is used to directly drive the two clamping jaws, a synchronous rod needs to be used to achieve the opposite movement of the two clamping jaws, but the synchronous rod cannot ensure the complete symmetry of the movement of the two clamping jaws, and the distance between the cargo boxes needs to be increased to ensure the safety when the cargo boxes are grabbed. Therefore, the end picking device directly driven by the pneumatic cylinder or the electric cylinder is not conducive to reducing the storage distance of the cargo boxes, restricts the improvement of the storage density of the warehouse, and leads to the fact that the storage space cannot be fully utilized, and the same number of cargo boxes will occupy more storage space.

[0003] In addition, it also needs to be pointed out that the working environment of the end picking device is various, and is often in high temperature, low temperature, humidity, dust, cleanliness, strong magnetism, radiation and other environments. The structure of integrating the power assembly and the end picking device together will be greatly limited in these environments.

[0004] Therefore, it is necessary to provide an end picking device with a separated driving assembly and an execution assembly to solve the above technical problems. SUMMARY

[0005] Therefore, the present application provides an end picking device to solve or at least alleviate the above problems.

[0006] According to one aspect of the present application, an end picking device is provided, comprising: an execution assembly comprising a first connecting plate and a second connecting plate arranged oppositely; a clamping jaw assembly comprising a first clamping jaw and a second clamping jaw arranged oppositely, wherein the first clamping jaw is connected with the first connecting plate, and the second clamping jaw is connected with the second connecting plate; a driving assembly arranged separately from the execution assembly, and the driving assembly is connected with the execution assembly through a transmission rope, so as to transmit the power and the movement of the driving assembly to the execution assembly through the transmission rope, to drive the first connecting plate and the second connecting plate to move oppositely and drive the first clamping jaw and the second clamping jaw to perform the opening and closing action, so as to grab or release the storage box.

[0007] Optionally, in the end-grabbing device according to the present invention, when the first connecting plate and the second connecting plate move toward each other and approach each other, the first gripper and the second gripper are driven to close together so as to grasp the storage box by the first gripper and the second gripper; when the first connecting plate and the second connecting plate move toward each other and move away from each other, the first gripper and the second gripper are driven to separate from each other so as to release the storage box by the first gripper and the second gripper.

[0008] Optionally, in the end-grip device according to the present invention, the actuation component further includes: a first connecting rod and a second connecting rod; the first gripper is connected to the first connecting plate via the first connecting rod, and the second gripper is connected to the second connecting plate via the second connecting rod.

[0009] Optionally, in the end-grip device according to the present invention, one end of the first connecting rod is hinged to the first connecting plate, and the other end of the first connecting rod is hinged to the first gripper; one end of the second connecting rod is hinged to the second connecting plate, and the other end of the second connecting rod is hinged to the second gripper.

[0010] Optionally, in the end-grip device according to the present invention, the gripper assembly further includes a first fixed seat and a second fixed seat arranged opposite to each other; the first gripper is rotatably connected to the first fixed seat; the second gripper is rotatably connected to the second fixed seat; wherein, when the first connecting plate and the second connecting plate move toward each other, the first gripper is driven to rotate relative to the first fixed seat by the first connecting rod, and the second gripper is driven to rotate relative to the second fixed seat by the second connecting rod, so as to realize the opening and closing action of the first gripper and the second gripper.

[0011] Optionally, in the end-picking device according to the present invention, the driving assembly includes: a drum on which the transmission rope is wound; and a geared motor connected to the drum and adapted to drive the drum to rotate so as to drive the two ends of the transmission rope to move toward each other, and drive the first connecting plate and the second connecting plate to move toward each other through the transmission rope.

[0012] Optionally, in the end-picking device according to the present invention, the actuating component further includes: a plurality of fixed pulleys; the transmission rope passes around the plurality of fixed pulleys to form a first horizontal segment and a second horizontal segment that are parallel to each other, wherein the first horizontal segment is fixedly connected to the first connecting plate, and the second horizontal segment is fixedly connected to the second connecting plate; wherein, when the drum rotates, the first horizontal segment of the transmission rope drives the first connecting plate to move horizontally in a first direction, and the second horizontal segment of the transmission rope drives the second connecting plate to move horizontally in a second direction, wherein the second direction is opposite to the first direction.

[0013] Optionally, in the end-picking device according to the present invention, the movement speeds of the first connecting plate and the second connecting plate are equal.

[0014] Optionally, in the end-picking device according to the present invention, the actuating component further includes: a support plate; a slide rail fixedly mounted on the support plate; a first slider cooperating with the slide rail, the first slider being connected to the first connecting plate and adapted to slide along the slide rail; and a second slider cooperating with the slide rail, the second slider being connected to the second connecting plate and adapted to slide along the slide rail.

[0015] Optionally, in the end-picking device according to the invention, a plurality of fixed pulleys are rotatably mounted on the support plate.

[0016] Optionally, the end-picking device according to the present invention further includes: a tensioning and reversing assembly disposed between the drive assembly and the actuation assembly, adapted to tension the transmission rope and adapted to change the direction of movement of the transmission rope.

[0017] This invention provides an end-grabbing device, wherein the actuation component includes a first connecting plate and a second connecting plate arranged opposite to each other, and the gripper assembly includes a first gripper and a second gripper arranged opposite to each other, wherein the first gripper is connected to the first connecting plate, and the second gripper is connected to the second connecting plate. The drive component and the actuation component are arranged separately, and the drive component is connected to the actuation component via a transmission rope, so that the power and motion of the drive component are transmitted to the actuation component through the transmission rope, driving the first and second connecting plates to move towards each other, and causing the first and second grippers to perform opening and closing actions to grasp or release storage boxes. Therefore, the end-grabbing device of this invention adopts a scheme of separating the drive component and the actuation component. The drive component can be deployed at a position far from the actuation component, and power and motion are transmitted via a transmission rope. This avoids the drive component occupying the storage space of the storage boxes, thereby helping to reduce the storage spacing between storage boxes, increase storage density, and make full use of warehouse storage space. Moreover, the separate structure of the end-grabbing device can be used in various working environments. Furthermore, by driving the first connecting plate and the second connecting plate to move towards each other at the same speed and magnitude, it can be ensured that the opening and closing angles of the left and right grippers are always symmetrical, thereby ensuring that the gripper assembly can smoothly and stably grasp or release the storage box.

[0018] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0019] To achieve the foregoing and related objectives, certain illustrative aspects are described herein in conjunction with the following description and accompanying drawings. These aspects indicate various ways in which the principles disclosed herein may be practiced, and all aspects and their equivalents are intended to fall within the scope of the claimed subject matter. The foregoing and other objectives, features, and advantages of this disclosure will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings. Throughout this disclosure, the same reference numerals generally refer to the same parts or elements.

[0020] Figure 1 A schematic diagram of the structure of an end-capture device 100 according to an embodiment of the present invention is shown;

[0021] Figure 2 A schematic diagram of the structure of an execution component 40 according to an embodiment of the present invention is shown;

[0022] Figure 3 A schematic diagram of the cooperation structure between the execution component 40 and the gripper component 50 according to an embodiment of the present invention is shown;

[0023] Figure 4 A schematic diagram of the mating structure between the gripper assembly 50 and the storage box 60 according to an embodiment of the present invention is shown;

[0024] Figure 5 A schematic diagram of the structure of a drive component 10 according to an embodiment of the present invention is shown. Detailed Implementation

[0025] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0026] Figure 1 A schematic diagram of an end-grabbing device 100 according to an embodiment of the present invention is shown. The end-grabbing device 100 according to the present invention can be used to grasp or place a cargo storage box.

[0027] like Figure 1 As shown, the end-feed device 100 includes a drive assembly 10, a transmission rope 30, an actuation assembly 40, and a gripper assembly 50.

[0028] The driving component 10 and the execution component 40 are arranged separately. Figure 1 As shown, the drive assembly 10 is positioned above the execution assembly 40 and the gripper assembly 50, thereby avoiding the drive assembly from occupying storage space in the storage box.

[0029] Specifically, the execution component 40 includes a first connecting plate 45 and a second connecting plate 46 arranged opposite to each other.

[0030] The gripper assembly 50 includes a first gripper 51 and a second gripper 52 arranged opposite to each other. Specifically, the first gripper 51 and the second gripper 52 are arranged symmetrically from left to right. The first gripper 51 is connected to the first connecting plate 45, and the second gripper 52 is connected to the second connecting plate 46.

[0031] The drive assembly 10 is connected to the actuation assembly 40 via a transmission rope 30. This allows the drive assembly 10 to transmit power and motion to the actuation assembly 40, driving the first connecting plate 45 and the second connecting plate 46 of the actuation assembly 40 to move towards each other. When the first connecting plate 45 and the second connecting plate 46 move towards each other, they can drive the first gripper 51 and the second gripper 52 to perform opening and closing actions. Thus, the opening and closing actions of the first gripper 51 and the second gripper 52 can achieve the gripping or releasing of the storage box 60.

[0032] It should be noted that, according to the end-picking device 100 of the present invention, the drive assembly 10 drives the first connecting plate 45 and the second connecting plate 46 of the execution assembly 40 to move towards each other through the transmission rope 30. That is, the execution assembly 40 converts the power and motion of the drive assembly 10 transmitted through the transmission rope 30 into the extension and retraction motion of the execution assembly 40 (the first connecting plate 45 and the second connecting plate 46).

[0033] In one embodiment, the drive assembly 10 drives the first connecting plate 45 and the second connecting plate 46 to move toward each other via the transmission rope 30. This can be either a reverse movement that brings them closer together or a reverse movement that moves them further apart.

[0034] Specifically, when the first connecting plate 45 and the second connecting plate 46 move toward each other and approach each other, the first gripper 51 and the second gripper 52 are driven to close together so as to grab the storage box 60 through the first gripper 51 and the second gripper 52.

[0035] When the first connecting plate 45 and the second connecting plate 46 move toward each other and move away from each other, the first gripper 51 and the second gripper 52 are separated from each other so that the storage box 60 can be released through the first gripper 51 and the second gripper 52.

[0036] Figure 2 A schematic diagram of the structure of an execution component 40 according to an embodiment of the present invention is shown. Figure 3 A schematic diagram of the cooperation structure between the execution component 40 and the gripper component 50 according to an embodiment of the present invention is shown. Figure 4 A schematic diagram of the mating structure between the gripper assembly 50 and the storage box 60 according to an embodiment of the present invention is shown.

[0037] like Figure 2and Figure 3 As shown, in one embodiment, the execution component 40 further includes a first connecting rod 48 and a second connecting rod 49. Specifically, the first connecting rod 48 and the second connecting rod 49 are arranged symmetrically from left to right. The first gripper 51 can be connected to the first connecting plate 45 via the first connecting rod 48, and the second gripper 52 can be connected to the second connecting plate 46 via the second connecting rod 49.

[0038] Specifically, such as Figure 2 and Figure 3 As shown, one end of the first connecting rod 48 is hinged to the first connecting plate 45, and the other end of the first connecting rod 48 is hinged to the first gripper 51. One end of the second connecting rod 49 is hinged to the second connecting plate 46, and the other end of the second connecting rod 49 is hinged to the second gripper 52.

[0039] In one implementation, such as Figure 2 As shown, one end of the first connecting rod 48 is hinged to the first connecting plate 45 via the first hinge shaft 481, and one end of the second connecting rod 49 is hinged to the second connecting plate 46 via the second hinge shaft 491.

[0040] like Figure 3 As shown, the other end of the first connecting rod 48 is hinged to the first gripper 51 via the third hinge shaft 482, and the other end of the second connecting rod 49 is hinged to the second gripper 52 via the fourth hinge shaft 492.

[0041] In addition, such as Figure 3 As shown, the gripper assembly 50 also includes a first fixed base 53 and a second fixed base 54 arranged opposite to each other. Specifically, the first fixed base 53 and the second fixed base 54 are arranged symmetrically from left to right. The first gripper 51 is rotatably connected to the first fixed base 53, and the second gripper 52 is rotatably connected to the second fixed base 54.

[0042] Thus, as Figure 4 As shown, when the drive assembly 10 drives the first connecting plate 45 and the second connecting plate 46 to move towards each other via the transmission rope 30, the first connecting plate 45 can drive the first gripper 51 to rotate relative to the first fixed seat 53 via the first connecting rod 48, and the second connecting plate 46 can drive the second gripper 52 to rotate relative to the second fixed seat 54 via the second connecting rod 49, thereby realizing the opening and closing action of the first gripper 51 and the second gripper 52.

[0043] In one implementation, the first gripper 51 can be hinged to the first fixed base 53, and the second gripper 52 can be hinged to the second fixed base 54. For example, in one implementation, the first gripper 51 and the first fixed base 53 can be hinged via a fifth hinge axis 511, and the second gripper 52 and the second fixed base 54 can be hinged via a sixth hinge axis 521.

[0044] Thus, asFigure 4 As shown, when the drive assembly 10 drives the first connecting plate 45 and the second connecting plate 46 to move towards each other via the transmission rope 30, the first connecting plate 45 drives the first gripper 51 to rotate around the fifth hinge axis 511 via the first connecting rod 48, and the second connecting plate 46 drives the second gripper 52 to rotate around the sixth hinge axis 521 via the second connecting rod 49, thereby realizing the opening and closing action of the first gripper 51 and the second gripper 52.

[0045] Figure 5 A schematic diagram of the structure of a drive component 10 according to an embodiment of the present invention is shown.

[0046] like Figure 5 As shown, the drive assembly 10 includes a geared motor 11 and a drum 12. The drive rope 30 is wound around the drum 12.

[0047] The geared motor 11 is connected to the drum 12. The geared motor 11 can drive the drum 12 to rotate. The rotation of the drum 12 will cause the two ends of the transmission rope 30 to move towards each other. In other words, the rotation of the drum 12 can be converted into the opposite movement of the two ends of the transmission rope 30. The opposite movement of the two ends of the transmission rope 30 can drive the first connecting plate 45 and the second connecting plate 46 to move towards each other.

[0048] In one embodiment, such as Figure 2 As shown, the actuating component 40 also includes a support plate 41 and a plurality of fixed pulleys. The plurality of fixed pulleys are rotatably mounted on the support plate 41.

[0049] The transmission rope 30 winds around multiple fixed pulleys (winding around each pulley in sequence) to form a first horizontal segment 31 and a second horizontal segment 32 that are parallel to each other. Here, the first horizontal segment 31 of the transmission rope 30 is fixedly connected to the first connecting plate 45, and the second horizontal segment 32 of the transmission rope 30 is fixedly connected to the second connecting plate 46. Figure 2 As shown, in one implementation, three fixed pulleys of the same size are rotatably mounted on the support plate 41, namely a first fixed pulley 43, a second fixed pulley 44, and a third fixed pulley 42. The first fixed pulley 43 is located on the left side of the first connecting plate 45, the second fixed pulley 44 is located on the right side of the second connecting plate 46, and the third fixed pulley 42 is connected to the second fixed pulley 44. The transmission rope 30 passes sequentially around the third fixed pulley 42, the first fixed pulley 43, and the second fixed pulley 44 to form a [missing information - likely a specific configuration]. Figure 2 The circuit shown has a first horizontal section 31 on the upper side and a second horizontal section 32 on the lower side between the first fixed pulley 43 and the second fixed pulley 44, and the first horizontal section 31 and the second horizontal section 32 are arranged in parallel.

[0050] When the geared motor 11 drives the drum 12 to rotate, the drum 12, while rotating, simultaneously drives the first connecting plate 45 to move horizontally in a first direction via the first horizontal section 31 of the transmission rope 30, and drives the second connecting plate 46 to move horizontally in a second direction via the second horizontal section 32 of the transmission rope 30. Here, the second direction is opposite to the first direction. In this way, the power and motion of the drive assembly 10 are transmitted to the execution assembly 40 via the transmission rope 30, and the first connecting plate 45 and the second connecting plate 46 of the execution assembly 40 are driven to move towards each other.

[0051] It should be noted that, through the above-mentioned configuration, under the driving action of the reduction motor 11 on the transmission rope 30, the movement speeds of the first connecting plate 45 and the second connecting plate 46 are equal in magnitude but opposite in direction. In this way, the first connecting plate 45 and the second connecting plate 46 can perform symmetrical telescopic movements in opposite directions, ensuring that the opening and closing angles of the first gripper 51 and the second gripper 52 on the left and right sides are always symmetrical, thereby ensuring that the gripper assembly can smoothly and stably grasp or release the storage box.

[0052] In one embodiment, such as Figure 2 As shown, the actuator 40 also includes a linear guide rail 47 mounted on the support plate 41. The linear guide rail 47 includes a slide rail, a first slider, and a second slider that engage with the slide rail (sliding engagement). The slide rail is fixedly mounted on the support plate 41. The first slider is connected to the first connecting plate 45 and can slide along the slide rail. The second slider is connected to the second connecting plate 46 and can slide along the slide rail. It should be noted that the engagement of the slider and the slide rail of the linear guide rail 47 guides the horizontal opposing movement of the first connecting plate 45 and the second connecting plate 46, allowing for more stable telescopic movement of the first connecting plate 45 and the second connecting plate 46.

[0053] In one embodiment, such as Figure 1 As shown, the end-feed device 100 also includes a tension reversing assembly 20. The tension reversing assembly 20 is arranged between the drive assembly 10 and the actuation assembly 40, and is close to the drive assembly 10. The transmission rope 30, which passes over the drum 12, is connected to the actuation assembly 40 after passing through the tension reversing assembly 20. It should be noted that by providing the tension reversing assembly 20, the transmission rope 30 can be tensioned, and the direction of movement of the transmission rope 30 can be changed.

[0054] According to the end-grabbing device 100 of the present invention, the actuation component includes a first connecting plate and a second connecting plate arranged opposite to each other, and the gripper assembly includes a first gripper and a second gripper arranged opposite to each other, wherein the first gripper is connected to the first connecting plate and the second gripper is connected to the second connecting plate. The drive component and the actuation component are arranged separately, and the drive component is connected to the actuation component via a transmission rope, so that the power and motion of the drive component are transmitted to the actuation component via the transmission rope, driving the first connecting plate and the second connecting plate to move towards each other, and driving the first gripper and the second gripper to perform opening and closing actions, so as to grasp or release the storage box. It can be seen that the end-grabbing device of the present invention adopts a scheme of separating the drive component and the actuation component. The drive component can be deployed at a position far away from the actuation component, and the power and motion are transmitted via the transmission rope. This avoids the drive component occupying the storage space of the storage box, thereby helping to reduce the storage spacing between storage boxes, increase storage density, and make full use of warehouse storage space. Moreover, the end-grabbing device with a separate structure can be used in various working environments. Furthermore, by driving the first connecting plate and the second connecting plate to move towards each other at the same speed and magnitude, it can be ensured that the opening and closing angles of the left and right grippers are always symmetrical, thereby ensuring that the gripper assembly can smoothly and stably grasp or release the storage box.

[0055] In this specification, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. Furthermore, the terms "front," "rear," "upper," "lower," "inner," "outer," "top," "bottom," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0056] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0057] Similarly, it should be understood that, in order to streamline this disclosure and aid in understanding one or more aspects of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the invention. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0058] Those skilled in the art will understand that modules, units, or components of the devices disclosed in the examples herein can be arranged in the devices described in this embodiment, or alternatively, can be located in one or more devices different from the devices in this example. The modules in the foregoing examples can be combined into a single module or, in addition, can be divided into multiple sub-modules.

[0059] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0060] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention and form different embodiments.

[0061] As used herein, unless otherwise specified, the use of ordinal numbers such as “first,” “second,” “third,” etc., to describe ordinary objects merely indicates different instances of similar objects and is not intended to imply that the objects being described must have a given order in time, space, ordering, or any other manner.

[0062] Although the invention has been described with respect to a limited number of embodiments, those skilled in the art will understand from the foregoing description that other embodiments are conceivable within the scope of the invention described herein. Furthermore, it should be noted that the language used in this specification has been chosen primarily for readability and edibility purposes, and not for the purpose of interpreting or limiting the subject matter of the invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the invention is illustrative rather than restrictive, and the scope of the invention is defined by the appended claims.

Claims

1. An end-effector device, comprising: The execution component includes a first connecting plate and a second connecting plate arranged opposite to each other, and also includes a first connecting rod and a second connecting rod; The gripper assembly includes a first gripper and a second gripper arranged opposite to each other, and a first fixed seat and a second fixed seat arranged opposite to each other. The first gripper and the second gripper are respectively arranged on the outer sides of the first connecting plate and the second connecting plate. The first gripper is rotatably connected to the first fixed seat, and the second gripper is rotatably connected to the second fixed seat. The first gripper is connected to the first connecting plate via a first connecting rod, and the second gripper is connected to the second connecting plate via a second connecting rod. One end of the first connecting rod is hinged to the first connecting plate, and the other end of the first connecting rod is hinged to the first gripper. One end of the second connecting rod is hinged to the second connecting plate, and the other end of the second connecting rod is hinged to the second gripper. When the first connecting plate and the second connecting plate move towards each other, the first gripper rotates relative to the first fixed seat via the first connecting rod, and the second gripper rotates relative to the second fixed seat via the second connecting rod, thereby realizing the opening and closing action of the first gripper and the second gripper. A drive assembly is positioned above the execution assembly and the gripper assembly to avoid occupying storage space in the storage box. The drive assembly is connected to the execution assembly via a transmission rope to transmit power and motion from the drive assembly to the execution assembly, thereby driving the first connecting plate and the second connecting plate to move towards each other and causing the first and second grippers to perform opening and closing actions to grasp or release the storage box. The drive assembly includes a drum and a geared motor. The transmission rope is wound around the drum, and the geared motor is connected to the drum and adapted to drive the drum to rotate, thereby driving the two ends of the transmission rope to move towards each other and driving the first and second connecting plates to move towards each other through the transmission rope. A tensioning reversing assembly is arranged between the drive assembly and the actuation assembly. The transmission rope, which passes around the drum, is connected to the actuation assembly after passing through the tensioning reversing assembly. The tensioning reversing assembly is adapted to tension the transmission rope and to change the direction of movement of the transmission rope.

2. The end-capsule pickup device as described in claim 1, wherein, When the first connecting plate and the second connecting plate move toward each other and approach each other, the first gripper and the second gripper will close together so as to grab the storage box through the first gripper and the second gripper. When the first connecting plate and the second connecting plate move toward each other and move away from each other, the first gripper and the second gripper separate from each other, so as to release the storage box through the first gripper and the second gripper.

3. The end-capsule pickup device as described in claim 1, wherein, The execution component also includes: Multiple fixed pulleys; The transmission rope passes around the plurality of fixed pulleys to form a first horizontal segment and a second horizontal segment that are parallel to each other. The first horizontal segment is fixedly connected to the first connecting plate, and the second horizontal segment is fixedly connected to the second connecting plate. When the drum rotates, the first connecting plate is driven to move horizontally in a first direction through the first horizontal segment of the transmission rope, and the second connecting plate is driven to move horizontally in a second direction through the second horizontal segment of the transmission rope, wherein the second direction is opposite to the first direction.

4. The end-capture device as described in any one of claims 1-3, wherein, The first connecting plate and the second connecting plate move at the same speed.

5. The end-capture device as described in any one of claims 1-3, wherein, The execution component also includes: A support plate on which multiple fixed pulleys are rotatably mounted; The slide rail is fixedly mounted on the support plate; A first slider that cooperates with the slide rail, the first slider being connected to the first connecting plate and adapted to slide along the slide rail; A second slider that cooperates with the slide rail, the second slider being connected to the second connecting plate and adapted to slide along the slide rail.

Images