A gripping device for automated loading and unloading of goods

Abstract

This invention proposes a gripping device for automatic loading and unloading of goods, comprising a support frame, a first conveying section and a second conveying section spaced apart in the middle of the support frame, and a gripping mechanism including a driving crank, a driven crank, a connecting rod, and a gripping part. One end of the driving crank and the driven crank are rotatably mounted on the support frame, and the other end is rotatably connected to the connecting rod. The gripping part is located at one end of the connecting rod, and the driving crank has a drive groove. The drive mechanism includes a motor, a synchronous belt, a guide rail, and a drive part disposed on both sides of the support frame. The drive part cooperates with the guide rail and is clamped to the synchronous belt. The drive part has a drive roller that cooperates with the drive groove. When the motor drives the drive part to move along the guide rail, the drive roller drives the driving crank to oscillate in a circular motion in the drive groove, so that the gripping mechanism is lifted from between the first and second conveying sections, moved towards the first conveying section, or returned. This application has a simple and compact structure, high precision, and a more stable gripping process.

Description

Technical Field

[0001] This invention belongs to the technical field of logistics loading and unloading, and specifically relates to a gripping device for automatic loading and unloading of goods. Background Technology

[0002] For enclosed logistics loading and unloading environments such as containers, manual loading and unloading is labor-intensive and the relatively enclosed environment is detrimental to the health of the loading and unloading personnel. Therefore, automated loading and unloading gripping devices are needed to achieve automated loading and unloading and improve operational efficiency.

[0003] While existing automated loading and unloading gripping devices can achieve automated loading and unloading to a certain extent, their structures are relatively complex and the gripping mechanism has poor stability. For example, Chinese Patent No. CN 112660819A discloses a gripping device suitable for the automatic loading and unloading of cigarette boxes. This device has the following problems: 1. Due to the influence of the guide plates on both sides, the cardboard boxes to be picked up and unloaded must be within the range of the guide plates on both sides. Therefore, goods on both sides (goods near the edges) in enclosed spaces such as inside a container cannot be picked up and unloaded; only goods in the middle can be picked up and unloaded. 1. The size of the goods (cartons) being picked up is limited by the guide plates on both sides; the size cannot exceed the width between the guide plates. 2. The gripping mechanism (suction cups, etc., parallelogram mechanisms) is tilted forward on its supporting rolling plane. Besides its own weight, it experiences no other force, which makes the mechanism unstable. When the suction cups encounter resistance, they swing backward, making it difficult to grip the goods. Furthermore, at the climbing slope, it must be passed slowly, because accelerating could cause the gripping mechanism to flip backward, resulting in serious problems and rendering it unusable. 3. The entire gripping parallelogram mechanism is limited by wheels and grooves, requiring high precision in its manufacturing and installation. Otherwise, the entire mechanism will wobble and move around. 4. The overall mechanism is relatively complex; related pneumatic components such as solenoid valves are not installed at the front, resulting in slow pneumatic response. Summary of the Invention

[0004] In order to solve the above-mentioned problems in the prior art, this application provides a gripping device for automatic loading and unloading of goods to solve the above-mentioned technical defects.

[0005] This invention proposes a gripping device for automatic loading and unloading of goods, comprising a support frame, a first conveying section and a second conveying section, wherein the first conveying section and the second conveying section are spaced apart and disposed in the middle of the support frame, and further comprising:

[0006] The gripping mechanism includes an active crank, a driven crank, a connecting rod, and a gripping part. One end of the active crank and the driven crank are rotatably mounted on a support, and the other end is rotatably connected to the connecting rod. The gripping part is located at one end of the connecting rod, and a drive groove is provided on the active crank.

[0007] The drive mechanism includes a motor, a timing belt, a guide rail, and a drive unit located on both sides of the bracket. The drive unit cooperates with the guide rail and is clamped to the timing belt. The drive unit is equipped with a drive roller, which cooperates with the drive groove.

[0008] When the motor drives the drive unit to move along the guide rail, the drive roller drives the drive crank to oscillate in a circular motion within the drive groove. This allows the gripping mechanism to be lifted from between the first and second conveying sections and moved towards or back between the first and second conveying sections. The driving force of this automatic loading and unloading gripping device is the drive roller driven from within the drive groove of the drive crank. Therefore, this structure avoids the backward swaying problem that may occur in prior art solutions when handling goods, resulting in greater stability.

[0009] In some specific embodiments, the gripping part is equipped with multiple suction cups, and an angle adaptive mechanism, including a torsion spring, is provided at the interface between the gripping part and the connecting rod. This design allows for adaptive adjustment of the gripping part's angle to accommodate goods that are low-lying and close to the bottom surface.

[0010] In some specific embodiments, the drive unit includes a clamping block, a slider, and a connecting block. The clamping block is mounted on the slider via the connecting block. The slider engages with a guide rail and can slide on the guide rail. The clamping block clamps the timing belt and can move with the timing belt. The drive roller is mounted on the connecting block. This configuration allows the drive roller to move forward and backward by driving the timing belt with a motor.

[0011] In some specific embodiments, a tension spring is also provided between the clamping block and the support, and the tension spring pulls the clamping block toward the first conveying section. This arrangement further ensures that the gripping device will not swing backward when picking up and unloading goods.

[0012] In some specific embodiments, one end of the driving crank and the driven crank are rotatably mounted on a bracket, and rollers are respectively provided at the pivot point. A sliding groove is formed on the side plate of the bracket, and the rollers cooperate with the sliding groove to allow the driving crank and the driven crank to rotate and move along the direction of the sliding groove. This arrangement enables the gripping part to lift and move forward as the driving crank rotates and slides.

[0013] In some specific embodiments, an automatic reset limiting mechanism is also included. This mechanism is located on both sides of the support and restricts the rollers at the shaft of the drive crank. After the drive crank rotates and lifts the gripping part, the rollers are released, causing the drive crank to change from circular rotation to linear motion. This design allows the gripping part to rotate and lift into position with the drive crank before advancing, and to rotate and retract after reaching the correct position during reset.

[0014] In some specific embodiments, the connecting block is provided with a toggle block. The toggle block has two symmetrically arranged inclined surfaces along its forward and backward movement direction. The automatic reset limiting mechanism includes a limiting mechanism and a reset mechanism. The limiting mechanism is provided with a cam mechanism and a groove for accommodating the roller at the shaft of the active crank, preventing the roller at the shaft from displacing in the slide groove. When the toggle block moves forward with the slider, the front inclined surface of the toggle block pushes the cam mechanism, causing the limiting mechanism to move downward and release, allowing the roller at the shaft of the active crank to move forward along the slide groove direction. When the toggle block moves backward with the slider, the rear inclined surface of the toggle block pushes the cam mechanism, causing the limiting mechanism to move downward and release, allowing the roller at the shaft of the active crank to enter the groove, and the active crank is limited to circumferential rotation. The cooperation between the toggle block and the cam mechanism on the connecting block allows for accurate switching between rotation and sliding.

[0015] In some specific embodiments, the reset mechanism is a spring structure positioned to prevent the limiting mechanism from being pushed away by the toggle block. This configuration allows the limiting mechanism, which has been pushed open by the toggle block, to be reset.

[0016] In some specific embodiments, the side of the bracket is provided with a first slide groove and a second slide groove, respectively. The first slide groove is located above the second slide groove. Both ends of the first slide groove are provided with arc segments, and the left end point of the second slide groove is the center of the left arc segment of the first slide groove, and the right end point of the second slide groove is the center of the right arc segment of the first slide groove. A second roller is also provided at the end of the active crank near the shaft. The roller at the shaft of the active crank is displaceable and disposed within the second slide groove, and the second roller is displaceable and disposed within the first slide groove. With this arrangement, the original automatic reset limit mechanism can be eliminated, and the structure is simpler and clearer.

[0017] In some specific embodiments, unpowered rollers are arranged on the upper surfaces of both sides of the support along the transport direction. This arrangement can be used to provide auxiliary support when retrieving goods from both sides of the container.

[0018] Compared with the prior art, the beneficial results of the present invention are as follows:

[0019] The gripping device for automatic loading and unloading of goods in this application has a simpler and more compact structure, higher precision, and no risk of horizontal or vertical movement.

[0020] Cardboard boxes are not limited by the original side guides in terms of cargo size, and can accommodate a wider range of cargo specifications, including goods in containers and other enclosed spaces on both sides.

[0021] The suction cup gripping mechanism will not have the risk of back-and-forth movement. The driving force of this application is applied to the active crank, and an additional tension spring is added to the clamping block and the frame to ensure that the structure will not have the risk of swinging backward when picking up and unloading goods.

[0022] The automatic reset limit mechanism prevents the gripping mechanism from moving forward or backward in a straight line if the limit mechanism is not released. The free switching between circular oscillation and linear motion is achieved through the coordinated action of the reset mechanism and the toggle block. Only one power is needed to realize the forward and backward movement and downward avoidance movement of the suction cup gripping mechanism.

[0023] The suction cup gripping mechanism is equipped with a suction cup angle adaptive structure for gripping cardboard boxes that are close to the ground at a low height.

[0024] The parallelogram linkage mechanism in this application has a quick-return characteristic. When the suction cup mechanism picks up the goods and returns to the starting position, the automatic reset limit mechanism has restricted the freedom of the rollers on the drive crank to move forward and backward, and can only make circular rotations. Under the drive of the clamping block, the drive crank returns from the forward tilting state to the sinking avoidance position (reverse tilting state). The horizontal speed of the upper linkage (the horizontal speed of the gripping mechanism) is faster than the speed of the clamping block, so it has a quick-return characteristic. Under normal circumstances, the speed of the clamping block is the same as or greater than the speed of the two middle sections of the conveyor line.

[0025] Advantages of quick-return characteristics: When picking up goods, the conveyor line can continue to transport goods without stopping after the vacuum is released from the suction cup. The suction cup gripping mechanism can directly sink to avoid the goods by utilizing the quick-return characteristics, without interfering with each other, which greatly improves the picking and unloading efficiency of the entire equipment. Attached Figure Description

[0026] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the invention. Other embodiments and many anticipated advantages of the embodiments will be readily recognized as they become better understood through reference to the following detailed description. Elements in the drawings are not necessarily to scale. The same reference numerals refer to corresponding similar parts.

[0027] Figure 1 This is a schematic diagram of a gripping device for automatically loading and unloading goods according to an embodiment of the present invention;

[0028] Figure 2This is a schematic diagram of the internal structure of a gripping device for automatic loading and unloading of goods according to a specific embodiment of the present invention;

[0029] Figure 3 This is a partial structural schematic diagram of a gripping mechanism according to a specific embodiment of the present invention;

[0030] Figures 4a-4d This is a schematic diagram of different states of an automatic reset limit mechanism according to a specific embodiment of the present invention;

[0031] Figures 5a-5d This is a schematic diagram of the gripping mechanism according to another specific embodiment of the present invention.

[0032] The meanings of the numbers in the diagram are as follows: 1-Bracket, 11-Unpowered roller, 12-First slide rail, 13-Second slide rail, 2-First conveying part, 3-Second conveying part, 4-Gripping mechanism, 41-Driving crank, 42-Driven crank, 43-Connecting rod, 44-Gripping part, 5-Drive mechanism, 51-Motor, 52-Drive belt, 53-Synchronous belt, 54-Guide rail, 55-Drive part, 551-Clamping block, 552-Connecting block, 553-Drive roller, 554-Tension spring, 555-Actuating block, 556-Roller, 557-Second roller, 6-Automatic reset limit mechanism, 61-Limit mechanism, 62-Reset mechanism. Detailed Implementation

[0033] In the following detailed description, reference is made to the accompanying drawings, which form part of the detailed description and are illustrated by specific illustrative embodiments in which the invention may be practiced. In this regard, directional terms such as “top,” “bottom,” “left,” “right,” “up,” “down,” etc., are used with reference to the orientation of the described figures. Because components of the embodiments can be positioned in several different orientations, directional terms are used for illustrative purposes and are by no means limiting. It should be understood that other embodiments may be utilized or logical changes may be made without departing from the scope of the invention. Therefore, the following detailed description should not be taken in a limiting sense, and the scope of the invention is defined by the appended claims.

[0034] This invention proposes a gripping device for automatic loading and unloading of goods. Figure 1 A schematic diagram of the structure of a gripping device for automatically loading and unloading goods according to a first embodiment of the present invention is shown, as follows: Figure 1As shown, the gripping device for automatic loading and unloading of goods includes a support 1, a first conveying section 2, a second conveying section 3, and a gripping mechanism 4. The first conveying section 2 and the second conveying section 3 are spaced apart in the middle of the support 1. The first conveying section 2 is located at the front end in the picking direction. The gripping mechanism 4 is located between the first conveying section 2 and the second conveying section 3. The gripping mechanism 4 can be lifted from between the two conveying sections and moved towards the first conveying section 2. After the goods are gripped onto the first conveying section 2, the gripping mechanism retracts back to between the two conveying sections. The goods are transferred from the first conveying section 2 to the second conveying section 1 and then transported backward, completing one gripping operation.

[0035] In a specific embodiment, non-powered rollers 11 are arranged on the top of the two side plates of the support 1 along the conveying direction. This arrangement allows the size of the cartons to be handled without being limited by the original side guide plates during loading, enabling a wider range of carton sizes to be accommodated. It can also provide auxiliary support when loading goods from the sides of a container.

[0036] Continue to refer to Figure 2 , Figure 2 A schematic diagram of the internal structure of a gripping device for automatically loading and unloading goods according to a specific embodiment of the present invention is shown, as follows: Figure 2 As shown, it also includes a drive mechanism 5, which includes a motor 51, a drive belt 52, a synchronous belt 53, a guide rail 54, and a drive unit 55. The motor 51 is located below the transmission part of the support 1, and the guide rail 54 is located on the side walls of the two supports 1. The motor 51 drives the synchronous shaft to rotate through the drive belt 52, thereby driving the synchronous belts 53 on both sides of the support 1 to rotate synchronously. The drive mechanisms 5 on both sides are clamped on the synchronous belts 53 and can move forward or backward with the synchronous belts 53. The gripping mechanism 4 includes an active crank 41, a driven crank 42, a connecting rod 43, and a gripping unit 44. One end of the active crank 41 and the driven crank 42 is rotatably mounted on the side wall of the support 1, specifically by means of pin connection or hinge connection, and the other end is rotatably connected to the connecting rod 43 to form a parallelogram connecting rod structure. The gripping unit 44 is located at the end of a pair of connecting rods 43 and is equipped with multiple suction cups to vacuum-pick up goods. The pneumatic components of the suction cup are located below the conveyor line, resulting in a compact and efficient overall space and faster response speed thanks to the pneumatic system. The parallelogram linkage structure ensures that the gripping part 44 remains horizontal during lifting and lowering, and the suction cup maintains a consistent direction of motion (always horizontal and parallel to the conveyor line's direction) during forward and backward movement. This prevents unnecessary interference caused by the suction cup tilting or drooping during rotation and oscillation.

[0037] In a specific embodiment, the gripping part 44 is provided with an angle adaptive adjustment mechanism on both sides. Specifically, the adjustment mechanism can be a torsion spring, which can rotate when the gripping part 44 is pushed to the goods at a low height close to the bottom surface, so that the suction cup can fit and better pick up the goods.

[0038] In a specific embodiment, the active crank 41 and the driven crank 42 are rotatably mounted on the shaft at one end of the bracket 1 and are also provided with rollers. Slide grooves are correspondingly opened on the two side plates of the bracket 1, and the rollers are nested in the slide grooves to realize the forward and backward movement of the gripping mechanism.

[0039] In a specific embodiment, Figure 3 A partial structural schematic diagram of a gripping mechanism according to a specific embodiment of the present invention is shown, as follows: Figure 3 As shown, the drive unit 55 includes a clamping block 551, a slider, and a connecting block 552. The clamping block 551 is mounted on the slider via the connecting block 552. The slider cooperates with the guide rail 54 and can slide back and forth on the guide rail 54. The clamping block 551 is clamped onto the timing belt 53 and can move back and forth with the timing belt 53. A drive roller 553 is provided on the connecting block 552. A drive groove 411 is provided on the drive crank 41, and the drive roller 553 is nested in the drive groove 411. When the drive roller 553 moves back and forth with the connecting block 552, it can act on the drive groove 411, causing the drive crank 41 to rotate or move. Compared with the prior art, where the driving force acts on the frame at the bottom of the parallelogram linkage structure (which has the risk of backward swinging), the driving force in this application acts directly on the drive crank, which can ensure that the structure will not have the risk of backward swinging when loading and unloading.

[0040] In a specific embodiment, a tension spring 554 is also provided between the clamping block 551 and the bracket 1. The tension spring 554 is in a stretched state to provide a force to pull the clamping block 551 toward the gripping part 44, so as to ensure that the gripping mechanism will not swing backward during loading and unloading.

[0041] In a specific embodiment, automatic reset limiting mechanisms are also provided on both sides of the bracket 1. The automatic reset limiting mechanisms are used to limit the rollers at the shaft of the active crank 41, so that when the active crank 41 rotates and lifts the gripping part 44 to a certain height, the rollers at the shaft are released, so that the active crank 41 can slide linearly in the groove to push the gripping part 44 to the picking surface for picking up goods. Figures 4a-4d The diagram illustrates different states of an automatic reset limit mechanism according to a specific embodiment of the present invention, such as... Figure 4aAs shown, the automatic reset limiting mechanism 6 includes a reset limiting mechanism 61 and a reset mechanism 62. The main body of the limiting mechanism 61 has a "J"-shaped structure, with a groove at the bottom for limiting the roller 556 at the rotating shaft. A cam mechanism is provided at the upper part of the limiting mechanism 61. A toggle block 555 is provided on the connecting block 552. The toggle block 555 has inclined surfaces symmetrically arranged along its forward and backward direction, and the overall structure is an inverted trapezoid. When the toggle block 555 moves back and forth with the connecting block 552, it can trigger the cam mechanism, causing the limiting mechanism 61 to move down and release the roller 556, which can then move back and forth on the slide groove. The reset mechanism 62 is located next to the limiting mechanism 61. The limiting mechanism 61 is vertically movable on the reset mechanism 62, and the reset mechanism 62 has a spring in the direction of the downward movement of the limiting mechanism 61 to lift the limiting mechanism 61 to the initial limiting position. The following describes the process in conjunction with... Figures 4a-4d status and Figure 1-3 Explanation of the overall structural principle:

[0042] Figure 4a To retract the gripping part 44 to the position between the first conveying part 2 and the second conveying part 3, the motor 51 drives the synchronous pulley 53 to drive the synchronous belt, causing the clamping block 551 to move back and forth. The clamping block 551 drives the slider and connecting block 552 to slide back and forth on the slide rail 54. At this time, the limiting mechanism 61 restricts the roller 556 from moving forward. The roller 556 rotates in the groove. The driving roller 553 on the connecting block 552 follows the connecting block 552 forward and acts on the driving groove of the active crank 41, causing the active crank 41 to rotate and lift the gripping part 44. The connecting block 552 continues to move forward until the actuating block 555 moves to the cam mechanism of the limiting mechanism 61, such as... Figure 4b As shown, when the front inclined surface of the actuating block 555 passes the cam mechanism, the limiting mechanism 61 moves downward, and the roller 556 is released and can move forward along the sliding groove. At this time, when the driving crank 41 rotates to a certain forward tilt angle, it is limited by the angle of the frame and cannot continue to rotate (e.g. Figure 4c As shown in the state), this propels the parallelogram linkage structure of the gripping part forward (as shown in the state). Figure 4d (As shown in the diagram), the gripping part 44 is moved to the desired pickup position. The principle of the gripping part 44 retracting back between the first conveyor part 2 and the second conveyor part 3 is the same as above. The inclined plane of the toggle block 555 in the backward direction triggers the cam mechanism, retracting the roller 556 to the initial limit state. Then, the backward movement of the drive crank 41 stops, switching to the rotational retraction state. The reset limit mechanism of this application utilizes a cam mechanism to achieve the forward and backward movement of the gripping part and the rotational downward avoidance movement using only one power source.

[0043] After the suction cup mechanism picks up the goods, when the gripping mechanism returns to the starting position, the automatic reset limit mechanism restricts the forward and backward movement of the rollers on the drive crank, allowing only circular rotation. Driven by the clamping block, the drive crank returns from a forward-tilted state to a downward-tilted position (reverse tilt). Furthermore, the horizontal speed of the upper connecting rod (gripping part) of the parallelogram linkage structure is faster than the speed of the clamping block, thus providing a quick-return characteristic. Normally, the speed of the clamping block is the same as or greater than the speed of the two intermediate conveyor lines. Therefore, during goods pickup, the conveyor line does not need to stop after the suction cup releases the vacuum and continues transporting the goods. The suction cup gripping mechanism, utilizing its quick-return characteristic, directly lowers to allow the goods to pass, without interference, greatly improving the overall picking and unloading efficiency of the equipment.

[0044] Figures 5a-5d A schematic diagram of the structural state of the gripping mechanism according to another specific embodiment of the present invention is shown, such as... Figures 5a-5d As shown, a first slide groove 12 and a second slide groove 13 are provided on the side plate of the bracket 1. The first slide groove 12 is positioned above the second slide groove 13. The left endpoint of the lower second slide groove 13 is the center of the left arc segment of the upper first slide groove 12, and the right endpoint of the lower second slide groove 13 is the center of the right arc segment of the upper first slide groove 12. The arc segments on both sides are of the same size, and the angle of change between the arc segments on both sides is continuous. Relative to the horizontal line, the end of the upper left arc segment connects to the center at an angle of 45 degrees. Therefore, the starting point of the right arc segment connects to the center at an angle that must also start from 45 degrees. The angles at the beginning and end of the arc segments on both sides must be continuous. Alternatively, the upper and lower slide grooves can be interchanged according to the design structural requirements to achieve the same technical effect.

[0045] In a specific embodiment, a second roller 557 is provided at the end of the driving crank 41 near the shaft. The roller 556' at the shaft is installed in the second slide groove 13, and the second roller 557 is installed in the first slide groove 12. When the middle section of the slide groove is horizontal, the line connecting the centers of the two rollers is arranged at a certain angle to the horizontal line. When the connecting rod on the parallelogram linkage mechanism is subjected to a horizontal force, the entire parallelogram mechanism will not deform. Because the two rollers on the driving crank 41 are restricted by the two slide grooves on the side plate, the mechanism only has one degree of freedom in the forward and backward direction, so it can only follow the drive connecting block to perform the required forward and backward movements. In this embodiment, the driven crank is set as three connecting rods that are rotatably connected end to end, wherein the rod body of the middle connecting rod is rotatably connected to the middle part of the driving crank 41. This embodiment eliminates the automatic reset limit mechanism, making the structure simpler and clearer; the entire parallelogram linkage structure is more stable and will not deform under force, and the angle can be designed and determined in advance; when picking up goods at the front end, the linkage can move forward and downward simultaneously, and after the suction cup picks up the goods, it can lift the goods up to a certain designed height. Combined with the original suction cup adaptive structure, it is more conducive to picking up the bottom goods (especially the bottom goods); the overall structural space design is more compact, the structure is simpler, and the cost is lower.

[0046] It is evident that those skilled in the art can make various modifications and alterations to the embodiments of the present invention without departing from the spirit and scope of the invention. In this way, the invention is also intended to cover such modifications and alterations if they fall within the scope of the claims and their equivalents. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are described in mutually different dependent claims does not indicate that a combination of these measures cannot be used for profit. Any reference numerals in the claims should not be considered as limiting the scope.

Claims

1. A gripping device for automatically loading and unloading goods, comprising a support frame, a first conveying section, and a second conveying section, wherein the first conveying section and the second conveying section are spaced apart at the middle of the support frame, characterized in that, Also includes: A gripping mechanism, comprising an active crank, a driven crank, a connecting rod, and a gripping part, wherein one end of the active crank and the driven crank are rotatably mounted on the bracket, and the other end is rotatably connected to the connecting rod; the gripping part is disposed at one end of the connecting rod; and a drive groove is provided on the active crank. The drive mechanism includes a motor, a timing belt, a guide rail, and a drive unit disposed on both sides of the bracket. The drive unit cooperates with the guide rail and clamps the timing belt. A drive roller is disposed on the drive unit, and the drive roller cooperates with the drive groove. When the motor drives the drive unit to move along the guide rail, the drive roller drives the active crank to swing in a circular motion in the drive groove, so that the gripping mechanism can be lifted from between the first conveying unit and the second conveying unit, and move towards the first conveying unit or return to between the first conveying unit and the second conveying unit. One end of the driving crank and the driven crank are rotatably mounted on the bracket, and rollers are respectively provided at the shaft. A sliding groove is provided on the side plate of the bracket, and the rollers cooperate with the sliding groove to allow the driving crank and the driven crank to rotate and be displaced along the direction of the sliding groove; it also includes an automatic reset limiting mechanism, which is provided on both sides of the bracket. The automatic reset limiting mechanism restricts the rollers at the shaft of the driving crank. After the driving crank rotates and lifts the gripping part, the rollers are released so that the driving crank changes from circular rotation to linear motion.

2. The gripping device for automatic loading and unloading of goods according to claim 1, characterized in that, The gripping part is provided with multiple suction cups, and an angle adaptive mechanism is provided at the joint between the gripping part and the connecting rod, the angle adaptive mechanism including a torsion spring.

3. A gripping device for automatic loading and unloading of goods according to claim 1, characterized in that, The drive unit includes a clamping block, a slider, and a connecting block. The clamping block is mounted on the slider via the connecting block. The slider cooperates with the guide rail and can slide on the guide rail. The clamping block clamps the timing belt and can move with the timing belt. The drive roller is disposed on the connecting block.

4. A gripping device for automatic loading and unloading of goods according to claim 3, characterized in that, A tension spring is also provided between the clamping block and the bracket, and the tension spring pulls the clamping block toward the first conveying part.

5. A gripping device for automatic loading and unloading of goods according to claim 3, characterized in that, The connecting block is provided with a toggle block, and the toggle block is symmetrically provided with two inclined surfaces along the front-to-back movement direction. The automatic reset limiting mechanism includes a limiting mechanism and a reset mechanism. The limiting mechanism is provided with a cam mechanism and a groove for accommodating the roller at the shaft of the active crank to prevent the roller at the shaft from displacing in the slide groove. When the toggle block moves forward with the slider, the front inclined surface of the toggle block can push the cam mechanism to move the limiting mechanism down and release it, and the roller at the shaft of the active crank can move forward along the slide groove direction. When the toggle block moves backward with the slider, the rear inclined surface of the toggle block can push the cam mechanism to move the limiting mechanism down and release it, and the roller at the shaft of the active crank enters the groove, and the active crank is limited to only rotate in a circular motion.

6. A gripping device for automatic loading and unloading of goods according to claim 5, characterized in that, The reset mechanism is a spring structure that prevents the limiting mechanism from being pushed and displaced by the toggle block.

7. A gripping device for automatic loading and unloading of goods according to claim 1, characterized in that, The upper surfaces on both sides of the bracket are provided with unpowered rollers arranged along the transmission direction.

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