Clamping structure and carrying manipulator

Abstract

The invention discloses a clamping structure and a carrying manipulator, and relates to the technical field of carrying manipulators. The clamping structure comprises a U-shaped plate and further comprises a moving mechanism arranged on the side wall of the U-shaped plate, two first moving plates are connected to the moving mechanism, and the moving mechanism is used for moving the two first moving plates; and the first telescopic mechanisms are arranged on the side walls of the first moving plates, mounting plates are connected to the first telescopic mechanisms, and the first telescopic mechanisms are used for guiding and resetting movement of the mounting plates. According to the clamping structure and the carrying mechanical arm, a clamped object can be lifted upwards through rotation of the rubber roller, so that the bearing plate is moved to the bottom of the clamped object to be supported, meanwhile, the rubber roller can be limited, the two sides of the clamped object are clamped and fixed, the clamped object does not need to be placed on a tray, and the clamping structure and the carrying mechanical arm are convenient to use. Therefore, the carrying process is more stable and reliable, and the carrying efficiency and effect are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of handling manipulators, and particularly to a clamping structure and a handling manipulator. Background Art

[0002] A handling manipulator is an automated warehousing device mainly used to complete operations such as grasping, handling, and placing goods in a stereoscopic warehouse. It mainly consists of a robotic arm, a clamping structure, a drive system, a control system, and a sensor system. The clamping structure is connected to the end of the robotic arm and is used to directly grasp goods. During handling, the clamped object on the conveyor belt is grasped by the clamping structure and transported to the stereoscopic warehouse.

[0003] However, when the existing clamping structure and handling manipulator are in use, the clamping structure usually clamps and fixes both sides of the clamped object. Due to the lack of support at the bottom, it is not only unstable and unreliable, but also easily causes deformation of the clamped object, affecting the efficiency and effect of handling. In the prior art, there are also side fork type handling manipulators for handling, but this method requires placing each clamped object on a tray, which not only increases the usage cost but also is not convenient and fast enough. Summary of the Invention

[0004] The purpose of the present invention is to provide a clamping structure and a handling manipulator to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A clamping structure, including a U-shaped plate, further including:

[0006] A moving mechanism is arranged on the side wall of the U-shaped plate, and two first moving plates are connected to the moving mechanism. The moving mechanism is used to move the two first moving plates.

[0007] A first telescopic mechanism is arranged on the side wall of each first moving plate, and a mounting plate is connected to the first telescopic mechanism. The first telescopic mechanism is used to guide and reset the movement of the mounting plate.

[0008] A plurality of rubber rollers are rotatably arranged on the side wall of each mounting plate through a plurality of rotating mechanisms. When the rubber rollers rotate, they can push the clamped object upward.

[0009] A second telescopic mechanism is arranged on the side wall of the first moving plate, and a first moving block is connected to the second telescopic mechanism. The second telescopic mechanism is used to guide and reset the movement of the first moving block.

[0010] A bearing plate is fixed to the side wall of the first moving block and is located below the mounting plate. A plurality of balls are arranged on the bearing plate. When the clamped object is lifted upward, the bearing plate can move to the bottom of the clamped object for support.

[0011] Preferably, each of the rotation mechanisms includes:

[0012] A fixed block, fixed to the side wall of the mounting plate;

[0013] A rotating shaft, rotatably connected to the side wall of the fixed block and fixed to one end of the rubber roller close to the fixed block;

[0014] A driving mechanism, arranged on the side wall of the rotating shaft, for driving the rotating shaft to rotate.

[0015] Preferably, the driving mechanism includes:

[0016] A gear, fixedly sleeved on the side wall of the rotating shaft;

[0017] A first reset mechanism, arranged above the fixed block, and a second moving block is connected to the first reset mechanism, and the first reset mechanism is used to guide and reset the movement of the second moving block;

[0018] A second reset mechanism, arranged below the second moving block, and a second moving plate is connected to the second reset mechanism, and the second reset mechanism is used to guide and reset the movement of the second moving plate;

[0019] A plurality of racks, fixed to the side wall of the second moving plate and capable of meshing with the gear;

[0020] A limiting block, fixed to the side wall of the second moving block through an L-shaped plate, and the limiting block can be inserted on the gear for limiting;

[0021] A pushing mechanism, arranged on the side wall of the mounting plate, for pushing the second moving plate to move up and down;

[0022] A blocking mechanism, arranged on the side wall of the mounting plate, for blocking the movement of the second moving plate.

[0023] Preferably, the first reset mechanism includes:

[0024] Two first T-shaped guide rods, fixed to the side wall of the second moving block;

[0025] An L-shaped block, sleeved on the side walls of the two first T-shaped guide rods and fixed to the top of the fixed block;

[0026] A damper, fixed between the L-shaped block and the second moving block, for resetting the second moving block.

[0027] Preferably, the second reset mechanism includes:

[0028] A connecting plate, fixed below the second moving block through two guide rods;

[0029] Two sliders slide on the side walls of the two guide rods and are fixed to the second moving plate;

[0030] Two first elastic members are sleeved on the side walls of the two guide rods, and the first elastic members are located between the sliders and the second moving block.

[0031] Preferably, the first pushing mechanism includes:

[0032] A strip-shaped opening is formed in the side wall of the mounting plate;

[0033] A rectangular tube slides in the strip-shaped opening;

[0034] A rectangular rod is inserted into the rectangular tube and fixed to the side wall of the second moving plate;

[0035] A pushing block is fixed to the end of the rectangular tube away from the second moving plate, and an inclined groove is formed in the side wall of the pushing block;

[0036] Two second T-shaped guide rods are fixed to the top of the pushing block;

[0037] A connecting block is sleeved on the side wall of the second T-shaped guide rod and fixed to the side wall of the mounting plate;

[0038] A pushing pin is inserted into the inclined groove and fixed to the side wall of the first moving plate through a mounting block.

[0039] Preferably, the blocking mechanism includes:

[0040] A connecting rod is inserted into the side wall of the mounting plate and fixed to the bottom of the second moving plate;

[0041] A first stopper is fixed to the end of the connecting rod away from the second moving plate;

[0042] A second stopper is fixed to the top of the first moving block and can abut against the first stopper.

[0043] Preferably, the first telescopic mechanism includes:

[0044] Two first sleeves are fixed to the side walls of each mounting plate;

[0045] Two first telescopic rods are inserted into the two first sleeves and fixed to the side wall of the first moving plate;

[0046] Two second elastic members are sleeved on the side walls of the two first sleeves, and the second elastic members are located between the first moving plate and the mounting plate.

[0047] Preferably, the second telescopic mechanism includes:

[0048] Two second sleeves, fixed to the side walls of each of the first moving blocks;

[0049] Two second rods, inserted into the two second sleeves and fixed to the side wall of the first moving plate;

[0050] Two third elastic members, sleeved in the two second sleeves, and the third elastic members are located between the first moving plate and the first moving block.

[0051] Preferably, the moving mechanism includes:

[0052] A fixed rod, fixed to two opposite side walls of the U-shaped plate and penetrating through the side walls of the two first moving plates;

[0053] A double-headed lead screw, rotatably arranged on two opposite side walls of the U-shaped plate and threadedly connected to the two first moving plates;

[0054] A motor, fixed to the side wall of the first moving plate, and the output end of the motor is fixed to one end of the double-headed lead screw.

[0055] A handling manipulator, including a manipulator body, further comprising: the clamping structure as described above, and the clamping structure is fixed to the end of the manipulator body.

[0056] Compared with the prior art, the beneficial effects of the present invention are:

[0057] For this kind of clamping structure and handling manipulator, by setting a driving mechanism, a second telescopic mechanism, etc., it can lift the object to be clamped upward by rotating the rubber roller, so as to move the bearing plate to the bottom of the object to be clamped for support. At the same time, it can limit the rubber roller to realize clamping and fixing on both sides of the object to be clamped, and there is no need to place the object to be clamped on the tray, thus making the handling process more stable and reliable, and ensuring the efficiency and effect of handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a schematic diagram of the overall structure of the clamping mechanism in the present invention;

[0059] Figure 2 It is a schematic diagram of the overall structure of the clamping mechanism from another perspective in the present invention;

[0060] Figure 3 It is Figure 2 The enlarged schematic diagram of the structure at A in

[0061] Figure 4 It is Figure 3 The enlarged schematic diagram of the structure at B in

[0062] Figure 5 It is Figure 4 The enlarged schematic diagram of the structure at C in

[0063] Figure 6 This is a schematic assembly structure diagram of the manipulator body and the clamping mechanism in the present invention.

[0064] In the figure: 1, rubber roller; 201, fixed block; 202, rotating shaft; 301, gear; 302, second moving block; 303, second moving plate; 304, rack; 305, L-shaped plate; 306, limiting block; 401, first T-shaped guide rod; 402, L-shaped block; 403, damper; 501, guide rod; 502, connecting plate; 503, slider; 504, first elastic member; 601, connecting rod; 602, first stop block; 603, second stop block; 701, strip-shaped opening; 702, rectangular tube; 703, rectangular rod; 704, pushing block; 705, inclined groove; 706, mounting block; 707, pushing pin; 708, second T-shaped guide rod; 709, connecting block; 801, first sleeve rod; 802, first sleeve tube; 803, second elastic member; 901, second sleeve rod; 902, second sleeve tube; 903, third elastic member; 1001, fixed rod; 1002, double-headed lead screw; 1003, motor; 11, U-shaped plate; 12, first moving plate; 13, mounting plate; 14, first moving block; 15, bearing plate; 16, ball; 17, manipulator body. Specific embodiments

[0065] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0066] Please refer to Figures 1-5 , the present invention provides a clamping structure, including a U-shaped plate 11, and further including:

[0067] A moving mechanism is disposed on the side wall of the U-shaped plate 11, and two first moving plates 12 are connected to the moving mechanism. The moving mechanism is used to move the two first moving plates 12;

[0068] A first telescopic mechanism is disposed on the side wall of each first moving plate 12, and a mounting plate 13 is connected to the first telescopic mechanism. The first telescopic mechanism is used to guide and reset the movement of the mounting plate 13;

[0069] A plurality of rubber rollers 1 are rotated on the side wall of each mounting plate 13 through a plurality of rotating mechanisms. When the rubber rollers 1 rotate, the object to be clamped can be pushed upward. The object to be clamped can be a box such as a cardboard box containing goods;

[0070] The second telescopic mechanism is arranged on the side wall of the first moving plate 12, and a first moving block 14 is connected to the second telescopic mechanism. The second telescopic mechanism is used to guide and reset the movement of the first moving block 14;

[0071] The bearing plate 15 is fixed to the side wall of the first moving block 14 and is located below the mounting plate 13. A plurality of balls 16 are arranged on the bearing plate 15. When the object to be clamped is lifted upward, the bearing plate 15 can move to the bottom of the object to be clamped for support. It can lift the object to be clamped upward by the rotation of the rubber roller 1, so that the bearing plate 15 can move to the bottom of the object to be clamped for support. At the same time, the rubber roller 1 can be limited, so as to clamp and fix both sides of the object to be clamped. Moreover, it is not necessary to place the object to be clamped on the tray, thus making the handling process more stable and reliable, and ensuring the efficiency and effect of handling.

[0072] Please refer to Figure 4 and Figure 5 , each rotating mechanism includes:

[0073] The fixed block 201 is fixed to the side wall of the mounting plate 13;

[0074] The rotating shaft 202 is rotatably connected to the side wall of the fixed block 201 and is fixed to one end of the rubber roller 1 close to the fixed block 201;

[0075] The driving mechanism is arranged on the side wall of the rotating shaft 202 and is used to drive the rotating shaft 202 to rotate. By the driving mechanism, the rotating shaft 202 rotates, and the rotation of the rotating shaft 202 drives the rotation of the rubber roller 1.

[0076] Please refer to Figure 5 , the driving mechanism includes:

[0077] The gear 301 is fixedly sleeved on the side wall of the rotating shaft 202;

[0078] The first reset mechanism is arranged above the fixed block 201, and a second moving block 302 is connected to the first reset mechanism. The first reset mechanism is used to guide and reset the movement of the second moving block 302;

[0079] The second reset mechanism is arranged below the second moving block 302, and a second moving plate 303 is connected to the second reset mechanism. The second reset mechanism is used to guide and reset the movement of the second moving plate 303;

[0080] A plurality of racks 304 are fixed to the side wall of the second moving plate 303 and can be meshed with the gear 301;

[0081] The limiting block 306 is fixed to the side wall of the second moving block 302 through the L-shaped plate 305, and the limiting block 306 can be inserted on the gear 301 for limiting;

[0082] A pushing mechanism, which is arranged on the side wall of the mounting plate 13 and is used to push the second moving plate 303 to move up and down;

[0083] A blocking mechanism, which is arranged on the side wall of the mounting plate 13 and is used to block the movement of the second moving plate 303. By blocking the second moving plate 303 through the blocking mechanism, the second moving plate 303 and the rack 304 no longer move. When the mounting plate 13 continues to move, the gear 301 can be driven to continue to move through the fixed block 201 and the gear 301 meshes with the rack 304, and the limiting block 306 disengages from the gear 301 and no longer limits the gear 301. At this time, the rubber roller 1 can abut against both sides of the object to be clamped. At this time, the mounting plate 13 no longer continues to move. When the first moving plate 12 continues to move, the second moving plate 303 and multiple racks 304 can be pushed upward through the pushing mechanism, so as to drive the gear 301 and the rotating shaft 202 to rotate, and then drive the rubber roller 1 to rotate.

[0084] Please refer to Figure 5 , the first reset mechanism includes:

[0085] Two first T-shaped guide rods 401, which are fixed on the side wall of the second moving block 302;

[0086] An L-shaped block 402, which is sleeved on the side walls of the two first T-shaped guide rods 401 and is fixed to the top of the fixed block 201;

[0087] A damper 403, which is fixed between the L-shaped block 402 and the second moving block 302 and is used to reset the second moving block 302, and can slowly reset the second moving plate 303 and multiple racks 304.

[0088] Please refer to Figure 5 , the second reset mechanism includes:

[0089] A connecting plate 502, which is fixed below the second moving block 302 through two guide rods 501;

[0090] Two sliders 503, which slide on the side walls of the two guide rods 501 and are fixed to the second moving plate 303;

[0091] Two first elastic members 504, which are sleeved on the side walls of the two guide rods 501, and the first elastic member 504 is located between the slider 503 and the second moving block 302, and plays a role in guiding and resetting the movement of the rack 304. The first elastic member 504 can be a spring, and both ends of the first elastic member 504 are fixed to the slider 503 and the second moving block 302 respectively.

[0092] Please refer to Figure 4 , the first pushing mechanism includes:

[0093] Bar-shaped opening 701, formed on the side wall of the mounting plate 13;

[0094] Rectangular tube 702, sliding within the bar-shaped opening 701;

[0095] Rectangular rod 703, inserted into the rectangular tube 702 and fixed to the side wall of the second moving plate 303;

[0096] Pushing block 704, fixed to the end of the rectangular tube 702 away from the second moving plate 303, and a slanted groove 705 is formed on the side wall of the pushing block 704;

[0097] Two second T-shaped guide rods 708, fixed to the top of the pushing block 704;

[0098] Connecting block 709, sleeved on the side wall of the second T-shaped guide rod 708 and fixed to the side wall of the mounting plate 13;

[0099] Pushing pin 707, inserted into the slanted groove 705 and fixed to the side wall of the first moving plate 12 through the mounting block 706. When the first moving plate 12 continues to move, the second elastic member 803 can be gradually compressed, and the distance between the first moving plate 12 and the mounting plate 13 gradually becomes smaller. At the same time, the pushing pin 707 can be driven by the mounting block 706 to slide downward along the slanted groove 705, thereby being able to push the pushing block 704 upward, and driving the second moving plate 303 and multiple racks 304 upward through the rectangular tube 702 and the rectangular rod 703.

[0100] Please refer to Figure 3 , the blocking mechanism includes:

[0101] Connecting rod 601, inserted into the side wall of the mounting plate 13 and fixed to the bottom of the second moving plate 303;

[0102] First stop block 602, fixed to the end of the connecting rod 601 away from the second moving plate 303;

[0103] Second stop block 603, fixed to the top of the first moving block 14 and capable of abutting against the first stop block 602. When the first stop block 602 abuts against the second stop block 603, the second moving plate 303 and the rack 304 no longer move. At this time, when the mounting plate 13 continues to move, the gear 301 can be driven by the fixing block 201 to continue moving and the gear 301 can be engaged with the rack 304.

[0104] Please refer to Figure 3 , the first telescopic mechanism includes:

[0105] Two first sleeves 802, fixed to the side wall of each mounting plate 13;

[0106] Two first sets of rods 801 are inserted into two first sleeves 802 and fixed to the side walls of the first moving plate 12;

[0107] Two second elastic members 803 are sleeved on the side walls of the two first sleeves 802, and the second elastic members 803 are located between the first moving plate 12 and the mounting plate 13. When the rubber rollers 1 abut against both sides of the goods, the mounting plate 13 stops moving. When the first moving plate 12 continues to move, the second elastic members 803 can be gradually compressed, and the distance between the first moving plate 12 and the mounting plate 13 gradually becomes smaller. At this time, the extrusion force between the rubber rollers 1 and the object to be clamped gradually increases. The second elastic members 803 can be springs, and both ends of the second elastic members 803 are fixed to the first moving plate 12 and the mounting plate 13 respectively.

[0108] Please refer to Figure 3 , the second telescopic mechanism includes:

[0109] Two second sleeves 902 are fixed to the side walls of each first moving block 14;

[0110] Two second sets of rods 901 are inserted into the two second sleeves 902 and fixed to the side walls of the first moving plate 12;

[0111] Two third elastic members 903 are sleeved in the two second sleeves 902, and the third elastic members 903 are located between the first moving plate 12 and the first moving block 14. When the two bearing plates 15 abut against both sides of the object to be clamped, the bearing plates 15 stop moving. When the first moving plate 12 continues to move, the third elastic members 903 can be gradually compressed. The third elastic members 903 can be springs, and both ends of the third elastic members 903 are fixed to the first moving plate 12 and the first moving block 14 respectively.

[0112] Please refer to Figure 1 and Figure 2 , the moving mechanism includes:

[0113] A fixed rod 1001 is fixed to two opposite side walls of the U-shaped plate 11 and penetrates through the side walls of the two first moving plates 12;

[0114] A double-headed lead screw 1002 rotates on two opposite side walls of the U-shaped plate 11 and is threadedly connected to the two first moving plates 12;

[0115] The motor 1003 is fixed to the side wall of the first moving plate 12, and the output end of the motor 1003 is fixed to one end of the double-headed lead screw 1002. When the motor 1003 is started, the rotation of the motor 1003 drives the rotation of the double-headed lead screw 1002, thereby driving the two first moving plates 12 to move closer to each other. At the same time, the two mounting plates 13 can be driven to move closer to each other through the first telescopic mechanism, and the two bearing plates 15 can be driven to move closer to each other through the second telescopic mechanism and the first moving block 14.

[0116] Please refer to Figure 6 , a handling manipulator, including a manipulator body 17, further comprising: the clamping structure as described above, the clamping structure is fixed to the end of the manipulator body 17. Specifically, the U-shaped plate 11 on the clamping structure is fixed to the end of the manipulator body 17.

[0117] Working principle: When in use, when it is necessary to carry the object to be clamped, the manipulator body 17 drives the U-shaped plate 11 to move to the side of the object to be clamped. At the same time, the object to be clamped is placed between the two mounting plates 13, and the bearing plate 15 is in contact with the surface of the conveyor belt. Then, the motor 1003 is started, and the rotation of the motor 1003 drives the rotation of the double-headed lead screw 1002, thereby driving the two first moving plates 12 to move closer to each other. At the same time, the two mounting plates 13 can be driven to move closer to each other through the first telescopic mechanism, and the two bearing plates 15 can be driven to move closer to each other through the second telescopic mechanism and the first moving block 14.

[0118] When the two bearing plates 15 abut against both sides of the object to be clamped, the bearing plates 15 stop moving. When the first moving plate 12 continues to move, the third elastic member 903 can be gradually compressed. At the same time, the mounting plate 13 can be driven to continue moving through the first telescopic mechanism. When the first stopper 602 abuts against the second stopper 603, the second moving plate 303 and the rack 304 stop moving. At this time, when the mounting plate 13 continues to move, the gear 301 can be driven to continue moving through the fixing block 201 and the gear 301 meshes with the rack 304. At the same time, the damper 403 is compressed, and the limiting block 306 disengages from the gear 301 and no longer limits the gear 301. At this time, the rubber roller 1 can abut against both sides of the object to be clamped. At this time, the mounting plate 13 stops moving. When the first moving plate 12 continues to move, the second elastic member 803 can be gradually compressed, and the distance between the first moving plate 12 and the mounting plate 13 gradually becomes smaller. At the same time, the push pin 707 can be driven to slide downward along the inclined groove 705 through the mounting block 706, so as to push the push block 704 upward, and drive the second moving plate 303 and the plurality of racks 304 to move upward through the rectangular tube 702 and the rectangular rod 703. At the same time, the first elastic member 504 is compressed, so as to drive the gear 301 and the rotating shaft 202 to rotate, and then drive the rubber roller 1 to rotate, so as to lift the object to be clamped upward.

[0119] At the same time, the two bearing plates 15 can move closer to each other under the action of the third elastic member 903 and move to the bottom of the object to be clamped for support. At this time, the first stopper 602 disengages from the second stopper 603, and the second moving plate 303 and the rack 304 can be slowly reset under the action of the damper 403. At this time, the rubber roller 1 can still rotate, so that the object to be clamped can fall on the bearing plate 15. After the second moving plate 303 and the rack 304 are reset, the limiting block 306 can be inserted into the side wall of the gear 301 to limit the rotation of the gear 301, so as to limit the rubber roller 1 and prevent the rubber roller 1 from rotating randomly. At this time, the rubber roller 1 can clamp and fix both sides of the object to be clamped, and the bearing plate 15 can support the bottom of the object to be clamped, making the handling process more stable and reliable, and ensuring the efficiency and effect of handling.

[0120] The standard parts used in the present invention can all be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, it will not be elaborated here. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0121] The above describes the present invention and its implementation manners. Such description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. In general, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the present invention, design similar structural manners and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. A clamping structure, comprising a U-shaped plate (11), characterized in that: Also includes: A moving mechanism is arranged on a side wall of the U-shaped plate (11), and two first moving plates (12) are connected to the moving mechanism, and the moving mechanism is used to move the two first moving plates (12); A first telescopic mechanism is arranged on a side wall of each of the first movable plates (12), and a mounting plate (13) is connected to the first telescopic mechanism, and the first telescopic mechanism is used to guide and reset the movement of the mounting plate (13); A plurality of rubber rollers (1) are rotated on the side wall of each mounting plate (13) through a plurality of rotating mechanisms, and when the rubber rollers (1) rotate, they can push the clamped object to be lifted upward; A second telescopic mechanism is arranged on a side wall of the first movable plate (12), and the second telescopic mechanism is connected to a first movable block (14), and the second telescopic mechanism is used to guide and reset the movement of the first movable block (14); A bearing plate (15) is fixed to the side wall of the first moving block (14) and is located below the mounting plate (13). A plurality of balls (16) are arranged on the bearing plate (15). When the clamped object is lifted upward, the bearing plate (15) can move to the bottom of the clamped object for support.

2. A clamping structure according to claim 1, characterized in that: Each of the rotating mechanisms comprises: A fixing block (201) fixed to a side wall of the mounting plate (13); A rotating shaft (202) is rotatably connected to the side wall of the fixing block (201) and is fixed to one end of the rubber roller (1) close to the fixing block (201); The driving mechanism is arranged on the side wall of the rotating shaft (202) and is used to drive the rotating shaft (202) to rotate.

3. A clamping structure according to claim 2, characterized in that: The driving mechanism comprises: A gear (301) is fixedly sleeved on a side wall of the rotating shaft (202); A first reset mechanism is arranged above the fixed block (201), and the first reset mechanism is connected to the second movable block (302), and the first reset mechanism is used to guide and reset the movement of the second movable block (302); A second reset mechanism is arranged below the second moving block (302), and a second moving plate (303) is connected to the second reset mechanism, and the second reset mechanism is used to guide and reset the movement of the second moving plate (303); A plurality of racks (304) fixed to the side wall of the second movable plate (303) and capable of meshing with the gear (301); A limit block (306) is fixed to the side wall of the second moving block (302) through an L-shaped plate (305), and the limit block (306) can be inserted on the gear (301) for limiting; A pushing mechanism, arranged on a side wall of the mounting plate (13), and used for pushing the second movable plate (303) to move up and down; A blocking mechanism is arranged on the side wall of the mounting plate (13) and is used to block the movement of the second movable plate (303).

4. A clamping structure according to claim 3, characterized in that: The first reset mechanism comprises: Two first T-shaped guide rods (401) fixed to the side walls of the second moving block (302); An L-shaped block (402) is sleeved on the side walls of the two first T-shaped guide rods (401) and fixed to the top of the fixing block (201); The damper (403) is fixed between the L-shaped block (402) and the second moving block (302) and is used to reset the second moving block (302).

5. A clamping structure according to claim 3, characterized in that: The second reset mechanism comprises: A connecting plate (502) is fixed below the second moving block (302) via two guide rods (501); Two sliding blocks (503) slide on the side walls of the two guide rods (501) and are fixed to the second movable plate (303); The two first elastic members (504) are sleeved on the side walls of the two guide rods (501), and the first elastic members (504) are located between the sliding block (503) and the second moving block (302).

6. A clamping structure according to claim 1, characterized in that: The first driving mechanism comprises: A strip-shaped opening (701) is provided on a side wall of the mounting plate (13); A rectangular tube (702) slides in the strip-shaped opening (701); A rectangular rod (703) is inserted into the rectangular tube (702) and fixed to the side wall of the second movable plate (303); A pushing block (704) is fixed to an end of the rectangular tube (702) away from the second moving plate (303), and a side wall of the pushing block (704) is provided with an inclined groove (705); Two second T-shaped guide rods (708) fixed to the top of the pushing block (704); A connecting block (709) is sleeved on the side wall of the second T-shaped guide rod (708) and fixed to the side wall of the mounting plate (13); The push pin (707) is inserted into the inclined groove (705) and fixed to the side wall of the first movable plate (12) through a mounting block (706).

7. A clamping structure according to claim 3, characterized in that: The blocking mechanism comprises: A connecting rod (601) is inserted into the side wall of the mounting plate (13) and fixed to the bottom of the second movable plate (303); A first stopper (602) is fixed to an end of the connecting rod (601) away from the second movable plate (303); The second stopper (603) is fixed on the top of the first moving block (14) and is capable of abutting against the first stopper (602).

8. The clamping structure according to claim 1, characterized in that: The first telescopic mechanism comprises: Two first sleeves (802) fixed to the side wall of each of the mounting plates (13); Two first sleeve rods (801) are inserted into the two first sleeve tubes (802) and fixed to the side wall of the first movable plate (12); Two second elastic members (803) are sleeved on the side walls of the two first sleeves (802), and the second elastic members (803) are located between the first movable plate (12) and the mounting plate (13); The second telescopic mechanism comprises: Two second sleeves (902) fixed to the side wall of each of the first moving blocks (14); Two second sleeve rods (901) are inserted into the two second sleeve tubes (902) and fixed to the side wall of the first movable plate (12); The two third elastic members (903) are sleeved in the two second sleeves (902), and the third elastic members (903) are located between the first movable plate (12) and the first movable block (14).

9. The clamping structure according to claim 1, characterized in that: The moving mechanism comprises: A fixed rod (1001) is fixed to two opposite side walls of the U-shaped plate (11) and is arranged to penetrate the side walls of the two first movable plates (12); A double-ended screw (1002) is rotated on two opposite side walls of the U-shaped plate (11) and is threadedly connected to the two first movable plates (12); The motor (1003) is fixed to the side wall of the first movable plate (12), and the output end of the motor (1003) is fixed to one end of the double-headed screw (1002).

10. A handling robot, comprising a robot body (17), characterized in that: Also includes: The clamping structure according to any one of claims 1 to 9, wherein the clamping structure is fixed to the end of the manipulator body (17).

Images