Clamping mechanism, transfer device and storage system

Abstract

The invention provides a clamping mechanism, a transfer device and a storage system.The clamping mechanism comprises a base; the supporting plate assembly comprises a supporting plate used for lifting a clamped piece, and the supporting plate is arranged on the base in a sliding mode in the first direction; the distance adjusting assembly is arranged on the supporting plate assembly, the distance adjusting assembly has a locking state and a sliding state, and when the distance adjusting assembly is in the sliding state, the supporting plate slides in the first direction so as to adjust the first working length of the supporting plate, or when the distance adjusting assembly is in the sliding state, the supporting plate slides in the second direction; the distance adjusting assembly moves to adjust the second working length of the supporting plate extending out of the distance adjusting assembly. According to the technical scheme, the problem that a transfer manipulator in the related technology is poor in universality is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular, to a clamping mechanism, a transfer device, and a storage system. Background Art

[0002] The preservation method of biological samples is cryogenic storage at -80 to -196 °C. Currently, -86 °C low-temperature refrigerators are mainly used for sample storage. The problems are small single-unit capacity, large floor space, high comprehensive energy consumption, large number of personnel required, and low safety in access operations. Therefore, the development of a large-scale ultra-low temperature automated intensive storage system is an inevitable development direction to solve the above problems, ultimately achieving automation and informatization.

[0003] Due to the rapid development of gene technology, the amount of biological samples in many fields such as precision medicine, big health, advanced agriculture, and species diversity can increase at a rate of tens of millions per year. In this case, it has been very difficult to meet the requirements using the ultra-low temperature refrigerator storage method, and there are many deficiencies in terms of space utilization rate, energy consumption, operation efficiency, manual maintenance cost, sample safety, etc. A single -80 °C automated biological sample storage system can achieve storage of several million sample levels, and by automatically storing samples, it can better avoid the influence of samples being repeatedly frozen and thawed, and better guarantee the activity and quality of samples.

[0004] To achieve large-scale automated centralized storage of biological samples at -80 °C, combine automation with an ultra-low temperature cold storage, and fully automate the entire access process, saving energy, reducing manual maintenance costs, and replacing the traditional large-scale low-temperature storage box method. The -80 °C automated biological sample storage system can be standardized and serially promoted and constructed in the future to meet the massive storage needs of domestic hospitals, scientific research institutions, biological companies and other units, and can also be used to carry out third-party storage services.

[0005] The automated storage system will better meet the higher requirements of medical research users for the storage quality, efficiency, and energy conservation of biological samples, contribute to building an automated biological sample bank that is more in line with international standards, safer, more standardized, and more efficient, and improve the construction level of Chinese biological sample banks. The intensive automated storage solutions mainly include vertical lifting type, horizontal drawer type, and intensive storage rack type. The automated solution mainly uses a temperature zoning method to isolate the -80 °C freezing storage area from the -20 °C automated operation space to ensure stable automated operation.

[0006] After the biological samples are collected, the biological samples are placed in SBS cryotubes or EP tubes, and the SBS cryotubes and EP tubes are respectively placed in corresponding cryoboxes. The cryoboxes are placed in a cryoshelf through an automated cryobox transfer manipulator, and the cryoshelf is accurately placed at the corresponding storage position in the -80 °C storage area through an automated lifting device and a positioning device. Therefore, the automated cryobox transfer manipulator plays a key role in the automated operation process.

[0007] Since common EP tube cryopreservation boxes have various different size types, and the size differences of some cryopreservation boxes are relatively large, while the clamping components of the transfer manipulator cannot adapt to cryopreservation boxes of different sizes simultaneously, the same set of transfer manipulators cannot achieve the picking and placing of boxes of various different sizes at the same time, and multiple different manipulators are required for picking and placing, resulting in a waste of resources. Summary of the Invention

[0008] The main object of the present invention is to provide a clamping mechanism, a transfer device and a storage system to solve the problem of poor versatility of the transfer manipulator in the related art.

[0009] To achieve the above object, according to the first aspect of the present invention, a clamping mechanism is provided, including: a base; a tray assembly, the tray assembly includes a tray for holding the clamped part, and the tray is slidably arranged on the base along a first direction; a distance adjustment assembly, the distance adjustment assembly is arranged on the tray assembly, the distance adjustment assembly has a locked state and a sliding state, when the distance adjustment assembly is in the sliding state, the tray slides along the first direction to adjust the first working length of the tray, or the distance adjustment assembly moves to adjust the second working length of the tray extending out of the distance adjustment assembly.

[0010] Further, the distance adjustment assembly includes a clamping part and a locking part that is locked and cooperated with the tray, the locking part has a locking position and an unlocking position, when the locking part is in the unlocking position, the tray slides along the first direction to adjust the first working length of the tray.

[0011] Further, the clamping mechanism further includes a bracket, the bracket is arranged above the base, the bracket has a working state with a fixed position relative to the base, the tray assembly is slidably arranged between the base and the bracket along the first direction, and the locking part is arranged on the bracket.

[0012] Further, a plurality of first positioning parts are arranged on the tray assembly at intervals along the first direction, the locking part has a second positioning part, when the locking part is in the locking position, the second positioning part can be positioned and cooperated with different first positioning parts to adjust the first working length of the tray.

[0013] Further, the locking part further includes a hinge seat arranged on the bracket and a locking plate hinged on the hinge seat, and the second positioning part is arranged at the first end of the locking plate.

[0014] Further, the locking part further includes a connecting shaft and a first elastic part, the locking plate is hinged to the hinge seat through the connecting shaft, and the first elastic part is arranged on the connecting shaft and applies an elastic force to the locking plate to keep the locking plate in the locking position.

[0015] Further, the clamping mechanism further includes a first guiding mechanism disposed between the base and the sliding support member and / or a second guiding mechanism disposed between the bracket and the sliding support member.

[0016] Further, the bracket is disposed on the sliding support member and can slide synchronously with the sliding support member.

[0017] According to a second aspect of the present invention, there is provided a transfer device, including: a support frame; a clamping mechanism, the clamping mechanism being the above-mentioned clamping mechanism, and the clamping mechanism is disposed within the support frame.

[0018] According to a third aspect of the present invention, there is provided a transfer device, including: a support frame; a clamping mechanism, the clamping mechanism being the above-mentioned clamping mechanism, and the clamping mechanism is movably disposed within the support frame along a second direction and a third direction; a first driving device, the first driving device is disposed on the base and drives the sliding support member to move along a first direction; an unlocking member, the unlocking member is disposed within the support frame; wherein, the first direction is the length direction of the sliding support member, the second direction is the width direction of the sliding support member, the third direction is the thickness direction of the sliding support member, the base has a switching state and a clamping state, when the base is in the switching state, the unlocking member restricts the movement of the bracket along the first direction and makes the locking member in the unlocking position.

[0019] Further, the unlocking member cooperates with the locking member to rotate the locking plate, the second positioning portion is separated from the first positioning portion, and the locking member is in the unlocking position.

[0020] According to a fourth aspect of the present invention, there is provided a storage system, the storage system includes a transfer device and a storage device, and the transfer device is the above-mentioned transfer device.

[0021] Applying the technical solution of the present invention, the pallet assembly includes a pallet for supporting the clamped part, and the pallet is slidably disposed on the base along the first direction. A distance adjustment assembly is disposed on the pallet assembly, and the distance adjustment assembly has a locked state and a sliding state. When the distance adjustment assembly is in the sliding state, the pallet can slide along the first direction to adjust the first working length of the pallet, or the distance adjustment assembly moves to adjust the second working length of the pallet extending out of the distance adjustment assembly. Through the above settings, when the distance adjustment assembly is in the sliding state, the pallet can slide along the first direction on the base, and the base can support the pallet assembly and the distance adjustment assembly, thereby being able to adjust the first working length of the pallet, so that the pallet can adapt to different clamped parts, making the versatility of the clamping mechanism better. Or, the second working length of the pallet extending out of the distance adjustment assembly can also be adjusted by moving the distance adjustment assembly. When the distance adjustment assembly is in the locked state, the relative position of the pallet and the base is fixed, and the pallet can support the clamped part. Therefore, the technical solution of the present application effectively solves the problem of poor versatility of the transfer manipulator in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 FIG. shows a three-dimensional structural schematic diagram of the first embodiment of the clamping mechanism according to the present invention;

[0024] Figure 2 FIG. shows Figure 1 a cross-sectional schematic diagram of the clamping mechanism of;

[0025] Figure 3 FIG. shows Figure 1 a three-dimensional structural schematic diagram of the locking member of the clamping mechanism of;

[0026] Figure 4 FIG. shows Figure 1 an exploded structural schematic diagram of the locking member of the clamping mechanism of;

[0027] Figure 5 FIG. shows Figure 1 a three-dimensional structural schematic diagram of the sliding support member of the clamping mechanism of;

[0028] Figure 6 FIG. shows Figure 1 a cross-sectional schematic diagram of the clamping member of the clamping mechanism of;

[0029] Figure 7 FIG. shows Figure 1 an exploded structural schematic diagram of the clamping member of the clamping mechanism of;

[0030] Figure 8 FIG. shows a three-dimensional structural schematic diagram of the first embodiment of the transfer device according to the present invention;

[0031] Figure 9 FIG. shows Figure 8 a partially enlarged schematic diagram at location A of the transfer device of;

[0032] Figure 10 FIG. shows a three-dimensional structural schematic diagram of the second embodiment of the transfer device according to the present invention;

[0033] Figure 11 FIG. shows Figure 10 a partially enlarged schematic diagram at location B of the transfer device of;

[0034] Figure 12 FIG. shows Figure 10 a three-dimensional structural schematic diagram of the connection between the clamping mechanism and the connecting frame of the transfer device of;

[0035] Figure 13Shows Figure 10 Schematic perspective view of another angle of connection between the clamping mechanism and the connecting frame of the transfer device;

[0036] Figure 14 Shows Figure 10 Schematic perspective view of the transfer device when the locking member is in the unlocked position;

[0037] Figure 15 Shows Figure 14 Enlarged schematic view of part C of the transfer device;

[0038] Figure 16 Shows Figure 14 Partial front view schematic of the transfer device.

[0039] Among them, the above-mentioned drawings include the following reference numerals:

[0040] 10, base; 20, bracket; 30, pallet assembly; 305, pallet; 31, first positioning portion; 41, clamping member; 411, mounting seat; 412, clamping plate; 413, second elastic member; 42, limiting portion; 50, locking member; 51, second positioning portion; 52, hinge seat; 53, locking plate; 54, connecting shaft; 55, first elastic member; 60, first guiding mechanism; 70, second guiding mechanism; 100, support frame; 110, first driving device; 120, unlocking member; 121, connecting arm; 122, limiting member; 1221, limiting opening; 130, second driving device; 140, third driving device; 150, connecting frame. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the 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. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0042] It should be noted that the terms used here are only for describing specific implementation manners and are not intended to limit the exemplary implementation manners according to the present application. As used here, unless otherwise clearly specified in the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0043] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the description. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0044] As Figure 1 , Figure 2 , Figure 5 and Figures 13 to 15 shown, according to one aspect of Embodiment 1, a clamping mechanism is provided, including: a base 10, a pallet assembly 30, and a distance adjustment assembly. The pallet assembly 30 includes a pallet 305 for lifting the workpiece to be clamped, and the pallet 305 is slidably disposed on the base 10 along a first direction. The distance adjustment assembly is disposed on the pallet assembly 30, and the distance adjustment assembly has a locked state and a sliding state. When the distance adjustment assembly is in the sliding state, the pallet 305 slides along the first direction to adjust the first working length of the pallet 305.

[0045] Applying the technical solution of the present invention, the pallet assembly 30 includes a pallet 305 for lifting the workpiece to be clamped, and the pallet 305 is slidably disposed on the base 10 along a first direction. A distance adjustment assembly is disposed on the pallet assembly 30, and the distance adjustment assembly has a locked state and a sliding state. When the distance adjustment assembly is in the sliding state, the pallet 305 can slide along the first direction to adjust the first working length of the pallet 305. Through the above settings, the base 10 can support the pallet assembly 30 and the distance adjustment assembly. When the distance adjustment assembly is in the sliding state, the pallet 305 can slide along the first direction on the base 10, and thus the first working length of the pallet 305 can be adjusted, so that the pallet 305 can adapt to different workpieces to be clamped, making the clamping mechanism more versatile. When the distance adjustment assembly is in the locked state, the relative position of the pallet 305 and the base 10 is fixed, and the pallet 305 can lift the workpiece to be clamped. Therefore, the technical solution of the present application effectively solves the problem of poor versatility of the transfer manipulator in the related art.

[0046] Of course, in an embodiment not shown in the figures, the distance adjustment assembly can be moved to adjust the second working length of the pallet 305 extending from the distance adjustment assembly. When driving the distance adjustment assembly to move, a motor provided on the side of the base, a gear provided on the output shaft of the motor, and a rack provided on the distance adjustment assembly can be used. The rotation of the gear drives the rack to move, thereby driving the distance adjustment assembly to move.

[0047] It should be noted that the first working length and the second working length refer to the length of the contact and cooperation between the pallet 305 and the workpiece to be clamped, and both the first working length and the second working length are the same as the distance between the clamping member 41 and the limiting portion 42.

[0048] As Figure 1 shown, in this embodiment, the distance adjustment assembly includes a clamping member 41 and a locking member 50 that is locked and cooperated with the pallet 305. The locking member 50 has a locking position and an unlocking position. When the locking member 50 is in the unlocking position, the pallet 305 slides along the first direction to adjust the first working length of the pallet 305. The pallet 305 can support the workpiece to be clamped, and the clamping member 41 can clamp the workpiece to be clamped, making the position of the workpiece to be clamped on the pallet more stable. When the locking member 50 is in the locking position, the position of the pallet 305 is fixed. When the locking member 50 is in the unlocking position, the pallet 305 can slide along the first direction, thereby adjusting the first working length of the pallet 305.

[0049] As Figure 1 and Figure 2 shown, in this embodiment, the clamping mechanism further includes a bracket 20. The bracket 20 is provided above the base 10. The bracket 20 has a working state with a fixed position relative to the base 10. The pallet assembly 30 is slidably disposed between the base 10 and the bracket 20 along the first direction, and the locking member 50 is provided on the bracket 20. The bracket 20 can support the locking member 50.

[0050] As Figure 5 shown, in this embodiment, a plurality of first positioning portions 31 are provided on the pallet assembly 30 at intervals along the first direction. The distance adjustment assembly further includes a limiting portion 42 that is spaced from the clamping member 41. The limiting portion 42 is provided at the first end of the pallet 305. The workpiece to be clamped is located between the limiting portion 42 and the clamping member 41. The locking member 50 has a second positioning portion 51. When the locking member 50 is in the locking position, the second positioning portion 51 can be positioned and cooperated with different first positioning portions 31 to make the distance between the clamping member 41 and the limiting portion 42 adjustable. The positioning and cooperation between the first positioning portion 31 and the second positioning portion 51 enable the position of the pallet 305 to be fixed after the first working length of the pallet 305 is adjusted, that is, after the distance between the clamping member 41 and the limiting portion 42 is adjusted. Furthermore, the pallet 305 can play a supporting role, and the clamping member 41 and the limiting portion 42 can clamp workpieces of different sizes.

[0051] Specifically, a bracket 20 is provided above the base 10. When the bracket 20 is in a working state, the position of the bracket 20 relative to the base 10 is fixed. A pallet assembly 30 is provided between the base 10 and the bracket 20. The pallet assembly 30 is slidably arranged in a first direction. A plurality of first positioning portions 31 are provided on the pallet assembly 30, and the plurality of first positioning portions 31 are spaced apart in the first direction. A locking member 50 is provided on the bracket 20, and the locking member 50 has a second positioning portion 51. The locking member 50 has a locking position and an unlocking position. When the locking member 50 is in the locking position, the second positioning portion 51 is in positioning cooperation with different first positioning portions 31 to adjust the distance between the clamping member 41 and the limiting portion 42. Through the above arrangement, when the bracket 20 is in a working state and the locking member 50 is in the unlocking position, after the pallet assembly 30 slides in the first direction between the base 10 and the bracket 20, the distance between the clamping member 41 and the limiting portion 42 can be adjusted, so that the clamping mechanism can clamp workpieces to be clamped with different sizes, making the clamping mechanism more versatile. After the pallet assembly 30 slides, the first positioning portion 31 that is in positioning cooperation with the second positioning portion 51 can be changed, and the locking member 50 is in the locking position, so that the position of the pallet assembly 30 is fixed, that is, the relative position between the clamping member 41 and the limiting portion 42 is fixed after the distance between the clamping member 41 and the limiting portion 42 is adjusted, ensuring the clamping of the workpiece to be clamped.

[0052] It should be noted that in this embodiment, the workpiece to be clamped is a cryopreservation box. There are many market sizes of EP tube cryopreservation boxes, such as 10×10 cryopreservation boxes (cryopreservation box size: 135 mm×135 mm) and 12×8 cryopreservation boxes (198 mm×135 mm). The widths of these two types of cryopreservation boxes are not much different, but the lengths are different. Since the length difference is too large, the spring pressing device cannot adapt to both types of boxes at the same time. Therefore, the same set of transfer manipulators cannot pick up and place two different sizes of boxes at the same time, and two different manipulators are required for picking up and placing, that is, the clamping mechanism has poor versatility. To ensure the clamping stability of the workpiece to be clamped, the clamping member 41 and the limiting portion 42 generally clamp the workpiece to be clamped in the length direction.

[0053] Specifically, the limiting portion 42 is a limiting plate, and the extending direction of the limiting plate is parallel to the direction from the base 10 to the pallet assembly 30.

[0054] As Figures 2 to 4As shown, in this embodiment, the locking member 50 further includes a hinge seat 52 provided on the bracket 20 and a locking plate 53 hinged to the hinge seat 52. The second positioning portion 51 is provided at the first end of the locking plate 53. The hinge seat 52 enables the locking plate 53 to swing relative to the bracket 20, that is, to swing relative to the base 10 and the pallet assembly 30, so that the second positioning portion 51 can be separated from or positioned and engaged with the first positioning portion 31, that is, the pallet assembly 30 can slide between the base 10 and the bracket 20 and the second positioning portion 51 can be positioned and engaged with one of the plurality of first positioning portions 31 after sliding, further enabling the distance between the clamping member 41 and the limiting portion 42 to remain fixed in relative position after adjustment, achieving size adaptation to clamped workpieces of different sizes, that is, enabling the clamping member 41 and the limiting portion 42 to clamp clamped workpieces of different sizes.

[0055] As Figures 2 to 4 shown, in this embodiment, the locking member 50 further includes a connecting shaft 54 and a first elastic member 55. The connecting shaft 54 passes through the locking plate 53 and is connected to the hinge seat 52. The first elastic member 55 is provided on the connecting shaft 54 and applies an elastic force to the locking plate 53 to keep the locking plate 53 in the locked position. The connecting shaft 54 can connect the locking plate 53 and the hinge seat 52, ensuring the use stability of the locking member 50. The first elastic member 55 enables the locking plate 53 to be kept in the locked position, that is, the second positioning portion 51 can be kept in positioning and engagement with the first positioning portion 31, avoiding a change in the distance between the clamping member 41 and the limiting portion 42.

[0056] It should be noted that the first elastic member 55 is a torsion spring. An installation hole and an abutting hole communicating with the installation hole are provided in the middle of the locking plate 53. A positioning groove is provided on the surface of the side wall of the locking plate facing the connecting seat, and the positioning groove communicates with the installation hole. The torsion spring is located in the installation hole, the abutting hole, and the positioning groove.

[0057] As Figures 2 to 5 shown, in this embodiment, one of the first positioning portion 31 and the second positioning portion 51 is a slot, and the other of the first positioning portion 31 and the second positioning portion 51 is a plug; alternatively, the first positioning portion 31 is a first positioning tooth and the second positioning portion 51 is a second positioning tooth. The above settings make the positioning and engagement between the first positioning portion 31 and the second positioning portion 51 more convenient, facilitating the switching of the locking member 50 between the locked position and the unlocked position, and also making the positioning and engagement between the first positioning portion 31 and the second positioning portion 51 more effective.

[0058] It should be noted that in this embodiment, the first positioning portion 31 is an insertion block, and one of the second positioning portions 51 is a slot. First chamfers are provided at the joints between the two side surfaces of the insertion block in the first direction and the surface of the insertion block facing the base, and second chamfers are provided at the joints between the side surface of the slot away from the limiting portion in the first direction and the surface of the sliding support member away from the base, so that the insertion block can be more easily inserted into the slot.

[0059] As Figure 1 , Figure 6 and Figure 7 shown, in this embodiment, the clamping member 41 includes a mounting seat 411, a clamping plate 412 telescopically arranged on the mounting seat 411, and a second elastic member 413 arranged between the mounting seat 411 and the clamping plate 412. The mounting seat 411 is arranged on the bracket 20, and a clamping space is formed between the clamping plate 412 and the limiting portion 42. The above settings enable the clamping plate 412 and the limiting portion 42 to clamp the workpiece to be clamped, and the second elastic member 413 can apply an elastic force to the clamping plate 412. That is, when the workpiece to be clamped enters the clamping space, it can squeeze the clamping plate 412, and the clamping plate 412 squeezes the second elastic member 413, causing the clamping plate 412 to move towards the direction close to the mounting seat 411, facilitating the workpiece to be clamped to enter the clamping space. When the workpiece to be clamped is taken out of the clamping space, under the action of the second elastic member 413, the clamping plate 412 can move towards the direction close to the limiting portion 42, facilitating clamping the workpiece to be clamped again. The second elastic member 413 also enables the clamping plate 412 to apply a pressing force to the workpiece to be clamped located in the clamping space, ensuring the stability of the workpiece to be clamped and preventing it from shaking during movement.

[0060] Preferably, the second elastic member is a spring. The clamping member 41 further includes a connecting column. The first end of the connecting column is located inside the mounting seat 411, the second end of the connecting column extends out of the mounting seat 411 and is connected to the clamping plate 412, and the second elastic member 413 is arranged inside the mounting seat 411 and between the first end of the connecting column and the inner wall of the mounting seat 411 facing the limiting portion, and the second elastic member 413 applies an elastic force to the connecting column.

[0061] Specifically, a guide sleeve is further arranged between the outer surface of the connecting column and the inner wall of the mounting seat 411 to make the movement of the connecting column smoother. A chute is provided on one side of the support plate 305 close to the clamping member, and a sliding rod is provided on one side of the clamping plate 412 facing the base 10. The sliding rod is in sliding fit with the chute, making the movement of the clamping plate 412 smoother.

[0062] As Figure 1As shown, in this embodiment, the clamping mechanism further includes a first guiding mechanism 60 disposed between the base 10 and the pallet assembly 30, and a second guiding mechanism 70 disposed between the bracket 20 and the pallet assembly 30. The first guiding mechanism 60 makes the relative movement between the base 10 and the pallet assembly 30 smoother, and the second guiding mechanism 70 makes the sliding between the bracket 20 and the pallet assembly 30 smoother.

[0063] Preferably, the first guiding mechanism 60 includes a first sliding rail and a first sliding groove that cooperates with the first sliding rail. One of the first sliding rail and the first sliding groove is disposed on the surface of the base 10 facing the pallet assembly 30, and the other of the first sliding rail and the first sliding groove is disposed on the surface of the pallet assembly 30 facing the base 10. The second guiding mechanism 70 includes a second sliding rail and a second sliding groove that cooperates with the second sliding rail. One of the second sliding rail and the second sliding groove is disposed on the surface of the bracket 20 facing the pallet assembly 30, and the other of the second sliding rail and the second sliding groove is disposed on the surface of the pallet assembly 30 facing the base 10.

[0064] As Figure 1 shown, in this embodiment, the bracket 20 is disposed on the pallet assembly 30 and can slide synchronously with the pallet assembly 30. The above arrangement enables the bracket 20 and the pallet assembly 30 to slide relative to the base 10 simultaneously, that is, enables the bracket 20 and the pallet assembly 30 to drive the workpiece to be clamped located in the clamping space to move.

[0065] Preferably, two protective plates are provided on two sides of the sliding support member along the first direction to prevent the workpiece to be clamped from falling off between the clamping member 41 and the limiting portion 42.

[0066] As Figure 8 and Figure 9 shown, according to the second aspect of Embodiment 1, a transfer device is provided, including: a support frame 100 and a clamping mechanism. The clamping mechanism is the above-mentioned clamping mechanism, and the clamping mechanism is disposed within the support frame 100. The support frame 100 can support the clamping mechanism, enabling the bracket 20 and the pallet assembly 30 to slide more smoothly. The distance between the clamping member 41 and the limiting portion 42 of the above-mentioned clamping mechanism is adjustable, so that the clamping member 41 and the limiting portion 42 can clamp workpieces of different sizes, making the clamping mechanism more versatile. The transfer device having the above-mentioned clamping mechanism also has the above-mentioned advantages.

[0067] As Figure 8 and Figure 9As shown, according to the third aspect of the first embodiment, a storage system is provided, including a transfer device and a storage device, and the transfer device is the above-mentioned transfer device. The distance between the clamping member 41 and the limiting portion 42 of the above-mentioned transfer device is adjustable, so that the clamping member 41 and the limiting portion 42 can clamp clamped objects of different sizes, making the versatility of the clamping mechanism better. The storage system with the above-mentioned clamping mechanism also has the above-mentioned advantages.

[0068] Specifically, the storage device includes a box body with a freezing function, and the transfer device can take out and put the clamped object into and out of the box body.

[0069] Preferably, the second driving device 130 is arranged on the inner surface of the first side wall of the support frame 100. The first side wall, the second side wall, the third side wall and the fourth side wall of the support frame 100 are arranged adjacent to each other in sequence, and the first side wall is adjacent to the fourth side wall. The second driving device 130 causes a gap between the clamping member 41 and the first side wall of the support frame 100, and the base 10 can rotate around the third direction under the drive of the fourth driving device. That is, when the distance adjustment assembly moves to the position where the clamping plate 412 faces the second side wall or the fourth side wall, the distance between the distance adjustment assembly and the first side wall is smaller, so that the distance adjustment assembly can move to more positions, facilitating the clamping of the clamped object.

[0070] It should be noted that the difference between the second embodiment and the first embodiment is that the transfer device further includes a first driving device 110, an unlocking member 120, a second driving device 130, a third driving device 140 and a connecting frame 150.

[0071] Such as Figure 10 and Figure 11As shown in the figure, in the second embodiment, the transfer device includes: a support frame 100, a clamping mechanism, a first driving device 110, and an unlocking member 120. The clamping mechanism is the above-mentioned clamping mechanism, and the clamping mechanism is movably arranged in the support frame 100 along the second direction and the third direction. The first driving device 110 is arranged on the base 10 and drives the pallet assembly 30 to move along the first direction. The unlocking member 120 is arranged in the support frame 100. Wherein, the first direction is the length direction of the pallet assembly 30, the second direction is the width direction of the pallet assembly 30, and the third direction is the thickness direction of the pallet assembly 30. The base 10 has a switching state and a clamping state. When the base 10 is in the switching state, the unlocking member 120 restricts the movement of the bracket 20 along the first direction and makes the locking member 50 in the unlocked position. The clamping mechanism is movably arranged in the support frame 100 along the second direction and the third direction. The first driving device 110 can drive the pallet assembly 30 to move along the first direction, that is, the distance adjusting assembly can move along the first direction, the second direction, and the third direction in the support frame 100, so that the distance adjusting assembly can move to different positions. When the base 10 is in the switching state, the unlocking member 120 can restrict the movement of the bracket 20 along the first direction and make the locking member 50 in the unlocked position, that is, the first driving device 110 can drive the pallet assembly 30 to move relative to the bracket 20 and the base 10, so that the limiting portion 42 can approach or move away from the clamping plate 412, changing the distance between the clamping plate 412 and the limiting portion 42, and realizing the adaptation to the clamped parts of different sizes. The distance between the clamping member 41 and the limiting portion 42 of the above-mentioned clamping mechanism is adjustable, so that the clamping plate 412 and the limiting portion 42 can clamp the clamped parts of different sizes, making the versatility of the clamping mechanism better. The transfer device with the above-mentioned clamping mechanism also has the above-mentioned advantages.

[0072] It should be noted that, as Figure 10 shown, the first direction is the length direction of the pallet assembly 30, that is, the connecting line direction between the clamping member 41 and the limiting portion 42. The third direction is the thickness direction of the pallet assembly 30, that is, the connecting line direction between the base 10 and the bracket 20. The first direction, the second direction, and the third direction are perpendicular to each other in pairs.

[0073] Preferably, the first driving device includes a fifth driving motor, a transmission rod, and a transmission groove. The output shaft of the fifth driving motor is connected to the first end of the transmission rod, and the second end of the transmission rod is connected to the transmission groove. The transmission groove extends along the second direction. In the direction from the clamping member 41 to the limiting portion 42, the distance line between the transmission rod and the first direction gradually increases and then remains unchanged. The fifth driving motor drives the transmission rod to swing, and the swing of the transmission rod can drive the sliding support member to move in the first direction.

[0074] Specifically, the unlocking member 120 cooperates with the locking member 50 to rotate the locking plate 53, so that the second positioning portion 51 is separated from the first positioning portion 31, and the locking member 50 is in the unlocking position.

[0075] As Figures 10 to 16 shown, the unlocking member 120 includes a connecting arm 121 and a limiting member 122 provided on the connecting arm 121. A limiting opening 1221 is provided on the limiting member 122. When the base 10 is in the unlocking state, the connecting shaft 54 is inserted into the limiting opening 1221 to limit the movement of the connecting shaft 54 in the first direction, and the connecting arm 121 abuts and cooperates with the second end of the locking plate 53. The connecting arm 121 abuts and cooperates with the second end of the locking plate 53, and the limiting opening 1221 provided on the limiting member 122 is in limiting cooperation with the connecting shaft 54. That is, the connecting arm 121 enables the unlocking member 120 to be in the unlocking state, and the limiting member 122 can limit the movement of the connecting shaft 54 in the first direction. Furthermore, the limiting member 122 can limit the movement of the hinge seat 52 and the bracket 20 in the first direction. In this way, when the tray assembly 30 slides between the base 10 and the bracket 20, the relative position between the base 10 and the bracket 20 is fixed, that is, the bracket 20 is in the working state, and finally the limiting portion 42 can approach or move away from the clamping plate 412.

[0076] Preferably, the connecting arm 121 is provided on the inner surface of the third side wall of the support frame 100.

[0077] Specifically, the locking plate 53 extends in the first direction, the connecting shaft 54 extends in the second direction, the limiting member 122 includes a first limiting rod and a second limiting rod spaced apart from the first limiting rod, and the space between the first limiting rod and the second limiting rod forms a limiting opening. When the base 10 is in the unlocking state, the connecting shaft 54 is inserted between the first limiting rod and the second limiting rod. The first limiting rod and the second limiting rod can limit the connecting shaft 54 in the first direction to prevent the connecting shaft 54 from moving in the first direction when the base 10 is in the unlocking state.

[0078] As Figure 10 and Figure 11As shown, the transfer device further includes a second driving device 130, a third driving device 140, and a connecting frame 150. The base 10 is movably disposed on the connecting frame 150 along a second direction. The second driving device 130 is capable of driving the connecting frame 150 to move along the second direction and the third direction, and the third driving device 140 is capable of driving the base 10 to move along the second direction. The second driving device 130 can drive the connecting frame 150 to move along the second direction and the third direction, and then the connecting frame 150 can drive the base 10 to move along the second direction and the third direction, so that the distance adjusting assembly can move to more positions within the support frame 100. The third driving device 140 can drive the base to move along the second direction, so that during the process of the connecting shaft 54 moving into the limiting port 1221, if the hinge seat 52 interferes with the limiting member 122, under the action of the third driving device 140, the base 10 can move along the second direction, so that the connecting shaft 54 can be inserted into the limiting port 1221 more smoothly.

[0079] The second driving device 130 includes a first driving component and a second driving component. The first driving component drives the connecting frame 150 to move along the second direction, and the second driving component drives the connecting frame 150 to move along the third direction. The first driving component includes a first driving motor, a driving screw connected to the output shaft of the first driving motor, and a connecting block. The driving screw is disposed through the connecting block, and the connecting block is in threaded cooperation with the driving screw. The connecting block is connected to the surface of the connecting frame 150 facing the first side wall. The transfer device further includes a transition plate and a third guiding mechanism disposed between the inner surface of the first side wall and the transition plate. There are multiple third guiding mechanisms. The third guiding mechanism includes a third sliding rail and a third sliding groove cooperating with the third sliding rail. One of the third sliding rail and the third sliding groove is disposed on the inner surface of the first side wall, and the other of the third sliding rail and the third sliding groove is disposed on the surface of the transition plate facing the first side wall. The second driving component includes a second driving motor connected to one side of the inner surface of the transition plate away from the first side wall, a first driving gear connected to the output shaft of the second driving motor, a first driven gear spaced from the first driving gear along the third direction, and a transmission rack connected between the first driving gear and the first driven gear. The transfer device further includes a convex block disposed on the transition plate, a fourth guiding mechanism, and an extension plate. The extension plate is connected between the fourth guiding mechanism and the connecting frame 150. The fourth guiding mechanism includes a fourth sliding rail and a fourth sliding groove cooperating with the fourth sliding rail. One of the fourth sliding rail and the fourth sliding groove is disposed on the convex block, and the other of the fourth sliding rail and the fourth sliding groove is disposed on the surface of the extension plate facing the first side wall. The extension plate is connected and cooperates with the transmission rack.

[0080] Specifically, the third driving device includes a third driving motor, a gear disposed on the output shaft of the third driving motor, and a rack meshing with the gear. The gear is disposed on the surface of the second end of the connecting frame 150 facing the base, and the rack is disposed on the surface of the base 10 facing the second end of the connecting frame 150. A fifth guiding mechanism is disposed between the base 10 and the connecting frame 150. The fifth guiding mechanism includes a fifth sliding rail and a fifth sliding groove cooperating with the fifth sliding rail. One of the fifth sliding rail and the fifth sliding groove is disposed on the surface of the base 10 facing the second end of the connecting frame 150, and the other of the fifth sliding rail and the fifth sliding groove is disposed on the surface of the second end of the connecting frame 150 facing the base 10.

[0081] Preferably, the transfer device further includes a fourth driving device connected between the support frame 100 and the first end of the connecting frame 150. The fourth driving device drives the connecting frame 150 to rotate to drive the base 10 to rotate about the third direction. The above setting enables the clamping mechanism to move to more positions within the support frame. The fourth driving device includes a fourth driving motor, a second driving gear, and a second driven gear meshing with the first gear. The second driving gear is disposed on the extension plate and connected to the output shaft of the fourth driving motor, and the second driven gear is connected to the connecting frame 150 through a connecting rod passing through the extension plate.

[0082] The using process of the transfer device is as follows: The first driving device 110 and the second driving device 130 drive the distance adjusting assembly to approach the unlocking member 120 until the connecting shaft 54 is inserted into the limiting port 1221. The surface of the connecting arm 121 facing the base 10 presses against the second end of the locking plate 53, so that the second positioning portion 51 can leave the first positioning portion 31, that is, the locking member 50 is in the unlocking position at this time. During the process that the first driving device 110 drives the pallet assembly 30 to move, the limiting port 1221 can limit the connecting shaft 54, and further limit the bracket 20, so that the bracket 20 will not move relative to the base 10, that is, the bracket 20 is in the working state. After the pallet assembly 30 moves, the distance between the clamping member 41 and the limiting portion 42 changes, and the adaptation to workpieces of different sizes can be realized. After the distance between the clamping member 41 and the limiting portion 42 is adjusted, the first driving device 110 and the second driving device 130 drive the pallet 305 to move within the support frame.

[0083] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. Without contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0084] For convenience of description, spatial relative terms such as "above", "over", "on the upper surface", "above-mentioned", etc. can be used here to describe the spatial positional relationship of a device or feature shown in the drawings with other devices or features. It should be understood that the spatial relative terms are intended to cover different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above" can include both orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0085] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without otherwise stating, the above words have no special meaning. Therefore, it should not be construed as a limitation on the protection scope of the present invention.

[0086] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A clamping mechanism, characterized in that, Comprising: Base (10); Carrier plate assembly (30), the carrier plate assembly (30) includes a carrier plate (305) for holding the clamped part, and the carrier plate (305) is slidably arranged on the base (10) along a first direction; Distance adjustment assembly, the distance adjustment assembly is arranged on the carrier plate assembly (30), the distance adjustment assembly has a locked state and a sliding state, when the distance adjustment assembly is in the sliding state, the carrier plate (305) slides along the first direction to adjust the first working length of the carrier plate (305), or the distance adjustment assembly moves to adjust the second working length of the carrier plate (305) extending out of the distance adjustment assembly.

2. The clamping mechanism according to claim 1, wherein The distance adjustment assembly includes a clamping member (41) and a locking member (50) that is locked and cooperated with the carrier plate (305), the locking member (50) has a locking position and an unlocking position, when the locking member (50) is in the unlocking position, the carrier plate (305) slides along the first direction to adjust the first working length of the carrier plate (305).

3. The clamping mechanism according to claim 2, wherein The clamping mechanism further includes a bracket (20), the bracket (20) is arranged above the base (10), the bracket (20) has a working state with a fixed position relative to the base (10), the carrier plate assembly (30) is slidably arranged between the base (10) and the bracket (20) along a first direction, and the locking member (50) is arranged on the bracket (20).

4. The clamping mechanism according to claim 3, characterized in that, A plurality of first positioning portions (31) spaced along the first direction are arranged on the carrier plate assembly (30), the locking member (50) has a second positioning portion (51), when the locking member (50) is in the locking position, the second positioning portion (51) can be positioned and cooperated with different first positioning portions (31) to adjust the first working length of the carrier plate (305).

5. The clamping mechanism according to claim 4, characterized in that, The locking member (50) further includes a hinge seat (52) arranged on the bracket (20) and a locking plate (53) hinged on the hinge seat (52), and the second positioning portion (51) is arranged at the first end of the locking plate (53).

6. The clamping mechanism according to claim 5, wherein The locking member (50) further includes a connecting shaft (54) and a first elastic member (55), the locking plate (53) is hingedly connected to the hinge seat (52) through the connecting shaft (54), and the first elastic member (55) is arranged on the connecting shaft (54) and applies an elastic force to the locking plate (53) to keep the locking plate (53) in the locking position.

7. The clamping mechanism according to any one of claims 3 to 6, characterized in that The clamping mechanism further includes a first guiding mechanism (60) arranged between the base (10) and the carrier plate assembly (30) and / or a second guiding mechanism (70) arranged between the bracket (20) and the carrier plate assembly (30).

8. The clamping mechanism according to any one of claims 3 to 6, characterized in that, The bracket (20) is arranged on the carrier plate assembly (30) and can slide synchronously with the carrier plate assembly (30).

9. A transfer device, characterized in that, Comprising: Support frame (100); The clamping mechanism, which is the clamping mechanism described in any one of claims 1 to 8, is arranged within the support frame (100).

10. A transfer device, characterized in that, Comprising: A support frame (100); A clamping mechanism, which is the clamping mechanism described in claim 5 or 6, and is movably arranged within the support frame (100) along the second direction and the third direction; A first driving device (110), which is arranged on the base (10) and drives the pallet assembly (30) to move along the first direction; An unlocking member (120), which is arranged within the support frame (100); Wherein, the first direction is the length direction of the pallet assembly (30), the second direction is the width direction of the pallet assembly (30), the third direction is the thickness direction of the pallet assembly (30), the base (10) has a switching state and a clamping state. When the base (10) is in the switching state, the unlocking member (120) restricts the movement of the bracket (20) along the first direction and makes the locking member (50) in the unlocking position.

11. The transfer device according to claim 10, characterized in that, The unlocking member (120) cooperates with the locking member (50) to cause the locking plate (53) to rotate, and the second positioning portion (51) is separated from the first positioning portion (31), and the locking member (50) is in the unlocking position.

12. A storage system, characterized in that, The storage system includes a transfer device and a storage device, and the transfer device is the transfer device described in any one of claims 9 to 11.

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