A gripping device

Abstract

The application provides a grabbing device, and relates to the technical field of carrying equipment, which comprises a supporting frame and a grabbing mechanism, wherein the grabbing mechanism comprises a grabbing hook assembly, a floating arm, a floating connection structure and a guide limiting structure; the floating arm is connected to the supporting frame through the floating connection structure, the floating arm can move along the extension direction of the floating arm relative to the supporting frame through the floating connection structure, the grabbing hook assembly comprises a first grabbing hook and a second grabbing hook which are movably connected to the floating arm, and the guide limiting structure is arranged at the connecting position of the floating arm and the grabbing hook assembly so as to guide and limit the movement of the first grabbing hook and the second grabbing hook. The grabbing device provided by the application not only solves the problems that the existing grabber is difficult to be positioned simultaneously and is prone to uneven stress when facing uneven lifting belts, but also solves the problems that the hooking process is prone to left-right swing, the hooking precision is low, and the stability is poor, thereby significantly improving the carrying safety and the operation efficiency, and the modular design is adopted, so that the maintenance is convenient and the cost is reduced.

Description

Technical Field

[0001] This application relates to the field of material handling equipment technology, specifically to a gripping device. Background Technology

[0002] In the processes of pulp production, warehousing, and logistics, pulp bales typically require grippers and associated grippers for grabbing, handling, and stacking. While existing pulp bale gripping devices can meet basic handling needs, they still have significant shortcomings under complex working conditions. For example, during the stacking, transfer, and hoisting of pulp bales, the lifting straps often become uneven due to variations in the bales' shape, stacking status, or stress conditions. This can easily lead to uneven stress on the lifting straps, excessive localized stress, or even slippage and tipping during actual gripping. Furthermore, existing hook mechanisms generally lack reliable guiding and positioning structures. During hook extension, retraction, and strap grabbing, the hook is prone to lateral swaying due to inertia or bale movement. This not only affects the hooking accuracy and gripping stability but also increases strap wear, gripping failure, and even lifting safety risks. Summary of the Invention

[0003] In view of this, this application provides a gripping device to better adapt to complex working conditions and improve lifting stability. To achieve the above objectives, this application provides the following technical solution: A gripping device, comprising: Support frame; The gripping mechanism includes a gripping hook assembly, a floating arm, a floating connection structure, and a guide and limiting structure; The floating arm is connected to the support frame via a floating connection structure, which allows the floating arm to move relative to the support frame along the extension direction of the floating arm. The gripping hook assembly includes a first gripping hook and a second gripping hook that are movably connected to the floating arm. The guide and limiting structure is provided at the connection between the floating arm and the gripping hook assembly to guide and limit the movement of the first gripping hook and the second gripping hook.

[0004] Optionally, in the above-mentioned gripping device, the floating connection structure includes an elongated pin hole and a floating pin shaft formed on the floating arm. The floating pin shaft passes through the elongated pin hole and is connected to the support frame, and the elongated pin hole extends along the moving direction of the floating arm.

[0005] Optionally, in the above-mentioned gripping device, the guide limiting structure includes a guide hole and a guide pin formed on the floating arm. The guide pin is movably disposed in the guide hole, the guide pin is connected to the gripping hook assembly, and the guide hole extends along the opening and closing direction of the gripping hook assembly.

[0006] Optionally, in the above-mentioned gripping device, the gripping hook assembly includes a linkage structure, a rotating shaft, and a first driving member; The first and second grippers are rotatably connected to the floating arm via the rotating shaft. The first and second grippers are connected by a linkage structure, which is connected to the guide pin. The first drive member is driven to one of the first and second grippers.

[0007] Optionally, in the above-mentioned gripping device, the linkage structure includes a first linkage and a second linkage, wherein the first linkage and the second linkage are respectively arranged on both sides of the floating arm; In this configuration, one end of the first connecting rod is hinged to the first gripper hook, and the other end is hinged to the guide pin. One end of the second connecting rod is hinged to the second gripper hook, and the other end is hinged to the guide pin.

[0008] Optionally, in the above-mentioned gripping device, the support frame further includes a mounting beam, the floating arm is connected to the mounting beam through the floating connection structure, and the gripping mechanism further includes a friction-reducing slider and a buffer. The friction-reducing slider is disposed between the floating arm and the mounting beam, and the friction-reducing slider can reduce the frictional resistance between the floating arm and the mounting beam. The buffer is disposed at the top of the floating arm, and the buffer is used to buffer the contact collision between the floating arm and the support frame.

[0009] Optionally, the above-mentioned gripping device further includes a hoisting module equipped with the gripping mechanism. Multiple hoisting modules are provided, and each hoisting module is arranged at intervals on the support frame. At least one hoisting module is slidably connected to the support frame.

[0010] Optionally, in the above-mentioned gripping device, the support frame is provided with a crossbeam slide rail, the crossbeam slide rail extends along the sliding direction of the hoisting module, the hoisting module includes a sliding block assembly, and the sliding block assembly slides in cooperation with the crossbeam slide rail.

[0011] Optionally, the above-mentioned gripping device also includes a second driving component, and the hoisting module is provided with three components; The three hoisting modules are arranged at intervals along the extension of the crossbeam slide rail. The hoisting modules located at both ends of the crossbeam slide rail are slidably connected to the crossbeam slide rail through the sliding block assembly. Each slidable hoisting module is driven by a second driving member, and the hoisting module located in the middle is fixed to the support frame.

[0012] Optionally, in the above-mentioned gripping device, the sliding block assembly includes a side slider, an upper slider, a lower slider, and a lower support plate. The side slider and the upper slider are both connected to the hoisting module, and the lower slider is connected to the hoisting module through the lower support plate. The upper slider and the lower slider are respectively located on the upper and lower sides of the crossbeam slide rail, and the side slider is located on one side of the left or right side of the crossbeam slide rail.

[0013] This application provides a gripping device, comprising at least a support frame and a gripping mechanism mounted on the support frame. The gripping mechanism includes a hook assembly, a floating arm, a floating connection structure, and a guide and limiting structure. The support frame serves as the load-bearing foundation for the entire gripping device, supporting the overall load during the lifting of pulp bales and providing an installation base for other components. The floating arm is connected to the support frame via the floating connection structure, allowing it to float up and down relative to the support frame along its extension direction. This enables passive adaptive adjustment based on the actual height difference of different lifting straps when the gripper descends and approaches the pulp bale. The hook assembly is mounted on the floating arm and includes a first hook and a second hook movably connected to the floating arm. The guide and limiting structure is located at the connection between the floating arm and the hook assembly, constraining the opening and closing trajectories of the first and second hooks, ensuring that the hooks no longer swing unrestrainedly during extension, closure, and retraction, but move along a predetermined path. Through the above-mentioned overall structural arrangement, the gripping device provided in this application solves the problems of existing grippers being difficult to align simultaneously when facing uneven slings, which can easily lead to uneven force distribution. On the other hand, it also solves the problems of traditional grippers being prone to swaying left and right, having low hooking accuracy, and poor stability during the hooking process. Thus, it has a stable gripping method with flexible compensation and controlled guidance characteristics, which significantly improves the safety of handling and the efficiency of operation. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the gripping device disclosed in the embodiments of this application.

[0015] Figure 2 This is a schematic diagram of the structure of the floating arm disclosed in the embodiments of this application.

[0016] Figure 3 This is a schematic diagram of the structure of the hook assembly disclosed in the embodiments of this application.

[0017] Figure 4 This is a schematic diagram of the floating connection structure and the guide limiting structure disclosed in the embodiments of this application.

[0018] Figure 5 This is a schematic diagram of the closure of the gripper assembly disclosed in the embodiments of this application.

[0019] Figure 6 This is a schematic diagram of the hoisting module disclosed in an embodiment of this application.

[0020] Figure 7 This is a schematic diagram of the structure of the friction-reducing slider and buffer disclosed in the embodiments of this application.

[0021] Explanation of icon numbers: 100 is the support frame, 110 is the mounting beam, 120 is the crossbeam slide rail, 130 is the friction-reducing slider, and 140 is the buffer component; 200 is the gripper assembly, 210 is the first gripper, 220 is the second gripper, 230 is the rotating shaft, 240 is the first driving component, 250 is the first connecting rod, and 260 is the second connecting rod. 300 is a floating arm; 400 is a floating connection structure, 410 is a long pin hole, and 420 is a floating pin shaft; 500 is the guide and limiting structure, 510 is the guide hole, and 520 is the guide pin. 600 is the rotating part; 700 is the hoisting module, 710 is the second drive component, 720 is the upper slider, 730 is the lower slider, 740 is the side slider, and 750 is the lower support plate. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] like Figures 1-7As shown, one embodiment of this application provides a gripping device that can be used in conjunction with engineering machinery such as a material handling machine to perform gripping, transfer, and stacking operations on pulp ton bags. The gripping device provided in this application includes at least a support frame 100 and a gripping mechanism disposed on the support frame 100. The gripping mechanism includes a hook assembly 200, a floating arm 300, a floating connection structure 400, and a guide and limiting structure 500. The support frame 100 serves as the load-bearing foundation of the entire gripping device, bearing the overall load during pulp ton bag lifting and providing an installation foundation for other components. The floating arm 300 is connected to the support frame 100 via the floating connection structure 400. The floating connection structure 400 allows the floating arm 300 to float up and down relative to the support frame 100 along its extension direction, thereby passively adjusting to adapt to different actual height differences of the lifting straps when the gripper descends and approaches the pulp ton bag. The grabbing hook assembly 200 is mounted on the floating arm 300. The grabbing hook assembly 200 includes a first grabbing hook 210 and a second grabbing hook 220 movably connected to the floating arm 300. A guide and limiting structure 500 is located at the connection between the floating arm 300 and the grabbing hook assembly 200. The guide and limiting structure 500 constrains the opening and closing trajectories of the first grabbing hook 210 and the second grabbing hook 220, preventing unrestrained swinging during extension, closure, and retraction, and ensuring movement along a predetermined path. In actual operation, the grabbing device provided in this application first descends with the material grabber to above the pulp ton bag. The floating arm 300 compensates for height after contacting the sling at different heights. Subsequently, the grabbing hook assembly 200, with the assistance of the guide and limiting structure 500, stably hooks the sling. After lifting, the support frame 100 uniformly supports and transports the pulp ton bag to the target workstation. Therefore, this embodiment solves the problems of existing grippers being difficult to align simultaneously when the sling is uneven, which can easily lead to uneven force distribution. On the other hand, it also solves the problems of traditional grippers being prone to lateral swaying, having low hooking accuracy, and poor stability during the hooking process. This transforms the existing gripping method into a stable gripping method with flexible compensation and controlled guidance characteristics, which significantly improves handling safety and work efficiency.

[0024] In addition, the gripping device provided in this application is also equipped with a rotating part 600. The rotating part 600 is located at the upper part of the gripping device and serves as a connection interface with external engineering machinery, especially a material grabber. It is fixedly connected to the support frame 100 below by bolts, thereby stably transmitting the load, attitude adjustment actions of the external lifting equipment, and the traction force during operation to the support frame 100 and each gripping unit below. By reliably suspending and connecting the gripping device to the material grabber through the rotating part 600, the entire gripping device can form a complete force transmission path. It can also cooperate with external equipment to adjust the attitude and direction of the gripper, giving the gripping device better orientation adaptability during approach to pulp bales, alignment with the lifting strap, lifting and transfer, and stacking, thereby improving the positioning accuracy of the gripper hook and the lifting stability.

[0025] like Figures 2-4 As shown, the floating connection structure 400 includes an elongated pin hole 410 formed on the floating arm 300 and a floating pin 420 passing through the elongated pin hole 410 and connected to the support frame 100. The elongated pin hole 410 extends along the moving direction of the floating arm 300, specifically it can be an oblong hole structure formed along the up-and-down floating direction of the floating arm 300. The upper part of the floating arm 300 is mounted on the support frame 100 through the elongated pin hole 410 and the floating pin 420. The floating pin 420 provides a connection and limiting reference, while the elongated pin hole 410 enables the floating arm 300 to float up and down at a preset distance. When the floating arm 300 is subjected to the upward reaction force of the pulp ton bag lifting strap, it can be displaced relative to the floating pin 420 along the direction of the elongated pin hole 410, and then fall back to its original position by its own gravity when the external force is released or reduced. The floating connection structure 400 transforms the originally fixed hook assembly 200 into a restricted free-floating structure, allowing each hook assembly 200 to independently adapt to the height difference of the corresponding sling, unlike existing technologies where hooks remain at the same height and cannot be adjusted. During actual gripping, when one side of the sling is higher than the other, each floating arm 300 will move upwards by different distances depending on the order of contact with the sling and the force applied, resulting in more accurate hook placement and more uniform force application. The floating connection structure 400 provided by this application is not only simple in structure, low in manufacturing cost, and easy to maintain, but also responds more quickly, effectively solving the problems of hooks failing to synchronize when the height of pulp bale slings is uneven, excessive local force on the sling, and even slippage and tipping. Alternatively, the floating connection structure 400 can employ a guide rail and slider combination structure, with the guide rail mounted on the support frame 100, and the floating arm 300 fixedly connected to the slider, enabling the floating arm 300 to float up and down (this configuration is not shown in the figure).

[0026] like Figure 4As shown, the guide limiting structure 500 provided in this application includes a guide hole 510 opened on the floating arm 300 and a guide pin 520 movably disposed in the guide hole 510. The guide hole 510 extends along the opening and closing direction of the hook assembly 200, and is preferably a long slot type guide hole 510. Specifically, the guide hole 510 is opened at one end of the floating arm 300 body near the hook assembly 200. The guide pin 520 is connected to the transmission part in the hook assembly 200. When the hook assembly 200 moves, the guide pin 520 moves in the guide hole 510 along the extension direction of the hole, thereby limiting the movement trajectory of the hook assembly 200. Since the guide hole 510 is a long slot structure extending in a predetermined direction, the guide pin 520 can only slide within a limited path and cannot deflect arbitrarily. This makes the hook clearly constrained during opening, closing, and retraction. Especially when the sling contacts, the ton bag sways, or the load changes at the moment of lifting, the hook will not swing left and right like the hooks in the prior art. Specifically, when the first hook 210 and the second hook 220 approach the sling under the action of the guide limiting structure 500, the relative sliding between the guide pin 520 and the guide hole 510 can continuously correct the hook posture, allowing the two hooks to hook into the sling area along a stable path. After the grab is completed and the lifting begins, the guide limiting structure 500 can also continuously limit the change in the hook posture, preventing large swings when the ton bag is swaying. Thus, by setting the guide hole 510 and the guide pin 520, the technical problems of poor hooking accuracy, significant swaying during the grabbing process, and even grabbing failure caused by lack of guidance are effectively solved, thereby significantly improving grabbing stability and safety. Alternatively, the guide limiting structure 500 includes a groove structure and a guide block formed on the floating arm 300. The guide block is slidably mounted on the groove structure and connected to the hook assembly 200 (this configuration is not shown in the figure).

[0027] like Figure 3 and Figure 5As shown, in a specific embodiment, the gripper hook assembly 200 further includes a linkage structure, a rotating shaft 230, and a first drive member 240. The first gripper hook 210 and the second gripper hook 220 are rotatably connected to the floating arm 300 via the rotating shaft 230. The first gripper hook 210 and the second gripper hook 220 are connected by a linkage structure, which is connected to a guide pin 520. The first drive member 240 is driven to one of the first gripper hook 210 and the second gripper hook 220. In a specific embodiment, the first drive member 240 can be a hydraulic cylinder and is driven to the first gripper hook 210, making the first gripper hook 210 the active gripper hook. The first gripper hook 210 and the second gripper hook 220 provided in this embodiment do not operate independently. Instead, they are mounted on the lower part of the floating arm 300 via the rotating shaft 230. When the first drive member 240 outputs power, it first drives one of the grippers to rotate around the rotating shaft 230, and then transmits this action synchronously to the other gripper hook through the linkage structure, causing the two grippers to cooperate in opening and closing. Meanwhile, the linkage structure is connected to the guide pin 520, so the opening and closing motion of the grab hook is both driven by power and constrained by the guide hole 510, improving the integration of the overall structure. In actual operation, the extension and retraction of the hydraulic cylinder can control the first grab hook 210 to actively open or close, and then the linkage structure drives the second grab hook 220 to operate synchronously. The guide pin 520 moves in the guide hole 510 and restricts its trajectory, so that the grab hook always maintains a stable posture when grabbing the sling. This improves the reliability of the grabbing operation and, by combining drive, linkage, and guidance, makes the action precision of the grab hook higher. Alternatively, a gear structure can be used instead of the linkage structure to achieve the linkage of the first grab hook 210 and the second grab hook 220 (this setting is not shown in the figure).

[0028] Furthermore, the linkage structure specifically includes a first linkage 250 and a second linkage 260, which are respectively arranged on both sides of the floating arm 300. One end of the first linkage 250 is hinged to the first grab hook 210, and the other end is hinged to the guide pin 520; one end of the second linkage 260 is hinged to the second grab hook 220, and the other end is hinged to the guide pin 520. Alternatively, one end of the second linkage 260 is hinged to the first grab hook 210, and the other end is hinged to the guide pin 520; one end of the first linkage 250 is hinged to the second grab hook 220, and the other end is hinged to the guide pin 520. The two linkages are linked together by the guide pin 520, which links the rotation of the grab hooks on both sides. When the first driving component 240 pushes the first gripper hook 210 to rotate, the first connecting rod 250 generates displacement constraint through the guide pin 520. The guide pin 520 then drives the second connecting rod 260 to move, thereby causing the second gripper hook 220 to rotate synchronously, ultimately achieving symmetrical or coordinated opening and closing of the two grippers. Since the two connecting rods are located on both sides of the floating arm 300 and are arranged symmetrically, the grippers are subjected to more balanced forces, which further helps to suppress gripper sway in conjunction with the guide and limit structure 500. This double-link structure improves the coordination of the two grippers' operation, avoids problems of motion lag or posture imbalance between the two grippers, effectively solves the problems of asynchronous movement between the two grippers, excessive force on one side, and unstable posture during gripping, and improves the structural coordination and operational reliability of the entire gripper hook assembly 200.

[0029] like Figure 6As shown, the support frame 100 provided in this application also includes a mounting beam 110. The floating arm 300 is connected to the mounting beam 110 via a floating connection structure 400. The gripping mechanism is further provided with a friction-reducing slider 130 and a buffer 140. The friction-reducing slider 130 is disposed on the side wall of the floating arm 300 facing the mounting beam 110, such that the friction-reducing slider 130 is located between the floating arm 300 and the mounting beam 110. The buffer 140 is disposed on the top of the floating arm 300. In a specific embodiment, the friction-reducing slider 130 is configured as a groove-shaped slider structure, embedded in the mating gap between the floating arm 300 and the mounting beam 110. The groove of the groove-shaped slider structure is an oil groove for adding lubricating oil to improve lubrication conditions, thereby significantly reducing contact friction resistance during the up-and-down floating process of the floating arm 300, and significantly reducing the problems of jamming, wear, and uneven operation caused by direct hard friction between metal parts. The buffer component 140 is made of rubber, which absorbs the impact between the floating arm 300 and the support frame 100 during lifting. Therefore, when the floating arm 300 floats up and down, the friction-reducing slider 130 ensures smooth and stable movement. When the pulp bale is grabbed and lifted, the buffer component 140 is first subjected to compression or contact impact, which significantly reduces the collision between the floating arm 300 and the support frame 100, further improving the overall lifespan and operational stability of the machine. This effectively solves the problems of easy jamming of the gripping device, large lifting impact, rapid wear of parts, and significant impact damage to the sling in the existing technology.

[0030] like Figure 1 and Figure 6 As shown, the gripping device provided in this application also includes a lifting module 700. A mounting beam 110 is located on the lifting module 700 to mount the gripping mechanism. Multiple lifting modules 700 are provided, and each lifting module 700 is spaced apart on the support frame 100. At least one lifting module 700 is slidably connected to the support frame 100. Similarly, multiple gripping mechanisms can be mounted on each lifting module 700, thus forming a multi-point distributed gripping structure. The multiple lifting modules 700 correspond to multiple lifting strap positions on the pulp bale. Some lifting modules 700 are fixed in the middle of the support frame 100 as the central gripper, while others are mounted in slidable positions for adjustable-width gripping on both sides. With this arrangement, the gripping device no longer relies solely on a single gripping center. Instead, multiple gripping mechanisms are distributed at intervals on the support frame 100 through multiple lifting modules 700, allowing multiple hooks to grip from multiple different positions. During operation, the sliding module adjusts its position according to the specifications of the pulp bales, adapting to different widths of pulp bales. Simultaneously, the modular lifting module 700 allows for partial disassembly and replacement when a single module is damaged, eliminating the need to disassemble the entire gripper set. This significantly reduces maintenance costs and effectively solves the problems of poor versatility and difficult maintenance associated with existing integrated grippers.

[0031] In another specific embodiment, the support frame 100 provided in this application is provided with a crossbeam slide rail 120. The crossbeam slide rail 120 extends along the sliding direction of the lifting module 700. The lifting module 700 includes a sliding block assembly, and the sliding block assembly slides in cooperation with the crossbeam slide rail 120. The crossbeam slide rail 120 extends along the left and right directions of the support frame 100 to correspond to the width adjustment direction of the pulp ton bag. The sliding block assembly is disposed on the corresponding lifting module 700, and forms a linear sliding pair through cooperation with the crossbeam slide rail 120, so that the lifting module 700 can move stably along the predetermined direction without significant shaking or detachment. In actual operation, before the gripping device is ready to grip different sizes of pulp bales, it can first move along the crossbeam slide rail 120 in opposite directions via the sliding hoisting module 700, thereby changing the lateral spacing between multiple gripping mechanisms to match the width of the bales. This ensures that the relative position of the gripping mechanisms is accurate and reliable after the width adjustment, effectively solving the problems of traditional fixed-width grippers being unable to adapt to different sizes of pulp bales, requiring frequent gripper replacements, and having poor versatility.

[0032] like Figure 1 and Figure 3 As shown, in a specific embodiment, the gripping device provided in this application has three lifting modules 700 and a second driving member 710. The three lifting modules 700 are arranged at intervals along the extension direction of the crossbeam slide rail 120. The lifting modules 700 at both ends of the crossbeam slide rail 120 are slidably connected to the crossbeam slide rail 120 via sliding block assemblies. The lifting module 700 in the middle is fixedly installed on the support frame 100 and mainly undertakes the middle gripping unit. The lifting modules 700 at the left and right ends are width-adjustable modules, driven by the second driving member 710 to move along the crossbeam slide rail 120 to adapt to different specifications of pulp bales. The second driving member 710 can also be a hydraulic cylinder, with one on each side, arranged in a staggered pattern. One end is connected to the welded frame beam, and the other end is connected to the corresponding slidable lifting module 700, thereby enabling synchronous or separate driving of the modules on both sides to move inward or outward. In practical operation, when the width of the pulp bale to be grabbed is small, the lifting modules 700 at both ends move closer to the center, reducing the distance between the grabbing mechanisms. When the width of the pulp bale to be grabbed is large, the lifting modules 700 at both ends extend to both sides along the crossbeam slide rail 120, allowing each grabbing mechanism to correspond to a wider range of lifting strap distribution. This achieves width adjustment, which not only improves the grabbing device's adaptability to pulp bales of different sizes, but also helps to form a more reasonable force distribution during grabbing and lifting, thereby further reducing problems such as bale swaying, force eccentricity, and unstable grabbing.

[0033] like Figure 6 and Figure 7As shown, the sliding block assembly provided in this application includes a side slider 740, an upper slider 720, a lower slider 730, and a lower support plate 750. The side slider 740 and upper slider 720 are directly mounted and fixed to the lifting module 700, while the lower slider 730 is mounted to the lifting module 700 via the lower support plate 750. The upper slider 720 and lower slider 730 are located on the upper and lower sides of the crossbeam slide rail 120, respectively, while the side slider 740 is located on one side of the left or right side of the crossbeam slide rail 120, thus forming a vertical clamping and lateral restraint relationship. Through this arrangement, the crossbeam slide rail 120 is not only vertically constrained by the clamping constraint of the upper slider 720 and lower slider 730, but also laterally limited by the side slider 740. This ensures a stable planar sliding constraint when the lifting module 700 slides along the crossbeam slide rail 120, guaranteeing a clear sliding direction and preventing lateral movement, tilting, or derailment. The sliding block assembly provides support and positioning between the module and the crossbeam slide rail 120, ensuring that no abnormal offset occurs.

[0034] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details of the above application are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0035] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Unless otherwise defined, the technical or scientific terms used in the claims and description should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar words used in the patent application description and claims of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar words mean that the element or object preceding "comprising" or "including" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. The terms "connected," "coupled," or "linked" and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections. Words such as “including,” “contains,” and “has” are open-ended words that mean “including but not limited to” and can be used interchangeably with them.

[0036] In this application, the terms "or" and "and / or" describe the relationship between related objects and indicate a non-exclusive inclusion. For example, "A and / or B" and "A or B" can include: only "A" exists, only "B" exists, and both "A" and "B" exist simultaneously, where "A" and "B" can be singular or plural. As another example, "A, B, and / or C" and "A, B, or C" can include: only "A" exists, only "B" exists, only "C" exists, both "A" and "B" exist simultaneously, both "A" and "C" exist simultaneously, both "B" and "C" exist simultaneously, and both "A", "B", and "C" exist simultaneously, where "A", "B", and "C" can be singular or plural. Furthermore, the symbol " / " in this application indicates an "or" relationship between the related objects before and after the symbol. In this application, the term "at least one A or B" has the same meaning as the aforementioned "A or B". The term "at least one A, B or C" has the same meaning as "A, B or C" above.

[0037] In the apparatus and equipment of this application, the components can be disassembled and / or reassembled. These disassemblies and / or reassemblies should be considered as equivalent solutions of this application.

[0038] The above description of the claimed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be applied within the widest scope consistent with the principles and novel features of this application.

[0039] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms described herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A gripping device, characterized in that, include: Support frame; The gripping mechanism includes a gripping hook assembly, a floating arm, a floating connection structure, and a guide and limiting structure; The floating arm is connected to the support frame via a floating connection structure, which allows the floating arm to move relative to the support frame along the extension direction of the floating arm. The gripping hook assembly includes a first gripping hook and a second gripping hook that are movably connected to the floating arm. The guide and limiting structure is provided at the connection between the floating arm and the gripping hook assembly to guide and limit the movement of the first gripping hook and the second gripping hook.

2. The gripping device according to claim 1, characterized in that, The floating connection structure includes an elongated pin hole and a floating pin shaft formed on the floating arm. The floating pin shaft passes through the elongated pin hole and is connected to the support frame, and the elongated pin hole extends along the moving direction of the floating arm.

3. The gripping device according to claim 1, characterized in that, The guide limiting structure includes a guide hole and a guide pin formed on the floating arm. The guide pin is movably disposed in the guide hole and is connected to the hook assembly. The guide hole extends along the opening and closing direction of the hook assembly.

4. The gripping device according to claim 3, characterized in that, The grab hook assembly includes a connecting rod structure, a rotating shaft, and a first driving component; The first and second grippers are rotatably connected to the floating arm via the rotating shaft. The first and second grippers are connected by a linkage structure, which is connected to the guide pin. The first drive member is driven to one of the first and second grippers.

5. The gripping device according to claim 4, characterized in that, The linkage structure includes a first link and a second link, which are respectively arranged on both sides of the floating arm; In this configuration, one end of the first connecting rod is hinged to the first gripper hook, and the other end is hinged to the guide pin. One end of the second connecting rod is hinged to the second gripper hook, and the other end is hinged to the guide pin.

6. The gripping device according to claim 1, characterized in that, The support frame also includes a mounting beam, the floating arm is connected to the mounting beam through the floating connection structure, and the gripping mechanism also includes a friction-reducing slider and a buffer. The friction-reducing slider is disposed between the floating arm and the mounting beam, and the friction-reducing slider can reduce the frictional resistance between the floating arm and the mounting beam. The buffer is disposed at the top of the floating arm, and the buffer is used to buffer the contact collision between the floating arm and the support frame.

7. The gripping device according to any one of claims 1-6, characterized in that, It also includes a hoisting module equipped with the gripping mechanism. Multiple hoisting modules are provided, and each hoisting module is arranged at intervals on the support frame. At least one hoisting module is slidably connected to the support frame.

8. The gripping device according to claim 7, characterized in that, The support frame is provided with a crossbeam slide rail, which extends along the sliding direction of the hoisting module. The hoisting module includes a sliding block assembly, and the sliding block assembly slides in cooperation with the crossbeam slide rail.

9. The gripping device according to claim 8, characterized in that, It also includes a second drive component, and the hoisting module is provided with three; The three hoisting modules are arranged at intervals along the extension of the crossbeam slide rail. The hoisting modules located at both ends of the crossbeam slide rail are slidably connected to the crossbeam slide rail through the sliding block assembly. Each slidable hoisting module is driven by a second driving member, and the hoisting module located in the middle is fixed to the support frame.

10. The gripping device according to claim 8, characterized in that, The sliding block assembly includes a side slider, an upper slider, a lower slider, and a lower support plate. The side slider and the upper slider are both connected to the hoisting module. The lower slider is connected to the hoisting module through the lower support plate. The upper slider and the lower slider are located on the upper and lower sides of the crossbeam slide rail, respectively. The side slider is located on one side of the left or right side of the crossbeam slide rail.

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