Plate grabbing device

Abstract

The present application provides a plate grabbing device, comprising: a fixed frame, an independent gripper and an integral fork; the independent gripper is movably connected to the fixed frame, the independent gripper comprises at least one suction cup, and the independent gripper is used to grab a plate through the suction cup; the integral fork is located below the independent gripper, the integral fork is connected to the fixed frame, the integral fork is connected to the fixed frame, and the integral fork is used to pick up a stack of plates, and a stack of plates is formed by stacking at least one plate. The present application not only prevents the plates from being scratched, but also reduces the transportation time of the plates and improves the transportation efficiency.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a plate grabbing device. Background Art

[0002] With the development of society, the market is facing the development needs of consumers for personalization and customization. Especially in the panel furniture industry, customers' customization needs are getting higher and higher, so it is necessary to grab panels of different sizes and models.

[0003] However, the inventors have found that currently most companies usually use manual handling to grab the plates, which not only easily causes scratches on the plates, but also takes a long time to transport the plates and has low transportation efficiency. Utility Model Content

[0004] The present application provides a plate grabbing device to solve the problem that the current grabbing of plates not only easily causes scratches on the plates, but also takes a long time to transport the plates and has low transportation efficiency.

[0005] The present application provides a plate grabbing device, comprising: a fixed frame, an independent grabber and an integral fork;

[0006] The independent gripper is movably connected to the fixed frame, and the independent gripper includes at least one suction cup, and the independent gripper is used to grasp a plate through the suction cup;

[0007] The integral fork is located below the independent gripper, the integral fork is connected to the fixed frame, the integral fork is connected to the fixed frame, and the integral fork is used to pick up a stack of plates, wherein the stack of plates is formed by stacking at least one plate.

[0008] In the above solution, the fixed frame includes: a support frame, a support plate and a support beam;

[0009] The two support frames are respectively located on two sides of the support plate;

[0010] Both ends of the support beam are respectively connected to the two support frames;

[0011] The two sides of the support plate are respectively connected to the side edges of the two support beams.

[0012] In the above scheme, the independent gripper further comprises: a gripper frame, a height adjustment mechanism and a horizontal adjustment mechanism;

[0013] The gripper frame is located between the two support frames, and both ends of the gripper frame are movably connected to the support frames through the height adjustment mechanism;

[0014] The horizontal adjustment mechanism is fixed on the gripper frame and is also connected to the suction cup. The horizontal adjustment mechanism is used to adjust the position of the suction cup in the horizontal direction.

[0015] In the above scheme, the height adjustment mechanism includes: a height slide rail, a height slider and a height motor;

[0016] The height slide rail is fixed on the support frame;

[0017] The height slider is movably connected to the height slide rail, and the height slider is provided with a height driving wheel, and the height driving wheel is in contact with the height slide rail;

[0018] The height slider is also connected to the gripper frame;

[0019] The height motor is connected to the height slider, and the height motor is used to output a rotational torque to the height driving wheel so that the height slider can move on the height slide rail.

[0020] In the above scheme, the horizontal adjustment mechanism includes: a horizontal driving mechanism, a horizontal driving shaft, a horizontal support seat, a horizontal driving wheel, and a horizontal supporting structure;

[0021] The horizontal driving mechanism is connected to the horizontal driving shaft via a belt or a chain, and the horizontal driving mechanism is used to output torque to the horizontal driving shaft;

[0022] The horizontal support seat is fixed on the gripper frame, and both ends of the horizontal drive shaft are rotatably connected to the horizontal support seat;

[0023] The horizontal support seat has a horizontal connection space, and the part of the horizontal driving mechanism connected to the horizontal driving shaft through the belt or the chain is located in the horizontal connection space;

[0024] Both ends of the horizontal driving shaft extend out of the horizontal supporting seat respectively, and both ends of the horizontal driving shaft extending out of the horizontal supporting seat are connected to the horizontal driving wheels respectively;

[0025] The horizontal support structure is movably connected to the horizontal support seat, the horizontal driving wheel is in contact with the horizontal support structure, the horizontal support structure is connected to a suction cup frame, and at least one suction cup is connected to the suction cup frame.

[0026] In the above solution, the horizontal driving mechanism includes a horizontal motor and a first reducer;

[0027] The horizontal motor is fixed on the gripper frame;

[0028] The horizontal motor is connected to the first reducer;

[0029] The output gear of the first reducer is connected to the horizontal driving shaft through a belt or a chain.

[0030] In the above solution, the horizontal drive motor further comprises: a transmission shaft, a coupling and a second reducer;

[0031] The two horizontal support seats are arranged in parallel; the two horizontal support seats include a first support seat and a second support seat;

[0032] The two horizontal support structures are arranged in parallel; the two horizontal support structures include a first support structure and a second support structure;

[0033] One end of the transmission shaft is connected to the synchronization shaft of the first reducer through a coupling;

[0034] The other end of the transmission shaft is connected to the synchronous shaft of the second reducer through a coupling;

[0035] The output gear of the first reducer is connected to the horizontal drive shaft on the first support seat through a belt or a chain, the first support seat is movably connected to the first support structure, and the horizontal drive wheel on the first support seat is in contact with the first support structure;

[0036] The output gear of the second reducer is connected to the horizontal drive shaft on the second support base through a belt or a chain, the second support base is movably connected to the second support structure, and the horizontal drive wheel on the second support base is in contact with the second support structure.

[0037] In the above solution, the horizontal support structure includes: a horizontal support rod body and a horizontal support trough body;

[0038] The horizontal support rod body is located in the horizontal support slot body and is detachably connected to the horizontal support slot body;

[0039] The upper side of the horizontal support rod body is provided with a horizontal movement groove, the horizontal support seat is inserted into the horizontal movement groove, and is movably connected to the horizontal support rod body through the horizontal movement groove;

[0040] The horizontal driving wheel is in contact with the upper side of the horizontal supporting rod body;

[0041] The lower side of the horizontal support trough is connected to the suction cup frame.

[0042] In the above scheme, the integrated fork comprises: a dual-axis motor, an integrated reducer, an integrated drive shaft, an integrated support seat, an integrated drive wheel and an integrated support structure;

[0043] The motor shafts at both ends of the dual-axis motor are respectively connected to the input shaft of an integral reducer, the output gear of the integral reducer is connected to the integral drive shaft through a belt or a chain, the dual-axis motor is used to output torque to the integral drive shaft, and the dual-axis motor and the integral reducer are respectively fixed to the support plate;

[0044] The integral support seat is fixed on the integral reducer, and both ends of the integral drive shaft are rotatably connected to the integral support seat respectively;

[0045] The integral support seat has an integral connection space, and the portion of the integral drive mechanism connected to the integral drive shaft through the belt or the chain is located in the integral connection space;

[0046] Both ends of the integral drive shaft extend out of the integral support seat respectively, and both ends of the integral drive shaft extending out of the integral support seat are connected to the integral drive wheels respectively;

[0047] The integral supporting structure is movably connected to the integral supporting seat, and the integral driving wheel is in contact with the integral supporting structure.

[0048] In the above solution, the integral support structure comprises: an integral support rod body and an integral support slot body;

[0049] The integral support rod body is located in the integral support slot body and is detachably connected to the integral support slot body;

[0050] The lower side of the integral support rod body is provided with an integral moving groove, the integral support seat is inserted into the integral moving groove, and is movably connected to the integral support rod body through the integral moving groove;

[0051] The integral driving wheel is in contact with the lower side of the integral supporting rod body;

[0052] The upper side of the integral support trough is used to contact the lower side of a stack of plates.

[0053] The plate grabbing device provided in the present application realizes multiple ways of grabbing and outputting plates by grabbing a plate through an independent gripper and picking up a stack of plates through an integral fork, thus expanding the applicable scenarios of plate grabbing. At the same time, by using an independent gripper with a suction cup and an integral fork to carry the plates, not only the plates are prevented from being scratched, but also the transportation time of the plates is reduced, thereby improving the transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] Figure 1 A schematic structural diagram of a plate grabbing device provided in this application;

[0056] Figure 2 A front structural schematic diagram of a plate grabbing device provided in this application;

[0057] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of part A;

[0058] Figure 4 for Figure 2 Schematic diagram of the enlarged structure of part B.

[0059] Reference numerals:

[0060] 1: Fixed frame;

[0061] 2: Independent gripper;

[0062] 3: Integral fork;

[0063] 11: support frame;

[0064] 12: Support plate;

[0065] 13: Support beam;

[0066] 21: Suction cup;

[0067] 22: gripper frame;

[0068] 23: Height adjustment mechanism;

[0069] 24: Horizontal adjustment mechanism;

[0070] 25: Suction cup rack;

[0071] 231: Height slide rail;

[0072] 232: height slider;

[0073] 233: height motor;

[0074] 241: horizontal driving mechanism;

[0075] 242: horizontal drive shaft;

[0076] 243: horizontal support seat;

[0077] 244: horizontal driving wheel;

[0078] 245: horizontal support structure;

[0079] 2411: horizontal motor;

[0080] 2412: first reducer;

[0081] 2413: output gear of the first reducer;

[0082] 2414: Drive shaft;

[0083] 2415: coupling;

[0084] 2416: Second reducer;

[0085] 2417: output gear of the second reducer;

[0086] 2451: horizontal support rod;

[0087] 2452: horizontal support tank;

[0088] 2453: horizontal movement slot;

[0089] 31: Dual-axis motor;

[0090] 32: Overall reducer;

[0091] 33: integral drive shaft;

[0092] 34: integral support seat;

[0093] 35: integral driving wheel;

[0094] 36: Overall support structure;

[0095] 321: Output gear of the integral reducer;

[0096] 361: integral support rod body;

[0097] 362: overall support tank;

[0098] 363: Overall movement slot.

[0099] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0100] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0101] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0102] See also Figure 1-Figure 4 , the embodiment of the present application provides a plate grabbing device, comprising: a fixed frame 1, an independent gripper 2 and an integral fork 3;

[0103] The independent gripper 2 is movably connected to the fixed frame 1, and the independent gripper 2 includes at least one suction cup 21, and the independent gripper 2 is used to grab a plate through the suction cup 21;

[0104] The integral fork 3 is located below the independent gripper 2. The integral fork 3 is connected to the fixed frame 1. The integral fork 3 is connected to the fixed frame 1. The integral fork 3 is used to pick up a stack of plates. A stack of plates is formed by stacking at least one plate.

[0105] In this example, the independent gripper 2 is used to grab the plates in sequence to achieve the grabbing and output of a single plate, and the integrated fork 3 is used to extract a stack of plates at one time to achieve the grabbing and output of multiple plates, thereby realizing multiple ways of grabbing and outputting plates, expanding the applicable scenarios of plate grabbing. At the same time, by using the independent gripper with a suction cup and the integrated fork to carry the plates, not only can the plates be prevented from being scratched, but also the transportation time of the plates is reduced and the transportation efficiency is improved.

[0106] In a preferred embodiment, the fixed frame 1 comprises: a support frame 11, a support plate 12 and a support beam 13;

[0107] The two support frames 11 are respectively located on both sides of the support plate 12;

[0108] Both ends of the support beam 13 are connected to the two support frames 11 respectively;

[0109] Both sides of the support plate 12 are connected to the sides of the two support beams 13 respectively.

[0110] In this example, the support frame 11 , the support plate 12 and the support beam 13 are provided to ensure the stability of the fixed frame 1 .

[0111] In a preferred embodiment, the independent gripper 2 further comprises: a gripper frame 22, a height adjustment mechanism 23, a level adjustment mechanism 24 and a suction cup frame 25;

[0112] The gripper frame 22 is located between the two support frames 11, and both ends of the gripper frame 22 are movably connected to the support frames 11 through height adjustment mechanisms 23;

[0113] The horizontal adjustment mechanism 24 is fixed on the gripper frame 22 and is also connected to the suction cup frame 25 . The horizontal adjustment mechanism 24 is used to adjust the position of the suction cup 21 in the horizontal direction; wherein, at least one suction cup 21 is connected to the suction cup frame 25 .

[0114] In this example, by setting a height adjustment mechanism 23 to adjust the gripper frame 22 in the height direction, and by setting a horizontal adjustment mechanism 24 to adjust the gripper frame 22 in the horizontal direction, the technical effect of adjusting the position of the suction cup 21 in the three-dimensional direction is achieved, thereby achieving the beneficial effect of being able to pick up plates at multiple positions.

[0115] In a preferred embodiment, the height adjustment mechanism 23 includes: a height slide rail 231, a height slider 232 and a height motor 233;

[0116] The height slide rail 231 is fixed on the support frame 11;

[0117] The height slider 232 is movably connected to the height rail 231 , and the height slider 232 has a height driving wheel, which contacts the height rail 231 ;

[0118] The height slider 232 is also connected to the gripper frame 22;

[0119] The height motor 233 is connected to the height slider 232 , and the height motor 233 is used to output a rotation torque to the height driving wheel so that the height slider 232 can move on the height slide rail 231 .

[0120] In this example, by fixing the height slide rail 231 on the support frame 11 and making the height slider 232 movably connected to the height slide rail 231, the gripper frame 22 can move along the length direction of the height slide rail 231, thereby achieving the technical effect of adjusting the position of the gripper frame 22 in the height direction.

[0121] In a preferred embodiment, the horizontal adjustment mechanism 24 includes: a horizontal driving mechanism 241, a horizontal driving shaft 242, a horizontal support seat 243, a horizontal driving wheel 244, and a horizontal support structure 245;

[0122] The horizontal driving mechanism 241 is connected to the horizontal driving shaft 242 via a belt or a chain, and the horizontal driving mechanism 241 is used to output torque to the horizontal driving shaft 242;

[0123] The horizontal support seat 243 is fixed on the gripper frame 22, and both ends of the horizontal drive shaft 242 are rotatably connected to the horizontal support seat 243;

[0124] The horizontal support seat 243 has a horizontal connection space, and the part of the horizontal driving mechanism 241 connected to the horizontal driving shaft 242 through a belt or a chain is located in the horizontal connection space;

[0125] Both ends of the horizontal driving shaft 242 extend out of the horizontal supporting seat 243 , and both ends of the horizontal driving shaft 242 extending out of the horizontal supporting seat 243 are connected to horizontal driving wheels 244 ;

[0126] The horizontal support structure 245 is movably connected to the horizontal support seat 243 , the horizontal driving wheel 244 is in contact with the horizontal support structure 245 , and the horizontal support structure 245 is connected to the suction cup frame 25 .

[0127] In this example, a horizontal driving mechanism 241 is provided to provide torque to the horizontal driving shaft 242, so that the horizontal driving shaft 242 can drive the horizontal driving wheel 244 to rotate, and the horizontal driving wheel 244 provides thrust to the horizontal support structure 245 to drive the horizontal support structure 245 to move, thereby achieving the technical effect of adjusting the position of the suction cup 21 in the horizontal direction.

[0128] In a preferred embodiment, the horizontal driving mechanism 241 includes a horizontal motor 2411 and a first reducer 2412;

[0129] The horizontal motor 2411 is fixed on the gripper frame 22;

[0130] The horizontal motor 2411 is connected to the first reducer 2412;

[0131] The output gear 2413 of the first reducer 2412 is connected to the horizontal driving shaft 242 via a belt or a chain.

[0132] In this example, the first reducer 2412 is driven by the horizontal motor 2411 to reduce the transmission of the horizontal motor 2411 and increase the torque of the final output gear, thereby achieving the technical effect of driving the horizontal support structure 245 to move.

[0133] In a preferred embodiment, the horizontal drive motor further includes: a transmission shaft 2414, a coupling 2415 and a second reducer 2416;

[0134] Two horizontal support seats 243 are arranged in parallel; the two horizontal support seats 243 include a first support seat and a second support seat;

[0135] Two horizontal support structures 245 are arranged in parallel; the two horizontal support structures 245 include a first support structure and a second support structure;

[0136] One end of the transmission shaft 2414 is connected to the synchronization shaft of the first reducer 2412 via a coupling 2415;

[0137] The other end of the transmission shaft 2414 is connected to the synchronization shaft of the second reducer 2416 through a coupling 2415;

[0138] The output gear 2413 of the first reducer 2412 is connected to the horizontal drive shaft 242 on the first support seat through a belt or a chain, the first support seat is movably connected to the first support structure, and the horizontal drive wheel 244 on the first support seat is in contact with the first support structure;

[0139] The output gear 2417 of the second reducer 2416 is connected to the horizontal drive shaft 242 on the second support seat through a belt or a chain, the second support seat is movably connected to the second support structure, and the horizontal drive wheel 244 on the second support seat is in contact with the second support structure.

[0140] In this example, by setting up a transmission shaft 2414 and a coupling 2415, the technical effect of driving the second reducer 2416 is achieved, and then the technical effect of using a horizontal motor 2411 to drive multiple reducers and multiple support structures is achieved, thereby achieving the beneficial effect of moving multiple suction cups 21 based on multiple support structures, and ensuring the smooth operation of the suction cup 21 to ensure the stability of the suction cup 21 when grabbing the plate and moving.

[0141] In a preferred embodiment, the horizontal support structure 245 includes: a horizontal support rod 2451 and a horizontal support slot 2452;

[0142] The horizontal support rod 2451 is located in the horizontal support slot 2452 and is detachably connected to the horizontal support slot 2452;

[0143] The upper side of the horizontal support rod 2451 has a horizontal moving groove 2453, and the horizontal support seat 243 is inserted into the horizontal moving groove 2453 and is movably connected to the horizontal support rod 2451 through the horizontal moving groove 2453;

[0144] The horizontal driving wheel 244 contacts the upper side of the horizontal supporting rod 2451;

[0145] The lower side of the horizontal support groove 2452 is connected to the suction cup frame 25 .

[0146] In this example, by making the horizontal support rod 2451 and the horizontal support slot 2452 detachably connected, the effect of adjusting the relative position between the horizontal support rod 2451 and the horizontal support slot 2452 is achieved, thereby adjusting the horizontal movement range of the suction cup frame 25 and expanding the gripping range of the independent gripper 2.

[0147] In a preferred embodiment, the integral fork 3 comprises: a dual-axis motor 31, an integral reducer 32, an integral drive shaft 33, an integral support seat 34, an integral drive wheel 35 and an integral support structure 36;

[0148] The motor shafts at both ends of the dual-axis motor 31 are respectively connected to the input shaft of an integral reducer 32, and the output gear 321 of the integral reducer 32 is connected to the integral drive shaft 33 through a belt or a chain. The dual-axis motor 31 is used to output torque to the integral drive shaft 33. The dual-axis motor 31 and the integral reducer 32 are respectively fixed on the support plate 12;

[0149] The integral support seat 34 is fixed on the integral reducer 32, and both ends of the integral drive shaft 33 are rotatably connected to the integral support seat 34;

[0150] The integral support seat 34 has an integral connection space, and the portion of the integral drive mechanism connected to the integral drive shaft 33 via a belt or a chain is located in the integral connection space;

[0151] Both ends of the integral driving shaft 33 extend out of the integral supporting seat 34 respectively, and both ends of the integral driving shaft 33 extending out of the integral supporting seat 34 are connected to integral driving wheels 35 respectively;

[0152] The integral support structure 36 is movably connected to the integral support seat 34 , and the integral driving wheel 35 is in contact with the integral support structure 36 .

[0153] In this example, two integral reducers 32 are driven simultaneously by a dual-axis motor 31 to drive the integral drive shaft 33 to rotate. The integral drive shaft 33 drives the integral support structure 36 to move relative to the integral support seat 34 through a belt or chain. The integral support structure 36 is used to be inserted under a stack of plates and to lift the plates to move them to a specified position, thereby achieving the technical effect of picking up and moving a stack of plates.

[0154] In a preferred embodiment, the integral support structure 36 includes: an integral support rod body 361 and an integral support slot body 362;

[0155] The integral support rod body 361 is located in the integral support groove body 362 and is detachably connected to the integral support groove body 362;

[0156] The lower side of the integral support rod 361 has an integral moving groove 363, the integral support seat 34 is inserted into the integral moving groove 363, and is movably connected to the integral support rod 361 through the integral moving groove 363;

[0157] The integral driving wheel 35 contacts the lower side of the integral supporting rod body 361;

[0158] The upper side of the integral support groove 362 is used to contact the lower side of a stack of sheet materials.

[0159] In this example, by making the integral support rod 361 and the integral support groove 362 detachably connected, the effect of adjusting the relative position between the integral support rod 361 and the integral support groove 362 is achieved, thereby increasing the moving range of the integral fork 3 and expanding the gripping range of the integral fork 3.

[0160] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0161] Those skilled in the art will readily come to other embodiments of the present application after considering the specification and practicing the utility model disclosed herein. The present application embodiment is intended to cover any variation, use or adaptation of the present application embodiment, which follows the general principles of the present application embodiment and includes common knowledge or customary technical means in the art that are not disclosed in the present application embodiment. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of the present application embodiment are indicated by the following claims.

[0162] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A plate grabbing device, characterized in that: include: Fixed frame, independent gripper and integral fork; The independent gripper is movably connected to the fixed frame, and the independent gripper includes at least one suction cup, and the independent gripper is used to grasp a plate through the suction cup; The integral fork is located below the independent gripper, the integral fork is connected to the fixed frame, the integral fork is connected to the fixed frame, and the integral fork is used to pick up a stack of plates, wherein the stack of plates is formed by stacking at least one plate.

2. The sheet material grabbing device according to claim 1, characterized in that: The fixed frame comprises: a support frame, a support plate and a support beam; The two support frames are respectively located on two sides of the support plate; Both ends of the support beam are respectively connected to the two support frames; The two sides of the support plate are respectively connected to the side edges of the two support beams.

3. The sheet material grabbing device according to claim 2, characterized in that: The independent gripper also includes: a gripper frame, a height adjustment mechanism and a level adjustment mechanism; The gripper frame is located between the two support frames, and both ends of the gripper frame are movably connected to the support frames through the height adjustment mechanism; The horizontal adjustment mechanism is fixed on the gripper frame and is also connected to the suction cup. The horizontal adjustment mechanism is used to adjust the position of the suction cup in the horizontal direction.

4. The sheet material grabbing device according to claim 3, characterized in that: The height adjustment mechanism comprises: a height slide rail, a height slider and a height motor; The height slide rail is fixed on the support frame; The height slider is movably connected to the height slide rail, and the height slider is provided with a height driving wheel, and the height driving wheel is in contact with the height slide rail; The height slider is also connected to the gripper frame; The height motor is connected to the height slider, and the height motor is used to output a rotational torque to the height driving wheel so that the height slider can move on the height slide rail.

5. The sheet material grabbing device according to claim 3, characterized in that: The horizontal adjustment mechanism comprises: a horizontal driving mechanism, a horizontal driving shaft, a horizontal supporting seat, a horizontal driving wheel, and a horizontal supporting structure; The horizontal driving mechanism is connected to the horizontal driving shaft via a belt or a chain, and the horizontal driving mechanism is used to output torque to the horizontal driving shaft; The horizontal support seat is fixed on the gripper frame, and both ends of the horizontal drive shaft are rotatably connected to the horizontal support seat; The horizontal support seat has a horizontal connection space, and the part of the horizontal driving mechanism connected to the horizontal driving shaft through the belt or the chain is located in the horizontal connection space; Both ends of the horizontal driving shaft extend out of the horizontal supporting seat respectively, and both ends of the horizontal driving shaft extending out of the horizontal supporting seat are connected to the horizontal driving wheels respectively; The horizontal support structure is movably connected to the horizontal support seat, the horizontal driving wheel is in contact with the horizontal support structure, the horizontal support structure is connected to a suction cup frame, and at least one suction cup is connected to the suction cup frame.

6. The sheet material grabbing device according to claim 5, characterized in that: The horizontal driving mechanism includes a horizontal motor and a first reducer; The horizontal motor is fixed on the gripper frame; The horizontal motor is connected to the first reducer; The output gear of the first reducer is connected to the horizontal driving shaft through a belt or a chain.

7. The sheet material grabbing device according to claim 6, characterized in that: The horizontal drive mechanism further comprises: a transmission shaft, a coupling and a second reducer; The two horizontal support seats are arranged in parallel; the two horizontal support seats include a first support seat and a second support seat; The two horizontal support structures are arranged in parallel; the two horizontal support structures include a first support structure and a second support structure; One end of the transmission shaft is connected to the synchronization shaft of the first reducer through a coupling; The other end of the transmission shaft is connected to the synchronous shaft of the second reducer through a coupling; The output gear of the first reducer is connected to the horizontal drive shaft on the first support seat through a belt or a chain, the first support seat is movably connected to the first support structure, and the horizontal drive wheel on the first support seat is in contact with the first support structure; The output gear of the second reducer is connected to the horizontal drive shaft on the second support base through a belt or a chain, the second support base is movably connected to the second support structure, and the horizontal drive wheel on the second support base is in contact with the second support structure.

8. The sheet material grabbing device according to claim 5, characterized in that: The horizontal support structure comprises: a horizontal support rod body and a horizontal support groove body; The horizontal support rod body is located in the horizontal support slot body and is detachably connected to the horizontal support slot body; The upper side of the horizontal support rod body is provided with a horizontal movement groove, the horizontal support seat is inserted into the horizontal movement groove, and is movably connected to the horizontal support rod body through the horizontal movement groove; The horizontal driving wheel is in contact with the upper side of the horizontal supporting rod body; The lower side of the horizontal support trough is connected to the suction cup frame.

9. The sheet material grabbing device according to claim 2, characterized in that: The integrated fork comprises: a dual-axis motor, an integrated reducer, an integrated drive shaft, an integrated support seat, an integrated drive wheel and an integrated support structure; The motor shafts at both ends of the dual-axis motor are respectively connected to the input shaft of an integral reducer, the output gear of the integral reducer is connected to the integral drive shaft through a belt or a chain, the dual-axis motor is used to output torque to the integral drive shaft, and the dual-axis motor and the integral reducer are respectively fixed to the support plate; The integral support seat is fixed on the integral reducer, and both ends of the integral drive shaft are rotatably connected to the integral support seat respectively; The integral support seat has an integral connection space, and the portion of the integral drive mechanism connected to the integral drive shaft through the belt or the chain is located in the integral connection space; Both ends of the integral drive shaft extend out of the integral support seat respectively, and both ends of the integral drive shaft extending out of the integral support seat are connected to the integral drive wheels respectively; The integral supporting structure is movably connected to the integral supporting seat, and the integral driving wheel is in contact with the integral supporting structure.

10. The sheet material grabbing device according to claim 9, characterized in that: The integral support structure comprises: an integral support rod body and an integral support slot body; The integral support rod body is located in the integral support slot body and is detachably connected to the integral support slot body; The lower side of the integral support rod body is provided with an integral moving groove, the integral support seat is inserted into the integral moving groove, and is movably connected to the integral support rod body through the integral moving groove; The integral driving wheel is in contact with the lower side of the integral supporting rod body; The upper side of the integral support trough is used to contact the lower side of a stack of plates.

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