Holding and clamping mechanism and cargo moving robot

Abstract

The embodiment of the utility model provides an embracing and clamping mechanism and a cargo moving robot. The embracing and clamping mechanism comprises an embracing and clamping assembly, and the embracing and clamping assembly comprises a first mounting frame, a first guiding assembly, a first embracing and clamping piece, a second embracing and clamping piece and a first driving assembly. Wherein the first guide assembly is fixedly connected with the first mounting frame. The first clamping piece is connected with the first guiding assembly in a matched mode. The second holding and clamping piece is connected with the first guiding assembly in a matched mode, the second holding and clamping piece and the first holding and clamping piece are oppositely arranged, and the space between the first holding and clamping piece and the second holding and clamping piece is configured to be a holding and clamping space. The first driving assembly is fixedly connected with the first mounting frame, the first driving assembly is connected with the first holding and clamping piece and the second holding and clamping piece, and the first driving piece drives the first holding and clamping piece and the second holding and clamping piece to move in the same direction or back to back at the same time so as to change the size of the holding and clamping space, so that goods can be held and clamped conveniently; therefore, goods can be stably and quickly moved from one station to another station.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a clamping mechanism and a cargo moving robot. Background Art

[0002] With the development of science and technology, the work of manual handling, stacking and destacking of goods has been gradually replaced by cargo moving equipment, such as gantry robots. This type of cargo moving equipment operates flexibly, accurately, quickly and efficiently, greatly saving labor while significantly improving the efficiency of cargo moving and stacking.

[0003] However, in the field of warehousing logistics, there is a lack of a device that can stably and quickly move goods from one workstation to another. Utility Model Content

[0004] The embodiments of the present application provide a clamping mechanism and a cargo moving robot for moving cargo from a conveyor line to another workstation stably and quickly.

[0005] In a first aspect, an embodiment of the present application provides a clamping mechanism, including a clamping assembly, wherein the clamping assembly includes:

[0006] first mounting frame;

[0007] A first guide assembly, fixedly connected to the first mounting frame;

[0008] A first clamping member, connected in cooperation with the first guide assembly;

[0009] The second clamping member is connected with the first guide assembly, and the second clamping member is arranged opposite to the first clamping member, and the space between the first clamping member and the second clamping member is configured as a clamping space;

[0010] The first driving assembly is fixedly connected to the first mounting frame. The first driving assembly is respectively connected to the first clamping member and the second clamping member. The first driving assembly selectively drives the first clamping member and the second clamping member to move toward or away from each other at the same time to change the size of the clamping space.

[0011] In a feasible implementation, the clamping mechanism includes at least two clamping assemblies, and the at least two clamping assemblies are vertically and cross-fixedly connected.

[0012] In a feasible implementation, both the first clamping member and the second clamping member are fixedly connected with clamping plates, and two adjacent clamping plates are staggeredly connected.

[0013] In a feasible implementation, the first guiding component includes:

[0014] A first guide rail is fixedly connected to the first mounting frame, and the first guide rail is arranged along the length direction of the first mounting frame;

[0015] The first slider has a plurality of sliders, at least one of which is fixedly connected to the first clamping member, at least one of which is fixedly connected to the second clamping member, and all of which are cooperatively connected to the first guide rail.

[0016] In a feasible implementation, the first driving component includes:

[0017] A first driving motor is fixedly connected to the first mounting frame;

[0018] The first transmission assembly is connected to the first drive motor, and the first transmission assembly is respectively connected to the first clamping member and the second clamping member. The first drive motor selectively drives the first clamping member and the second clamping member to move toward or away from each other at the same time through the first transmission assembly.

[0019] In a feasible implementation, the first transmission assembly includes:

[0020] A transmission screw is rotatably connected to the first mounting bracket, and the transmission screw is connected to the first driving motor;

[0021] A first transmission nut is fixedly connected to the first clamping member, and the first transmission nut is cooperatively connected to the transmission screw;

[0022] The second transmission nut is fixedly connected to the second clamping member, and the second transmission nut is cooperatively connected to the transmission screw rod. The thread directions of the first transmission nut and the second transmission nut are opposite.

[0023] In a second aspect, an embodiment of the present application provides a cargo moving robot, comprising:

[0024] Fixed frame;

[0025] A horizontal moving component is fixedly connected to the fixed frame;

[0026] A lifting assembly connected to the horizontal moving assembly, the horizontal moving assembly selectively drives the lifting assembly to move along a first direction;

[0027] As in the first aspect, the clamping mechanism is connected to the lifting assembly, and the lifting assembly selectively drives the clamping mechanism to move in the vertical direction.

[0028] In a feasible implementation, the horizontal movement component includes:

[0029] The limiting guide rail is fixedly connected to the fixing frame along the first direction, and the lifting assembly is cooperatively connected to the limiting guide rail;

[0030] The second driving component is fixedly connected to the fixing frame, and the second driving component is connected to the lifting component. The second driving component selectively drives the lifting component to move along the limiting guide rail.

[0031] In a feasible implementation, the second drive component includes a second drive motor and a transmission belt assembly, the second drive motor is fixedly connected to the fixed frame, the transmission belt assembly is connected to the fixed frame along a first direction, the second drive motor is connected to the transmission belt assembly, and the transmission belt assembly is connected to the lifting assembly, and the second drive motor selectively drives the lifting assembly to move along the limiting guide rail through the transmission belt assembly.

[0032] In a feasible implementation, the lifting assembly includes:

[0033] The second mounting frame is connected with the limiting guide rail;

[0034] The third driving assembly is connected to the second mounting frame, and the third driving assembly is connected to the clamping mechanism. The third driving assembly selectively drives the clamping mechanism to move in the vertical direction.

[0035] In a feasible implementation, the third driving assembly includes a third driving motor and a scissor assembly;

[0036] The third driving motor is fixedly connected to the second mounting bracket;

[0037] The first end of the scissors assembly is connected to the second mounting frame, and the first end of the scissors assembly is connected to the third drive motor, the second end of the scissors assembly is connected to the clamping mechanism, and the third drive motor selectively drives the first end of the scissors assembly to approach or move away from the second end of the scissors assembly.

[0038] In a feasible implementation, the scissor assembly includes a first scissor member and a second scissor member;

[0039] The first scissors member and the second scissors member are cross-arranged and the first scissors member and the second scissors member are hinged;

[0040] The first end of the first scissor member is slidably connected to the second mounting frame, the first end of the first scissor member is connected to the third driving motor, and the second end of the first scissor member is hinged to the clamping assembly;

[0041] The first end of the second scissor member is hinged to the second mounting frame, and the second end of the second scissor member is slidably connected to the clamping assembly.

[0042] In the first aspect, an embodiment of the present application provides a clamping mechanism, including a clamping assembly, which includes a first mounting frame, a first guide assembly, a first clamping member, a second clamping member, and a first drive assembly. Among them, the first guide assembly is fixedly connected to the first mounting frame. The first clamping member is cooperatively connected to the first guide assembly. The second clamping member is cooperatively connected to the first guide assembly, and the second clamping member is arranged opposite to the first clamping member, and the space between the first clamping member and the second clamping member is configured as a clamping space. The first drive assembly is fixedly connected to the first mounting frame, and the first drive assembly is respectively connected to the first clamping member and the second clamping member, and the first drive assembly drives the first clamping member and the second clamping member to move toward or away from each other at the same time to change the size of the clamping space, thereby facilitating the clamping of goods, so as to stably and quickly move the goods from one workstation to another.

[0043] In the second aspect, an embodiment of the present application provides a cargo moving robot, including the clamping mechanism in any of the technical solutions in the above-mentioned schemes, and thus has all the beneficial effects of the clamping mechanism in any of the technical solutions in the above-mentioned schemes, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute improper limitations on the present invention.

[0045] In the attached picture:

[0046] Figure 1 is a structural schematic diagram of a cargo moving robot provided in one embodiment of the present application;

[0047] Figure 2 yes Figure 1 Schematic diagram of the assembly of the horizontal moving component and the lifting component of the cargo moving robot;

[0048] Figure 3 yes Figure 1 The assembly diagram of the lifting component and clamping mechanism of the palletizing robot;

[0049] Figure 4 yes Figure 3 A schematic diagram of the structure of the lifting assembly in FIG.

[0050] Figure 5 yes Figure 3 Schematic diagram of the structure of the clamping mechanism.

[0051] Description of reference numerals:

[0052] 100-fixed frame; 200-horizontal moving assembly; 300-lifting assembly; 400-clamping assembly; 500-first station; 600-second station;

[0053] 110-column; 120-connecting beam; 210-limiting guide rail; 220-second drive assembly; 230-pulley; 310-second mounting frame; 320-third drive assembly; 410-first mounting frame; 420-first guide assembly; 430-first clamping member; 440-second clamping member; 450-clamping space; 460-first drive assembly; 470-clamping plate;

[0054] 221-second drive motor; 222-transmission belt assembly; 321-third drive motor; 322-scissor assembly; 323-lead screw; 324-lead screw nut; 421-first guide rail; 422-first slider; 461-first drive motor; 462-first transmission assembly;

[0055] 2221-driving wheel; 2222-driven wheel; 2223-first transmission belt; 3221-first scissors-fork member; 3222-second scissors-fork member; 3223-second slider; 3224-second guide rail; 3225-third slider; 3226-third guide rail; 4621-transmission screw; 4622-first transmission nut; 4623-second transmission nut. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0057] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0058] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0060] With the development of science and technology, the work of manual handling, stacking and destacking of goods has been gradually replaced by cargo moving equipment, such as gantry robots. This type of cargo moving equipment operates flexibly, accurately, quickly and efficiently, greatly saving labor while significantly improving the efficiency of cargo moving and stacking.

[0061] However, in the field of warehousing logistics, there is a lack of a device that can stably and quickly move goods from a conveyor line to another workstation.

[0062] In order to move goods from a conveyor line to another workstation stably and quickly, an embodiment of the present application provides a clamping mechanism and a cargo moving robot. The solution provided by the embodiment of the present application will be described in detail below in conjunction with the drawings in the specification.

[0063] Figure 1 It is a structural schematic diagram of a cargo moving robot provided in one embodiment of the present application.

[0064] Reference Figure 1 As shown, the embodiment of the present application provides a cargo moving robot, including a fixed frame 100, a horizontal moving assembly 200, a lifting assembly 300 and a clamping mechanism. The fixed frame 100 is fixed on the ground, the horizontal moving assembly 200 is mounted on the fixed frame 100, and the horizontal moving assembly 200 can move horizontally along the length direction of the fixed frame 100.

[0065] It should be noted that the length direction of the fixing frame 100 can refer to Figure 1 The x direction is shown in FIG. 1 , and the width direction of the fixing frame 100 can be referred to Figure 1 As shown in the y direction, the height direction of the fixing frame 100 can refer to Figure 1 The lifting assembly 300 is fixedly mounted on the horizontal moving assembly 200, and the clamping mechanism is fixedly mounted on the lifting assembly 300. The clamping mechanism is used to clamp the goods, and the lifting assembly 300 is used to control the movement of the clamping mechanism in the vertical direction (the height direction of the fixed frame 100).

[0066] The fixing frame 100 includes a plurality of columns 110 and a plurality of connecting beams 120. The plurality of columns 110 are spaced apart and vertically arranged, and the two ends of the connecting beams 120 are respectively fixedly connected to the adjacent columns 110. Exemplarily, the columns 110 and the connecting beams 120 are both made of steel. The columns 110 can be fixed to the ground using bolts. The columns 110 and the connecting beams 120 can be fixedly connected together using bolts or welded together.

[0067] In some examples, a first station 500 and a second station 600 are disposed inside the fixed frame 100, and the first station 500 and the second station 600 are adjacent and both are located below the horizontal moving assembly 200. The horizontal moving assembly 200 and the lifting assembly 300 control the clamping mechanism to move between the first station 500 and the second station 600 to move the goods between the two. The first station 500 can be configured as a material conveying device, and the second station 600 can be configured as a roller shutter base for cargo transfer. The material conveying device and the roller shutter base are both prior arts in the art and will not be described in detail herein.

[0068] Figure 2 yes Figure 1 Schematic diagram of the assembly of the horizontal moving component 200 and the lifting component 300 of the cargo moving robot.

[0069] Reference Figure 1 and Figure 2 As shown, the horizontal moving assembly 200 includes a limiting guide rail 210 and a second driving assembly 220. The limiting guide rail 210 is used to limit the horizontal moving direction of the lifting assembly 300, and can be fixed on the upper surface of the fixing frame 100 by bolts along the length direction of the fixing frame 100. Exemplarily, the limiting guide rail 210 can be a slide bar, a groove guide rail or other forms of tampering.

[0070] In the embodiment of the present application, the limiting guide rail 210 is configured as a groove guide rail, and the pulley 230 in the lifting assembly 300 is engaged in the groove guide rail. The pulley 230 moves along the groove guide rail, thereby enabling the lifting assembly 300 to selectively move along the length direction of the fixing frame 100.

[0071] The second drive assembly 220 is used to provide power to the lifting assembly 300 so that the lifting assembly 300 can move along the groove guide rail. The second drive assembly 220 can be a transmission belt assembly, a chain drive assembly or other linear drive assembly. Exemplarily, the second drive assembly 220 can be a transmission belt assembly, specifically including a second drive motor 221 and a transmission belt assembly 222. Among them, the second drive motor 221 is fixedly mounted on the upper surface of the fixed frame 100 through a motor mounting seat, which can be a servo motor to ensure that the moving distance of the lifting assembly 300 can be accurately controlled.

[0072] The transmission belt assembly 222 includes a driving wheel 2221, a driven wheel 2222 and a first transmission belt 2223. The driving wheel 2221 is fixedly arranged at the end of the transmission shaft, and the transmission shaft is mounted on the fixed frame 100 through a bearing seat. The driven wheel 2222 is fixedly installed on the fixed frame 100 through a driven wheel 2222 mounting seat and is opposite to the driving wheel 2221. The first transmission belt 2223 is wound around the driving wheel 2221 and the driven wheel 2222, and the first transmission belt 2223 is fixedly connected to the lifting assembly 300. In addition, a driving pulley is fixedly arranged at the output end of the second driving motor 221 through a mounting key. The driving pulley selectively drives the transmission shaft to rotate through the second transmission belt. The transmission shaft drives the driving wheel 2221 to rotate and then drives the first transmission belt 2223 to rotate, and finally drives the lifting assembly 300 to move along the groove guide rail.

[0073] Figure 3 yes Figure 1 FIG. 1 is a schematic diagram of the assembly of the lifting component 300 and the clamping mechanism of the palletizing robot.

[0074] Reference Figure 1 and Figure 3 As shown, in some examples, the lifting assembly 300 includes a second mounting frame 310 and a third driving assembly 320. The second mounting frame 310 is a frame structure formed by connecting steel materials, and a pulley 230 that cooperates with the groove guide rail is provided on its lower surface. Exemplarily, the second mounting frame 310 can be a rectangular frame formed by connecting four steel materials end to end.

[0075] The third drive assembly 320 is connected to the second mounting frame 310, and the third drive assembly 320 is connected to the clamping mechanism, and the third drive assembly 320 selectively drives the clamping mechanism to move in the vertical direction. Exemplarily, the third drive assembly 320 can be a z-axis truss moving mechanism or a folding lifting mechanism.

[0076] Figure 4 yes Figure 3 A schematic structural diagram of the lifting assembly 300 in FIG.

[0077] Reference Figure 4As shown, in the application embodiment, the third driving assembly 320 includes a third driving motor 321 and a scissor assembly 322 .

[0078] The third drive motor 321 is fixedly mounted on the second mounting frame 310. The first end of the scissor assembly 322 is connected to the second mounting frame 310, and the first end of the scissor assembly 322 is connected to the third drive motor 321, and the second end of the scissor assembly 322 is connected to the clamping mechanism, and the third drive motor 321 selectively drives the first end of the scissor assembly 322 to approach or move away from the second end of the scissor assembly 322.

[0079] Continue to refer to Figure 3 and Figure 4 As shown, in the embodiment of the present application, the scissor assembly 322 includes a first scissor member 3221 and a second scissor member 3222. The first scissor member 3221 crosses the second scissor member 3222 and the first scissor member 3221 and the second scissor member 3222 are hinged by a pin. The first end of the first scissor member 3221 is slidably connected to the second mounting frame 310, and the first end of the first scissor member 3221 is connected to the third drive motor 321, and the second end of the first scissor member 3221 is hinged to the clamping assembly 400. Exemplarily, the first end of the first scissor member 3221 is hinged to the second slider 3223, and the second mounting frame 310 is fixed with a second guide rail 3224 matching the second slider 3223 by screws, and the second slider 3223 is mounted on the second guide rail 3224. It should be noted that the first end of the first scissor member 3221 and the second end of the first scissor member 3221 are opposite ends of the first scissor member 3221.

[0080] The second slider 3223 is fixedly connected to the lead screw nut 324, and the output end of the third drive motor 321 can be fixedly connected to the lead screw 323 through a coupling, and the lead screw nut 324 is fitted on the lead screw 323. The third drive motor 321 drives the lead screw 323 to rotate, thereby driving the second slider 3223 to move on the second guide rail 3224.

[0081] The first end of the second scissor member 3222 is hinged to the second mounting frame 310 via a pin, and the second end of the second scissor member 3222 is slidably connected to the clamping assembly 400. Exemplarily, the second end of the second scissor member 3222 is hinged to the third slider 3225, the third slider 3225 is slidably fitted on the third guide rail 3226, and the third slider 3225 is fixedly mounted on the clamping assembly 400 via bolts. It should be noted that the first end of the second scissor member 3222 and the second end of the second scissor member 3222 are opposite ends of the second scissor member 3222.

[0082] It is understandable that when the third driving motor 321 drives the second slider 3223 to move along the second guide rail 3224 through the lead screw nut 324 and the lead screw 323, the angle between the first scissor member 3221 and the second mounting frame 310 changes, and at the same time drives the second end of the second scissor member 3222 to move along the surface of the clamping mechanism, and the angle between the second scissor member 3222 and the second mounting frame 310 also changes. Specifically, when the third driving motor 321 drives the second slider 3223 to move in the direction toward the third driving motor 321 through the lead screw nut 324 and the lead screw 323, the angle between the first scissor member 3221 and the second mounting frame 310 increases, the angle between the second scissor member 3222 and the second mounting frame 310 increases, and the distance between the clamping mechanism and the second mounting frame 310 increases. At this time, the height of the clamping mechanism is lowered to a certain height. On the contrary, when the third driving motor 321 drives the second slider 3223 to move in a direction away from the third driving motor 321 through the lead screw nut 324 and the lead screw 323, the angle between the first scissor member 3221 and the second mounting frame 310 becomes smaller, the angle between the second scissor member 3222 and the second mounting frame 310 becomes smaller, and the distance between the clamping mechanism and the second mounting frame 310 becomes smaller. At this time, the height of the clamping mechanism is raised to a certain height.

[0083] In addition, the clamping mechanism may include one clamping assembly 400 or multiple clamping assemblies 400, and the clamping assembly 400 is used to clamp the side of the cargo. Correspondingly, when the clamping mechanism includes one clamping assembly 400, the clamping assembly 400 applies force to clamp two positions of the cargo, and when the clamping mechanism includes multiple clamping assemblies 400, the clamping assembly 400 can apply force to clamp multiple positions of the cargo.

[0084] The clamping assembly 400 includes a first mounting frame 410, a first guide assembly 420, a first driving assembly 460, a first clamping member 430, and a second clamping member 440. The first guide assembly 420 is fixedly connected to the first mounting frame 410; the first clamping member 430 is cooperatively connected to the first guide assembly 420; the first clamping member 430 is cooperatively connected to the first guide assembly 420; the second clamping member 440 is cooperatively connected to the first guide assembly 420, and the second clamping member 440 is arranged opposite to the first clamping member 430, and the space between the first clamping member 430 and the second clamping member 440 is configured as a clamping space 450. The first driving assembly 460 is fixedly connected to the first mounting frame 410, and the first driving assembly 460 is connected to the first clamping member 430 and the second clamping member 440 respectively, and the first driving assembly drives the first clamping member 430 and the second clamping member 440 to move toward or away from each other at the same time to change the size of the clamping space 450.

[0085] The first mounting frame 410 provides a mounting position for the first guide assembly 420, the first drive assembly 460, the first clamping member 430 and the second clamping member 440. Exemplarily, the second mounting frame 310 is a rectangular frame formed by connecting four steel bars end to end.

[0086] The first guide assembly 420 can be a linear guide assembly, a slide assembly or a guide rod assembly, as long as it can limit and guide the first clamping member 430 and the second clamping member 440 to ensure that the two can move horizontally along the first mounting frame 410. Exemplarily, in the embodiment of the present application, the first guide assembly 420 is configured as a linear guide assembly, specifically including a first guide rail 421 and a first slider 422. Among them, the first guide rail 421 can be fixedly installed on the first mounting frame 410 by bolts along the length direction of the first mounting frame 410. There are multiple first sliders 422, and the multiple first sliders 422 can be fixedly installed on the first clamping member 430 and the second clamping member 440 by bolts respectively. The first slider 422 is installed on the first guide rail 421 in cooperation, so that the first clamping member 430 and the second clamping member 440 can move along the first guide rail 421, that is, move along the length direction of the first mounting frame 410. It should be noted that the length direction of the first mounting frame 410 is the extension direction of the longer side of the first mounting frame 410.

[0087] In addition, it can be understood that at least one first slider 422 is installed on each of the first clamping member 430 and the second clamping member 440. When the first clamping member 430 and the second clamping member 440 are respectively installed with multiple first sliders 422, the stability of the first clamping member 430 and the second clamping member 440 moving along the first guide rail 421 can be improved, and the first clamping member 430 and the second clamping member 440 can be prevented from shaking during the movement.

[0088] In addition, the second clamping member 440 is opposite to the first clamping member 430 and there is a certain distance between them. The space between them is configured as a clamping space 450 , and the goods to be moved are located in the clamping space 450 .

[0089] The first drive assembly 460 includes a first drive motor 461 and a first transmission assembly 462. The first drive motor 461 can be fixedly mounted on the first mounting frame 410 through a motor mounting seat. The first transmission assembly 462 is connected to the power output end of the first drive motor 461, and the first transmission assembly 462 is respectively connected to the first clamping member 430 and the second clamping member 440. The first drive motor 461 drives the first clamping member 430 and the second clamping member 440 to move toward or away from each other at the same time through the first transmission assembly 462. It can be understood that the first drive motor 461 is used to provide power for the movement of the first clamping member 430 and the second clamping member 440, and the first transmission assembly 462 is used to transmit the power of the first drive motor 461 to the first clamping member 430 and the second clamping member 440 to drive the two to move.

[0090] The first transmission assembly 462 can be a screw transmission assembly, a connecting rod mechanism, or a transmission belt assembly. As long as it can transmit the power of the first drive motor 461 to the first clamping member 430 and the second clamping member 440 respectively, and make the two move toward or away from each other at the same time, there is no specific limitation here.

[0091] In the embodiment of the present application, the first transmission assembly 462 includes a transmission screw 4621, a first transmission nut 4622, and a second transmission nut 4623. Among them, one end of the transmission screw 4621 is connected to the bearing seat, and the bearing seat is fixedly mounted on the first mounting frame 410. The other end of the transmission screw 4621 can be connected to the output end of the first drive motor 461 through a coupling or a transmission belt assembly. The first transmission nut 4622 is fixedly connected to the first clamping member 430, and the second transmission nut 4623 is fixedly connected to the second clamping member 440. The thread directions of the first transmission nut 4622 and the second transmission nut 4623 are opposite, and the first transmission nut 4622 and the second transmission nut 4623 are both mounted on the transmission screw 4621 in a matching manner. When the first driving motor 461 drives the transmission screw 4621 to rotate, the first transmission nut 4622 and the second transmission nut 4623 move in the same direction or opposite directions at the same time, and drive the first clamping member 430 and the second clamping member 440 to move in the same direction or opposite directions at the same time, thereby changing the size of the clamping space 450 and completing the clamping or release of the goods.

[0092] Figure 5 yes Figure 3 Schematic diagram of the structure of the clamping mechanism.

[0093] Reference Figure 1 and Figure 5As shown, in the embodiment of the present application, the clamping mechanism includes two clamping assemblies 400, and the two clamping assemblies 400 are vertically and cross-fixed. Specifically, the first mounting frames 410 of the two clamping assemblies 400 are vertically and cross-fixed together, and the two first clamping assemblies 400 and the two second clamping members 440 are respectively located in the four directions of front, back, left, and right, enclosing a clamping space 450 with a rectangular cross-section, which can stably clamp the goods and prevent the goods from falling.

[0094] In addition, if Figure 5 As shown, for example, the first clamping member 430 and the second clamping member 440 are both fixedly connected with clamping plates 470, and two adjacent clamping plates 470 are staggered. Multiple clamping plates 470 close the sides of the clamping space 450, which can ensure that the clamping member has a larger contact area with the cargo and prevent the cargo from scattering.

[0095] Exemplarily, the clamping plates 470 may be composed of a plurality of connecting rods, with intervals between adjacent connecting rods, and adjacent clamping plates 470 may be staggered and connected together using the intervals.

[0096] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0097] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A clamping mechanism, characterized in that: The invention comprises a clamping assembly (400), wherein the clamping assembly (400) comprises: A first mounting frame (410); A first guide assembly (420) fixedly connected to the first mounting frame (410); A first clamping member (430) is cooperatively connected with the first guide assembly (420); A second clamping member (440) is connected to the first guide assembly (420), and the second clamping member (440) is arranged opposite to the first clamping member (430), and the space between the first clamping member (430) and the second clamping member (440) is configured as a clamping space (450); The first driving component (460) is fixedly connected to the first mounting frame (410), and the first driving component (460) is respectively connected to the first clamping member (430) and the second clamping member (440). The first driving component selectively drives the first clamping member (430) and the second clamping member (440) to move toward or away from each other at the same time to change the size of the clamping space (450).

2. The clamping mechanism according to claim 1, characterized in that: The clamping mechanism comprises at least two clamping assemblies (400), and the at least two clamping assemblies (400) are vertically and cross-fixedly connected.

3. The clamping mechanism according to claim 2, characterized in that: The first clamping member (430) and the second clamping member (440) are both fixedly connected with a clamping plate (470), and two adjacent clamping plates (470) are staggeredly connected.

4. The clamping mechanism according to claim 1 or 2, characterized in that: The first guide assembly (420) comprises: A first guide rail (421) is fixedly connected to the first mounting frame (410), and the first guide rail (421) is arranged along the length direction of the first mounting frame (410); The first slider (422) has a plurality of first sliders, at least one of which is fixedly connected to the first clamping member (430), at least one of which is fixedly connected to the second clamping member (440), and all of which are cooperatively connected to the first guide rail (421).

5. The clamping mechanism according to claim 1 or 2, characterized in that: The first drive assembly (460) comprises: A first driving motor (461) fixedly connected to the first mounting frame (410); The first transmission assembly (462) is connected to the first drive motor (461), and the first transmission assembly (462) is respectively connected to the first clamping member (430) and the second clamping member (440). The first drive motor (461) selectively drives the first clamping member (430) and the second clamping member (440) to move toward or away from each other at the same time through the first transmission assembly (462).

6. The clamping mechanism according to claim 5, characterized in that: The first transmission assembly (462) comprises: A transmission screw (4621) is rotatably connected to the first mounting frame (410), and the transmission screw (4621) is connected to the first driving motor (461); A first transmission nut (4622) is fixedly connected to the first clamping member (430), and the first transmission nut (4622) is cooperatively connected to the transmission screw (4621); The second transmission nut (4623) is fixedly connected to the second clamping member (440), the second transmission nut (4623) is cooperatively connected to the transmission screw (4621), and the thread directions of the first transmission nut (4622) and the second transmission nut (4623) are opposite.

7. A cargo moving robot, characterized in that: include: Fixed frame (100); A horizontal moving assembly (200) fixedly connected to the fixed frame (100); A lifting assembly (300) connected to the horizontal moving assembly (200), wherein the horizontal moving assembly (200) selectively drives the lifting assembly (300) to move along a first direction; The clamping mechanism according to any one of claims 1 to 6 is connected to the lifting component (300), and the lifting component (300) selectively drives the clamping mechanism to move in the vertical direction.

8. The cargo moving robot according to claim 7, characterized in that: The horizontal moving assembly (200) comprises: A limiting guide rail (210) is fixedly connected to the fixing frame (100) along the first direction, and the lifting assembly (300) is cooperatively connected to the limiting guide rail (210); The second driving component (220) is fixedly connected to the fixed frame (100), and the second driving component (220) is connected to the lifting component (300), and the second driving component (220) selectively drives the lifting component (300) to move along the limiting guide rail (210).

9. The cargo moving robot according to claim 8, characterized in that: The second driving assembly (220) comprises a second driving motor (221) and a transmission belt assembly (222); the second driving motor (221) is fixedly connected to the fixed frame (100); the transmission belt assembly (222) is connected to the fixed frame (100) along the first direction; the second driving motor (221) is connected to the transmission belt assembly (222), and the transmission belt assembly (222) is connected to the lifting assembly (300); the second driving motor (221) selectively drives the lifting assembly (300) to move along the limiting guide rail (210) via the transmission belt assembly.

10. The cargo moving robot according to claim 8, characterized in that: The lifting assembly (300) comprises: A second mounting frame (310) is connected in cooperation with the position limiting guide rail (210); A third driving assembly (320) is connected to the second mounting frame (310), and the third driving assembly (320) is connected to the clamping mechanism, and the third driving assembly (320) selectively drives the clamping mechanism to move in a vertical direction.

11. The cargo moving robot according to claim 10, characterized in that: The third driving assembly (320) comprises a third driving motor (321) and a scissor assembly (322); The third driving motor (321) is fixedly connected to the second mounting frame (310); The first end of the scissor assembly (322) is connected to the second mounting frame (310), and the first end of the scissor assembly (322) is connected to the third drive motor (321), and the second end of the scissor assembly (322) is connected to the clamping mechanism, and the third drive motor (321) selectively drives the first end of the scissor assembly (322) to approach or move away from the second end of the scissor assembly (322).

12. The cargo moving robot according to claim 11, characterized in that: The scissor assembly (322) comprises a first scissor member (3221) and a second scissor member (3222); The first scissors member (3221) and the second scissors member (3222) are cross-arranged and the first scissors member (3221) and the second scissors member (3222) are hinged; The first end of the first scissor member (3221) is slidably connected to the second mounting frame (310), and the first end of the first scissor member (3221) is connected to the third driving motor (321), and the second end of the first scissor member (3221) is hinged to the clamping assembly (400); The first end of the second scissor member (3222) is hinged to the second mounting frame (310), and the second end of the second scissor member (3222) is slidably connected to the clamping assembly (400).

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