Clamping type stacking machine

Abstract

The clamping type stacking machine comprises a ground rail, a sliding contact line assembly, a walking ground vehicle capable of moving left and right along the ground rail, a stand column assembly and a lifting driving assembly, the ground rail and the sliding contact line assembly are oppositely arranged front and back, a current collector is arranged on the walking ground vehicle, the current collector is in sliding electrical contact with the sliding contact line assembly, and the lifting driving assembly is connected with the stand column assembly. The vertical column assembly is arranged on the walking ground vehicle, the lifting driving assembly is arranged on the vertical column assembly, the clamping type cargo carrying table comprises a cargo carrying frame, a forking assembly and a clamping assembly, the cargo carrying frame is connected with the vertical column assembly, and the forking assembly is connected with the clamping assembly. The lifting driving assembly is used for driving the cargo carrying frame to move up and down relative to the stand column assembly, the forking assembly is arranged in the cargo carrying frame, and the clamping assembly is arranged at the bottom end of the forking assembly and located in the cargo carrying frame. The power battery carrying device can meet the carrying requirement of power batteries transferred without trays, and the production cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of battery production, in particular to a clamping type stacker. Background Art

[0002] With the continuous development of new energy technology in my country, the application scope of power batteries is becoming more and more extensive. However, due to the complex production process and technology of power batteries, there are many equipments in each process, and the power batteries are large in size and heavy in weight. Manual handling and loading are extremely difficult, and there are also great safety hazards. Therefore, stackers for handling power batteries are widely used. The existing stackers generally include ground rails, busbar assemblies, a walking vehicle that can move left and right along the ground rails, a column assembly, a lifting drive assembly, and a cargo platform. The ground rails and busbar assemblies are arranged front and back relative to each other. The walking vehicle is provided with a collector, and the collector is in sliding electrical contact with the busbar assembly. The column assembly is arranged on the walking vehicle, and the cargo platform is connected to the column assembly. The lifting drive assembly is arranged on the column assembly and is used to drive the cargo platform to move up and down. The cargo platform is provided with a pallet fork pick-up fork and a front and rear drive assembly for driving the pallet fork pick-up fork to move forward and backward. When a stacker of this structure actually carries power batteries, the power batteries generally need to be placed in a pallet first, and then the pallet fork picks up the pallet with the power batteries in cooperation with the walking vehicle, the lifting drive assembly, and the front and rear drive assemblies, and then the pallet with the power batteries is driven to move in cooperation with the walking vehicle, the lifting drive assembly, and the front and rear drive assemblies, so as to carry the power batteries. Since this type of stacker needs a pallet to carry the power batteries, it cannot carry the power batteries without a pallet, which cannot meet the use requirements and increases the production cost. Utility Model Content

[0003] In order to overcome the deficiencies of the prior art, the utility model provides a clamping type stacker which can meet the transportation requirements of power batteries without pallet transportation and reduces the production cost.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A clamping type stacker comprises a ground rail, a busbar assembly, a walking vehicle that can move left and right along the ground rail, a column assembly and a lifting drive assembly, wherein the ground rail and the busbar assembly are arranged relative to each other in front and back, the walking vehicle is provided with a current collector, the current collector is in sliding electrical contact with the busbar assembly, the column assembly is arranged on the walking vehicle, the lifting drive assembly is arranged on the column assembly, and also comprises a clamping type cargo platform, the clamping type cargo platform comprises a cargo frame, a fork assembly and a clamping assembly, the cargo frame is connected to the column assembly, the lifting drive assembly is used to drive the cargo frame to move up and down relative to the column assembly, the fork assembly is arranged in the cargo frame, the clamping assembly is arranged at the bottom end of the fork assembly and is located in the cargo frame, the fork assembly is used to drive the clamping assembly to move forward and backward, and the clamping assembly is used to clamp a power battery.

[0006] The beneficial effects of the utility model are as follows: the utility model provides a clamping type cargo platform, which includes a cargo frame, a fork assembly and a clamping assembly. The clamping assembly can clamp the power battery, and the walking vehicle, the lifting drive assembly and the fork assembly can realize the left-right movement, the up-and-down movement, and the forward-and-backward movement of the clamping assembly, so that the power battery can be transported without the aid of a pallet, and the transportation needs of the power battery without pallet transportation can be met, thereby better realizing the automated production of the power battery and reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0008] Figure 1 It is a structural schematic diagram of a clamping type stacker provided by an embodiment of the utility model;

[0009] Figure 2 yes Figure 1 A schematic structural diagram of a busbar assembly of a gripping stacker shown;

[0010] Figure 3 yes Figure 1 A schematic structural diagram of a walking vehicle of a gripping stacker shown;

[0011] Figure 4 yes Figure 1 A schematic structural diagram of a column assembly of a gripping stacker shown;

[0012] Figure 5 yes Figure 1 A schematic diagram of the structure of the crossbeam and the lifting drive assembly of the column assembly of the gripping type stacker shown;

[0013] Figure 6 yes Figure 1A schematic structural diagram of a gripping type cargo platform of a gripping type stacker shown;

[0014] Figure 7 yes Figure 6 A schematic diagram of the structure of the cargo frame of the clamping type cargo platform shown;

[0015] Figure 8 yes Figure 7 A schematic structural diagram of an overload slack rope protection module of a safety gear assembly of a cargo frame shown;

[0016] Fig. 9 yes Figure 7 A schematic structural diagram of the safety gear of the safety gear assembly of the cargo frame shown;

[0017] Fig.10 yes Fig. 9 Explosion diagram of the safety gear shown;

[0018] Fig.11 yes Fig.10 The explosion diagram of the safety gear shown is after the outer shell and inner shell are removed;

[0019] Fig.12 yes Figure 6 A schematic diagram of the structure of the fork assembly and the clamping assembly of the clamping type cargo platform shown;

[0020] Fig.13 yes Fig.12 The structural schematic diagram of the fork-taking assembly shown;

[0021] Fig.14 yes Fig.12 An exploded schematic diagram of the mounting frame of the fork picking assembly, the fork picking drive module and the two first fork picking arms;

[0022] Fig.15 yes Fig.12 A schematic structural diagram of two second forking arms of the forking assembly shown;

[0023] Fig.16 yes Fig.12 A schematic structural diagram of two third forking arms and a connecting seat of the forking assembly shown;

[0024] Fig.17 yes Fig.12 A schematic structural diagram of the clamping assembly shown;

[0025] Fig.18 yes Fig.17 A schematic diagram of the structure of the clamping frame part, the clamping mounting plate, the upper and lower drive modules, the first clamping jaw drive module, the second clamping jaw drive module, the first clamping jaw module and the second clamping jaw module of the clamping assembly shown;

[0026] Fig.19 yes Fig.17 An exploded schematic diagram of the gripping assembly shown;

[0027] Fig. 20 yes Fig.17 An exploded schematic diagram of a clamping mounting plate, a first clamping jaw driving module, a second clamping jaw driving module, a first clamping jaw module, and a second clamping jaw module of the clamping assembly shown;

[0028] Fig.21 yes Fig.17 A schematic structural diagram of the clamping jaw group of the clamping assembly shown. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the concept, specific structure and technical effects of the utility model in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the utility model. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the creation of the utility model can be combined interchangeably without conflicting with each other.

[0030] Please refer to Figure 1A clamping type stacker provided by one embodiment of the utility model includes a ground rail 10, a busbar assembly 20, a walking vehicle 30 movable left and right along the ground rail 10, a column assembly 40, a lifting drive assembly 50 and a clamping type cargo platform, wherein the clamping type cargo platform includes a U-shaped cargo frame 60, a fork assembly 70 and a clamping assembly 80. The ground rail 10 and the busbar assembly 20 both extend in the left-right direction. The ground rail 10 and the busbar assembly 20 are arranged front to back relative to each other. A current collector 31 is provided on the walking vehicle 30, and the current collector 31 is an existing structure, and the current collector 31 is in sliding electrical contact with the busbar assembly 20. The column assembly 40 is arranged on the walking vehicle 30, the lifting drive assembly 50 is arranged on the column assembly 40, the lifting drive assembly 50 is used to drive the cargo frame 60 to move up and down relative to the column assembly 40, the fork assembly 70 is arranged in the cargo frame 60, and the clamping assembly 80 is arranged at the bottom of the fork assembly 70 and is located in the cargo frame 60. The left and right movement of the walking vehicle 30 can drive the column assembly 40, the lifting drive assembly 50, the cargo frame 60, the fork assembly 70 and the clamping assembly 80 to move left and right. The up and down movement of the cargo frame 60 can drive the fork assembly 70 and the clamping assembly 80 to move up and down. The fork assembly 70 is used to drive the clamping assembly 80 to move forward and backward, so that the clamping assembly 80 is moved out of the cargo frame 60 or moved into the cargo frame 60, and the clamping assembly 80 is used to clamp the power battery 200.

[0031] The clamping type stacker of the utility model is specifically described below.

[0032] Specific, combined Figure 2 As shown, the busbar assembly 20 includes a mounting frame 21 and a busbar 22. The mounting frame 21 is arranged front and rear opposite to the ground rail 10, and the mounting frame 21 and the ground rail 10 are both arranged on the ground. The busbar 22 is arranged on one side of the mounting frame 21 close to the ground rail 10. The busbar 22 is used to be electrically connected to an external power source. The current collector 31 is in sliding electrical contact with the busbar 22.

[0033] Combination Figure 3As shown, the walking vehicle 30 includes a walking vehicle body 32, and a current collector 31 is arranged on one side of the walking vehicle body 32 close to the busbar assembly 20. The current collector 31 is in sliding electrical contact with the busbar 22. Active running wheels and driven running wheels are respectively arranged at both ends of the walking vehicle body 32, and the active running wheels and driven running wheels are respectively rollingly matched with the top of the ground rail 10. A walking motor 35 for driving the active running wheel to rotate is arranged on the outer wall of one end of the walking vehicle body 32, and the walking motor 35 is electrically connected to the current collector 31, so that the walking motor 35 can be powered by an external power supply, and the active running wheel is driven to rotate by the walking motor 35, so that the active running wheel and the driven running wheel can be moved left and right along the ground rail 10, thereby driving the walking vehicle body 32 and the walking motor 35 to move left and right along the ground rail 10. Two first travel guide wheels 36 and two second travel guide wheels 37 are respectively provided on the outer walls at both ends of the walking vehicle body 32. The two first travel guide wheels 36 and the two second travel guide wheels 37 are respectively in rolling cooperation with the two sides of the ground rail 10. The left and right movement of the active walking wheel and the driven walking wheel can drive the two first walking guide wheels 36 and the two second walking guide wheels 37 to move left and right along the ground rail 10. The two first walking guide wheels 36 and the two second walking guide wheels 37 can prevent the active walking wheel and the driven walking wheel from leaving the ground rail 10.

[0034] Combination Figure 4 and Figure 5 As shown, the column assembly 40 includes a left column 41, a right column 42 and a crossbeam 43. The left column 41 and the right column 42 are arranged opposite to each other on the left and right sides, and the left column 41 and the right column 42 are both arranged at the top of the walking vehicle body 32 of the walking vehicle 30, and the crossbeam 43 is arranged at the top of the left column 41 and the right column 42. The cargo frame 60 is located between the left column 41 and the right column 42, and the outer walls at both ends of the cargo frame 60 are respectively provided with a first guide wheel group and a second guide wheel group, the first guide wheel group is in rolling cooperation with the left column 41, and the second guide wheel group is in rolling cooperation with the right column 42.

[0035] The lifting drive assembly 50 includes a lifting motor 51. The lifting motor 51 is arranged on the side of the right column 42 away from the left column 41. Two drums 52 are respectively installed on the two output ends of the lifting motor 51, and steel wire ropes 53 are wound on the drums 52. Two pulley blocks are respectively arranged on the two sides (i.e., the front side and the rear side) of the crossbeam 43. The ends of the steel wire ropes 53 on the two drums 52 are respectively passed over the two pulley blocks and are respectively connected to the overload loose rope protection modules 63 of the two safety clamp assemblies of the cargo frame 60. The pulley block includes a first pulley 441 and a second pulley 442, wherein the pulley block arranged at the front side of the cross beam 43 has a first pulley 441 close to the right column 43 and a second pulley 442 close to the left column 41, and the pulley block arranged at the rear side of the cross beam 43 has a first pulley 441 and a second pulley 442 close to the right column 43, and the end of the wire rope 53 on one drum 52 is passed around the first pulley 441 and the second pulley 442 arranged at the front side of the cross beam 43 in sequence, and the end of the wire rope 53 on the other drum 52 is passed around the first pulley 441 and the second pulley 442 arranged at the rear side of the cross beam 43 in sequence. The lifting motor 51 is used to drive the two drums 52 to rotate, thereby driving the wire ropes 53 on the two drums 52 to move up and down, thereby driving the cargo frame 60 to move up and down. The left and right movement of the walking vehicle body 32 can drive the left column 41 and the right column 42 to move left and right, thereby driving the crossbeam 43, the two pulley blocks, the lifting motor 51, the two drums 52, the wire ropes 53 on the two drums 52 and the cargo frame 60 to move left and right.

[0036] Combination Figure 6 and Figure 7 As shown, the first guide wheel group and the second guide wheel group each include two support plates 611 arranged front to back in a relative manner, the two support plates 611 of the first guide wheel group and the two support plates 611 of the second guide wheel group are respectively arranged on the outer walls of both ends of the cargo frame 60, a plurality of cargo guide wheels 612 are respectively arranged on the sides of the two support plates 611 close to each other, and the plurality of cargo guide wheels 612 are spaced apart along the height direction of the corresponding support plates 611, the plurality of cargo guide wheels 612 on the two support plates 611 of the first guide wheel group respectively roll with the side of the left column 41 close to the busbar assembly 20 and the side away from the busbar assembly 20, and the plurality of cargo guide wheels 612 on the two support plates 611 of the second guide wheel group respectively roll with the side of the right column 42 close to the busbar assembly 20 and the side away from the busbar assembly 20. The first guide wheel group and the second guide wheel group can improve the stability of the up and down movement of the cargo frame 60. In this embodiment, there are two cargo guide wheels 612 on each support plate 611. It can be understood that the number of cargo guide wheels 612 can be set according to actual conditions.

[0037] Combination Figures 7 to 11As shown, the safety clamp assembly includes the above-mentioned overload slack rope protection module 63 and safety clamp 64, and both the overload slack rope protection module 63 and the safety clamp 64 are existing structures. Specifically, the overload slack rope protection module 63 includes a sleeve 631, a lifting rod 632, a wire rope ring 633, an L-shaped base 635, a dial plate 636, an L-shaped plate 6361, a dial rod 639, a compression spring 638 and a spring seat 637. Two mounting grooves 62 are respectively provided on the inner walls at both ends of the cargo frame 60, and the two mounting grooves 62 correspond to the overload slack rope protection modules 63 of the two safety clamp assemblies respectively. The sleeve 631 is arranged at the bottom of the corresponding mounting groove 62, and the base 635 is located below the sleeve 631. The lifting rod 632 passes through the through hole of the sleeve 631 and can move up and down relative to the sleeve 631. The bottom end of the lifting rod 632 is connected to the base 635, and the top end of the lifting rod 632 is connected to the wire rope ring 633. The ends of the wire ropes 53 on the two drums 52 are respectively wound around the wire rope rings 633 of the overload loose rope protection modules 63 of the two safety clamp assemblies, and the ends of the wire ropes 63 are locked to the wire ropes 53 by wire rope lock buckles 634. The dial plate 636 is provided on one side of the base 635, and the L-shaped plate 6361 is located between the dial plate 636 and the bottom of the corresponding mounting groove 62. One end of the L-shaped plate 6361 is arranged on one side of the dial plate 636 close to the bottom of the corresponding mounting groove 62, and the L-shaped plate 6361 partially protrudes from the top of the dial plate 636. One end of the dial rod 639 is arranged at the other end of the L-shaped plate 6361, and the dial rod 6361 is arranged horizontally. The compression spring 638 and the spring seat 637 are successively located below the dial plate 636, one end of the compression spring 638 is connected to the bottom end of the dial plate 636, and the other end of the compression spring 636 is connected to the spring seat 637. The compression spring 638 is in a compressed state, and the spring seat 637 is arranged at the bottom of the corresponding mounting groove 62.

[0038] The safety tongs 64 of one of the safety tongs assemblies is located between the two support plates 611 of the first guide wheel group, and the safety tongs 64 of the other safety tongs assembly is located between the two support plates 611 of the second guide wheel group. The safety tongs 64 include an outer shell 641, a lifting plate 642, an inner shell 643, two tilting blocks 644 arranged opposite to each other in the front and back direction, two brake wedges 645 arranged opposite to each other in the front and back direction, a moving rod 646 and a brake wedge connecting plate 647. The outer shells 641 of the safety tongs 64 of the two safety tongs assemblies are respectively arranged on the outer walls at both ends of the cargo frame 60. The inner shell 643 is arranged in the outer shell 641. The side of the outer shell 641 away from the cargo frame 60 and the side of the inner shell 643 away from the cargo frame 60 are respectively opened. The two tilting blocks 644 are tilted toward each other and are located at the opening of the inner shell 643. The two sides of the two tilting blocks 644 that are far away are connected to the inner walls of the inner shell 643 at both ends through the two first mounting blocks 6441. The tilting blocks 644 partially protrude from the bottom end of the outer shell 641. The bottom end of the tilting blocks 644 is fixedly connected to the bottom end of the outer shell 641 through the second mounting block 6442. The two brake wedges 645 are located between the two tilting blocks 644. The two sides of the two brake wedges 645 that are far away have an inclined surface, and the inclined surfaces of the two brake wedges 645 are matched with the sides of the two tilting blocks 644 that are close to each other. Two guide rails 411 are respectively provided on the side close to the left column 41 and the right column 42. The length direction of the two guide rails 411 is the same as the height direction of the left column 41 and the right column 42. The two guide rails 411 pass through two brake wedges 645 of the two safety clamp assemblies respectively. The top of the shell 641 is provided with a groove 6411 for avoiding the corresponding guide rail 411, and the groove 6411 is connected to the interior of the shell 641. The brake bevel wedge connecting plate 647 is located between the two brake bevels 645 and the inner wall of the inner shell 643 on one side close to the cargo frame 60. The brake bevel wedge connecting plate 647 is provided with two strip holes 6471 corresponding to the two brake bevels 645 respectively. The strip holes 6471 extend along the front-to-back direction. The two strip holes 6471 are arranged opposite to each other front-to-back. Two mounting holes corresponding to the two strip holes 6471 are respectively provided on the side close to the cargo frame 60 of the two brake bevels 645. Fasteners 6451 such as bolts are installed in the mounting holes. The ends of the fasteners 6451 pass through the corresponding strip holes 6471. The outer periphery of the fasteners 6451 is provided with a limiting plate 6452. The limiting plate 6452 contacts the side of the brake bevel connecting plate 647 close to the cargo frame 60. One end of the moving rod 646 is arranged on a side of the brake wedge connecting plate 647 close to the cargo frame 60 , and the other end of the moving rod 646 passes through the hole of the shell 641 and is connected to the lifting plate 642 located above the shell 641 .The other end of the lever 639 of the overload loose rope protection module 63 is connected to the L-shaped rod 65, and the end of the L-shaped rod 65 away from the lever 639 passes through the through hole of the cargo frame 60 and is located outside the cargo frame 60. The end of the L-shaped rod 65 away from the lever 639 is connected to the connecting rod 66, one end of the connecting rod 66 is located between the lifting plate 642 and the outer shell 641, and the other end of the connecting rod 66 is rotatably connected to the cargo frame 60 through a rotating shaft. The two safety clamp assemblies can prevent the cargo frame 60 from moving downward due to the breakage of the wire rope 53 or the cargo frame 60 from falling rapidly, thereby ensuring the safety of use. Specifically, in actual application, in the initial state, the fasteners 6451 in the two mounting holes are respectively located in the ends away from each other of the two strip holes 6471. When the wire rope 53 breaks or the cargo frame 60 falls rapidly, the lifting rod 632 will move downward, the compression spring 638 will reset and drive the dial plate 636 and the dial rod 639 to move upward, and the upward movement of the dial rod 639 can drive the L-shaped rod 65 to move upward. The lifting plate 642 can be driven upward by the movable rod 646, thereby driving the brake wedge connecting plate 647 to move upward, and further driving the two brake wedges 645 to move upward. During the upward movement of the two brake wedges 645, the distance between the two sides of the two brake wedges 645 that are close to each other gradually decreases, so that the corresponding guide rails 411 can be locked by the two brake wedges 645, thereby preventing the cargo frame 60 from moving downward or falling rapidly.

[0039] Combination Figure 6 , Figures 12 to 16As shown, the fork assembly 70 includes a mounting frame 71, a fork drive module 72, two first fork arms 73, two second fork arms 74, two third fork arms 75 and a connecting seat 76. The two ends of the mounting frame 71 are respectively arranged on the inner walls at both ends of the cargo frame 60. The two first fork arms 73 are respectively located in the cargo frame 60 and are respectively arranged at the bottom of the mounting frame 71. The two second fork arms 74 are located between the two first fork arms 73, the two first fork arms 73 are respectively provided with two first gear sets and two first racks 734, the two second fork arms 74 are respectively provided with two second gear sets and two second racks 741, the two first gear sets are respectively meshed with the two second racks 741, and the two first racks 734 are respectively meshed with the two second gear sets. The two third fork arms 75 are located between the two second fork arms 74, the two third fork arms 75 are respectively provided with two third racks 751, and the two third racks 751 are respectively meshed with the two second gear sets. The two ends of the connecting seat 76 are respectively arranged on the inner side of the two third forking arms 75. The clamping assembly 80 is arranged at the bottom end of the connecting seat 76. The forking driving module 72 is used to drive the two second forking arms 74 to move forward and backward through the two first gear sets and the two second racks 741, so that the two third forking arms 75 can be driven to move forward and backward through the two first racks 734, the two second gear sets and the two third racks 751, and then the connecting seat 76 can be driven to move forward and backward, and the forward and backward movement of the connecting seat 76 can drive the clamping assembly 80 to move forward and backward.

[0040] In this embodiment, the fork-taking drive module 72 includes a fork-taking motor 721, a fork-taking chain unit and a fork-taking transmission rod 723. A motor plate 711 is provided between the inner walls on both sides of the mounting frame 71, and the fork-taking motor 721 is arranged on one side of the motor plate 711 through a fork-taking motor seat 722. The top ends of the two first fork-taking arms 73 are respectively provided with two vertical plates 731 arranged opposite to each other on the left and right sides, and the two ends of the fork-taking transmission rod 723 are respectively rotatably arranged on the inner sides of the two vertical plates 731. Specifically, the inner sides of the vertical plates 731 are provided with mounting holes, and the two ends of the fork-taking transmission rod 723 are respectively rotatably arranged in the mounting holes of the two vertical plates 731 through bearings and the like. The fork-taking transmission rod 723 runs through the motor seat 722 and is located below the motor plate 711, and the fork-taking transmission rod 723 is connected to the output end of the fork-taking motor 721 through the fork-taking chain unit. Two forking gears 724 are respectively sleeved at both ends of the forking transmission rod 723, two first gear sets are respectively arranged on the inner sides of the two vertical plates 731 and respectively mesh with the two forking gears 724, and two second racks 741 are respectively arranged at the top ends of the two second forking arms 74 and respectively located below the two first gear sets. The second racks 741 extend in the front-to-back direction.

[0041] The fork chain unit includes a fork driving sprocket, a fork driven sprocket, and a fork chain sleeved on the periphery of the fork driving sprocket and the fork driven sprocket. The fork driving sprocket is sleeved on the output end of the fork motor 721, and the fork driven sprocket is sleeved on the periphery of the fork transmission rod 723. The fork motor 721 is used to drive the fork driving sprocket to rotate. Under the action of the fork driven sprocket and the fork chain, the fork transmission rod 723 can be driven to rotate, and then the two fork gears 724 can be driven to rotate, and then the two first gear sets can be driven to rotate. Since the two first gear sets are respectively engaged with the two second racks 741, the two second racks 741 can be driven to move forward and backward through the two first gear sets, and then the two second fork arms 74 can be driven to move forward and backward.

[0042] The first gear set includes a plurality of first large gears 732 and a plurality of second large gears 733. The forking gear 724 is located between the plurality of first large gears 732 and the plurality of second large gears 733 of the corresponding first gear set. The plurality of first large gears 732 are arranged at intervals along the front-to-back direction on the inner side of the corresponding vertical plate 731. A first pinion 7321 is meshed and transmitted between two adjacent first large gears 732 and between the forking gear 724 and the adjacent first large gears 732. The first pinion 7321 is arranged on the inner side of the corresponding vertical plate 731. The plurality of second large gears 733 are arranged at intervals along the front-to-back direction on the inner side of the corresponding vertical plate 731. A second pinion 7322 is meshed and transmitted between two adjacent second large gears 733 and between the forking gear 724 and the adjacent second large gears 733. The second pinion 7322 is arranged on the inner side of the corresponding vertical plate 731. The plurality of first large gears 732 and the plurality of second large gears 733 are meshed and transmitted with the corresponding second racks 741, respectively. The number of the first large gear 732 and the second large gear 733 can be set according to actual conditions. The first large gear 732 and the second large gear 733 are of the same size. The first small gear 7321 and the second small gear 7322 are of the same size. The rotation of the fork gear 724 can drive the corresponding first small gear 7321, the second small gear 7322, the first large gear 732, and the second large gear 733 to rotate, and the rotation of the first large gear 732 and the second gear 733 can drive the corresponding second rack 741 to move forward and backward.

[0043] Two first slots 735 are respectively provided on the inner side of the two first forking arms 73, and two second forking arms 74 partially extend into the two first slots 735, and the top and bottom ends of the second forking arms 74 are respectively in sliding contact with the top inner wall and bottom inner wall of the corresponding first slots 735. Two first racks 734 are respectively arranged at the bottom of the two first slots 735, and two second forking arms 74 are respectively provided with two through slots 742, and two second gear sets are respectively arranged in the two through slots 742. Two second slots 752 are respectively provided on the outer side of the two third forking arms 75, and two second forking arms 74 partially extend into the two second slots 752, and the top and bottom ends of the second forking arms 74 are respectively in sliding contact with the top inner wall and bottom inner wall of the corresponding second slots 752, and two third racks 751 are respectively arranged at the bottom of the two second slots 752. The first slot 735 and the second slot 752 are provided to guide the movement of the corresponding second forking arm 74 and the corresponding third forking arm 75 .

[0044] The second gear set includes a plurality of third large gears 743 arranged in the corresponding through grooves, and the plurality of third large gears 743 are arranged at intervals along the front-to-back direction, and the third large gears 743 partially protrude from the inner side and the outer side of the corresponding second forking arm 74. Two adjacent third large gears 743 are meshed and transmitted through a third small gear 744, and the third small gear 744 is arranged in the corresponding through groove 742. The plurality of third large gears 743 are respectively meshed with the corresponding first rack 734 and the corresponding third rack 751. The number of the third large gears 743 can be set according to actual conditions. The forward and backward movement of the second forking arm 74 can drive the corresponding plurality of third large gears 743 of the second gear set to move forward and backward. Under the action of the meshing of the plurality of third large gears 743 and the corresponding first rack 734, the plurality of third large gears 743 can be driven to rotate. Under the action of the meshing of the plurality of third large gears 743 and the corresponding third rack 751, the rotation of the plurality of third large gears 743 can drive the corresponding third rack 751 to move forward and backward, thereby driving the corresponding third forking arm 75 to move forward and backward. The first slot 735 and the second slot 752 are provided to limit the movement of the corresponding second forking arm 74 and the third forking arm 75.

[0045] In this embodiment, a plurality of first upper cam followers 745 and a plurality of first lower cam followers 746 are provided on the outer side of the second forking arm 74. The plurality of first upper cam followers 745 of the two second forking arms 74 are respectively matched with the top ends of the two first racks 734, and the plurality of first lower cam followers 746 of the two second forking arms 74 are respectively matched with the bottom ends of the two first racks 734. A plurality of second upper cam followers 747 and a plurality of second lower cam followers 748 are provided on the inner side of the second forking arm 74. The plurality of second upper cam followers 747 of the two second forking arms 74 are respectively matched with the top ends of the two third racks 751, and the plurality of second lower cam followers 748 of the two second forking arms 74 are respectively matched with the bottom ends of the two third racks 751. The number of the first upper cam followers 745, the first lower cam followers 746, the second upper cam followers 747 and the second lower cam followers 748 can be set according to actual conditions. The first upper cam follower 745 and the first lower cam follower 746 are provided to guide the movement of the corresponding second forking arm 74, thereby ensuring the stability of the movement of the second forking arm 74. The second upper cam follower 747 and the second lower cam follower 748 are provided to guide the movement of the corresponding third forking arm 75, thereby ensuring the stability of the movement of the third forking arm 75.

[0046] Combination Figures 17 to 20 As shown, the clamping assembly 80 includes a clamping frame 81, a clamping mounting plate 82, an upper and lower driving module 83, a first clamping jaw driving module 84, a second clamping jaw driving module 85, a first clamping jaw module 86 and a second clamping jaw module 87. The clamping frame 81 is arranged at the bottom end of the connecting seat 76 of the fork assembly 70, the bottom end of the clamping frame 81 is open, and the first clamping jaw module 86 and the second clamping jaw module 87 correspond to the opening at the bottom end of the clamping frame 81. The clamping mounting plate 82 is arranged in the clamping frame 81, and the upper and lower driving module 83 is used to drive the clamping mounting plate 82 to move up and down.

[0047] In this embodiment, the upper and lower driving module 83 includes an upper and lower motor 831, an upper and lower chain unit and an upper and lower transmission rod 833. The upper and lower motor 831 is arranged at the top of the clamping mounting plate 82 through the upper and lower motor seats, and the upper and lower transmission rod 833 is rotatably arranged at the top of the clamping mounting plate 82 through the transmission rod bearing seat and connected to the output end of the upper and lower motor 831 through the upper and lower chain unit. Two upper and lower gears 834 are respectively sleeved at both ends of the upper and lower transmission rod 833, and two clamping racks 811 are respectively arranged on the inner walls at both ends of the clamping frame 81. The length direction of the clamping rack 811 is the same as the height direction of the clamping frame 81, and the two upper and lower gears 834 are respectively meshed with the two clamping racks 811. The upper and lower motors 831 are used to drive the upper and lower transmission rods 833 to rotate through the upper and lower chain units, thereby driving the two upper and lower gears 834 to rotate. Under the action of the two upper and lower gears 834 and the two clamping racks 811 being respectively engaged, the two upper and lower gears 834 can move up and down along the corresponding clamping racks 811 respectively, thereby driving the upper and lower transmission rods 833, the clamping mounting plate 82, the upper and lower motors 831, and the upper and lower chain units to move up and down.

[0048] The upper and lower chain units include upper and lower driving sprockets, upper and lower driven sprockets 8321, and upper and lower chains 8322 sleeved between the upper and lower driving sprockets and the upper and lower driven sprockets 8321. The upper and lower driving sprockets are sleeved on the output ends of the upper and lower motors 831, and the upper and lower driven sprockets 8321 are sleeved on the outer periphery of the upper and lower transmission rods 833. The upper and lower motors 831 are used to drive the upper and lower driving sprockets to rotate, and under the action of the upper and lower driven sprockets 8321 and the upper and lower chains 8322, the upper and lower transmission rods 833 can be driven to rotate.

[0049] In this embodiment, four guide holes are respectively provided on the four corners of the clamping mounting plate 82, and a guide rod 812 is arranged through the guide hole. One end of the guide rod 812 is arranged at the bottom of the clamping frame 81, and one end of the guide rod 812 is arranged at the top of the clamping frame 81. A linear bearing 813 is provided in the guide hole, and the linear bearing 813 is sleeved on the outer periphery of the guide rod 812. The clamping mounting plate 82 can drive the linear bearing 813 to move up and down along the guide rod 812. The set guide rod 812 plays a guiding role in the up and down movement of the clamping mounting plate 82, and the set linear bearing 813 provides mobile support for the clamping mounting plate 82, thereby improving the stability of the movement of the clamping mounting plate 82.

[0050] The first clamping jaw module 86 and the second clamping jaw module 87 are arranged in a front-to-back interval and each includes a plurality of clamping jaw groups, a first movable plate 862, a second movable plate 863 and a fixed plate 764. The number of the clamping jaw groups can be set according to actual conditions. The plurality of clamping jaw groups are arranged in sequence from left to right, and the plurality of clamping jaw groups of the first clamping jaw module 86 and the plurality of clamping jaw groups of the second clamping jaw module 87 correspond to each other one by one. The clamping jaw group includes a first clamping jaw 8611 and a second clamping jaw 8612 arranged in a left-to-right relative manner, the first clamping jaw 8611 and the second clamping jaw 8612 are hingedly connected, the first clamping jaw 8611 is arranged at the bottom end of the first movable plate 862, and the second clamping jaw 8612 is arranged at the bottom end of the second movable plate 863. The first movable plate 862 and the second movable plate 863 are respectively slidably arranged at the bottom end of the clamping mounting plate 82 and the two are arranged in a front-to-back interval. The top of the first movable plate 862 is provided with a first clamping claw rack 8624, and the top of the second movable plate 863 is provided with a second clamping claw rack 8633 opposite to the first clamping claw rack 8624. The fixed plate 864 is arranged at the bottom end of the clamping mounting plate 82, and the bottom end of the fixed plate 864 is provided with a clamping claw gear 8641, which is meshed with the first clamping claw rack 8624 and the second clamping claw rack 8633 respectively. The first clamping jaw driving module 84 is used to drive the first movable plate 862 of the first clamping jaw module 86 to move left and right relative to the clamping mounting plate 82, thereby driving the first clamping jaw rack 8624 of the first clamping jaw module 86 to move left and right. Under the action of the first clamping jaw rack 8624 and the clamping jaw gear 8641 being meshed, the clamping jaw gear 8641 of the first clamping jaw module 86 can be driven to rotate. Under the action of the clamping jaw gear 8641 being meshed with the second clamping jaw rack 8633, the second clamping jaw rack 8633 of the first clamping jaw module 86 can be driven to move left and right. The moving direction of the second clamping jaw rack 8633 is opposite to the moving direction of the first clamping jaw rack 8624, thereby driving the second movable plate 863 of the first clamping jaw module 86 to move left and right relative to the clamping mounting plate 82, and the moving directions of the second movable plate 863 and the first movable plate 862 are opposite. By moving the first movable plate 862 and the second movable plate 863 in opposite directions, the first clamping jaw 8611 and the second clamping jaw 8612 of the clamping jaw group of the first clamping jaw module 86 can be driven to move away from or approach each other, so as to loosen or clamp one end of the power battery 200.The second clamping jaw driving module 85 is used to drive the first movable plate 862 of the second clamping jaw module 87 to move left and right relative to the clamping mounting plate 82, thereby driving the first clamping jaw rack 8624 of the second clamping jaw module 87 to move left and right. Under the action of the meshing of the first clamping jaw rack 8624 and the clamping jaw gear 8641, the clamping jaw gear 8641 of the second clamping jaw module 87 can be driven to rotate. Under the action of the meshing of the clamping jaw gear 8641 and the second clamping jaw rack 8633, the second clamping jaw rack 8633 of the second clamping jaw module 87 can be driven to move left and right. The moving direction of the jaw rack 8633 is opposite to that of the first jaw rack 8624, so that the second movable plate 863 of the second jaw module 87 can be driven to move left and right relative to the clamping mounting plate 82, and the moving directions of the second movable plate 863 and the first movable plate 862 are opposite, and the first movable plate 862 and the second movable plate 863 move in opposite directions, so that the first jaw 8611 and the second jaw 8611 of the jaw group of the second jaw module 87 can be driven to move away from or approach each other, so as to loosen or clamp the other end of the power battery 200. The up and down movement of the clamping mounting plate 82 can drive the first jaw driving module 84, the second jaw driving module 85, the first jaw module 86 and the second jaw module 87 to move up and down, so that the first jaw 8611 and the second jaw 8612 of the jaw group can be moved out of or into the clamping frame 81 through the opening at the bottom end of the clamping frame 81. The forward and backward movement of the connecting seat 76 can drive the clamping frame 81 to move forward and backward, thereby driving the clamping mounting plate 82, the first clamping jaw driving module 84, the second clamping jaw driving module 85, the first clamping jaw module 86 and the second clamping jaw module 87 to move forward and backward.

[0051] The first movable plate 862 and the second movable plate 863 are respectively slidably arranged at the bottom end of the clamping mounting plate 82. Specifically, the top end of the first movable plate 862 is provided with a first slide rail 8621, the length direction of the first slide rail 8621 is the same as the length direction of the clamping mounting plate 82, the first slide rail 8621 is slidably matched with a first slider 8622, and the first slider 8622 is arranged at the bottom end of the clamping mounting plate 82. The top end of the second movable plate 863 is provided with a second slide rail 8631, the length direction of the second slide rail 8631 is the same as the length direction of the clamping mounting plate 82, the second slide rail 8631 is slidably matched with a second slider 8632, and the second slider 8632 is arranged at the bottom end of the clamping mounting plate 82. The number of the first slide rail 8621, the first slider 8622, the second slide rail 8631, and the second slider 8632 can be set according to actual conditions.

[0052] The first clamping jaw driving module 84 and the second clamping jaw driving module 85 both include an electric cylinder 841. Two concave positions 821 are respectively provided on both sides of the clamping mounting plate 82. The electric cylinder 841 of the first clamping jaw driving module 84 and the electric cylinder 841 of the second clamping jaw driving module 85 are respectively located in the two concave positions 821, and the electric cylinder 841 is connected to the clamping mounting plate 82 through the electric cylinder seat. The first movable plate 862 of the first clamping jaw module 86 and the first movable plate 862 of the second clamping jaw module 87 are respectively close to the two concave positions 821, that is, the two second movable plates 863 are located between the two first movable plates 862. A push block 8623 is provided at the top of the first movable plate 862, and a portion of the push block 8623 protrudes from the side of the first movable plate 862 away from the second movable plate 863. The push block 8623 of the first clamping jaw module 86 is close to the right column 42, and the push block 8623 of the second clamping jaw module 57 is close to the left column 41. The output end of the electric cylinder 841 of the first clamping jaw driving module 84 is connected to the push block 8623 of the first clamping jaw module 86. The electric cylinder 841 of the first clamping jaw driving module 84 is used to drive the push block 8623 of the first clamping jaw module 86 to move left and right, thereby driving the first movable plate 862 of the first clamping jaw module 86 to move left and right. The output end of the electric cylinder 841 of the second clamping jaw driving module 85 is connected to the push block 8623 of the second clamping jaw module 87. The electric cylinder 841 of the second clamping jaw driving module 85 is used to drive the push block 8623 of the second clamping jaw module 87 to move left and right, thereby driving the first movable plate 862 of the second clamping jaw module 87 to move left and right.

[0053] Combination Fig.21 As shown, the first clamping jaw 8611 and the second clamping jaw 8612 are hingedly connected. Specifically, the first clamping jaw 8611 has a first hinge position that runs through both sides thereof, and a first hinge shaft is rotatably provided in the first hinge position. The second clamping jaw 8612 has a second hinge position 86122 that runs through both sides thereof, and a second hinge shaft is rotatably provided in the second hinge position 86122. One end of the first hinged member 8613 extends into the first hinge position and is sleeved on the outer periphery of the first hinge shaft. One end of the second hinged member 8614 extends into The second hinge position 86122 is arranged in and sleeved on the outer circumference of the second hinge shaft. The other end of the first hinge 8613 and the other end of the second hinge 8614 are hinged through the third hinge shaft 8615. When the first movable plate 862 and the second movable plate 863 move in opposite directions, under the action of the first hinge shaft, the first hinge 8613, the second hinge shaft, the second hinge 8614 and the third hinge shaft 8615, the first clamp 8611 and the second clamp 8612 can be driven to move away from or approach each other.

[0054] In this embodiment, a first clamp mounting block 86111 is provided on the side of the top of the first clamp 8611 away from the center of the clamping mounting plate 82, and the first clamp mounting block 86111 is arranged at the bottom end of the first movable plate 862. A second clamp mounting block 86121 is provided on the side of the top of the second clamp 8612 close to the center of the clamping mounting plate 82, and the second clamp mounting block 86121 is arranged at the bottom end of the second movable plate 863.

[0055] Further, in this embodiment, a plurality of guide members 814 are provided at the top of the clamping frame 81, and the plurality of guide members 814 are sequentially arranged from left to right, and the plurality of guide members 814 respectively penetrate the clamping mounting plate 82 and are located between the first clamping jaw module 86 and the second clamping jaw module 87, one side of the guide member 814 faces the first clamping jaw 8611 and the second clamping jaw 8612 of the two adjacent clamping jaw groups of the first clamping jaw module 86, and the other side of the guide member 814 faces the first clamping jaw 8611 and the second clamping jaw 8612 of the two adjacent clamping jaw groups of the second clamping jaw module 87. In the process of driving the power battery 200 to move up and down by the clamping jaw group of the first clamping jaw module 86 and the clamping jaw group of the second clamping jaw module 87, the provided guide member 814 can guide the up and down movement of the power battery 200. The clamping mounting plate 82 has two first through holes 822a and three second through holes 822b. The three second through holes 822b are spaced apart between the two first through holes 822a. Three guide members 814 pass through the three second through holes 822b respectively, and the remaining guide members 814 pass through the two first through holes 822a respectively. The number of the second through holes 822b can be set according to actual conditions.

[0056] Through the above structure, in actual application, the walking vehicle 30 first drives the column assembly 40, the lifting drive assembly 50, and the clamping type cargo platform to move rightward to the previous process. Then the lifting drive assembly 50 drives the cargo frame 60 to move downward to a predetermined position, thereby driving the fork assembly 70 and the clamping assembly 80 to move downward to a predetermined position. Then the fork assembly 70 drives the clamping assembly 80 to move forward to a predetermined position, such as Figure 1 , Figure 6 , Fig.12As shown, the clamping assembly 80 is moved out of the cargo frame 60 and positioned above the power battery 200. Then, the clamping mounting plate 82 is driven downward to a predetermined position by the upper and lower driving modules 83, thereby driving the first clamping jaw module 86, the second clamping jaw module 87, the first clamping jaw driving module 84, and the second clamping jaw driving module 85 to move downward to a predetermined position, at which time the first clamping jaw 8611 and the second clamping jaw 8612 are respectively located on both sides of the power battery 200. Then, the first clamping jaw driving module 84 drives the first clamping jaw 8611 and the second clamping jaw 8612 of the first clamping jaw module 86 to approach each other to clamp one end of the power battery 200, and the second clamping jaw driving module 85 drives the first clamping jaw 8611 and the second clamping jaw 8612 of the second clamping jaw module 87 to approach each other to clamp the other end of the power battery 200, thereby clamping the power battery 200. Then, the upper and lower driving modules 83 drive the clamping mounting plate 82 to move upward, thereby driving the first clamping jaw module 86, the second clamping jaw module 87, the first clamping jaw driving module 84, and the second clamping jaw driving module 85 to move upward to the initial position, thereby driving the power battery 200 to move upward. At this time, the power battery 200 partially protrudes from the bottom end of the clamping frame 81, as shown in FIG. Fig.17As shown. Then, the fork assembly 70 drives the clamping assembly 80 to move backward to the initial position, thereby driving the power battery 200 to move backward, and at this time, the power battery 200 is located in the cargo frame 60. Then, the lifting drive assembly 50 drives the cargo frame 60 to move upward to the initial position, thereby driving the fork assembly 70 and the clamping assembly 80 to move upward to the initial position. Then, the walking vehicle 30 drives the column assembly 40, the lifting drive assembly 50, and the clamping type cargo platform to move left to the next process, thereby driving the power battery 200 to move left. Then, the lifting drive assembly 50 drives the cargo frame 60 to move downward to the predetermined position, thereby driving the fork assembly 70, the clamping assembly 80 and the power battery 200 to move downward to the predetermined position. Then, the fork assembly 70 drives the clamping assembly 80 to move forward to the predetermined position, so that the clamping assembly 80 is moved out of the cargo frame 60, thereby driving the power battery 200 to move out of the cargo frame 60 and be located above the battery placement position of the next process. Then, the upper and lower driving modules 83 drive the clamping mounting plate 82 to move downward to a predetermined position, thereby driving the first clamping module 86, the second clamping module 87, the first clamping driving module 84, and the second clamping driving module 85 to move downward to a predetermined position, thereby driving the power battery 200 to move downward to place the power battery 200 on the battery placement position of the next process. Then, the first clamping module 84 drives the first clamping jaw 8611 and the second clamping jaw 8612 of the first clamping jaw module 86 to move away from each other to release one end of the power battery 200, and the second clamping jaw driving module 85 drives the first clamping jaw 8611 and the second clamping jaw 8612 of the second clamping jaw module 87 to move away from each other to release the other end of the power battery 200, so that the power battery 200 is placed on the battery placement position of the next process. Then, the upper and lower driving modules 83 drive the clamping mounting plate 82 to move upward to the initial position, thereby driving the first clamping module 86, the second clamping module 87, the first clamping driving module 84, and the second clamping driving module 85 to move upward to the initial position, and then the fork picking assembly 70 drives the clamping assembly 80 to move backward to the initial position, and then the lifting driving assembly 50 drives the cargo frame 60, the fork picking assembly 70, and the clamping assembly 80 to move upward to the initial position. In this way, the handling operation of the power battery 200 is completed.

[0057] The utility model provides a clamping cargo platform, which includes a cargo frame 60, a fork assembly 70 and a clamping assembly 80. The clamping assembly 80 can clamp the power battery 200. The walking vehicle 30, the lifting drive assembly 50 and the fork assembly 70 can move the clamping assembly 80 left and right, up and down, and forward and backward. In this way, the power battery 200 can be transported without the aid of a pallet, and the transport requirements of the power battery 200 without pallet transportation can be met, thereby better realizing the automated production of the power battery 200 and reducing the production cost. At the same time, the clamping assembly 80 can clamp multiple power batteries 200 at a time, thereby improving the production efficiency and reducing the production cost.

[0058] The above is a specific description of the preferred implementation of the utility model, but the invention of the utility model is not limited to the described embodiments. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the utility model. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A gripping stacker, comprising a ground rail, a busbar assembly, a walking vehicle that can move left and right along the ground rail, a column assembly and a lifting drive assembly, wherein the ground rail and the busbar assembly are arranged front and back relative to each other, the walking vehicle is provided with a current collector, the current collector is in sliding electrical contact with the busbar assembly, the column assembly is arranged on the walking vehicle, and the lifting drive assembly is arranged on the column assembly, characterized in that: It also includes a clamping type cargo platform, which includes a cargo frame, a fork assembly and a clamping assembly, the cargo frame is connected to the column assembly, the lifting drive assembly is used to drive the cargo frame to move up and down relative to the column assembly, the fork assembly is arranged in the cargo frame, the clamping assembly is arranged at the bottom end of the fork assembly and is located in the cargo frame, the fork assembly is used to drive the clamping assembly to move forward and backward, and the clamping assembly is used to clamp the power battery.

2. The gripper stacker according to claim 1, characterized in that: The column assembly includes a left column, a right column and a crossbeam, the left column and the right column are arranged opposite to each other on the left and right sides, the left column and the right column are both arranged on the walking vehicle, the crossbeam is arranged at the top ends of the left column and the right column, the cargo frame is located between the left column and the right column, and the outer walls at both ends of the cargo frame are respectively provided with a first guide wheel group and a second guide wheel group, the first guide wheel group is in rolling cooperation with the left column, and the second guide wheel group is in rolling cooperation with the right column.

3. The gripper stacker according to claim 2, characterized in that: The lifting drive assembly includes a lifting motor, which is arranged on a side of the right column away from the left column. Two drums are respectively installed on the two output ends of the lifting motor, and steel wire ropes are wound around the drums. Two pulley blocks are respectively provided on both sides of the crossbeam. The ends of the steel wire ropes on the two drums are respectively passed around the two pulley blocks and are respectively connected to the overload rope loosening modules of the two safety clamp assemblies of the cargo frame.

4. The gripper stacker according to claim 1, characterized in that: The fork-picking assembly comprises a mounting frame, a fork-picking drive module, two first fork-picking arms, two second fork-picking arms, two third fork-picking arms and a connecting seat, the two ends of the mounting frame are respectively arranged on the inner walls at the two ends of the cargo frame, the two first fork-picking arms are respectively located in the cargo frame and are respectively arranged at the bottom ends of the mounting frame, the two second fork-picking arms are located between the two first fork-picking arms, the two first fork-picking arms are respectively provided with two first gear sets and two first racks, the two second fork-picking arms are respectively provided with two second gear sets and two second racks, the two first gear sets are respectively meshed with the two second racks, the two first racks are respectively meshed with the two second gear sets, and the two The third fork arm is located between the two second fork arms, and the two third fork arms are respectively provided with two third racks, and the two third racks are respectively meshed with the two second gear sets, and the two ends of the connecting seat are respectively arranged on the inner sides of the two third fork arms, and the clamping assembly is arranged at the bottom end of the connecting seat, and the fork driving module is used to drive the two second fork arms to move forward and backward through the two first gear sets and the two second racks, so that the two third fork arms can be driven to move forward and backward through the two first racks, the two second gear sets and the two third racks, and then the connecting seat can be driven to move forward and backward, and the forward and backward movement of the connecting seat can drive the clamping assembly to move forward and backward.

5. The gripper stacker according to claim 4, characterized in that: The fork driving module includes a fork motor, a fork chain unit and a fork transmission rod. A motor plate is provided between the inner walls on both sides of the mounting frame. The fork motor is arranged on one side of the motor plate. The top ends of the two first fork arms are respectively provided with two vertical plates which are arranged opposite to each other on the left and right. The two ends of the fork transmission rod are respectively rotatably arranged on the inner sides of the two vertical plates. The fork transmission rod is connected to the output end of the fork motor through the fork chain unit. The two ends of the fork transmission rod are respectively sleeved with two fork gears. The two first gear sets are respectively arranged on the inner sides of the two vertical plates and are respectively meshed with the two fork gears. The two second racks are respectively arranged on the top ends of the two second fork arms and are respectively located below the two first gear sets.

6. The gripper stacker according to claim 5, characterized in that: Two first slots are respectively provided on the inner sides of the two first fork arms, and the two second fork arms partially extend into the two first slots respectively, and the top end and the bottom end of the second fork arms are in sliding contact with the top inner wall and the bottom inner wall of the corresponding first slots respectively, and the two first racks are respectively arranged at the bottoms of the two first slots, and the two second fork arms are respectively provided with two through slots, and the two second gear sets are respectively arranged in the two through slots, and the outer sides of the two third fork arms are respectively provided with two second slots, and the two second fork arms partially extend into the two second slots respectively, and the top end and the bottom end of the second fork arms are in sliding contact with the top inner wall and the bottom inner wall of the corresponding second slot respectively, and the two third racks are respectively arranged at the bottoms of the two second slots.

7. The gripper stacker according to claim 6, characterized in that: A plurality of first upper cam followers and a plurality of first lower cam followers are provided on the outer side of the second forking arm, and the plurality of first upper cam followers of the two second forking arms are respectively matched with the top ends of the two first racks, and the plurality of first lower cam followers of the two second forking arms are respectively matched with the bottom ends of the two first racks, and a plurality of second upper cam followers and a plurality of second lower cam followers are provided on the inner side of the second forking arm, and the plurality of second upper cam followers of the two second forking arms are respectively matched with the top ends of the two third racks, and the plurality of second lower cam followers of the two second forking arms are respectively matched with the bottom ends of the two third racks.

8. The gripper stacker according to claim 1, characterized in that: The clamping assembly includes a clamping frame, a clamping mounting plate, an upper and lower driving module, a first clamping jaw driving module, a second clamping jaw driving module, a first clamping jaw module and a second clamping jaw module; The clamping frame is arranged at the bottom end of the fork assembly, the bottom end of the clamping frame is open, the clamping mounting plate is arranged in the clamping frame, the upper and lower driving modules are used to drive the clamping mounting plate to move up and down, and the first clamping claw module and the second clamping claw module correspond to the opening at the bottom end of the clamping frame; The first clamping jaw module and the second clamping jaw module are arranged at intervals in front and back and each includes a plurality of clamping jaw groups, a first movable plate, a second movable plate and a fixed plate. The plurality of clamping jaw groups are arranged in sequence from left to right, and the plurality of clamping jaw groups of the first clamping jaw module and the plurality of clamping jaw groups of the second clamping jaw module correspond to each other one by one. The clamping jaw groups include a first clamping jaw and a second clamping jaw arranged opposite to each other on the left and right. The first clamping jaw and the second clamping jaw are hingedly connected. The first clamping jaw is arranged at the bottom end of the first movable plate, and the second clamping jaw is arranged at the bottom end of the second movable plate. The first movable plate and the second movable plate are respectively slidably arranged at the bottom ends of the clamping mounting plate The two are arranged with a front-to-back interval, the top of the first movable plate is provided with a first clamping claw rack, the top of the second movable plate is provided with a second clamping claw rack opposite to the first clamping claw rack, the fixed plate is arranged at the bottom end of the clamping mounting plate, the bottom end of the fixed plate is provided with a clamping claw gear, the clamping claw gear is respectively engaged with the first clamping claw rack and the second clamping claw rack, the first clamping claw driving module is used to drive the first movable plate of the first clamping claw module to move left and right relative to the clamping mounting plate, and the second clamping claw driving module is used to drive the first movable plate of the second clamping claw module to move left and right relative to the clamping mounting plate.

9. The gripper stacker according to claim 8, characterized in that: The upper and lower driving modules include upper and lower motors, upper and lower chain units and upper and lower transmission rods. The upper and lower motors are arranged at the top of the clamping mounting plate. The upper and lower transmission rods are rotatably arranged at the top of the clamping mounting plate and connected to the output ends of the upper and lower motors through the upper and lower chain units. Two upper and lower gears are respectively sleeved at both ends of the upper and lower transmission rods. Two clamping racks are respectively arranged on the inner walls at both ends of the clamping frame. The two upper and lower gears are respectively meshed with the two clamping racks.

10. The gripper stacker according to claim 8, characterized in that: A plurality of guide members are provided at the top of the clamping frame, and the plurality of guide members are arranged in sequence from left to right. The plurality of guide members pass through the clamping mounting plate and are located between the first clamping jaw module and the second clamping jaw module. One side of the guide member faces the first clamping jaw and the second clamping jaw of the two adjacent clamping jaw groups of the first clamping jaw module, and the other side of the guide member faces the first clamping jaw and the second clamping jaw of the two adjacent clamping jaw groups of the second clamping jaw module.

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