Gripper device and warehousing system

Abstract

The utility model discloses a gripper device and a warehousing system, and relates to the field of biomedical equipment, the gripper device is used for gripping a blood frame, the gripper device comprises a base station, a linkage assembly and a claw, the linkage assembly is arranged on the base station in a sliding mode, the linkage assembly is provided with rolling wheels, the claw is movably connected to the linkage assembly, and the linkage assembly is provided with rolling wheels. The claw is provided with a first rolling groove and a second rolling groove which are communicated with each other, and the roller is arranged in the first rolling groove or the second rolling groove in a rolling manner; the gripper device has a hooking state and a releasing state, in the hooking state, the roller is located in the first rolling groove, the hook claw is used for hooking the goods frame, in the releasing state, the roller is located in the second rolling groove, and the hook claw is used for releasing the goods frame. The utility model aims to reduce the motion response time and execution time through the gripper device, reduce the lagging of gripping and releasing, and improve the overall operation efficiency of the gripper device.

Description

Technical Field

[0001] The utility model relates to the technical field of biomedical equipment, and particularly relates to a gripper device and a storage system. Background Art

[0002] In a storage system, with the development and improvement of the automation level, the picking, sending, and transferring of samples, goods, or products are all automatically completed by relevant mechanisms. For example, a gripper (hook) device is used to grab or hook a cargo box to achieve the transfer of samples, goods, or products.

[0003] In order to perform operations such as moving, grabbing a box, and releasing a box, existing gripper devices need to be provided with driving parts separately. However, setting more driving parts requires auxiliary control programs to complete relevant functions. In this way, the execution of actions such as grabbing a box requires a certain signal response time and driving part execution time, resulting in a certain lag when grabbing and releasing the box, reducing the overall operation efficiency of the gripper device, and thus affecting the operation efficiency of the storage system. Summary of the Utility Model

[0004] The main purpose of the utility model is to propose a gripper device and a storage system, aiming to reduce the motion response time and execution time through the gripper device, reduce the lag in grabbing and releasing, and improve the overall operation efficiency of the gripper device.

[0005] To achieve the above object, the utility model proposes a gripper device for grabbing a cargo box, and the gripper device includes:

[0006] A base;

[0007] A linkage assembly, the linkage assembly is slidably arranged on the base, and the linkage assembly is provided with rollers; and

[0008] Hook claws, the hook claws are movably connected to the linkage assembly, the hook claws are provided with a first rolling groove and a second rolling groove which are communicated with each other, and the rollers are rollingly arranged in the first rolling groove or the second rolling groove;

[0009] Wherein, the gripper device has a hooking state and a releasing state. In the hooking state, the rollers are located in the first rolling groove, and the hook claws are used for hooking the cargo box. In the releasing state, the rollers are located in the second rolling groove, and the hook claws are used for releasing the cargo box.

[0010] In an embodiment, the linkage assembly includes a first plate and a second plate which are arranged at intervals. The first plate is slidably arranged on the base, the second plate is slidably connected to the base and / or the first plate, and the second plate is elastically connected to the first plate;

[0011] The roller is connected to the first plate, and the hook is rotatably connected to the second plate. The first plate moves relative to the second plate so that the roller is located in the first rolling groove or the second rolling groove.

[0012] In one embodiment, the linkage assembly further includes a guide rod, and one end of the guide rod is disposed on the second plate;

[0013] The first plate is provided with a guide hole, the guide rod passes through the guide hole, and the end of the guide rod away from the second plate is used to abut against the cargo frame.

[0014] In one embodiment, the linkage assembly further includes a first elastic member. The first elastic member is disposed between the first plate and the second plate and is connected to the first plate and the second plate so that the second plate is elastically connected to the first plate;

[0015] And / or, the guide rod is provided with a limiting platform. The limiting platform is disposed around the rod wall of the guide rod, and the limiting platform can abut against the first plate to limit the positions of the first plate and the second plate;

[0016] And / or, the extending direction of the rod body of the guide rod is perpendicular to the plate surface direction of the first plate.

[0017] In one embodiment, the linkage assembly further includes a limiting plate and a second elastic member. The limiting plate is rotatably connected to the first plate;

[0018] The second elastic member is connected to the limiting plate and the first plate, and the second elastic member is used to make the end of the limiting plate away from the first plate abut against the second plate.

[0019] In one embodiment, the end of the limiting plate rotatably connected to the first plate is a rotating end, and the end of the limiting plate away from the rotating end is a free end. The free end is provided with a first side wall;

[0020] The limiting plate is provided with a card slot. The card slot is located between the rotating end and the free end, and the card slot is provided with a second side wall;

[0021] In the hooking state, the second side wall abuts against the second plate; in the releasing state, the first side wall abuts against the second plate.

[0022] In one embodiment, the limiting plate includes a connected limiting body and a reset section. The limiting body includes the rotating end and the free end;

[0023] The reset section is disposed at the free end, and the reset section is used to convert the gripper device from the hooking state to the releasing state;

[0024] And / or, the card slot is further provided with a third side wall disposed at an acute angle to the plane where the second side wall is located, and the third side wall is located between the first side wall and the second side wall;

[0025] And / or, the connection part of the second elastic member and the limiting plate is located between the rotating end and the second side wall.

[0026] In one embodiment, the hook claw includes a main body part and a claw part connected to the main body part. The main body part is rotatably connected to the linkage assembly. The main body part is provided with the first rolling groove and the second rolling groove, and the claw part is used for hooking the cargo frame;

[0027] The extending direction of the groove body of the first rolling groove and the extending direction of the groove body of the second rolling groove are arranged at an obtuse angle.

[0028] In one embodiment, the second rolling groove includes a first section and a second section. Both the first section and the second section are communicated with the first rolling groove, and the first section and the second section are located at both ends of the groove body of the first rolling groove;

[0029] The extending direction of the groove body of the first section and the extending direction of the groove body of the second section are arranged at an included angle.

[0030] The present utility model further provides a warehousing system, and the warehousing system includes:

[0031] A storage rack for storing a plurality of cargo frames;

[0032] The gripper device as described above, which is used for hooking or releasing the cargo frame.

[0033] The gripper device of the present utility model is used for grasping a cargo frame. The gripper device includes a base, a linkage assembly and a hook claw. The linkage assembly is slidably arranged on the base, the hook claw is movably connected to the linkage assembly, the linkage assembly is provided with rollers, and the hook claw is provided with a first rolling groove and a second rolling groove that are communicated with each other. The rollers are rollingly arranged in the first rolling groove or the second rolling groove. This gripper device has a hooking state and a releasing state. In the hooking state, the rollers are located in the first rolling groove, and the hook claw is used for hooking the cargo frame. In the releasing state, the rollers are located in the second rolling groove, and the hook claw is used for releasing the cargo frame. By rolling the rollers in the first rolling groove or the second rolling groove, the position and state of the hook claw can be changed, so that the hook claw can hook and release the cargo frame, and the hooking and releasing of the cargo frame can be realized in a mechanical movement manner, thereby reducing the movement lag and delay caused by using a driving member to drive the hook claw to hook and release, effectively reducing the movement response time and execution time, and improving the overall operation efficiency of the gripper device. Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings.

[0035] Figure 1 Structural schematic diagram of the gripper device in an embodiment of the present invention;

[0036] Figure 2 Structural schematic diagram of the gripper device and the cargo box in an embodiment of the present invention;

[0037] Figure 3 Structural schematic diagram of the linkage assembly and the hook claw in an embodiment of the present invention;

[0038] Figure 4 Structural schematic diagram of the linkage assembly and the hook claw in the initial state in an embodiment of the present invention;

[0039] Figure 5 Structural schematic diagram of the linkage assembly and the hook claw in the hooking state in an embodiment of the present invention;

[0040] Figure 6 Structural schematic diagram of the linkage assembly and the hook claw in the release state in an embodiment of the present invention.

[0041] Explanation of the reference numerals of the attached drawings:

[0042] 100, gripper device; 1, base; 11, rack; 2, linkage assembly; 2a, moving space; 21, first plate; 211, guiding hole; 22, second plate; 23, roller; 24, guiding rod; 241, limiting platform; 25, first elastic member; 26, limiting plate; 261, limiting main body; 2611, card slot; 2612, first side wall; 2613, second side wall; 2614, third side wall; 262, reset section; 27, second elastic member; 3, hook claw; 31, main body part; 311, first rolling groove; 312, second rolling groove; 3121, first section; 3122, second section; 32, claw part; 4, driving member; 41, gear; 5, reset plate; 6, cargo box; 61, hook groove.

[0043] The realization of the object, functional features and advantages of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts fall within the protection scope of the present utility model.

[0045] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0046] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present utility model.

[0047] To achieve the above object, please refer to Figures 1 to 6 As shown, the present utility model provides a gripper device 100 for gripping a cargo box 6. The gripper device 100 includes a base 1, a linkage assembly 2, and a hook 3. The linkage assembly 2 is slidably disposed on the base 1. The linkage assembly 2 is provided with a roller 23. The hook 3 is movably connected to the linkage assembly 2. The hook 3 is provided with a first rolling groove 311 and a second rolling groove 312 that are communicated with each other. The roller 23 rolls in the first rolling groove 311 or the second rolling groove 312. Among them, the gripper device 100 has a hooking state and a releasing state. In the hooking state, the roller 23 is located in the first rolling groove 311, and the hook 3 is used to hook the cargo box 6. In the releasing state, the roller 23 is located in the second rolling groove 312, and the hook 3 is used to release the cargo box 6.

[0048] In this embodiment, the gripper device 100 is applied to a warehousing system for biopreserving various types of plasma tissues, cells, RNAs, and body fluids in a low-temperature environment. The warehousing system is an automated storage system to achieve operations such as automatic warehousing, warehousing out, inventory, and transfer of samples. The gripper device 100 is used to grasp or release a frame for storing samples, such as the cargo frame 6, etc. The gripper device 100 includes a base 1, a linkage assembly 2, and a hook 3. The base 1 is a structural support component of the gripper device 100. The base 1 can be structures such as a frame, a mounting rack, or a mounting table. The base 1 is used to mount the linkage assembly 2, and the linkage assembly 2 is slidably arranged on the base 1.

[0049] It can be understood that the linkage assembly 2 is slidably arranged on the base 1. For example, a slide rail or a chute extending along a straight line is provided on the base 1. The linkage assembly 2 is provided with a slider corresponding to the slide rail or the chute of the base 1. The slider is slidably connected to the slide rail or the chute so that the linkage assembly 2 is slidably arranged on the base 1 and slides along a straight line on the base 1. At the same time, the linkage assembly 2 is also provided with a roller 23. When the linkage assembly 2 slides relative to the base 1, it can drive the roller 23 to move together and change the position of the roller 23. The linkage assembly 2 can be a crank and connecting rod linkage mechanism, which drives the roller 23 to move through the connected crank and connecting rod mechanism. The linkage assembly 2 can also be an elastic linkage mechanism with a first elastic member 25, which makes the roller 23 move through elasticity. This is not limited here.

[0050] Further, based on the specific structure of the above-mentioned linkage assembly 2, the gripper device 100 further includes a hook 3. The hook 3 is movably connected to the linkage assembly 2. For example, the hook 3 is rotatably connected to a connecting rod of the crank and connecting rod linkage mechanism, or rotatably connected to an elastic connecting plate or a connecting rod of the elastic linkage mechanism. The hook 3 is also provided with a first rolling groove 311 and a second rolling groove 312 that are connected. The first rolling groove 311 and the second rolling groove 312 are arranged in the same plane of the hook 3. And from the end of the first rolling groove 311 far from the second rolling groove 312 to the end of the second rolling groove 312 far from the first rolling groove 311, it is generally the same as the moving direction of the linkage assembly 2 relative to the base 1. At the same time, the extending direction of the groove body of the first rolling groove 311 and the extending direction of the groove body of the second rolling groove 312 are arranged at an angle.

[0051] It can be understood that the roller 23 is rotatably arranged in the first rolling groove 311 or the second rolling groove 312. Specifically, when the linkage assembly 2 drives the roller 23 to slide relative to the base 1, the roller 23 also rolls in the first rolling groove 311 or the second rolling groove 312. For example, it rolls from the first rolling groove 311 to the second rolling groove 312, or from the second rolling groove 312 to the first rolling groove 311. That is, during the movement of the linkage assembly 2, the roller 23 not only rolls relative to the hook 3, but also moves relative to the hook 3. And during the rolling process of the roller 23, the roller 23 is located in the first rolling groove 311 or the second rolling groove 312, and the position of the hook 3 relative to the linkage assembly 2 also changes.

[0052] Specifically, as Figures 4 to 6 shown, the cargo frame 6 is provided with a hook groove 61 corresponding to the hook 3. The gripper device 100 extends into the hook groove 61 through the hook 3 to realize the grasping of the cargo frame 6. After the roller 23 moves with the linkage assembly 2 and the roller 23 is in the first rolling groove 311, the hook 3 rotates relative to the linkage assembly 2 and the hook 3 extends into the hook groove 61 to hook the cargo frame 6, so that the gripper device 100 is in the hooking state. After the linkage assembly 2 drives the roller 23 to move again and the rolling groove moves from the first rolling groove 311 to the second rolling groove 312, the hook 3 rotates relative to the linkage assembly 2 again. At this time, the hook 3 leaves the hook groove 61, so that the hook 3 is disengaged from the hook groove 61 to realize the release of the cargo frame 6. At this time, the gripper device 100 is in the release state.

[0053] In another embodiment of the present invention, the extending direction of the groove body of the first rolling groove 311 and the extending direction of the groove body of the second rolling groove 312 are arranged at an angle, so that when the roller 23 moves from the first rolling groove 311 to the second rolling groove 312, or from the second rolling groove 312 to the first rolling groove 311, the rotation of the hook 3 relative to the linkage assembly 2 can be realized by the angle between the groove bodies of the first rolling groove 311 and the second rolling groove 312 themselves.

[0054] It can be understood that existing similar automated gripper devices 100 use a relatively large number of driving parts 4 such as servo motors. In actual use, the huge and complex driving system in the warehousing system not only occupies a relatively large driving space, making the gripper device 100 and the warehousing system having the gripper device 100 have a large structure. At the same time, during the control process of multiple driving parts 4, there will be a certain delay and lag in the control of the driving parts 4 by the program and the execution of the driving parts 4 on the execution body (such as the traditional driving part 4 controlling the movement of the hook 3) due to the errors in the response time and execution time, resulting in an extended overall operation time and a relatively low overall operation efficiency.

[0055] Based on this, during the movement of the linkage component 2 relative to the base 1 in this application, the roller 23 is driven to move relative to the claw 3. At the same time, the roller 23 moves in the first rolling groove 311 or the second rolling groove 312 to drive the claw 3 to rotate relative to the linkage component 2, thereby realizing the mechanical hooking or releasing of the cargo box 6 by the claw 3, reducing or even avoiding the use of driving components 4 such as servo motors, thus reducing the motion lag and delay caused by using the driving component 4 to drive the claw 3 to hook and release, effectively reducing the motion response time and execution time, and improving the overall operation efficiency of the gripper device 100.

[0056] The gripper device 100 of this application is used to grab the cargo box 6. The gripper device 100 includes a base 1, a linkage component 2 and a claw 3. The linkage component 2 is slidably arranged on the base 1, the claw 3 is movably connected to the linkage component 2. The linkage component 2 is provided with a roller 23, and the claw 3 is provided with a first rolling groove 311 and a second rolling groove 312 that are connected to each other. The roller 23 is rotatably arranged in the first rolling groove 311 or the second rolling groove 312. The gripper device 100 has a hooking state and a releasing state. In the hooking state, the roller 23 is located in the first rolling groove 311, and the claw 3 is used to hook the cargo box 6. In the releasing state, the roller 23 is located in the second rolling groove 312, and the claw 3 is used to release the cargo box 6. By rolling the roller 23 in the first rolling groove 311 or the second rolling groove 312, the position and state of the claw 3 can be changed, so that the claw 3 can hook and release the cargo box 6, and the hooking and releasing of the cargo box 6 can be realized by mechanical movement, thereby reducing the motion lag and delay caused by using the driving component 4 to drive the claw 3 to hook and release, effectively reducing the motion response time and execution time, and improving the overall operation efficiency of the gripper device 100.

[0057] In one embodiment, as Figures 2 to 6 shown, the linkage component 2 includes a first plate 21 and a second plate 22 arranged at intervals. The first plate 21 is slidably arranged on the base 1, the second plate 22 is slidably connected to the base 1 and / or the first plate 21, and the second plate 22 is elastically connected to the first plate 21; the roller 23 is connected to the first plate 21, the claw 3 is rotatably connected to the second plate 22, and the first plate 21 moves relative to the second plate 22 to make the roller 23 located in the first rolling groove 311 or the second rolling groove 312.

[0058] In this embodiment, the first plate 21 and the second plate 22 are arranged in parallel at intervals along the sliding direction of the linkage component 2 relative to the base 1. Moreover, an activity space 2a is formed between the first plate 21 and the second plate 22. At the same time, the first plate 21 is slidably arranged on the base 1. For example, the first plate 21 is provided with a slider, and the slider is slidably connected to the slide rail or chute of the base 1. The second plate 22 is elastically connected to the first plate 21. For example, a spring is arranged in the activity space 2a between the first plate 21 and the second plate 22, and both ends of the spring are respectively connected to the plate surface of the first plate 21 and the plate surface of the second plate 22.

[0059] Meanwhile, on the basis of the elastic connection between the second plate 22 and the first plate 21, the second plate 22 is also slidably connected to the base 1 and / or the first plate 21. For example, the second plate 22 is slidably connected to the base 1 through a slider and / or is slidably connected to the first plate 21 through structures such as guide rods, which is not limited herein. Wherein, the hook 3 is rotatably connected to the second plate 22, and the roller 23 is connected to the first plate 21.

[0060] It can be understood that on the basis of the elastic connection between the second plate 22 and the first plate 21, the second plate 22 can also be slidably connected to the first plate 21 and / or the base 1, so that when the first plate 21 slides on the base 1, the second plate 22 also slides together. And because the first plate 21 and the second plate 22 are elastically connected, the distance between the first plate 21 and the second plate 22, that is, the size of the movable space 2a between the two, will also change with the movement of the first plate 21 and the second plate 22. At the same time, when there is a relative displacement between the first plate 21 and the second plate 22, a relative movement also occurs between the roller 23 connected to the first plate 21 and the hook 3 connected to the second plate 22, causing the roller 23 to move in the first rolling groove 311 or the second rolling groove 312 of the hook 3, thereby driving the hook 3 to rotate relative to the second plate 22 to extend into the hook groove 61 to hook the cargo frame 6 or away from the hook groove 61 to release the cargo frame 6.

[0061] In an embodiment, as Figures 3 to 6 shown, the linkage assembly 2 further includes a guide rod 24. One end of the guide rod 24 is provided on the second plate 22; the first plate 21 is provided with a guide hole 211. The guide rod 24 passes through the guide hole 211, and the end of the guide rod 24 away from the second plate 22 is used to abut against the cargo frame 6.

[0062] In this embodiment, the first plate 21 is provided with a guide hole 211. The axis of the guide hole 211 is consistent with the sliding direction of the first plate 21 relative to the base 1. One end of the guide rod 24 of the linkage assembly 2 is connected to the second plate 22, and the other end of the guide rod 24 passes through the movable space 2a and extends into the guide hole 211. At the same time, the guide rod 24 can slide relative to the guide hole 211, and the end of the guide rod 24 away from the second plate 22 is used to abut against the cargo frame 6.

[0063] It can be understood that by setting the guide rod 24, the second plate 22 can be slidably connected to the first plate 21 on the basis of being elastically connected to the first plate 21. That is, the guide rod 24 can fix and guide the sliding direction of the second plate 22 relative to the first plate 21, so that the first plate 21 and the second plate 22 slide synchronously relative to the base 1 without skew. At the same time, when the linkage assembly 2 moves on the base 1 in the direction close to the cargo box 6, the end of the guide rod 24 away from the second plate 22 will first abut against the cargo box 6. Under the abutting action of the guide rod 24, the position of the first plate 21 relative to the base 1 is fixed, and the position of the second plate 22 elastically connected to the first plate 21 starts to move away from the first plate 21 under the push of the guide rod 24 relative to the base 1. At this time, the distance between the first plate 21 and the second plate 22, that is, the size of the activity space 2a between the two, will also change with the movement of the first plate 21 and the second plate 22. The roller 23 rolls into the first rolling groove 311, drives the hook 3 to rotate, and makes the hook 3 extend into the hook groove 61 to hook the cargo box 6.

[0064] It can be understood that when the linkage assembly 2 moves near the cargo box 6, by the abutting of the guide rod 24, the automatic change of the distance between the first plate 21 and the second plate 22 can be realized, thereby indirectly changing the position of the roller 23 relative to the hook 3, so that the roller 23 moves in the first rolling groove 311 or the second rolling groove 312, making the gripper device 100 in the hooking state or the releasing state. This not only makes the hooking process more accurate and fast, but also reduces the use of the driving member 4 and the sensor, effectively reducing the structural complexity, reducing the structural volume, and improving the overall hooking and releasing response speed of the gripper device 100.

[0065] In one embodiment, as Figures 2 to 6As shown, the linkage assembly 2 further includes a first elastic member 25. The first elastic member 25 is disposed between the first plate 21 and the second plate 22 and is connected to the first plate 21 and the second plate 22 to elastically connect the second plate 22 to the first plate 21. It can be understood that the first elastic member 25 is disposed between the first plate 21 and the second plate 22. One end of the first elastic member 25 is connected to the first plate 21, and the other end of the first elastic member 25 is connected to the second plate 22. And the first elastic member 25 can be a compression spring or a tension spring. When the first elastic member 25 is a tension spring, the first elastic member 25 always pulls the first plate 21 and the second plate 22 in the direction of approaching each other. When the guide rod 24 abuts against the cargo box 6, the guide rod 24 drives the second plate 22 to stretch the tension spring, so that the distance between the first plate 21 and the second plate 22 increases, thereby changing the position of the roller 23 relative to the hook 3. When the first elastic member 25 is a compression spring, the first elastic member 25 always applies a pushing force to push the first plate 21 and the second plate 22 away from each other. When the guide rod 24 abuts against the cargo box 6, the guide rod 24 drives the second plate 22 to compress the compression spring, so that the distance between the first plate 21 and the second plate 22 in the bracket decreases, thereby changing the position of the roller 23 relative to the hook 3.

[0066] Optionally, the guide rod 24 is provided with a limiting platform 241. The limiting platform 241 is arranged around the rod wall of the guide rod 24. The limiting platform 241 can abut against the first plate 21 to limit the positions of the first plate 21 and the second plate 22. It can be understood that the limiting platform 241 is arranged in a ring around the outer peripheral wall of the guide rod 24, and the thickness of the limiting platform 241 protruding from the rod wall of the guide rod 24 is greater than the aperture of the guide hole 211. When the guide rod 24 extends into the guide hole 211, the limiting platform 241 can abut against the side wall of the first plate 21 on the periphery of the guide hole 211, thereby limiting the position of the guide rod 24 to limit the distance between the first plate 21 and the second plate 22, preventing the relative positions of the first plate 21 and the second plate 22 from getting out of control under the action of the first elastic member 25, and ensuring that after the guide rod 24 abuts against the cargo box 6, the first plate 21 and the second plate 22 can quickly change their relative positions, reducing the response time of the roller 23 in the first rolling groove 311 or the second rolling groove 312, and improving the efficiency of hooking or releasing.

[0067] Optionally, the extending direction of the rod body of the guide rod 24 is perpendicular to the plate surface direction of the first plate 21.

[0068] The linkage assembly 2 further includes a limiting plate 26. The limiting plate 26 is rotatably connected to the first plate 21 and is elastically connected to the first plate 21. In the hooking state or the releasing state, the end of the limiting plate 26 away from the first plate 21 is limited and abuts against the second plate 22.

[0069] In an embodiment, as Figures 2 to 6As shown, the linkage assembly 2 further includes a limiting plate 26 and a second elastic member 27. The limiting plate 26 is rotatably connected to the first plate 21; the second elastic member 27 is connected to the limiting plate 26 and the first plate 21, and the second elastic member 27 is used to make one end of the limiting plate 26 away from the first plate 21 abut against the second plate 22.

[0070] In this embodiment, the limiting plate 26 is in a plate-like or rod-like structure. The limiting plate 26 is rotatably connected to the first plate 21, so that the limiting plate 26 can rotate relative to the first plate 21. At the same time, the limiting plate 26 and the first plate 21 are elastically connected through the second elastic member 27. For example, the second elastic member 27 is a tension spring. One end of the tension spring is connected to the first plate 21, and the other end of the tension spring is connected to the limiting plate 26. Through the elastic connection with the first plate 21, the limiting plate 26 is pulled towards the first plate 21, and one end of the limiting plate 26 away from the rotational connection with the first plate 21 abuts against the second plate 22.

[0071] It can be understood that when the guide rod 24 abuts against the cargo box 6 to make the position of the second plate 22 away from the first plate 21, since the second elastic member 27 always pulls the limiting plate 26 to abut tightly against the second plate 22, when the distance between the first plate 21 and the second plate 22 is greater than or equal to the length of the limiting plate 26, the limiting plate 26 and the second plate 22 are in limiting abutment. For example, the limiting plate 26 is provided with a card slot 2611 to be clamped to the second plate 22, so that the distance between the first plate 21 and the second plate 22 is kept fixed, thereby also keeping the position of the roller 23 in the first rolling groove 311 fixed, so that the hook 3 is always in the hook slot 61 to keep the state of hooking the cargo box 6.

[0072] It can be understood that by setting the limiting plate 26, after the hook 3 automatically hooks the cargo box 6, the positions of the first plate 21 and the second plate 22 can be limited and fixed, so that the position of the hook 3 relative to the cargo box 6 is also fixed, thereby maintaining the hooking state of the gripper device 100 and further transporting and moving the cargo box 6, effectively improving the transportation efficiency and the safety of hooking.

[0073] In one embodiment, as Figures 4 to 6 shown, one end of the limiting plate 26 rotatably connected to the first plate 21 is the rotational end, and one end of the limiting plate 26 away from the rotational end is the free end. The free end is provided with a first side wall 2612; the limiting plate 26 is provided with a card slot 2611, and the card slot is located between the rotational end and the free end. The card slot 2611 is provided with a second side wall 2613; in the hooking state, the second side wall 2613 abuts against the second plate 22; in the releasing state, the first side wall 2612 abuts against the second plate 22.

[0074] In this embodiment, the limiting plate 26 has a strip-shaped structure and is generally located between the first plate 21 and the second plate 22. One end of the limiting plate 26 is rotatably connected to the first plate 21 and is defined as the rotating end. The other end of the limiting plate 26 can rotate around the rotating end and abut against or move away from the second plate 22, which is defined as the free end. At the free end, the limiting plate 26 is provided with a first side wall 2612.

[0075] Meanwhile, a clamping groove 2611 is provided between the rotating end and the free end of the limiting plate 26. The clamping groove 2611 is provided with a second side wall 2613. In the hooked state, the clamping groove 2611 is clamped to the second plate 22 to maintain the distance between the first plate 21 and the second plate 22, thereby ensuring the fixation of the position of the hook 3. Moreover, the second side wall 2613 in the clamping groove 2611 abuts against the plate surface of the second plate 22. In the released state, the first side wall 2612 abuts against the plate surface of the second plate 22.

[0076] It can be understood that based on the above situation where the first elastic member 25 is a tension spring, in the hooked state, the second plate 22 moves relative to the first plate 21 in a direction away from the first plate 21. At this time, the second side wall 2613 abuts against the side of the second plate 22 facing the first plate 21, and the plane where the second side wall 2613 is located is parallel to the plate surface of the second plate 22, so that the second plate 22 can completely abut against the second side wall 2613, thereby limiting the second plate 22 in the clamping groove 2611 and keeping the position between the second plate 22 and the first plate 21 fixed.

[0077] Meanwhile, in the released state, the guide rod 24 continues to push the second plate 22 in a direction away from the first plate 21. At this time, the edge of the second plate 22 moves along the groove wall of the clamping groove 2611 and gradually moves to the free end of the limiting plate 26. At this time, the second plate 22 is disengaged from the clamping connection with the clamping groove 2611, and finally the first side wall 2612 at the free end abuts against the second plate 22, so that during the process of the second plate 22 separating from the limiting plate 26, the roller 23 will roll into the second rolling groove 312, so that the hook 3 is disengaged from the hook groove 61, thereby making the gripper device 100 in the released state.

[0078] In one embodiment, the limiting plate 26 includes a connected limiting main body 261 and a reset section 262. The limiting main body includes a rotating end and a free end. The reset section 262 is provided at the free end, and the reset section 262 is used to convert the gripper device 100 from the hooked state to the released state.

[0079] In this embodiment, the card slot 2611 is provided on the limiting body 261 of the limiting plate 26. One end of the reset section 262 is connected to the free end of the limiting body 261, and the other end of the reset section 262 extends in a direction away from the limiting body 261. At the same time, the extending direction of the section body of the reset section 262 and the extending direction of the plate body of the limiting body 261 are arranged at an angle. At the same time, the gripper device 100 further includes a reset plate 5. The reset plate 5 is provided on the base 1 and is located on the side of the second plate 22 facing away from the first plate 21. The direction of the plate surface of the reset plate 5 is parallel to the direction of the plate surfaces of the first plate 21 and the second plate 22.

[0080] It can be understood that the gripper device 100 is in a released state both before and after the hooking state. The released state before the hooking state is the initial state of the gripper device 100. At this time, the hook 3 and the hook groove 61 are disengaged from each other. After the hooking state, the gripper device 100 needs to send the cargo frame 6 to a designated area. At this time, the hook 3 needs to be actively released through the roller 23 so that the hook 3 is disengaged from the hook groove 61 to make the gripper device 100 enter the released state. However, when the gripper device 100 is in the released state after the hooking state, the limiting plate 26 is limited and abutted against the second plate 22, and the position between the first plate 21 and the second plate 22 is kept fixed. At this time, the reset section 262 provided on the limiting plate 26 is required to reset the limiting plate 26 so that the gripper device 100 is reset to the initial state before the hooking state.

[0081] It can be understood that when the limiting plate 26 reaches the reset plate 5 along with the linkage assembly 2, the reset section 262 abuts against the edge of the reset plate 5. And because the extending direction of the section body of the reset section 262 and the extending direction of the plate body of the limiting plate 26 are arranged at an angle, the gradual movement of the linkage assembly 2 will cause the reset section 262 to drive the entire limiting plate 26 to gradually rotate in a direction away from the second plate 22, and finally the limiting plate 26 is disengaged from the limiting abutment with the second plate 22. Thus, under the action of the first elastic member 25, the first plate 21 and the second plate 22 return to the initial position. At this time, the roller 23 returns to the second rolling groove 312 again. By providing the reset section 262 and the reset plate 5, the automatic disengagement of the limiting plate 26 from the second plate 22 can be realized, thereby realizing the automatic reset of the first plate 21 and the second plate 22, so as to facilitate the roller 23 to move to the first rolling groove 311 of the hook 3 again to enter the hooking state, effectively improving the overall operation efficiency of the gripper device 100 and realizing the complete operation of hooking, releasing, and resetting.

[0082] Optionally, the card slot 2611 further has a third side wall 2614 arranged at an acute angle with the plane of the second side wall 2613. The third side wall 2614 is located between the first side wall 2612 and the second side wall 2613.

[0083] In this embodiment, the plane where the second side wall 2613 is located and the plane where the third side wall 2614 is located are arranged at an angle. In the released state, the guide rod 24 continues to push the second plate 22 to move away from the first plate 21. At this time, the second plate 22 can continue to move along the third side wall 2614 and lift the limit plate 26, so that the second plate 22 is disengaged from the card slot 2611 of the limit plate 26. During the process of the second plate 22 and the limit plate 26 separating from each other, the roller 23 will roll into the second rolling groove 312, so that the hook 3 is disengaged from the hook groove 61, thereby putting the gripper device 100 in the released state.

[0084] It can be understood that by arranging the second side wall 2613 and the third side wall 2614 at an angle, the second side wall 2613 can be closely attached to the second plate 22 in the hooked state to fix the position of the second plate 22 relative to the first plate 21. And by arranging the third side wall 2614, after the guide rod 24 continuously abuts against the cargo frame 6, the second plate 22 can continue to move away from the first plate 21 along the third side wall 2614, so that the roller 23 can roll from the first rolling groove 311 into the second rolling groove 312, so that the hook 3 is disengaged from the hook groove 61 and enters the released state, thereby realizing the state change of the gripper device 100.

[0085] Optionally, the connection position of the second elastic member 27 and the limit plate 26 is located between the rotating end and the second side wall 2613. It can be understood that one end of the second elastic member 27 is connected to the first plate 21, the other end of the second elastic member 27 is connected to the limit plate 26, and the end of the second elastic member 27 connected to the limit plate 26 is located between the rotating end and the second side wall 2613, so that the second elastic member 27 can always pull the limit plate 26, and the limit plate 26 abuts against the second plate 22 through the second side wall 2613 in the card slot 2611 or through the first side wall 2612 at the free end, ensuring that the hook 3 and the hook groove 61 are stably connected in the hooked state or the released state of the gripper device 100, and avoiding the loosening of the hook due to the change of the relative position of the first plate 21 and the second plate 22.

[0086] In one embodiment, as Figures 4 to 6 shown, the hook 3 includes a main body portion 31 and a claw portion 32 connected to the main body portion 31. The main body portion 31 is rotatably connected to the linkage assembly 2. The main body portion 31 is provided with a first rolling groove 311 and a second rolling groove 312. The claw portion 32 is used for hooking the cargo frame 6; the extending direction of the groove body of the first rolling groove 311 and the extending direction of the groove body of the second rolling groove 312 are arranged at an obtuse angle.

[0087] It can be understood that the main body 31 of the hook 3 is rotatably connected to the second plate 22 of the linkage assembly 2, and the claw portion 32 of the hook 3 is located at one end of the main body 31 away from the second plate 22. When the guide rod 24 abuts against the cargo box 6, the claw portion 32 of the hook 3 can quickly extend into or disengage from the blood groove in the cargo box 6. A first rolling groove 311 and a second rolling groove 312 are provided on the main body 31 and are in communication with each other. The roller 23 is rotatably arranged on the main body 31 and is located in the first rolling groove 311 or the second rolling groove 312. Among them, the position of the roller 23 relative to the first plate 21 remains fixed. The extending direction of the groove body of the first rolling groove 311 and the extending direction of the groove body of the second rolling groove 312 are arranged at an obtuse angle. When the roller 23 rolls from the first rolling groove 311 into the second rolling groove 312, or rolls from the second rolling groove 312 into the first rolling groove 311, the hook 3 as a whole will adaptively change its angle, so that the claw portion 32 rotates around the rotational connection between the main body 31 and the second plate 22, and the claw portion 32 hooks or releases the cargo box 6, so as to realize the linkage between the roller 23 and the hook 3, and realize the conversion of the relative linear movement between the first plate 21 and the second plate 22 into the rotational movement of the hook 3, thereby realizing the grasping and releasing of the cargo box 6 by the gripper device 100.

[0088] In one embodiment, as Figure 4 and Figure 6 shown, the second rolling groove 312 includes a first section 3121 and a second section 3122. Both the first section 3121 and the second section 3122 are in communication with the first rolling groove 311. The first section 3121 and the second section 3122 are located at both ends of the groove body of the first rolling groove 311; the extending direction of the groove body of the first section 3121 and the extending direction of the groove body of the second section 3122 are arranged at an angle.

[0089] In this embodiment, the second rolling groove 312 includes a first section 3121 and a second section 3122 which are arranged at intervals. The first section 3121 and the second section 3122 are located at both ends of the first rolling groove 311 along the groove body direction, and both the first section 3121 and the second section 3122 are in communication with the first rolling groove 311, so that the roller 23 can reciprocally roll in the first section 3121, the first rolling groove 311 and the second section 3122. The extending direction of the groove body of the first section 3121 and the extending direction of the groove body of the second section 3122 are arranged at an angle. At the same time, the extending direction of the groove body of the first section 3121 and the extending direction of the groove body of the second section 3122 are both arranged at an angle with the extending direction of the groove body of the first rolling groove 311.

[0090] It can be understood that in the initial state before the gripper device 100 is in the hooking state, the roller 23 is located in the first section 3121 of the hook 3. Under the abutting action of the guide rod 24, the second plate 22 gradually moves away from the first plate 21. At this time, the position of the roller 23 relative to the hook 3 is also gradually changing, and the roller 23 enters the first rolling groove 311 of the hook 3, so that the gripper device 100 enters the hooking state to hook the cargo frame 6. After hooking the cargo frame 6, the cover gripper device 100 and the base 1 cooperate together to transfer the cargo frame 6 to the designated area for frame placing. At this time, by continuously increasing the distance between the first plate 21 and the second plate 22, the limiting plate 26 abuts against the second plate 22 again and keeps the distance between the first plate 21 and the second plate 22 fixed. At this time, the roller 23 continues to move from the first rolling groove 311 to the second section 3122, and the gripper device 100 re-enters the release state, so that the hook 3 is disengaged from the cargo frame 6 to complete frame placing.

[0091] It can be understood that by arranging the first section 3121 and the second section 3122 at both ends of the second rolling groove 312, not only can the mutual conversion between the hooking state and the release state be realized, but also the frame taking and frame sending can be automatically carried out, so as to effectively improve the operation efficiency of the gripper device 100.

[0092] In one embodiment, as Figures 3 to 6 shown, the gripper device 100 further includes a driving member 4, and the driving member 4 is connected to the linkage assembly 2; the base 1 is provided with a rack 11, and the driving member 4 is provided with a gear 41 that is in transmission connection with the rack 11; wherein, the driving member 4 drives the gear 41 to move along the rack 11 to drive the linkage assembly 2 to move.

[0093] It can be understood that the linkage assembly 2 can slide relative to the base 1 semi-automatically or fully automatically. When the linkage assembly 2 slides relative to the base 1 fully automatically, the gripper device 100 drives the linkage assembly 2 to move through the driving member 4. The driving member 4 can be a linear motor, an electric slide table driven by a servo motor to rotate a screw, or a gear 41-rack 11 transmission, which is not limited herein. Preferably, a rack 11 is provided on the base 1, the rack 11 extends linearly, and one end of the rack 11 abuts against the cargo frame 6. The output end of the driving member 4 is provided with a gear 41 that is in transmission connection with the rack 11, and the driving member 4 is connected to the linkage assembly 2. The driving member 4 drives the gear 41 to rotate so that the gear 41 moves relative to the rack 11, thereby driving the linkage assembly 2 to move relative to the rack 11 on the base 1. Thus, when abutting against the cargo frame 6, the position change between the first plate 21 and the second plate 22 is realized, so as to indirectly drive the roller 23 to move relative to the hook 3, and the automatic rotation of the hook 3 is realized. Therefore, the gripper device 100 can complete the frame taking and sending with little or no use of the driving member 4, effectively improving the motion response time, realizing the stable repetition of grasping and releasing the cargo frame 6 for multiple times, and improving the working efficiency and service life.

[0094] The present utility model further provides a warehousing system, which includes a storage rack and the above-mentioned gripper device 100. The storage rack is used to store a plurality of storage bins, and the gripper device 100 is used to grasp or release the storage bins in the storage rack. For the specific structure of the gripper device 100, reference may be made to the foregoing embodiments. Since this warehousing system adopts all the technical solutions of all the foregoing embodiments, it has at least all the beneficial effects brought by the technical solutions of the foregoing embodiments, and will not be elaborated herein one by one.

[0095] The above description is only an exemplary embodiment of the present utility model, and does not limit the patent scope of the present utility model. Any equivalent structural transformation made under the technical concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present utility model.

Claims

1. A gripper device (100) for grabbing a cargo frame (6), characterized in that: The gripping device (100) comprises: abutment(1); A linkage component (2), the linkage component (2) being slidably disposed on the base (1), the linkage component (2) being provided with a roller (23); and A hook claw (3), the hook claw (3) being movably connected to the linkage assembly (2), the hook claw (3) being provided with a first rolling groove (311) and a second rolling groove (312) which are connected to each other, and the roller (23) being rollingly arranged in the first rolling groove (311) or the second rolling groove (312); The gripping device (100) has a hooking state and a releasing state. In the hooking state, the roller (23) is located in the first rolling groove (311), and the hook claw (3) is used to hook the cargo frame (6). In the releasing state, the roller (23) is located in the second rolling groove (312), and the hook claw (3) is used to release the cargo frame (6).

2. The gripper device (100) according to claim 1, characterized in that: The linkage assembly (2) comprises a first plate (21) and a second plate (22) which are arranged at an interval, wherein the first plate (21) is slidably arranged on the base (1), the second plate (22) is slidably connected to the base (1) and / or the first plate (21), and the second plate (22) is elastically connected to the first plate (21); The roller (23) is connected to the first plate (21), the hook (3) is rotatably connected to the second plate (22), and the first plate (21) moves relative to the second plate (22) so that the roller (23) is in the first rolling groove (311) or the second rolling groove (312).

3. The gripper device (100) according to claim 2, characterized in that: The linkage assembly (2) further comprises a guide rod (24), one end of which is arranged on the second plate (22); The first plate (21) is provided with a guide hole (211), the guide rod (24) passes through the guide hole (211), and one end of the guide rod (24) away from the second plate (22) is used to abut against the cargo frame (6).

4. The gripper device (100) according to claim 3, characterized in that: The linkage assembly (2) further comprises a first elastic member (25), wherein the first elastic member (25) is disposed between the first plate (21) and the second plate (22), and is connected to the first plate (21) and the second plate (22), so that the second plate (22) is elastically connected to the first plate (21); And / or, the guide rod (24) is provided with a limiting platform (241), the limiting platform (241) is arranged around the rod wall of the guide rod (24), and the limiting platform (241) can abut against the first plate (21) to limit the positions of the first plate (21) and the second plate (22); And / or, the extension direction of the rod body of the guide rod (24) is perpendicular to the plate surface direction of the first plate (21).

5. The gripper device (100) according to claim 2, characterized in that: The linkage assembly (2) further comprises a limit plate (26) and a second elastic member (27); the limit plate (26) is rotatably connected to the first plate (21); The second elastic member (27) is connected to the limiting plate (26) and the first plate (21), and the second elastic member (27) is used to make one end of the limiting plate (26) away from the first plate (21) abut against the second plate (22).

6. The gripper device (100) according to claim 5, characterized in that: One end of the limiting plate (26) rotatably connected to the first plate (21) is a rotating end, and one end of the limiting plate (26) away from the rotating end is a free end, and the free end is provided with a first side wall (2612); The limiting plate (26) is provided with a slot (2611), the slot (2611) is located between the rotating end and the free end, and the slot (2611) is provided with a second side wall (2613); In the hooked state, the second side wall (2613) abuts against the second plate (22); in the released state, the first side wall (2612) abuts against the second plate (22).

7. The gripper device (100) according to claim 6, characterized in that: The limiting plate (26) comprises a limiting body (261) and a reset section (262) connected to each other, and the limiting body (261) comprises the rotating end and the free end; The reset section (262) is arranged at the free end, and the reset section (262) is used to convert the gripping device (100) from a hooking state to a releasing state; And / or, the card slot (2611) is further provided with a third side wall (2614) arranged at an acute angle with the plane where the second side wall (2613) is located, and the third side wall (2614) is located between the first side wall (2612) and the second side wall (2613); And / or, the connection between the second elastic member (27) and the limiting plate (26) is located between the rotating end and the second side wall (2613).

8. The gripper device (100) according to any one of claims 1 to 7, characterized in that: The hook (3) comprises a main body (31) and a claw (32) connected to the main body (31); the main body (31) is rotatably connected to the linkage assembly (2); the main body (31) is provided with the first rolling groove (311) and the second rolling groove (312); the claw (32) is used to hook the cargo frame (6); An extension direction of the groove body of the first rolling groove (311) and an extension direction of the groove body of the second rolling groove (312) are arranged at an obtuse angle.

9. The gripper device (100) according to claim 8, characterized in that: The second rolling groove (312) comprises a first section (3121) and a second section (3122), the first section (3121) and the second section (3122) are both connected to the first rolling groove (311), and the first section (3121) and the second section (3122) are located at two ends of the groove body of the first rolling groove (311); An extension direction of the groove body of the first section (3121) and an extension direction of the groove body of the second section (3122) are arranged at an angle.

10. A storage system, characterized in that: The storage system comprises: A storage rack, the storage rack being used to store a plurality of cargo frames (6); The gripping device (100) according to any one of claims 1 to 9, wherein the gripping device is used to hook or release the cargo frame (6).

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