Chuck mechanism and stacking machine

Abstract

The utility model relates to the technical field of stacking machines, in particular to a chuck mechanism and a stacking machine. The chuck mechanism comprises a first driving part, a second driving part, a third driving part, a first clamping part and a second clamping part, the first driving part can rotate around a first rotating axis, the second driving part can rotate around a second rotating axis, and the third driving part can rotate around a third rotating axis. The first clamping part is driven by the first driving part and the second driving part, the first clamping part can rotate around at least one of the first rotating axis and the second rotating axis, and the second clamping part is driven by the first driving part and the third driving part. The second clamping part can rotate around at least one of the first rotation axis and the third rotation axis. The stacking machine comprises the chuck mechanism. According to the chuck mechanism and the stacking machine, multiple clamping tasks can be completed during single operation, and the operation efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of stackers, and particularly relates to a chuck mechanism and a stacker. Background Art

[0002] The stacker plays a role in transporting stored goods in the whole system and is an essential link in an automated stereoscopic warehouse. The stacker technology is the core of the entire automated warehouse technology. At present, the execution end of the stacker is in the form of a single chuck or a single rotating single chuck. With the above structure, the degree of freedom of movement of the execution end is low, resulting in that the stacker can only complete one task in a single operation, and the operation efficiency is low. Summary of the Utility Model

[0003] The main purpose of the utility model is to propose a chuck mechanism and a stacker, aiming to solve the technical problem that the degree of freedom of movement of the execution end of the current stacker is low, so that the stacker can only complete one task in a single operation, and the overall operation efficiency is low.

[0004] To achieve the above purpose, the utility model proposes a chuck mechanism for a stacker, including:

[0005] A first driving part, which can rotate around a first rotation axis;

[0006] A second driving part, which can rotate around a second rotation axis;

[0007] A third driving part, which can rotate around a third rotation axis;

[0008] A first clamping part, which is driven by the first driving part and the second driving part, and can rotate around at least one of the first rotation axis and the second rotation axis;

[0009] A second clamping part, which is driven by the first driving part and the third driving part, and can rotate around at least one of the first rotation axis and the third rotation axis.

[0010] In some embodiments, the first driving part has a first output shaft that can rotate around the first rotation axis, the second driving part has a second output shaft that can rotate around the second rotation axis, and the third driving part has a third output shaft that can rotate around the third rotation axis;

[0011] Wherein, the first clamping portion is driven by the first output shaft and the second output shaft, and the second clamping portion is driven by the first output shaft and the third output shaft.

[0012] In some embodiments, the chuck mechanism includes a mounting plate. The first output shaft is connected to the mounting plate and is used to drive the mounting plate to rotate. One end of the second output shaft penetrates from one side of the mounting plate to the opposite side of the mounting plate, and one end of the third output shaft penetrates from one side of the mounting plate to the opposite side of the mounting plate.

[0013] Wherein, the first clamping portion is connected to the first output shaft through the mounting plate, and the first clamping portion is connected to the end of the second output shaft penetrating through the mounting plate; the second clamping portion is connected to the first output shaft through the mounting plate, and the second clamping portion is connected to the end of the third output shaft penetrating through the mounting plate.

[0014] In some embodiments, rotation bearings are provided between the first output shaft and the mounting plate, between the second output shaft and the mounting plate, and between the third output shaft and the mounting plate.

[0015] In some embodiments, the mounting plate has a mounting surface, and the first driving portion, the second driving portion, and the third driving portion are arranged on the mounting surface.

[0016] Wherein, along the direction perpendicular to the mounting surface, the orthographic projections of the first driving portion, the second driving portion, and the third driving portion on the mounting plate are not collinear.

[0017] In some embodiments, the first clamping portion includes a first chuck head and a first transmission portion, and the first transmission portion is configured to be able to drive the first chuck head to perform a linear motion along a direction perpendicular to the second rotation axis.

[0018] The second clamping portion includes a second chuck head and a second transmission portion, and the second transmission portion is configured to be able to drive the second chuck head to perform a linear motion along a direction perpendicular to the third rotation axis.

[0019] In some embodiments, the first transmission part includes a first base, a first sliding part, a first transmission component, and a second sliding part. The first sliding part is slidably connected to the first base and is configured to move relative to the first base in a first direction. The first transmission component includes a first pulley, a second pulley, and a first conveyor belt. The first pulley and the second pulley are both rotatably connected to the first sliding part, and the first pulley and the second pulley are arranged at intervals in the first direction. The first conveyor belt is sleeved on the first pulley and the second pulley. The second sliding part is slidably connected to the first sliding part and is configured to move relative to the first sliding part in the first direction. The first conveyor belt has opposite sides perpendicular to the first direction, one side of which is connected to the first base and the other side is connected to the second sliding part.

[0020] The second transmission part includes a second base, a third sliding part, a second transmission component, and a fourth sliding part. The third sliding part is slidably connected to the second base and is configured to move relative to the second base in the first direction. The second transmission component includes a third pulley, a fourth pulley, and a second conveyor belt. The third pulley and the fourth pulley are both rotatably connected to the third sliding part, and the third pulley and the fourth pulley are arranged at intervals in the first direction. The second conveyor belt is sleeved on the third pulley and the fourth pulley. The fourth sliding part is slidably connected to the third sliding part and is configured to move relative to the third sliding part in the first direction. The second conveyor belt has opposite sides perpendicular to the first direction, one side of which is connected to the second base and the other side is connected to the fourth sliding part.

[0021] In some embodiments, the first driving part, the second driving part, and the third driving part are all stepper motors.

[0022] Correspondingly, the present utility model further provides a stacker, including:

[0023] The chuck mechanism described in any of the above embodiments;

[0024] A transmission mechanism, the transmission mechanism is connected to the chuck mechanism and is configured to drive the chuck mechanism to perform vertical lifting motion.

[0025] In some embodiments, the transmission mechanism includes a rotating lead screw, the chuck mechanism is threadedly connected to the rotating lead screw, and the rotating lead screw has a forward rotation state and a reverse rotation state;

[0026] When the rotating lead screw is in the forward rotation state, the rotating lead screw can drive the chuck mechanism to rise; when the rotating lead screw is in the reverse rotation state, the rotating lead screw can drive the chuck mechanism to descend.

[0027] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0028] In the technical solution of the present utility model, the chuck mechanism is provided with at least two clamping parts, namely a first clamping part and a second clamping part. The first clamping part and the second clamping part can independently clamp materials, so that two clamping tasks can be carried out simultaneously when the stacker runs once. Moreover, the first clamping part is driven by the first driving part and the second driving part, and the second clamping part is driven by the first driving part and the third driving part, so that the first clamping part and the second clamping part can rotate in the same direction or in different directions. Exemplarily, for example, the first driving part can be used to drive the first clamping part and the second clamping part to rotate in the same direction at the same time to clamp materials in the same direction. The second driving part can also be used to drive the first clamping part to rotate in one direction alone, and the third driving part can be used to drive the second clamping part to rotate in another direction alone, so that the first clamping part and the second clamping part can rotate in different directions at the same time to clamp materials in different directions.

[0029] Adopting the chuck mechanism provided by the present utility model is beneficial to improving the freedom degree of the execution end of the chuck mechanism (here the execution end refers to the first clamping part and the second clamping part), enabling the chuck mechanism to relatively independently carry out multiple tasks simultaneously when running once, thereby improving the operation efficiency and enhancing the production line efficiency.

[0030] The stacker applying the above chuck mechanism can clamp materials in the same direction at the same time, and can also clamp materials in different directions at the same time, thereby improving the applicability of the stacker and enhancing the working efficiency of the stacker. In addition, the transmission mechanism can be used to drive the chuck mechanism to move up and down to ensure that the stacker can be applied to material racks of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0032] Figure 1 It is a schematic diagram of the overall structure of the chuck mechanism provided by an embodiment of the present utility model;

[0033] Figure 2 Partial structural schematic diagram of the chuck mechanism provided by an embodiment of the present utility model;

[0034] Figure 3 Side view of the overall structure of the stacker provided by another embodiment of the present utility model;

[0035] Figure 4 Structural schematic diagram of the first transmission part in the chuck mechanism provided by an embodiment of the present utility model;

[0036] Figure 5 Structural schematic diagram of the second transmission part in the chuck mechanism provided by an embodiment of the present utility model.

[0037] Explanation of the reference numerals in the drawings:

[0038] 100 - First driving part;

[0039] 110 - First rotation axis; 120 - First output shaft;

[0040] 200 - Second driving part;

[0041] 210 - Second rotation axis; 220 - Second output shaft;

[0042] 300 - Third driving part;

[0043] 310 - Third rotation axis; 320 - Third output shaft;

[0044] 400 - First clamping part;

[0045] 410 - First clamping head; 420 - First transmission part;

[0046] 421 - First base; 422 - First sliding part; 423 - First transmission component; 424 - Second sliding part;

[0047] 4231 - First pulley; 4232 - Second pulley; 4233 - First conveyor belt;

[0048] 500 - Second clamping part;

[0049] 510 - Second clamping head; 520 - Second transmission part;

[0050] 521 - Second base; 522 - Third sliding part; 523 - Second transmission component; 524 - Fourth sliding part;

[0051] 5231 - Third pulley; 5232 - Fourth pulley; 5233 - Second conveyor belt;

[0052] 600 - Mounting plate;

[0053] 700 - Transmission mechanism;

[0054] X - First direction.

[0055] The realization, functional features and advantages of the present utility model will be further described in conjunction with embodiments and with reference to the accompanying drawings. Specific embodiments

[0056] 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 embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present utility model.

[0057] 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.

[0058] In addition, if there are descriptions such as "first", "second", etc. involved 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 "and / or" appear throughout the text, their meanings include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between various 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 scope of protection required by the present utility model.

[0059] The stacker plays the role of handling and storing goods in the entire system and is an essential link in the automated stereoscopic warehouse. Stacker technology is the core of the entire automated warehouse technology. Currently, the execution end of the stacker is in the form of a single chuck or a single rotating single chuck. With the above structure, the movement freedom degree of the execution end is low, resulting in that the stacker can only complete one task in a single operation, and the operation efficiency is low.

[0060] Based on this, with reference to Figures 1 to 2, an embodiment of the present utility model provides a chuck mechanism, which is used for a stacker and includes a first driving part 100, a second driving part 200, a third driving part 300, a first clamping part 400 and a second clamping part 500. The first driving part 100 can perform a rotational movement around a first rotation axis 110, the second driving part 200 can perform a rotational movement around a second rotation axis 210, the third driving part 300 can perform a rotational movement around a third rotation axis 310. The first clamping part 400 is driven by the first driving part 100 and the second driving part 200, and the first clamping part 400 can perform a rotational movement around at least one of the first rotation axis 110 and the second rotation axis 210. The second clamping part 500 is driven by the first driving part 100 and the third driving part 300, and the second clamping part 500 can perform a rotational movement around at least one of the first rotation axis 110 and the third rotation axis 310.

[0061] Wherein, the first driving part 100, the second driving part 200 and the third driving part 300 can be driving motors, so that the first driving part 100 and the second driving part 200 can drive the first clamping part 400 to rotate, and the first driving part 100 and the third driving part 300 can drive the second clamping part 500 to rotate. The first clamping part 400 and the second clamping part 500 have chucks for clamping and transporting materials.

[0062] Specifically, to solve the above problems, in this embodiment, the chuck mechanism is provided with at least two clamping parts, namely the first clamping part 400 and the second clamping part 500. The first clamping part 400 and the second clamping part 500 can independently clamp materials, so that the stacker can perform two clamping tasks simultaneously during a single operation. Moreover, the first clamping part 400 is driven by the first driving part 100 and the second driving part 200, and the second clamping part 500 is driven by the first driving part 100 and the third driving part 300, so that the first clamping part 400 and the second clamping part 500 can rotate in the same direction or in different directions. Exemplarily, for example, the first driving part 100 can drive the first clamping part 400 and the second clamping part 500 to rotate in the same direction simultaneously to clamp materials in the same direction. The second driving part 200 can also drive the first clamping part 400 to rotate in one direction alone, and the third driving part 300 can drive the second clamping part 500 to rotate in another direction alone, so that the first clamping part 400 and the second clamping part 500 can rotate in different directions simultaneously to clamp materials in different directions.

[0063] Adopting the chuck mechanism provided in this embodiment is beneficial to improving the degrees of freedom of the execution end of the chuck mechanism (here, the execution end refers to the first clamping portion 400 and the second clamping portion 500), enabling the chuck mechanism to relatively independently perform multiple tasks simultaneously during a single operation, thereby improving the operation efficiency and enhancing the production line efficiency.

[0064] In some embodiments, referring to Figures 1 to 2 , the first driving portion 100 has a first output shaft 120, the first output shaft 120 can perform a rotational motion around the first rotation axis 110, the second driving portion 200 has a second output shaft 220, the second output shaft 220 can perform a rotational motion around the second rotation axis 210, and the third driving portion 300 has a third output shaft 320, the third output shaft 320 can perform a rotational motion around the third rotation axis 310. Among them, the first clamping portion 400 is driven by the first output shaft 120 and the second output shaft 220, and the second clamping portion 500 is driven by the first output shaft 120 and the third output shaft 320.

[0065] Specifically, in this embodiment, the first clamping portion 400 can be directly or indirectly connected to the first output shaft 120 and the second output shaft 220, and the second clamping portion 500 can be directly or indirectly connected to the first output shaft 120 and the third output shaft 320. The first output shaft 120, the second output shaft 220, and the third output shaft 320 can all rotate forward and backward. Exemplarily, for example, when the first output shaft 120 rotates forward, it can drive the first clamping portion 400 and the second clamping portion 500 to rotate forward 90 degrees simultaneously. When the first output shaft 120 rotates backward, it can drive the first clamping portion 400 and the second clamping portion 500 to rotate backward 90 degrees simultaneously. When the second output shaft 220 rotates forward, it can drive the first clamping portion 400 to rotate forward 90 degrees alone. When the second output shaft 220 rotates backward, it can drive the first clamping portion 400 to rotate backward 90 degrees alone. When the third output shaft 320 rotates forward, it can drive the second clamping portion 500 to rotate forward 90 degrees alone. When the third output shaft 320 rotates backward, it can drive the second clamping portion 500 to rotate backward 90 degrees alone.

[0066] Adopting the above structure can ensure that whether the first clamping portion 400 and the second clamping portion 500 rotate simultaneously or the first clamping portion 400 or the second clamping portion 500 rotates alone, they can all operate without interference and achieve the normal conveying of materials.

[0067] In some embodiments, referring to Figures 1 to 2, the collet mechanism includes a mounting plate 600. The first output shaft 120 is connected to the mounting plate 600 and is used to drive the mounting plate 600 to rotate. One end of the second output shaft 220 penetrates from one side of the mounting plate 600 to the opposite side of the mounting plate 600. One end of the third output shaft 320 penetrates from one side of the mounting plate 600 to the opposite side of the mounting plate 600. Among them, the first clamping portion 400 is connected to the first output shaft 120 through the mounting plate 600, and the first clamping portion 400 is connected to the end of the second output shaft 220 that penetrates the mounting plate 600. The second clamping portion 500 is connected to the first output shaft 120 through the mounting plate 600, and the second clamping portion 500 is connected to the end of the third output shaft 320 that penetrates the mounting plate 600.

[0068] Specifically, in this embodiment, the first clamping portion 400 is indirectly connected to the first output shaft 120 through the mounting plate 600, and the first clamping portion 400 is directly connected to the second output shaft 220. The second clamping portion 500 is indirectly connected to the first output shaft 120 through the mounting plate 600, and the second clamping portion 500 is directly connected to the third output shaft 320. Moreover, both the first clamping portion 400 and the second clamping portion 500 are connected to the same mounting plate 600. When the first output shaft 120 rotates, it can drive the mounting plate 600 to rotate. When the mounting plate 600 rotates, it will drive the first clamping portion 400 and the second clamping portion 500 provided thereon to rotate simultaneously, realizing the clamping of materials in the same direction by the first clamping portion 400 and the second clamping portion 500. When the second output shaft 220 rotates, it can directly drive the first clamping portion 400 to rotate, realizing the independent rotation of the first clamping portion 400. When the third output shaft 320 rotates, it can directly drive the second clamping portion 500 to rotate, realizing the independent rotation of the second clamping portion 500. When the second output shaft 220 and the third output shaft 320 rotate, they can realize the clamping of materials in different directions by the first clamping portion 400 and the second clamping portion 500.

[0069] It can be understood that the first output shaft 120, the second output shaft 220, and the third output shaft 320 can rotate independently. Exemplarily, for example, only the first output shaft 120 can be rotated. At this time, the first clamping portion 400 and the second clamping portion 500 can rotate in the same direction simultaneously. It is also possible to only rotate the second output shaft 220. At this time, only the first clamping portion 400 can rotate. It is also possible to only rotate the third output shaft 320. At this time, only the second clamping portion 500 can rotate. The first output shaft 120, the second output shaft 220, and the third output shaft 320 can rotate partially. Exemplarily, for example, the first output shaft 120 and the second output shaft 220 can be rotated. At this time, both the first clamping portion 400 and the second clamping portion 500 can rotate, and the first clamping portion 400 can rotate in a direction different from the rotation direction of the mounting plate 600. It is also possible to rotate the first output shaft 120 and the third output shaft 320. At this time, both the first clamping portion 400 and the second clamping portion 500 can rotate, and the second clamping portion 500 can rotate in a direction different from the rotation direction of the mounting plate 600. It is also possible to rotate the second output shaft 220 and the third output shaft 320. At this time, the first clamping portion 400 and the second clamping portion 500 can rotate in different directions respectively. The first output shaft 120, the second output shaft 220, and the third output shaft 320 can rotate simultaneously. At this time, both the first clamping portion 400 and the second clamping portion 500 can rotate in a direction different from the rotation direction of the mounting plate 600.

[0070] In the chuck mechanism provided in this embodiment, the first clamping portion 400 and the second clamping portion 500 have multiple driving methods. Through the above driving methods, more angular adjustments in multiple directions of the first clamping portion 400 and the second clamping portion 500 can be achieved, meeting the needs of more production.

[0071] In some embodiments, rotation bearings (not shown in the figure) are provided between the first output shaft 120 and the mounting plate 600, between the second output shaft 220 and the mounting plate 600, and between the third output shaft 320 and the mounting plate 600.

[0072] Specifically, in this embodiment, by providing rotation bearings, the frictional force between the first output shaft 120, the second output shaft 220, the third output shaft 320, and the mounting plate 600 can be reduced, ensuring that the first output shaft 120, the second output shaft 220, and the third output shaft 320 can rotate more smoothly, and improving the stability of the first clamping portion 400 and the second clamping portion 500 during rotation. In addition, by providing rotation bearings, it is also beneficial to extend the service life of the first output shaft 120, the second output shaft 220, and the third output shaft 320.

[0073] It should be noted that the rotating bearing is a common structural device in the art, so the specific structure and working principle of the rotating bearing will not be described here.

[0074] In some embodiments, referring to Figures 1 to 2 , the mounting plate 600 has a mounting surface, and the first driving portion 100, the second driving portion 200, and the third driving portion 300 are disposed on the mounting surface, that is, the first driving portion 100, the second driving portion 200, and the third driving portion 300 are disposed on the same side of the mounting plate 600. Among them, along the direction perpendicular to the mounting surface, the orthographic projections of the first driving portion 100, the second driving portion 200, and the third driving portion 300 on the mounting plate 600 are not collinear.

[0075] Specifically, in this embodiment, along the direction from the first driving portion 100 to the second driving portion 200, that is, along the horizontal direction (because the first driving portion 100 and the second driving portion 200 are disposed on the same side of the mounting plate 600, so the direction from the first driving portion 100 to the second driving portion 200 refers to the horizontal direction), the first rotation axis 110, the second rotation axis 210, and the third rotation axis 310 are not arranged on the same straight line, that is, the first driving portion 100, the second driving portion 200, and the third driving portion 300 are not arranged on the same straight line. Since in actual application, the chuck mechanism definitely needs to be mounted on the base, adopting such a structure can effectively prevent the interference between the first driving portion 100, the second driving portion 200, the third driving portion 300 and the base during the rotation of the chuck mechanism, thereby affecting the rotation path of the chuck mechanism.

[0076] It should be noted that the setting positions of the first driving portion 100, the second driving portion 200, and the third driving portion 300 on the mounting plate 600 can be adaptively adjusted according to actual needs.

[0077] In some embodiments, referring to Figures 1 to 2 , the first clamping portion 400 includes a first chuck portion 410 and a first transmission portion 420, and the first transmission portion 420 is configured to be able to drive the first chuck portion 410 to perform a linear motion along a direction perpendicular to the second rotation axis 210. The second clamping portion 500 includes a second chuck portion 510 and a second transmission portion 520, and the second transmission portion 520 is configured to be able to drive the second chuck portion 510 to perform a linear motion along a direction perpendicular to the third rotation axis 310.

[0078] Specifically, in this embodiment, when transporting materials, the first clamping head 410 in the first clamping part 400 can be used to clamp and transport the materials, and the second clamping head 510 in the second clamping part 500 can be used to clamp and transport the materials. To adapt to more working scenarios, in addition to being able to rotate circumferentially, the first clamping part 400 and the second clamping part 500 can also move linearly. When clamping and conveying the materials by using the first clamping head 410 and the second clamping head 510, the first clamping head 410 can be driven by the first transmission part 420 to move along a straight path towards or away from the materials, and the second clamping head 510 can be driven by the second transmission part 520 to move along a straight path towards or away from the materials, so as to realize the secondary adjustment of the position distance between the first clamping head 410, the second clamping head 510 and the materials, and ensure that the first clamping head 410 and the second clamping head 510 can smoothly clamp the materials and realize the transportation of the materials.

[0079] In the chuck mechanism provided in this embodiment, the primary adjustment (rotation adjustment) of the first clamping part 400 can be realized through the first driving part 100 and the second driving part 200, and the primary adjustment (rotation adjustment) of the second clamping part 500 can be realized through the first driving part 100 and the third driving part 300. In addition, the secondary adjustment (linear adjustment) of the first clamping part 400 can be realized through the first transmission part 420, and the secondary adjustment (linear adjustment) of the second clamping part 500 can be realized through the second transmission part 520, so as to ensure that the chuck mechanism can be applied to more working scenarios.

[0080] In some embodiments, referring to Figure 4 and Figure 5, the first transmission part 420 includes a first base 421, a first sliding part 422, a first transmission component 423 and a second sliding part 424. The first sliding part 422 is slidably connected to the first base 421, and the first sliding part 422 is configured to move relative to the first base 421 along the first direction X. The first transmission component 423 includes a first pulley 4231, a second pulley 4232 and a first conveyor belt 4233. Both the first pulley 4231 and the second pulley 4232 are rotatably connected to the first sliding part 422, and the first pulley 4231 and the second pulley 4232 are arranged at intervals along the first direction X. The first conveyor belt 4233 is sleeved on the first pulley 4231 and the second pulley 4232. The second sliding part 424 is slidably connected to the first sliding part 422, and the second sliding part 424 is configured to move relative to the first sliding part 422 along the first direction X. The first conveyor belt 4233 has opposite sides perpendicular to the first direction X, one side of which is connected to the first base 421 and the other side is connected to the second sliding part 424. The second transmission part 520 includes a second base 521, a third sliding part 522, a second transmission component 523 and a fourth sliding part 524. The third sliding part 522 is slidably connected to the second base 521, and the third sliding part 522 is configured to move relative to the second base 521 along the first direction X. The second transmission component 523 includes a third pulley 5231, a fourth pulley 5232 and a second conveyor belt 5233. Both the third pulley 5231 and the fourth pulley 5232 are rotatably connected to the third sliding part 522, and the third pulley 5231 and the fourth pulley 5232 are arranged at intervals along the first direction X. The second conveyor belt 5233 is sleeved on the third pulley 5231 and the fourth pulley 5232. The fourth sliding part 524 is slidably connected to the third sliding part 522, and the fourth sliding part 524 is configured to move relative to the third sliding part 522 along the first direction X. The second conveyor belt 5233 has opposite sides perpendicular to the first direction X, one side of which is connected to the second base 521 and the other side is connected to the fourth sliding part 524.

[0081] Specifically, in this embodiment, a multi-stage transmission mechanism for a first transmission part 420 and a second transmission part 520 is provided. The first transmission part 420 can drive the first chuck part 410 for multi-stage transmission, and the second transmission part 520 can drive the second chuck part 510 for multi-stage transmission. Driven by a driving motor, the first sliding part 422 can move relative to the first base 421 along the first direction X. Denote the position where the second sliding part 424 is connected to the first conveyor belt 4233 as point a, and the position where the first base 421 is fixedly connected to the first conveyor belt 4233 as point b. When the first sliding part 422 moves along the first direction X, the first sliding part 422 drives the first pulley 4231, the second pulley 4232, and the first conveyor belt 4233 to move simultaneously in the first direction X. During this process, point b of the first conveyor belt 4233 is fixed, so the first conveyor belt 4233 rolls around the first pulley 4231 and the second pulley 4232. Since points a and b are respectively located on opposite sides of the first conveyor belt 4233 perpendicular to the first direction X, point a moves in the first direction X, so the second sliding part 424 and point a move synchronously in the first direction X. Also, because the entire first conveyor belt 4233 moves along the first direction X with the first sliding part 422, the movement of point a is composed of the translational movement of the first conveyor belt 4233 along the first direction X and the rolling of the first conveyor belt 4233 around the first pulley 4231 and the second pulley 4232. Both make point a move in the first direction X, so the moving speed of point a is faster than the speed of the first pulley 4231 and / or the second pulley 4232, that is, the moving speed of point a is faster than the speed of the first sliding part 422, that is, the moving speed of the second sliding part 424 is faster than the speed of the first sliding part 422, thereby achieving the effect of multi-stage transmission.

[0082] Moreover, since the operation start or stop of the first transmission assembly 423 is controlled by the first sliding part 422, that is, the movement of the second sliding part 424 can start or stop simultaneously with the first sliding part 422, thereby improving the accuracy, stability, and controllability of the first transmission part 420. The first transmission part 420 of this embodiment adopts a pulley transmission system with belt transmission, which has low noise and a stable transmission process. The structure of the first transmission part 420 in this embodiment is simple, and it can realize the simultaneous start and simultaneous stop of the second sliding part 424 and the first sliding part 422, with a stable transmission process and low noise.

[0083] Similarly, the multi-stage transmission process of the second transmission part 520 can refer to the multi-stage transmission process of the first transmission part 420, and details will not be elaborated here.

[0084] In some embodiments, the first drive part 100, the second drive part 200, and the third drive part 300 are all stepping motors. Alternatively, the first drive part 100, the second drive part 200, and the third drive part 300 can also be motors of other models.

[0085] Correspondingly, another embodiment of the present utility model further provides a stacker. Referring to Figure 3 , the stacker includes the chuck mechanism in any of the above embodiments. The stacker further includes a transmission mechanism 700, and the transmission mechanism 700 is connected to the chuck mechanism. The transmission mechanism 700 is configured to drive the chuck mechanism to perform vertical lifting motion.

[0086] Specifically, in this embodiment, the stacker applying the above chuck mechanism can clamp materials in the same direction simultaneously, and can also clamp materials in different directions simultaneously, thereby improving the applicability of the stacker and enhancing the working efficiency of the stacker. In addition, the transmission mechanism 700 can drive the chuck mechanism to perform vertical lifting motion to ensure that the stacker can be applicable to material racks of different heights.

[0087] In some embodiments, the transmission mechanism 700 includes a rotating lead screw, and the chuck mechanism is threadedly connected to the rotating lead screw. The rotating lead screw has a forward rotation state and a reverse rotation state. Among them, when the rotating lead screw is in the forward rotation state, the rotating lead screw can drive the chuck mechanism to rise; when the rotating lead screw is in the reverse rotation state, the rotating lead screw can drive the chuck mechanism to descend.

[0088] Specifically, in this embodiment, a specific structure of the transmission mechanism 700 is provided. The rotating lead screw can be connected to a motor, and the motor is used to drive the rotating lead screw to rotate so that the rotating lead screw can be in the forward rotation state or the reverse rotation state, thereby realizing the lifting drive of the chuck mechanism.

[0089] Benefiting from the improvement of the above chuck mechanism, the stacker in this embodiment has the same technical effects as the above chuck mechanism, which will not be elaborated here.

[0090] It should be noted that other contents of the chuck mechanism and the stacker disclosed in the present utility model can be referred to the prior art, which will not be elaborated here.

[0091] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made under the inventive concept of the present utility model by using the specification and drawings of the present utility model, or directly / indirectly applied to other related technical fields, is included in the patent protection scope of the present utility model.

Claims

1. Chuck mechanism, characterized in that, For a stacker, comprising: A first driving part, which can perform a rotational movement around a first rotation axis; A second driving part, which can perform a rotational movement around a second rotation axis; A third driving part, which can perform a rotational movement around a third rotation axis; A first clamping part, which is driven by the first driving part and the second driving part, and can perform a rotational movement around at least one of the first rotation axis and the second rotation axis; A second clamping part, which is driven by the first driving part and the third driving part, and can perform a rotational movement around at least one of the first rotation axis and the third rotation axis.

2. The collet mechanism according to claim 1, wherein The first driving part has a first output shaft, which can perform a rotational movement around the first rotation axis, the second driving part has a second output shaft, which can perform a rotational movement around the second rotation axis, and the third driving part has a third output shaft, which can perform a rotational movement around the third rotation axis; Wherein, the first clamping part is driven by the first output shaft and the second output shaft, and the second clamping part is driven by the first output shaft and the third output shaft.

3. The collet mechanism according to claim 2, wherein, The chuck mechanism includes a mounting plate, the first output shaft is connected to the mounting plate for driving the mounting plate to rotate, one end of the second output shaft penetrates from one side of the mounting plate to the opposite side of the mounting plate, and one end of the third output shaft penetrates from one side of the mounting plate to the opposite side of the mounting plate; Wherein, the first clamping part is connected to the first output shaft through the mounting plate, and the first clamping part is connected to the end of the second output shaft passing through the mounting plate; the second clamping part is connected to the first output shaft through the mounting plate, and the second clamping part is connected to the end of the third output shaft passing through the mounting plate.

4. The collet mechanism according to claim 3, wherein, Rotating bearings are provided between the first output shaft and the mounting plate, between the second output shaft and the mounting plate, and between the third output shaft and the mounting plate.

5. The collet mechanism according to claim 3, characterized in that The mounting plate has a mounting surface, and the first driving part, the second driving part, and the third driving part are arranged on the mounting surface; Wherein, along the direction perpendicular to the mounting surface, the orthographic projections of the first driving part, the second driving part, and the third driving part on the mounting plate are not collinear.

6. The collet mechanism according to claim 1, wherein, The first clamping part includes a first chuck head and a first transmission part, and the first transmission part is configured to be able to drive the first chuck head to perform a linear movement along a direction perpendicular to the second rotation axis; The second clamping part includes a second chuck head and a second transmission part, and the second transmission part is configured to be able to drive the second chuck head to perform a linear movement along a direction perpendicular to the third rotation axis.

7. The collet mechanism according to claim 6, characterized in that, The first transmission part includes a first base, a first sliding part, a first transmission component, and a second sliding part. The first sliding part is slidably connected to the first base, and the first sliding part is configured to move relative to the first base in a first direction. The first transmission component includes a first pulley, a second pulley, and a first conveyor belt. The first pulley and the second pulley are both rotatably connected to the first sliding part, and the first pulley and the second pulley are arranged at intervals in the first direction. The first conveyor belt is sleeved on the first pulley and the second pulley. The second sliding part is slidably connected to the first sliding part, and the second sliding part is configured to move relative to the first sliding part in the first direction. The first conveyor belt has opposite sides perpendicular to the first direction, one side of which is connected to the first base and the other side is connected to the second sliding part. The second transmission part includes a second base, a third sliding part, a second transmission component, and a fourth sliding part. The third sliding part is slidably connected to the second base, and the third sliding part is configured to move relative to the second base in the first direction. The second transmission component includes a third pulley, a fourth pulley, and a second conveyor belt. The third pulley and the fourth pulley are both rotatably connected to the third sliding part, and the third pulley and the fourth pulley are arranged at intervals in the first direction. The second conveyor belt is sleeved on the third pulley and the fourth pulley. The fourth sliding part is slidably connected to the third sliding part, and the fourth sliding part is configured to move relative to the third sliding part in the first direction. The second conveyor belt has opposite sides perpendicular to the first direction, one side of which is connected to the second base and the other side is connected to the fourth sliding part.

8. The collet mechanism according to any one of claims 1 to 7, characterized in that, The first driving part, the second driving part, and the third driving part are all stepping motors.

9. Stacker, characterized in that Comprising: The collet mechanism according to any one of claims 1 to 8; A transmission mechanism, the transmission mechanism is connected to the collet mechanism, and the transmission mechanism is configured to drive the collet mechanism to perform vertical lifting motion.

10. The stacker according to claim 9, characterized in that, The transmission mechanism includes a rotating lead screw, the collet mechanism is threadedly connected to the rotating lead screw, and the rotating lead screw has a forward rotation state and a reverse rotation state; Wherein, when the rotating lead screw is in the forward rotation state, the rotating lead screw can drive the collet mechanism to rise; when the rotating lead screw is in the reverse rotation state, the rotating lead screw can drive the collet mechanism to descend.

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