Grabbing assembly

Abstract

The utility model is suitable for the technical field of storage, and provides a grabbing assembly. The grabbing assembly is used for being installed in a pallet fork assembly of the transfer robot. The grabbing assembly comprises a grabbing part and a connecting rod assembly, and the first position of the free end of the grabbing part in the extending state is higher than the second position of the free end in the retracting state. The connecting rod assembly is connected with the grabbing part and used for driving the grabbing part to rotate so as to be switched between the retraction state and the stretching state, and in the stretching state, at least part of the connecting rod assembly is located below the grabbing part so as to support the grabbing part. Compared with only the bearing capacity of the grabbing part, the connecting rod assembly additionally has a supporting function on the basis of transmission, the bearing capacity of the grabbing part is improved, and the cost is not obviously increased.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the warehouse technology field especially, relate to a kind of grabbing subassembly. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is also constantly improved, and intelligent logistics terminal is the development trend of terminal logistics. The carrying robot is one of the main equipment that can realize intelligent logistics terminal and carry out automatic carrying operation. The carrying robot in the related art carries out the grabbing of goods by grabbing subassembly. When the goods are heavy, the carrying capacity of the grabbing subassembly is required to be higher. However, increasing the number of components of the grabbing subassembly or improving the material of the grabbing subassembly is likely to increase the cost. SUMMARY

[0003] Therefore, the utility model provides a kind of grabbing subassembly to solve the technical problem of how to increase the carrying capacity of grabbing subassembly.

[0004] To solve the above problems, the technical scheme provided by the utility model embodiment is as follows:

[0005] The utility model embodiment provides a kind of grabbing subassembly, for being installed in the fork assembly of carrying robot, the grabbing subassembly includes: grab piece, the grab piece has the free end for grabbing goods, the free end grabs goods in the extension state of the grab piece, the free end does not grab goods in the retraction state of the grab piece, the first position of the free end in the extension state is higher than the second position of the free end in the retraction state;Connecting rod assembly is connected with the grab piece, for driving the grab piece to rotate to switch between the retraction state and the extension state;Wherein, the connecting rod assembly includes at least two connecting rods that are hinged, at least part of the connecting rod assembly is located below the grab piece in the extension state, to support the grab piece.

[0006] In some embodiments, the connecting rod assembly includes: a drive connecting rod for being driven to rotate about a drive shaft;A driven connecting rod rotatably connects the drive connecting rod and the grab piece;Wherein, in the extension state, at least part of the driven connecting rod is higher than the drive connecting rod, and the extension direction of the driven connecting rod and the extension direction of the drive connecting rod are both in the first direction.

[0007] In some embodiments, in the retracted state, the extension direction of the driving link is in a second direction, and the first direction and the second direction form an angle, the angle being greater than 0 degrees and less than or equal to 45 degrees; and / or, the end of the gripping member opposite to the free end in the extension direction is a connecting end, the support point of the driven link to the gripping member is located at a distance from the free end, and the ratio of the distance from the support point to the free end to the distance from the connecting end to the free end is greater than or equal to 1 / 3 and less than or equal to 2 / 3.

[0008] In some embodiments, the link assembly further comprises a mounting link fixed to the gripping member, one end of the driven link is hinged to one end of the driving link, the other end of the driven link is hinged to one end of the mounting link, and the other end of the mounting link is fixed to the end of the gripping member opposite to the free end in the extension direction and forms the rotation center of the gripping member; wherein the extension direction of the mounting link is the extension direction of the gripping member and is in the horizontal plane in the extended state.

[0009] In some embodiments, in the retracted state, the driving link, the driven link and the mounting link are arranged in sequence.

[0010] In some embodiments, the gripping assembly further comprises a mounting plate for fixing to the telescopic arm of the fork assembly, the other end of the mounting link is hinged to the mounting plate, the other end of the driving link is hinged to the mounting plate and is driven, and the line connecting the other end of the driving link and the other end of the mounting link is in the vertical direction.

[0011] In some embodiments, in the case where the mass of the cargo is greater than a preset value, the gripping member has a buffer state in which the free end is lower than the first position and higher than the second position; the gripping member also has an intermediate state in which the cargo can be gripped, in the intermediate buffer state, the extension direction of the driving link is in the first direction, the extension direction of the mounting link and the extension direction of the driven link are both in a third direction, the second direction is perpendicular to the third direction, and the third position of the free end in the intermediate state is lower than the first position and higher than the second position.

[0012] In some embodiments, the gripping assembly further comprises a limiting member movably connected to the mounting plate, in the extended state, the limiting member abuts below the gripping member.

[0013] In some embodiments, the gripping assembly further comprises a driving member mounted on the mounting plate, and a driving shaft of the driving member penetrates through the mounting plate and is connected to the driving link.

[0014] In some embodiments, a driving shaft of the driving member is connected to the two driving links to drive the two gripping members to switch between the extended state and the retracted state.

[0015] The gripping assembly is used for being installed in a fork assembly of a carrying robot. The gripping assembly comprises a gripping member and a link assembly. A first position of a free end of the gripping member in an extended state is higher than a second position of the free end in a retracted state. In the extended state, at least part of the link assembly is located below the gripping member to support the gripping member. Then, the gripping member is rotated upward by the link assembly to switch from the retracted state to the extended state. In the extended state, the link assembly is located below the gripping member to provide a supporting force, thereby further enhancing the carrying capacity of the gripping member in addition to the carrying capacity of the gripping member itself. Moreover, the supporting member used in the embodiment of the utility model is the link assembly for switching the gripping member between two states. The link assembly has an additional supporting function on the basis of transmission, thereby not needing to increase supporting components or change the material of the existing components, and thus the cost is not obviously increased. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A structure schematic diagram of a carrying robot provided by the embodiment of the utility model is shown in the figure.

[0017] Figure 2 A structure schematic diagram of a gripping assembly provided by the embodiment of the utility model assembled on a telescopic arm is shown in the figure.

[0018] Figure 3 A partial structure schematic diagram of a gripping assembly provided by the embodiment of the utility model in an extended state is shown in the figure.

[0019] Figure 4 A partial structure schematic diagram of a gripping assembly provided by the embodiment of the utility model in a retracted state is shown in the figure.

[0020] Figure 5 A partial structure schematic diagram of a gripping assembly provided by the embodiment of the utility model in a buffer state is shown in the figure.

[0021] BRIEF DESCRIPTION OF DRAWINGS

[0022] 10, fork assembly; 1, gripping assembly; 11, gripping member; 111, free end; 112, connecting end; 113, supporting point; 12, link assembly; 121, driving link; 122, driven link; 123, mounting link; 13, mounting plate; 14, limiting member; 15, driving member; 151, driving shaft; 2, telescopic arm; 3, fork body. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will combine with the drawings and examples, make further detailed description to the utility model. It should be understood that the specific examples described here are only used to explain the utility model, and are not used to limit the utility model.

[0024] In the specific embodiments, each specific technical feature described can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, various possible combinations of each specific technical feature in the utility model are not described again.

[0025] In the following description, the terms "first", "second", and the like are merely used to distinguish different objects, and do not indicate that the objects have the same or relationship. It should be understood that the orientation description "upper", "lower", "outer", "inner" is the orientation in the normal use state, and the "left" and "right" directions indicate the left and right directions shown in the specific corresponding schematic diagram, which can be the left and right directions in the normal use state or not.

[0026] It should be noted that the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "includes one" does not exclude the existence of other identical elements in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0027] As Figure 1 And Figure 2As shown in the utility model embodiment, the utility model provides a kind of grabbing assembly 1, for installing in fork assembly 10 of handling robot, to realize the grabbing of goods.It needs to be explained, the goods in the utility model embodiment can be contained with material box, for simplicity, namely with material box to indicate goods, material box is not limited to shape, size and other parameters, all material boxes in warehouse can be one or more standard parts;Of course, in other embodiments, the goods stored can also not be contained with material box, directly with goods itself or with other forms to express.Fork assembly 10 can include telescopic arm 2 and fork body 3, and the fork body 3 can form a storage cavity for temporarily storing the material box.The telescopic arm 2 can extend and retract relative to the fork body 3.The grabbing assembly 1 is installed on the telescopic arm 2 to move outside or inside the storage cavity along with the extension and retraction of the telescopic arm 2, so as to lift the material box into the storage cavity for temporary storage or lift the material box in the storage cavity outside for placement.It can be understood that the storage cavity can be understood as an open or semi-open cavity, and the outer boundary of the storage cavity can be determined by the lines connecting the sides of the fork body 3.

[0028] As shown in Figure 3 and Figure 4 , the grabbing assembly 1 includes a grabbing member 11 and a linkage assembly 12.The grabbing member 11 is used to grab goods, and specifically, in the scenario where the goods are represented by material boxes, the outer surface of the material box can form a stepped surface, and the grabbing member 11 can abut below the stepped surface to support the material box in the vertical direction, so that the material box moves along with the movement of the fork assembly 10.

[0029] As shown in Figure 1 and Figure 2 , the linkage assembly 12 is connected with the grabbing member 11 and can drive the grabbing member 11 to rotate, so that the grabbing member 11 switches between the extended state and the retracted state.Specifically, the free end 111 of the grabbing member 11 can rotate around the connecting end 112 of the grabbing member 11, the free end 111 of the grabbing member 11 is used to grab goods, and the connecting end 112 is the end of the grabbing member 11 opposite the free end 111 in the extension direction of the grabbing member 11.The extension direction of the grabbing member 11 represents the length direction of the grabbing member 11, which is also the maximum dimension direction of the grabbing member 11 in a three-dimensional coordinate system.It can be understood that the extension and retraction of the grabbing member 11 are relative to the installation base of the grabbing assembly 1, for example, in the scenario where the grabbing assembly 1 is installed on the telescopic arm 2, the telescopic arm 2 forms the installation base of the grabbing assembly, and the grabbing member 11 rotates to extend and retract relative to the telescopic arm 2, and in the extended state of the grabbing member 11, the free end 111 is farthest from the telescopic arm 2.In the schematic diagram shown in the utility model Figure 1 , the grabbing member 11 is in the retracted state relative to the telescopic arm 2;and in the schematic diagram shown in the utility model Figure 2 , the grabbing member 11 is in the extended state relative to the telescopic arm 2.

[0030] The free end 111 grasps goods when the gripper 11 is extended, and does not grasp goods when the gripper 11 is retracted. The free end 111 is in different positions depending on the gripper 11's state. The first position of the free end 111 in the extended state is higher than the second position of the free end 111 in the retracted state. That is, the gripper 11 flips upwards to switch from the retracted state to the extended state, causing the free end 111 to move from the lower second position to the higher first position. The height of the first position represents the height of the free end 111 relative to the ground in the extended state; similarly, the height of the second position represents the height of the free end 111 relative to the ground in the retracted state.

[0031] This setting allows the grabbing component 1 to be in a retracted state (e.g., Figure 4 As shown, the free end 111 is located below the connecting end 112. This means that the highest point of the gripping component 1 in its retracted state is located at the connecting end 112, not the free end 111. Compared to the embodiment where the gripping component 1 flips down to grip the material box, the gripping component 1 provided in this embodiment flips up to grip the material box, thus lowering the highest point of the gripping component 1 in its retracted state. It should be noted that, to increase the stability of the gripping component 1 in handling the material box, the stepped surface of the material box is generally located near the highest point, meaning the space below the stepped surface is greater than the space above it. Therefore, the height space within the fork body 3 corresponding to the space below the stepped surface can be used to accommodate the gripping component 1 in its retracted state, reducing the height of the fork assembly 10 and facilitating a reduction in the volume of the fork assembly 10, thereby improving the mobility of the handling robot. Meanwhile, with the height of the fork assembly 10 reduced, the maximum lifting height of the fork assembly 10 as a whole increases, making it easier for the fork assembly 10 to pick up and place the top-level bins without requiring the handling robot to climb slopes to pick up and place the top-level bins, thus improving the operating efficiency of the handling robot.

[0032] like Figure 3 and Figure 4 As shown, the linkage assembly 12 is connected to the gripper 11 and is used to drive the gripper 11 to rotate, so that the gripping assembly 1 switches between a retracted state and an extended state. The linkage assembly 12 is driven and transmits the torque of the drive shaft 151 to the gripping assembly 1. The linkage assembly 12 includes at least two hinged links. In the extended state, at least a portion of the linkage assembly 12 is located below the gripper 11 to support the gripper 11. It is possible that the entire linkage assembly 12 is located below the gripper 11, or that only a portion of the links in the linkage assembly 12 are located below the gripper 11, but in any case, at least a portion of the linkage assembly 12 is located below the gripper 11, thus supporting the gripper 11 in the extended state and reducing the possibility of the free end 111 falling and causing the material box to drop.

[0033] It can be understood that if a limiting mechanism independent of the grabbing assembly 1 and driven is arranged and abuts against the grabbing piece 11 in the extended state, a driving source needs to be arranged for the limiting mechanism alone, the movement of the limiting mechanism interferes with the rotation of the grabbing piece 11, and the movement space of the limiting mechanism needs to be independent of the rotation space of the grabbing piece 11. The connecting rod assembly 12 provided in the embodiment of the utility model serves as a transmission piece to be driven to drive the grabbing assembly 1 to rotate, and the movement of the connecting rod assembly 12 does not need to increase an additional driving source, the number of parts of the grabbing assembly 1 is less, and the cost is lower.

[0034] The embodiment of the utility model provides a kind of grabbing assembly 1, which is used to be installed in the fork assembly 10 of handling robot.The grabbing assembly 1 includes grabbing piece 11 and connecting rod assembly 12, and the free end 111 of grabbing piece has first position in extended state higher than second position in retracted state.The at least part of connecting rod assembly 12 is located below grabbing piece 11 in extended state, to support grabbing piece 11.So, the grabbing piece 11 in the embodiment of the utility model is rotated by connecting rod assembly 12 from below to switch from retracted state to extended state, relative to the bearing capacity of only grabbing piece 11 itself, connecting rod assembly 12 provides support force to grabbing piece 11, further enhances the bearing capacity of grabbing piece 11.Moreover, the connecting rod assembly 12 used in the embodiment of the utility model additionally has support function on the basis of transmission, so that support component needs not to be increased or the material of existing component is changed, therefore, cost is not obviously increased.

[0035] In some embodiments, as shown in Figure 3 And Figure 4 Connecting rod assembly 12 includes driving connecting rod 121 and driven connecting rod 122, driving connecting rod 121 is used to be driven to rotate around driving shaft 151, driven connecting rod 122 is rotatably connected driving connecting rod 121 and grabbing piece 11, that is, driven connecting rod 122 is hinged with driving connecting rod 121, and is hinged with grabbing piece 11, that is to say, connecting rod assembly 12 is at least double connecting rod structure.In extended state, driven connecting rod 122 is higher than driving connecting rod 121, and the extension direction of driven connecting rod 122 and the extension direction of driving connecting rod 121 are all in first direction, first direction can be vertical direction, also can be direction inclined to vertical direction, in Figure 3 The extension direction of driven connecting rod 122 and the extension direction of driving connecting rod 121 are substantially flush, so that driven connecting rod 122 and driving connecting rod 121 are substantially connected into a straight line in the case of ignoring shape.

[0036] When the two connecting rods in the double connecting rod structure are in a state of being approximately in a straight line, the force state of the two connecting rods is symmetrical and more evenly distributed, thereby reducing the risk of local overload. At this time, the external force received by the double connecting rod structure can be completely transmitted to the support point through the connecting rods, without additional torque being generated, thereby minimizing the deformation of the structure. Therefore, in the extended state, the driving connecting rod 121 and the driven connecting rod 122 are approximately in a straight line, thereby being able to provide a larger supporting force to the grabbing piece 11, so that the grabbing piece 11 maintains higher stability, thereby increasing the carrying capacity of the grabbing piece 11 and further reducing the possibility of the grabbing piece 11 turning downward in the extended state, thereby causing the material box to fall.

[0037] In some embodiments, as shown in Figure 3 and Figure 4 The first direction N1 has an included angle with the vertical direction, that is, the first direction N1 is inclined relative to the vertical direction. It should be noted that the included angle between the first direction N1 and the vertical direction represents the included angle between the vector extending vertically upward from the lower end of the driving connecting rod 121 and the vector pointing to the driving connecting rod 121. In Figure 3 , N0 represents the vertical direction. That is, the first direction N1 can be inclined in the clockwise direction relative to the vertical direction N0, and the first direction N1 can also be inclined in the counterclockwise direction relative to the vertical direction N0. However, no matter how, the first direction N1 is inclined relative to the vertical direction N0. The included angle between the first direction N1 and the vertical direction N0 is greater than 0 degrees and less than or equal to 45 degrees. In order to facilitate explanation, the included angle between the first direction N1 and the vertical direction N0 is defined as θ, that is, 0 < θ ≤ 45°. In the retracted state, the extension direction of the driving connecting rod 121 can be in the vertical direction, that is, the driving connecting rod 121 can be rotated by θ in the clockwise direction from the vertical direction N0 to the first direction N1, or the driving connecting rod 121 can be rotated by θ in the counterclockwise direction from the vertical direction N0 to the first direction N1. Relative to the embodiment in which the driving member directly connects the grabbing piece and drives the grabbing piece in the range of 0-90 degrees, the driving shaft 151 in the embodiment of the utility model only needs to be rotated in the range of 0-45 degrees, the rotation stroke of the driving shaft 151 is reduced, and the efficiency of switching the grabbing piece 11 between the retracted state and the extended state is improved.

[0038] In addition, in the extended state, the end of the driven link 122 hinged to the driving link 121 is spaced apart from the other end of the driving link 121 in the horizontal direction, that is, the upper end of the driven link 122 is spaced apart from the lower end of the driving link 121 in the horizontal direction, thereby increasing the distance from the free end 111 to the lower end of the driving link 121 while increasing the support force. The driving member 15 is installed at the lower end of the driving link 121, which is far away from the free end 111 in the horizontal direction, so that the profile of the driving member 15 is less likely to exceed the position of the free end 111 in the horizontal direction, thereby not increasing the length of the grabbing assembly 1 in the horizontal direction, and the structure is compact and more space-saving.

[0039] In some embodiments, as shown in Figure 3 and Figure 4 The ratio of the distance from the support point 113 to the free end 111 to the distance from the connecting end 112 to the free end 111 is greater than or equal to 1 / 3 and less than or equal to 2 / 3. The free end 111 and the connecting end 112 are opposite ends of the grabbing member 11 in the extension direction, and it can be understood that the connecting end 112 forms the rotation center of the grabbing member 11, so the connecting end 112 is not the profile edge of the grabbing member 11. For the convenience of understanding, the distance from the free end 111 to the connecting end 112 can be simply understood as the length of the grabbing member 11, that is, the ratio of the distance from the connecting end 112 to the hinge point to the length of the grabbing member 11 is greater than or equal to 1 / 3 and less than or equal to 2 / 3. The driven link 122 is hinged at the middle or near the middle of the grabbing member 11, so as to support the middle or the position near the middle of the grabbing member 11 in the extended state. Compared with the embodiment in which the support point 113 is at the connecting end 112, the support point 113 in the embodiment of the utility model is located between the connecting end 112 and the free end 111, so that the moment of the load applied by the material box to the support point 113 is short, and the possibility of the load making the grabbing member 11 rotate downward is reduced, thereby increasing the stability and load capacity of the grabbing member 11 in the extended state.

[0040] In some embodiments, as shown in Figure 3 and Figure 4 The link assembly 12 further comprises a mounting link 123 fixed to the grabbing member 11, one end of the driven link 122 is hinged to one end of the driving link 121, the other end of the driven link 122 is hinged to one end of the mounting link 123, and the other end of the mounting link 123 is fixed to the connecting end 112 and forms the rotation center of the grabbing member 11, that is, one end of the mounting link 123 (the right end of the mounting link 123) is hinged to the other end of the mounting link 123 (the left end of the mounting link 123) around the connecting end 112. Figure 3 The right end of the mounting link 123 is hinged to the other end of the mounting link 123 around the connecting end 112. Figure 3The left end of the mounting rod 123 rotates. The extension direction of the mounting rod 123 is the same as the extension direction of the gripper 11, and it is on a horizontal plane in the extended state. That is, ignoring the thickness of the mounting rod 123 and the gripper 11, the mounting rod 123 and the gripper 11 are on the same plane. In the extended state, this plane is the horizontal plane for the transport robot to move. With this configuration, the gripper 11 is approximately horizontal in the extended state, and can support the material box in a roughly vertically upward direction, thereby resisting the vertical downward gravity of the material box. The supporting force exerted by the gripper 11 on the material box in the extended state has a large resultant force in the vertical direction, which can more stably support the material box and further improve the load-bearing capacity of the gripper 11.

[0041] It should be noted that warehouse floors are generally level, therefore the plane containing the aforementioned height direction is considered a vertical plane. However, warehouse floors may have uneven areas, meaning a level plane does not necessarily have to be a plane forming a strict 0-degree angle with the horizontal. Considering practical errors, a level plane can be understood as one with an angle within 5 degrees to the horizontal. In other words, a level plane does not need to be absolutely horizontal, and similarly, a vertical plane does not need to be absolutely vertical; approximate horizontal and vertical is sufficient.

[0042] In some embodiments, such as Figure 4 As shown, in the retracted state, the drive link 121, driven link 122, and mounting link 123 are stacked sequentially. The drive link 121, driven link 122, and mounting link 123 are stacked sequentially along the horizontal direction, roughly forming a row, and the outlines of each link are roughly aligned along the stacking direction. The stacking direction of each link represents the length direction of the link assembly 12, and the direction perpendicular to this length direction on the horizontal plane represents the width direction of the link assembly 12. It can be understood that the stacking of the link assembly 12 in the retracted state results in smaller length and width dimensions, saving space occupied by the gripping assembly 1 in the retracted state, which helps to reduce the length and width of the fork assembly 10, thereby further reducing the volume of the fork assembly 10.

[0043] In some embodiments, such as Figure 3 and Figure 4As shown, the grabbing assembly 1 further comprises a mounting plate 13, which is used to be fixed on the telescopic arm 2 of the fork assembly 10. The mounting plate 13 forms a mounting base of the grabbing member 11 and the linkage assembly 12. Specifically, the other end of the mounting linkage 123 is hingedly connected with the mounting plate 13, so that the grabbing member 11 is rotatably connected with the mounting plate 13 through the mounting linkage 123. The other end of the driving linkage 121 is hingedly connected with the mounting plate 13 and is driven. In this way, the grabbing assembly 1 can be modularly assembled as a component independently of the telescopic arm 2. Then, the mounting plate 13 is fixed on the telescopic arm 2, so that the grabbing assembly 1 can be mounted on the telescopic arm 2 as a whole, which is beneficial to improve the assembly efficiency of the fork assembly 10.

[0044] The other end of the driving linkage 121 Figure 3 The other end of the driving linkage 121 Figure 3 The left end of the mounting linkage 123 Figure 4 As known from the above, in the retracted state, the driving linkage 121, the driven linkage 122 and the mounting linkage 123 are stacked. It can be understood that, in the retracted state (see ), the upper end of the linkage assembly 12 is the other end of the mounting linkage 123, and the lower end of the linkage assembly 12 is the other end of the driving linkage 121. That is, in the retracted state, the line connecting the upper end and the lower end of the linkage assembly 12 is in the vertical direction, i.e., each linkage extends in the vertical direction in the retracted state, so that the stacked linkage assembly 12 is substantially a vertical straight line. The extension direction of the mounting linkage 123 is consistent with the extension direction of the grabbing member 11. Therefore, the grabbing member 11 in the retracted state also extends in the vertical direction. In this way, the grabbing assembly 1 in the retracted state extends in the vertical direction, occupies the minimum horizontal space, has a compact structure, and is beneficial to further reduce the size of the fork assembly 10 in the horizontal plane.

[0045] In some embodiments, as Figure 5 shown, in the case that the mass of the cargo is greater than a preset value, the grabbing member 11 has a buffer state in which the free end 111 is lower than the first position and higher than the second position. It should be noted that the preset value is the maximum weight of the cargo box that can be carried by the grabbing member 11 in the extended state. The movement of the free end 111 from the extended state to the buffer state does not rely on the driving force of the driving member 15, but is caused by the overload of the free end 111. In the case that the weight of the cargo box exceeds the preset value, the free end 111 of the grabbing member 11 falls, but does not immediately switch to the retracted state, so as to be able to provide a buffer to the cargo box when it is stationary, thereby reducing the possibility of the cargo box continuing to fall, or to be able to provide a buffer to the cargo box when it is stationary, thereby reducing the risk of damage to the cargo box.

[0046] As Figure 5As shown, in the buffering state, the driving link 121 extends along the second direction, the extension direction of the mounting link 123 and the extension direction of the driven link 122 are both along the third direction, the second direction is perpendicular to the third direction, and in the buffering state, the driving link 121 is perpendicular to the extension direction of the grabbing member 11, and the support force applied by the driving link 121 is applied to the grabbing member 11 without being divided into components along the direction inclined to the grabbing member 11, so that the free end 111 is kept at a position higher than the second position and lower than the first position, thereby better buffering the material box. Figure 5 As shown in the schematic view, N2 represents the second direction, and N3 represents the third direction. It can be understood that, in the buffering state, the mounting link 123 and the driven link 122 are substantially in a straight line, the extension direction of the driving link 121 is perpendicular to the extension direction of the grabbing member 11, and the support force applied by the driving link 121 is applied to the grabbing member 11 without being divided into components along the direction inclined to the grabbing member 11, so that the free end 111 is kept at a position higher than the second position and lower than the first position, thereby better buffering the material box.

[0047] In some embodiments, as shown in the schematic view, Figure 2 As shown, the grabbing assembly 1 further comprises a limiting member 14 movably connected with the mounting plate 13, the limiting member 14 can move horizontally relative to the mounting plate 13, or swing or rotate relative to the mounting plate 13, as long as the limiting member 14 can move relative to the mounting plate 13. In the extended state, the limiting member 14 abuts below the grabbing member 11, and then the limiting member 14 is reset to avoid the rotation of the grabbing member 11, so that the grabbing member 11 is switched from the extended state back to the retracted state. In the process of switching the grabbing member 11 from the retracted state to the extended state, the limiting member 14 remains stationary until the grabbing member 11 moves to the extended state in which the free end 111 is located at the first position, and then the limiting member 14 moves again and abuts below the grabbing member 11. In this way, the limiting member 14 can assist the link assembly 12 to provide vertical upward support to the grabbing member 11, so that the grabbing member 11 remains in the extended state, reduces the possibility of downward rotation of the grabbing member 11, and increases the reliability of the grabbing member 11 in lifting the material box.

[0048] In some embodiments, as shown in the schematic view, Figure 2 As shown, the grabbing assembly 1 further comprises a driving member 15 mounted on the mounting plate 13, and a driving shaft 151 of the driving member 15 penetrates through the mounting plate 13 and is connected with the driving link 121, specifically, the driving shaft 151 of the driving member 15 is connected with the lower end of the driving link 121, so that the grabbing member 11 is switched from the retracted state to the extended state along the direction from bottom to top. The driving member 15 is located on one side of the mounting plate 13, the grabbing member 11 is located on the other side of the mounting plate 13 and rotates on the other side of the mounting plate 13, the mounting space of the driving member 15 is independent of the rotation space of the grabbing member 11, which facilitates the grabbing assembly 1 to maintain the minimum height size, the structure is compact, and it is beneficial to reduce the volume of the fork assembly 10.

[0049] In some embodiments, as shown in the schematic view, Figure 2As shown, the driving shaft 151 of the driving member 15 is connected with the two driving links 121 to drive the two grabbing members 11 to switch between the extended state and the retracted state. One telescopic arm 2 is provided with a plurality of grabbing members 11 to increase the positions capable of grabbing the material box and the force arm supporting the material box, and the two driving links 121 share one driving member 15, so that the two grabbing members 11 connected with the same telescopic arm 2 share one driving member 15, thereby saving the number of driving members 15, saving energy, and reducing the assembly difficulty.

[0050] It should be noted that in some possible embodiments, the two limiting members 14 connected with the same telescopic arm 2 can also share one set of driving sources, so as to further reduce the number of parts, thereby reducing the assembly difficulty.

[0051] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gripping assembly, characterized in that, A fork assembly for mounting in a handling robot, the gripping assembly comprising: a gripping member having a free end for gripping a load, the free end gripping the load in an extended state of the gripping member, the free end not gripping the load in a retracted state of the gripping member, a first position of the free end in the extended state being higher than a second position of the free end in the retracted state; a linkage assembly connected to the gripping member for rotating the gripping member to switch between the retracted state and the extended state; wherein the linkage assembly comprises at least two links hingedly connected, at least part of the linkage assembly being located below the gripping member in the extended state to support the gripping member.

2. The grasping assembly of claim 1, wherein, The linkage assembly comprises: a drive link for being driven to rotate about a drive axis; a driven link rotatably connecting the drive link and the gripping member; wherein in the extended state, the driven link is higher than the drive link, and the driven link and the drive link both extend in a first direction.

3. The grasping assembly of claim 2, wherein, The first direction has an included angle with a vertical direction, the included angle being greater than 0 degree and less than or equal to 45 degrees; and / or, an end of the gripping member opposite to the free end in an extending direction is a connecting end, a support point of the driven link to the gripping member has a distance to the free end, and a ratio of the distance to a distance from the connecting end to the free end is greater than or equal to 1 / 3 and less than or equal to 2 / 3.

4. The grasping assembly of claim 2, wherein, The linkage assembly further comprises: a mounting link fixed to the gripping member, one end of the driven link hingedly connected to one end of the drive link, the other end of the driven link hingedly connected to one end of the mounting link, the other end of the mounting link fixed to the end of the gripping member opposite to the free end in the extending direction and forming a rotation center of the gripping member; wherein the mounting link extends in the extending direction of the gripping member and lies on a horizontal plane in the extended state.

5. The grasping assembly of claim 4, wherein, In the retracted state, the drive link, the driven link and the mounting link are sequentially stacked.

6. The grasping assembly of claim 5, wherein, The gripping assembly further comprises: a mounting plate for being fixed to a telescopic arm of the fork assembly, the other end of the mounting link hingedly connected to the mounting plate, the other end of the drive link hingedly connected to the mounting plate and driven, and a line between the other end of the drive link and the other end of the mounting link being in a vertical direction.

7. The grasping assembly of claim 5, wherein, In a case where the mass of the load is greater than a preset value, the gripping member has a buffer state in which the free end is lower than the first position and higher than the second position; in the buffer state, the drive link extends in a second direction, the mounting link extends in a third direction, and the driven link extends in the third direction, the second direction being perpendicular to the third direction.

8. The grasping assembly of claim 6, wherein, The gripping assembly further comprises: a limiting member movably connected to the mounting plate, the limiting member abutting below the gripping member in the extended state.

9. The grasping assembly of claim 6, wherein, The gripping assembly further comprises: A driving member is mounted on the mounting plate, and a driving shaft of the driving member is connected with the driving link through the mounting plate.

10. The grasping assembly of claim 9, wherein, The driving shaft of the driving member is connected with two driving links to drive the two gripping members to switch between the extended state and the retracted state.

Images