Grabbing assembly and pallet fork assembly

Abstract

The utility model is suitable for the technical field of warehousing, and provides a grabbing assembly and a pallet fork assembly. The pallet fork assembly comprises a grabbing assembly, the grabbing assembly comprises a mounting piece, a grabbing piece, a first connecting piece and a second connecting piece, and the grabbing piece conducts first reciprocating translation between the position close to the mounting piece and the position away from the mounting piece and is used for grabbing goods. The first connecting piece is connected with the mounting piece and the grabbing piece and can do second reciprocating translation along the mounting piece, and the second connecting piece is rotatably connected with the mounting piece and the first connecting piece. The second connecting piece is used for being driven to rotate around the driving shaft so as to drive the grabbing piece to do first reciprocating translation and drive the first connecting piece to do second reciprocating translation. The first connecting piece and the second connecting piece form a crank sliding block mechanism, the structure is simple, the grabbing piece, the first connecting piece and the grabbing piece all move in the horizontal plane, the height space of the grabbing assembly is not occupied, the height size of the grabbing assembly is small, and therefore the height size of the pallet fork assembly is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the warehousing technical field especially relates to a kind of grabbing subassembly and pallet fork 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, and the carrying robot is one of the main equipment that can realize intelligent logistics terminal and carry out automatic carrying operation, which can reduce the heavy physical labor of human beings and improve the carrying efficiency. The carrying robot in the related art carries and lifts goods through the pallet fork subassembly, but in the related art, the components in the pallet fork subassembly are complex and the space utilization rate is poor, so that the height size of the pallet fork subassembly is large, affecting the moving flexibility and operation efficiency of the carrying robot. SUMMARY

[0003] Therefore, the utility model provides a kind of grabbing subassembly and pallet fork subassembly to solve the technical problem of how to reduce the height size of pallet fork subassembly.

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

[0005] In the first aspect, the utility model embodiment provides a kind of grabbing subassembly, comprising: mounting piece;Grabbing piece, for grabbing goods, and can be in the position between close and far from the first reciprocating translation of mounting piece;First connecting piece, connecting the mounting piece and the grabbing piece, and can be the second reciprocating translation of mounting piece;Second connecting piece, rotatably connects the mounting piece and the first connecting piece;Wherein, the second connecting piece is used to be driven and rotates around driving shaft, to drive the first reciprocating translation of grabbing piece and drive the second reciprocating translation of first connecting piece.

[0006] In some embodiments, the first reciprocating translation is along the first direction, the second reciprocating translation is along the second direction, and the first direction and the second direction are perpendicular and parallel to the horizontal plane.

[0007] In some embodiments, the grabbing piece is hinged to one end of the first connecting piece, and the other end of the first connecting piece can translate on the mounting piece along the second direction;The grabbing piece is provided with a chute extending along the second direction, and one end of the second connecting piece is installed in the chute.

[0008] In some embodiments, the gripping member is hinged to one end of the first connecting member, the other end of the first connecting member is horizontally movable on the mounting member along the second direction, and one end of the second connecting member is hinged between the one end and the other end of the first connecting member.

[0009] In some embodiments, the other ends of the two second connecting members are drivingly connected, and at least one of the other ends is connected with the driving shaft; the two second connecting members drive the one ends of the two first connecting members to move close to each other and move away from each other, so as to drive the gripping member to move reciprocally horizontally along the first direction.

[0010] In some embodiments, one end of the second connecting member is provided with a gear, and the two gears are meshingly arranged.

[0011] In some embodiments, the mounting member is provided with a limiting slot extending along the second direction, and the other end of the first connecting member is slidably installed in the limiting slot.

[0012] In some embodiments, the mounting members are spaced apart, the first connecting member and the second connecting member are arranged between the two mounting members, the first connecting member is slidably connected with the two mounting members, and the second connecting member is rotatably connected with the two mounting members.

[0013] In some embodiments, the gripping assembly further comprises a driving member installed on the mounting member, and a driving shaft of the driving member is connected with the other end of the second connecting member.

[0014] In the second aspect, the utility model further provides a fork assembly, which is used for being installed in a carrying robot, and comprises a fork body, at least two telescopic arms arranged on opposite sides of the fork body respectively, and the telescopic arms can be extended and retracted relative to the fork body, and the gripping assembly of the first aspect, wherein the mounting member of the gripping assembly is fixed to the telescopic arm.

[0015] The utility model discloses a kind of grabbing components, the grabbing component is used to install in fork assembly of handling robot.The grabbing component includes mounting piece, grabbing piece, first connecting piece and second connecting piece, grabbing piece is used to grab goods, and can be reciprocating translation between the position close to and away from mounting piece.First connecting piece connects mounting piece and grabbing piece, and can be second reciprocating translation along mounting piece, second connecting piece is rotatably connected mounting piece and first connecting piece.Second connecting piece is used to be driven and rotate around driving shaft, to drive grabbing piece to be reciprocating translation and drive first connecting piece to be second reciprocating translation.First connecting piece and second connecting piece form crank slider mechanism, structure is simple, convenient to lay out, and grabbing piece, first connecting piece and grabbing piece are all moved in horizontal plane, do not occupy the height space of grabbing component, the height size of grabbing component is smaller, thereby reduce the height size of fork assembly, the volume of fork assembly is smaller, improve the moving flexibility and operation efficiency of handling robot. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The structure diagram of handling robot provided by the utility model embodiment is shown;

[0017] Figure 2 The structure diagram of first grabbing component provided by the utility model embodiment is shown;

[0018] Figure 3 The structure diagram of second grabbing component provided by the utility model embodiment is shown

[0019] Figure 4 The structure diagram of second grabbing component provided by the utility model embodiment is shown in another angle.

[0020] Mark explanation of drawing:

[0021] 10, fork assembly;1, grabbing component;11, mounting piece;111, limit slot;12, grabbing piece;121, sliding slot;13, first connecting piece;14, second connecting piece;141, gear;15, driving piece;2, fork body;3, telescopic arm. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the utility model more clear and obvious, the utility model is further described in detail in the following with the drawings and examples.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.

[0023] In the specific embodiments, various specific technical features described can be combined in any suitable manner, for example, different embodiments and technical solutions can be formed by combining different specific technical features, without contradiction. In order to avoid unnecessary repetition, various possible combinations of various specific technical features in the utility model will not be described again.

[0024] 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 related aspects. 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 can not be.

[0025] It should be noted that the terms "comprise", "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 limitation, the element defined by the sentence "includes one" does not exclude the presence of another identical element in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0026] As shown in Figure 1 The utility model embodiment provides a kind of grabbing assembly 1 for being installed in fork assembly 10 of handling robot, to realize the grabbing of goods.It should be noted that the goods in the utility model embodiment can be contained in material box, for simplicity, namely, material box indicates goods, material box is not limited to shape, size and the like 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 in material box, directly use goods itself or use other forms to express.

[0027] As shown in Figure 2 Grabbing assembly 1 includes mounting piece 11, grabbing piece 12, first connecting piece 13 and second connecting piece 14, mounting piece 11 is as the installation basis of grabbing piece 12, first connecting piece 13 and second connecting piece 14, grabbing piece 12 is used to grab goods, specifically, the outer surface of material box can form step surface, grabbing piece 12 can be abutted below step surface, to support material box in vertical direction, so that material box moves with the movement of fork assembly 10.It should be noted that vertical direction is the height direction of grabbing assembly 1 and fork assembly 10, and also the thickness direction of grabbing piece 12, because vertical surface is height surface.

[0028] It can be understood that if the grabbing member 12 is flipped in the vertical plane, the height space of the grabbing assembly 1 needs to be reserved for the flipping of the grabbing member 12, and the minimum height size of the grabbing assembly 1 is limited, so that the height of the grabbing assembly 1 is larger, thereby the height and volume of the fork assembly 10 are larger, which affects the moving flexibility and working efficiency of the carrying robot.

[0029] In the grabbing assembly 1 provided in the embodiment of the utility model, as shown in Figure 2 The grabbing member 12 can be reciprocated in the first reciprocating plane between the position close to the mounting member 11 and the position away from the mounting member 11, and specifically, the grabbing member 12 drives the goods to reciprocate in the first reciprocating plane in the case that the grabbing member 12 supports the goods. The first connecting member 13 connects the mounting member 11 and the grabbing member 12, and can be reciprocated in the second reciprocating plane along the mounting member 11, that is, the first connecting member 13 is slidingly connected with the mounting member 11, and is rotationally connected with the grabbing member 12. The second connecting member 14 is rotationally connected with the mounting member 11 and the first connecting member 13, and forms a crank slider mechanism with the first connecting member 13, wherein at least part of the first connecting member 13 forms a slider, and the second connecting member 14 forms a crank, and the rotation of the second connecting member 14 can drive the first connecting member 13 to reciprocate in the second reciprocating plane along the mounting member 11, which is simple in structure and convenient to arrange. The crank slider mechanism can convert the rotary motion into reciprocating linear motion in the horizontal plane more efficiently, and the contact area between the components is small, the relative wear is less, the vibration and noise can be reduced, and the motion stability of the grabbing member 12 can be improved.

[0030] It should be noted that the ground of the warehouse is generally a horizontal plane, so the plane perpendicular to the horizontal plane is a vertical plane, and the vertical direction is in the vertical plane. It can be understood that the ground of the warehouse may have concave and convex in some areas, that is, the horizontal plane does not require to be absolutely horizontal, and the corresponding height plane also does not require to be absolutely vertical, and the existence of the ground levelness error is allowed, as long as it is generally horizontal and vertical.

[0031] As Figure 2The second connecting member 14 is driven to rotate around the driving shaft to drive the grabbing member 12 to make the first reciprocating translation and drive the first connecting member 13 to make the second reciprocating translation. The second connecting member 14 can be coaxially connected with the driving shaft or indirectly connected with the driving shaft through a synchronous wheel or a gear, as long as the second connecting member 14 can be driven to rotate around the driving shaft. The first connecting member 13 and the grabbing member 12 make reciprocating translation to move in the horizontal plane, and thus the second connecting member 14 driving the first connecting member 13 to move also moves in the horizontal plane. The grabbing member 12, the first connecting member 13 and the second connecting member 14 all move in the horizontal plane, which is perpendicular to the rotation axis of the driving shaft. It can be understood that the torque borne by the driving shaft is in the horizontal plane, the grabbing member 12 supports the material box, and the load borne by the grabbing member 12 is perpendicular to the horizontal plane. The load borne by the grabbing member 12 exerts a smaller torque on the driving shaft, prolonging the service life of the driving member 15. In addition, since the grabbing member 12 moves in the horizontal plane without turning in the vertical plane, the grabbing assembly 1 does not need to reserve space for the turning of the grabbing member 12 in the height direction, and the height dimension of the grabbing assembly 1 is smaller, thereby reducing the height dimension of the fork assembly 10 and facilitating the reduction of the volume of the fork assembly 10 to improve the moving flexibility and working efficiency of the carrying robot.

[0032] The utility model embodiment provides a kind of grabbing assembly 1, which is used to be installed in the fork assembly 10 of carrying robot. The grabbing assembly 1 includes mounting member 11, grabbing member 12, first connecting member 13 and second connecting member 14, and the grabbing member 12 is used to grab goods and can make first reciprocating translation between the position close to and away from the mounting member 11. The first connecting member 13 connects the mounting member 11 and the grabbing member 12, and can make second reciprocating translation along the mounting member 11, and the second connecting member 14 is rotatably connected with the mounting member 11 and the first connecting member 13. The second connecting member 14 is driven to rotate around the driving shaft to drive the grabbing member 12 to make the first reciprocating translation and drive the first connecting member 13 to make the second reciprocating translation. The first connecting member 13 and the second connecting member 14 form a crank slider mechanism, which is simple in structure and convenient to layout. The grabbing member 12, the first connecting member 13 and the grabbing member 12 all move in the horizontal plane, do not occupy the height space of the grabbing assembly 1, so that the height dimension of the grabbing assembly is smaller, thereby reducing the height dimension of the fork assembly 10.

[0033] It can be understood that the movement of the gripper 12, the first connecting member 13, and the second connecting member 14 in the horizontal plane means that the gripper 12, the first connecting member 13, and the second connecting member 14 can be simplified as two-dimensional line segments or curves. They can then oscillate back and forth within the same horizontal plane. Here, the horizontal plane does not necessarily have to be a plane forming a 0-degree angle with the horizontal direction in a strict sense. Considering practical errors, the horizontal plane can be understood as any plane with an angle within 5 degrees to the horizontal direction. Furthermore, if the gripper 12, the first connecting member 13, and the second connecting member 14 are all considered three-dimensional objects, then the movement of their centerlines can also occur within multiple parallel horizontal planes.

[0034] In some embodiments, such as Figure 2 As shown, the first reciprocating translation is along a first direction, and the second reciprocating translation is along a second direction. The first and second directions are perpendicular and parallel to the horizontal plane. The mutually perpendicular first and second directions form a plane, which is the horizontal plane for the movement of the gripper 12, the first connector 13, and the second connector 14, and also the horizontal plane for the movement of the handling robot. In the schematic diagram of this application, N1 represents the first direction, and N2 represents the second direction.

[0035] Since the first connecting member 13 performs a second reciprocating translation on the mounting member 11, it can be known that the first direction is perpendicular to the mounting member 11. Thus, the gripping member 12 can perform a first reciprocating translation perpendicular to the mounting member 11 on the horizontal plane. This allows the gripping member 12 to move closer to and further away from the material box in a direction perpendicular to the box, reducing the possibility of the material box tilting due to collisions caused by the gripping member 12 moving in a direction inclined relative to the box. This helps maintain the positional accuracy of the material box, thereby improving the accuracy of cargo handling.

[0036] In some embodiments, such as Figure 2 As shown, the gripper 12 is hinged to one end of the first connecting member 13, and the other end of the first connecting member 13 can translate along the second direction on the mounting member 11. The other end of the first connecting member 13 constitutes the slider in the crank-slider mechanism. Specifically, a shaft that can be inserted into the mounting member 11 can be provided at the other end of the first connecting member 13, or a protrusion that can be inserted into the mounting member 11 can be integrally formed at the other end of the first connecting member 13. Regardless of the structure of the first connecting member 13, it is sufficient that the other end of the first connecting member 13 can translate along the second direction on the mounting member 11.

[0037] The grabbing member 12 is provided with a sliding groove 121 extending along the second direction, and one end of the second connecting member 14 is mounted in the sliding groove 121. That is, the second connecting member 14 also reciprocates along the second direction on the grabbing member 12, and the first connecting member 13 and the second connecting member 14 form a scissors structure, which can effectively disperse the load, has good bending resistance, and improves the motion stability of the grabbing member 12. In addition, the length of the grabbing member 12 needs to be greater than the length of the sliding groove 121, the grabbing member 12 is relatively long, has a relatively long force arm that can support the material box, and is convenient for the grabbing member 12 to stably grab the material box.

[0038] In some embodiments, as shown in Figure 3 The grabbing member 12 is hinged to one end of the first connecting member 13, and the other end of the first connecting member 13 can move along the second direction on the mounting member 11, and the other end of the first connecting member 13 constitutes a slider in a crank slider mechanism. One end of the second connecting member 14 is hinged between one end and the other end of the first connecting member 13, that is, the second connecting member 14 is rotationally connected with the first connecting member 13, and the grabbing member 12 is indirectly connected through the first connecting member 13.

[0039] Two first connecting members 13 are provided and hinged with one second connecting member 14 respectively, and the two first connecting members 13 are hinged at two ends of the grabbing member 12 in the second direction. That is, one first connecting member 13 and one second connecting member 14 hinged with each other form a set of connecting rods, and one set of connecting rods is arranged at the opposite ends of the grabbing member 12 in the second direction, and the two sets of connecting rods act together to prevent the grabbing member 12 from tilting relative to the second direction during movement, reduce the possibility of the grabbing member 12 colliding with the material box to tilt, and improve the precision of cargo handling.

[0040] In some embodiments, as shown in Figure 4 The other ends of the two second connecting members 14 are drivingly connected, that is, the ends of the two second connecting members 14 away from the first connecting member 13 are drivingly connected with each other, and synchronous pulleys and belts, sprockets and chains, or meshing gears 141 can be arranged to connect the other ends of the two second connecting members 14, so that the two second connecting members 14 can move synchronously. At least one of the other ends of the two second connecting members 14 is connected with a driving shaft, and two driving members 15 can be arranged, each driving member 15 being connected with one second connecting member 14, and the driving directions of the two driving members 15 can be opposite, one driving member 15 driving the grabbing member 12 to move towards the mounting member 11, and the other driving member 15 driving the grabbing member 12 to move away from the mounting member 11. Of course, only one driving member 15 can be arranged to reduce the number of parts and facilitate assembly of the grabbing assembly 1. However, regardless of the number of driving members 15 arranged, the two second connecting members 14 can move synchronously to reduce the possibility of the grabbing member 12 tilting relative to the second direction.

[0041] Two second connecting members 14 drive two first connecting members 13 to move close to each other and move away from each other, so as to drive the grabbing member 12 to move in the first reciprocating translation. The other end of the two first connecting members 13 can be arranged between the other end of the two second connecting members 14, or the other end of the two second connecting members 14 can be arranged between the other end of the two first connecting members 13. In any case, the positions of the two sets of connecting rod groups are symmetrical, the space utilization is high, the structure is compact, and the space is saved.

[0042] Exemplarily, in Figure 4 the schematic view, the other end of the two second connecting members 14 is arranged between the other end of the two first connecting members 13, and the movement of the other end of the two first connecting members 13 towards the direction away from each other can drive the grabbing member 12 to move towards the direction close to the mounting member 11; and the movement of the other end of the two first connecting members 13 towards the direction close to each other can drive the grabbing member 12 to move away from the mounting member 11.

[0043] In some embodiments, as Figure 4 shown, one end of the second connecting member 14 is provided with a gear 141, and the two gears 141 are arranged in meshing. In the embodiment where the two sets of connecting rod groups are arranged symmetrically, the two gears 141 are arranged in meshing outside, driven by the driving member 15, and the two second connecting members 14 rotate in opposite directions. The transmission precision and stability of the gear 141 meshing structure are high, so as to improve the movement fluency of the second connecting member 14 and the movement fluency of the grabbing member 12.

[0044] In some embodiments, as Figure 2 and Figure 3 shown, the mounting member 11 is provided with a limiting slot 111 extending along the second direction N2, and the other end of the first connecting member 13 is slidably arranged in the limiting slot 111. The movement stroke of the other end of the first connecting member 13 is the length of the limiting slot 111, and the opposite ends of the limiting slot 111 form the limit positions of the movement of the other end of the first connecting member 13. By adjusting the length of the limiting slot 111, the movement stroke of the first connecting member 13 can be adjusted, and then the farthest distance of the grabbing member 12 away from the mounting member 11 can be adjusted. The structure is simple and convenient to operate.

[0045] In some embodiments, as Figure 2 and Figure 3As shown, two mounting pieces 11 are arranged at intervals, the first connecting piece 13 and the second connecting piece 14 are arranged between the two mounting pieces 11, and it can be understood that the mounting pieces 11 are arranged at intervals in the vertical direction, and the space between the two mounting pieces 11 can be used to mount the first connecting piece 13 and the second connecting piece 14, so that the space utilization is high. When the grabbing piece 12 is at the position closest to the mounting piece 11, at least part of the first connecting piece 13 and the second connecting piece 14 can be accommodated in the space between the two mounting pieces 11, so as to reduce the volume of the grabbing assembly 1 in the state of retracting the grabbing piece 12, thereby further reducing the volume of the fork assembly 10.

[0046] The first connecting piece 13 is in sliding connection with the two mounting pieces 11, and the second connecting piece 14 is in rotary connection with the two mounting pieces 11. That is, the upper and lower ends of the first connecting piece 13 are respectively inserted into one limiting groove 111, and the upper and lower ends of the second connecting piece 14 are respectively hinged to one mounting piece 11. The upper and lower ends of the first connecting piece 13 and the second connecting piece 14 are supported, the movement stability is high, the load capacity of the grabbing piece 12 is increased, and the possibility of jamming of the grabbing assembly 1 during movement is reduced.

[0047] In some embodiments, as shown in Figure 2 and Figure 3 The grabbing assembly 1 further comprises a driving piece 15, the driving piece 15 is mounted on the mounting piece 11, and a driving shaft of the driving piece 15 is connected to the other end of the second connecting piece 14 through the mounting piece 11. That is, the driving shaft of the driving piece 15 is directly connected to the other end of the second connecting piece 14, and the structure is simple and convenient to arrange. One driving piece 15 is arranged in each group of grabbing assemblies 1, and each group of grabbing assemblies 1 can be modularly assembled and then mounted into the fork assembly 10, so as to facilitate improving the assembly efficiency of the fork assembly 10. Meanwhile, each group of grabbing assemblies 1 has an independent driving source, so as to facilitate controlling independent movement of each group of grabbing assemblies 1, thereby facilitating flexible operation.

[0048] As shown in Figure 1 The utility model embodiment further provides a fork assembly 10, the fork assembly 10 comprises the grabbing assembly 1 of the first aspect, and thus has the same technical effects as the grabbing assembly 1 of the first aspect. That is, the fork assembly 10 provided by the utility model embodiment has a small height size, a simple structure, and a long service life and a large load capacity.

[0049] As shown in Figure 1As shown, the fork assembly 10 further comprises a fork body 2 and at least two telescopic arms 3, which are respectively arranged on opposite sides of the fork body 2, and can be extended and retracted relative to the fork body 2 to lift a container from outside the fork body 2 to inside the fork body 2, or vice versa. The mounting member 11 of the grabbing assembly 1 is fixed to the telescopic arm 3, and the mounting member 11 is a component independent of the telescopic arm 3. After the components of the grabbing assembly 1 are modularly assembled, the grabbing assembly 1 can be assembled to the telescopic arm 3 as a component. It is explained that the direction in which the grabbing member 12 approaches and moves away from the mounting member 11 is perpendicular to the telescopic direction of the telescopic arm 3, and both are in the horizontal plane. Figure 1 In the schematic view shown, N1 represents the direction in which the grabbing member 12 approaches and moves away from the mounting member 11, and N2 represents the telescopic direction of the telescopic arm 3.

[0050] In some possible embodiments, as shown in Figure 1 and Figure 2 As shown, one telescopic arm 3 can be provided with multiple grabbing assemblies 1 to increase the support position and the support arm on one side of the container. In order to increase the carrying efficiency, multiple telescopic arms 3 can also be arranged in the vertical direction, so that at least two containers can be carried at the same time. In some possible embodiments, multiple containers can be stacked in the vertical direction to form a stack of containers, that is, the stacking of multiple containers does not need to be supported by a shelf, and the surfaces of adjacent containers in the same stack of containers at least partially contact each other in the vertical direction. Multiple stacks of containers can be stored in the warehouse to increase the number of containers that can be stored in the warehouse. In order to separate two adjacent containers in a stack of containers and realize the lifting of the target container, multiple telescopic arms 3 can also be arranged in the vertical direction.

[0051] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made 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, The grabbing assembly comprises: a mounting member; a grabbing member for grabbing goods and capable of making a first reciprocating motion between a position close to and a position away from the mounting member; a first connecting member connecting the mounting member and the grabbing member and capable of making a second reciprocating motion along the mounting member; a second connecting member rotatably connecting the mounting member and the first connecting member; wherein the second connecting member is driven to rotate around a driving shaft to drive the grabbing member to make the first reciprocating motion and drive the first connecting member to make the second reciprocating motion.

2. The grasping assembly of claim 1, wherein, The first reciprocating motion is along a first direction, the second reciprocating motion is along a second direction, and the first direction and the second direction are perpendicular and both parallel to a horizontal plane.

3. The grasping assembly of claim 2, wherein, The grabbing member is hinged to one end of the first connecting member, and the other end of the first connecting member is capable of moving along the second direction on the mounting member; The grabbing member is provided with a sliding groove extending along the second direction, and one end of the second connecting member is mounted in the sliding groove.

4. The grasping assembly of claim 2, wherein, The grabbing member is hinged to one end of the first connecting member, and the other end of the first connecting member is capable of moving along the second direction on the mounting member, and one end of the second connecting member is hinged between one end and the other end of the first connecting member; wherein the first connecting member is provided with two and each is hinged with one second connecting member, and two first connecting members are hinged to two ends of the grabbing member in the second direction.

5. The grasping assembly of claim 4, wherein, The other ends of the two second connecting members are drivingly connected, and at least one is connected with the driving shaft; The two second connecting members drive one end of the two first connecting members to approach each other and to move away from each other to drive the grabbing member to make the first reciprocating motion.

6. The grasping assembly of claim 5, wherein, One end of the second connecting member is provided with a gear, and two gears are meshingly arranged.

7. The grasping assembly of claim 2, wherein, The mounting member is provided with a limiting groove extending along the second direction, and the other end of the first connecting member is slidably mounted in the limiting groove.

8. The grasping assembly of claim 7, wherein, The mounting member is provided with two and the first connecting member and the second connecting member are arranged between the two mounting members, and the first connecting member is slidably connected with the two mounting members, and the second connecting member is rotatably connected with the two mounting members.

9. The gripping assembly of any one of claims 1 to 8, wherein, The grabbing assembly further comprises: a driving member mounted on the mounting member, and a driving shaft of the driving member is connected with the other end of the second connecting member.

10. A fork assembly characterized by, The fork assembly is used for being mounted in a carrying robot, and the fork assembly comprises: a fork body; at least two telescopic arms arranged on opposite sides of the fork body respectively, and the telescopic arms are capable of extending and retracting relative to the fork body; the grabbing assembly according to any one of claims 1 to 9, and the mounting member of the grabbing assembly is fixed to the telescopic arms.

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