Hand grabbing mechanism and loading and unloading robot

Abstract

The embodiment of the utility model provides a hand grabbing mechanism and a loading and unloading vehicle robot. The hand grabbing mechanism comprises a frame body, a goods conveying assembly and a goods push-pull assembly. Wherein the goods conveying assembly is arranged on the frame body, and the goods conveying assembly is used for conveying goods. The goods push-pull assembly is arranged on the frame body, and the goods push-pull assembly and the goods conveying assembly are arranged in a staggered mode. When goods need to be taken, the goods conveying assembly can convey the goods clockwise, the goods push-pull assembly pulls the goods to the goods conveying assembly, and the goods taking process is completed. When goods need to be loaded, the goods conveying assembly can convey the goods clockwise so as to convey the goods to a designated position.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics equipment, and particularly relates to a hand grabbing mechanism and a loading and unloading robot. BACKGROUND

[0002] In the logistics industry, goods need to be transported between warehouses and transport vehicles. In the traditional way, the transportation of goods is completed by manual labor, but manual labor has high cost and low efficiency. With the continuous development of automatic equipment, some automatic loading and unloading equipment is gradually applied to the loading and unloading of goods in the logistics industry, which reduces the labor cost.

[0003] In the related art, the automatic loading and unloading equipment includes a hand grabbing mechanism for loading and unloading goods and a conveying line for conveying goods, the hand grabbing mechanism grabs goods from a stacked goods pile and places the goods on the conveying line, and the conveying line conveys the goods to a designated position.

[0004] The present application specifically provides a hand grabbing mechanism and a loading and unloading robot. Invention content

[0005] The present application provides a hand grabbing mechanism and a loading and unloading robot to load and unload goods.

[0006] In a first aspect, the present application provides a hand executing mechanism, comprising:

[0007] a frame body;

[0008] a goods conveying assembly arranged on the frame body, the goods conveying assembly being used for conveying goods, and the goods conveying assembly comprising a plurality of conveying parts arranged at intervals;

[0009] a goods pushing and pulling assembly arranged on the frame body, the goods pushing and pulling assembly comprising a plurality of suction assemblies, the plurality of suction assemblies being respectively arranged in the intervals of the plurality of conveying parts, and at least one group of the suction assemblies in the plurality of suction assemblies selectively extending to pull goods to the goods conveying assembly and convey the goods to the rear, or push the goods conveyed from the rear away from the goods conveying assembly.

[0010] In a feasible implementation manner, the goods conveying assembly further comprises a driving motor and a transmission part;

[0011] the transmission part is arranged on the frame body, and the plurality of conveying parts are connected with the transmission part, and the driving motor drives all the conveying parts to act through the transmission part.

[0012] In a feasible implementation manner, the goods conveying assembly further comprises a plurality of driving motors and a plurality of transmission parts;

[0013] The transmission part is arranged on the frame body, at least one of the plurality of conveying parts is connected with the corresponding transmission part, and the plurality of driving motors drive the corresponding conveying parts to move through the corresponding transmission parts.

[0014] In an implementation, the conveying part is configured as a conveying belt assembly or a conveying chain assembly.

[0015] In an implementation, the goods pulling and pushing assembly further comprises a driving member, a guide assembly and a mounting seat.

[0016] The plurality of suction assemblies are arranged on the same mounting seat, the guide assembly is arranged along the length direction of the frame body, the mounting seat is arranged on the guide assembly in a matched manner, the suction assemblies are selectively extended from the side of the conveying part, and the driving member drives the mounting seat to move along the guide assembly.

[0017] In an implementation, the goods pulling and pushing assembly comprises a plurality of driving members, a plurality of guide assemblies and a plurality of mounting seats.

[0018] The plurality of suction assemblies are arranged on the plurality of mounting seats respectively, at least one suction assembly is arranged on one mounting seat, the guide assembly is arranged along the length direction of the frame body, the mounting seat is arranged on the corresponding guide assembly in a matched manner, the suction assemblies are selectively extended from the side of the conveying part, and the corresponding driving member drives the corresponding mounting seat to move along the guide assembly.

[0019] In an implementation, a group of suction assemblies are arranged on each mounting seat.

[0020] In an implementation, the suction assembly comprises a linear driving member, a connecting rod assembly and a suction part, one end of the linear driving member is hingedly connected with the mounting seat, the other end is hingedly connected with the connecting rod assembly, one end of the connecting rod assembly is connected with the mounting seat, and the other end is connected with the suction part, the linear driving member drives the suction part to move through the connecting rod assembly, so as to pull the goods to the goods conveying assembly.

[0021] In an implementation, the suction part comprises a fixing seat and at least one suction disc, the fixing seat is connected with the connecting rod assembly, and at least two suction discs are arranged side by side on the fixing seat.

[0022] In an implementation, at least two suction discs are arranged in an up-down arrangement.

[0023] In an implementation, the hand grabbing mechanism further comprises a rotating assembly and a lifting assembly, the rotating assembly is connected with the frame body, the lifting assembly is connected with the rotating assembly, the lifting assembly is used for swinging the frame body up and down, and the rotating assembly is used for swinging the frame body left and right.

[0024] In a second aspect, the embodiments of the present application provide a loading and unloading robot, comprising a moving mechanism and the hand grabbing mechanism as described in the first aspect.

[0025] Hand grabbing mechanism goods pushing and pulling assembly goods pushing and pulling assembly goods pushing and pulling assembly goods pushing and pulling assembly goods pushing and pulling assembly hand grabbing mechanism

[0026] In a first aspect, the embodiments of the present application provide a hand grabbing mechanism, comprising a frame body, a goods conveying assembly and a goods pushing and pulling assembly. The goods conveying assembly is arranged on the frame body, and the goods conveying assembly comprises a plurality of conveying parts arranged at intervals, which are used for conveying goods. The goods pushing and pulling assembly is arranged on the frame body, and the goods pushing and pulling assembly comprises a plurality of suction assemblies, the plurality of suction assemblies are arranged in the intervals of the plurality of conveying parts respectively, and at least one group of suction assemblies in the plurality of suction assemblies selectively extends to pull the goods to the conveying part and convey the goods to the rear, or push the goods conveyed from the rear away from the conveying part. It can be understood that when the goods need to be taken, the conveying part of the goods conveying assembly can rotate counterclockwise and convey the goods, and the suction assembly of the goods pushing and pulling assembly pulls the goods to the conveying part, and the taking process is completed. When the goods need to be loaded, the conveying part of the goods conveying assembly can rotate clockwise and convey the goods, and at the same time, the suction assembly can push the goods to move, so that the goods are separated from the conveying part.

[0027] In a second aspect, the embodiments of the present application provide a loading and unloading robot, comprising a moving mechanism and the hand grabbing mechanism as described in the first aspect. Since the loading and unloading robot comprises the hand grabbing mechanism in any of the above solutions, it has all the beneficial effects of the hand grabbing mechanism in any of the above solutions, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are included to provide a further understanding of the present application, form a part of the present application and are used to explain the embodiments of the present application and its description, but do not constitute improper limitations on the present application.

[0029] In the drawings:

[0030] Figure 1 is a schematic diagram of the overall structure of the hand grabbing mechanism provided by an embodiment of the present application;

[0031] Figure 2 is Figure 1The structure schematic diagram of the hand grabbing mechanism after removing the frame body in the embodiment of the present application;

[0032] Figure 3 The first state schematic diagram of the goods push-pull assembly in the embodiment of the present application; Figure 1

[0033] Figure 4 The second state schematic diagram of the goods push-pull assembly in the embodiment of the present application; Figure 1

[0034] Figure 5 The first schematic diagram of the hand grabbing mechanism when taking and placing goods in the embodiment of the present application; Figure 1

[0035] Figure 6 The second schematic diagram of the hand grabbing mechanism when taking and placing goods in the embodiment of the present application; Figure 1

[0036] Figure 7 The third schematic diagram of the hand grabbing mechanism when taking and placing goods in the embodiment of the present application; Figure 1

[0037] The structure schematic diagram of the loading and unloading robot provided by an embodiment of the present application. Figure 8 Explanation of reference signs:

[0038] 100-moving mechanism; 200-hand grabbing mechanism; 300-goods;

[0039] 210-frame body; 220-goods conveying assembly; 230-goods push-pull assembly; 240-baffle;

[0040] 221-driving motor; 222-transmission part; 223-conveying part; 231-driving member; 232-mounting seat; 233-suction assembly;

[0041] 2331-linear driving part; 2332-linkage assembly; 2333-suction part;

[0042] 23321-first rod member; 23322-second rod member; 23323-third rod member; 23324-fourth rod member; 233a-fixing seat; 233b-suction disc.

[0043] DETAILED DESCRIPTION

[0044] ​​​​​In order for those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in the description of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0045] In the description of the embodiments of the present application, the terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and other terms should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0048] In the logistics industry, goods need to be transported between warehouses and transport vehicles. In the traditional way, the transportation of goods is completed by manual labor, but manual transportation is high in cost and low in efficiency. With the continuous development of automatic equipment, some automatic loading and unloading equipment is gradually applied to the loading and unloading of goods in the logistics industry, which reduces the labor cost.

[0049] In the related art, the automatic loading and unloading equipment includes a hand grabbing mechanism for loading and unloading goods and a conveying line for conveying goods, the hand grabbing mechanism grabs goods from a stacked goods pile and places them on the conveying line, and the conveying line conveys the goods to a designated position.

[0050] This application provides a hand gripping mechanism and a loading / unloading robot for transporting goods. The following will describe the solution provided by this application embodiment in detail with reference to the accompanying drawings.

[0051] Figure 1 This is a schematic diagram of the overall structure of a hand gripping mechanism 200 provided in one embodiment of this application; Figure 2 yes Figure 1 A schematic diagram of the structure of the middle hand gripping mechanism 200 after removing the frame 210.

[0052] Reference Figure 1 and Figure 2 As shown, this application embodiment provides a hand gripping mechanism 200, including a frame 210, a cargo conveying assembly 220, and a cargo push-pull assembly 230. The cargo conveying assembly 220 is mounted on the frame 210 and includes multiple spaced-apart conveying sections 223 for conveying cargo. The cargo push-pull assembly 220 is also mounted on the frame 210 and includes multiple suction components 233, which are respectively disposed within the intervals of the multiple conveying sections 223. At least one set of suction components 233 selectively extends to pull cargo to the conveying section 223 and convey the cargo to the rear, or pushes cargo conveyed from the rear away from the conveying section 223. Exemplarily, the multiple conveying sections 223 are spaced apart along the width direction of the frame 210, with a certain gap between adjacent conveying sections 223. The distance of the gap can be set according to actual needs.

[0053] Understandably, when goods need to be retrieved, the conveyor section 223 of the goods conveying assembly 220 can rotate counterclockwise and convey the goods, while the suction component 233 of the goods push-pull assembly 220 pulls the goods to the conveyor section 223, completing the retrieval process. When goods need to be loaded, the conveyor section 233 of the goods conveying assembly 220 can rotate clockwise and convey the goods, while the suction component 233 can push the goods to move them away from the conveyor section 223. It should be noted that "behind" refers to the conveyor line or the location where the goods are stored.

[0054] In some examples, the suction component 233 can be moved by a telescopic component. The conveying unit 223 can be driven by a drive component.

[0055] In some examples, the goods conveying assembly 220 comprises a driving motor 221, a transmission part 222 and a plurality of conveying parts 223. The transmission part 222 is arranged on the rack body 210 along the width direction of the rack body 210, and the plurality of conveying parts 223 are arranged at intervals along the width direction of the rack body 210. At least two of the conveying parts 223 are connected to the transmission part 222. The driving motor 221 is arranged on the rack body 210 and connected to the transmission part 222. The driving motor 221 drives all the conveying parts 223 to move through the transmission part 222. At least part of the goods pushing and pulling assembly 230 selectively extends from the side of the conveying part 223 to pull the goods to the conveying part 223.

[0056] In some examples, the goods conveying assembly 220 further comprises a plurality of driving motors 221 and a plurality of transmission parts 222. The plurality of driving motors 221 and the plurality of transmission parts 222 are respectively arranged on the rack body 210. At least one of the plurality of conveying parts 223 is connected to a corresponding transmission part 222. The plurality of driving motors 221 respectively drives the corresponding conveying parts 223 to move through the corresponding transmission parts 222. For example, a group of driving motors 221 is connected to a group of conveying parts 223 through a group of transmission parts 222. The driving motor 221 drives the conveying part 223 to move through the transmission part to convey the goods.

[0057] For example, the conveying part 223 can be a narrow belt conveying assembly, and the transmission part 222 can be a transmission shaft. The transmission shaft can be arranged on the rack body 210 by arranging bearings on both ends of the transmission shaft. The transmission shaft can be connected to the output shaft of the driving motor 221 through a synchronous belt. The driving motor 221 drives the transmission shaft to rotate, and the transmission shaft drives all the narrow belt conveying assemblies to rotate synchronously. It should be noted that the width direction of the rack body 210 can be indicated by the y direction in FIG. 1, and the length direction of the rack body 210 can be indicated by the x direction in FIG. 1. Figure 1 Figure 1

[0058] For example, in the present application, the conveying part 223 has a plurality of conveying parts 223 arranged at intervals along the width direction of the rack body 210. At least part of the goods pushing and pulling assembly 230 extends from the gap between the two groups of conveying parts 223. One end of all the conveying parts 223 is connected to the transmission shaft. The transmission shaft drives all the conveying parts 223 to rotate, thereby conveying the goods. For example, the conveying part 223 can be configured as a conveying belt assembly or a conveying chain assembly. The rack body 210 provides mounting positions for various components and is connected by using profiles. The size and structure can be adjusted according to the mounting requirements of other components.

[0059] In some examples, the rack body 210 is provided with a baffle 240 on both sides. The baffle 240 is located on the side of the outermost conveying part 223 to block the conveyed goods and prevent them from falling. ​​

[0060] Continue to refer to Figure 1 and Figure 2 As shown, exemplarily, the cargo push-pull assembly 230 includes a drive member 231, a guide assembly (not shown), a mounting base 232, and a suction assembly 233. The drive member 231 is mounted on the frame 210, the guide assembly is arranged along the length of the frame 210, the mounting base 232 is fitted onto the guide assembly, and the suction assembly 233 is mounted on the mounting base 232. The drive member 231 is connected to the mounting base 232, and the suction assembly 233 selectively extends from beside the conveying section 223. The drive member 231 drives the mounting base 232 to move along the guide assembly, thereby causing the suction assembly to move inward.

[0061] Once the suction component 233 adsorbs the goods, the drive component 231, via the mounting base 232, pulls the suction component to move the goods along the length of the frame 210, dragging the goods onto the goods conveying component 220. Then, the suction component detaches from the goods, and the drive component 231 continues to move the suction component rapidly inward via the mounting base 232. Simultaneously, the suction component descends below the upper surface of the goods conveying component 220 to avoid interfering with the movement of the goods on the goods conveying component 220.

[0062] For example, the drive unit 231 can be a motor and a transmission belt assembly. The motor is connected to the mounting base 232 through the transmission belt assembly. The rotation of the motor drives the transmission belt to rotate, which in turn drives the mounting base 232 to move. This is prior art and will not be described in detail here.

[0063] The guide assembly can be a slide rail and pulley assembly or a guide rail and slider assembly. If the guide assembly is configured as a guide rail and slider assembly, the guide rail in the guide rail and slider assembly can be set along the length of the frame 210, and the slider in the guide rail and slider assembly can be fixedly connected to the mounting base 232. The slider and the guide rail are connected in cooperation, so that the mounting base 232 can move smoothly along the guide rail.

[0064] Reference Figure 1 As shown, in some examples, the cargo push-pull assembly 230 includes a plurality of suction assemblies 233, which are spaced apart along the width direction of the frame 210, and each suction assembly 233 extends selectively and independently from the side of the conveying section 223. Exemplarily, the spacing between two adjacent suction assemblies 233 may be the same as the spacing between two adjacent conveying sections 223, thereby staggering the suction assemblies 233 and the conveying section 223, allowing each suction assembly to extend independently to suction cargo as needed.

[0065] In other examples, all suction components 233 can extend from the side of the conveyor 223 simultaneously, and after the goods are pulled onto the conveyor 223, all suction components 233 descend simultaneously below the conveyor 223 to avoid interfering with the transport of goods.

[0066] In some examples, the goods pushing and pulling assembly 230 comprises a plurality of driving members 231, a plurality of guiding assemblies, a plurality of mounting seats 232 and a plurality of suction assemblies 233; each suction assembly 233 is arranged on a mounting seat 232, each mounting seat 232 is arranged on a corresponding guiding assembly, and each driving member 231 drives a corresponding mounting seat 232 to move along the guiding assembly. In other examples, the goods pushing and pulling assembly 230 comprises two driving members 231, two guiding assemblies, two mounting seats 232 and a plurality of suction assemblies 233. The plurality of suction assemblies 233 are divided into two groups and are fixedly arranged on the two mounting seats 232, and one driving member 231 drives one mounting seat 232 to move along a corresponding guiding assembly.

[0067] In some examples, the goods pushing and pulling assembly 230 comprises a plurality of driving members 231, a plurality of guiding assemblies, a plurality of mounting seats 232 and a plurality of suction assemblies 233; each suction assembly 233 is arranged on a mounting seat 232, each mounting seat 232 is arranged on a corresponding guiding assembly, and each driving member 231 drives a corresponding mounting seat 232 to move along the guiding assembly. In other examples, the goods pushing and pulling assembly 230 comprises two driving members 231, two guiding assemblies, two mounting seats 232 and a plurality of suction assemblies 233. The plurality of suction assemblies 233 are divided into two groups and are fixedly arranged on the two mounting seats 232, and one driving member 231 drives one mounting seat 232 to move along a corresponding guiding assembly.

[0068] It can be understood that the plurality of conveying portions 223 are arranged at intervals, and there is a gap with a certain distance between adjacent conveying portions 223, and the suction assembly 233 can extend or descend from the gap.

[0069] Figure 3 is a first state diagram of the goods pushing and pulling assembly 230 in Figure 1 Figure 4 is a second state diagram of the goods pushing and pulling assembly 230 in Figure 1

[0070] Referring to Figure 3 and Figure 4 ​​As shown, the suction assembly 233 comprises a linear driving component 2331, a linkage assembly 2332 and a suction part 2333. One end of the linear driving component 2331 is hingedly connected with the mounting base 232, and the other end is hingedly connected with the linkage assembly 2332. One end of the linkage assembly 2332 is connected with the mounting base 232, and the other end is connected with the suction part 2333. When the linear driving component 2331 is extended, the linkage assembly 2332 is pushed to move, and the position of the suction part 2333 is raised to suck the goods. After the goods are pulled to the goods conveying assembly 220, the linear driving component 2331 is retracted, the linkage assembly 2332 is pulled to move reversely, and the position of the suction part 2333 is lowered and hidden below the conveying part 223. It can be understood that the linear driving component 2331 can drive the suction part 2333 to move through the linkage assembly 2332 to pull the goods to the goods conveying assembly 220. For example, the linear driving component 2331 can be a pneumatic cylinder, an electric cylinder or a hydraulic cylinder, or a lead screw nut assembly. Preferably, the electric cylinder is simple in structure and arrangement, and does not need to be connected with a gas source or a hydraulic oil circuit.

[0071] As shown in Figure 3 For example, the linkage assembly 2332 is configured as a four-bar linkage assembly 2332. The four-bar linkage assembly 2332 comprises a first link 23321, a second link 23322, a third link 23323 and a fourth link 23324. The first link 23321 and the third link 23323 are small in size, and the second link 23322 and the fourth link 23324 are long in size. The first link 23321 is fixedly connected with the mounting base 232, and is vertically arranged. One end of the first link 23321 is hingedly connected with one end of the second link 23322, and the other end is hingedly connected with one end of the fourth link 23324. The other end of the second link 23322 is hingedly connected with one end of the third link 23323, and the other end of the fourth link 23324 is hingedly connected with the other end of the third link 23323. The linear driving component 2331 is hingedly connected with the other hinged connection point of the fourth link 23324. The suction part 2333 is fixedly connected with the third link 23323.

[0072] As shown in Figure 3 When the linear driving component 2331 is in the retracted state, the second link 23322 and the fourth link 23324 are in the horizontal state, and the third link 23323 is in the vertical state.

[0073] To ensure the effective adsorption of goods by the adsorption unit 2333 and prevent the goods from falling, the adsorption unit 2333 includes a fixed base 233a and at least two suction cups 233b. The fixed base 233a is connected to the connecting rod assembly 2332, and the at least two suction cups 233b are arranged vertically on the fixed base 233a. It is understood that the more suction cups 233b there are, the greater the adsorption force generated by the adsorption unit 2333 on the goods, thus ensuring the stability of the goods and preventing them from falling. The number of suction cups 233b can be adjusted according to the volume and weight of the goods. The suction cups 233b are conventional suction cups 233b, which need to be connected to an air source to generate adsorption force; the air source pipeline is not shown in the figure.

[0074] To improve the retrieval range, the hand gripping mechanism 200 also includes a slewing component and a lifting component. The slewing component is connected to the frame 210, and the lifting component is connected to the slewing component. The lifting component is used to swing the frame 210 up and down, and the slewing component is used to swing the frame 210 left and right. The lifting component can be a pitch lifting component, for example, including a pitch motor and a drive gear, which work together to drive the pitch movement of the end of the frame 210, thereby increasing the retrieval range. The slewing component can be a slewing support platform, which is used to improve the circumferential mobility of the frame 210.

[0075] Figure 5 yes Figure 1 A first schematic diagram of the hand gripping mechanism 200 picking up and placing goods 300; Figure 6 yes Figure 1 A second schematic diagram of the hand gripping mechanism 200 picking up and placing goods 300; Figure 7 yes Figure 1 The third schematic diagram shows the hand gripping mechanism 200 picking up and placing goods 300.

[0076] like Figure 5 As shown, when transporting goods 300, the drive member 231 moves the goods push-pull assembly 230 to the front end of the goods conveying assembly 220. Then, the movable part (e.g., the telescopic rod in the electric cylinder) of the linear drive member 2331 in the goods push-pull assembly 230 gradually extends, driving the linkage assembly 2332 to move. This causes the suction part 2333 at the end of the linkage assembly 2332 to gradually rise and suction and pull the goods 300. Then, the drive member 231 drives the goods push-pull assembly 230 to move in the opposite direction, pulling the goods push-pull assembly 230 and the goods 300 onto the goods conveying assembly 220.

[0077] Reference Figure 6As shown, after the goods 300 are pulled onto the goods conveying device, the suction cup 233b in the goods pulling assembly 230 is separated from the goods 300, and then the driving member 231 drives the goods pulling assembly 230 to move away from the goods 300 at a speed greater than the moving speed of the goods 300, at the same time, the movable part (for example, the telescopic rod in the electric cylinder) of the linear driving assembly in the goods pulling assembly 230 is retracted, and the height of the suction part 2333 is lowered to below the upper surface of the goods conveying assembly 220 through the linkage assembly 2332, so as to avoid affecting the movement of the goods 300. The state that the linkage assembly 2332 lowers the height of the suction part 2333 to below the upper surface of the goods conveying assembly 220 can be referred to the figure Figure 7 As shown.

[0078] Figure 8 Figure 1 is a structural schematic diagram of a loading and unloading robot provided by an embodiment of the present application.

[0079] In a second aspect, the embodiment of the present application provides a loading and unloading robot, comprising a moving mechanism 100 and the hand grasping mechanism 200 of the first aspect. Since the loading and unloading robot comprises the hand grasping mechanism 200 in any of the above solutions, it has all the beneficial effects of the hand grasping mechanism 200 in any of the above solutions, which will not be repeated here.

[0080] It is easy to understand that, on the basis of the several embodiments provided by the present application, the skilled in the art can combine, split, recombine, etc. the embodiments of the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.

[0081] The above detailed description of the specific embodiments, the purpose, technical solutions and beneficial effects of the embodiments of the present application are further described in detail, and it should be understood that the above is only a specific embodiment of the present application, and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A hand grasping mechanism, characterized by, The application relates to a goods conveying device, comprising: a frame (210); a goods conveying assembly (220) arranged on the frame (210), the goods conveying assembly (220) being used for conveying goods, and the goods conveying assembly (220) comprising a plurality of conveying sections (223) arranged at intervals; a goods pushing and pulling assembly (230) arranged on the frame (210), the goods pushing and pulling assembly (230) comprising a plurality of suction assemblies (233), the plurality of suction assemblies (233) being arranged in the intervals of the plurality of conveying sections (223) respectively, and at least one group of the plurality of suction assemblies (233) selectively extending to pull goods to the conveying sections (223) and convey the goods to the rear or push the goods conveyed from the rear away from the conveying sections (220).

2. The hand grasping mechanism of claim 1, wherein, The goods conveying assembly (220) further comprises a driving motor (221) and a transmission part (222); the transmission part (222) is arranged on the frame (210), and the plurality of conveying sections (223) are connected with the transmission part (222), and the driving motor (221) drives all the conveying sections (223) to act through the transmission part (222).

3. The hand grasping mechanism of claim 1, wherein, The goods conveying assembly (220) further comprises a plurality of driving motors (221) and a plurality of transmission parts (222); the transmission parts (222) are arranged on the frame (210), at least one group of the plurality of conveying sections (223) is connected with the corresponding transmission part (222), and the plurality of driving motors (221) respectively drives the corresponding conveying sections (223) to act through the corresponding transmission part (222).

4. The hand gripping mechanism according to claim 2 or 3, characterized in that, The conveying section (223) is configured as a conveying belt assembly or a conveying chain assembly.

5. The hand grasping mechanism of claim 1, wherein, The goods pushing and pulling assembly (230) further comprises a driving member (231), a guide assembly and a mounting base (232); the plurality of suction assemblies (233) are arranged on the same mounting base (232), the guide assembly is arranged along the length direction of the frame (210), the mounting base (232) is arranged on the guide assembly in a matched mode, the suction assemblies (233) selectively extend from the conveying sections (223), and the driving member (231) drives the mounting base (232) to move along the guide assembly.

6. The hand grasping mechanism of claim 1, wherein, The goods pushing and pulling assembly (230) comprises a plurality of driving members (231), a plurality of guide assemblies and a plurality of mounting bases (232); the plurality of suction assemblies (233) are arranged on the plurality of mounting bases (232) respectively, at least one suction assembly (233) is arranged on one mounting base (232), the guide assemblies are arranged along the length direction of the frame (210), the mounting bases (232) are arranged on the corresponding guide assemblies in a matched mode, the suction assemblies (233) selectively extend from the conveying sections (223), and the corresponding driving members (231) drive the corresponding mounting bases (232) to move along the guide assemblies.

7. The hand gripping mechanism of claim 6, wherein, A group of the suction assemblies (233) are arranged on each of the mounting seats (232).

8. The hand grasping mechanism according to any one of claims 5-7, wherein, The suction assembly (233) comprises a linear driving component (2331), a linkage assembly (2332) and a suction part (2333), one end of the linear driving component (2331) is hinged to the mounting seat (232), the other end is hinged to the linkage assembly (2332), one end of the linkage assembly (2332) is connected to the mounting seat (232), the other end is connected to the suction part (2333), the linear driving component (2331) drives the suction part (2333) to move through the linkage assembly (2332) to pull the goods to the goods conveying assembly (220).

9. The hand gripping mechanism of claim 8, wherein, The suction part (2333) comprises a fixed seat (233a) and at least one suction disc (233b), the fixed seat (233a) is connected to the linkage assembly (2332), and at least two suction discs (233b) are arranged side by side on the fixed seat (233a).

10. The hand gripping mechanism of claim 9, wherein, The suction disc (233b) is provided with at least two, and the at least two suction discs (233b) are arranged in an up-down arrangement.

11. The hand grasping mechanism of claim 1, wherein, The hand grabbing mechanism (200) further comprises a rotating assembly and a lifting assembly, the rotating assembly is connected to the frame body (210), the lifting assembly is connected to the rotating assembly, the lifting assembly is used for swinging the frame body (210) up and down, and the rotating assembly is used for swinging the frame body (210) left and right.

12. A straddle loader robot characterized by, The hand grabbing mechanism (200) comprises a moving mechanism (100) and the hand grabbing mechanism (200) according to any one of claims 1-1.

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