Clamping mechanism and conveying system

Abstract

The utility model relates to the technical field of conveying systems, in particular to a clamping mechanism and a conveying system.The clamping mechanism comprises a mounting frame and a clamping assembly, and the clamping assembly comprises a first clamping arm, a second clamping arm and a driving assembly used for driving the first clamping arm and the second clamping arm to move relatively; the clamping device further comprises a pushing assembly, the pushing assembly is arranged on the mounting frame, and the pushing direction of the pushing assembly faces the position between the first clamping arm and the second clamping arm. According to the clamping mechanism, the pushing assembly is arranged, the pushing assembly is used for adjusting the position of an object before clamping, the object is located between the first clamping arm and the second clamping arm, the clamping assembly can stably clamp the object, and stable clamping of the clamping mechanism and stable conveying of the object are achieved on the basis of simple control.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of conveying system, more particularly to a kind of clamping mechanism and conveying system. BACKGROUND

[0002] With the rapid development of industrial automation, the traditional manual operation mode has been unable to meet the efficient, accurate and continuous production demand for material handling and conveying in the production process. Especially in the assembly process of instrument line blower, the automation transformation of handling and conveying link has become a necessary means to improve production efficiency, reduce labor intensity and ensure product quality.

[0003] The prior art discloses a clamp and a carrying device, the clamp comprising a support frame, a clamping assembly and a buffer assembly. The clamping assembly and the buffer assembly are arranged on the support frame. The clamping assembly has a clamping state and an open state. The buffer assembly is connected with the clamping assembly. When the clamping assembly is in the clamping state, the buffer assembly is used to provide a buffer force for the clamping assembly. During the clamping process of the clamping assembly, the buffer assembly buffers the clamping force of the clamping assembly, and under the condition that the maximum clamping force provided by the clamping assembly is effectively controlled, the risk of damage to the clamped product by the clamping assembly is reduced. However, the clamp requires high positioning accuracy of the equipment or a complex visual recognition system. When the position of the required clamped article is deviated, the clamp may be clamped unstably or even empty, which affects the conveying of the article. SUMMARY

[0004] The utility model aims at overcoming the defects of the prior art that the control is complex and the clamp is easy to clamp unstably or even empty, which affects the conveying of the article, and provides a clamping mechanism and a conveying system, which realizes stable clamping of the clamping mechanism and stable conveying of the article on the basis of simple control.

[0005] To solve the above technical problems, the utility model adopts the technical scheme of:

[0006] A clamping mechanism is provided, which comprises a mounting frame and a clamping assembly. The clamping assembly comprises a first clamping arm, a second clamping arm and a driving assembly for driving the relative movement of the first clamping arm and the second clamping arm. The clamping mechanism further comprises a pushing assembly arranged on the mounting frame, and the pushing direction of the pushing assembly is towards the space between the first clamping arm and the second clamping arm.

[0007] The clamping mechanism is simple to control, stable clamping is realized, and the article is stably conveyed.

[0008] Further, the driving assembly comprises a cylinder and a linkage assembly, the cylinder and the linkage assembly are arranged on the mounting frame, the output end of the cylinder is connected with the first clamping arm, and the two ends of the linkage assembly are respectively connected with the first clamping arm and the second clamping arm. When clamping, the cylinder is started to drive the first clamping arm to move, the movement of the first clamping arm drives the linkage assembly to move, the second clamping arm is driven by the linkage assembly to move synchronously, so that the first clamping arm and the second clamping arm move relatively, and the article is clamped.

[0009] Further, the linkage assembly comprises a supporting connecting rod, a first connecting rod and a second connecting rod, the supporting connecting rod is rotationally connected with the mounting frame, the two ends of the first connecting rod are respectively rotationally connected with one end of the supporting connecting rod and the first clamping arm, the two ends of the second connecting rod are respectively rotationally connected with the other end of the supporting connecting rod and the second clamping arm, and the first clamping arm and the second clamping arm are slidingly connected with the mounting frame. The cylinder drives the first clamping arm to move, the first clamping arm drives the first connecting rod to move, the first connecting rod drives the supporting connecting rod to rotate, the supporting connecting rod drives the second connecting rod to move, so as to drive the second clamping arm to move.

[0010] Further, the first clamping arm and the second clamping arm are both provided with a deviation compatible assembly, the deviation compatible assembly comprises an abutting plate and an elastic piece, the two ends of the elastic piece are respectively connected with the abutting plate and the first clamping arm, or the two ends of the elastic piece are respectively connected with the abutting plate and the second clamping arm, the elastic piece is arranged along the clamping direction of the clamping assembly, and the abutting plate is located between the first clamping arm and the second clamping arm. By arranging the deviation compatible assembly, when the article is clamped, the abutting plate abuts against the article, and through compression of the elastic piece, articles within a certain size can be clamped on the basis of equal control of the driving assembly, so that the compatibility of the clamping assembly is improved.

[0011] Further, the pushing direction of the pushing assembly is perpendicular to the clamping direction of the clamping assembly, so that the article can be pushed to the first clamping arm and the second clamping arm of the clamping assembly by the pushing assembly.

[0012] Further, the mounting frame is connected with the output end of the lifting mechanism, the mounting frame is lifted by the lifting mechanism, the article at different heights can be clamped, and the clamped article can be transported to different heights.

[0013] Further, the first clamping arm and the second clamping arm are both provided with a height alarm assembly, the height alarm assembly comprises a guide rail, a sliding rod, a touch switch, an alarm plate and an alarm, the guide rail is arranged on the first clamping arm or the second clamping arm, the sliding rod is in sliding connection with the guide rail, the sliding rod slides in the vertical direction, the touch switch is arranged at the top end of the guide rail, the alarm plate is arranged at the bottom end of the sliding rod, and the touch switch is in communication connection with the lifting mechanism and the alarm, the clamping mechanism is lowered by starting the lifting mechanism, when the article is placed in a position deviating from the normal position, the first clamping arm or the second clamping arm abuts against the article, if the clamping mechanism is further lowered, the article will be damaged, the height alarm assembly is arranged, when the alarm plate abuts against the article, the sliding rod slides on the guide rail, the top end of the sliding rod triggers the touch switch, the lifting mechanism stops moving, and the article is prevented from being damaged, and the alarm starts to alarm, so that the maintenance personnel can be informed to adjust the position of the article.

[0014] Further, the mounting frame is connected with the output end of the lifting mechanism, the mounting frame is lifted by the lifting mechanism, the article at different heights can be clamped, and the clamped article can be transported to different heights.

[0015] The utility model also provides a conveying system, including in and out material mechanism, moving mechanism, conveying mechanism and above clamping mechanism, in and out material mechanism, moving mechanism and conveying mechanism are sequentially arranged, the lifting mechanism is connected with the output end of the moving mechanism.

[0016] The conveying system of the utility model transports the stacked box to the moving mechanism through the in and out material mechanism, drives the clamping mechanism to move above the stacked box by starting the moving mechanism, drives the clamping mechanism to descend by starting the lifting mechanism, clamps the box through the clamping assembly, carries out the unstacking, and the unstacked box is moved to the conveying mechanism through the moving mechanism, so that the staff carries out the unpacking or packing operation, after the staff completes the work, is transported back to the clamping mechanism through the conveying mechanism, and the clamping mechanism transports the completed work box to the in and out material mechanism, and the completed work box is sent out.

[0017] Further, the pushing mechanism is arranged on the feeding and discharging mechanism, and the pushing direction of the pushing mechanism has an included angle with the pushing direction of the pushing assembly.

[0018] Compared with the prior art, the utility model has the advantages of:

[0019] 1、The utility model discloses a kind of clamping mechanism and conveying system, by setting pushing assembly, the position of article is adjusted using pushing assembly before clamping, let article be between first clamping arm and second clamping arm, let clamping assembly can stably clamp article, realize the stable clamping of clamping mechanism on the basis of simple control, stably convey article.

[0020] 2、The utility model discloses a kind of clamping mechanism and conveying system, by setting height alarm component, when alarm plate is abutted to article, sliding rod is slid on guide rail, sliding rod top triggers touch switch, lifting mechanism stops movement, avoid damaging article, while alarm starts alarm, notify maintenance personnel to adjust article position.

[0021] 3、The utility model discloses a kind of clamping mechanism and conveying system, by setting pushing mechanism on feeding and discharging mechanism, when feeding, the position of article is adjusted, facilitate subsequent clamping assembly clamping, stably convey article. DRAWINGS

[0022] Figure 1 It is the structural schematic diagram of clamping mechanism in embodiment one;

[0023] Figure 2 It is the structural schematic diagram of clamping mechanism in embodiment two;

[0024] Figure 3 It is the structural schematic diagram of clamping mechanism in embodiment three;

[0025] Figure 4 It is the structural schematic diagram of conveying system.

[0026] In the drawings: 100, mounting frame; 200, clamping assembly; 210, driving assembly; 211, air cylinder; 212, support connecting rod; 213, first connecting rod; 214, second connecting rod; 220, first clamping arm; 221, abutting plate; 222, elastic piece; 230, second clamping arm; 231, guide rail; 232, sliding rod; 233, touch switch; 234, alarm plate; 235, alarm; 300, pushing assembly; 400, lifting mechanism; 500, height detection mechanism; 600, feeding and discharging mechanism; 700, moving mechanism; 800, conveying mechanism; 900, pushing mechanism. DETAILED DESCRIPTION

[0027] The utility model will be further explained in connection with specific embodiment. Among them, the drawings are used for example for example, and the representation is only a schematic diagram, and cannot be understood as the limitation of the patent; in order to better illustrate the embodiment of the utility model, some components of the drawings will be omitted, enlarged or reduced, and the size of actual product is not represented; for those skilled in the art, it is understandable that some well-known structures and their description in the drawings can be omitted.

[0028] The same or similar reference numerals in the drawings of the embodiments of the utility model correspond to the same or similar components; in the description of the utility model, it is understood that if there are terms "upper", "lower", "left", "right" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, a particular orientation and operation, therefore the positional relationship of the term described in the drawings is only used for example for example, and cannot be understood as the limitation of the patent, for the ordinary skilled in the art, can understand the specific meaning of the above-mentioned terms according to the specific situation.

[0029] Embodiment one

[0030] This embodiment is the first embodiment of the clamping mechanism, as shown in Figure 1As shown, including the mounting frame 100 and clamping assembly 200, clamping assembly 200 includes a first clamping arm 220, a second clamping arm 230 and a drive assembly 210 for driving the first clamping arm 220 and the second clamping arm 230 relative movement, that is, the drive assembly 210 can drive the first clamping arm 220 and the second clamping arm 230 to clamp the article. Also includes a push assembly 300, push assembly 300 is provided on the mounting frame 100, the push direction of the push assembly 300 is towards the first clamping arm 220 and the second clamping arm 230. In this embodiment, the push direction of the push assembly 300 is perpendicular to the clamping direction of the clamping assembly 200. It is convenient to better push the article to the first clamping arm 220 and the second clamping arm 230 of the clamping assembly 200 by the push assembly 300. That is, when the article is placed between the first clamping arm 220 and the second clamping arm 230, due to the length limitation of the first clamping arm 220 and the second clamping arm 230, only a part of the article can be clamped or the article cannot be clamped, at this time, by starting the push assembly 300, the push assembly 300 pushes the article to the position between the first clamping arm 220 and the second clamping arm 230 which can be clamped by the first clamping arm 220 and the second clamping arm 230, at this time, starting the clamping assembly 200, the article can be clamped stably.

[0031] The push assembly 300 includes a cylinder and a push rod, the cylinder is provided on the mounting frame 100, the push rod is connected with the output end of the cylinder, and the push rod can move by starting the cylinder.

[0032] The working principle of the clamping mechanism in this embodiment is as follows:

[0033] When clamping, the mounting frame 100 is installed at the desired clamping position, and the article to be clamped is placed below the mounting frame 100. When clamping, first start the push assembly 300 to push the article between the first clamping arm 220 and the second clamping arm 230, and then start the drive assembly 210 to drive the first clamping arm 220 and the second clamping arm 230 to move relative to each other to clamp the article, avoiding unstable clamping or empty clamping, and realizing stable clamping of the clamping mechanism on the basis of simple control, and stably conveying the article. By providing the push assembly 300, the position of the article is adjusted before clamping to make the article between the first clamping arm 220 and the second clamping arm 230, so that the clamping assembly 200 can stably clamp the article, and the stable clamping of the clamping mechanism is realized on the basis of simple control, and the article is stably conveyed.

[0034] Embodiment two

[0035] This embodiment is a second embodiment of a clamping mechanism, based on embodiment one, in this embodiment, Figure 2As shown, the driving assembly 210 includes a cylinder 211 and a linkage assembly, both of which are arranged on the mounting frame 100, the output end of the cylinder 211 is connected with the first clamping arm 220, and the two ends of the linkage assembly are respectively connected with the first clamping arm 220 and the second clamping arm 230. When clamping, the cylinder 211 is started to drive the first clamping arm 220 to move, the movement of the first clamping arm 220 drives the linkage assembly to move, and the second clamping arm 230 is driven to move synchronously through the linkage assembly, so that the first clamping arm 220 and the second clamping arm 230 move relatively to clamp the article.

[0036] The linkage assembly includes a support connecting rod 212, a first connecting rod 213 and a second connecting rod 214, the support connecting rod 212 is rotationally connected with the mounting frame 100, the two ends of the first connecting rod 213 are respectively rotationally connected with one end of the support connecting rod 212 and the first clamping arm 220, and the two ends of the second connecting rod 214 are respectively rotationally connected with the other end of the support connecting rod 212 and the second clamping arm 230, and the first clamping arm 220 and the second clamping arm 230 are slidingly connected with the mounting frame 100. The cylinder 211 drives the first clamping arm 220 to move, the first clamping arm 220 drives the first connecting rod 213 to move, the first connecting rod 213 drives the support connecting rod 212 to rotate, and the support connecting rod 212 drives the second connecting rod 214 to move, thereby driving the second clamping arm 230 to move.

[0037] As shown, Figure 2 The first clamping arm 220 and the second clamping arm 230 are both provided with a deviation compatible assembly, the deviation compatible assembly includes an abutting plate 221 and an elastic element 222, the two ends of the elastic element 222 are respectively connected with the abutting plate 221 and the first clamping arm 220, or the two ends of the elastic element 222 are respectively connected with the abutting plate 221 and the second clamping arm 230, the elastic element 222 is arranged along the clamping direction of the clamping assembly 200, and the abutting plate 221 is located between the first clamping arm 220 and the second clamping arm 230. The deviation compatible assembly can also include a guide rod, one end of the guide rod is slidingly connected with the first clamping arm 220 or the second clamping arm 230, the other end of the guide rod is fixedly connected with the abutting plate 221, and the elastic element 222 is sleeved on the guide rod, and the movement direction of the abutting plate 221 is guided through the guide rod. Through the arrangement of the deviation compatible assembly, when clamping the article, the abutting plate 221 abuts against the article, and through the compression of the elastic element 222, the article within a certain size can be clamped on the basis of equal control of the driving assembly, thereby improving the compatibility of the clamping assembly.

[0038] Embodiment three

[0039] This embodiment is a third embodiment of a clamping mechanism, based on the first embodiment or the second embodiment, in this embodiment, as Figure 3The lifting mechanism 400 is further shown, and the mounting rack 100 is connected with an output end of the lifting mechanism 400. The mounting rack 100 is lifted by the lifting mechanism 400, so that different-height articles can be clamped and the clamped articles can be transported to different heights.

[0040] The first clamping arm 220 and the second clamping arm 230 are each provided with a height alarm assembly. The height alarm assembly comprises a guide rail 231, a sliding rod 232, a touch switch 233, an alarm plate 234 and an alarm 235. The guide rail 231 is arranged on the first clamping arm 220 or the second clamping arm 230. The sliding rod 232 is in sliding connection with the guide rail 231 and slides in a vertical direction. The touch switch 233 is arranged at a top end of the guide rail 231. The alarm plate 234 is arranged at a bottom end of the sliding rod 232. The touch switch 233 is in communication connection with the alarm 235 and the lifting mechanism 400. The lifting mechanism 400 is started to drive the clamping mechanism to descend. When the placement position of the article is deviated, the first clamping arm 220 or the second clamping arm 230 abuts against the article. If the clamping mechanism further descends, the article will be damaged. By arranging the height alarm assembly, when the alarm plate 234 abuts against the article, the sliding rod 232 slides on the guide rail 231. The top end of the sliding rod 232 triggers the touch switch 233. The lifting mechanism 400 stops moving, so that the article is prevented from being damaged. At the same time, the alarm 235 starts to alarm, so that a maintenance personnel is notified to adjust the placement position of the article.

[0041] The height detection mechanism 500 is further arranged on the mounting rack 100 and is in communication connection with the lifting mechanism 400. By arranging the height detection mechanism 500, the height between the mounting rack 100 and the article is detected, so that the article is prevented from being damaged during clamping. In the embodiment, the height detection mechanism 500 comprises a sliding rod, a spring and a travel switch. The sliding rod is in sliding connection with the mounting rack 100. The two ends of the spring are connected with the sliding rod and the mounting rack 100, respectively. The travel switch is arranged on the mounting rack 100. When one end of the sliding rod abuts against the article, the lifting mechanism 400 continues to descend and drives the sliding rod to slide on the mounting rack 100. The spring is compressed, so that the other end of the sliding rod abuts against the travel switch. At this time, the lifting mechanism 400 stops descending. After clamping is completed, the sliding rod is reset under the action of the spring.

[0042] The working principle of the clamping mechanism in the embodiment is as follows:

[0043] When the placement position of the article is accurate, the clamping mechanism is lifted by the lifting mechanism 400, the height of the article is detected by the height detection mechanism 500, and the lifting mechanism 400 stops descending after touching the travel switch, so that articles of different heights can be clamped and transported to different heights. When the placement position of the article is not accurate, the alarm plate 234 first contacts the article, the sliding rod 232 triggers the touch switch 233, the lifting mechanism 400 stops descending, and the alarm 235 starts alarming to inform the maintenance personnel to adjust the position of the article to avoid damaging the article.

[0044] Embodiment four

[0045] The embodiment is a first embodiment of a conveying system, as shown in Figure 4 The conveying system includes an in-out mechanism 600, a moving mechanism 700, a conveying mechanism 800, and the above clamping mechanism. The in-out mechanism 600, the moving mechanism 700, and the conveying mechanism 800 are sequentially arranged, and the lifting mechanism 400 is connected to the output end of the moving mechanism 700.

[0046] The in-out mechanism 600 includes an in mechanism, an out mechanism, and a transverse moving mechanism. The in mechanism and the out mechanism are arranged side by side, and the two ends of the transverse moving mechanism are located at the out end of the in mechanism and the in end of the out mechanism, respectively. The specific structure of the in mechanism and the out mechanism is consistent, and a commonly used structure capable of transporting a trolley is used. The transverse moving mechanism includes a lifting mechanism and a translation mechanism. When the trolley is transported to the lifting mechanism by the in mechanism, the clamping mechanism is started to clamp the box on the trolley. After clamping is completed, the lifting mechanism is started to lift the trolley, and the translation mechanism is started to move the trolley to the in end of the out mechanism.

[0047] The moving mechanism 700 includes a transverse moving mechanism and a longitudinal moving mechanism. The output end of the transverse moving mechanism is connected to the output end of the longitudinal moving mechanism, and the output end of the lifting mechanism 400 is connected to the output end of the transverse moving mechanism. The transverse moving mechanism and the longitudinal moving mechanism use a common servo moving mechanism.

[0048] The conveying mechanism 800 includes an in conveying mechanism and an out conveying mechanism. The in conveying mechanism and the out conveying mechanism are arranged side by side. The in conveying mechanism is located at the out end of the in mechanism, and the out conveying mechanism is located at the in end of the out mechanism. The in conveying mechanism and the out conveying mechanism each include a driving motor, a transmission mechanism, and a plurality of conveying rollers. The driving motor drives one of the conveying rollers to rotate, the transmission mechanism drives the plurality of conveying rollers to rotate, and the rotation of the conveying rollers drives the movement of the box.

[0049] The pushing mechanism 900 is arranged on the feeding and discharging mechanism 600, the pushing direction of the pushing mechanism 900 forms an angle with the pushing direction of the pushing assembly 300, and the pushing direction of the pushing mechanism 900 forms an angle with the movement direction of the feeding and discharging mechanism 600; in the embodiment, the pushing direction of the pushing mechanism 900 is perpendicular to the movement direction of the feeding and discharging mechanism 600, parallel to the clamping direction of the clamping assembly, and perpendicular to the pushing direction of the pushing assembly 300. By arranging the pushing mechanism 900 on the feeding and discharging mechanism 600, the position of the article is adjusted when feeding, so that the clamping assembly 200 can clamp the article in the subsequent process, and the article can be stably conveyed. The pushing mechanism 900 comprises a linear cylinder and a push plate, and the linear cylinder is arranged on the feeding and discharging mechanism 600, and the push plate is connected with the output end of the linear cylinder.

[0050] The working principle of the conveying system in the embodiment is as follows:

[0051] The box stack is placed on the trolley, the trolley is conveyed to the moving mechanism 700 through the feeding mechanism, in the conveying process, the pushing mechanism 900 is started to push the box, the box is pushed to between the first clamping arm 220 and the second clamping arm 230, the moving mechanism 700 is started to drive the clamping mechanism to move above the box stack, the lifting mechanism 400 is started to drive the clamping mechanism to descend, the box is clamped by the clamping assembly 200, the box stack is disassembled, the disassembled box is moved to the feeding and conveying mechanism through the moving mechanism 700, and the worker performs the unpacking operation, after the worker completes the operation, the box is conveyed back to the clamping mechanism through the discharging and conveying mechanism, and the traversing mechanism moves the trolley to the feeding end of the discharging mechanism, the clamping mechanism conveys the completed box to the trolley at the feeding end of the discharging mechanism, and the trolley sends out the completed box.

[0052] In the specific content of the above specific embodiments, any inconsistent combination of technical features can be combined, in order to make the description simple, the above technical features are not described all possible combinations, however, as long as the combination of these technical features does not exist contradictory, it should be considered that the scope of the present application is recorded.

[0053] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not a limitation on the embodiments of the present application. For ordinary skilled in the art, on the basis of the above description, other different forms of changes or changes can be made. Here, it is not necessary and impossible to exhaust all the embodiments. 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 claims of the present application.

Claims

1. A gripping mechanism comprising a mounting frame (100) and a gripping assembly (200), the gripping assembly (200) comprising a first gripping arm (220), a second gripping arm (230) and a drive assembly (210) for driving relative movement of the first gripping arm (220) and the second gripping arm (230); characterised in that, Further comprising a pushing assembly (300) arranged on the mounting frame (100), a pushing direction of the pushing assembly (300) being towards between the first clamping arm (220) and the second clamping arm (230).

2. The gripping mechanism of claim 1, wherein The driving assembly (210) comprises a cylinder (211) and a linkage assembly, both of which are arranged on the mounting frame (100), an output end of the cylinder (211) being connected with the first clamping arm (220), and two ends of the linkage assembly being connected with the first clamping arm (220) and the second clamping arm (230) respectively.

3. The gripping mechanism of claim 2, wherein, The linkage assembly comprises a support connecting rod (212), a first connecting rod (213) and a second connecting rod (214), the support connecting rod (212) being rotationally connected with the mounting frame (100), two ends of the first connecting rod (213) being rotationally connected with one end of the support connecting rod (212) and the first clamping arm (220) respectively, and two ends of the second connecting rod (214) being rotationally connected with the other end of the support connecting rod (212) and the second clamping arm (230) respectively, the first clamping arm (220) and the second clamping arm (230) being slidingly connected with the mounting frame (100).

4. The gripping mechanism of claim 1, wherein, The first clamping arm (220) and the second clamping arm (230) are both provided with a deviation compatible assembly, the deviation compatible assembly comprising an abutting plate (221) and an elastic member (222), two ends of the elastic member (222) being connected with the abutting plate (221) and the first clamping arm (220) respectively, or two ends of the elastic member (222) being connected with the abutting plate (221) and the second clamping arm (230) respectively, the elastic member (222) being arranged along a clamping direction of the clamping assembly (200), and the abutting plate (221) being located between the first clamping arm (220) and the second clamping arm (230).

5. The gripping mechanism according to any one of claims 1 to 4, characterized in that The pushing direction of the pushing assembly (300) is perpendicular to the clamping direction of the clamping assembly (200).

6. The gripping mechanism according to any one of claims 1 to 4, characterized in that Further comprising a lifting mechanism (400), the mounting frame (100) being connected with an output end of the lifting mechanism (400).

7. The gripping mechanism of claim 6, wherein, The first clamping arm (220) and the second clamping arm (230) are both provided with a height alarm assembly, the height alarm assembly comprising a guide rail (231), a sliding rod (232), a touch switch (233), an alarm plate (234) and an alarm (235), the guide rail (231) being arranged on the first clamping arm (220) or the second clamping arm (230), the sliding rod (232) being slidingly connected with the guide rail (231), the sliding rod (232) sliding along a vertical direction, the touch switch (233) being arranged at a top end of the guide rail (231), the alarm plate (234) being arranged at a bottom end of the sliding rod (232), and the touch switch (233) being communicatively connected with the alarm (235) and the lifting mechanism (400).

8. The gripping mechanism of claim 6, wherein, The height detection mechanism (500) is arranged on the mounting frame (100) and is in communication connection with the lifting mechanism (400).

9. A delivery system characterized by, The in-out material mechanism (600), the moving mechanism (700) and the conveying mechanism (800) are sequentially arranged, and the lifting mechanism (400) is connected with the output end of the moving mechanism (700).

10. The delivery system of claim 9, wherein, The pushing mechanism (900) is arranged on the in-out material mechanism (600), and the pushing direction of the pushing mechanism (900) has an included angle with the pushing direction of the pushing assembly (300).

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