Double-fork synchronous driving clamping taking and placing device and robot

Abstract

The utility model discloses a kind of double-fork synchronous drive's clamping and taking and placing device and robot, belong to intelligent warehousing technical field.Clamping and taking and placing device includes first drive component, two fork structures and second drive component, first drive component includes the first driver and transmission member of being connected;Two fork structures are spaced apart, and each fork structure includes clamping plate, mounting plate and driving piece respectively, two clamping plates are set up each other and can cooperate clamping and placing material box, clamping plate is movably connected with mounting plate, driving piece is fixedly connected in mounting plate, and is connected with transmission member;Second drive component is connected with clamping plate, and be configured as can drive clamping plate move along its length direction relative to mounting plate;Wherein, first driver can drive two driving pieces move towards or away by transmission member, to drive two fork structures open and close.The utility model improves opening and closing accuracy, enhances the stability and reliability of clamping.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehousing technology, and in particular to a gripping and picking device and robot with synchronous drive of dual forks. Background Technology

[0002] In related technologies, the fork mechanism is a core device in automated warehousing and logistics sorting used to perform the gripping, handling, and placement of food containers. Currently, to achieve the opening and closing of the two forks for clamping and placing operations, each fork is usually equipped with an independent drive unit. However, since the two drive units are often controlled separately, it is difficult to ensure the synchronization of the movement of the two forks, which can easily lead to unstable clamping or food container displacement. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a clamping and loading device with synchronous drive of two forks, which can accurately and synchronously drive the two fork structures to move towards or away from each other.

[0004] This invention also proposes a robot that includes the above-mentioned clamping and picking device with synchronous drive of dual forks.

[0005] A dual-fork synchronously driven clamping and loading device according to a first aspect embodiment of the present invention includes: a first driving assembly, two fork structures, and a second driving assembly. The first driving assembly includes a first driver and a transmission member connected together. The two fork structures are spaced apart, and each fork structure includes a clamping plate, a mounting plate, and a driving member. The two clamping plates are arranged opposite to each other and can cooperate to clamp and load a material box. The clamping plates are movably connected to the mounting plate, and the driving member is fixedly connected to the mounting plate and connected to the transmission member. The second driving assembly is connected to the clamping plates and configured to drive the clamping plates to move relative to the mounting plate along their length direction. The first driver can drive the two driving members to move towards or away from each other through the transmission member to drive the two fork structures to open and close.

[0006] The dual-fork synchronously driven clamping and loading device according to the embodiment of this utility model has at least the following beneficial effects:

[0007] The dual-fork synchronous drive clamping and loading device of this utility model embodiment is equipped with a second drive component, thereby realizing the movement of the drive clamping plate along its length direction; then, through the transmission component of the first drive component, it is respectively connected to two drive components fixedly connected to the mounting plate. The first drive can drive the two drive components to move towards each other or away from each other through the transmission component, thereby realizing the precise synchronous movement of the two fork structures towards each other or away from each other. The two fork structures are respectively equipped with clamping plates arranged opposite each other, thereby realizing the clamping and loading of the hopper. This solves the problems of asynchrony and high cost of traditional dual drive systems. The opening and closing of the fork structure is driven by a single first drive component, which not only improves the accuracy of opening and closing and enhances the stability and reliability of the clamping and loading device in holding the hopper, but also simplifies the overall structure of the clamping and loading device, reduces the number of drive components, reduces the manufacturing and maintenance costs of the clamping and loading device, and reduces the space occupied by the drive components in the installation of the clamping and loading device.

[0008] According to some embodiments of the present invention, the transmission component is constructed as a lead screw, the two fork structures are spaced apart along the axial direction of the lead screw, the outer peripheral wall of the lead screw is provided with an external thread, the driving component is provided with a connecting hole, the two ends of the lead screw pass through the connecting holes of the two driving components respectively, and the inner peripheral wall of the connecting hole is provided with an internal thread that meshes with the external thread.

[0009] According to some embodiments of the present invention, the clamping and picking device further includes a base plate, which is disposed between the two fork structures. The base plate and the fork structures are slidably connected by a first guide assembly. The first guide assembly includes a slider and a guide rail. One of the slider and the guide rail is disposed on the mounting plate, and the other of the slider and the guide rail is disposed on the base plate. The guide rail is arranged along the axial direction of the lead screw, and the slider is slidably mounted on the guide rail.

[0010] According to some embodiments of the present invention, each of the fork structures is connected to the base plate by at least two first guide components, and the at least two first guide components are spaced apart along the length direction of the clamping plate.

[0011] According to some embodiments of the present invention, each of the clamping plates is provided with a push plate on the side facing the other fork structure. The push plate protrudes from the clamping plate along the axial direction of the lead screw. The push plate is used to abut against the hopper located between the two fork structures to push the hopper to move along the length direction of the clamping plate.

[0012] According to some embodiments of the present invention, the second drive assembly includes a second driver and a transmission assembly. The second driver is connected to the clamping plate via the transmission assembly to drive the clamping plate to move. The clamping and picking device also includes a housing. The housing is disposed on one side of the two fork structures along the length direction of the clamping plate, and the second driver is installed in the housing.

[0013] According to some embodiments of the present invention, the clamping and placing device further includes a visual inspection device, which is installed on the housing.

[0014] According to some embodiments of the present invention, the clamping and placing device further includes a second guide assembly. The second guide assembly includes a first slide groove, a second slide groove, a connecting plate, at least two first rollers, and at least two second rollers. The at least two first rollers are spaced apart on the mounting plate along the length direction of the clamping plate. The connecting plate is disposed between the clamping plate and the mounting plate. The side of the connecting plate facing the mounting plate is provided with a first slide groove that is tactilely connected to the at least two first rollers. The side of the connecting plate facing the clamping plate is provided with at least two second rollers spaced apart along the length direction of the clamping plate. The clamping plate is provided with a second slide groove that is tactilely connected to the at least two second rollers.

[0015] The robot according to a second aspect of the present invention includes the gripping and picking device with dual forks synchronously driven as described in the first aspect embodiment.

[0016] The robot according to the embodiments of this utility model has at least the following beneficial effects:

[0017] The robot of this utility model embodiment adopts the dual-fork synchronous drive gripping and placing device of the first aspect embodiment. By equipping it with a second drive component, the drive clamping plate can be moved along its length direction. Then, the lead screw of the first drive component is respectively connected to two drive members fixedly connected to the mounting plate. When the first drive unit drives the lead screw to rotate along its axial direction, the lead screw can drive the two drive members to move along the axial direction of the lead screw, thereby realizing the precise synchronous movement of the two fork structures towards each other or in opposite directions. The two fork structures are respectively equipped with clamping plates arranged opposite each other, thereby realizing the clamping and placing of the hopper. This solves the problems of asynchrony and high cost of traditional dual drive systems. The opening and closing of the fork structure is driven by a single first drive component, which not only improves the accuracy of opening and closing and enhances the stability and reliability of the gripping and placing device in holding the hopper, but also enhances the operational stability and reliability of the robot. It also simplifies the overall structure of the gripping and placing device, reduces the number of drive components, and reduces the space occupied by the drive components in the installation of the gripping and placing device, thereby improving the robot's flexibility and reducing the robot's manufacturing and maintenance costs.

[0018] According to some embodiments of the present invention, the robot further includes a storage rack and a lifting device. The storage rack includes a plurality of placement platforms spaced apart along its height direction. The lifting device is connected to the gripping and placing device and is configured to drive the gripping and placing device to move up and down along the height direction of the storage rack. The gripping and placing device can place the material box on the placement platform.

[0019] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0021] Figure 1 This is a schematic diagram of the structure of a clamping and picking device with synchronous drive of dual forks according to an embodiment of the present invention.

[0022] Figure 2 This is a partial structural schematic diagram of a clamping and loading device with synchronous dual forks driven according to an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the state of a clamping and picking device with synchronous drive of dual forks in an embodiment of the present invention when clamping a material box.

[0024] Figure 4 This is a partial structural schematic diagram of a clamping and picking device with synchronous drive of dual forks according to another embodiment of the present invention.

[0025] Figure 5 This is a top view schematic diagram of a dual-fork synchronously driven clamping and picking device according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of a robot according to an embodiment of the present invention.

[0027] Icon labels:

[0028] Robot 10;

[0029] Clamping and picking device 1000; material bin 2000; storage rack 3000; storage platform 3100; lifting device 4000;

[0030] First drive assembly 100; First driver 110; Lead screw 120;

[0031] Fork structure 200; clamping plate 210; mounting plate 220; drive component 230; connecting hole 231; push plate 240;

[0032] Second drive assembly 300; second driver 310; transmission assembly 320; telescopic drive chain 321; drive plate 322;

[0033] Base plate 400; First guide assembly 410; Slider 411; Guide rail 412;

[0034] Box 500;

[0035] Second guide assembly 600; first slide 610; second slide 620; connecting plate 630; first roller 640; second roller 650. Detailed Implementation

[0036] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0037] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0038] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0039] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0040] In existing dual-fork gripping and loading devices, each fork is typically equipped with an independent drive unit to achieve the opening and closing function. However, since each drive unit requires independent control, this significantly increases the complexity of the control system and substantially raises the manufacturing and maintenance costs of the equipment. Furthermore, under high-speed or high-precision requirements, it is difficult for two drive units to ensure the synchronization of the two fork movements, which can easily lead to unstable gripping or material deviation, thus affecting operational efficiency and reliability. In addition, the independent drive design also means requiring more installation space and resulting in higher energy consumption.

[0041] To address the aforementioned problems, some embodiments of this utility model propose a dual-fork synchronously driven gripping and loading device 1000, suitable for robot 10. It can precisely and synchronously drive two fork structures 200 to move towards or away from each other. See details below. Figures 1 to 6 The clamping and loading device 1000 with synchronous drive of dual forks is described below.

[0042] Reference Figure 1 and Figure 2 As shown in the embodiment of this utility model, the dual-fork synchronously driven clamping and loading device 1000 includes: a first drive assembly 100, two fork structures 200, and a second drive assembly 300. The first drive assembly 100 includes a first driver 110 and a transmission component. For ease of description, the following description uses a lead screw 120 as an example for the transmission component. The first driver 110 is connected to the lead screw 120 and is configured to drive the lead screw 120 to rotate along its axial direction. Specifically, the lead screw 120 refers to a rotating shaft with external threads, specifically a trapezoidal thread or a ball screw 120 structure, which can convert rotational motion into linear motion through thread engagement. The drive component 230 can be indirectly connected to the lead screw 120 via a transmission gear, or it can be connected directly to the lead screw 120; this embodiment does not limit this connection.

[0043] It should be noted that in this embodiment of the present invention, the first driver 110 may be a cylinder, a motor, or other types of driving devices, and this embodiment does not limit the specific type of driver. In one example, the first driver 110 is a motor, and its drive shaft is connected to the lead screw 120 via a gear assembly. Based on this, the first driver 110 can drive the lead screw 120 to rotate along its own axial direction via the gear assembly.

[0044] Continue to refer to Figure 1 and Figure 2 As shown, in this embodiment of the invention, two fork structures 200 are spaced apart along the axial direction of the lead screw 120 and located on both sides of the lead screw 120 along its axial direction. In this embodiment, the axial direction of the lead screw 120 is consistent with the width direction of the clamping and picking device 1000, that is, the two fork structures 200 are spaced apart along the width direction of the clamping and picking device 1000, thereby defining the accommodating space for accommodating the material box 2000.

[0045] It is understood that the first drive 110 and the lead screw 120 are arranged between the two fork structures 200. Since they do not exceed the accommodation space enclosed by the two fork structures 200, they do not affect the overall width of the clamping and picking device 1000, ensuring that the overall structure of the clamping and picking device 1000 is compact. Compared with the solution of setting the entire or part of the drive device outside the area of ​​the two fork mechanisms, this embodiment can improve space utilization, reduce the overall size of the clamping and picking device 1000, and thus improve its flexibility.

[0046] Specifically, in combination Figure 1 and Figure 2 It is understood that each fork structure 200 includes a clamping plate 210, a mounting plate 220, and a drive member 230. The clamping plate 210 refers to a plate material with a rigid support surface. Based on this, two clamping plates 210 are arranged opposite to each other. When the two fork structures move towards each other, the two clamping plates 210 can cooperate to clamp and release the material box 2000. In this embodiment, the clamping plate 210 is movably connected to the mounting plate 220; therefore, the clamping plate 210 can move relative to the mounting plate 220. The drive member 230 is fixedly connected to the mounting plate 220 and is driven by the lead screw 120. Therefore, when the drive member 230 moves along the lead screw 120, the mounting plate 220 also moves accordingly.

[0047] Reference Figure 3 and Figure 4 As shown, in this embodiment of the present invention, the second driving component 300 is connected to the clamping plate 210 and is configured to drive the clamping plate 210 to move relative to the mounting plate 220 along its length direction, thereby adjusting the relative position of the clamping plate 210 and the mounting plate 220. Specifically, the second driving component 300 is used to drive the clamping plate 210 to move to both sides of the material box 2000 in advance for the clamping action.

[0048] In this embodiment of the invention, when the lead screw 120 rotates, it can drive two driving members 230 to move along the axial direction of the lead screw 120, thereby driving the two fork structures 200 to move towards each other or away from each other. Specifically, when the driver is started, it drives the lead screw 120 to rotate. Since the two driving members 230 are respectively fixed to the mounting plates 220 of the two fork structures 200 on both sides, a single rotation of the lead screw 120 can synchronously control the change in the distance between the two fork structures 200. When the fork structures 200 move towards each other, the clamping action of the hopper 2000 can be realized. When the fork structures 200 move away from each other, the release action of the hopper 2000 can be realized.

[0049] Understandably, in this embodiment of the invention, the second drive assembly 300 first drives the two clamping plates 210 to move to both sides of the material box 2000, preparing for clamping; subsequently, the first drive assembly 100 drives the two fork structures 200 to move towards each other, so that the two clamping plates 210 cooperate to clamp the material box 2000. After clamping is completed, the second drive assembly 300 drives the clamping plates 210 to reset, retracting the material box 2000 into the receiving space between the two fork structures 200, thus realizing the material retrieval action of the material box 2000. The unloading process is the reverse operation of the retrieval step.

[0050] Understandably, traditional dual-drive schemes require separate control of two drive devices, resulting in response time differences and accumulated displacement errors. This embodiment of the invention, however, uses a single lead screw 120 to drive bidirectional motion, eliminating synchronization errors in the control system, while the mechanical structure itself ensures displacement symmetry.

[0051] Specifically, the dual-fork synchronously driven clamping and loading device 1000 of this embodiment is equipped with a second drive assembly 300, thereby enabling the drive clamping plate 210 to move along its length. The lead screw 120 of the first drive assembly 100 is then connected to two drive members 230 fixedly connected to the mounting plate 220. When the first driver 110 drives the lead screw 120 to rotate axially, the lead screw 120 can drive the two drive members 230 to move axially along the lead screw 120, thereby achieving precise synchronous movement of the two fork structures 200 towards or away from each other. The 0 is equipped with clamping plates 210 arranged opposite to each other, thereby realizing the clamping and placement of the material box 2000. This solves the problems of asynchronous operation and high cost of traditional dual-drive systems. The opening and closing of the fork structure 200 is driven by a single first drive component 100, which not only improves the accuracy of opening and closing and enhances the stability and reliability of the clamping and placing device 1000 in holding the material box 2000, but also simplifies the overall structure of the clamping and placing device 1000, reduces the number of drive components, reduces the manufacturing and maintenance costs of the clamping and placing device 1000, and reduces the space occupied by the drive components in the installation of the clamping and placing device 1000.

[0052] Reference Figure 3 and Figure 4 As shown in this embodiment of the invention, the outer peripheral wall of the lead screw 120 is provided with an external thread, and the drive member 230 is provided with a connecting hole 231. Both ends of the lead screw 120 pass through the connecting holes 231 of the two drive members 230 respectively. The connecting hole 231 is constructed as a through hole penetrating the drive member 230, and its diameter matches the outer diameter of the lead screw 120. For example, precision machining can be used to ensure the coaxiality of the hole wall and the lead screw 120. The inner peripheral wall of the connecting hole 231 is provided with an internal thread that meshes with the external thread, forming a helical pair transmission relationship.

[0053] Specifically, when the lead screw 120 rotates, the meshing of the external and internal threads converts the rotational motion into linear motion, and the drive member 230 moves axially along the lead screw 120 under the constraint of the threaded pair. Since the two drive members 230 mesh with the threaded sections at both ends of the lead screw 120 respectively, when the lead screw 120 rotates forward or backward, the two drive members 230 synchronously generate opposite or backward displacements, thereby driving the fork structure 200 to achieve the opening and closing action. In one example, the lead screw 120 adopts a bidirectional thread structure, and the two ends of the lead screw 120 adopt a reverse thread design, that is, the threads at both ends rotate in opposite directions, so that the two drive members 230 always move in opposite directions when the lead screw 120 rotates in the same direction.

[0054] It is understood that, through the single lead screw 120 and the bidirectional threaded connection, the two drive components 230 can achieve symmetrical movement by relying on only the same rotational power source, thereby eliminating the synchronization error of multiple drive components, simplifying the mechanical structure, and improving the clamping stability of the pick-and-place structure.

[0055] Reference Figure 2 and Figure 4 As shown in this embodiment of the invention, the clamping and picking device 1000 further includes a base plate 400, which is disposed between the two fork structures 200. Specifically, the base plate 400 is a support structure disposed between the two fork structures 200, and can be made of metal sheet or composite material. It provides a sliding reference surface for the movement of the hopper 2000, thereby preventing the hopper 2000 from shifting. The base plate 400 and the fork structure 200 are slidably connected by a first guide component 410, which provides guidance for the relative movement and backward movement of the two fork structures 200.

[0056] Specifically, refer to Figure 2 and Figure 4 As shown, in this embodiment of the invention, the first guide assembly 410 includes a slider 411 and a guide rail 412, wherein one of the slider 411 and the guide rail 412 is disposed on the mounting plate 220, and the other of the slider 411 and the guide rail 412 is disposed on the base plate 400. In one example, the slider 411 is fixedly connected to the base plate 400, and the guide rail 412 is mounted on the mounting plate 220; in another example, the slider 411 is fixedly connected to the mounting plate 220, and the guide rail 412 is mounted on the base plate 400. The guide rail 412 is arranged along the axial direction of the lead screw 120, and the slider 411 is slidably mounted on the guide rail 412. It can be understood that the sliding pair formed by the slider 411 and the guide rail 412 restricts the sliding direction of the fork structure 200, ensuring the synchronous linear movement of the two fork structures 200 under the drive of the lead screw 120.

[0057] Reference Figure 2 and Figure 4As shown, in this embodiment of the present invention, each fork structure 200 is connected to the base plate 400 by at least two first guide components 410, which are spaced apart along the length of the clamping plate 210. It is understood that in this embodiment, the two or more first guide components 410 are distributed at a certain distance along the extension direction of the clamping plate 210, specifically adopting a symmetrical or asymmetrical layout, to distribute the load through multi-point support.

[0058] It is understood that, through at least two first guide components 410 spaced apart along the length of the clamping plate 210, the present utility model embodiment increases the number of support points between the fork structure 200 and the base plate 400, disperses the friction and load distribution during the movement, and effectively suppresses the deflection or swaying of the fork structure 200.

[0059] Reference Figure 1 and Figure 4 As shown in this embodiment of the invention, each clamping plate 210 has a push plate 240 on the side facing the other fork structure 200. The push plate 240 protrudes from the clamping plate 210 along the axial direction of the lead screw 120 and is used to abut against the hopper 2000 located between the two fork structures 200 to push the hopper 2000 to move along the length direction of the clamping plate 210. Specifically, the push plate 240 refers to a rigid plate-like structure provided on the side of the clamping plate 210, which can be made of metal sheet or high-strength plastic material and fixed to the surface of the clamping plate 210 by welding or bolting.

[0060] Specifically, combined Figure 3 and Figure 5 It is understood that when the second drive assembly 300 drives the two clamping plates 210 to extend forward, in order to avoid the material box 2000 failing to move forward due to insufficient friction between the clamping plates 210 and the material box 2000, this embodiment provides a push plate 240 on the rear side of the clamping plates 210. The push plate 240 can move forward synchronously with the clamping plates 210 and abut against the end of the material box 2000, thereby pushing the material box 2000 forward.

[0061] In this embodiment of the invention, on the projection plane perpendicular to the axial direction of the lead screw 120, at least a portion of the projection of the clamping plate 210 coincides with the projection of the material box 2000. The height of the overlapping portion along the height direction of the clamping and picking device 1000 is 'a', and the height of the material box 2000 along the height direction of the clamping and picking device 1000 is 'b', satisfying: 1 / 3 ≤ a / b. It should be noted that the overlapping portion on the projection plane refers to the overlap between the projection areas of the clamping plate 210 and the material box 2000 on the plane perpendicular to the axial direction of the lead screw 120.

[0062] Specifically, in this embodiment of the invention, the ratio of a to b is limited to the fact that the overlap height of the clamping plate 210 and the material box 2000 is not less than 1 / 3 of the total height of the material box 2000. This can be achieved by setting the height of the clamping plate 210 or optimizing the relative positional relationship between the clamping plate 210 and the material box 2000. This ratio can ensure that the clamping plate 210 provides sufficient support for the material box 2000 and avoid clamping failure due to insufficient contact area.

[0063] It is understandable that when the height of the overlapping portion of the projection of the clamping plate 210 and the material box 2000 satisfies 1 / 3 ≤ a / b, the clamping plate 210 covers a sufficient area of ​​the material box 2000 in a direction perpendicular to the axial direction of the lead screw 120. During the clamping process, the clamping plate 210 contacts the side wall of the material box 2000 through the push plate 240. The contact area provided by the overlap height a can disperse the clamping force, reduce local stress concentration, and prevent the material box 2000 from tilting or slipping during clamping or movement.

[0064] Reference Figure 3 and Figure 4 As shown in this embodiment of the invention, the second driving assembly 300 includes a second driver 310 and a transmission assembly 320. The second driver 310 is connected to the clamping plate 210 via the transmission assembly 320 to drive the clamping plate 210 to move. Specifically, the second driver 310 is a power source for driving the clamping plate 210 to move along its length direction. It can be implemented using a servo motor or a stepper motor, and drives the transmission assembly 320 by outputting rotational power. The transmission assembly 320 refers to the mechanical structure that transmits the power of the second driver 310 to the clamping plate 210. It can be implemented using a gear rack, pulley, or ball screw, converting rotational motion into linear motion through mechanical transmission.

[0065] Reference Figure 4 As shown, in one example, the transmission assembly 320 includes a telescopic drive chain 321 and a drive plate 322. The telescopic drive chain 321 is rotatably mounted on the mounting plate 220 via chain pulleys and chain shafts, while the drive plate 322 is fixed to the telescopic drive chain 321. A clamping plate 210 is connected to the center fork drive plate 322. The drive shaft of the second driver 310 is connected to the telescopic drive chain 321, thereby driving the clamping plate 210 to perform telescopic translational movement in the forward and backward directions via the telescopic drive chain 321 and the drive plate 322.

[0066] Continue to refer to Figure 3 and Figure 4As shown in the embodiment of this utility model, the clamping and picking device 1000 further includes a housing 500, which serves as a protective shell for accommodating the second driver 310, which is installed inside the housing 500. The housing 500 is located on one side of the two fork structures 200 along the length of the clamping plate 210, thus avoiding occupying the opening and closing space of the fork structures 200.

[0067] It is understood that, compared to the solution of exposed installation of the drive device, this embodiment of the utility model optimizes the spatial layout and improves the protection performance of the drive system by integrating the second drive 310 into the side housing 500. In addition, the independently controlled second drive assembly 300 allows the clamping plate 210 to be finely adjusted during the clamping process, avoiding clamping failure caused by dimensional deviations of the material box 2000.

[0068] In this embodiment of the invention, the clamping and picking device 1000 further includes a vision inspection device, which is installed on the housing 500. It is understood that the vision inspection device can acquire image data features of the material box 2000, thereby assisting the fork structure in clamping the material box and improving the accuracy of clamping.

[0069] Reference Figure 3 and Figure 4 As shown in the embodiment of this utility model, the clamping and placing device 1000 further includes a second guide component 600. The second guide component 600 includes a first slide groove 610, a second slide groove 620, a connecting plate 630, at least two first rollers 640 and at least two second rollers 650. The at least two first rollers 640 are spaced apart along the length of the clamping plate 210 on the mounting plate 220. The connecting plate 630 is located between the clamping plate 210 and the mounting plate 220. The side of the connecting plate 630 facing the mounting plate 220 is provided with a first slide groove 610 that is tactilely connected to the at least two first rollers 640. The side of the connecting plate 630 facing the clamping plate 210 is provided with at least two second rollers 650 that are spaced apart along the length of the clamping plate 210. The clamping plate 210 is provided with a second slide groove 620 that is tactilely connected to the at least two second rollers 650.

[0070] Specifically, the first groove 610 refers to a groove structure provided on the side of the connecting plate 630 facing the mounting plate 220. It can be implemented as a straight groove, which cooperates with the first roller 640 to form a rolling guide, thereby limiting the movement direction of the connecting plate 630 relative to the mounting plate 220. Similarly, the second groove 620 refers to a groove structure provided on the clamping plate 210. It can be implemented as a straight groove that matches the shape of the second roller 650. It cooperates with the second roller 650 to form a rolling guide, thereby limiting the movement direction of the clamping plate 210 relative to the connecting plate 630.

[0071] It is understood that in this embodiment of the present invention, when the second driving assembly 300 drives the clamping plate 210 to move along its length, the connecting plate 630 achieves translational guidance relative to the mounting plate 220 through the rolling contact between the first roller 640 and the first slide groove 610. Simultaneously, the clamping plate 210 achieves translational guidance relative to the connecting plate 630 through the rolling contact between the second roller 650 and the second slide groove 620. The two rolling guiding structures cooperate to ensure that the clamping plate 210 always moves along a straight trajectory during movement, achieving two-stage extension and retraction of the clamping plate 210, thereby extending the movable path of the clamping plate 210 and effectively avoiding jamming or offset caused by sliding friction.

[0072] An embodiment of this utility model also proposes a robot 10, including the dual-fork synchronously driven gripping and placing device 1000 of the above embodiment. Specifically, in one example, the robot 10 can be a Container Transport Unit (CTU) robot 10.

[0073] The robot 10 of this embodiment adopts the dual-fork synchronous drive gripping and placing device 1000 of the above embodiment. By equipping it with a second drive assembly 300, the drive clamp 210 is moved along its length. The lead screw 120 of the first drive assembly 100 is connected to two drive members 230 fixedly connected to the mounting plate 220. When the first driver 110 drives the lead screw 120 to rotate axially, the lead screw 120 can drive the two drive members 230 to move axially along the lead screw 120, thereby achieving precise synchronous movement of the two fork structures 200 towards or away from each other. The two fork structures 200 are respectively equipped with each other... The clamping plates 210 are positioned opposite each other, thus enabling the clamping and placement of the material box 2000. This solves the problems of asynchrony and high cost in traditional dual-drive systems. By using a single first drive component 100 to drive the opening and closing of the fork structure 200, the accuracy of opening and closing is improved, enhancing the stability and reliability of the clamping and placement device 1000 in holding the material box 2000. This, in turn, enhances the operational stability and reliability of the robot 10. Furthermore, it simplifies the overall structure of the clamping and placement device 1000, reduces the number of drive components, and reduces the space occupied by the drive components in the installation of the clamping and placement device 1000. This, in turn, improves the flexibility of the robot 10 and reduces the manufacturing and maintenance costs of the robot 10.

[0074] Since the robot 10 adopts all the technical solutions of the dual-fork synchronous drive gripping and picking device 1000 of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0075] Reference Figure 6As shown in this embodiment of the invention, the robot 10 further includes a storage rack 3000 and a lifting device 4000. The storage rack 3000 includes multiple storage platforms 3100 spaced apart along its height. Specifically, the storage rack 3000 is a support structure for supporting the material box 2000, and it has multiple storage platforms 3100 arranged along its height. This can be achieved by using a combination of a metal frame and shelves, thereby improving space utilization through layered design.

[0076] Continue to refer to Figure 6 As shown, in this embodiment of the invention, the lifting device 4000 is connected to the clamping and picking device 1000 and is configured to drive the clamping and picking device 1000 to move up and down along the height direction of the storage rack 3000. In other words, the lifting device 4000 refers to the power mechanism that drives the clamping and picking device 1000 to move vertically, and it can control the lifting height to make the clamping and picking device 1000 accurately reach the target storage platform 3100. Driven by the lifting device 4000, the clamping and picking device 1000 can place the material box 2000 on the storage platform 3100.

[0077] Of course, this utility model is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A clamping and loading device with synchronous drive of dual forks, characterized in that, include: The first drive assembly (100) includes a first driver (110) and a transmission component connected together; Two fork structures (200) are spaced apart. Each fork structure (200) includes a clamping plate (210), a mounting plate (220), and a driving member (230). The two clamping plates (210) are arranged opposite to each other and can cooperate to clamp and place the material box (2000). The clamping plate (210) is movably connected to the mounting plate (220). The driving member (230) is fixedly connected to the mounting plate (220) and connected to the transmission member. A second drive assembly (300) is connected to the clamping plate (210) and is configured to drive the clamping plate (210) to move relative to the mounting plate (220) along its length direction; The first driver (110) can drive the two driving members to move towards or away from each other through the transmission member, so as to drive the two fork structures (200) to open and close.

2. The clamping and loading device with synchronous drive of dual forks according to claim 1, characterized in that, The transmission component is constructed as a lead screw (120), and two fork structures (200) are spaced apart along the axial direction of the lead screw (120). The outer peripheral wall of the lead screw (120) is provided with an external thread, and the drive component (230) is provided with a connecting hole (231). The two ends of the lead screw (120) pass through the connecting holes (231) of the two drive components (230) respectively. The inner peripheral wall of the connecting hole (231) is provided with an internal thread that meshes with the external thread.

3. The clamping and loading device with synchronous drive of dual forks according to claim 2, characterized in that, The clamping and picking device (1000) further includes a base plate (400), which is disposed between the two fork structures (200). The base plate (400) and the fork structures (200) are slidably connected by a first guide assembly (410). The first guide assembly (410) includes a slider (411) and a guide rail (412). One of the slider (411) and the guide rail (412) is disposed on the mounting plate (220), and the other of the slider (411) and the guide rail (412) is disposed on the base plate (400). The guide rail (412) is arranged along the axial direction of the lead screw (120), and the slider (411) is slidably mounted on the guide rail (412).

4. The clamping and loading device with synchronous drive of dual forks according to claim 3, characterized in that, Each of the fork structures (200) is connected to the base plate (400) via at least two first guide components (410), which are spaced apart along the length of the clamp (210).

5. The clamping and loading device with synchronous drive of dual forks according to claim 2, characterized in that, Each of the clamping plates (210) has a push plate (240) on one side facing the other fork structure (200), the push plate (240) protruding from the clamping plate (210) along the axial direction of the lead screw (120), the push plate (240) abutting against the hopper (2000) located between the two fork structures (200) to push the hopper (2000) to move along the length direction of the clamping plate (210).

6. The clamping and loading device with synchronous drive of dual forks according to claim 1, characterized in that, The second drive assembly (300) includes a second driver (310) and a transmission assembly (320). The second driver (310) is connected to the clamping plate (210) via the transmission assembly (320) to drive the clamping plate (210) to move. The clamping and picking device (1000) also includes a housing (500). The housing (500) is located on one side of the two fork structures (200) along the length of the clamping plate (210). The second driver (310) is installed inside the housing (500).

7. The clamping and loading device with synchronous drive of dual forks according to claim 6, characterized in that, The clamping and picking device also includes a visual inspection device, which is installed on the housing.

8. The clamping and loading device with synchronous drive of dual forks according to claim 6, characterized in that, The clamping and placing device (1000) further includes a second guide assembly (600), which includes a first slide groove (610), a second slide groove (620), a connecting plate (630), at least two first rollers (640), and at least two second rollers (650). The at least two first rollers (640) are spaced apart on the mounting plate (220) along the length of the clamping plate (210), and the connecting plate (630) is disposed on the clamping plate (210) and the mounting plate. Between (220), the connecting plate (630) is provided with a first groove (610) on the side facing the mounting plate (220) and is tactilely connected to at least two first rollers (640), the connecting plate (630) is provided with at least two second rollers (650) spaced apart along the length direction of the clamping plate (210) on the side facing the clamping plate (210), and the clamping plate (210) is provided with a second groove (620) tactilely connected to at least two second rollers (650).

9. A robot (10), characterized in that, Includes the clamping and loading device with dual forks synchronously driven as described in any one of claims 1 to 8.

10. The robot (10) according to claim 9, characterized in that, The robot (10) also includes a storage rack (3000) and a lifting device (4000). The storage rack (3000) includes a plurality of placement platforms (3100) spaced apart along its height direction. The lifting device (4000) is connected to the clamping and picking device (1000) and is configured to drive the clamping and picking device (1000) to lift and lower along the height direction of the storage rack (3000). The clamping and picking device (1000) can place the material box (2000) on the placement platform (3100).

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