Gripping devices and handling robots

Abstract

This utility model discloses a gripping device and a handling robot, including a mounting bracket, two transverse supports located below the mounting bracket, a transverse guide mechanism for guiding the transverse supports to move horizontally, a transverse drive mechanism for driving the two transverse supports to move closer and further apart, and two clamping mechanisms connected to the two transverse supports respectively. Each clamping mechanism includes a connecting part and a clamping part. The connecting part connects to the transverse support, and the clamping part connects to the connecting part. The clamping part is located below the side of the transverse support near the front end of the mounting bracket. The distance between the clamping parts of the two clamping mechanisms is less than the distance between the connecting parts. When clamping materials, the clamping part contacts the side of the material. When the clamping parts of the two clamping mechanisms grip the material, the distance between the connecting parts of the two clamping mechanisms is greater than the width of the clamped material, and the transverse supports are higher than the clamped material. This utility model can realize material exchange, reduce the length of the handling robot, and enable low-level picking and placing.

Description

Technical Field

[0001] This utility model relates to the field of material transfer technology, and in particular to a gripping device and a handling robot. Background Technology

[0002] In the manufacturing process of electronic products, material baking is a crucial step. Traditional baking operations utilize handling robots to transfer materials between the baking and storage areas. These robots primarily consist of a mobile chassis and a pick-and-place assembly. The mobile chassis moves between the storage area and the ovens. It has a carrying space with inlets and outlets facing the direction of movement. The pick-and-place assembly's gripper enters and exits this carrying space through the inlets and outlets, retrieving materials from and placing them into the carrying space. The baking area typically contains multiple ovens, each with multiple baking racks.

[0003] In some material handling methods, a handling robot carries materials and moves an oven using a gripper to exchange materials with the oven. Because the materials in the oven need to be removed first to empty the baking racks before the materials from the handling robot are placed into the empty racks, there are often other materials in the carrying space when the robot is placing or removing materials. One approach is to place these other materials at the front. However, when the pick-and-place component moves to the inlet / outlet position of the carrying space, the gripping part of the gripper component cannot descend to its lowest position, preventing the robot from picking up or placing materials from the bottom baking rack, thus hindering material access to the lower levels of the oven. Another approach is to place these other materials at the rear, requiring a certain amount of space at the rear of the handling robot to accommodate the materials. This results in a longer robot along the direction of movement, affecting its maneuverability in confined spaces. For handling robots capable of material exchange, minimizing the robot's length while achieving low-level pick-and-place functionality is a pressing technical problem that needs to be solved in this field. Utility Model Content

[0004] Therefore, this utility model provides a gripping device and a handling robot, which can realize material exchange, reduce the length of the handling robot, and enable low-level picking and placing.

[0005] To solve the above-mentioned technical problems, this utility model provides a clamping device, comprising: The mounting bracket has a front end and a rear end in the first horizontal direction; Two transverse sliding supports are arranged along the second horizontal direction and located below the mounting bracket; A transverse guide mechanism, connected between the mounting bracket and the transverse support, is used to guide the transverse support to translate along the second horizontal direction; A lateral movement drive mechanism is connected between the mounting bracket and the lateral movement bracket, and is used to drive the two lateral movement brackets to move closer to each other and further apart along the second horizontal direction; Two clamping mechanisms are respectively connected to the two transverse supports. Each clamping mechanism includes a connecting part and a clamping part. The connecting part is connected to the transverse support, and the clamping part is connected to the connecting part. The clamping part is located below the side of the transverse support near the front end of the mounting bracket. The distance between the clamping parts of the two clamping mechanisms is less than the distance between the connecting parts. The clamping part extends along the first horizontal direction to the front end of the mounting bracket.

[0006] Furthermore, the connecting part is L-shaped, including a horizontal bar and a vertical bar. The horizontal bar extends along the first horizontal direction and is connected to the transverse support. The vertical bar extends vertically, with its upper end connected to the end of the horizontal bar facing the front end of the transport robot, and the end of the clamping part facing the rear end of the robot connected to the lower end of the vertical bar.

[0007] Furthermore, the clamping part includes a clamping rod and a reinforcing member, the clamping rod being connected to the connecting part, and the reinforcing member being connected to the side of the clamping rod facing another clamping mechanism.

[0008] Furthermore, the clamping rod and the connecting part are an integral structure.

[0009] Furthermore, the upper surface of the clamping part is provided with a limiting groove, which is used to embed the two side lugs of the material.

[0010] Furthermore, the clamping part is equipped with a sensor for detecting materials.

[0011] Furthermore, the clamping part has a free end in the first horizontal direction that is away from the transverse support, and the free end of the clamping part is an arc-shaped surface with a safety contact edge on the arc-shaped surface.

[0012] Furthermore, the lateral movement drive mechanism includes: The drive motor is mounted on the mounting bracket. A bidirectional lead screw is disposed on one side of the drive motor along the first horizontal direction, the bidirectional lead screw extends along the second horizontal direction, and the bidirectional lead screw is rotatably connected to the mounting bracket. Two lead screw nuts are respectively connected to the two reverse threaded portions of the bidirectional lead screw, and the two transverse support brackets are respectively connected to the two lead screw nuts; The drive wheel is mounted on the shaft of the drive motor; Driven wheel, connected to the bidirectional lead screw; A transmission belt connects the drive wheel and the driven wheel.

[0013] Furthermore, the lateral guide mechanism includes: A slide rail is connected to the mounting bracket, and the slide rail extends along the second horizontal direction; Two sets of sliders are slidably connected to the slide rail along the second horizontal direction, and the two sets of sliders are respectively connected to the two transverse support brackets.

[0014] This utility model also provides a handling robot, including the aforementioned gripping device.

[0015] Compared with the prior art, the above-mentioned technical solution of this utility model has the following advantages: The clamping device and handling robot of this utility model, by setting the clamping part of the clamping mechanism below the transverse support, make the transverse support and the clamping part spatially misaligned. When there is material in the inner bearing position, the clamping part can pick up and put down the material in the outer bearing position. When there is material in the outer bearing position, the clamping part can pick up and put down the material at the lower position outside the bearing space inlet and outlet. Thus, the material can be placed in the front position of the handling robot, which can realize material exchange, reduce the length of the handling robot, and realize low-level picking and placing. Attached Figure Description

[0016] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the clamping device disclosed in this utility model; Figure 2 This is a schematic diagram of the handling robot disclosed in this utility model; Figure 3 This is a schematic diagram of the mobile chassis disclosed in this utility model; Figure 4 This is a schematic diagram showing the connection between the clamping device and the moving device disclosed in this utility model. Figure 5 This is a schematic diagram of the working operation of the handling robot disclosed in this utility model.

[0018] Explanation of markings on the attached diagrams: 1. Mobile chassis; 10. Load-bearing position; 2. Gantry assembly; 3. Pick-up and drop-off assembly; 30. Lifting bracket; 31. Lifting guide mechanism; 32. Lifting drive mechanism; 33. Mounting bracket; 34. Longitudinal guide mechanism; 35. Longitudinal drive mechanism; 36. Lateral bracket; 37. Lateral guide mechanism; 38. Lateral drive mechanism; 380. Drive motor; 381. Double-acting lead screw; 382. Lead screw nut; 383. Drive wheel; 384. Driven wheel; 385. Transmission belt; 388. Tensioner wheel; 39. Clamping mechanism; 391. Connecting part; 3911. Horizontal bar part; 3912. Vertical bar part; 392. Clamping part; 3921. Clamping rod; 3922. Reinforcing member; 3923. Limiting groove; 3924. Sensor; 3925. Safety contact edge; 4. Materials; 5. Target processing equipment; 51. Target processing position. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0020] Example 1: See Figure 1 As shown, this utility model discloses an embodiment of the clamping device.

[0021] The clamping device includes: Mounting bracket 33 has a front end and a rear end in the first horizontal direction; Two transverse support brackets 36 are arranged along the second horizontal direction and located below the aforementioned mounting bracket 33; A transverse guide mechanism 37 is connected between the mounting bracket 33 and the transverse bracket 36, and is used to guide the transverse bracket 36 to translate along the second horizontal direction. A transverse drive mechanism 38 is connected between the mounting bracket 33 and the transverse support 36, and is used to drive the two transverse supports 36 to move closer and further apart from each other along the second horizontal direction. Two clamping mechanisms 39 are respectively connected to the two transverse supports 36. Each clamping mechanism 39 includes a connecting part 391 and a clamping part 392. The connecting part 391 is connected to the transverse support 36, and the clamping part 392 is connected to the connecting part 391. The clamping part 392 is located below the side of the transverse support 36 near the front end of the mounting bracket 33. The distance between the clamping parts 392 of the two clamping mechanisms 39 is less than the distance between the connecting parts 391. The clamping part 392 extends along the first horizontal direction.

[0022] In the above text, the mounting bracket 33 serves as the mounting base for the entire clamping device. The transverse guide mechanism 37 guides the two transverse supports 36 to move along the first horizontal direction. The transverse drive mechanism 38 drives the two transverse supports 36 to move closer and further apart. The transverse supports 36 are the moving carriers that support the clamping mechanisms 39. When the two transverse supports 36 move closer, they drive the two clamping mechanisms 39 to move closer together to clamp the material. When the two transverse supports 36 move further apart, they drive the two clamping mechanisms 39 to move further apart to release the material. The clamping part 392 is the clamping end that directly contacts the material. Its extension direction is orthogonal to the clamping opening and closing direction to ensure clamping stability. When the clamping part 392 is used to clamp the material, it contacts the side of the material. When the clamping parts of the two clamping mechanisms 39 clamp the material, the distance between the connecting parts 391 of the two clamping mechanisms 39 along the second horizontal direction is greater than the dimension of the clamped material along the second horizontal direction. The transverse supports 36 are located behind and higher than the clamped material.

[0023] Specifically, the mounting bracket 33 is connected to the motion device. After the clamping device clamps the product, the motion device drives the clamping device to move in space, thereby realizing the transfer of materials.

[0024] By using the above technical solution, the clamping part of the clamping mechanism is set diagonally below the transverse support, so that the transverse support and the clamping part are spatially misaligned. When there is material in the inner bearing position, the clamping part can pick up and put down the material in the outer bearing position. When there is material in the outer bearing position, the clamping part can pick up and put down the material at the lower position outside the bearing space inlet and outlet. In this way, the material can be placed in the front position of the handling robot, which can realize material exchange, reduce the length of the handling robot, and realize low-level picking and placing.

[0025] In this embodiment, the connecting part 391 is L-shaped, including a horizontal bar part 3911 and a vertical bar part 3912. The horizontal bar part 3911 extends along the first horizontal direction and is connected to the horizontal moving bracket 36. The vertical bar part 3912 extends vertically, and the upper end of the vertical bar part 3912 is connected to the end of the horizontal bar part 3911 facing the front end of the handling robot. The end of the clamping part 392 facing the rear end of the robot is connected to the lower end of the vertical bar part 3912.

[0026] In the above text, the clamping mechanism 39 is Z-shaped and consists of three arm sections with a spatial bending shape. The vertical height difference is formed by the spatial misalignment of the three arm sections. The horizontal bar 3911 is stably connected to the horizontal moving bracket 36. The clamping part 392 stably clamps the material. The vertical bar 3912 realizes the stable connection between the horizontal bar 3911 and the clamping part 392.

[0027] By using the above technical solution, and by setting the clamping mechanism 39 to a Z-shaped structure, the weight of the clamping mechanism 39 can be reduced as much as possible while ensuring its mechanical strength.

[0028] In this embodiment, the clamping part 392 includes a clamping rod 3921 and a reinforcing member 3922. The clamping rod 3921 is connected to the connecting part 391, and the reinforcing member 3922 is connected to the side of the clamping rod 3921 facing the other clamping mechanism 39.

[0029] The reinforcing member 3922 refers to a rigid support structure attached to the inner side of the clamping rod 3921, used to improve the bending resistance of the clamping part 392. It also ensures that the distance between the two clamping parts 392 is less than the distance between the two connecting parts 391.

[0030] Specifically, the clamping part 392 is prone to deformation when subjected to lateral forces from the material during clamping operations. By adding a reinforcing member 3922 extending in the same direction as the clamping rod 3921 to the inner side of the clamping rod 3921, a composite structure is formed by superimposing the clamping rod 3921 and the reinforcing member 3922.

[0031] Through the above technical solution, the combined structure of the reinforcing member 3922 and the clamping rod 3921 maintains the original clamping surface contact function while ensuring accurate positioning of the clamping action by increasing local rigidity. At the same time, the reinforcing member 3922 is also used to reduce the distance between the two clamping parts 392 after clamping the material, so as to avoid interference between the clamping parts 392 and other materials on the path when they move along the first horizontal direction.

[0032] In this embodiment, the clamping rod 3921, the horizontal bar portion 3911, and the vertical bar portion 3912 are integrally formed.

[0033] The clamping rod 3921, the horizontal bar 3911, and the vertical bar 3912 are designed as a single piece, which can comprehensively optimize structural strength, assembly efficiency, and functional stability.

[0034] In this embodiment, the upper surface of the clamping part 392 is provided with a limiting groove 3923, which is used to embed the two side lugs of the material.

[0035] In the above text, the limiting groove 3923 refers to the groove structure set on the upper surface of the clamping part 392, and the lugs on both sides of the material refer to the protruding structures extending outward from both sides of the material body.

[0036] Specifically, when the clamping part 392 contacts the material, the lugs on both sides of the material are embedded in the limiting groove 3923. The two clamping parts 392 prevent the material from moving in the second horizontal direction, and the limiting groove 3923 restricts the material from moving in the first horizontal direction.

[0037] Through the above technical solution, by using the interlocking structure of the limiting groove 3923 and the lug, a mechanical positioning function is added on the basis of maintaining the original clamping force, so that the material always maintains the predetermined position relationship during the clamping process.

[0038] In this embodiment, the clamping part 392 is provided with a sensor 3924 for detecting materials.

[0039] In the above text, sensor 3924 refers to a detection element capable of detecting materials. Sensor 3924 can be a pressure sensor or a photoelectric sensor. Sensor 3924 can detect the clamping state of the material, thereby confirming whether the material is clamped or detached.

[0040] In this embodiment, sensor 3924 is a pressure sensor, which is integrated on the bearing surface where the clamping part 392 contacts the lug of the material. By measuring the pressure change generated when the clamping part 392 contacts the lug of the material, the mechanical state of the clamping action is fed back in real time. Specifically, when the clamping mechanism 39 performs the clamping action, the clamping part 392 applies a clamping force to the side of the material, and at the same time, the upper surface of the clamping part 392 is supported under the lug of the material. At this time, the force sensor 3924 continuously collects contact pressure data. When the detected pressure value reaches a preset threshold range, it is determined that the material has been stably clamped.

[0041] The above technical solution, by embedding a force sensor 3924, solves the problem of clamping failure caused by material size deviation or positional offset during the clamping process.

[0042] In this embodiment, the clamping part 392 has a free end in the first horizontal direction that is away from the transverse support. The free end of the clamping part 392 is an arc-shaped surface, and a safety contact edge 3925 is provided on the arc-shaped surface.

[0043] In the above text, the curved surface refers to the continuous curved surface formed at the end of the clamping part 392. This structure enables the contact between the clamping mechanism 39 and the obstacle during movement to change from point contact to line contact, reducing the contact stress per unit area. The safety contact edge 3925 refers to a flexible detection device wrapped around the outer edge of the curved surface. Specifically, it can be implemented using a silicone edge strip with a pressure sensor. When the safety contact edge 3925 is subjected to pressure, a signal feedback is triggered. This device can immediately generate a stop command when contacting an obstacle.

[0044] Specifically, when the translation drive mechanism moves the gripping device along the first horizontal direction, the arc-shaped surface structure preferentially makes sliding contact with the obstacle, avoiding direct impact of the right-angled edge on the material rack or the inner wall of the baking oven. During this process, the deformation of the safety contact edge 3925 upon contact with the obstacle triggers the pressure sensor. After the sensor signal is transmitted to the control system, the power output is cut off.

[0045] Through the above technical solution, the impact force of collision is reduced by the curved surface, and the safety contact edge 3925 realizes rapid shutdown protection, which significantly improves the safety and reliability of the material transfer process.

[0046] In this embodiment, the lateral movement drive mechanism 38 includes: The drive motor 380 is mounted on the aforementioned mounting bracket 33; A bidirectional lead screw 381 is disposed on one side of the drive motor 380 along the first horizontal direction, the bidirectional lead screw 381 extends along the second horizontal direction, and the bidirectional lead screw 381 is rotatably connected to the mounting bracket 33. Two lead screw nuts 382 are respectively connected to the two reverse threaded portions of the aforementioned bidirectional lead screw 381, and the two transverse support brackets 36 are respectively connected to the aforementioned two lead screw nuts 382. The drive wheel 383 is mounted on the shaft of the aforementioned drive motor 380; Driven wheel 384 is connected to the aforementioned bidirectional lead screw 381; The drive belt 385 drives the drive wheel 383 and the driven wheel 384. Tensioner pulley 388, tensioner drive belt 385.

[0047] In the above text, the bidirectional lead screw 381 refers to a lead screw with two sections of threaded structure with opposite directions of rotation, which drives two lead screw nuts 382 to produce symmetrical displacement through the reverse threads. The transmission belt 385 between the drive wheel 383 and the driven wheel 384 is a flexible connecting component used to transmit power. The lead screw nuts 382 are rigidly fixed to the transverse support 36 to ensure that rotational motion is converted into linear motion. The drive motor 380 drives the drive wheel 383 to rotate through the shaft, and the transmission belt 385 transmits power to the driven wheel 384, causing the bidirectional lead screw 381 to rotate around its axis. The two reverse threaded sections of the bidirectional lead screw 381 respectively engage with the two lead screw nuts 382. When the bidirectional lead screw 381 rotates, the two lead screw nuts 382 move linearly in opposite directions, thereby driving the two transverse supports 36 to move synchronously in opposite directions in the second horizontal direction.

[0048] Through the above technical solution, by using a single drive motor 380 in conjunction with a bidirectional lead screw structure, symmetrical drive of two transverse support brackets 36 is achieved within a limited space, thus realizing precise synchronous control of the two transverse support brackets 36 within a limited installation space.

[0049] Example 2: See Figures 2 to 4 As shown, this utility model discloses an embodiment of a handling robot.

[0050] The aforementioned handling robot has a front end and a rear end in the first horizontal direction, and the aforementioned handling robot includes: The mobile chassis 1 can be moved to different locations. Above the mobile chassis 1 is a carrying space. The entrance and exit of the carrying space face the side where the front end of the handling robot is located. The carrying space includes two carrying positions 10 for accommodating material A. The two carrying positions 10 are arranged sequentially along the first horizontal direction. The gantry assembly 2 is disposed above the aforementioned load-bearing space and on both sides along the second horizontal direction, wherein the second horizontal direction is perpendicular to the aforementioned first horizontal direction; The pick-and-place assembly 3, installed on the gantry assembly 2, is used to transfer materials to the bearing position 10 and to transfer materials from the bearing position 10. The pick-and-place assembly includes a motion device and a clamping device as described in Embodiment 1. The motion device includes a lifting bracket 30, a lifting guide mechanism 31, a lifting drive mechanism 32, a longitudinal guide mechanism 34, and a longitudinal drive mechanism 35. The lifting bracket 30 connects the lifting guide mechanism 31 and the lifting drive mechanism 32, and is located above the bearing space. The lifting guide mechanism 31 is installed on the gantry assembly 2. The lifting bracket 30 is used to guide the lifting support 30 to move up and down. The lifting drive mechanism 32 is installed on the gantry assembly 2 and is used to drive the lifting support 30 to move up and down. The mounting bracket 33 connects the longitudinal guide mechanism 34 and the longitudinal drive mechanism 35. The mounting bracket 33 is located at the bottom of the lifting support 30. The longitudinal guide mechanism 34 is installed on the lifting support 30 and is used to guide the mounting bracket 33 to move horizontally in the first horizontal direction. The longitudinal drive mechanism 35 is installed on the lifting support 30 and is used to drive the mounting bracket 33 to move horizontally in the first horizontal direction.

[0051] In the above description, the mobile chassis 1 serves as the robot's "mobile base," bearing the overall weight and enabling omnidirectional movement (such as moving forward and backward along the first horizontal direction, moving laterally or turning along the second horizontal direction), ensuring precise movement to the target location. The aforementioned carrying space is configured with two carrying positions 10, capable of accommodating two batches of materials simultaneously. The layout of the carrying positions 10 must match the material dimensions and typically includes positioning structures (such as baffles or slots) to prevent materials from swaying or falling during movement. The gantry assembly 2 spans above the carrying space and on both sides of the second horizontal direction (i.e., the "left and right sides" of the carrying space), forming a frame structure similar to a "door frame." This serves as the mounting carrier for the pick-and-place assembly 3, providing it with a vertical (lifting) motion track. The pick-and-place assembly 3 is mounted on the gantry assembly 2. During material retrieval, it grabs materials from outside the robot and places them on the carrying positions 10, and grabs materials from the carrying positions 10 and places them outside the robot. The lifting bracket 30 moves up and down under the drive of the lifting guide mechanism 31 (such as a guide rail slider) and the lifting drive mechanism 32. It descends to the material height during material handling, lowers the material to the bearing position during material unloading, and rises to a position that does not interfere with the material in the bearing space during transfer. The mounting bracket 33 moves back and forth along the longitudinal guide mechanism 34 at the bottom of the lifting bracket 30, driven by the longitudinal drive mechanism 35, and moves to the top of the two bearing positions 10 and outside the inlet and outlet of the bearing space, respectively. The two transverse brackets 36 open and close under the drive of the transverse guide mechanism 37 and the transverse drive mechanism 38, directly controlling the clamping action of the clamping mechanism 39. The structure of the clamping mechanism 39 is a key innovation of this invention. The distance between the clamping parts 392 is less than the distance between the connecting parts 391, ensuring that when the clamping parts 392 clamp the material, the material near the rear of the robot will not interfere with the connecting parts 391, and the connecting parts 391 will not clamp the material below the transverse brackets 36. The transverse support 36 is higher than the material held by the clamping part 392, so that when the clamping part 392 holds the material, the material near the rear end of the robot will not interfere with the transverse support 36. The transverse support 36 will not press down on the material below it.

[0052] Specifically, the aforementioned transport robot moves unprocessed materials from the storage area to the processing area and processed materials from the processing area to the storage area. The two carrying positions 10 are the front carrying position and the rear carrying position, respectively. The front carrying position is located near the front end of the transport robot, and the rear carrying position is located near the rear end of the transport robot. The inlet and outlet of the aforementioned processing equipment face to the side, and each of the aforementioned processing equipment includes multiple processing positions arranged sequentially in a vertical direction.

[0053] See Figure 5 As shown, the processing device in this embodiment is an oven, and the processing position is a baking rack.

[0054] The above handling method includes the following steps: S1-1. The above-mentioned handling robot receives a signal that the material has been processed at a certain processing position of a certain processing device in the processing area, sets the processing device that has processed the material as the target processing device 5, and sets the processing position that has processed the material as the target processing position 51. S1-2, The above-mentioned pick-and-place component 3 takes out the unprocessed material 4 from the storage area and places it on one of the bearing positions 10; S1-3, The aforementioned mobile chassis 1 is moved to the aforementioned target processing equipment 5; S1-4. The aforementioned mobile chassis 1 and the aforementioned target processing equipment 5 are positioned; S1-5, The above-mentioned pick-and-place component 3 transfers the material on the target processing position 51 to another empty bearing position 10; S1-6, The above-mentioned pick-and-place component 3 transfers the unprocessed material on the bearing position 10 to the above-mentioned target processing position 51; S1-7. The aforementioned mobile chassis 1 travels to the storage area; S1-8. The above-mentioned pick-and-place component 3 places the processed material into the storage area.

[0055] The above technical solution involves setting two carrying positions on the transport robot. The robot carries unprocessed material to the target processing position, retrieves processed material from the target processing position and places it into an empty carrying position, then retrieves the unprocessed material it was carrying and places it back into the target processing position. On one hand, the transport robot and the processing equipment only need to perform a single positioning operation to complete the retrieval and placement of material from the processing equipment. On the other hand, the downtime at the target processing position is short, improving the utilization rate of the processing equipment. By saving the positioning time of the transport robot and the idle time of the processing positions, the material handling efficiency is improved.

[0056] The first method of transportation includes the following steps: S2-1. When the above-mentioned handling robot receives a signal that the material has been processed at a certain processing position in the processing area, it sets the processing device that has processed the material as the target processing device 5 and the processing position that has processed the material as the target processing position 51. S2-2, The aforementioned mobile chassis 1 travels to the material storage area; S2-3, The above-mentioned pick-and-place component 3 transfers the unprocessed material in the storage area to the above-mentioned front bearing position; S2-4. The aforementioned mobile chassis 1 travels to the aforementioned target processing equipment 5, and the inlet and outlet of the aforementioned carrying space face the inlet and outlet of the aforementioned target processing equipment 5. S2-5. The clamping part 392 moves to the outside of the inlet and outlet of the bearing space. Specifically, the lifting drive mechanism 32 and the longitudinal drive mechanism 35 cooperate with each other to move the transverse support 36 from the position of the unprocessed material above the front bearing position to the side of the front bearing position close to the front of the handling robot. S2-6. The clamping part 392 moves vertically to the height of the target processing position 51. Specifically, the lifting drive mechanism 32 drives the lifting bracket 30 to rise and fall, so that the clamping part 392 can extend into the target processing position 51 along its length. S2-7. The above-mentioned pick-and-place component 3 picks up the processed material on the target processing position 51 and moves it to the outside of the inlet and outlet of the bearing space. Specifically, the movable chassis 1 drives the clamping part 392 to extend into the target processing position 51, the transverse drive mechanism 38 drives the clamping parts 392 to move closer to each other to clamp the material, the lifting drive mechanism 32 drives the material to rise and leave the bottom of the target processing position 51, and the movable chassis 1 drives the clamping part 392 and the material to move out of the target processing position 51. S2-8. The above-mentioned pick-and-place component 3 drives the processed material to move to a position higher than the unprocessed material on the above-mentioned front bearing position. Specifically, the lifting drive mechanism 32 drives the material to rise. S2-9. The above-mentioned pick-and-place assembly places the processed material on the above-mentioned rear bearing position. Specifically, the longitudinal movement drive mechanism 35 drives the processed material to the top of the rear bearing position above the unprocessed material on the front bearing position, the lifting drive mechanism 32 drives the material to fall to the rear bearing position, and the transverse movement drive mechanism 38 drives the clamping part 392 to release the material on the rear bearing position. S2-10. The above-mentioned pick-and-place component 3 moves the unprocessed material on the front bearing position to the outside of the inlet and outlet of the bearing space. Specifically, the longitudinal drive mechanism 35 drives the clamping part 392 to move to both sides of the unprocessed material on the front bearing position, the transverse drive mechanism 38 drives the clamping part 392 to clamp the unprocessed material, and the longitudinal drive mechanism 35 drives the clamping part 392 and the unprocessed material to move to the side of the front bearing position close to the front end of the handling robot. S2-11. The above-mentioned pick-and-place component 3 moves the unprocessed material to the height of the target processing position 51. Specifically, the lifting drive mechanism 32 drives the lifting bracket 30 to lift, so that the clamping part 392 and the unprocessed material can enter the target processing position 51. S2-12. The above-mentioned pick-and-place component 3 places the unprocessed material on the above-mentioned target processing position 51. Specifically, the moving chassis 1 drives the unprocessed material into the target processing position 51, the lifting drive mechanism 32 drives the unprocessed material to fall to the target processing position 51, and the lateral drive mechanism 38 drives the clamping part 392 to release the material. S2-13. The clamping part 392 returns to the bearing space. Specifically, the moving chassis 1 drives the clamping part 392 to move out of the target processing position 51. The lifting drive mechanism 32 and the longitudinal drive mechanism 35 cooperate with each other to make the transverse support 36 move from the position of the processed material above the rear bearing position to the bearing space. S2-14. The aforementioned mobile chassis 1 drives the handling robot to the storage area; S2-15. The above-mentioned pick-and-place component 3 places the processed material into the storage area.

[0057] The second method of transportation includes the following steps: S3-1. When the above-mentioned handling robot receives a signal that the material has been processed at a certain processing position in the processing area, it sets the processing device that has processed the material as the target processing device 5 and the processing position that has processed the material as the target processing position 51. S3-2, The aforementioned mobile chassis 1 travels to the material storage area; S3-3, The above-mentioned pick-and-place component 3 transfers the unprocessed material in the storage area to the above-mentioned rear bearing position; S3-4. The aforementioned mobile chassis 1 moves to the aforementioned target processing equipment 5, and the inlet and outlet of the aforementioned carrying space face the inlet and outlet of the aforementioned target processing equipment 5. S3-5. The clamping part 392 moves to the outside of the inlet and outlet of the bearing space. Specifically, the lifting drive mechanism 32 and the longitudinal drive mechanism 35 cooperate with each other to move the transverse support 36 from the position of the unprocessed material above the rear bearing position to the side of the front bearing position near the front of the handling robot. S3-6. The clamping part 392 moves vertically to the height of the target processing position 51. Specifically, the lifting drive mechanism 32 drives the lifting bracket 30 to rise and fall, so that the clamping part 392 can extend into the target processing position 51 along its length. S3-7. The above-mentioned pick-and-place component 3 picks up the processed material on the target processing position 51 and moves it to the outside of the inlet and outlet of the bearing space. Specifically, the movable chassis 1 drives the clamping part 392 to extend into the target processing position 51, the transverse drive mechanism 38 drives the clamping parts 392 to move closer to each other to clamp the material, the lifting drive mechanism 32 drives the material to rise and leave the bottom of the target processing position 51, and the movable chassis 1 drives the clamping part 392 and the material to move out of the target processing position 51. S3-8. The above-mentioned pick-and-place component 3 drives the processed material to a position that can enter the above-mentioned front bearing position. Specifically, the lifting drive mechanism 32 drives the material to lift. S3-9. The above-mentioned pick-and-place assembly places the processed material on the above-mentioned front bearing position. Specifically, the longitudinal drive mechanism 35 drives the processed material to the top of the front bearing position, the lifting drive mechanism 32 drives the material to fall to the front bearing position, and the transverse drive mechanism 38 drives the clamping part 392 to release the material on the front bearing position. S3-10. The above-mentioned pick-and-place component 3 moves the unprocessed material on the rear bearing position to the outside of the inlet and outlet of the bearing space. Specifically, the longitudinal drive mechanism 35 drives the clamping part 392 to move to both sides of the unprocessed material on the rear bearing position, the transverse drive mechanism 38 drives the clamping part 392 to clamp the unprocessed material, the lifting drive mechanism 32 drives the unprocessed material to rise to a position higher than the processed material, and the longitudinal drive mechanism 35 drives the clamping part 392 and the unprocessed material to move over the processed material to the side of the front bearing position close to the front end of the handling robot. S3-11. The above-mentioned pick-and-place component 3 moves the unprocessed material to the height of the target processing position 51. Specifically, the lifting drive mechanism 32 drives the lifting bracket 30 to lift, so that the clamping part 392 and the unprocessed material can enter the target processing position 51. S3-12. The above-mentioned pick-and-place component 3 places the unprocessed material on the above-mentioned target processing position 51. Specifically, the moving chassis 1 drives the unprocessed material into the target processing position 51, the lifting drive mechanism 32 drives the unprocessed material to fall to the target processing position 51, and the lateral drive mechanism 38 drives the clamping part 392 to release the material. S3-13. The clamping part 392 returns to the bearing space. Specifically, the moving chassis 1 drives the clamping part 392 to move out of the target processing position 51. The lifting drive mechanism 32 and the longitudinal drive mechanism 35 cooperate with each other to move the transverse support 36 from the position of the processed material above the previous bearing position to the bearing space. S3-14. The aforementioned mobile chassis 1 drives the handling robot to the storage area; S3-15. The above-mentioned pick-and-place component 3 places the processed material into the storage area.

[0058] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A gripping device, characterized in that include: The mounting bracket has a front end and a rear end in the first horizontal direction; Two transverse sliding supports are arranged along the second horizontal direction and located below the mounting bracket; A transverse guide mechanism, connected between the mounting bracket and the transverse support, is used to guide the transverse support to translate along the second horizontal direction; A lateral movement drive mechanism is connected between the mounting bracket and the lateral movement bracket, and is used to drive the two lateral movement brackets to move closer to each other and further apart along the second horizontal direction; Two clamping mechanisms are respectively connected to the two transverse supports. Each clamping mechanism includes a connecting part and a clamping part. The connecting part is connected to the transverse support, and the clamping part is connected to the connecting part. The clamping part is located below the side of the transverse support near the front end of the mounting bracket. The distance between the clamping parts of the two clamping mechanisms is less than the distance between the connecting parts. The clamping part extends along the first horizontal direction to the front end of the mounting bracket.

2. The gripping device according to claim 1, characterized in that The connecting part is L-shaped and includes a horizontal bar and a vertical bar. The horizontal bar extends along the first horizontal direction and is connected to the horizontal moving bracket. The vertical bar extends vertically and its upper end is connected to the end of the horizontal bar facing the front end of the transport robot. The end of the clamping part facing the rear end of the robot is connected to the lower end of the vertical bar.

3. The clamping device according to claim 1, characterized in that, The clamping part includes a clamping rod and a reinforcing member. The clamping rod is connected to the connecting part, and the reinforcing member is connected to the side of the clamping rod facing another clamping mechanism.

4. The clamping device according to claim 3, characterized in that, The clamping rod and the connecting part are an integral structure.

5. The clamping device according to claim 1, characterized in that, The upper surface of the clamping part is provided with a limiting groove, which is used to embed the two side lugs of the material.

6. The clamping device according to claim 1, characterized in that, The clamping part is equipped with a sensor for detecting materials.

7. The clamping device according to claim 2, characterized in that, The clamping part has a free end in the first horizontal direction that is away from the transverse support. The free end of the clamping part is an arc-shaped surface, and a safety contact edge is provided on the arc-shaped surface.

8. The clamping device according to claim 2, characterized in that, The lateral movement drive mechanism includes: The drive motor is mounted on the mounting bracket. A bidirectional lead screw is disposed on one side of the drive motor along the first horizontal direction, the bidirectional lead screw extends along the second horizontal direction, and the bidirectional lead screw is rotatably connected to the mounting bracket. Two lead screw nuts are respectively connected to the two reverse threaded portions of the bidirectional lead screw, and the two transverse support brackets are respectively connected to the two lead screw nuts; The drive wheel is mounted on the shaft of the drive motor; Driven wheel, connected to the bidirectional lead screw; A transmission belt connects the drive wheel and the driven wheel.

9. The clamping device according to claim 2, characterized in that, The lateral guide mechanism includes: A slide rail is connected to the mounting bracket, and the slide rail extends along the second horizontal direction; Two sets of sliders are slidably connected to the slide rail along the second horizontal direction, and the two sets of sliders are respectively connected to the two transverse support brackets.

10. A transport robot, characterized in that, Includes the gripping device as described in any one of claims 1 to 9.

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