A warehouse gripper and transfer device

Abstract

This utility model relates to the technical field of warehouse storage and retrieval devices, and more specifically, to a warehouse gripper and transfer device, including a mounting frame, a movable frame, a suction unit, a gripping unit, and a rotating mechanism for exchanging the positions of the suction unit and the gripping unit. The rotating mechanism is mounted on the mounting frame, and the movable frame is connected to the output end of the rotating mechanism. The suction unit and the gripping unit are respectively mounted and connected to different sides of the movable frame. This utility model, by setting a rotating mechanism to flip the movable frame, allows the suction unit and the gripping unit to simultaneously grasp molds without interfering with each other, achieving the ability to simultaneously and compatiblely grasp molds of different types, shapes, and sizes.

Description

Technical Field

[0001] This utility model relates to the technical field of warehouse storage and retrieval devices, and more specifically, to a warehouse gripper and transfer device. Background Technology

[0002] Radiation therapy is a treatment that uses radiation to kill cancer cells. During radiation therapy, a special body membrane and shaping pads are used to fix the patient. Due to the large number of patients in hospitals, and the different body shapes and treatment sites for each patient, one patient may have one or more sets of molds for specific treatment sites. Because of this, the number of patient molds is enormous, and hospital space is limited, which can easily lead to confusion and loss of molds. Therefore, a warehousing system has been introduced to store the molds.

[0003] Within the storage system, body membranes and shaping pads are often stored in sets, with the body membrane typically placed on top of the shaping pad. In radiotherapy, each patient requires different types and shapes of body membranes and shaping pads, and conventional gripper designs cannot simultaneously handle different types, shapes, and sizes of molds. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies that cannot simultaneously grip molds of different types, shapes, and sizes, and to provide a storage gripper and transfer device that can simultaneously grip molds of different types, shapes, and sizes.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: A storage gripper is provided, including a mounting frame, a movable frame, a suction unit, a gripping unit, and a rotating mechanism for exchanging the positions of the suction unit and the gripping unit. The rotating mechanism is mounted on the mounting frame, and the movable frame is connected to the output end of the rotating mechanism. The suction unit and the gripping unit are respectively mounted and connected to different sides of the movable frame.

[0006] This utility model discloses a storage gripper. The gripper is installed in the desired position via a mounting frame. Activating the rotating mechanism causes the movable frame to rotate, moving the suction or gripping unit to the desired mold for gripping. After gripping, the rotating mechanism is activated again, allowing the gripping or suction unit to grip the mold again. This enables the simultaneous use of both the gripping and suction units to grip molds of different types, shapes, and sizes. By incorporating a rotating mechanism to flip the movable frame, the suction and gripping units can grip molds simultaneously without interference, achieving compatibility with gripping molds of various types, shapes, and sizes.

[0007] Furthermore, the suction unit and the gripping unit are respectively mounted on opposite sides of the movable frame along a rotation axis perpendicular to the rotating mechanism. Mounting the suction unit and the gripping unit on opposite sides avoids interference when they simultaneously grip the mold.

[0008] Furthermore, the rotating mechanism includes a rotary motor unit, a main gear, and a driven gear. The rotary motor unit is mounted on the mounting frame. The main gear is connected to the output end of the rotary motor unit. The driven gear is rotatably connected to the mounting frame and meshes with the main gear. The movable frame is mounted on the driven gear. When switching between the pick-up unit and the gripping unit, the rotary motor unit is activated. The rotary motor unit drives the main gear to rotate, which in turn drives the driven gear to rotate, thereby rotating the movable frame.

[0009] Furthermore, the rotating mechanism also includes an outer annular track fixing frame and an inner annular track rotating frame. The outer annular track fixing frame is mounted on the mounting frame and sleeved outside the inner annular track rotating frame. The inner annular track rotating frame is rotatably connected to the outer annular track fixing frame. The driven gear is coaxially mounted on the inner annular track rotating frame, and the movable frame is mounted on the inner annular track rotating frame. By setting the outer annular track fixing frame and the inner annular track rotating frame, during rotation, the inner annular track rotating frame rotates within the outer annular track fixing frame. The outer annular track fixing frame provides support and guidance for the rotation of the inner annular track rotating frame, facilitating the stable rotation of the movable frame driven by the driven gear.

[0010] Furthermore, it also includes a telescopic mechanism, which is mounted on the inner annular track rotating frame. The movable frame is connected to the output end of the telescopic mechanism, and the rotation axis of the driven gear is parallel to the telescopic direction of the telescopic mechanism. By providing the telescopic mechanism, the movable frame can be driven to telescopically move, thereby facilitating the gripping of molds at different positions.

[0011] Furthermore, the telescopic mechanism includes a telescopic motor unit, a transmission gear, and a rack. The telescopic motor unit is mounted on the inner annular track rotating frame. The transmission gear is connected to the output end of the telescopic motor unit. The rack is mounted on the movable frame, and the transmission gear meshes with the rack. The movable frame is equipped with a linear guide rail, and the inner annular track rotating frame is equipped with a linear guide rail slider. The linear guide rail and the linear guide rail slider are slidably connected. When the movable frame performs telescopic movement, the telescopic motor unit is activated. The telescopic motor unit drives the transmission gear to rotate, which in turn drives the rack to move. The rack drives the linear guide rail to slide within the linear guide rail slider, thereby causing the movable frame to perform telescopic movement.

[0012] Furthermore, the suction unit includes a mounting plate and multiple sets of suction cup assemblies. The mounting plate is mounted on the movable frame, and all sets of suction cup assemblies are mounted on the mounting plate. The mounting plate facilitates maintenance of the suction cup assemblies, and the multiple sets of suction cup assemblies facilitate stable gripping of the mold.

[0013] Furthermore, the suction cup assembly includes a bushing, a telescopic shaft, a universal bearing, a vacuum suction cup, and an elastic element. The bushing is mounted on the mounting plate, the telescopic shaft is slidably connected to the bushing, the universal bearing is mounted on the telescopic shaft, the vacuum suction cup is connected to the universal bearing, and the two ends of the elastic element are respectively connected to the universal bearing and the bushing. When gripping a mold, the height of the vacuum suction cup can be finely adjusted by setting the bushing and the telescopic shaft, and the angle of the vacuum suction cup can be finely adjusted by setting the universal bearing, thus facilitating the use of multiple suction cup assemblies to grip uneven molds; the elastic element allows the vacuum suction cup to be reset after use.

[0014] Furthermore, the gripping unit includes a moving mechanism and grippers. The moving mechanism is mounted on the movable frame, and the grippers are connected to the output end of the moving mechanism. Adjusting the position of the grippers via the moving mechanism facilitates the gripping of the mold.

[0015] This utility model also provides a transfer device, including a horizontal moving mechanism, a lifting moving mechanism, a rotating mechanism, and the storage gripper described above. The lifting moving mechanism is connected to the output end of the horizontal moving mechanism, the rotating mechanism is connected to the output end of the lifting moving mechanism, and the mounting frame is connected to the output end of the rotating mechanism.

[0016] The transfer device of this utility model adjusts the horizontal position of the storage gripper through a horizontal moving mechanism, adjusts the height of the storage gripper through a lifting moving mechanism, and adjusts the gripping angle of the storage gripper through a rotating mechanism. This makes it convenient to use the storage gripper to simultaneously grip molds of different types, shapes, and sizes, and then transfer the molds to the required location.

[0017] Compared with the prior art, the beneficial effects of this utility model are: 1. The present invention relates to a storage gripper and transfer device, which uses a rotating mechanism to flip the movable frame, allowing the suction unit and the gripping unit to simultaneously grip the mold without interfering with each other, thus enabling the simultaneous gripping of molds of different types, shapes and sizes.

[0018] 2. The present invention provides a storage gripper and transfer device, which integrates the telescopic mechanism, including a telescopic motor unit, a transmission gear and a rack, onto a rotating mechanism, thereby reducing the overall size of the storage gripper.

[0019] 3. The storage gripper and transfer device of this utility model can finely adjust the height of the vacuum suction cup by setting a bushing and a telescopic shaft, and can finely adjust the angle of the vacuum suction cup by setting a universal bearing, thereby facilitating the use of multiple suction cup assemblies to grip uneven molds; and can reset the position of the vacuum suction cup after use by setting an elastic element. Attached Figure Description

[0020] Figure 1 This is a first-view structural diagram of the warehouse gripper of this utility model; Figure 2 This is a schematic diagram of the telescopic mechanism mounted on the rotating mechanism; Figure 3 This is a second-view structural diagram of the warehouse gripper of this utility model; Figure 4 This is a schematic diagram of the structure where the suction unit and the gripping unit are mounted on the movable frame; Figure 5 yes Figure 4 Enlarged view of the structure at point A in the middle; Figure 6 yes Figure 4 Enlarged view of the structure at point B; Figure 7 This is a schematic diagram of the overall structure of the transfer device of this utility model.

[0021] In the attached diagram: 100, mounting frame; 200, rotating mechanism; 210, rotary motor unit; 220, main gear; 230, driven gear; 240, outer annular track fixing frame; 250, inner annular track rotating frame; 251, linear guide slider; 260, rotating wheel; 300, movable frame; 310, linear guide; 400, suction unit; 410, mounting plate; 420, suction cup assembly; 421, bushing; 422, telescopic shaft; 423, universal bearing; 424, vacuum suction cup; 425, elastic element; 426, limit screw. 427. Return spring; 500. Clamping unit; 510. Moving mechanism; 511. Moving motor unit; 512. Forward and reverse screw; 520. Gripper; 521. Slider; 522. Screw nut seat; 523. Support seat; 524. Fixed clamping block; 525. Electric push rod; 526. Linear guide rail; 527. Moving clamping block; 600. Telescopic mechanism; 610. Telescopic motor unit; 620. Transmission gear; 630. Rack; 700. Horizontal moving mechanism; 800. Lifting moving mechanism; 900. Rotating mechanism. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. The present utility model will be further described below with reference to specific embodiments. The accompanying drawings are only for illustrative purposes and represent only schematic diagrams, not actual pictures, and should not be construed as limiting the present patent. In order to better illustrate the embodiments of the present utility model, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the actual product size. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0023] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship 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, the terms describing positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. Furthermore, if the embodiments of this utility model involve descriptions such as "first" and "second," these descriptions are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include at least one of those features. In addition, the meaning of "and / or" in the text is that it includes three parallel options. Taking "A and / or B" as an example, it includes option A, option B, or an option that satisfies both A and B.

[0024] Example 1 This embodiment is the first embodiment of a warehouse gripper, such as Figure 1 As shown, the system includes a mounting frame 100, a movable frame 300, a suction unit 400, a gripping unit 500, and a rotating mechanism 200 for exchanging the positions of the suction unit 400 and the gripping unit 500. The rotating mechanism 200 is mounted on the mounting frame 100. The movable frame 300 is connected to the output end of the rotating mechanism 200. The suction unit 400 and the gripping unit 500 are respectively mounted and connected on different sides of the movable frame 300, that is, the suction unit 400 and the gripping unit 500 are respectively mounted and connected on adjacent sides or opposite sides of the movable frame 300.

[0025] Specifically, such as Figure 1As shown, the suction unit 400 and the gripping unit 500 are respectively installed on opposite sides of the movable frame 300 along the rotation axis perpendicular to the rotating mechanism 200. Installing the suction unit 400 and the gripping unit 500 on opposite sides avoids interference when the suction unit 400 and the gripping unit 500 grip the mold simultaneously.

[0026] like Figure 2 As shown, the rotating mechanism 200 includes a rotating motor unit 210, a main gear 220, and a driven gear 230. The rotating motor unit 210 is mounted on the mounting frame 100. The main gear 220 is connected to the output end of the rotating motor unit 210. The driven gear 230 is rotatably connected to the mounting frame 100 and meshes with the main gear 220. The movable frame 300 is mounted on the driven gear 230. When rotating to switch between the pick-up unit 400 and the gripping unit 500, the rotating motor unit 210 is activated. The rotating motor unit 210 drives the main gear 220 to rotate, which in turn drives the driven gear 230 to rotate, thereby causing the movable frame 300 to rotate.

[0027] The rotating mechanism 200 also includes an outer annular track fixing frame 240 and an inner annular track rotating frame 250. The outer annular track fixing frame 240 is mounted on the mounting frame 100 and is sleeved around the inner annular track rotating frame 250. The inner annular track rotating frame 250 is rotatably connected to the outer annular track fixing frame 240. Specifically, multiple rotating wheels 260 are rotatably connected to the outer annular track fixing frame 240 along the circumference. The inner annular track rotating frame 250 is rotatably connected to the outer annular track fixing frame 240 through the rotating wheels 260. The gear 230 is coaxially mounted on the inner annular track rotating frame 250, and the movable frame 300 is installed and connected to the inner annular track rotating frame 250. By setting an outer annular track fixed frame 240 and an inner annular track rotating frame 250, the inner annular track rotating frame 250 rotates inside the outer annular track fixed frame 240 during rotation. The outer annular track fixed frame 240 provides support and guidance for the rotation of the inner annular track rotating frame 250, which facilitates the stable rotation of the movable frame 300 driven by the gear 230.

[0028] Specifically, in order to avoid interference with the gripping unit 500, the gear 230, the outer annular track fixing frame 240 and the inner annular track rotating frame 250 are all provided with openings, the gripping unit 500 is located at the opening, and the rotation angle of the gear 230 driven by the rotary motor unit 210 is no more than 300 degrees.

[0029] The working principle of a warehouse gripper in this embodiment is as follows: The storage gripper is installed in the desired position using the mounting frame 100. The rotating mechanism 200 is then activated, causing the movable frame 300 to rotate. This rotates the suction unit 400 or the gripping unit 500 to the desired mold for gripping. After gripping, the rotating mechanism 200 is activated again, allowing the gripping unit 500 or the suction unit 400 to rotate to the desired mold for gripping. This allows for the simultaneous use of both the gripping unit 500 and the suction unit 400 to grip molds of different types, shapes, and sizes. By setting the rotating mechanism 200 to flip the movable frame 300, the suction unit 400 and the gripping unit 500 can grip molds simultaneously without interference, achieving compatibility with gripping molds of different types, shapes, and sizes.

[0030] For example, in the storage and retrieval of patient molds used for radiotherapy, the body membrane and shaping pad need to be used and stored together. The shaping pad can be gripped by the suction unit 400, but the body membrane has multiple holes, making it difficult to grip by the suction unit 400. Therefore, a clamping unit 500 is designed to grip the body membrane. At this time, the storage gripper can grip the body membrane and shaping pad simultaneously without interfering with each other.

[0031] Example 2 This embodiment is a second embodiment of a warehouse gripper. This embodiment is similar to the first embodiment, except that, as shown in the following... Figure 3 As shown, it also includes a telescopic mechanism 600, which is mounted on the inner annular track rotating frame 250. The movable frame 300 is connected to the output end of the telescopic mechanism 600, and the rotation axis of the gear 230 is parallel to the telescopic direction of the telescopic mechanism 600. By setting the telescopic mechanism 600, the movable frame 300 can be driven to telescopically move, thereby facilitating the gripping of molds in different positions. Specifically, the telescopic direction of the telescopic mechanism 600 is the length direction of the movable frame 300, and the movable frame 300 passes through the gear 230, the outer annular track fixed frame 240, and the inner annular track rotating frame 250.

[0032] like Figure 2As shown, the telescopic mechanism 600 includes a telescopic motor unit 610, a transmission gear 620, and a rack 630. The telescopic motor unit 610 is mounted on the inner annular track rotating frame 250. The transmission gear 620 is connected to the output end of the telescopic motor unit 610. The rack 630 is mounted on the movable frame 300, and the transmission gear 620 meshes with the rack 630. The movable frame 300 is equipped with a linear guide rail 310, and the inner annular track rotating frame 250 is equipped with a linear guide rail slider 251. The linear guide rail 310 and the linear guide rail slider 251 are slidably connected. When the movable frame 300 performs telescopic movement, the telescopic motor unit 610 is activated. The telescopic motor unit 610 drives the transmission gear 620 to rotate, which in turn drives the rack 630 to move. The rack 630 then drives the linear guide rail 310 to slide within the linear guide rail slider 251, thereby causing the movable frame 300 to perform telescopic movement.

[0033] Specifically, the movable frame 300 is hollow inside, and the telescopic motor unit 610 is located inside the movable frame 300. The telescopic motor unit 610 is slidably connected to the movable frame 300.

[0034] Example 3 This embodiment is a third embodiment of a warehouse gripper. This embodiment is similar to Embodiment 1, except that, as Figure 4 As shown, the suction unit 400 includes a mounting plate 410 and multiple suction cup assemblies 420. The mounting plate 410 is mounted on the movable frame 300, and the multiple suction cup assemblies 420 are all mounted on the mounting plate 410. The mounting plate 410 facilitates the maintenance of the suction cup assemblies 420, and the multiple suction cup assemblies 420 facilitate stable gripping of the mold.

[0035] like Figure 5 As shown, the suction cup assembly 420 includes a bushing 421, a telescopic shaft 422, a universal bearing 423, a vacuum suction cup 424, and an elastic element 425. The bushing 421 is mounted on the mounting plate 410, the telescopic shaft 422 is slidably connected to the bushing 421, the universal bearing 423 is mounted on the telescopic shaft 422, the vacuum suction cup 424 is connected to the universal bearing 423, and both ends of the elastic element 425 are connected to the universal bearing 423 and the bushing 421, respectively. When gripping a mold, the height of the vacuum suction cup 424 can be finely adjusted by setting the bushing 421 and the telescopic shaft 422, and the angle of the vacuum suction cup 424 can be finely adjusted by setting the universal bearing 423, thus facilitating the use of multiple suction cup assemblies 420 to grip uneven molds; the elastic element 425 can reset the position of the vacuum suction cup 424 after use.

[0036] Specifically, when storing and retrieving patient molds for radiotherapy, the suction unit 400 is mainly used to grip the shaping pad. The shaping pad is used on the patient's back, has a relatively fixed size, and is made of rigid material that is not easily deformed. However, the mold has different curved surfaces according to the human body shape. Therefore, by using the suction unit 400, which is equipped with a bushing 421, a telescopic shaft 422, and a universal bearing 423, the vacuum suction cup 424 can adapt to different height surfaces and different angle slopes, ensuring that the vacuum suction cup 424 fits the shaping pad and stably grips it.

[0037] In this embodiment, the suction cup assembly 420 may further include a limiting nut 426 and a return spring 427. One end of the telescopic shaft 422 is connected to the universal bearing 423, and the other end of the telescopic shaft 422 is threadedly connected to the limiting nut 426. The return spring 427 is sleeved on the telescopic shaft 422, and both ends of the return spring 427 are respectively connected to the limiting nut 426 and the bushing 421. At this time, the elastic element 425 can be set as a pre-compression spring, which is sleeved on the telescopic shaft 422. Before use, by rotating the limiting nut 426, the distance between the limiting nut 426 and the vacuum suction cup 424 is adjusted, thereby adjusting the position of the vacuum suction cup 424 relative to the mounting plate 410 and the compression of the pre-compression spring, so that the vacuum suction cup 424 can stably pick up the shaping pad. After the suction cup stops working, the return spring 427 rebounds to return the telescopic shaft to its original position.

[0038] like Figure 3 As shown, the gripping unit 500 includes a moving mechanism 510 and a gripper 520. The moving mechanism 510 is mounted on the movable frame 300, and the gripper 520 is connected to the output end of the moving mechanism 510. The position of the gripper 520 can be adjusted by the moving mechanism 510 to facilitate the gripping of the mold.

[0039] Specifically, in the storage and retrieval of patient molds used for radiotherapy, the gripping unit 500 is mainly used to grasp the body membrane. The main body membranes used in radiotherapy include head molds, body molds, and chest molds. The head mold is smaller, has a rigid frame, and is not easily deformed. The body mold and chest mold are both open at both ends and have a certain degree of flexibility. To facilitate the grasping of different types of body membranes, such as… Figure 4 As shown, the moving mechanism 510 includes a moving motor unit 511 and a forward and reverse rotating lead screw 512. The moving motor unit 511 is mounted on the movable frame 300. The forward and reverse rotating lead screw 512 is connected to the output end of the moving motor unit 511. The threads at both ends of the forward and reverse rotating lead screw 512 are set to opposite directions. There are two sets of grippers 520, both of which are slidably connected to the movable frame 300. The two sets of grippers 520 are respectively threaded to both ends of the forward and reverse rotating lead screw 512. By activating the moving motor unit 511, the moving motor unit 511 drives the forward and reverse rotating lead screw 512 to rotate, causing the two sets of grippers 520 to move relative to each other. After adjusting to a suitable position, the gripper grasps the membrane.

[0040] like Figure 6 As shown, the gripper 520 includes a slider 521, a lead screw nut seat 522, a support base 523, a lifting mechanism, a fixed clamping block 524, an electric push rod 525, a linear guide rail 526, and a movable clamping block 527. The slider 521 is slidably connected to the movable frame 300. The lead screw nut seat 522 is mounted on the slider 521 and is threadedly connected to the forward and reverse rotating lead screw 512. The lifting mechanism is mounted on the lead screw nut seat 522. The support base 523 is connected to the output end of the lifting mechanism. The fixed clamping block 524, the electric push rod 525, and the linear guide rail 526 are all mounted on the support base 523. The movable clamping block 527 is connected to the output end of the electric push rod 525 and is slidably connected to the linear guide rail 526. There is a clamping space between the fixed clamping block 524 and the movable clamping block 527. After adjusting the position of the gripper 520 via the moving mechanism 510, the height of the fixed clamping block 524 and the movable clamping block 527 can be adjusted via the lifting mechanism. The fixed clamping block 524 is then brought into contact with one side of the body membrane. The electric push rod 525 is then activated to move the movable clamping block 527, bringing it into contact with the other side of the body membrane. The body membrane is then clamped using the fixed clamping block 524 and the movable clamping block 527.

[0041] Example 4 This embodiment is a first embodiment of a transfer device, such as... Figure 7 As shown, the system includes a horizontal moving mechanism 700, a lifting moving mechanism 800, a rotating mechanism 900, and a storage gripper provided in any of the embodiments one to three. The lifting moving mechanism 800 is connected to the output end of the horizontal moving mechanism 700, the rotating mechanism 900 is connected to the output end of the lifting moving mechanism 800, and the mounting frame 100 is connected to the output end of the rotating mechanism 900. In this embodiment, the horizontal moving mechanism 700, the lifting moving mechanism 800, and the rotating mechanism 900 all utilize existing technologies known to those skilled in the art.

[0042] The working principle of a transfer device in this embodiment is as follows: The horizontal position of the storage gripper is adjusted by the horizontal moving mechanism 700, the height of the storage gripper is adjusted by the lifting moving mechanism 800, and the gripping angle of the storage gripper is adjusted by the rotating mechanism 900. This makes it convenient to use the storage gripper to grip different types, shapes and sizes of molds at the same time, and then transfer the molds to the required position.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0044] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A warehouse gripper, characterized in that, The device includes a mounting frame (100), a movable frame (300), a suction unit (400), a gripping unit (500), and a rotating mechanism (200) for exchanging the positions of the suction unit (400) and the gripping unit (500). The rotating mechanism (200) is mounted on the mounting frame (100), and the movable frame (300) is connected to the output end of the rotating mechanism (200). The suction unit (400) and the gripping unit (500) are respectively mounted on different sides of the movable frame (300).

2. The warehouse gripper according to claim 1, characterized in that, The suction unit (400) and the gripping unit (500) are respectively mounted on opposite sides of the movable frame (300) along the rotation axis perpendicular to the rotating mechanism (200).

3. The warehouse gripper according to claim 1, characterized in that, The rotating mechanism (200) includes a rotary motor unit (210), a main gear (220), and a driven gear (230). The rotary motor unit (210) is mounted on the mounting frame (100). The main gear (220) is connected to the output end of the rotary motor unit (210). The driven gear (230) is rotatably connected to the mounting frame (100). The driven gear (230) meshes with the main gear (220). The movable frame (300) is mounted on the driven gear (230).

4. The warehouse gripper according to claim 3, characterized in that, The rotating mechanism (200) further includes an outer annular track fixing frame (240) and an inner annular track rotating frame (250). The outer annular track fixing frame (240) is mounted on the mounting frame (100). The outer annular track fixing frame (240) is sleeved outside the inner annular track rotating frame (250). The inner annular track rotating frame (250) is rotatably connected to the outer annular track fixing frame (240). The driven gear (230) is coaxially mounted on the inner annular track rotating frame (250). The movable frame (300) is installed and connected to the inner annular track rotating frame (250).

5. The warehouse gripper according to claim 4, characterized in that, It also includes a telescopic mechanism (600), which is mounted on the inner annular track rotating frame (250). The movable frame (300) is connected to the output end of the telescopic mechanism (600), and the rotation axis of the driven gear (230) is parallel to the telescopic direction of the telescopic mechanism (600).

6. The warehouse gripper according to claim 5, characterized in that, The telescopic mechanism (600) includes a telescopic motor unit (610), a transmission gear (620), and a rack (630). The telescopic motor unit (610) is mounted on the inner annular track rotating frame (250). The transmission gear (620) is connected to the output end of the telescopic motor unit (610). The rack (630) is mounted on the movable frame (300). The transmission gear (620) meshes with the rack (630). The movable frame (300) is provided with a linear guide rail (310). The inner annular track rotating frame (250) is provided with a linear guide rail slider (251). The linear guide rail (310) and the linear guide rail slider (251) are slidably connected.

7. The warehouse gripper according to any one of claims 1 to 6, characterized in that, The suction unit (400) includes a mounting plate (410) and multiple suction cup assemblies (420). The mounting plate (410) is mounted on the movable frame (300), and the multiple suction cup assemblies (420) are all mounted on the mounting plate (410).

8. The warehouse gripper according to claim 7, characterized in that, The suction cup assembly (420) includes a bushing (421), a telescopic shaft (422), a universal bearing (423), a vacuum suction cup (424), and an elastic element (425). The bushing (421) is mounted on the mounting plate (410). The telescopic shaft (422) is slidably connected to the bushing (421). The universal bearing (423) is mounted on the telescopic shaft (422). The vacuum suction cup (424) is connected to the universal bearing (423). The two ends of the elastic element (425) are respectively connected to the universal bearing (423) and the bushing (421).

9. The warehouse gripper according to any one of claims 1 to 6, characterized in that, The gripping unit (500) includes a moving mechanism (510) and a gripper (520). The moving mechanism (510) is mounted on the movable frame (300), and the gripper (520) is connected to the output end of the moving mechanism (510).

10. A transfer device, characterized in that, It includes a horizontal moving mechanism (700), a lifting moving mechanism (800), a rotating mechanism (900), and a storage gripper as described in any one of claims 1 to 9, wherein the lifting moving mechanism (800) is connected to the output end of the horizontal moving mechanism (700), the rotating mechanism (900) is connected to the output end of the lifting moving mechanism (800), and the mounting frame (100) is connected to the output end of the rotating mechanism (900).

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