A clamping device and a transport system

Abstract

The present application provides a clamping device and a transport system for clamping a box body, the box body having at least one opening, and the articles are taken out or put into the box body through the opening, and the clamping device comprises: a mounting structure; a clamping mechanism, arranged on the mounting structure, and used to clamp the side wall of the box body when the box body reaches a preset position; a blocking mechanism, arranged on a side of the mounting structure close to the opening, and when the clamping mechanism clamps the box body, the blocking mechanism moves to the opening and abuts against the end face of the box body having the opening, so as to prevent the articles from falling off the box body through the opening. In the scheme, when the clamping mechanism clamps the box body, due to the existence of the box body opening, if the box body is disturbed by an external force, it will shake and vibrate, causing the articles inside the box body to fall from the opening, and the blocking mechanism blocks the opening side of the box body and is in close contact with the box body structure, which can prevent the articles from falling through the opening, thereby ensuring the safety of the articles stored in the box body.

Description

Technical Field

[0001] The present application relates to the technical field of object transportation, and in particular to a clamping device and a transportation system. Background Art

[0002] Wafers are the basic raw materials for manufacturing semiconductor devices. High-purity semiconductors are prepared into wafers through processes such as crystal pulling and slicing. Wafers undergo a series of semiconductor manufacturing processes to form extremely small circuit structures, which are then cut, packaged, and tested to become IC chips, which are widely used in various electronic devices.

[0003] In the semiconductor process, IC chips need to go through multiple operation links. In order to ensure the safety of IC chips in the operation links, IC chips are stored in magazines during storage and transportation, which ensures the stability of IC chips during transportation and avoids damage to IC chips caused by external forces.

[0004] In the process of transporting the material box from one link to the next link, it is often achieved by using a robot to grab it. Since the two ends of the material box have openings, which are used to store and take out IC chips, when the robot grabs the material box, if the material box is shaken by external forces, it is easy to cause the center of gravity of the material box to be unstable and shift, causing the IC chip to fall from the opening of the material box and cause damage to the IC chip.

[0005] Therefore, how to provide a device that can ensure the storage security of IC chips is a technical problem that those skilled in the art need to solve urgently. Summary of the invention

[0006] The present application provides a clamping device and a transport system to solve the problem of damage caused by IC chips falling from the opening of a material box.

[0007] In a first aspect, a clamping device is provided for clamping a box body, wherein the box body has at least one opening, and an object is taken out of or put into the box body through the opening, and the clamping device comprises:

[0008] Mounting structure;

[0009] A clamping mechanism, disposed on the mounting structure, for clamping the side wall of the box body when the box body reaches a preset position;

[0010] The blocking mechanism is arranged on one side of the mounting structure close to the opening. When the clamping mechanism clamps the box body, the blocking mechanism moves to the opening and abuts against the end surface of the box body with the opening to prevent the article from falling off the box body through the opening.

[0011] The blocking mechanism blocks the opening side of the box body and is in close contact with the box body structure, which can prevent items from falling through the opening and ensure the safety of the items stored in the box body.

[0012] Preferably, the blocking mechanism comprises:

[0013] A first drive assembly includes a first mounting end and a first drive end, wherein the first mounting end is used to mount the first drive assembly inside the mounting structure, and the first drive end is arranged to penetrate an end surface of the mounting structure;

[0014] A movable component is arranged on the mounting structure, one end of which is connected to the first driving end, and the other end of which is connected to the abutment component. The movable component is used to move along the direction from the mounting structure to the opening under the drive of the first driving end, so as to move the abutment component from the initial position to the opening to abut against the end face of the box body with the opening; wherein the initial position is located on the side of the mounting structure away from the opening of the box body; the abutment component is arranged along a direction perpendicular to the movable component, and the length of the abutment component is not less than the maximum length of the opening.

[0015] Among them, the movable component can be regarded as a transmission component, which, under the drive of the first driving component, drives the abutment component to move to the opening, thereby achieving perfect abutment between the abutment component and the end face of the box body with the opening.

[0016] Preferably, the clamping device further comprises:

[0017] Main controller;

[0018] The blocking mechanism also includes:

[0019] The first switch assembly and the second switch assembly are both arranged on the mounting structure and located on both sides of the movable assembly;

[0020] When the blocking mechanism moves to the opening and abuts against the end surface of the box body with the opening, the first switch component contacts the movable component, generates a first trigger signal to the main controller, and the main controller controls the first driving component to stop running, so that the movable component stops moving;

[0021] When the blocking mechanism moves to the initial position, the second switch component contacts the movable component, generating a second trigger signal to the main controller, and the main controller controls the first drive component to stop running, so that the movable component stops moving.

[0022] Among them, the setting of the first switch component prevents the blocking mechanism from continuing to move after abutting against the end face of the box body with an opening to cause squeezing damage to the box body, and the setting of the second switch component prevents the blocking structure from continuing to move after resetting to the initial position to cause collision damage to the installation structure.

[0023] Preferably, the mounting structure comprises:

[0024] A first mounting structure, used for mounting a clamping mechanism;

[0025] The second mounting structure is arranged on one side of the first mounting structure along a length direction perpendicular to the first mounting structure, and is used for mounting the blocking mechanism.

[0026] When the box body has two opposite openings, two second mounting structures are provided, which are symmetrically arranged on both sides of the first mounting structure along a length direction perpendicular to the first mounting structure, so as to realize symmetrical installation of the blocking mechanism.

[0027] Preferably, the clamping device further comprises:

[0028] A first detection mechanism is provided on a side of the second mounting structure away from the first mounting structure, and is used to emit a first detection signal in a direction toward the box body;

[0029] The main controller is used to determine whether the first detection signal and the end surface of the box body with the opening are parallel according to the transmission path of the first detection signal;

[0030] If so, it is determined that the box body has reached the preset position, and the clamping mechanism is controlled to clamp the box body.

[0031] Preferably, if the first detection signal and the end surface of the box body with the opening are not parallel, it is determined that the box body has not reached the preset position, and the clamping mechanism is controlled to maintain a standby state until the box body reaches the preset position and the standby state is released.

[0032] Among them, the setting of the first detection mechanism ensures that the box body is located at a preset position, which is convenient for subsequent clamping operations.

[0033] Preferably, the clamping device further comprises:

[0034] A second detection mechanism is disposed on the top of the second mounting structure, and is used to transmit a second detection signal in a direction toward the box body, receive a second reflection signal of the second detection signal, and transmit it to the main controller; wherein the second reflection signal is formed by the second detection signal being reflected after being incident on a side wall of the box body where no opening is provided;

[0035] The main controller is used to determine whether the transmission path of the second detection signal is perpendicular to the plane where the side wall of the box body without the opening is located according to the second reflection signal;

[0036] If so, it is determined that the relative position of the box body and the clamping mechanism meets the preset standard, and the clamping mechanism is controlled to clamp the box body.

[0037] Among them, the provision of the second detection mechanism ensures that the relative positions of the box body and the clamping mechanism meet the preset standards, which facilitates the subsequent clamping operation.

[0038] Preferably, if the transmission path of the second detection signal is not perpendicular to the plane of the side wall of the box body where no opening is set, it is determined that the relative position of the box body and the clamping mechanism does not meet the preset standard, and part of the structure of the clamping mechanism is controlled to contact the box body so that the relative position of the box body and the clamping mechanism meets the preset standard, and then the clamping mechanism is controlled to clamp the box body.

[0039] Preferably, the clamping mechanism comprises:

[0040] An extension component is arranged on the top of the first mounting structure and extends along the length direction of the first mounting structure;

[0041] A fixing assembly, arranged at an end of the extension assembly away from the first mounting structure along an extension direction perpendicular to the extension assembly, and comprising a fixing end;

[0042] The second drive component is connected to the main controller, and includes a second mounting end and a second drive end. The second mounting end is used to mount the second drive component inside the first mounting structure. The second drive end and the fixed end are arranged opposite to each other. The second drive end is used to push along the extension direction to clamp the box body between the second drive end and the fixed end, or to contract in the opposite direction of the extension direction to loosen the box body from between the second drive end and the fixed end.

[0043] Among them, the setting of the extension component enables the box body to pass under the clamping mechanism. When the box body is located at a preset position and its relative position with the clamping mechanism meets the preset standard, the second driving end pushes the box body so that the box body and the fixed end abut against each other to achieve firm clamping of the box body.

[0044] In a second aspect, there is provided a transport system comprising:

[0045] A box body loaded with articles to be transported, the box body having at least one opening, through which the articles are taken out or put into the box body;

[0046] A conveying device, used for transporting the box body;

[0047] The clamping device provided in the first aspect is used to clamp the box body from the conveying device and transfer it to a designated position.

[0048] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0049] In the technical solution of the present application, a clamping device and a transport system are provided, which are used to clamp a box body, the box body has at least one opening, and the items are taken out or put into the box body through the opening. The clamping device includes: a mounting structure; a clamping mechanism, which is arranged on the mounting structure, and is used to clamp the side wall of the box body when the box body reaches a preset position; a blocking mechanism, which is arranged on the side of the mounting structure close to the opening. When the clamping mechanism clamps the box body, the blocking mechanism moves to the opening and abuts against the end face of the box body with the opening to prevent the items from falling off the box body through the opening. In the scheme, when the clamping mechanism clamps the box body, due to the existence of the box body opening, if the box body is disturbed by an external force, it will shake and oscillate, causing the items inside the box body to fall from the opening. The blocking mechanism blocks the opening side of the box body and is in close contact with the box body structure, which can prevent the items from falling through the opening, thereby ensuring the safety of the items stored in the box body. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is one of the overall schematic diagrams of the clamping device provided in the embodiment of the present application;

[0052] Figure 2 This is the second overall schematic diagram of the clamping device provided in the embodiment of the present application;

[0053] Figure 3 This is the third overall schematic diagram of the clamping device provided in the embodiment of the present application;

[0054] Figure 4 This is the fourth overall schematic diagram of the clamping device provided in the embodiment of the present application;

[0055] Figure 5 This is one of the bottom schematic diagrams of the clamping device provided in the embodiment of the present application;

[0056] Figure 6 This is the second bottom schematic diagram of the clamping device provided in the embodiment of the present application;

[0057] Figure 7 It is one of the top schematic diagrams of the clamping device provided in the embodiment of the present application;

[0058] Figure 8 This is the second top schematic diagram of the clamping device provided in the embodiment of the present application.

[0059] Description of the drawings: 10. Box body; 11. Opening; 20. Mounting structure; 21. First mounting structure; 22. Second mounting structure; 30. Clamping mechanism; 31. Extension assembly; 32. Fixing assembly; 33. Fixed end; 34. Second drive assembly; 35. Second drive end; 40. Blocking mechanism; 41. First drive end; 42. Movable assembly; 43. Abutment assembly; 44. First switch assembly; 45. Second switch assembly; 46. Positioning member; 47. Movable opening; 50. First detection mechanism; 60. Second detection mechanism; 210. First cover plate; 220. Second cover plate. DETAILED DESCRIPTION

[0060] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0061] As described in the background technology, in the process of transporting the material box from one link to the next link, it is often achieved by using a robot to grab it. Since both ends of the material box have openings, which are used to store and take out IC chips, when the robot grabs the material box, if the material box is shaken by external force, it is easy to cause the center of gravity of the material box to be unstable and shift, causing the IC chip to fall from the opening of the material box and cause damage to the IC chip.

[0062] The present application provides a clamping device and a transport system, which are intended to ensure the storage safety of items in a box.

[0063] Example 1

[0064] refer to Figures 1 to 4 As shown in the schematic diagram of the clamping device, Example 1 of the present application provides a clamping device for clamping a box body 10, the box body 10 has at least one opening 11, and the items are taken out or put into the box body 10 through the opening 11. The clamping device includes: a mounting structure 20; a clamping mechanism 30, which is arranged on the mounting structure 20 and is used to clamp the side wall of the box body 10 when the box body 10 reaches a preset position; a blocking mechanism 40, which is arranged on a side of the mounting structure 20 close to the opening 11. When the clamping mechanism 30 clamps the box body 10, the blocking mechanism 40 moves to the opening 11 and abuts against the end face of the box body 10 having the opening 11, so as to prevent the items from falling off the box body 10 through the opening 11.

[0065] The mounting structure 20 is not only used to mount the clamping mechanism 30 and the blocking mechanism 40, but also used to mount the clamping device itself on an external movable device so that the movable device drives the clamping device to move. The clamping mechanism 30 is designed as a manipulator to perform a grasping action to firmly clamp the box body 10; the preset position is that the box body 10 is located directly below the clamping mechanism 30, which is convenient for the clamping mechanism 30 to directly grasp. The number of blocking mechanisms 40 can be determined according to the number of openings 11. If the box body 10 has a single-sided opening 11, only one blocking mechanism 40 is required. If the box body 10 has symmetrical double-sided openings 11, the blocking mechanisms 40 are symmetrically arranged on both sides of the mounting structure 20, which can effectively block the two openings 11 of the box body 10 to prevent the box body 10 from being disturbed by external forces during the clamping process, causing the internal items to fall through the opening 11. At the same time, it can also prevent large external impurities from entering the box body 10 during the clamping process and causing damage to the items. The abutting action of the blocking mechanism 40 will only be performed after the clamping action of the clamping mechanism 30 is successfully executed. First, the clamping mechanism 30 firmly clamps the box body 10, and then the blocking mechanism 40 moves from the initial position in the direction close to the clamping mechanism 30 and the box body 10, and abuts against the end face of the box body 10 with the opening 11 at the opening 11 to prevent the internal items from falling through the opening 11.

[0066] In some embodiments of the present application, the box body is a rectangular structure, and the opening is located on one side or both sides of the structure along the length direction of the rectangular structure; under normal circumstances, the clamping mechanism is first controlled to grasp the two sides of the box body without openings, and then the blocking mechanism is controlled to block the openings; in certain special cases, such as when the clamping mechanism is of different types and the clamping member has a larger size, measures will be taken to clamp the opening of the box body. In this way, the blocking mechanism is first controlled to block the opening to prevent the items from falling off, and then the clamping mechanism is controlled to clamp on the end face of the box body with the opening, and contact with part of the structure of the blocking structure, so as to apply part of the clamping force to the blocking structure, thereby enhancing the blocking stability of the blocking structure.

[0067] In some embodiments of the present application, a surface of the blocking mechanism that contacts the box body is coated with a rubber material to prevent the paint surface of the box body from being damaged by friction between the blocking mechanism and the box body.

[0068] In some embodiments of the present application, the box body is a flower basket, and a plurality of wafers are stored in the flower basket.

[0069] In some embodiments of the present application, the box body is a material box, and a plurality of IC chips are stored in the material box.

[0070] Preferably, reference Figures 1 to 6The schematic diagram of the clamping device shown in the figure, the blocking mechanism 40 includes: a first driving component (not shown in the figure), including a first mounting end (not shown in the figure) and a first driving end 41, the first mounting end is used to install the first driving component inside the mounting structure 20, and the first driving end 41 is set to penetrate the end surface of the mounting structure 20; a movable component 42 is arranged on the mounting structure 20, one end is connected to the first driving end 41, and the other end is connected to the abutment component 43, and is used to move along the direction from the mounting structure 20 to the opening 11 under the drive of the first driving end 41, so as to move the abutment component 43 from the initial position to the opening 11 to abut against the end surface of the box body 10 having the opening 11; wherein the initial position is located on the side of the mounting structure 20 away from the opening 11 of the box body 10; the abutment component 43 is set in a direction perpendicular to the movable component 42, and the length of the abutment component 43 is not less than the maximum length of the opening 11.

[0071] Among them, the movable component 42 is formed by connecting two flat strip plates, and the angle between the two flat strip plates is maintained between 120° and 135°; the movable component 42 is arranged at the bottom of the mounting structure 20, and maintains a certain distance from the bottom, so as to facilitate the connection with the first driving end 41 of the first driving component, and also avoid friction and scratches with the bottom of the mounting structure 20 during movement; the movable component 42 and the bottom of the mounting structure 20 are arranged in parallel, so that the movable component 42 can move the abutment component 43 to the opening 11 of the box body 10 in a stable posture during movement, so as to avoid the movable component 42 from tilting and deviating when the two are not parallel, resulting in the abutment component 43 being unable to reach the opening 11 or reaching the opening 11 but the abutment component 43 cannot perfectly abut with the end face of the box body 10 with the opening 11, resulting in that there are still gaps in the opening 11 that are not blocked, and there is a risk of objects falling from the gap. The first driving end 41 can rotate to drive the movable component 42 to rotate synchronously. Since the movable component 42 is in a bar shape as a whole, each point on it can be regarded as a circular motion during the rotation process, and the abutment component 43 moves from the initial position to the opening 11 of the box body 10 under the circular motion. The abutment component 43 is composed of a rectangular plate, which is vertically connected to the movable component 42. In this way, under the premise that the box body 10 reaches the preset position and is placed neatly, when the movable component 42 brings the abutment component 43 to the opening 11 of the box body 10, the end surface of the abutment component 43 and the box body 10 with the opening 11 are parallel and the abutment component 43 is perpendicular to the bottom surface of the box body 10, that is, the abutment component 43 is parallel to the height of the box body 10; the length of the abutment component 43 is greater than the maximum length of the opening 11 to avoid the object falling from the box body 10 due to the length being too short to block the opening 11.

[0072] In some embodiments of the present application, the length of the flat strip plate and the angle between the two flat strip plates can be appropriately adjusted so that the abutment assembly reaches the middle position of the opening of the box body.

[0073] In some embodiments of the present application, since the end of the movable component is connected to the abutment component and needs to withstand the force applied by the abutment component during the movement, the connection between the movable component and the first driving end can be designed as a rectangular structure to enhance the connection strength between the movable component and the first driving end and avoid the problem of the movable component falling off due to unstable connection.

[0074] In some embodiments of the present application, the first driving component is a motor, and the first mounting end, i.e., the outer shell of the motor, can be fixed in the mounting structure. The first driving end, i.e., the output shaft of the motor, is connected to the movable component to drive it to rotate synchronously.

[0075] Preferably, reference Figures 1 to 6 The schematic diagram of the clamping device shown in the figure, the clamping device also includes: a main controller (not shown in the figure); the blocking mechanism 40 also includes: a first switch component 44 and a second switch component 45, both of which are arranged on the mounting structure 20 and are located on both sides of the movable component 42; when the blocking mechanism 40 moves to the opening 11 and abuts against the end surface of the box body 10 having the opening 11, the first switch component 44 contacts the movable component 42, and generates a first trigger signal to the main controller, and the main controller controls the first drive component to stop running so that the movable component 42 stops moving; when the blocking mechanism 40 moves to the initial position, the second switch component 45 contacts the movable component 42, and generates a second trigger signal to the main controller, and the main controller controls the first drive component to stop running so that the movable component 42 stops moving.

[0076] The main controller can be arranged inside the mounting structure 20 in a direction away from the box body 10. The first switch assembly 44 is arranged so that the abutting assembly 43 will not continue to move under the drive of the movable assembly 42 after reaching the opening 11 of the box body 10, and will stop in time so that the abutting assembly 43 can firmly abut against the end surface of the box body 10 with the opening 11 to block the opening 11, thereby preventing the abutting assembly 43 from continuing to move and squeeze the box body 10 to cause damage to the box body 10, and preventing the movable assembly 42 from still running when encountering obstacles and being unable to move forward, thereby causing damage to the first driving end 41 of the first driving assembly. The second switch assembly 45 is provided so that the abutment assembly 43 will not continue to move under the drive of the movable assembly 42 after it is reset to the initial position. Since the abutment assembly 43 is provided at the bottom of the mounting structure 20 and its length extends downward beyond the bottom plane, this avoids the abutment assembly 43 from continuing to move and colliding with the first mounting structure 21, thereby preventing the abutment assembly 43 and the mounting structure 20 from being damaged, and the movable assembly 42 from continuing to operate when encountering an obstacle and being unable to move forward, thereby preventing the first driving end 41 of the first driving assembly from being damaged.

[0077] In some embodiments of the present application, the first switch assembly and the second switch assembly are both touch switches.

[0078] Furthermore, based on the above-mentioned solution, a specific configuration of the mounting structure is provided to achieve symmetrical mounting of the blocking mechanism when the box body has openings on both sides.

[0079] Preferably, reference Figures 1 to 4 As shown in the schematic diagram of the clamping device, the mounting structure 20 includes: a first mounting structure 21 for mounting the clamping mechanism 30; a second mounting structure 22, which is arranged on one side of the first mounting structure 21 along a length direction perpendicular to the first mounting structure 21 and is used to mount the blocking mechanism 40.

[0080] The first mounting structure 21 and the second mounting structure 22 are both rectangular parallelepiped structures, and the volume of the first mounting structure is larger than that of the second mounting structure 22. The driving part of the clamping mechanism 30 is installed in the internal space of the first mounting structure 21, and the main body of the clamping mechanism 30 for clamping is installed at one end of the outside. The box body 10 is usually transported to the bottom of the main body to be clamped; the second mounting structures 22 symmetrically located on the left and right sides of the first mounting structure 21 are installed in the direction close to the main body, so that the blocking mechanism 40 can move a shorter path to the openings 11 on both sides of the box body 10, and abut against the end surface of the box body 10 with the opening 11, so as to prevent the objects in the box body 10 from falling, and ensure the safety of object storage and transportation. At the same time, the symmetrical setting enables the openings 11 on both sides of the box body 10 to be blocked, avoiding the problem of only blocking one side of the opening 11 and the objects falling from the other side of the opening 11, thereby improving the reliability of the clamping device for protecting the objects.

[0081] In some embodiments of the present application, since the volume of the two second mounting structures 22 is smaller than the volume of the first mounting structure 21, there is a certain amount of free space at the non-connected portion between the second mounting structure 22 and the first mounting structure 21. Placing the abutment assembly 43 in the free space as the initial position can effectively save the installation space of the clamping device and improve space utilization.

[0082] Preferably, reference Figure 5 to Figure 6 As shown in the schematic diagram of the clamping device, the blocking mechanism 40 also includes a positioning member 46, which is arranged at the bottom of the second mounting structure 22; the movable component 42 is provided with a movable opening 47 near the connection with the first driving end 41 of the first driving component, and the positioning member 46 is passed through the movable opening 47 to limit the moving position of the movable component 42.

[0083] In combination with the above embodiments, it can be seen that the first switch assembly 44 and the second switch assembly 45 limit the final positions of the movable assembly 42 and the abutting assembly 43, that is, the abutting position at the opening 11 and the initial position of the abutting assembly 43. In order to further ensure the accuracy and reliability of the moving position of the movable assembly 42, combined with Figure 5 The bottom schematic diagram of the clamping device shown in FIG. 1 shows a brief analysis of the cooperation between the positioning member 46 and the movable opening 47 of the movable component 42, so that when the movable component 42 moves to the initial position, that is, Figure 3 The position of the movable component 42 on the upper middle side is such that the positioning member 46 is stuck at the leftmost end of the movable opening 47 to prevent the movable component 42 from continuing to move after reaching the initial position. When the movable component moves to the abutting position, as shown in FIG. Figure 6 As shown, when the movable component 42 on the upper side rotates clockwise to the position at the opening 11 of the box body 10, the positioning member 46 is stuck at the rightmost end of the movable opening 47 to prevent the movable component 42 from continuing to move after reaching the abutment position. In this way, the movement of the movable component 42 is further limited to avoid damage caused by continued movement of the abutment component 43. At the same time, it also avoids the control failure caused by the failure of the first switch component 44 and the second switch component 45 in special circumstances, which makes it impossible to prevent the movable component 42 from stopping moving, thereby improving the safety of the clamping device.

[0084] In some embodiments of the present application, the positioning member is a screw, which is fixed to the bottom of the second mounting structure after passing through a movable opening. The movable opening is in the shape of a circular bar, and its arc shape is the same as the arc shape formed by the circular motion of the movable component.

[0085] Furthermore, based on the above-mentioned solution, a detection mechanism is provided to detect the position state of the box body, and then perform subsequent clamping and blocking operations.

[0086] Preferably, reference Figures 1 to 8 The schematic diagram of the clamping device is shown, and the clamping device also includes: a first detection mechanism 50, which is arranged on a side of the second mounting structure 22 away from the first mounting structure 21, and is used to transmit a first detection signal in a direction toward the box body 10; the main controller is used to determine whether the first detection signal and the end face of the box body 10 with the opening 11 are parallel according to the transmission path of the first detection signal; if so, it is determined that the box body 10 has reached the preset position, and the clamping mechanism 30 is controlled to clamp the box body 10.

[0087] Preferably, if the first detection signal and the end surface of the box body 10 having the opening 11 are not parallel, it is determined that the box body 10 has not reached the preset position, and the clamping mechanism 30 is controlled to maintain a standby state until the box body 10 reaches the preset position and the standby state is released.

[0088] Among them, the first detection mechanism 50 is respectively arranged on both sides of the two second mounting structures 22, and synchronously sends out the first detection signal. The transmission paths of the two first detection signals remain parallel. Only when the two sides of the opening 11 of the box body 10 are respectively parallel to the first detection signals on their corresponding sides, that is, the box body 10 is completely located between the two first detection signals and its end face with the opening 11 maintains a preset distance from the two first detection signals, the main controller will determine that the box body 10 is located at the preset position, and then control the clamping mechanism 30 to clamp the box body 10; when the main controller determines that the box body 10 is not in the preset position, the staff is required to adjust the position of the box body according to the actual situation to make it reach the preset position, and then the main controller determines that the box body 10 has arrived, and controls the clamping mechanism 30 to clamp the box body 10.

[0089] In some embodiments of the present application, when the box body is deflected, the end of the box body with an opening and the first detection signal cannot remain parallel, and the first detection signal is incident on the box body to generate a first reflection signal. At this time, the main controller determines based on the first reflection signal that the first detection signal and the end surface of the box body with the opening are not parallel, that is, the box body is not in the preset position.

[0090] In some embodiments of the present application, as long as there is one end surface of the box body with an opening that does not meet the condition of being parallel to the first detection signal, it is determined that the box body is not in the preset position.

[0091] Preferably, reference Figures 1 to 8 The schematic diagram of the clamping device shown in the figure, the clamping device also includes: a second detection mechanism 60, arranged on the top of the second mounting structure 22, for emitting a second detection signal in the direction toward the box body 10, receiving a second reflected signal of the second detection signal and transmitting it to the main controller; wherein the second reflected signal is formed by the second detection signal being incident on the side wall of the box body 10 where no opening 11 is set and then reflected; the main controller is used to determine whether the transmission path of the second detection signal and the plane where the side wall of the box body 10 where no opening 11 is set are perpendicular based on the second reflected signal; if so, it is determined that the relative position of the box body 10 and the clamping mechanism 30 meets the preset standard, and the clamping mechanism 30 is controlled to clamp the box body 10.

[0092] Preferably, if the transmission path of the second detection signal is not perpendicular to the plane of the side wall of the box body 10 where the opening 11 is not provided, it is determined that the relative position of the box body 10 and the clamping mechanism 30 does not meet the preset standard, and a partial structure of the clamping mechanism 30 is controlled to contact the box body 10, so that the relative position of the box body 10 and the clamping mechanism 30 meets the preset standard, and then the clamping mechanism 30 is controlled to clamp the box body 10.

[0093] Among them, the second detection mechanism 60 is respectively arranged on the top of the two second mounting structures 22, and the second detection signal is synchronously sent out. The transmission paths of the two second detection signals remain parallel. Only when the side wall of the box body 10 remains perpendicular to the two second detection signals, the main controller will determine that the relative position of the box body 10 and the clamping mechanism 30 meets the preset standard. The reason is that the clamping mechanism 30 adopts a design similar to two parallel clamping plates, and the second detection signal is perpendicular to the clamping plates. When the box body 10 is located between the two clamping plates, the posture of the box body 10 must be kept stable and parallel to the two clamping plates. Otherwise, When the clamping plate clamps the box body 10, the clamping force may be unstable, causing the box body 10 to fall off, thereby damaging the safety of the items inside the box body 10; therefore, when the main control determines that the relative position of the box body 10 and the clamping mechanism 30 does not meet the preset standard, one of the clamping plates of the clamping mechanism 30 is controlled to apply a certain force toward the side wall of the box body 10 to correct the position of the box body 10, and then the main controller parses the second detection signal perpendicular to the side wall of the box body 10, determines that the relative position of the box body 10 and the clamping mechanism 30 meets the preset standard, and then controls the clamping mechanism 30 to clamp the box body 10.

[0094] In some embodiments of the present application, the first detection mechanism and the second detection mechanism can be started synchronously, and the clamping operation can be performed after the main controller performs a double judgment. The first detection mechanism can also be started first to determine the position of the box body, and then the second detection mechanism can be started to determine the relative position of the box body and the clamping mechanism before the clamping operation is performed.

[0095] In some embodiments of the present application, both the first detection mechanism and the second detection mechanism use laser sensors.

[0096] In some embodiments of the present application, inside the second mounting structure, the second detection mechanism is located above the first driving assembly along the height direction of the second mounting structure.

[0097] Preferably, reference Figures 1 to 4 In the schematic diagram of the clamping device shown, the first mounting structure 21 includes a first cover plate 210, which is arranged on the top of the first mounting structure 21 and is used to protect at least part of the structure of the internal clamping mechanism 30; the second mounting structure 22 includes a second cover plate 220, which is arranged on the top of the second mounting structure 22, located above the second detection mechanism 60, and is used to protect the second detection mechanism 60 and the first driving component inside the second mounting structure 22.

[0098] In some embodiments of the present application, a through hole is further provided on the side wall of the second mounting structure, and the second detection signal output by the second detection mechanism passes through the through hole and is incident on the side wall of the box body.

[0099] Furthermore, based on the above-mentioned solution, a specific structure of the clamping mechanism is provided.

[0100] Preferably, reference Figure 1 to Figure 2 as well as Figures 5 to 8 The schematic diagram of the clamping device shown in the figure shows that the clamping mechanism 30 includes: an extension component 31, which is arranged on the top of the first mounting structure 21 and extends along the length direction of the first mounting structure 21; a fixing component 32, which is arranged at an end of the extension component 31 away from the first mounting structure 21 along an extension direction perpendicular to the extension component 31, and includes a fixing end 33; a second driving component 34, which is connected to the main controller, and includes a second mounting end and a second driving end 35, and the second mounting end is used to install the second driving component 34 inside the first mounting structure 21, and the second driving end 35 and the fixing end 33 are arranged opposite to each other, and the second driving end 35 is used to push along the extension direction to clamp the box body 10 between the second driving end 35 and the fixing end 33, or, to contract in the opposite direction of the extension direction to loosen the box body 10 from between the second driving end 35 and the fixing end 33.

[0101] The length of the extension component 31 exceeds the width of the box body 10 so that the box body 10 can pass under the clamping mechanism 30. Both the extension component 31 and the fixing component 32 can be rectangular plates, and the two are connected to form an "L"-shaped structure. The second mounting end fixes the second drive component 34 inside the first mounting structure 21 to ensure the stability of the installation; when the box body 10 is located at a preset position and the relative position with the clamping mechanism 30 meets the preset standard, the main controller controls the second drive end 35 of the second drive component 34 to push the box body 10 so that the box body 10 abuts against the fixing end 33, and the box body 10 is clamped by the second drive end 35 and the fixing end 33, and then the blocking mechanism 40 is controlled to move to the opening 11 of the box body 10 and abut against the box body 10 to block the opening 11. Similarly, when the box body 10 needs to be removed, it is only necessary to first remove the blocking mechanism 40 in a safe environment, and then release the second drive end 35 to release the box body 10 from the second drive end 35 and the fixing end 33.

[0102] In some embodiments of the present application, the surfaces of the second driving end and the fixed end are both provided with a rubber material coating to reduce the friction when clamping the box body.

[0103] In some embodiments of the present application, the second drive component is a cylinder, and the second mounting end is the outer shell of the cylinder, which is fixedly installed inside the first mounting structure. The second drive end is the push output shaft of the cylinder, which telescopes along the extension direction to clamp or loosen the box body.

[0104] Example 2

[0105] Embodiment 2 of the present application provides a transport system, comprising: a box body loaded with items to be transported, the box body having at least one opening, through which the items are taken out or placed into the box body; a conveying device for transporting the box body; and the clamping device provided in Embodiment 1, for clamping the box body from the conveying device and moving it to a designated location.

[0106] Among them, the conveying device adopts a belt conveyor to transport the box body to a preset position. The clamping device detects that the box body has reached the preset position through four detection mechanisms, and the relative position of the box body and the clamping mechanism meets the preset standard. The clamping mechanism is controlled to clamp the box body, and the blocking mechanism is controlled to move to the openings on both sides of the box body and abut the box body to prevent the objects to be transported in the box body from falling. Then the box body is clamped to the specified position, the blocking mechanism is reset, the clamping mechanism is released, the box body arrives safely, and finally the clamping device is reset to wait for the next clamping operation.

[0107] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0108] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0109] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A clamping device for clamping a box body (10), wherein the box body (10) has at least one opening (11), and an object is taken out of or put into the box body (10) through the opening (11), characterized in that: The clamping device comprises: Main controller; Mounting structure (20); a clamping mechanism (30), arranged on the mounting structure (20), and used for clamping a side wall of the box body (10) when the box body (10) reaches a preset position; a blocking mechanism (40) disposed on a side of the mounting structure (20) close to the opening (11); when the clamping mechanism (30) clamps the box body (10), the blocking mechanism (40) moves to the opening (11) and abuts against an end surface of the box body (10) having the opening (11), so as to prevent the article from falling off the box body (10) through the opening (11); The blocking mechanism (40) comprises: A first drive assembly, comprising a first mounting end and a first drive end (41), wherein the first mounting end is used to mount the first drive assembly inside the mounting structure (20), and the first drive end (41) is arranged to penetrate an end surface of the mounting structure (20); a movable component (42) disposed on the mounting structure (20), one end of which is connected to the first driving end (41), and the other end of which is connected to the abutting component (43), and is used to move along the direction from the mounting structure (20) to the opening (11) under the drive of the first driving end (41), so as to move the abutting component (43) from an initial position to the opening (11) to abut against the end surface of the box body (10) having the opening (11); Wherein, the initial position is located on a side of the mounting structure (20) away from the opening (11) of the box body (10); Wherein, the abutment component (43) is arranged in a direction perpendicular to the movable component (42), and the length of the abutment component (43) is not less than the maximum length of the opening (11); The blocking mechanism (40) further comprises: A first switch assembly (44) and a second switch assembly (45), both of which are arranged on the mounting structure (20) and located on both sides of the movable assembly (42); When the blocking mechanism (40) moves to the opening (11) and abuts against the end surface of the box body (10) having the opening (11), the first switch component (44) contacts the movable component (42), generates a first trigger signal to the main controller, and the main controller controls the first drive component to stop running, so that the movable component (42) stops moving; When the blocking mechanism (40) moves to the initial position, the second switch component (45) contacts the movable component (42), generating a second trigger signal to the main controller, and the main controller controls the first drive component to stop running, so that the movable component (42) stops moving.

2. The clamping device according to claim 1, characterized in that: The mounting structure (20) comprises: A first mounting structure (21), used for mounting the clamping mechanism (30); The second mounting structure (22) is arranged on one side of the first mounting structure (21) along a length direction perpendicular to the first mounting structure (21), and is used for mounting the blocking mechanism (40).

3. The clamping device according to claim 2, characterized in that: The clamping device also includes: A first detection mechanism (50) is arranged on a side of the second mounting structure (22) away from the first mounting structure (21), and is used to emit a first detection signal in a direction toward the box body (10); The main controller is used to determine whether the first detection signal and the end surface of the box body (10) having the opening (11) are parallel according to the transmission path of the first detection signal; If so, it is determined that the box body (10) has reached the preset position, and the clamping mechanism (30) is controlled to clamp the box body (10).

4. The clamping device according to claim 3, characterized in that: If the first detection signal and the end surface of the box body (10) having the opening (11) are not parallel, it is determined that the box body (10) has not reached the preset position, and the clamping mechanism (30) is controlled to maintain a standby state until the box body (10) reaches the preset position, and the standby state is released.

5. The clamping device according to claim 2, characterized in that: The clamping device also includes: a second detection mechanism (60), arranged on the top of the second mounting structure (22), for transmitting a second detection signal in a direction toward the box body (10), receiving a second reflection signal of the second detection signal and transmitting the second reflection signal to the main controller; wherein the second reflection signal is formed by the second detection signal being incident on a side wall of the box body (10) where the opening (11) is not provided and then being reflected; The main controller is used to determine, based on the second reflected signal, whether a transmission path of the second detection signal and a plane where a side wall of the box body (10) where the opening (11) is not provided are perpendicular; If so, it is determined that the relative position of the box body (10) and the clamping mechanism (30) meets a preset standard, and the clamping mechanism (30) is controlled to clamp the box body (10).

6. The clamping device according to claim 5, characterized in that: If the transmission path of the second detection signal is not perpendicular to the plane of the side wall of the box body (10) where the opening (11) is not provided, it is determined that the relative position of the box body (10) and the clamping mechanism (30) does not meet the preset standard, and a part of the structure of the clamping mechanism (30) is controlled to contact the box body (10) so that the relative position of the box body (10) and the clamping mechanism (30) meets the preset standard, and then the clamping mechanism (30) is controlled to clamp the box body (10).

7. The clamping device according to any one of claims 2 to 6, characterized in that The clamping mechanism (30) comprises: An extension component (31) is arranged on the top of the first mounting structure (21) and is formed by extending along the length direction of the first mounting structure (21); A fixing component (32) is arranged at an end of the extension component (31) away from the first mounting structure (21) along an extension direction perpendicular to the extension component (31), and comprises a fixing end (33); A second drive assembly (34) is connected to the main controller and comprises a second mounting end and a second drive end (35). The second mounting end is used to mount the second drive assembly (34) inside the first mounting structure (21). The second drive end (35) and the fixed end (33) are arranged opposite to each other. The second drive end (35) is used to push along the extension direction to clamp the box body (10) between the second drive end (35) and the fixed end (33), or to contract in the opposite direction of the extension direction to release the box body (10) from between the second drive end (35) and the fixed end (33).

8. A transportation system, characterized in that: The transportation system comprises: A box body loaded with articles to be transported, the box body having at least one opening, through which the articles are taken out or put into the box body; A conveying device, used for transporting the box body; The clamping device according to any one of claims 1 to 7 is used to clamp the box body from the conveying device and transfer it to a specified position.

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