Clamping jaw device

Abstract

The invention provides a clamping jaw device which is used for clamping a box body, the box body comprises a top plate provided with at least two lifting parts, each lifting part comprises a concave structure, the clamping jaw device comprises at least two clamping jaw units, each clamping jaw unit comprises a convex structure, and the convex structures are matched with the concave structures; the clamping jaw unit moves in the direction close to the lifting piece, so that the convex structure and the concave structure are engaged and abut to form a clamping structure. According to the scheme, through the complementary matching design of the convex structures on the clamping jaw units and the concave structures of the lifting pieces on the top plate of the box body, the convex structures and the concave structures are clamped to form a clamping structure, stable clamping of the box body is achieved, and therefore articles in the box body are protected against damage in the transportation process; and meanwhile, the problem that the box body is damaged or the articles slip off from the box body due to improper clamping force is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of article handling, and in particular to a clamping claw device. 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, and then they are 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, ensuring the stability of IC chips during transportation.

[0004] In the operation process, the clamping claw is often used to grab the material box, and the clamping claw is driven by the manipulator to transport the material box to the designated position. The material box has openings at both ends, and the IC chip is placed inside the material box through the openings. The clamping claw directly clamps the two side walls of the material box that do not have openings; if the clamping force of the clamping claw is not properly controlled, if the clamping force is too large, it will cause physical damage to the metal surface of the material box. If the clamping force is too small, it will not be able to clamp the material box firmly, causing the center of gravity of the material box to shift and deflect, and the IC chip will slide from the opening. In severe cases, the material box will fall off directly, causing the material box and the IC chip to be completely damaged.

[0005] Therefore, how to provide a clamping jaw with strong stability is a technical problem that technical personnel in this field need to solve urgently. Summary of the invention

[0006] In order to solve the problems in the prior art, the present application provides a clamping device to solve one or more technical problems existing in the prior art.

[0007] A clamping device for clamping a box body, the box body comprising a top plate provided with at least two lifting members, the lifting members comprising a recessed structure, the clamping device comprising:

[0008] At least two clamping jaw units, each of which comprises a protruding structure, and each of which cooperates with the concave structure;

[0009] The clamping claw unit moves in a direction approaching the lifting member so that the protruding structure and the recessed structure engage and abut to form a locking structure, or moves in a direction away from the lifting member so that the protruding structure and the recessed structure separate to disconnect the locking structure.

[0010] Among them, through the complementary matching design of the raised structure on the clamping claw unit and the recessed structure of the lifting piece on the top plate of the box body, the two are clamped to form a clamping structure, which can achieve stable clamping of the box body, thereby protecting the items in the box body from damage during transportation, and avoiding the problem of damage to the box body or items slipping from the box body due to improper clamping force.

[0011] Preferably, the gripper device further comprises a main controller;

[0012] The protruding structure includes a body, a pressing structure, and a transmission structure and a micro switch arranged inside the body. A notch is arranged on one side of the body, the pressing structure cooperates with the notch, and the pressing structure is connected to the transmission structure.

[0013] In the first state, the pressing structure moves from the notch in a direction away from the body to a pressing position, and the pressing position is located on one side of the recessed structure (1010);

[0014] In the second state, the protruding structure moves toward the recessed structure so that the pressing structure and the recessed structure abut against each other, and the pressing structure moves to the notch in a direction close to the main body, and complements the notch as a whole, so that the protruding structure and the recessed structure bite and abut against each other to form a locking structure; wherein, when the pressing structure and the notch are fitted as a whole, the pressing structure applies an external force to the micro switch through the transmission structure, and the micro switch transmits a locking signal to the main controller after being triggered, and the locking signal is used to indicate that the clamping device and the box body are clamped.

[0015] Among them, in the first state, that is, the initial state, the pressing structure is not embedded in the main body and naturally extends outside the main body. In the second state, that is, the clamping action, the pressing structure first engages with the recessed structure, and is pushed back into the notch under the action of external force, complementing the notch as a whole, and then the protruding structure and the recessed structure engage and abut to form a clamping structure, so that the clamping claw unit and the lifting member are firmly clamped, thereby improving the stability of the clamping claw device.

[0016] Preferably, the clamping device further comprises a sliding mechanism, and the sliding mechanism comprises a slide rail and a slide table arranged on the slide rail;

[0017] The clamping claw unit is connected to the slide table, and moves on the slide rail along a direction approaching the lifting member or a direction away from the lifting member through the slide table.

[0018] The setting of the sliding mechanism can make the two clamping jaw units move closer or farther away, so that the protruding structure and the recessed structure bite into a locking structure or the protruding structure and the recessed structure are separated and disconnected.

[0019] Preferably, the clamping device further comprises a driving mechanism, which is connected to an end of the clamping unit away from the protruding structure and is used to drive the clamping unit to move on the slide rail through the slide platform.

[0020] The arrangement of the driving mechanism provides power for the movement of the clamping jaw unit, so that it moves on the slide rail.

[0021] Preferably, the clamping device further comprises a baffle and at least one first sensing mechanism;

[0022] The first sensing mechanism is disposed below the clamping jaw unit along the height direction, and comprises a first optical signal transmitter and a first optical signal receiver, wherein the first optical signal transmitter is used to transmit an optical signal, and the first optical signal receiver is used to receive the optical signal;

[0023] The baffle is arranged at the bottom of the clamping jaw unit along the height direction. When the protruding structure and the recessed structure are engaged and abutted to form a locking structure, the baffle is located between the first optical signal transmitter and the first optical signal receiver to block the optical signal path. The first sensing mechanism transmits a termination signal to the main controller, and the main controller controls the driving mechanism to stop running according to the termination signal.

[0024] Among them, when the protruding structure and the recessed structure are engaged to form a locking structure, the clamping jaw unit has been clamped with the lifting member, but the driving mechanism has not stopped running, and will still drive the clamping jaw unit to move in the direction toward the lifting member. As a result, in the clamped state, the clamping jaw unit continuously applies pressure to the lifting member, which can easily cause damage to the clamping jaw unit and the lifting member. Therefore, the baffle is used to cut off the optical signal path of the first sensor mechanism, and the first sensor mechanism transmits a termination signal to the main controller to stop the driving mechanism from running, thereby avoiding damage to the clamping jaw unit and the lifting member caused by continued movement.

[0025] Preferably, the clamping device further comprises at least two second sensing mechanisms, which are arranged close to the clamping unit and include a second optical signal transmitter and a second optical signal receiver, wherein the second optical signal transmitter is used to transmit a detection signal in a direction toward the lifting member, and the second optical signal receiver is used to receive a reflection signal formed after the detection signal is incident on the lifting member;

[0026] The second sensing mechanism transmits the reflected signal to the main controller, and the main controller determines whether the angle between the transmission path of the detection signal and the plane where the lifting member is located maintains a preset angle according to the reflected signal;

[0027] If so, it is determined that the relative position of the lifting member and the clamping jaw unit meets the preset standard, and the clamping jaw unit is controlled to move in a direction close to the lifting member.

[0028] Among them, the second sensing mechanism is used to detect whether the box body is in the correct position. If it is not in the correct position, the clamping unit will not be able to clamp with the lifting member. In this way, only when the relative position of the lifting member and the clamping unit meets the preset standard, the main controller will control the clamping unit to move in the direction close to the lifting member to clamp with the lifting member.

[0029] Preferably, the clamping device also includes a shell, which includes a accommodating cavity and an installation port, the driving mechanism is arranged on a side of the accommodating cavity away from the installation port, the sliding mechanism is arranged on a side of the accommodating cavity close to the installation port, the part of the clamping unit connected to the driving mechanism and the sliding mechanism is located in the accommodating cavity, and the other part extends outside the shell through the installation port in a direction away from the accommodating cavity.

[0030] The shell is arranged to provide installation space for the driving mechanism and the sliding mechanism, thereby protecting the safety of the mechanism and preventing the internal mechanism from being damaged by collision with the outside world when the clamping device performs a grasping action.

[0031] Preferably, the clamping unit includes a first plate, a second plate and a third plate connected in sequence, the first plate is connected to the driving end of the driving mechanism, the bottom end of the first plate is connected to the slide, one end of the second plate is connected to an end of the first plate away from the driving end, and the other end extends through the mounting port in a direction away from the accommodating cavity to the outside of the shell and connected to the third plate, and the protruding structure is provided at an end of the third plate away from the second plate.

[0032] The first plate and the third plate can be arranged in parallel, so that the driving mechanism can drive the clamping jaw unit to move. The arrangement of the second plate adapts to the height difference between the clamping jaw device and the box body, thereby improving the adaptability of the clamping jaw device.

[0033] Preferably, the box body comprises at least one opening, and the article is placed in the box body through the opening;

[0034] The clamping claw device also includes at least one blocking mechanism, which is arranged on the outer side wall of the shell. When the protruding structure and the recessed structure are engaged and abutted, the blocking mechanism moves to the opening and abuts against the end face of the box body having the opening to prevent the article from falling off the box body through the opening.

[0035] Among them, when the clamping claw device clamps the box body, due to the existence of the box body opening, if the box body is disturbed by external force, it will shake and vibrate, causing the items in 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 and ensure the safety of the items stored in the box body.

[0036] Preferably, the blocking mechanism comprises a moving rod, a shielding member and a movable connecting member, one end of the moving rod is connected to the housing, and the other end is connected to the shielding member through the movable connecting member, and the movable connecting member is used to alleviate the reaction force of the box body on the shielding member when the shielding member abuts against the housing;

[0037] When the shape of the box body conforms to the preset shape, the shielding member and the end surface of the box body having the opening are in abutment with each other, the movable connecting member is in a natural state, and a first preset angle is maintained between the movable rod and the shielding member;

[0038] When the shape of the box body does not conform to the preset shape, the shielding member and the box body have open end faces abutting each other, the movable connecting member is in an expanded state, and a second preset angle is maintained between the movable rod and the shielding member; wherein the second preset angle is greater than the first preset angle.

[0039] Among them, different types of box bodies have different sizes. For box bodies with smaller sizes and conforming to the preset shapes, the shielding member can just abut against the end face of the box body with the opening when it moves to the opening. For box bodies with slightly larger sizes that do not conform to the preset shapes, the shielding member is stretched open by the end face of the box body with the opening when it moves to the opening, and the movable connecting member is in an expanded state to alleviate the reaction force of the box body on the shielding member when the shielding member abuts against the shielding member, thereby avoiding damage to the shielding member. The invention is suitable for a variety of box bodies.

[0040] According to the embodiments provided in this application, the following technical effects are disclosed:

[0041] The present application provides a clamping device for clamping a box body, wherein the box body includes a top plate provided with at least two lifting members, the lifting members include a recessed structure, and the clamping device includes: at least two clamping units, the clamping unit includes a protruding structure, the protruding structure and the recessed structure are complementary; the clamping unit moves in a direction close to the lifting member, so that the protruding structure and the recessed structure are engaged and abutted to form a clamping structure. In this solution, through the complementary matching design of the protruding structure on the clamping unit and the recessed structure of the lifting member on the top plate of the box body, the two are clamped to form a clamping structure, thereby achieving stable clamping of the box body, thereby protecting the items in the box body from damage during transportation, and avoiding the problem of damage to the box body or items slipping from the box body due to improper clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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.

[0043] Figure 1 is an overall schematic diagram of a clamping device provided in an embodiment of the present application;

[0044] Figure 2 is a schematic diagram of a protruding structure and a recessed structure provided in an embodiment of the present application;

[0045] Figure 3 is a schematic diagram of the positions of the clamping jaw unit and the lifting member in the first state provided by an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of the positions of the clamping jaw unit and the lifting member in the second state provided by an embodiment of the present application;

[0047] Figure 5 is a schematic side cross-sectional view of the interior of a housing of a clamping device provided in an embodiment of the present application;

[0048] Figure 6 It is a connection diagram of the driving mechanism, sliding mechanism and clamping jaw unit provided in the embodiment of the present application.

[0049] Description of the drawings: 10, box body; 11, opening; 20, clamping claw unit; 21, first plate; 22, second plate; 23, third plate; 30, snap-fit ​​structure; 40, notch; 50, slide rail; 51, slide; 60, driving mechanism; 70, second sensing mechanism; 80, shell; 81, upper top plate; 82, lower bottom plate; 83, side plate; 84, rear plate; 85, front plate; 86, partition; 90, shielding mechanism; 91, moving rod; 92, shielding member; 93, movable connecting member; 100, top plate; 101, lifting member; 200, protruding structure; 201, pressing structure; 202, transmission structure; 203, micro switch; 800, installation port; 850, signal port; 1010, recessed structure. DETAILED DESCRIPTION

[0050] 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.

[0051] As described in the background technology, in the operation link, the clamp is often used to grab the material box, and the clamp is driven by the manipulator to transport the material box to the specified position. The material box has openings at both ends, and the IC chip is placed inside the material box through the openings. The clamp directly clamps the two side walls of the material box that do not have openings; when the clamping force of the clamp is not properly controlled, if the clamping force is too large, it will cause physical damage to the metal surface of the material box. If the clamping force is too small, it will not be able to clamp the material box firmly, causing the center of gravity of the material box to shift and deflect, and the IC chip will slide from the opening. In severe cases, the material box will fall off directly, causing the material box and the IC chip to be completely damaged.

[0052] The present application provides a clamping claw device, which is intended to firmly clamp a box body.

[0053] refer to Figure 1 The overall schematic diagram of the clamping device shown in FIG. Figure 2 The schematic diagram of the protruding structure and the recessed structure shown is a clamping device for clamping a box body 10, the box body 10 includes a top plate 100 provided with at least two lifting members 101, the lifting member 101 includes a recessed structure 1010, the clamping device includes: at least two clamping units 20, the clamping unit 20 includes a protruding structure 200, the protruding structure 200 and the recessed structure 1010 cooperate; the clamping unit 20 moves in a direction close to the lifting member 101, so that the protruding structure 200 and the recessed structure 1010 bite and abut to form a locking structure 30, or moves in a direction away from the lifting member 101, so that the protruding structure 200 and the recessed structure 1010 are separated to disconnect the locking structure 30.

[0054] Among them, through the complementary matching design of the protruding structure 200 on the clamping claw unit 20 and the recessed structure 1010 of the lifting piece 101 on the top plate 100 of the box body, the two are clamped to form a clamping structure 30, thereby achieving stable clamping of the box body 10, thereby protecting the items in the box body 10 from damage during transportation, and avoiding the problem of damage to the box body 10 or items slipping from the box body 10 due to improper clamping force.

[0055] In some embodiments of the present application, there are two lifting members 101, a preset distance is maintained between the two, and the recessed structures 1010 they have are relatively arranged; there are two clamping jaw units 20, which are initially located between the two lifting members 101, and the protruding structure 200 faces the recessed structure 1010; when performing the clamping operation, the two clamping jaw units 20 separate and move toward the lifting member 101 on the corresponding side, so that the protruding structure 200 and the recessed structure 1010 on one side are engaged and locked to form a clamping structure 30. Through the cooperation of the protruding structure 200 and the recessed structure 1010, the clamping jaw unit 20 can firmly clamp the box body 10, reducing the risk of items slipping or the box body 10 being damaged due to unstable clamping during transportation. At the same time, the clamping jaw unit 20 takes into account the balanced distribution of force. Through the symmetrical operation of the two clamping jaw units 20, the uniform distribution of force is ensured during the clamping process, and the tilting of the items or the deformation of the box body 10 due to uneven force is avoided.

[0056] In some embodiments of the present application, the clamping device can adapt to box bodies 10 of different sizes and shapes. As long as the top plate 100 of the box body 10 is provided with corresponding lifting members 101 and recessed structures 1010, the clamping operation can be quickly performed through the clamping unit 20 to achieve stable clamping, thereby improving operational efficiency and reducing the complexity of manual operation.

[0057] Preferably, reference Figure 2 The schematic diagram of the raised structure and the recessed structure shown in FIG. Figure 3 and Figure 4 Schematic diagram of the first state and the second state shown in the figure, the clamping device also includes a main controller (not shown in the figure); the protruding structure 200 includes a body, a pressing structure 201, and a transmission structure 202 and a micro switch 203 arranged inside the body, a notch 40 is provided on one side of the body, the pressing structure 201 and the notch 40 are complementary, and the pressing structure 201 and the transmission structure 202 are connected; in the first state, the pressing structure 201 moves from the notch 40 in a direction away from the body to a pressing position, and the pressing position is located on one side of the recessed structure 1010; in the second state, the protruding structure 200 moves toward Move toward the recessed structure 1010 so that the pressing structure 201 and the recessed structure 1010 abut against each other, and the pressing structure 201 moves to the notch 40 in the direction close to the main body, and cooperates with the notch 40 as a whole, so that the protruding structure 200 and the recessed structure 1010 bite and abut against each other to form a locking structure 30; wherein, when the pressing structure 201 and the notch 40 are cooperated as a whole, the pressing structure 201 applies an external force to the micro switch 203 through the transmission structure 202, and the micro switch 203 transmits a locking signal to the main controller after being triggered, and the locking signal is used to indicate that the clamping jaw device and the box body 10 are clamped.

[0058] Among them, in the first state, i.e. the initial state, the pressing structure 201 is not embedded in the main body and naturally extends outside the main body. In the second state, i.e. the clamping action, the pressing structure 201 first engages with the recessed structure 1010, and is pushed back into the notch 40 under the action of external force, complementing the notch 40 as a whole, and then the protruding structure 200 and the recessed structure 1010 engage with each other to form a clamping structure 30, so that the clamping jaw unit 20 and the lifting member 101 are firmly clamped, thereby improving the stability of the clamping jaw device.

[0059] In some embodiments of the present application, when the protruding structure 200 and the recessed structure 1010 are separated, the pressing structure 201 and the notch 40 are separated, protruding from the notch 40 in a direction away from the body, and resetting to the first state, i.e., the initial state.

[0060] In some embodiments of the present application, in the first state, a certain distance is maintained between the end of the transmission structure 202 away from the pressing structure 201 and the micro switch 203. When the pressing structure 201 and the notch 40 complement each other as one, the transmission structure 202 touches the micro switch 203 and generates a locking signal.

[0061] Preferably, reference Figure 6 The connection diagram of the driving mechanism, the sliding mechanism and the clamping unit shown in the figure, the clamping device also includes a sliding mechanism, the sliding mechanism includes a slide rail 50 and a slide table 51 arranged on the slide rail 50; the clamping unit 20 is connected to the slide table 51, and moves on the slide rail 50 along the direction approaching the lifting member 101 or away from the lifting member 101 through the slide table 51.

[0062] The setting of the sliding mechanism can make the two clamping jaw units 20 move closer or farther, so that the protruding structure 200 and the recessed structure 1010 bite into each other to form a locking structure 30 or the protruding structure 200 and the recessed structure 1010 separate and disconnect, thereby improving the flexibility of operation.

[0063] In some embodiments of the present application, the slide rail 50 adopts a linear ball-bearing guide slide rail with a straightness of up to 1um to achieve high-precision sliding.

[0064] In some embodiments of the present application, the sliding mechanism may be disposed above or below the clamping jaw unit 20 .

[0065] In some embodiments of the present application, the sliding mechanism can achieve long-stroke sliding through a chain structure, so that the clamping jaw unit 20 can move a larger distance and adapt to a larger working range.

[0066] Preferably, reference Figure 6The connection diagram of the driving mechanism, the sliding mechanism and the clamping unit is shown. The clamping device also includes a driving mechanism 60, which is connected to the end of the clamping unit 20 away from the protruding structure 200, and is used to drive the clamping unit 20 to move on the slide rail 50 through the slide table 51.

[0067] The drive mechanism 60 provides power for the movement of the clamping jaw unit 20 , so that the clamping jaw unit 20 moves on the slide rail 50 .

[0068] In some embodiments of the present application, the driving mechanism 60 adopts a servo motor to provide precise speed and position control.

[0069] In some embodiments of the present application, the driving mechanism 60 adopts a stepping motor to provide an accurate stepping speed for precisely controlling the opening and closing positions of the clamping jaw unit 20 .

[0070] In some embodiments of the present application, the driving mechanism 60 adopts a hydraulic cylinder or a pneumatic cylinder, and opens and closes the jaws through the transmission of a rack and pinion mechanism, thereby achieving the approach or separation of the jaw unit 20.

[0071] Preferably, the clamping device also includes a baffle (not shown in the figure) and at least one first sensor mechanism (not shown in the figure); the first sensor mechanism is arranged below the clamping unit 20 along the height direction, and includes a first optical signal transmitter (not shown in the figure) and a first optical signal receiver (not shown in the figure), the first optical signal transmitter is used to transmit optical signals, and the first optical signal receiver is used to receive optical signals; the baffle is arranged at the bottom of the clamping unit 20 along the height direction, and when the protruding structure 200 and the recessed structure 1010 are engaged and abutted to form the locking structure 30, the baffle is located between the first optical signal transmitter and the first optical signal receiver to block the optical signal, and the first sensor mechanism transmits a termination signal to the main controller, and the main controller controls the driving mechanism 60 to stop running according to the termination signal.

[0072] Among them, when the protruding structure 200 and the recessed structure 1010 are engaged to form the locking structure 30, the clamping jaw unit 20 has been clamped with the lifting member 101, and the driving mechanism 60 has not stopped running, and will still drive the clamping jaw unit 20 to move in the direction toward the lifting member 101. As a result, in the clamped state, the clamping jaw unit 20 continuously applies pressure to the lifting member 101, which can easily cause damage to the clamping jaw unit 20 and the lifting member 101. Therefore, the baffle is used to cut off the optical signal path of the first sensor mechanism, and the first sensor mechanism transmits a termination signal to the main controller to stop the driving mechanism from running, thereby preventing the clamping jaw unit 20 from continuing to move and causing damage to itself and the lifting member 101.

[0073] In some embodiments of the present application, the first sensing mechanism adopts an optical signal sensor.

[0074] In some embodiments of the present application, the baffle is a sheet-shaped rectangular parallelepiped structure, and when the baffle passes through the optical signal path, the optical signal path is perpendicular to the baffle.

[0075] Preferably, reference Figure 5 The side cross-sectional schematic diagram of the interior of the shell shown in the figure, the clamping device also includes at least two second sensing mechanisms 70, the second sensing mechanism 70 is arranged close to the clamping unit 20, and includes a second optical signal transmitter (not shown in the figure) and a second optical signal receiver (not shown in the figure), the second optical signal generator is used to transmit a detection signal in the direction toward the lifting member 101, and the second optical signal receiver is used to receive a reflection signal formed after the detection signal is incident on the lifting member; the second sensing mechanism 70 transmits the reflection signal to the main controller, and the main controller determines whether the transmission path of the detection signal and the angle between the plane where the lifting member 101 is located maintains a preset angle based on the reflection signal; if so, it is determined that the relative position of the lifting member 101 and the clamping unit 20 meets the preset standard, and the clamping unit 20 is controlled to move in the direction close to the lifting member 101.

[0076] Among them, the second sensor mechanism is used to detect whether the box body 10 is in the correct position. If it is not in the correct position, the clamping jaw unit 20 will not be able to clamp with the lifting member 101. In this way, only when the relative position of the lifting member 101 and the clamping jaw unit 20 meets the preset standard, the main controller will control the clamping jaw unit 20 to move in the direction close to the lifting member 101 to clamp with the lifting member 101.

[0077] In some embodiments of the present application, the second sensing mechanism adopts an optical signal sensor.

[0078] Preferably, reference Figure 1 The overall schematic diagram of the clamping device shown in FIG. Figure 5 The side cross-sectional schematic diagram of the interior of the shell shown in the figure, the clamping device also includes a shell 80, the shell 80 includes a accommodating cavity (not shown in the figure) and an installation port 800, the driving mechanism 60 is arranged on the side of the accommodating cavity away from the installation port 800, the sliding mechanism is arranged on the side of the accommodating cavity close to the installation port 800, the part of the clamping unit 20 connected to the driving mechanism 60 and the sliding mechanism is located in the accommodating cavity, and the other part extends outside the shell 80 through the installation port 800 in a direction away from the accommodating cavity.

[0079] The shell 80 is provided as an installation space for the driving mechanism 60 and the sliding mechanism, thereby protecting the safety of the mechanism and preventing the internal mechanism from being damaged by collision with the outside world when the gripping action is performed.

[0080] In some embodiments of the present application, the shell 80 includes an upper top plate 81, a lower bottom plate 82, a side plate 83, a rear plate 84 and a front plate 85. Several plates are arranged to form the shell 80, and a accommodating cavity is formed inside the shell 80. A partition 86 is present in the accommodating cavity, dividing the accommodating cavity into two upper and lower parts. The driving mechanism 60 is installed below the upper top plate 81 and above the partition 86. The slide rail mechanism is located below the partition 86 and is arranged close to the front plate 85. The first sensor mechanism is arranged close to the slide rail mechanism, and the second sensor mechanism is located below the slide rail mechanism and is arranged close to the front plate 85. The detection signal emitted by the sensor passes through the signal port 850 on the front plate 85 to the lifting member 101.

[0081] Preferably, reference Figure 6 The connection diagram of the driving mechanism, the sliding mechanism and the clamping unit shown in the figure, the clamping unit 20 includes a first plate 21, a second plate 22 and a third plate 23 connected in sequence to form a structure approximately in the shape of a "Z". The first plate 21 is connected to the driving end of the driving mechanism 60, the bottom end of the first plate 21 is connected to the slide 51, one end of the second plate 22 is connected to the end of the first plate 21 away from the driving end, and the other end extends through the mounting port 800 in a direction away from the accommodating cavity to the outside of the shell 80 and is connected to the third plate 23. A protruding structure 200 is provided at the end of the third plate 23 away from the second plate 22.

[0082] Among them, the clamping unit 20 is designed to have a "Z"-shaped structure, and the first plate 21 and the third plate 23 are arranged in parallel, which is convenient for the driving mechanism 60 to drive the clamping unit 20 to move, thereby optimizing the movement path of the clamping unit 20. The setting of the second plate 22 adapts to the drop between the clamping device and the box body 10, thereby improving the adaptability of the clamping device.

[0083] In some embodiments of the present application, two ends of the second plate 22 are respectively perpendicular to the first plate 21 and the third plate 23 .

[0084] In some embodiments of the present application, a connection between one end of the second plate 22 and the first plate 21 maintains a preset angle, and a connection between the other end of the second plate 22 and the third plate 23 maintains a preset angle.

[0085] Preferably, reference Figure 1 The overall schematic diagram of the clamping device shown in FIG. Figure 5 The schematic side cross-sectional diagram of the interior of the shell shown in the figure shows that the box body 10 includes at least one opening 11, and the object is placed in the box body 10 through the opening 11; the clamping device also includes at least one blocking mechanism 90, and the blocking mechanism 90 is arranged on the outer wall of the shell 80. When the protruding structure 200 and the recessed structure 1010 are engaged and abutted, the blocking mechanism 90 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 object from falling off the box body 10 through the opening 11.

[0086] Among them, when the clamping claw device clamps the box body 10, due to the existence of the opening 11 of the box body 10, if the box body 10 is disturbed by an external force, it will shake and vibrate, causing the items in the box body 10 to fall from the opening 11. The blocking mechanism 90 blocks the side of the opening 11 of the box body 10 and is in close contact with the structure of the box body 10, which can prevent the items from falling through the opening 11, thereby ensuring the safety of the storage of items in the box body 10.

[0087] Preferably, the blocking mechanism 90 includes a movable rod 91, a shielding member 92 and a movable connecting member 93, one end of the movable rod 91 is connected to the shell 80, and the other end is connected to the shielding member 92 through the movable connecting member 93, and the movable connecting member 93 is used to alleviate the reaction force of the box body 10 on the shielding member 92 when the shielding member 92 abuts; when the shape of the box body 10 meets the preset shape, the shielding member 92 and the end face of the box body 10 having the opening 11 abut, the movable connecting member 93 is in a natural state, and a first preset angle is maintained between the movable rod 91 and the shielding member 92; when the shape of the box body 10 does not meet the preset shape, the shielding member 92 and the end face of the box body 10 having the opening 11 abut, the movable connecting member 93 is in an expanded state, and a second preset angle is maintained between the movable rod 91 and the shielding member 92; wherein the second preset angle is greater than the first preset angle.

[0088] Among them, different types of box bodies 10 have different sizes. For box bodies 10 with smaller sizes and conforming to the preset shape, the shielding member 92 can just abut against the end face of the box body 10 with the opening 11 when it moves to the opening 11. For box bodies 10 with slightly larger sizes and not conforming to the preset shape, the shielding member 92 is stretched open by the end face of the box body 10 with the opening 11 when it moves to the opening 11, and the movable connecting member 93 is in an expanded state to alleviate the reaction force of the box body 10 on the shielding member 92 when the shielding member 92 abuts, thereby avoiding damage to the shielding member 92. It is suitable for a variety of box bodies 10 and enhances the adaptability and practicality of the clamping device.

[0089] In some embodiments of the present application, the second sensing mechanism detects that the relative position of the clamping jaw unit 20 and the box body 10 meets a preset standard, and the main controller controls the clamping jaw unit 20 to move toward the lifting member 101 of the box body 10, so that the protruding structure 200 and the recessed structure 1010 are engaged and clamped to form a locking structure 30. At the same time, the blocking piece under the clamping jaw unit 20 cuts off the optical signal path of the first sensing mechanism. The main controller controls the driving mechanism 60 to stop running, and controls the blocking mechanism 90 to move toward the opening 11 of the box body 10, so that the blocking mechanism 90 and the end face structure of the box body 10 with the opening 11 are abutted.

[0090] 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.

[0091] 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.

[0092] 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 the 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) comprises a top plate (100) provided with at least two lifting members (101), wherein the lifting members (101) comprise a recessed structure (1010), characterized in that: The clamping jaw device comprises: At least two clamping jaw units (20), the clamping jaw units (20) comprising a protruding structure (200), the protruding structure (200) cooperating with the recessed structure (1010); The clamping jaw unit (20) moves in a direction approaching the lifting member (101) so that the protruding structure (200) and the recessed structure (1010) engage with each other to form a snap-fit ​​structure (30), or moves in a direction away from the lifting member (101) so that the protruding structure (200) and the recessed structure (1010) separate to disconnect the snap-fit ​​structure (30).

2. The clamping device according to claim 1, characterized in that: The gripper device also includes a main controller; The protruding structure (200) comprises a body, a pressing structure (201), and a transmission structure (202) and a micro switch (203) arranged inside the body; a notch (40) is provided on one side of the body; the pressing structure (201) cooperates with the notch (40); and the pressing structure (201) and the transmission structure (202) are connected; In the first state, the pressing structure (201) moves from the notch (40) in a direction away from the body to a pressing position, and the pressing position is located on one side of the recessed structure (1010); In the second state, the protruding structure (200) moves toward the recessed structure (1010), so that the pressing structure (201) and the recessed structure (1010) abut against each other, and the pressing structure (201) moves toward the notch (40) in a direction close to the body, and cooperates with the notch (40) as a whole, so that the protruding structure (200) and the recessed structure (1010) bite and abut against each other to form a locking structure (30); When the pressing structure (201) and the notch (40) are integrated into one, the pressing structure (201) applies an external force to the micro switch (203) through the transmission structure (202), and the micro switch (203) transmits a locking signal to the main controller after being triggered, and the locking signal is used to indicate that the clamping device and the box body (10) are clamped.

3. The clamping device according to claim 2, characterized in that: The clamping jaw device further comprises a sliding mechanism, wherein the sliding mechanism comprises a sliding rail (50) and a sliding platform (51) arranged on the sliding rail (50); The clamping jaw unit (20) is connected to the slide table (51), and moves on the slide rail (50) along a direction approaching the lifting member (101) or a direction away from the lifting member (101) through the slide table (51).

4. The clamping device according to claim 3, characterized in that: The clamping device further comprises a driving mechanism (60), wherein the driving mechanism (60) is connected to an end of the clamping unit (20) away from the protruding structure (200), and is used for driving the clamping unit (20) to move on the slide rail (50) via the slide platform (51).

5. The clamping device according to claim 4, characterized in that: The clamping device also includes a baffle and at least one first sensing mechanism; The first sensing mechanism is arranged below the clamping jaw unit (20) along the height direction, and comprises a first optical signal transmitter and a first optical signal receiver, wherein the first optical signal transmitter is used to transmit an optical signal, and the first optical signal receiver is used to receive the optical signal; The baffle is arranged at the bottom of the clamping jaw unit (20) along the height direction, and when the protruding structure (200) and the recessed structure (1010) are engaged and abutted to form a snap-fit ​​structure (30), the baffle is located between the first optical signal transmitter and the first optical signal receiver to block the optical signal, and the first sensor mechanism transmits a termination signal to the main controller, and the main controller controls the driving mechanism (60) to stop running according to the termination signal.

6. The clamping device according to claim 4, characterized in that: The clamping device further comprises at least two second sensing mechanisms (70), the second sensing mechanisms (70) being arranged close to the clamping unit (20), and comprising a second optical signal transmitter and a second optical signal receiver, the second optical signal transmitter being used for transmitting a detection signal in a direction toward the lifting member (101), and the second optical signal receiver being used for receiving a reflection signal formed after the detection signal is incident on the lifting member (101); The second sensing mechanism (70) transmits the reflected signal to the main controller, and the main controller determines whether the angle between the transmission path of the detection signal and the plane where the lifting member (101) is located maintains a preset angle based on the reflected signal; If so, it is determined that the relative position of the lifting member (101) and the clamping jaw unit (20) meets the preset standard, and the clamping jaw unit (20) is controlled to move in a direction approaching the lifting member (101).

7. The clamping jaw device according to any one of claims 4 to 6, characterized in that The clamping device also includes a shell (80), the shell (80) includes a accommodating cavity and an installation port (800), the driving mechanism (60) is arranged on a side of the accommodating cavity away from the installation port (800), the sliding mechanism is arranged on a side of the accommodating cavity close to the installation port (800), the part of the clamping unit (20) connected to the driving mechanism (60) and the sliding mechanism is located in the accommodating cavity, and the other part passes through the installation port (800) in a direction away from the accommodating cavity and extends outside the shell (80).

8. The clamping device according to claim 7, characterized in that: The clamping jaw unit (20) comprises a first plate member (21), a second plate member (22) and a third plate member (23) which are connected in sequence, wherein the first plate member (21) is connected to the driving end of the driving mechanism (60), the bottom end of the first plate member (21) is connected to the slide table (51), one end of the second plate member (22) is connected to an end of the first plate member (21) away from the driving end, and the other end extends through the mounting opening (800) in a direction away from the accommodating cavity to the outside of the shell (80) and is connected to the third plate member (23), and the protruding structure (200) is provided at an end of the third plate member (23) away from the second plate member (22).

9. The clamping jaw device according to claim 7, characterized in that: The box body (10) comprises at least one opening (11), and an object is placed in the box body (10) through the opening (11); The clamping device further comprises at least one blocking mechanism (90), wherein the blocking mechanism (90) is arranged on the outer side wall of the shell (80), and when the protruding structure (200) and the recessed structure (1010) are engaged and abutted, the blocking mechanism (90) 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 article from falling off the box body (10) through the opening (11).

10. The clamping jaw device according to claim 9, characterized in that: The shielding mechanism (90) comprises a movable rod (91), a shielding member (92) and a movable connecting member (93); one end of the movable rod (91) is connected to the housing (80), and the other end is connected to the shielding member (92) via the movable connecting member (93); The shielding member (92) and the box body (10) are in abutment with end faces having an opening (11), and the movable connecting member (93) is used to alleviate the reaction force of the box body (10) on the shielding member (92) when the shielding member (92) is in abutment.

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