Material clamping mechanism of workbin robot

Abstract

The material clamping mechanism of the workbin robot comprises a stable base, a rotating bottom table with a driving end is fixedly installed at the top of the stable base, a dustproof sealing seat is fixedly installed at the output end of the driving end in the rotating bottom table, and a mechanical swing main arm is fixedly installed at the top of the dustproof sealing seat; the top of the mechanical swinging main arm is rotationally connected with a swinging small arm through a driving end, one end of the swinging small arm is rotationally connected with a stabilizing frame through a driving end, and the top of the stabilizing frame is rotationally connected with a rotating disc through a driving end. Through cooperation of the structures, reversing and position adjusting of materials can be achieved by arranging the whole material box robot, multi-face restraining and clamping of the materials are conducted under control of multiple driving ends, and the lower portion of the materials can be supported by additionally arranging a bottom supporting protection plate on the lower portion; the multi-surface adaptive maintenance anti-moving transfer effect of the material box robot in the material clamping process can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of material transportation, and specifically relates to a material clamping mechanism for a bin robot. Background Art

[0002] A bin robot is a robot used in logistics to carry bins. It clamps the bins on the shelves and then moves them onto the bin robot. Then, the bin robot moves to drive the bin to move and carry. The bin robot can complete tasks such as the transportation and stacking of raw materials, realizing the automation and intelligence of the production process.

[0003] Since most of the existing bin robots clamp materials through clamping components, mostly performing clamping and restraint operations on the materials from the side, the bottom of the materials cannot be supported during transportation, easily causing the materials to slip and fall during transportation, which brings certain adverse effects to actual use. Therefore, improvements are needed. Summary of the Invention

[0004] The purpose of the present invention is to provide a material clamping mechanism for a bin robot, which has the advantages of being able to perform commutation and position adjustment of materials by setting the entire bin robot, performing multi-faceted restraint and clamping of materials under the control of multiple driving ends, adding a bottom supporting plate below to support the materials below, and using a pressure sensor to perform abutment and restraint on the force-bearing effect of the materials, bringing certain favorable effects to actual use, and solving the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A material clamping mechanism for a bin robot, including a stable base. The top of the stable base is fixedly installed with a rotating base platform with a driving end. The output end of the driving end in the rotating base platform is fixedly installed with a dust-proof sealing seat. The top of the dust-proof sealing seat is fixedly installed with a mechanical swing main arm. The top of the mechanical swing main arm is rotationally connected with a swing small arm through a driving end. One end of the swing small arm is rotationally connected with a stable frame through a driving end. The top of the stable frame is rotationally connected with a rotating disk through a driving end. The bottom of the rotating disk is fixedly installed with a clamping main frame. The side of the clamping main frame is fixedly installed with an electric cylinder I. The output end of the electric cylinder I is fixedly installed with a pushing slide rod. The bottom of the clamping main frame is rotationally connected with a swing gripper frame through a pin shaft seat. The top of the swing gripper frame is fixedly connected with a chute plate. The inner wall of the chute plate and the inside of the pushing slide rod are movably connected through a rotating pin. In the middle of the clamping main frame near its inner wall, an electric cylinder II is fixedly installed. The output end of the electric cylinder II is fixedly installed with an adjusting and pressing frame. The left side of the clamping main frame is fixedly installed with a protection and adjustment box.

[0006] Preferably, the main body of the swinging gripper frame is an arc-shaped plate. An adjustment thread groove is formed inside the swinging gripper frame, and an arc-shaped clamping rod is threadedly connected to the inner wall of the adjustment thread groove.

[0007] Preferably, the number of the arc-shaped clamping rods is at least six, and the at least six arc-shaped clamping rods are evenly connected to the swinging gripper frame in the front-back direction.

[0008] Preferably, a pressure sensor is fixedly installed at the bottom end of the arc-shaped clamping rod, and the sensing end of the pressure sensor protrudes on the arc-shaped clamping rod.

[0009] Preferably, the main body of the adjustment and pressing frame is a balance pressing plate. An electric push rod is fixedly installed inside the balance pressing plate. The output end of the electric push rod is fixedly installed with a moving plate. A magnetic attraction clamping groove is formed on the surface of the moving plate. A reinforcing side plate is fixedly installed on the inner wall of the magnetic attraction clamping groove. An electric telescopic rod is rotationally connected to the inside of the reinforcing side plate through a driving end, and an arc-shaped side clamping plate is fixedly installed at the output end of the electric telescopic rod.

[0010] Preferably, an anti-slip cushion plate is fixedly connected to the bottom of the balance pressing plate, and a wear-resistant coating is filled on the lower surface of the anti-slip cushion plate.

[0011] Preferably, a servo motor is fixedly installed on the inner wall of the protection and adjustment box through a bracket. The output end of the servo motor is fixedly installed with an adjustment screw rod. A threaded sleeve plate is threadedly connected to the surface of the adjustment screw rod. The top of the threaded sleeve plate is connected with a limiting sliding plate. A limiting sliding groove is formed at the top of the inner wall of the protection and adjustment box. The inner wall of the limiting sliding groove and the surface of the limiting sliding plate are slidably connected. The bottom of the threaded sleeve plate is fixedly connected with a connecting cross frame. An electric cylinder three is fixedly installed on the top of the connecting cross frame. The output end of the electric cylinder three is fixedly installed with a driving motor through a bracket, and a bottom supporting plate is fixedly installed at the output end of the driving motor.

[0012] Preferably, a guiding sliding sleeve is fixedly connected to the bottom of the connecting cross frame near its side surface. A guiding sliding rail is fixedly connected to the top of the inner wall of the clamping main frame. The surface of the guiding sliding rail and the inner wall of the guiding sliding sleeve are slidably connected.

[0013] Preferably, a lower threaded sleeve is clamped on the top of the bottom supporting plate. A spring telescopic rod is fixedly installed on the top of the lower threaded sleeve. A rotating ball is fixedly installed at the top of the spring telescopic rod. An annular sliding sleeve plate is fixedly installed at the bottom of the connecting cross frame. The inner wall of the annular sliding sleeve plate and the surface of the rotating ball are slidably connected, and the bottom of the bottom supporting plate and the inside of the lower threaded sleeve are connected through an expansion screw rod.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. In the present invention, the stable base provided serves as the basic support base for the bin robot. A rotating base can be connected above the stable base. Inside the rotating base, a dust-proof sealing seat is controlled by a driving end to rotate and change direction, enabling the overall robotic arm attached to the rotating base to change direction, adjust position, and adjust orientation. By using the driving ends in the mechanical swing main arm and the swing small arm thereon, the position can be adjusted to correct the position. When it is necessary to grasp materials, the rotating disk can be controlled to rotate and adjust the angle so as to subsequently move down to grasp the materials, and the adjustment of the position of the grasping structure can be completed and determined;

[0016] 2. In the present invention, when the electric cylinder 1 in the clamping main frame of the bin robot operates, it can drive the pushing slide rod to move. Through the pin in the pushing slide rod and the chute in the chute plate, the position of the chute plate can be adjusted. Due to the swinging action of the swinging gripper frame, the chute plate can control the swinging gripper frame to move in an arc direction to perform the material grasping work. The main body of the swinging gripper frame is an arc-shaped plate, and inside it, the threaded transfer of the arc-shaped clamping rod is carried out through the position adjustment threaded groove to control the grasping range of the entire swinging gripper frame. A pressure sensor is provided at the bottom end of the arc-shaped clamping rod to adapt to the force of grasping materials through the central control, avoiding the influence caused by too light or too heavy force. To prevent the material from being suspended above, the electric cylinder 2 can be operated to drive the adjustment pressing frame to move, so that the adjustment pressing frame can be pressed on the top of the material. An anti-slip cushion plate is added to enhance the anti-slip effect at the top of the material. Moreover, the operating electric push rod can drive the arc-shaped side clamping plate to move, enabling the arc-shaped side clamping plate to abut and clamp on both sides of the material. And the operating electric telescopic rod can control and adjust the height distance of the arc-shaped side clamping plate to perform side-bottom clamping and restraint on the material from the side, realizing the multi-faceted adaptation and maintaining the anti-movement transfer effect during the material clamping process by the bin robot;

[0017] 3. In the present invention, in the case where the material is relatively heavy or slippery, the servo motor can be used to control the rotation of the adjusting screw. Through the arrangement of the limit slide plate and the limit chute, the movement track of the threaded sleeve plate is limited, so that the rotation of the adjusting screw can drive the threaded sleeve plate to move, and the movement of the threaded sleeve plate can drive the connecting cross frame below it to move. Since a guiding sliding sleeve is provided at the bottom side of the connecting cross frame and can move on the guiding slide rail in the clamping main frame to enhance the supporting force effect of the connecting cross frame, the operation of the third electric cylinder can drive the bottom supporting plate to adjust its height, and the operation of the driving motor can drive the bottom supporting plate to perform a turning motion. The bottom supporting plate can be adjusted to transfer and lift to the lower part of the material. According to the large change of the material, the installation of the bottom supporting plate can be controlled to be released and other types of replacements can be carried out. After the installation state between the driving motor and the bottom supporting plate is released, and to avoid its sudden dropping under the action of the spring telescopic rod, the secondary constraint of the lower threaded sleeve on the bottom supporting plate can be released. Under normal conditions, the rotating ball on the spring telescopic rod can rotate in the annular sliding sleeve plate to maintain the smooth rotation of the bottom supporting plate, and the bottom supporting effect can be maintained below during the material clamping process by the material box robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural view of the present invention;

[0019] Figure 2 is a side sectional view of the present invention;

[0020] Figure 3 is a front sectional view of the additional protection adjustment box in the present invention;

[0021] Figure 4 is a schematic structural view of the arc-shaped side clamping plate in the present invention;

[0022] Figure 5 is a schematic structural view of the spring telescopic rod in the present invention;

[0023] Figure 6 is an enlarged view at A of the present invention;

[0024] Figure 7 is an enlarged view at B of the present invention;

[0025] Figure 8 is an enlarged view at C of the present invention.

[0026] In the figure: 1, stable base; 2, rotating base; 3, dust-proof sealing seat; 4, mechanical swinging main arm; 5, swinging forearm; 6, stabilizing frame; 7, rotating disk; 8, clamping main frame; 9, electric cylinder 1; 10, pushing slide bar; 11, swinging gripper frame; 12, chute plate; 13, electric cylinder 2; 14, adjusting pressing frame; 15, protective adjusting box; 16, position adjusting thread groove; 17, arc-shaped clamping rod; 18, pressure sensor; 19, electric push rod; 20, moving plate; 21, magnetic attraction card slot; 22, reinforcing side plate; 23, electric telescopic rod; 24, arc-shaped side clamping plate; 25, anti-slip cushion plate; 26, servo motor; 27, adjusting screw; 28, threaded sleeve plate; 29, limit slide plate; 30, limit chute; 31, connecting cross frame; 32, electric cylinder 3; 33, driving motor; 34, bottom supporting guard plate; 35, guiding sliding sleeve; 36, guiding slide rail; 37, lower threaded sleeve; 38, spring telescopic rod; 39, rotating ball; 40, annular sliding sleeve plate. Specific implementation manner

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] Example 1 Please refer to Figure 1-8 , the present invention provides a technical solution: a material clamping mechanism of a bin robot, including a stable base 1, the top of the stable base 1 is fixedly installed with a rotating base 2 with a driving end, the output end of the driving end in the rotating base 2 is fixedly installed with a dust-proof sealing seat 3, the top of the dust-proof sealing seat 3 is fixedly installed with a mechanical swinging main arm 4, the top of the mechanical swinging main arm 4 is rotationally connected with a swinging forearm 5 through a driving end, one end of the swinging forearm 5 is rotationally connected with a stabilizing frame 6 through a driving end, the top of the stabilizing frame 6 is rotationally connected with a rotating disk 7 through a driving end, the bottom of the rotating disk 7 is fixedly installed with a clamping main frame 8, the side of the clamping main frame 8 is fixedly installed with an electric cylinder 1 9, the output end of the electric cylinder 1 9 is fixedly installed with a pushing slide bar 10, the bottom of the clamping main frame 8 is rotationally connected with a swinging gripper frame 11 through a pin shaft seat, the top of the swinging gripper frame 11 is fixedly connected with a chute plate 12, the inner wall of the chute plate 12 and the inside of the pushing slide bar 10 are movably connected through a rotating pin, and an electric cylinder 2 13 is fixedly installed in the middle of the clamping main frame 8 close to its inner wall, the output end of the electric cylinder 2 13 is fixedly installed with an adjusting pressing frame 14, and a protective adjusting box 15 is fixedly installed on the left side of the clamping main frame 8.

[0029] Example 2: Please refer to Figure 1-8, The difference between this embodiment and Embodiment 1 is that the main body of the swinging gripper frame 11 is an arc-shaped plate. An adjustment thread groove 16 is provided inside the swinging gripper frame 11, and an arc-shaped clamping rod 17 is threadedly connected to the inner wall of the adjustment thread groove 16. The number of arc-shaped clamping rods 17 is at least six, and the at least six arc-shaped clamping rods 17 are evenly connected to the swinging gripper frame 11 in the front-rear direction. A pressure sensor 18 is fixedly installed at the bottom end of the arc-shaped clamping rod 17, and the sensing end of the pressure sensor 18 protrudes on the arc-shaped clamping rod 17. The main body of the swinging gripper frame 11 is an arc-shaped plate, and the arc-shaped clamping rod 17 is thread-transferred through the adjustment thread groove 16 inside it to control the grasping range of the entire swinging gripper frame 11. A pressure sensor 18 is provided at the bottom end of the arc-shaped clamping rod 17, which can adapt to the force of grasping materials through the central control, avoiding the influence caused by too light or too heavy force.

[0030] Embodiment 3: Please refer to Figure 1-8 , The difference between this embodiment and Embodiment 1 is that the main body of the adjustment and fixing frame 14 is a balance pressing plate. An electric push rod 19 is fixedly installed inside the balance pressing plate. The output end of the electric push rod 19 is fixedly installed with a moving plate 20. A magnetic adsorption card slot 21 is provided on the surface of the moving plate 20. A reinforcing side plate 22 is fixedly installed on the inner wall of the magnetic adsorption card slot 21. An electric telescopic rod 23 is rotationally connected to the inside of the reinforcing side plate 22 through a driving end. The output end of the electric telescopic rod 23 is fixedly installed with an arc-shaped side clamping plate 24. The bottom of the balance pressing plate is fixedly connected with an anti-slip cushion plate 25, and a wear-resistant coating is filled on the lower surface of the anti-slip cushion plate 25. The operating electric push rod 19 can drive the arc-shaped side clamping plate 24 to move, so that the arc-shaped side clamping plate 24 can abut and clamp on both sides of the material. And the operation of the electric telescopic rod 23 can control and adjust the height distance of the arc-shaped side clamping plate 24, so as to perform side-bottom clamping and restraint on the material from the side. The operation of the second electric cylinder 13 starts to drive the adjustment and fixing frame 14 to move, so that the adjustment and fixing frame 14 can be pressed on the top of the material. The addition of the anti-slip cushion plate 25 can enhance the anti-slip effect at the top of the material.

[0031] Embodiment 4: Please refer to Figure 1-8, the difference between this embodiment and Embodiment 1 is that: a servo motor 26 is fixedly installed on the inner wall of the protection adjustment box 15 through a bracket. The output end of the servo motor 26 is fixedly installed with an adjustment screw rod 27. The surface of the adjustment screw rod 27 is threadedly connected with a threaded sleeve plate 28. The top of the threaded sleeve plate 28 is connected with a limit sliding plate 29. A limit sliding groove 30 is opened at the top of the inner wall of the protection adjustment box 15. The inner wall of the limit sliding groove 30 and the surface of the limit sliding plate 29 are slidably connected. The bottom of the threaded sleeve plate 28 is fixedly connected with a connecting cross frame 31. An electric cylinder three 32 is fixedly installed on the top of the connecting cross frame 31. The output end of the electric cylinder three 32 is fixedly installed with a driving motor 33 through a bracket. The output end of the driving motor 33 is fixedly installed with a bottom supporting protection plate 34. A guiding sliding sleeve 35 is fixedly connected to the bottom of the connecting cross frame 31 near its side surface. A guiding sliding rail 36 is fixedly connected to the top of the inner wall of the clamping main frame 8. The surface of the guiding sliding rail 36 and the inner wall of the guiding sliding sleeve 35 are slidably connected. A lower threaded sleeve 37 is clamped on the top of the bottom supporting protection plate 34. A spring telescopic rod 38 is fixedly installed on the top of the lower threaded sleeve 37. A rotating ball 39 is fixedly installed on the top of the spring telescopic rod 38. An annular sliding sleeve plate 40 is fixedly installed on the bottom of the connecting cross frame 31. The inner wall of the annular sliding sleeve plate 40 and the surface of the rotating ball 39 are slidably connected. And the bottom of the bottom supporting protection plate 34 and the inside of the lower threaded sleeve 37 are connected by an expansion screw rod. By using the servo motor 26 to control the rotation of the adjustment screw rod 27, through the setting of the limit sliding plate 29 and the limit sliding groove 30, the movement track of the threaded sleeve plate 28 is limited, so that the rotation of the adjustment screw rod 27 can drive the threaded sleeve plate 28 to move. The movement of the threaded sleeve plate 28 can drive the connecting cross frame 31 below it to move. Because a guiding sliding sleeve 35 is arranged at the bottom of the side surface of the connecting cross frame 31 and can move on the guiding sliding rail 36 in the clamping main frame 8, the supporting force effect of the connecting cross frame 31 is enhanced. The operation of the electric cylinder three 32 can drive the bottom supporting protection plate 34 to adjust the height. The operation of the driving motor 33 can drive the bottom supporting protection plate 34 to perform a turning movement, and the bottom supporting protection plate 34 can be adjusted to move up and down to the lower part of the material. According to the large change of the material, the installation of the bottom supporting protection plate 34 can be controlled to be removed and other types of replacements can be carried out. After the installation state between the driving motor 33 and the bottom supporting protection plate 34 is removed, and to avoid the situation of its sudden dropping under the action of the spring telescopic rod 38, the secondary constraint of the lower threaded sleeve 37 on the bottom supporting protection plate 34 is released. Under normal conditions, the rotating ball 39 on the spring telescopic rod 38 can rotate in the annular sliding sleeve plate 40 to maintain the smooth rotation of the bottom supporting protection plate 34.

[0032] Working principle: When the material clamping mechanism of a bin robot is in use, the set stable base 1 is the basic support base of the bin robot. Above the stable base 1, a rotating base 2 can be connected. Inside the rotating base 2, a dust-proof seal seat 3 is controlled by a driving end to rotate and change direction, enabling the overall robotic arm attached to the rotating base 2 to change direction, adjust position, and orientation. By using the driving end in the mechanical swing main arm 4 and its swing small arm 5, the position can be adjusted to correct the position. When it is necessary to grasp materials, the rotating disk 7 can be controlled to rotate and adjust the angle for subsequent downward movement to grasp materials. The operation of the electric cylinder 1 in the clamping main frame 8 can drive the push rod 10 to move. Through the pin in the push rod 10 and the chute in the chute plate 12, the position of the chute plate 12 is adjusted. Due to the swinging action of the swinging gripper frame 11, the chute plate 12 can control the swinging gripper frame 11 to move in an arc direction for material grasping work. The main body of the swinging gripper frame 11 is an arc-shaped plate. Inside it, the threaded transfer of the arc-shaped clamping rod 17 is carried out through the position adjustment threaded groove 16 to control the grasping range of the entire swinging gripper frame 11. At the bottom end of the arc-shaped clamping rod 17, a pressure sensor 18 is provided to adapt to the force of grasping materials through the central control, avoiding the influence caused by too light or too heavy force. To prevent the material from being suspended above, the electric cylinder 2 can be operated to start and drive the adjustment pressing frame 14 to move, enabling the adjustment pressing frame 14 to press on the top of the material. An anti-slip cushion plate 25 is added to enhance the anti-slip effect at the top of the material. The operation of the electric push rod 19 can drive the arc-shaped side clamping plate 24 to move, enabling the arc-shaped side clamping plate 24 to abut and clamp on both sides of the material. The operation of the electric telescopic rod 23 can control and adjust the height distance of the arc-shaped side clamping plate 24 to laterally bottomly clamp and restrain the material from the side. In the case of heavy or slippery materials, the servo motor 26 can be used to control the rotation of the adjusting screw rod 27. Through the settings of the limit slide plate 29 and the limit chute 30, the movement trajectory of the threaded sleeve plate 28 is limited, enabling the rotation of the adjusting screw rod 27 to drive the threaded sleeve plate 28 to move. The movement of the threaded sleeve plate 28 can drive the connecting cross frame 31 below it to move. Since a guiding sliding sleeve 35 is provided at the side bottom of the connecting cross frame 31 to move on the guiding sliding rail 36 in the clamping main frame 8, the supporting force effect of the connecting cross frame 31 is enhanced. The operation of the electric cylinder 3 can drive the bottom supporting plate 34 to adjust the height, and the operation of the driving motor 33 can drive the bottom supporting plate 34 to perform a steering movement, enabling the bottom supporting plate 34 to be transferred and lifted to the lower part of the material. According to the large changes in the material, the installation of the bottom supporting plate 34 and other types of replacements can be controlled and removed. After the installation state between the driving motor 33 and the bottom supporting plate 34 is removed, and to avoid its sudden dropping under the action of the spring telescopic rod 38, the secondary restraint of the lower threaded sleeve 37 on the bottom supporting plate 34 is released. Under normal conditions,The rotating ball 39 on the spring telescopic rod 38 can rotate in the annular sliding sleeve plate 40 to maintain the smooth rotation of the bottom support plate 34, and can achieve multi-faceted adaptation during the material clamping process of the bin robot to maintain the anti-movement transfer effect.

[0033] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A material clamping mechanism for a bin robot, comprising a stable base (1), characterized in that: At the top of the stable base (1), a rotating base (2) with a driving end is fixedly installed. At the output end of the driving end in the rotating base (2), a dust-proof sealing seat (3) is fixedly installed. At the top of the dust-proof sealing seat (3), a mechanical swinging main arm (4) is fixedly installed. At the top of the mechanical swinging main arm (4), a swinging small arm (5) is rotationally connected through a driving end. At one end of the swinging small arm (5), a stabilizing frame (6) is rotationally connected through a driving end. At the top of the stabilizing frame (6), a rotating disk (7) is rotationally connected through a driving end. At the bottom of the rotating disk (7), a clamping main frame (8) is fixedly installed. On the side of the clamping main frame (8), an electric cylinder I (9) is fixedly installed. At the output end of the electric cylinder I (9), a pushing slide rod (10) is fixedly installed. At the bottom of the clamping main frame (8), a swinging gripper frame (11) is rotationally connected through a pin shaft seat. At the top of the swinging gripper frame (11), a chute plate (12) is fixedly connected. The inner wall of the chute plate (12) and the inside of the pushing slide rod (10) are movably connected through a rotating pin. In the middle of the clamping main frame (8) near its inner wall, an electric cylinder II (13) is fixedly installed. At the output end of the electric cylinder II (13), an adjusting and pressing frame (14) is fixedly installed. On the left side of the clamping main frame (8), a protection and adjustment box (15) is fixedly installed.

2. The material clamping mechanism of a bin robot according to claim 1, characterized in that: The main body of the swinging gripper frame (11) is an arc-shaped plate. An adjustment thread groove (16) is opened inside the swinging gripper frame (11). An arc-shaped clamping rod (17) is threadedly connected to the inner wall of the adjustment thread groove (16).

3. The material clamping mechanism of a bin robot according to claim 2, characterized in that: The number of the arc-shaped clamping rods (17) is at least six, and the at least six arc-shaped clamping rods (17) are evenly connected to the swinging gripper frame (11) in the front-back direction.

4. The material clamping mechanism of a bin robot according to claim 1, characterized in that: At the bottom end of the arc-shaped clamping rod (17), a pressure sensor (18) is fixedly installed, and the sensing end of the pressure sensor (18) protrudes on the arc-shaped clamping rod (17).

5. The material clamping mechanism of a bin robot according to claim 1, characterized in that: The main body of the adjusting and pressing frame (14) is a balance pressing plate. An electric push rod (19) is fixedly installed inside the balance pressing plate. At the output end of the electric push rod (19), a moving plate (20) is fixedly installed. A magnetic attraction clamping groove (21) is opened on the surface of the moving plate (20). Inside the magnetic attraction clamping groove (21), a reinforcing side plate (22) is fixedly installed. Inside the reinforcing side plate (22), an electric telescopic rod (23) is rotationally connected through a driving end. At the output end of the electric telescopic rod (23), an arc-shaped side clamping plate (24) is fixedly installed.

6. The material clamping mechanism of a bin robot according to claim 5, characterized in that: At the bottom of the balance pressing plate, an anti-slip cushion plate (25) is fixedly connected. A wear-resistant coating is filled on the lower surface of the anti-slip cushion plate (25).

7. The material clamping mechanism of a bin robot according to claim 1, characterized in that: The inner wall of the intensive care adjustment box (15) is fixedly installed with a servo motor (26) through a bracket. The output end of the servo motor (26) is fixedly installed with an adjustment screw rod (27). The surface of the adjustment screw rod (27) is threadedly connected with a threaded sleeve plate (28). The top of the threaded sleeve plate (28) is connected with a limit sliding plate (29). A limit sliding groove (30) is opened at the top of the inner wall of the intensive care adjustment box (15). The inner wall of the limit sliding groove (30) and the surface of the limit sliding plate (29) are slidably connected. The bottom of the threaded sleeve plate (28) is fixedly connected with a connecting cross frame (31). The top of the connecting cross frame (31) is fixedly installed with an electric cylinder three (32). The output end of the electric cylinder three (32) is fixedly installed with a driving motor (33) through a bracket. The output end of the driving motor (33) is fixedly installed with a bottom supporting guard plate (34).

8. The material clamping mechanism of a bin robot according to claim 7, characterized in that: A guiding sliding sleeve (35) is fixedly connected to the bottom near the side surface of the connecting cross frame (31). A guiding sliding rail (36) is fixedly connected to the top of the inner wall of the clamping main frame (8). The surface of the guiding sliding rail (36) and the inner wall of the guiding sliding sleeve (35) are slidably connected.

9. The material clamping mechanism of a bin robot according to claim 7, characterized in that: A lower threaded sleeve (37) is clamped on the top of the bottom supporting guard plate (34). A spring telescopic rod (38) is fixedly installed on the top of the lower threaded sleeve (37). A rotating ball (39) is fixedly installed on the top of the spring telescopic rod (38). An annular sliding sleeve plate (40) is fixedly installed on the bottom of the connecting cross frame (31). The inner wall of the annular sliding sleeve plate (40) and the surface of the rotating ball (39) are slidably connected. And the bottom of the bottom supporting guard plate (34) and the inside of the lower threaded sleeve (37) are connected by an expansion screw rod.

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