Clamping device and transportation system

Abstract

The invention relates to the technical field of object clamping and transporting, and provides a clamping device and a transporting system.The clamping device comprises two clamping mechanisms which are oppositely arranged in the first direction; each clamping mechanism comprises a clamping arm and at least two clamping units which are arranged on the clamping arm at intervals in the length direction of the clamping arm; wherein the at least two clamping units are configured to correspond to the at least two box bodies arranged in the second direction in a one-to-one mode, each clamping unit and the connecting port in the same side of the corresponding box body form a clamping relation, and the second direction is perpendicular to the first direction; and the clamping arm is used for driving all the clamping units to move synchronously so as to execute collective clamping or collective separation with the corresponding connecting ports. According to the scheme, uniform and synchronous clamping force is applied to at least two box bodies, it is ensured that each box body can be independently and stably clamped and fixed, shaking, inclination or uneven stress in the clamping process of the multiple box bodies is prevented, and the overall clamping stability and reliability of the clamping device are improved.

Description

Technical Field

[0001] This application relates to the field of article clamping and transportation technology, and in particular to a clamping device and transportation system. Background Technology

[0002] In semiconductor, LCD panel, or precision electronic component manufacturing scenarios, material containers are often used to carry and transport precision materials such as wafers, glass substrates, or chips. These materials have extremely stringent requirements for cleanliness, vibration resistance, and stability.

[0003] Currently, common clamping devices are designed to hold only one material box at a time, and often employ partial clamping or simple snap-fit ​​structures. This single clamping point leads to uneven distribution of clamping force. During handling, especially at high speeds or during sharp turns and sudden stops, this clamping method is prone to causing instability in the material box due to vibration or inertia, resulting in shaking, tilting, or even complete detachment from the clamping device and the material box falling. Once the material box falls, the wafers, glass substrates, or chips inside are highly susceptible to breakage due to impact, leading to material loss and production line downtime.

[0004] Therefore, how to provide a clamping device that can stably clamp multiple boxes at the same time and with uniform and reliable clamping force is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] This application provides a clamping device and a transport system that enables stable clamping of at least two boxes.

[0006] The technical solution adopted in this application is as follows: In a first aspect, a clamping device is provided for clamping a box body having a top plate, with connecting ports on opposite sides of the top plate. The device includes: Two clamping mechanisms arranged opposite to each other along a first direction; Each of the clamping mechanisms includes a clamping arm and at least two clamping units thereon spaced apart along the length of the clamping arm; The at least two clamping units are configured to correspond one-to-one with at least two boxes arranged along the second direction, and each clamping unit forms an engagement relationship with the connection port on the same side of the corresponding box. The second direction is perpendicular to the first direction. The clamping arm is used to drive all the clamping units to move synchronously to perform collective engagement or collective disengagement with the corresponding connection port.

[0007] Preferably, the connection port has a recessed structure; The clamping unit includes a protruding structure and an abutment structure below it connected to the clamping arm. The protruding structure is configured to engage with the recessed structure, and the abutment structure is configured to abut against the bottom surface of the top plate when engaged.

[0008] Preferably, the protrusion structure has a limiting portion configured to abut against the top surface of the top plate when engaged.

[0009] Preferably, each clamping mechanism further includes at least two detection elements disposed on the clamping arm, and each clamping unit is provided with a corresponding detection element. The detection element is disposed close to the corresponding clamping unit and is used to detect whether the box is located between two clamping mechanisms.

[0010] Preferably, the device further includes a drive mechanism, the drive mechanism including a first drive member, the first drive member having two first drive ends disposed opposite to each other, each first drive end being connected to one of the clamping arms; The first driving member is configured to drive the two first driving ends to move towards or away from each other, so that the two clamping arms drive the clamping units thereon to move synchronously towards or away from each other.

[0011] Preferably, the device further includes two blocking mechanisms, each of which is located below each of the clamping mechanisms. The blocking mechanism is configured to block and abut against the opening on the side of the box where the connection port is located when at least two of the boxes are clamped between the clamping mechanisms.

[0012] Preferably, the shielding mechanism includes a shielding plate and a rod connected thereto, wherein the shielding plate can rotate synchronously with the rod.

[0013] Preferably, the driving mechanism further includes a second driving member, the second driving member having two opposing second driving ends, each of the second driving ends being connected to one of the rods; The second driving member is configured to drive the two second driving ends to rotate in opposite directions, so that the two rods drive the shielding plate to rotate synchronously towards or away from each other.

[0014] Preferably, the shielding plate has multiple observation ports, which are used to observe the material state inside the box and to maintain gas flow inside the box.

[0015] In the second aspect, a transportation system is provided, comprising: A transport device connected to the clamping device described in the first aspect; The transport device has two opposite sides, each side having at least two placement stations in the height direction of the transport device, and each placement station being configured to place at least two of the boxes.

[0016] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application relates to the field of article clamping and transportation technology, and provides a clamping device and transportation system. The clamping device includes two clamping mechanisms arranged opposite to each other along a first direction. Each clamping mechanism includes a clamping arm and at least two clamping units spaced apart along the length of the clamping arm. The at least two clamping units are configured to correspond one-to-one with at least two boxes arranged along a second direction, and each clamping unit forms an engaging relationship with the connection port on the same side of the corresponding box. The second direction is perpendicular to the first direction. The clamping arm is used to drive all clamping units to move synchronously to perform collective engagement or disengagement with the corresponding connection ports. This solution, by configuring the clamping units and the box ports to have a one-to-one engaging relationship, and utilizing the clamping arm to drive all clamping units to perform synchronous collective engagement or disengagement, achieves uniform and synchronous clamping force on at least two boxes. This ensures that each box can be independently and stably clamped and fixed, preventing shaking, tilting, or uneven force during the clamping of multiple boxes, and improving the overall stability and reliability of the clamping device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the box provided in the embodiment of this application; Figure 2 This is a side view of the clamping device provided in this application embodiment clamping two boxes; Figure 3 This is a top view of the clamping device provided in this application embodiment clamping two boxes; Figure 4 This is a schematic diagram of the clamping unit provided in the embodiments of this application; Figure 5 This is a schematic diagram showing the connection between the transport device and the clamping device provided in the embodiments of this application.

[0019] Figure label: 1. Box body; 10. Top plate; 11. Opening; 100. Connection port; 2. Clamping mechanism; 20. Clamping arm; 21. Clamping unit; 22. Detection piece; 210. Protruding structure; 211. Abutting structure; 2100. Limiting part; 3. Drive mechanism; 30. First drive component; 31. Second drive component; 4. Shielding mechanism; 40. Shielding plate; 41. Rod; 400. Observation port; 5. Transportation device; 50. Installation station; 51. Moving part; 52. Main control console; 6. Transfer device. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] As described in the background section, current common clamping devices are designed to hold only a single material box at a time, and often employ partial clamping or simple snap-fit ​​structures. This single clamping point results in uneven distribution of clamping force. During handling, especially at high speeds or during sharp turns and sudden stops, this clamping method is prone to causing instability in the material box due to vibration or inertia, leading to shaking, tilting, or even complete detachment from the clamping device and causing the material box to fall. Once the material box falls, the wafers, glass substrates, or chips inside are highly susceptible to breakage due to impact, resulting in material loss and production line downtime.

[0022] Based on this, this application provides a clamping device and a transport system, which aims to solve the technical problems of insufficient clamping capacity and unstable clamping in the prior art.

[0023] The embodiments of this application will be analyzed in detail below with reference to the accompanying drawings.

[0024] Example 1 refer to Figures 1 to 4 The box body 1 has a rectangular parallelepiped structure, with a top plate 10 on its top. Connecting ports 100 on opposite sides of the top plate 10 are used to cooperate with a clamping device to grip and hold the box body 1 as a whole. Openings 11 are provided on two opposite side walls of the box body 1, used to guide materials into the interior of the box body 1. The connecting ports 100 and the openings 11 are both located on the same side of the box body 1.

[0025] Continue to refer to Figures 1 to 4The clamping device provided in this embodiment includes: two clamping mechanisms 2 arranged opposite to each other along a first direction; each clamping mechanism 2 includes a clamping arm 20 and at least two clamping units 21 arranged thereon at intervals along the length direction of the clamping arm 20; wherein, at least two clamping units 21 are configured to correspond one-to-one with at least two boxes 1 arranged along a second direction, and each clamping unit 21 forms an engaging relationship with the connection port 100 on the same side of the corresponding box 1, and the second direction is perpendicular to the first direction; the clamping arm 20 is used to drive all clamping units 21 to move synchronously, so as to perform collective engagement or collective separation with the corresponding connection port 100.

[0026] Among them, reference Figure 2 and Figure 3 The two clamping mechanisms 2 are arranged parallel and opposite to each other in the first direction. The clamping arm 20 serves as the mounting carrier for the clamping unit 21 on one hand, and the two clamping arms 20 can move towards or away from each other to drive the clamping units 21 on the two clamping arms 20 to move towards or away from each other synchronously.

[0027] It should be noted that the number of box bodies 1 and clamping units 21 in this embodiment is not limited. For example, the number of box bodies 1 can be 2, 3, or 4. Similarly, the number of clamping units 21 on each clamping arm 20 can be set to 2, 3, or 4 to achieve clamping of at least two box bodies 1. When two or more box bodies 1 are arranged together along the second direction, the front of the front box body 1 is attached to and abuts against the back of the rear box body 1.

[0028] The distance between adjacent clamping units 21 is adjustable. The adjustment reference is the distance between the connection ports 100 on the front and rear boxes 1 when the two boxes 1 are arranged together along the second direction. For example, the distance between adjacent clamping units 21 can be adjusted by setting a long strip-shaped sliding groove and a lockable sliding mounting seat on the clamping arm 20. The clamping unit 21 is fixed to the sliding mounting seat by bolts. After loosening the bolts, the sliding mounting seat can move along the sliding groove. After adjusting to the position that matches the distance between the connection ports 100 of the box 1, the bolts are locked to complete the distance fixation. This adapts to the clamping needs of different numbers and specifications of boxes 1.

[0029] As an example of clamping two boxes 1, refer to Figure 1 and Figure 3Two boxes 1 are arranged one in front of the other along a second direction, with two clamping units 21 paired on opposite sides of each box 1. The clamping device moves above the box 1, so that the two clamping mechanisms 2 are respectively positioned on both sides of the box 1 with an opening 11. Two clamping arms 20 are parallel to the plane of the opening 11 on the corresponding side, and each clamping arm 20 is provided with two clamping units 21, each clamping unit 21 being aligned with the connection port 100 of the corresponding box 1. The two clamping arms 20 move towards each other, so that the clamping units 21 move synchronously toward the connection port 100 of the corresponding box 1 until the clamping units 21 abut against the connection port 100, engaging to form an engaging structure, restricting the displacement of the box 1 in the vertical and horizontal directions, preventing the box 1 from slipping off the clamping units 21 during the clamping process, and achieving stable clamping of the two boxes 1. The two clamping arms 20 move away from each other, so that the clamping units 21 separate from the connection port 100, the engaging structure breaks, and the two boxes 1 are separated. The length direction of the clamping arm 20 is consistent with the second direction. Therefore, the clamping units 21, which are spaced apart along the length direction of the clamping arm 20, can be accurately aligned with the connection ports 100 of the multiple boxes 1 arranged along the second direction, ensuring that the one-to-one locking relationship can be accurately realized.

[0030] In summary, this embodiment achieves the clamping of at least two boxes 1. With the help of the clamping arm 20, all clamping units 21 move synchronously towards each other, ensuring that the clamping units 21 on both sides of the same box 1 simultaneously contact the connection port 100 and apply uniform clamping force. Moreover, the clamping actions of multiple boxes 1 are completed synchronously, avoiding excessive local force or clamping deviation caused by asynchronous actions of a single clamping unit 21. This improves the overall stability when multiple boxes are clamped at the same time and solves the shaking and tilting problems during high-speed transportation and sudden stops.

[0031] As a preferred embodiment, refer to Figure 4 The connection port 100 is a recessed structure; the clamping unit 21 includes a protruding structure 210 and an abutment structure 211 below it connected to the clamping arm 20. The protruding structure 210 is configured to engage with the recessed structure, and the abutment structure 211 is configured to abut against the bottom surface of the top plate 10 when engaged.

[0032] The clamping unit 21 and the connecting port 100 can be fitted together using a convex-concave fit. The protruding structures on both sides of the top plate 10 guide the insertion and abut against the recessed structure, providing a lateral clamping force to the top plate 10, thus clamping the top plate 10. Furthermore, when the top plate 10 is lifted, the abutting structure 211 provides an upward supporting force to the top plate 10, preventing the box 1 from falling off the clamping unit 21 due to vibration interference under a single clamping force, which would damage the material inside the box 1.

[0033] As a preferred embodiment, refer to Figure 4The protruding structure 210 has a limiting part 2100, which is configured to abut against the top surface of the top plate 10 when engaged.

[0034] The limiting part 2100 extends from the top of the protruding structure 210 toward the recessed structure and extends to the upper region of the recessed structure. The limiting part 2100 abuts against the top surface of the top plate 10, and the abutting structure 211 abuts against the bottom surface of the top plate 10, thus forming a clamping effect on the top plate 10, restricting the displacement of the box 1 in the front-back and up-down directions, and ensuring the stability of the clamping.

[0035] As an example of a clamping unit, refer to Figure 4 The protruding structure 210 and the abutting structure 211 are integrally formed, wherein the abutting structure 211 is horizontally connected to the side of the clamping arm 20 and located directly below the protruding structure 210. The opening of the recessed structure faces the clamping mechanism 2, and the depth of the recess matches the extension length of the protruding structure 210. The limiting part 2100 extends horizontally, and its extension direction is consistent with the insertion direction of the protruding structure 210, and its extension length covers the top surface area of ​​the top plate 10. When the clamping arm 20 moves the clamping unit 21 toward the recessed structure of the box 1, the protruding structure 210 first aligns with the recessed structure and inserts in the horizontal direction until the side wall of the protruding structure 210 is in close contact with the inner wall of the recessed structure, forming a lateral pressing force. At the same time, the abutting structure 211 is simultaneously attached to the bottom surface of the top plate 10, providing an upward supporting force for the top plate 10. The limiting part 2100 is pressed against the top surface of the top plate 10, forming an upper and lower clamping of the top plate 10 with the abutting structure 211.

[0036] As a preferred embodiment, refer to Figure 2 Each clamping mechanism 2 also includes at least two detection elements 22 disposed on the clamping arm 20. Each clamping unit 21 is provided with a corresponding detection element 22. The detection element 22 is disposed close to the corresponding clamping unit 21. The detection element 22 is used to detect whether the box body 1 is located between the two clamping mechanisms 2.

[0037] As an example, the detection element 22 can be a laser sensor. Each laser sensor is mounted one-to-one on the clamping arm 20 near the clamping unit 21, with the laser emitting end facing the area between the two clamping mechanisms 2. The emission direction of the laser beam is consistent with the first direction, and the illumination height of the laser beam matches the side height of the top plate 10 of the housing 1. This arrangement ensures that the laser beam can detect the housing 1 while avoiding interference between the movement of the laser sensor and the clamping unit 21.

[0038] Taking two boxes 1 arranged one behind the other as an example, two laser sensors are respectively set for two clamping units 21. Before the clamping device moves above the box 1 to prepare for clamping, the laser sensors are activated synchronously, and the laser beam is emitted along the first direction. If both boxes 1 are located in the preset position between the clamping mechanisms 2, the laser beam will respectively irradiate the corresponding side wall of the top plate 10 of the two boxes 1 and reflect back to the laser sensors. The laser sensors will transmit the position signal to the controller. After the controller determines that the box 1 is in position, it triggers the clamping arms 20 to move towards each other for clamping action. If a box 1 is missing or offset at a certain position, the corresponding laser sensor cannot capture the reflected signal. The controller will pause the action and issue a warning to avoid the clamping unit 21 failing to engage with the connection port 100 due to misaligned clamping, thus ensuring the safety and stability of the clamping process.

[0039] As a preferred embodiment, refer to Figure 2 and Figure 3 The device also includes a drive mechanism 3, which includes a first drive member 30. The first drive member 30 has two first drive ends that are arranged opposite to each other. Each first drive end is connected to a clamping arm 20. The first drive member 30 is configured to drive the two first drive ends to move towards or away from each other, so that the two clamping arms 20 drive the clamping units 21 on them to move towards or away from each other synchronously.

[0040] As an example, the first driving component 30 can be a dual-axis cylinder, with the two first driving ends being the two push rods of the cylinder. The two push rods are fixedly connected to the clamping arms 20 on both sides via connecting seats, and the connection positions avoid the installation area of ​​the clamping unit 21 to prevent interference with the engagement of the clamping unit 21. When the controller receives the signal from the detection component 22 that all boxes 1 are in place, the dual-axis cylinder starts, driving the two push rods to extend synchronously towards each other, causing the clamping arms 20 on both sides to approach the box 1. Since the extension speed and stroke of the two push rods are completely consistent, the clamping units 21 on the clamping arms 20 on both sides can be synchronously aligned with the connection port 100 of the box 1, ensuring that the engagement action on both sides of the same box 1 is completed synchronously. When it is necessary to release the box 1, the dual-axis cylinder drives the two push rods to retract synchronously in opposite directions, and the clamping arms 20 cause the clamping units 21 to separate from the connection port 100, achieving synchronous release of multiple boxes. This driving method has a simple structure and can ensure the consistency of movement of the two clamping mechanisms 2, providing power for the clamping of multiple boxes.

[0041] As a preferred embodiment, refer to Figure 2 and Figure 3 The device also includes two blocking mechanisms 4, each blocking mechanism 4 being located below each clamping mechanism 2. The blocking mechanism 4 is configured to block and abut against the opening 11 on the side of the box 1 where the connection port 100 is provided when at least two boxes 1 are clamped between the clamping mechanisms 2.

[0042] The shielding mechanism 4 is adapted to the material placement requirements of the opening 11 of the box body 1. On the one hand, it can shield the opening 11 to prevent the internal material from falling out of the opening 11 due to inertia when transporting at high speed or turning and stopping suddenly. On the other hand, the contact between the shielding mechanism 4 and the edge of the opening 11 can provide lateral restraint, which works in conjunction with the locking restraint of the clamping unit 21 on the top plate 10 to further limit the lateral displacement of the box body 1 and improve the overall stability of the multi-box clamping.

[0043] As an example, two blocking mechanisms 4 are respectively installed below the clamping arms 20 on both sides. In the initial state, the blocking mechanisms 4 are staggered from the opening 11 of the box body 1 to avoid interfering with the positioning and clamping action of the box body 1. When the controller confirms that the clamping unit 21 and the connection port 100 have completed engagement, it triggers the blocking mechanism 4 to move along the direction closer to the box body 1 until it completely covers the opening 11 and the blocking mechanism 4 is in close contact with the side wall of the opening 11 of the box body 1.

[0044] As a preferred embodiment, refer to Figure 2 and Figure 3 The shielding mechanism 4 includes a shielding plate 40 and a rod 41 connected thereto. The shielding plate 40 can rotate synchronously with the rod 41.

[0045] As an example, the rod 41 can be mounted below the clamping arm 20 via a dual-axis rotating seat. The dual-axis rotating seat includes a vertical rotating axis or a horizontal rotating axis. The rod 41 can rotate horizontally in the left-right direction around the vertical rotating axis, and can also rotate vertically in the up-down direction around the horizontal rotating axis. The end of the rod 41 away from the dual-axis rotating seat is fixedly connected to the baffle plate 40 via a mounting plate, and the size of the baffle plate 40 is adapted to the opening 11 of the box 1.

[0046] Taking the vertical rotating shaft as an example, in the initial state, the shielding plate 40 is positioned offset to the left and right sides of the opening 11 of the box 1 under the action of lateral rotation, without interfering with the positioning and clamping action of the box. When the controller determines that the clamping unit 21 and the connection port 100 have completed engagement, the rod 41 rotates laterally around the vertical rotating shaft in the direction of approaching the opening 11, driving the shielding plate 40 to move to the opening 11, and finally completely covering the opening 11 and tightly abutting against the side wall of the opening 11.

[0047] Taking the horizontal rotating shaft as an example, in the initial state, the shielding plate 40 is in an upwardly tilted offset position under the action of vertical rotation, avoiding the placement area of ​​the box 1. When the controller determines that the clamping unit 21 and the connection port 100 have completed engagement, the rod 41 rotates downward around the horizontal rotating shaft, driving the shielding plate 40 to move to a plane parallel to the opening 11, and finally completely covering the opening 11 and tightly abutting against the side wall of the opening 11.

[0048] As a preferred embodiment, refer to Figure 2 andFigure 3 The drive mechanism 3 also includes a second drive member 31, which has two second drive ends arranged opposite to each other, each of which is connected to a rod 41. The second drive member 31 is configured to drive the two second drive ends to rotate in opposite directions, so that the two rods 41 drive the baffle plate 40 to rotate synchronously towards or away from each other.

[0049] As an example, the second drive unit 31 can be a dual-shaft motor, with the two second drive ends being the two shafts of the motor. The two shafts are coaxially and fixedly connected to the vertical shafts of the two side rods 41 via couplings. In the initial state, the side blocking plates 40 are positioned offset to the left and right of the opening 11 of the box 1 under the action of lateral rotation, without interfering with the box positioning and clamping action. When the controller determines that the clamping unit 21 and the connection port 100 have engaged, the dual-shaft motor starts, driving the two shafts to rotate in opposite directions, for example, the left shaft rotates counterclockwise and the right shaft rotates clockwise, thereby causing the two side rods 41 to rotate synchronously in opposite directions around their respective vertical shafts. As the rotation progresses, the side blocking plates 40 synchronously move closer to the opening 11 of the box 1, eventually covering both openings 11 and tightly abutting against the side walls of the openings 11, achieving synchronous blocking and lateral limiting of multiple box openings 11. When it is necessary to release box 1, the dual-shaft motor drives the two shafts to rotate in opposite directions, causing the shielding plate 40 to rotate back to the initial left and right staggered positions, leaving space for the release of box 1.

[0050] As a preferred embodiment, refer to Figure 2 The shielding plate 40 has multiple observation ports 400, which are used to observe the material state inside the box 1 and to maintain the gas flow inside the box 1.

[0051] The observation port 400 allows staff to directly observe the placement of materials inside the box 1, check for any misalignment or damage, and promptly detect any abnormalities during transportation without removing the shielding plate 40, thus improving the safety of multi-box transportation. Furthermore, it increases the gas flow area of ​​the shielding plate 40, enabling rapid air convection between the inside of the box 1 and the external clean environment.

[0052] As an example, see reference Figure 2 The observation ports 400 are rectangular and there are multiple of them, which are spaced apart along the length of the shielding plate 40.

[0053] Example 2 This embodiment 2 provides a transportation system, including: a transportation device 5 connected to the clamping device in embodiment 1; the transportation device 5 has two opposite sides, and each side is provided with at least two placement stations 50 in the height direction of the transportation device 5, and each placement station 50 is configured to place at least two boxes 1.

[0054] As a preferred embodiment, refer to Figure 5 The transportation system also includes a transfer device 6, which is connected between the top of the transportation device 5 and the clamping device, and is used to move the clamping device.

[0055] As an example, see reference Figure 5 The transport device 5 can be a mobile robot, and the transfer device 6 can be a multi-degree-of-freedom robotic arm. The mobile robot includes a moving part 51 and a main control unit 52 perpendicular to the moving part 51. The moving part 51 drives the mobile robot to move. The main control unit 52 contains a controller to control the movement of the mobile robot, the movement of the robotic arm, and the gripping action of the gripping device. The main control unit 52 has two opposing sides, each side having two placement stations 50 along its height. Each placement station 50 includes a mounting plate and multiple limiting members thereon, which limit the placement positions of the two boxes 1 on the mounting plate. One mobile robot can carry eight boxes 1.

[0056] As part of the complete operation of the transportation system, in the initial state, the mobile robot is parked in the waiting area, and the placement stations 50 on both sides of its main control console 52 are empty. The free end of the robotic arm is fixedly connected to the clamping device, and the clamping device is in the initial open state, that is, the clamping arms 20 are separated from each other, the blocking mechanism 4 is in a staggered position, and the robotic arm drives the clamping device to stop at a preset position near the top of the mobile robot.

[0057] Upon receiving an instruction to transport box 1 from the picking area to the destination, the controller drives the moving part 51 of the mobile robot to move, moving the entire transportation system to the preset picking point in the picking area. Subsequently, the controller triggers the robotic arm to move, and the robotic arm moves the gripping device to the box placement platform in the picking area, so that the two gripping mechanisms 2 of the gripping device are respectively located on both sides of the two boxes 1 arranged along the second direction, and each gripping unit 21 is aligned with the connection port 100 of the corresponding box 1.

[0058] Next, the laser sensor of the clamping device is activated, and the laser beam is emitted along the first direction and irradiates the side wall of the top plate 10 of the box 1. After the reflected signal is fed back to the controller, it is confirmed that both boxes 1 are in place. The controller then drives the dual-axis cylinder to move, and its two push rods extend synchronously towards each other, driving the clamping arms 20 on both sides to approach the box 1, until the protruding structure 210 of the clamping unit 21 inserts into the recessed structure of the connection port 100, and the limiting part 2100 and the abutment structure 211 clamp the top plate 10, completing a stable engagement. Subsequently, the dual-axis motor drives the two rods 41 on both sides to rotate towards each other around the vertical axis, driving the shielding plate 40 to cover the opening 11 of the two boxes 1 and abut against the side wall, realizing protection and lateral limiting.

[0059] After clamping is completed, the robotic arm lifts and moves the clamping device above the target placement station 50 on the main control panel 52 of the mobile robot. The posture of the clamping device is adjusted so that the box 1 is aligned with the limiting part range of the placement station 50. The controller first drives the dual-axis motor to reverse, the blocking plate 40 is reset to the offset position, and then drives the dual-axis cylinder push rod to retract in opposite directions. The clamping unit 21 is separated from the connection port 100, and the two boxes 1 are placed stably on the placement station 50. The limiting part limits the placement position of the boxes 1 to prevent displacement during transportation.

[0060] Repeat the above material picking and placing process until each placement station 50 is filled with box 1; the controller drives the moving part 51 to move, and the mobile robot moves to the destination along the preset path. During the movement, the controller can monitor the status of box 1 in real time through the sensors integrated on the mobile robot to ensure the stability of box 1.

[0061] Upon reaching the destination, the robotic arm moves the gripping device above the placement station 50 again, repeats the gripping action to grab box 1, and then transfers box 1 to the designated placement area at the destination and releases it. After all boxes 1 at the placement stations 50 have been unloaded, the robotic arm moves the gripping device back to the preset position near the top of the mobile robot, and the mobile robot returns to the standby area, thus completing a complete transportation task.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0064] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A clamping device for clamping a box body (1), the box body (1) having a top plate (10), wherein connecting ports (100) are provided on opposite sides of the top plate (10), characterized in that, The device includes: Two clamping mechanisms (2) are arranged opposite to each other along the first direction; Each of the clamping mechanisms (2) includes a clamping arm (20) and at least two clamping units (21) thereon spaced apart along the length of the clamping arm (20); The at least two clamping units (21) are configured to correspond one-to-one with at least two boxes (1) arranged along the second direction, and each clamping unit (21) forms an engagement relationship with the connection port (100) on the same side of the corresponding box (1), the second direction being perpendicular to the first direction; the clamping arm (20) is used to drive all the clamping units (21) to move synchronously to perform collective engagement or collective disengagement with the corresponding connection port (100).

2. The clamping device according to claim 1, characterized in that, The connection port (100) has a recessed structure; The clamping unit (21) includes a protruding structure (210) and an abutment structure (211) below it connected to the clamping arm (20). The protruding structure (210) is configured to engage with the recessed structure, and the abutment structure (211) is configured to abut against the bottom surface of the top plate (10) when engaged.

3. The clamping device according to claim 2, characterized in that, The protruding structure (210) has a limiting part (2100) which is configured to abut against the top surface of the top plate (10) when engaged.

4. The clamping device according to any one of claims 1 to 3, characterized in that, Each clamping mechanism (2) further includes at least two detection elements (22) disposed on the clamping arm (20). Each clamping unit (21) is provided with a corresponding detection element (22). The detection element (22) is disposed close to the corresponding clamping unit (21). The detection element (22) is used to detect whether the box body (1) is located between the two clamping mechanisms (2).

5. The clamping device according to any one of claims 1 to 3, characterized in that, The device further includes a drive mechanism (3), which includes a first drive member (30) having two first drive ends disposed opposite to each other, each of which is connected to a clamping arm (20). The first drive member (30) is configured to drive the two first drive ends to move towards or away from each other, so that the two clamping arms (20) drive the clamping units (21) on them to move towards or away from each other synchronously.

6. The clamping device according to claim 5, characterized in that, The device further includes two blocking mechanisms (4), each of which is located below each of the clamping mechanisms (2), and the blocking mechanism (4) is configured to block and abut against the opening (11) on the side of the box (1) having a connection port (100) when at least two of the boxes (1) are clamped between the clamping mechanisms (2).

7. The clamping device according to claim 6, characterized in that, The shielding mechanism (4) includes a shielding plate (40) and a rod (41) connected thereto, wherein the shielding plate (40) can rotate synchronously with the rod (41).

8. The clamping device according to claim 7, characterized in that, The drive mechanism (3) further includes a second drive member (31), which has two second drive ends arranged opposite to each other, and each second drive end is connected to a rod (41). The second drive member (31) is configured to drive the two second drive ends to rotate in opposite directions, so that the two rods (41) drive the shielding plate (40) to rotate synchronously towards or away from each other.

9. The clamping device according to claim 7, characterized in that, The shielding plate (40) is provided with multiple observation ports (400), which are used to observe the material state inside the box (1) and to maintain the gas flow inside the box (1).

10. A transportation system, characterized in that, The system includes: A transport device (5) connected to the clamping device as described in any one of claims 1 to 9; The transport device (5) has two opposite sides, each side having at least two placement stations (50) in the height direction of the transport device (5), each placement station (50) being configured to place at least two of the boxes (1).

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