Clamping device and robot

Abstract

The utility model provides a clamping device and a robot, and relates to the technical field of logistics carrying. The clamping and embracing device is used for clamping and embracing materials and comprises a supporting base and at least two clamping arms, and a supporting groove is formed in the top of the supporting base and used for bearing the materials; the at least two clamping arms are located on the side of the supporting groove and rotationally connected with the supporting base. The clamping arm is provided with a clamping part, and the outline of the clamping part is matched with the outline of the outer wall of a material; when the material is placed in the supporting groove, the clamping parts of the at least two clamping arms abut against different positions of the peripheral side of the material, so that the material is prevented from shaking or shifting relative to the supporting base, the material is prevented from being disengaged from the supporting groove, the material is prevented from falling off from the supporting base, and the stability of material conveying is improved.

Description

Technical Field

[0001] This application relates to the technical field of logistics handling, and particularly to a clamping device and a robot. Background Art

[0002] An Automated Guided Vehicle (AGV) is a mobile robot that can be used to transport goods in the logistics field.

[0003] In related technologies, a mobile robot usually has a mobile base, and a tray or a support component for storing a material box or goods is usually arranged on the mobile base. The material box or goods can be placed on the corresponding tray or support component, and the transfer of the material box or goods can be achieved by moving the mobile base along the ground.

[0004] However, currently, when the robot transports goods, the support stability for the goods is poor, and the transported goods are prone to sliding or falling. Utility Model Content

[0005] This application provides a clamping device and a robot to solve the technical problem that currently, when the robot transports goods, the support stability for the goods is poor, and the transported goods are prone to sliding or falling.

[0006] To achieve the above object, in a first aspect, this application provides a clamping device for clamping materials. The clamping device includes a support base and at least two clamping arms. The top of the support base has a support groove for carrying materials. At least two clamping arms are located on the side of the support groove and are rotatably connected to the support base.

[0007] The clamping arm has a clamping portion, and the contour of the clamping portion matches the outer wall contour of the material. When the material is placed in the support groove, the clamping portions of at least two clamping arms respectively abut against different positions on the periphery of the material.

[0008] The clamping device provided in this embodiment supports the material through the support groove. Meanwhile, the material is held tightly by the clamping arms, thereby preventing the material from shaking or shifting relative to the support base, preventing the material from coming out of the support groove, and preventing the material from falling off the support base, so as to improve the stability of transporting the material.

[0009] As an optional implementation manner, the clamping device has a reset state and a clamping state. When the clamping device is in the reset state, at least part of the structure of the clamping portion of at least two clamping arms protrudes from the groove wall of the support groove. When the clamping arms are in the clamping state, the clamping portions of at least two clamping arms respectively hold the two sides of the bottom of the material.

[0010] With such a setting, the clamping arms can be switched between the two states by picking up and placing the material box.

[0011] As an optional implementation manner, there may be two clamping arms, and the two clamping arms are symmetrically arranged with respect to the central axis of the support groove.

[0012] With such an arrangement, the clamping arms can hold both sides of the material, improving the stability of the material placement.

[0013] As an optional implementation manner, when the clamping device switches between the reset state and the clamping state, the rotation directions of the two clamping arms are opposite.

[0014] With such an arrangement, when the material is placed on the support seat, it is ensured that the two clamping arms have a relatively high pre-tightening force when holding both sides of the material, and when the material is taken away from the support seat, the clamping arms will not interfere with the material.

[0015] As an optional implementation manner, the clamping device may further include an elastic member, and both ends of the elastic member are respectively connected to the two clamping arms. The elastic member is configured to apply a pulling force to the clamping arms so that the clamping arms have a tendency to rotate from the clamping state to the reset state.

[0016] With such an arrangement, the smoothness of the reset of the clamping arms can be improved.

[0017] As an optional implementation manner, the elastic member may be a tension spring. The clamping arm has a connecting portion, and the connecting portion and the clamping portion are respectively located on opposite sides of the rotation center of the clamping arm. The end of the tension spring is connected to the connecting portion; the tension spring is configured to apply a pulling force towards each other to the connecting portions of the two clamping arms.

[0018] With such an arrangement, the synchronization of the reset of the two clamping arms can be ensured.

[0019] As an optional implementation manner, the clamping device may further include a limiting member, and the limiting member is located on the side of the clamping arm and is connected to the support seat; when the clamping device is in the reset state, the clamping arm abuts against the limiting member.

[0020] With such an arrangement, the rotation stroke of the clamping arm can be limited, ensuring the posture of the clamping arm in the no-load state of the clamping device.

[0021] As an optional implementation manner, the clamping device may further include a detection unit, and the detection unit is connected to the support seat.

[0022] When the clamping device is in the reset state, the clamping arm is arranged out of alignment with the detection unit; when the clamping arm is in the clamping state, the clamping arm is opposite to the detection unit; or,

[0023] When the clamping device is in the reset state, the clamping arm is opposite to the detection unit; when the clamping arm is in the clamping state, the clamping arm is arranged out of alignment with the detection unit.

[0024] With such an arrangement, it can be accurately determined whether there is a material currently placed on the support seat.

[0025] As an alternative embodiment, the clamping device may include at least two support portions, and the at least two support portions are connected to opposite side walls of the support groove; the support portions are disposed obliquely.

[0026] With such an arrangement, the support stability of the support seat for the material box can be improved.

[0027] As an alternative embodiment, the surface of the clamping portion facing the material side is arc-shaped, and at least a part of the material is a cylindrical structure.

[0028] With such an arrangement, it can be ensured that the clamping portion can conform to the surface of the material and increase the clamping force.

[0029] In a second aspect, the present application provides a robot, which includes a robot main body and the clamping device in the above technical solution, and the clamping device is disposed on the top of the robot main body.

[0030] As an alternative embodiment, there may be two clamping devices, and the two clamping devices are spaced apart on the top of the robot main body, and the two clamping devices respectively carry both ends of the material.

[0031] The present application provides a clamping device and a robot. The clamping device is used for clamping a material; the clamping device includes a support seat and at least two clamping arms. The top of the support seat has a support groove for carrying the material; the at least two clamping arms are located on the side of the support groove and are rotatably connected to the support seat. The clamping arms have clamping portions, and the contour of the clamping portions matches the outer wall contour of the material; when the material is placed in the support groove, the clamping portions of the at least two clamping arms respectively abut against different positions on the circumference of the material, so as to prevent the material from shaking or shifting relative to the support seat, prevent the material from slipping out of the support groove, and prevent the material from falling off the support seat, thereby improving the stability of transporting the material.

[0032] In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions, the other technical problems that the clamping device and the robot provided by the present application can solve, the other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 Structural schematic diagram of the clamping device provided by an embodiment of the present application;

[0035] Figure 2 Structural schematic diagram of the clamping device provided by an embodiment of the present application in a clamping state;

[0036] Figure 3 Structural schematic diagram of the clamping device provided by an embodiment of the present application in a reset state;

[0037] Figure 4 is Figure 3 Cross-sectional view taken along the A-A direction in

[0038] Figure 5 Structural schematic diagram of the robot provided by an embodiment of the present application;

[0039] Figure 6 Schematic diagram of the robot provided by an embodiment of the present application for handling materials.

[0040] Explanation of reference numerals:

[0041] 10 - Clamping device;

[0042] 100 - Support base; 101 - Support groove; 110 - Support part;

[0043] 200 - Clamping arm; 210 - Clamping part; 220 - Connecting part;

[0044] 300 - Elastic member;

[0045] 400 - Limiting member;

[0046] 500 - Detection unit;

[0047] 600 - Pin shaft;

[0048] 700 - Bushing;

[0049] 20 - Robot main body;

[0050] 30 - Material. Detailed implementation manners

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0052] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art may adjust them as needed to suit specific applications.

[0053] Secondly, it should be noted that in the description of this application, terms such as "up", "down", "left", "right", "front", "back", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0054] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0055] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," 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 disclosure. 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 any one or more embodiments or examples.

[0056] Robots used for transporting goods include AGVs and RGVs, which can move within logistics warehouses, production lines, and other scenarios along pre-set or specific paths to deliver goods. The robots can be equipped with trays or support components for storing material boxes. However, relatively large materials cannot be transported in material boxes or on pallets and require support from the robot's support components. Currently, these robots have poor support stability when transporting goods, making them prone to sliding or falling.

[0057] In response to the above problems, an embodiment of the present application provides a clamping device and a robot, which support the material through a support base, and at the same time, use a clamping arm to clamp the material, thereby preventing the material from shaking or offsetting relative to the support base, preventing the material from escaping from the support groove, and preventing the material from falling from the support base, thereby improving the stability of material transportation.

[0058] Figure 1 The structural schematic diagram of the clamping device provided by the embodiment of the present application Figure 2 The structural schematic diagram of the clamping device provided by the embodiment of the present application in the clamping state Figure 3 The structural schematic diagram of the clamping device provided by the embodiment of the present application in the reset state Figure 4 is Figure 3 the cross-sectional view in the A-A direction in

[0059] Please refer to " , the present application provides a clamping device 10, and this clamping device 10 is used for clamping materials 30. The clamping device 10 includes a support base 100 and at least two clamping arms 200. The top of the support base 100 has a support groove 101, and the support groove 101 is used for carrying the materials 30. At least two clamping arms 200 are located on the side of the support groove 101 and are rotatably connected to the support base 100.

[0060] Among them, when the material box 30 is placed on the support base 100, the clamping arms 200 can rotate under the pressure of the material 30 and hold tightly around the circumference of the material 30 to prevent the material box 30 from shaking on the support base 100. The support base 100 plays a main supporting role for the material 30, and the clamping arms 200 can play an auxiliary supporting role while holding the material 30 tightly.

[0061] In some embodiments, the clamping arm 200 has a clamping portion 210, and the contour of the clamping portion 210 matches the outer wall contour of the material 30. When the material 30 is placed in the support groove 101, the clamping portions 210 of at least two clamping arms 200 respectively abut against different positions on the circumference of the material 30.

[0062] It can be understood that when the material 30 is placed on the support base 100, the material 30 will abut against the clamping arm 200 and press the clamping arm 200 to rotate, so that the clamping arm 200 rotates from the open posture to the clamping posture. In this process, the self-weight of the material 30 is used to make the clamping portion 210 fit on the surface of the material 30 and apply pressure to the surface of the material 30, that is, the self-weight of the material 30 is used to realize the clamping of the clamping portion 210 to the material 30. And when the material 30 is taken away from the support base 100, the clamping arm 200 that loses the self-weight pressure of the material 30 will release the material 30 and will not interfere with the removal of the material 30.

[0063] Exemplarily, the clamping portion 210 can be made of polyurethane material, or other materials such as nylon and rubber. The clamping portion 210 can be connected to the main structure of the clamping arm 200 through fasteners such as bolts.

[0064] It should be noted that in the clamping device 10 provided in the embodiment of the present application, the support groove 101 on the support base 100 is used to place the material 30 and support the material 30. At the same time, the clamping arm 200 is used to clamp the material 30, thereby preventing the material 30 from shaking or offsetting relative to the support base 100, preventing the material 30 from escaping from the support groove 101, and preventing the material 30 from falling from the support base 100. When the clamping device 10 is applied to a robot, the stability of the robot in transporting the material 30 can be improved.

[0065] Depending on whether the material 30 is placed, the clamping arm 200 of the clamping device 10 has different postures and positions, which will be described in detail below.

[0066] Please continue to refer to Figures 1 to 4 In one possible implementation, the clamping device 10 has a reset state and a clamping state. When the clamping device 10 is in the reset state, at least a portion of the clamping portions 210 of at least two clamping arms 200 protrudes from the wall of the support groove 101. When the clamping arms 200 are in the clamping state, the clamping portions 210 of at least two clamping arms 200 are respectively positioned on both sides of the bottom of the material 30.

[0067] It is understood that when the clamping device 10 is in the reset state, no material 30 is placed on the support base 100, and the clamping arm 200 is in a relatively open position. When the clamping device 10 is in the clamping state, the material 30 is placed on the support base 100, and the clamping arm 200 is in a clamping state. Under the pressure of the material 30, the clamping portion 210 is in close contact with the surface of the material 30. The clamping arm 200 can switch between the two states by taking and placing the material 30 box.

[0068] It should be noted that the number of clamping arms 200 can be two, three, four, or more. When the material 30 is placed on the support base 100, the material 30 can simultaneously abut against multiple clamping arms 200, causing the multiple clamping arms 200 to move relative to each other and clamp the circumferential side walls of the material 30. The embodiment of the present application does not limit the specific number of clamping arms 200. The following detailed description takes two clamping arms 200 as an example.

[0069] In some embodiments, there may be two clamping arms 200, which are symmetrically arranged relative to the central axis of the support groove 101. In this way, when the material 30 is placed on the support base 100, the clamping arms 200 can hold both sides of the material 30 tightly, thereby improving the stability of the material 30.

[0070] It can be understood that when the clamping device 10 switches between the reset state and the clamping state, the rotation directions of the two clamping arms 200 are opposite. When the material 30 is placed on the support base 100, it is ensured that the two clamping arms 200 hold the material 30 tightly on both sides with a relatively high pre-tightening force, and when the material 30 is taken away from the support base 100, the clamping arms 200 will not interfere with the material 30.

[0071] Exemplarily, the support groove 101 is located at the top of the support base 100. When the material 30 is placed on the support base 100, the material 30 abuts against the clamping portions 210 of the two clamping arms 200 at the same time. As the material 30 is lowered, the left clamping arm 200 rotates clockwise, and the right clamping arm 200 rotates counterclockwise. The clamping portions 210 of the two clamping arms 200 move closer to the middle and hold the material 30 tightly.

[0072] Exemplarily, the clamping arm 200 can be rotatably connected to the support base 100 through a pin shaft 600, and the pin shaft 600 can be a dowel screw. The pin shaft 600 is fixedly connected to the support base 100. A bushing 700 can be sleeved on the pin shaft 600, and the clamping arm 200 is sleeved on the bushing 700. And the end of the pin shaft 600 can abut against the side of the clamping arm 200 away from the support base 100 to prevent the clamping arm 200 from falling off the pin shaft 600.

[0073] In some embodiments, the clamping device 10 can further include an elastic member 300. The two ends of the elastic member 300 are respectively connected to the two clamping arms 200. The elastic member 300 is configured to apply a pulling force to the clamping arms 200 so that the clamping arms 200 have a tendency to rotate from the clamping state to the reset state, thereby improving the smoothness of the reset of the clamping arms 200.

[0074] It can be understood that when the material 30 is placed on the support base 100, as the material 30 presses the clamping arms 200 to rotate, the positions of the two clamping arms 200 where the elastic member 300 is connected move away from each other, and the elastic member 300 is stretched. That is, during the process of placing the material 30 into the support groove 101, the weight of the material 30 is relied on to overcome the elastic force of the elastic member 300. And when the material 30 is taken away from the support base 100, the elastic member 300 contracts and rebounds, and the two clamping arms 200 can rotate to the reset position by relying on the pulling force of the elastic member 300.

[0075] Exemplarily, the elastic member 300 can be a tension spring. The clamping arm 200 has a connecting portion 220. The connecting portion 220 and the clamping portion 210 are respectively located on opposite sides of the rotation center of the clamping arm 200. The end of the tension spring is connected to the connecting portion 220. The tension spring is configured to apply a pulling force towards each other to the connecting portions 220 of the two clamping arms 200, thereby ensuring the synchronization of the reset of the two clamping arms 200.

[0076] It should be noted that the magnitude of the elastic damping of the elastic member 300 can be set according to the specific weight of the material 30 clamped by the clamping device 10, and the embodiments of the present application do not make specific limitations in this regard.

[0077] In some embodiments, the clamping device 10 may further include a limiting member 400. The limiting member 400 is located on the side of the clamping arm 200 and is connected to the support base 100. When the clamping device 10 is in the reset state, the clamping arm 200 abuts against the limiting member 400.

[0078] It can be understood that the limiting member 400 can limit the rotation stroke of the clamping arm 200 and ensure the attitude of the clamping arm 200 in the no-load state of the clamping device 10. When the material 30 is not placed on the support base 100, the clamping arm 200 can be in the reset state under the elastic force of the elastic member 300 and keep abutting against the limiting member 400. And this can prevent the clamping arm 200 from rotating beyond the stroke range, so that when placing the material 30, it can be avoided that the clamping arm 200 cannot hold the material 30 tightly.

[0079] Exemplarily, there may be two limiting members 400. The two limiting members 400 can be respectively connected to both sides of the support base 100 and correspond to the two clamping arms 200 respectively. The two limiting members 400 are respectively used to limit the attitude positions of the two clamping arms in the reset state.

[0080] Exemplarily, the limiting member 400 can be connected to the support base 100 through fasteners such as bolts. The limiting member 400 can have a cylindrical structure to reduce the wear when the clamping arm 200 abuts against it. The limiting member 400 can be made of polyurethane material, or other materials such as nylon and rubber. The embodiments of the present application do not make specific limitations in this regard.

[0081] Please continue to refer to Figures 1 to 4 , in a possible implementation manner, the clamping device 10 may further include a detection unit 500. The detection unit 500 is connected to the support base 100. The detection unit 500 can be used to detect the current position and attitude of the clamping arm 200, so as to judge whether there is a material 30 placed on the support base 100 currently.

[0082] Exemplarily, when the clamping device 10 is in the reset state, the clamping arm 200 is arranged out of alignment with the detection unit 500; when the clamping arm 200 is in the clamping state, the clamping arm 200 is opposite to the detection unit 500, so as to accurately judge whether there is a material 30 placed on the support base 100 currently.

[0083] Exemplarily, when the clamping device 10 is in the reset state, the clamping arm 200 is opposite to the detection unit 500; when the clamping arm 200 is in the clamping state, the clamping arm 200 is arranged out of alignment with the detection unit 500, so as to accurately judge whether there is a material 30 placed on the support base 100 currently.

[0084] Exemplarily, when the clamping device 10 is in the reset state and the clamping state, different detection units 500 face the clamping arms 200 respectively, so that different detection units 500 can be triggered when the clamping device 10 is in the reset state and the clamping state respectively.

[0085] It should be noted that the detection unit 500 can be a photoelectric sensor. When the clamping arm 200 faces the detection unit 500, the clamping arm 200 blocks the light of the photoelectric sensor, and when the clamping arm 200 is misaligned with the detection unit 500, the light of the photoelectric sensor is not blocked. Therefore, the current attitude position of the clamping arm 200 can be judged through the feedback signal of the photoelectric sensor.

[0086] In some embodiments, the clamping device 10 may include at least two support portions 110. The at least two support portions 110 are connected to opposite side walls of the support groove 101. The support portions 110 are inclined, so as to improve the support stability of the support seat 100 for the material box 30.

[0087] Exemplarily, the support groove 101 may be in a "V" shape. One support portion 110 is connected to each of the two side walls of the support groove 101 through fasteners such as bolts. The material of the support portion 110 may be nylon, rubber, etc., so as to increase the friction force between the logistics and the support seat 100. The specific material of the support portion 110 in the embodiments of the present application is not limited.

[0088] In some embodiments, the surface of the clamping portion 210 facing the material 30 is arc-shaped, and at least part of the material 30 is a cylindrical structure, so as to ensure that the clamping portion 210 can fit the surface of the material 30 and increase the clamping force.

[0089] It can be understood that the clamping portion 210 can clamp the cylindrical material 30, and the arc shape of the clamping portion 210 can ensure that the surface of the clamping portion 210 closely adheres to the outer wall surface of the material 30.

[0090] It should be noted that the portion of the material 30 in contact and cooperation with the support seat 100 may also be other structures such as an elliptical cylinder, a cylindrical ring, etc., as long as the contour shape of the clamping portion 210 matches the surface of the material 30. The embodiments of the present application do not make specific limitations thereto.

[0091] Figures 1 to 4 It is a schematic structural diagram of the robot provided by the embodiment of the present application. Figure 5 It is a schematic diagram of the robot carrying materials provided by the embodiment of the present application.

[0092] Please refer to Figure 6 and Figure 5 Figure 6, an embodiment of the present application provides a robot, which includes a robot main body 20 and the clamping device 10 in the above technical solution, and the clamping device 10 is arranged on the top of the robot main body 20.

[0093] It can be understood that the robot main body 20 can move along the ground. The material 30 is placed on the top of the clamping device 10. The robot main body 20 provided by the embodiment of the present application can be a mobile trolley structure such as an AGV or an RGV, and the present application does not limit its specific moving manner.

[0094] In some embodiments, there can be two clamping devices 10, and the two clamping devices 10 are arranged at intervals on the top of the robot main body 20, and the two clamping devices 10 respectively carry both ends of the material 30.

[0095] Exemplarily, the two clamping devices 10 are symmetrically arranged on the top of the robot, the material 30 is placed between the two clamping devices 10, and both ends of the material 30 respectively have columnar structures and can be supported on the two clamping devices 10.

[0096] It should be noted that the robot provided by the embodiment of the present application can include all the technical solutions and technical effects of the foregoing clamping device 10, which will not be elaborated herein.

[0097] An embodiment of the present application provides a clamping device and a robot. The clamping device is used for clamping a material; the clamping device includes a support base and at least two clamping arms. The top of the support base has a support groove for carrying the material; at least two clamping arms are located on the side of the support groove and are rotatably connected to the support base. The clamping arms have clamping parts, and the contour of the clamping parts matches the outer wall contour of the material; when the material is placed in the support groove, the clamping parts of at least two clamping arms respectively abut against different positions on the circumference of the material, so as to prevent the material from shaking or shifting relative to the support base, prevent the material from slipping out of the support groove, and prevent the material from falling off the support base, thereby improving the stability of transporting the material.

[0098] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A clamping device (10), characterized in that: Used for clamping a material (30); the clamping device (10) comprises a support seat (100) and at least two clamping arms (200); the top of the support seat (100) is provided with a support groove (101), and the support groove (101) is used to carry the material (30); the at least two clamping arms (200) are located on the side of the support groove (101) and are rotatably connected to the support seat (100); The clamping arm (200) has a clamping portion (210), the contour of which matches the outer wall contour of the material (30); when the material (30) is placed in the supporting groove (101), the clamping portions (210) of the at least two clamping arms (200) respectively abut against different positions on the circumference of the material (30).

2. The clamping device (10) according to claim 1, characterized in that The clamping device (10) has a reset state and a clamping state; when the clamping device (10) is in the reset state, at least part of the structure of the clamping portion (210) of the at least two clamping arms (200) protrudes from the groove wall of the support groove (101); when the clamping arm (200) is in the clamping state, the clamping portion (210) of the at least two clamping arms (200) is respectively arranged on both sides of the bottom of the material (30).

3. The clamping device (10) according to claim 2, characterized in that: There are two clamping arms (200), and the two clamping arms (200) are symmetrically arranged relative to the central axis of the supporting groove (101).

4. The clamping device (10) according to claim 3, characterized in that When the clamping device (10) switches between the reset state and the clamping state, the two clamping arms (200) rotate in opposite directions.

5. The clamping device (10) according to claim 3, characterized in that: The clamping device (10) further comprises an elastic member (300), the two ends of which are respectively connected to the two clamping arms (200), and the elastic member (300) is configured to apply a pulling force to the clamping arms (200) so that the clamping arms (200) have a tendency to rotate from the clamping state to the reset state.

6. The clamping device (10) according to claim 5, characterized in that The elastic member (300) is a tension spring, and the clamping arm (200) has a connecting portion (220). The connecting portion (220) and the clamping portion (210) are respectively located on opposite sides of the rotation center of the clamping arm (200), and the end of the tension spring is connected to the connecting portion (220); the tension spring is configured to apply a pulling force toward each other to the connecting portions (220) of the two clamping arms (200).

7. The clamping device (10) according to any one of claims 2 to 6, characterized in that: The clamping device (10) further comprises a limiting member (400), wherein the limiting member (400) is located on the side of the clamping arm (200) and is connected to the support seat (100); when the clamping device (10) is in the reset state, the clamping arm (200) abuts against the limiting member (400).

8. The clamping device (10) according to any one of claims 2 to 6, characterized in that: The clamping device (10) further includes a detection unit (500), and the detection unit (500) is connected to the support seat (100); When the clamping device (10) is in the reset state, the clamping arm (200) and the detection unit (500) are staggered; when the clamping arm (200) is in the clamping state, the clamping arm (200) and the detection unit (500) are opposite; or, When the clamping device (10) is in the reset state, the clamping arm (200) is opposite to the detection unit (500); when the clamping arm (200) is in the clamping state, the clamping arm (200) and the detection unit (500) are staggered.

9. The clamping device (10) according to any one of claims 1 to 6, characterized in that: The clamping device (10) comprises at least two supporting parts (110), and the at least two supporting parts (110) are connected to the groove walls on two opposite sides of the supporting groove (101); the supporting parts (110) are arranged obliquely.

10. The clamping device (10) according to any one of claims 1 to 6, characterized in that: The surface of the clamping portion (210) facing the material (30) is arc-shaped, and the material (30) is at least partially cylindrical.

11. A robot, characterized in that: The robot comprises a robot body (20) and a clamping device (10) according to any one of claims 1 to 10, wherein the clamping device (10) is arranged on the top of the robot body (20).

12. The robot according to claim 11, characterized in that There are two clamping devices (10), and the two clamping devices (10) are spaced apart on the top of the robot body (20). The two clamping devices (10) respectively carry the two ends of the material (30).

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