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CN-121973258-A - Material box holding and clamping device, humanoid robot and material conveying system

CN121973258ACN 121973258 ACN121973258 ACN 121973258ACN-121973258-A

Abstract

The application relates to the field of robots, and provides a workbin holding device, a humanoid robot and a material conveying system. The clamping device of the material box is used for grabbing the material box, limiting grooves are symmetrically formed in two side walls of the material box, the clamping device of the material box comprises at least one pair of symmetrically arranged connecting modules and jaw modules, the jaw modules are arranged corresponding to the connecting modules and comprise connecting frames, supporting blocks and pressing plates, the connecting frames are used for being connected with the connecting modules, the supporting blocks are connected with the connecting frames and are provided with limiting protrusions, the limiting protrusions are used for being inserted into the limiting grooves, and the pressing plates are used for being fixed with the material box in a limiting mode to limit the limiting protrusions from falling out of the limiting grooves. The application provides a material box holding device, which reduces the precision requirement when carrying a material box and improves the material transfer efficiency.

Inventors

  • WEN ZHIHUA

Assignees

  • 美的集团股份有限公司

Dates

Publication Date
20260505
Application Date
20260211

Claims (11)

  1. 1. The utility model provides a clamping device is embraced to workbin, its characterized in that is used for snatching material case (5), spacing groove (51) have been seted up to the both sides wall symmetry of material case (5), include: at least one pair of symmetrically arranged connection modules (1) for mounting to a preset position; the clamping jaw module (2) is arranged corresponding to the connecting module (1), the clamping jaw module (2) comprises a connecting frame (21), a supporting block (22) and a pressing plate (23), the connecting frame (21) is used for being connected with the connecting module (1), the supporting block (22) is connected with the connecting frame (21) and is provided with a limiting protrusion (221), the limiting protrusion (221) is used for being inserted into the limiting groove (51), and the pressing plate (23) is used for being fixed in a limiting mode with the material box (5) so as to limit the limiting protrusion (221) to be separated from the limiting groove (51).
  2. 2. The bin holding clamp device according to claim 1, characterized in that the jaw module (2) further comprises an elastic member (24); One end of the elastic piece (24) is connected to the supporting block (22), and the other end of the elastic piece is connected to the pressing plate (23) to provide elastic pre-tightening force for enabling the supporting block (22) and the pressing plate (23) to be close to each other; The pressing plate (23) is abutted with the wall surface of the material box (5) under the action of the elastic pre-tightening force, so that the limiting protrusion (221) is limited to be separated from the limiting groove (51).
  3. 3. The bin holding clamp device according to claim 2, characterized in that the jaw module (2) further comprises a guide shaft (25); The pressing plate (23) comprises an abutting part (231) and a sliding part (232) which are connected, the abutting part (231) is used for abutting against the wall surface of the material box (5), and a channel (26) for the sliding part (232) to slide is formed between the supporting block (22) and the connecting frame (21); The support block (22) is provided with a first guide hole (222), the sliding part (232) is provided with a second guide hole (233), and the guide shaft (25) is arranged in the first guide hole (222) and the second guide hole (233) in a penetrating mode; the elastic piece (24) is sleeved outside the guide shaft (25).
  4. 4. The bin holding clamp device according to claim 1, further comprising a connecting member (3), the connecting member (3) being mounted on the connecting frame (21) and being formed with a first connecting end (31); The connecting module (1) is provided with a first rotating hole (111), the first connecting end (31) is arranged in the first rotating hole (111) in a penetrating mode, the connecting module (1) is connected with the claw module (2), and the connecting module (1) can rotate relative to the first connecting end (31).
  5. 5. The feed box holding clamp device according to claim 4, further comprising a limiting piece (4), wherein the first connecting end (31) is provided with a connecting hole (311); The first connecting end (31) is inserted into the first rotating hole (111) from one side of the first rotating hole (111), and the limiting piece (4) is inserted into the connecting hole (311) from the other side of the first rotating hole (111) so as to limit the first connecting end (31) from being separated from the first rotating hole (111).
  6. 6. The bin holding clamp device according to claim 1, further comprising a connecting member (3), the connecting member (3) being mounted on the connecting module (1) and being formed with a second connecting end (32) and a third connecting end (33); Be provided with second rotation hole (212) and third rotation hole (214) on link (21), second link (32) wear to locate in second rotation hole (212), third link (33) wear to locate in third rotation hole (214), make link module (1) with claw module (2) link to each other, just link module (1) can be relative second link (32) with third link (33) rotate.
  7. 7. The bin holding clamp device according to claim 6, characterized in that the connecting frame (21) comprises a first bracket (211) and a second bracket (213), the first bracket (211) is provided with the second rotation hole (212), and the second bracket (213) is provided with a third rotation hole (214); The first support (211) and the second support (213) are both arranged on the supporting block (22), the first support (211) and the second support (213) are opposite and are arranged at intervals, the second rotating hole (212) and the third rotating hole (214) are coaxial, and the connecting component (3) is located between the first support (211) and the second support (213) to realize rotatable connection.
  8. 8. Bin clasping device according to any one of claims 4 to 7, characterized in that the connecting member (3) is a T-shaped member.
  9. 9. A humanoid robot, comprising: A torso module (61); a robot arm (62) provided in a plurality and mounted to the trunk module (61); bin clamp device according to any one of claims 1 to 8, the connection module (1) being connected with the robotic arm (62).
  10. 10. The humanoid robot of claim 9, wherein the bin holding device is mounted on an end joint of the robotic arm (62), or The humanoid robot further comprises a manipulator (63), the manipulator (63) is arranged on a tail end joint of the manipulator (62), and the workbin clamping device is arranged on a joint adjacent to the tail end joint on the manipulator (62).
  11. 11. A material conveying system comprising a humanoid robot as claimed in claim 9 or 10.

Description

Material box holding and clamping device, humanoid robot and material conveying system Technical Field The application relates to the field of robots, in particular to a workbin holding and clamping device, a humanoid robot and a material conveying system. Background The humanoid robot is gradually applied to factory scenes, replaces heavy and repeated work such as material transfer and the like, can reduce the manual workload and realize flexible deployment of a production line. The labor intensity of material transfer tasks in factory storage is high, the labor intensity is remarkable, and a material box (also called a material box) with standardized specifications provides an implementation basis for the mechanical arm to be provided with a tail end clamp for grabbing and transferring. At present, the tail end clamp for the material box in the market mainly comprises a flat plate holding clamp, a buckle lifting clamp and other structures, but the tail end clamp still has certain limitation in practical application, and has high requirements on the relative position positioning precision of the mechanical arm and the material box and the parallel gesture control of the clamp and the material box, and stable grabbing can be realized only by having large holding clamp force. The requirements not only increase the control difficulty of the mechanical arm, but also can influence the transfer efficiency due to positioning or attitude deviation, and are difficult to fully adapt to the high-efficiency and flexible material transfer requirements in a factory scene. Disclosure of Invention The present application is directed to solving at least one of the technical problems existing in the related art. Therefore, the application provides the clamping device for the material box, which reduces the precision requirement when the material box is conveyed and improves the material conveying efficiency. The application further provides a humanoid robot. The application also provides a material conveying system. According to an embodiment of the first aspect of the present application, a holding and clamping device for a material box is used for grabbing a material box, two side walls of the material box are symmetrically provided with limiting grooves, and the holding and clamping device for the material box comprises: A connection module, at least one pair of symmetrically arranged for mounting to a preset location; the clamping jaw module is arranged corresponding to the connecting module and comprises a connecting frame, a supporting block and a pressing plate, wherein the connecting frame is used for being connected with the connecting module, the supporting block is connected with the connecting frame and is provided with a limiting protrusion, the limiting protrusion is used for being inserted into the limiting groove, and the pressing plate is used for being fixed with the material box in a limiting mode to limit the limiting protrusion from being separated from the limiting groove. According to one embodiment of the application, the jaw module further comprises an elastic member; one end of the elastic piece is connected to the supporting block, and the other end of the elastic piece is connected to the pressing plate to provide elastic pre-tightening force for enabling the supporting block and the pressing plate to be close to each other; The pressing plate is abutted with the wall surface of the material box under the action of the elastic pretightening force, so that the limiting protrusion is limited to be separated from the limiting groove. According to one embodiment of the application, the jaw module further comprises a guide shaft; The pressing plate comprises an abutting part and a sliding part which are connected, the abutting part is used for abutting against the wall surface of the material box, and a channel for the sliding part to slide is formed between the supporting block and the connecting frame; the support block is provided with a first guide hole, the sliding part is provided with a second guide hole, and the guide shaft is arranged in the first guide hole and the second guide hole in a penetrating manner; the elastic piece is sleeved on the outer side of the guide shaft. According to one embodiment of the application, the bin holding clamp device further comprises a connecting member, wherein the connecting member is mounted on the connecting frame and is provided with a first connecting end; The connecting module is provided with a first rotating hole, the first connecting end penetrates through the first rotating hole, so that the connecting module is connected with the claw module, and the connecting module can rotate relative to the first connecting end. According to one embodiment of the application, the bin holding device further comprises a limiting piece, wherein the first connecting end is provided with a connecting hole; The first connecting end is inserted into the first rotatin