CN218202049U - Clamping device and logistics storage robot - Google Patents

Abstract

The embodiment of the application relates to logistics storage technical field, has designed a clamping device and logistics storage robot, through setting up bracing piece, first clamping part, second clamping part and auto-lock structure, has realized when first clamping part and second clamping part will treat the clamping part centre gripping, through bracing piece and auto-lock structure's fixed, the axial motion of restriction bracing piece realizes supporting effect. The clamping device that this application provided only needs unilateral bracing piece and treats that the successful centre gripping of clamping part is fixed can exert the effect that provides the support, compares with current bilateral butt bearing structure, and the clamping device that this application provided has simple structure, suitability height and save material's advantage.

Description

Clamping device and logistics storage robot

Technical Field

The embodiment of the utility model provides a relate to logistics storage technical field, concretely relates to clamping device and logistics storage robot.

Background

At present, the logistics storage robot in the logistics storage field is when goods are got and are put in high storehouse position, highly can reach 8 to 10 meters, get under higher height and put when the goods operation, because logistics storage robot own structural rigidity is limited, it rocks to lead to the fact inevitably when getting and putting goods, logistics storage robot's stability and security receive the influence, consequently, often set up bearing structure on logistics storage robot, so that get when putting goods and support logistics storage robot depending on goods shelves isotructure, avoid rocking. The application scene of the existing logistics storage robot supporting structure is established on the premise that goods shelves are arranged on two sides of the logistics storage robot, the applicability is not high, the supporting structure is complex, and the space of parts on the logistics storage robot is occupied greatly.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, the embodiment of the present invention provides a clamping device and a logistics storage robot for solving the above problems existing in the prior art.

According to an aspect of the embodiments of the present invention, there is provided a clamping device, which is characterized by comprising: a support rod and a self-locking structure; the supporting rod is connected with the self-locking structure, a first clamping part and a second clamping part are arranged on the supporting rod, an accommodating space is formed between the first clamping part and the second clamping part along the axial direction, the accommodating space is used for accommodating a part to be clamped, a first included angle is formed between the first clamping part and the second clamping part along the circumferential direction of the supporting rod, and the degree of the first included angle is greater than 0 degree and less than 180 degrees; when the part to be clamped is located in the accommodating space, the self-locking structure limits the axial movement.

Through setting up the bracing piece, first clamping part, second clamping part and self-locking structure, this application embodiment has realized when first clamping part and second clamping part will treat the clamping part centre gripping, through bracing piece and self-locking structure's fixed, the seesaw of restriction bracing piece, when using, the bracing piece stretches out, the clamping part back is treated to second clamping part butt, the bracing piece is rotatory certain angle makes first clamping part and the equal butt of second clamping part treat the clamping part make treat that the clamping part is restricted between first clamping part and second clamping part, thereby the restriction is treated the clamping part and is removed along the fore-and-aft direction, make the bracing piece treat the clamping part through the centre gripping and have stable effect, realize that the centre gripping is fixed the back, self-locking structure realizes the auto-lock, make the bracing piece through treating the effect that clamping part and self-locking structure performance fore-and-aft direction steadily supported.

In an optional mode, the self-locking structure comprises a guide rail, a self-locking block, a first sliding block, an elastic resetting piece and a first movable blocking piece; the self-locking block is connected with the supporting rod, a first abutting part is arranged on one side, facing the guide rail, of the self-locking block, and the first sliding block is located between the first abutting part and the guide rail; the self-locking block is convexly provided with a first limiting piece towards the guide rail, the first limiting piece is used for limiting the first sliding block to be positioned between the first abutting part and the first limiting piece, and the distance from the first abutting part to the guide rail is gradually increased along the direction towards the first limiting piece; the first movable stopper is connected with the first sliding block and comprises a first stopping part which is positioned on one side of the self-locking block away from the guide rail, and the first stopping part is used for limiting the self-locking block to move upwards; the elastic reset piece is connected with the first sliding block so as to drive the first sliding block to move along the first abutting part and reset to one side far away from the first limiting part, the self-locking block is upwards blocked by the first blocking part, and the first sliding block and the first blocking part limit the movement of the self-locking block together.

Through setting up from locking piece, first slider, guide rail and first activity fender piece, make the auto-lock structure make the auto-lock that can realize a direction under the circumstances that does not receive external force, after the bracing piece centre gripping has fixed treating the clamping part, through the auto-lock of auto-lock structure, can make bracing piece and auto-lock structure cooperation realize the support stable. Keep off through first activity and be connected with first slider, when needs unblock, then make the bracing piece can be driven by the auto-lock piece and remove again, only need follow the first activity of guide rail to the direction of first locating part and keep off the piece, make first activity keep off the piece and drive first slider and remove, make the auto-lock piece no longer by first slider tight support, can remove the auto-lock, the auto-lock structure can drive the bracing piece and remove, has realized convenient stable auto-lock and has supported.

In an optional mode, one side of the self-locking block, which faces the guide rail, is further provided with a second abutting portion, the second abutting portion and the first abutting portion are symmetrically arranged about a vertical plane, and a second slider is arranged between the second abutting portion and the guide rail; the self-locking block is further convexly provided with a second limiting piece towards the guide rail, the second limiting piece is arranged behind the first limiting piece and is used for limiting the second slider to be positioned between the second abutting part and the second limiting piece, and the distance from the second abutting part to the guide rail along the vertical direction is gradually increased along the direction towards the second limiting piece; the self-locking structure further comprises a second movable blocking piece, the second movable blocking piece is connected with the second sliding block, the second movable blocking piece comprises a second blocking part located on one side, away from the guide rail, of the self-locking block, and the second blocking part is used for limiting the self-locking block to move upwards; the elastic reset piece is further connected with the second sliding block, the elastic reset piece drives the second sliding block to move along the second abutting portion to reset to the side far away from the second limiting piece, the self-locking block is upwards blocked by the second blocking portion, and the second sliding block and the second blocking portion limit the movement of the self-locking block together.

The self-locking structure is provided with a second slide block, a second abutting part, a second limiting part, a second movable stopper and a second stopping part, and the elastic resetting part is connected with the first slide block and the second slide block. When the self-locking structure needs to be unlocked and the supporting rod is driven to move along the guide rail to the direction of the first limiting part, only the first movable blocking part needs to be moved to drive the first sliding block to move, so that the first sliding block is not tightly abutted against the self-locking block any more, and meanwhile, because the first sliding block is connected with the second sliding block through the elastic resetting part, the second sliding block cannot be rigidly driven to continue to tightly abut against the self-locking block when the first sliding block moves, so that the self-locking block can be separated from the tight abutment of the second sliding block and the second blocking part while moving towards the direction of the first limiting part, and can not be tightly abutted any more and can freely move towards the direction of the first limiting part along the guide rail; when the supporting rod needs to be driven to move along the guide rail to the direction of the second limiting part, only the second movable blocking part needs to be moved to drive the second sliding block to move, so that the second sliding block is not tightly abutted to the self-locking block any more, meanwhile, because the second sliding block is connected with the first sliding block through the elastic resetting part, the first sliding block cannot be rigidly driven to continue to be tightly abutted to the self-locking block when the second sliding block moves, the self-locking block can move towards the direction of the second limiting part and simultaneously is separated from the tight abutment of the first sliding block and the first blocking part, the self-locking block is not tightly abutted any more, and the self-locking block can freely move towards the direction of the second limiting part along the guide rail. Through above structure and mode of operation, self-locking structure has realized fore-and-aft direction's auto-lock and unblock, stability and suitability when having improved the bracing piece and supporting.

In an optional manner, an opening is formed between the first blocking portion and the second blocking portion at an interval along a front-rear direction, a linkage is disposed in the opening, and the linkage is driven by the first driving structure to abut against the first blocking portion or the second blocking portion to move forward or backward, so that the first slider abuts against the first limiting member or drives the second slider to abut against the second limiting member to drive the self-locking structure to move forward or backward, and the support rod moves forward or backward.

The opening is formed between the first blocking part and the second blocking part along the front-back direction, the linkage part is arranged in the opening, and the first driving structure drives the linkage part to move along the front-back direction, so that the self-locking structure can be unlocked along any front-back direction; when the linkage piece moves backward, the butt drives the second to block the portion and remove, and the second stops the portion and drives the second slider and remove, and the second slider drives the self-locking piece through the second locating part and moves backward and make it no longer by tight support, realizes the unblock and the removal of backward direction. By the mode, unlocking and moving of the self-locking structure can be controlled more simply, and controllability is improved.

In an optional mode, the clamping device further comprises a second driving structure, the second driving structure is connected with the supporting rod to drive the supporting rod to rotate along the circumferential direction by a first angle, and the first angle is smaller than the first included angle.

The supporting rod is rotated by a first angle through the second driving structure, so that the two sides of the clamping part can be clamped by the first clamping part and the second clamping part, the supporting rod can support the front and the rear directions through the clamping part, the structure is simpler, and the clamping is fixed more conveniently.

In an alternative mode, the support rod is provided with a sensor, the sensor is used for detecting the position of the part to be clamped on the support rod, and the sensor controls the second driving structure to rotate according to the position of the part to be clamped.

Through setting up the sensor, make clamping device's centre gripping and support can realize the automation, it is more convenient to control the operation.

In an alternative form, the self-locking structure includes a third driving structure and a locking key, the third driving structure is used for driving the locking key, and the locking key is used for pressing the guide rail when being driven by the third driving structure so as to limit the axial movement.

Through setting up third drive structure and locking key, make auto-lock structure auto-lock on the guide rail, and then restrict the bracing piece and remove along the fore-and-aft direction, make the bracing piece treat behind the clamping part that the clamping can realize the outrigger.

In an alternative mode, the support rod includes a support rod body, and the cross-sectional dimensions of the first clamping portion and the second clamping portion are larger than the cross-sectional dimension of the support rod body.

Through making the cross sectional dimension of first clamping part and second clamping part be greater than the cross sectional dimension of bracing piece body, make the bracing piece treat the clamping part through first clamping part and second clamping part and realize stable centre gripping, enlarged the scope of the object that can select to treat the clamping part, improved the suitability.

In an alternative form, the first included angle is 90 °.

Through making first contained angle be 90, make first clamping part more even with the clamping position of second clamping part when the clamping part is treated in the centre gripping, can keep great equilibrium, make treat that the clamping part is difficult for breaking away from the centre gripping because the atress is uneven when being held, improved clamping device's stability.

According to the utility model discloses another aspect of the embodiment still provides a logistics storage robot, include: the lifting structure is used for driving the lifting part to lift; the lifting part comprises an object taking and placing structure and a clamping structure, the object taking and placing structure is used for moving objects, and the clamping structure comprises the clamping device in any one of the above embodiments.

The embodiment of the utility model provides a pass through clamping device supports logistics storage robot, does not need logistics storage robot both sides to have goods shelves simultaneously, has improved the suitability, and clamping device only need set up a spinal branch vaulting pole and can realize basic fixed stay simultaneously to the fore-and-aft direction to a direction, and simple structure only needs simple rotation during the bracing piece operation can realize treating the centre gripping of clamping part fixed, and easy operation controllability is higher.

The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the present invention is given.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a perspective view of the overall structure provided by the embodiment of the present invention;

fig. 2 shows a side view of the overall structure provided by an embodiment of the present invention;

fig. 3 is an enlarged view of a self-locking state of the self-locking structure provided by the embodiment of the present invention;

fig. 4 is an enlarged view of an unlocking state of the self-locking structure provided in the embodiment of the present invention;

fig. 5 is a schematic diagram illustrating a first clamping operation provided by an embodiment of the present invention;

fig. 6 is a schematic diagram illustrating a second clamping operation provided by the embodiment of the present invention;

fig. 7 is a schematic diagram of another embodiment provided by the embodiment of the present invention;

fig. 8 is a schematic view illustrating a first operation state provided by the embodiment of the present invention;

fig. 9 is a schematic view illustrating a second operation state provided by the embodiment of the present invention;

fig. 10 is a schematic diagram illustrating a third operating state provided by the embodiment of the present invention;

fig. 11 shows an overall structure schematic diagram of the logistics storage robot provided by the embodiment of the present invention.

The reference numerals in the detailed description are as follows:

100. a clamping device;

200. a support bar;

210. a first clamping portion; 220. a second clamping portion; 230. an accommodating space; 240. a support rod body;

300. a self-locking structure;

310. a guide rail; 320. a self-locking block; 330. a first slider; 340. a second slider; 350. a first movable stopper; 360. a second movable stopper; 370. an elastic restoring member; 380. a linkage; 390. a locking key;

311. a hole groove;

321. a first abutting portion; 322. a second abutting portion; 323. a first limit piece; 324. a second limit piece;

351. a first stopper portion; 361. a second stopper portion;

400. a first drive structure; 500. a second drive structure; 600. a third drive structure; 700. a logistics storage robot; 800. a shelf;

710. a lifting structure; 720. a lifting part;

721. a pick-and-place structure; 722. a clamping structure;

810. a part to be clamped; 820. goods (I)

a. The first included angle.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present application more clearly, and therefore are only used as examples, and the protection scope of the present application is not limited thereby.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof in the description and claims of this application and the description of the figures above, are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing the association object, and means that three relationships may exist, for example, a and/or B, and may mean: there are three cases of A, A and B, and B. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two sets), "plural pieces" refers to two or more (including two pieces).

In the description of the embodiments of the present application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the directions or positional relationships indicated in the drawings, and are only for convenience of description of the embodiments of the present application and for simplicity of description, but do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, may be fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

Along with the increasing development of economy and science and technology, people have higher and higher requirements on logistics storage, the traditional storage definition is given from the perspective of material storage, modern storage is storage under the background of integrating economic globalization and a supply chain, and is an important component of modern logistics, the traditional storage definition plays a crucial role in a logistics system, efficient and reasonable storage can help manufacturers to accelerate the flow speed of materials, reduce cost and ensure smooth production, the storage efficiency is greatly improved through the support of various high and new technologies, and intelligent storage comes up at the end of delivery, wherein an important part is a logistics storage robot bearing storage goods taking, the logistics storage robot is required to be raised in the goods taking and placing process to better take and place goods at a high place, and when the logistics storage robot is raised to a higher place, the logistics storage robot is often seriously shaken, the stability is not high, potential safety hazards exist, and the storage efficiency is greatly influenced. Therefore, how to improve the stability and safety of the logistics storage robot is particularly important for the efficiency of storage.

The inventor of the application notices, current logistics storage robot is when the high-order goods of getting, adopt and stretch out a pair of bracing piece butt both sides goods shelves in order to realize supporting to logistics storage robot toward both sides goods shelves orientation, however this kind of mode has certain requirement to logistics storage robot and goods shelves, when only unilateral existence goods shelves of logistics storage robot, just can't realize the effect that butt both sides goods shelves butt was supported, just also can't keep the high-order stability when getting goods of logistics storage robot, it is limited to use the scene, and simultaneously, the support means of both sides butt need set up the bearing structure of symmetry, need set up the bearing structure of two symmetries respectively, therefore, current bearing structure is complicated, the suitability is not high.

Therefore, the development of a clamping device with wide applicability and simple structure is urgently needed.

In order to solve the problem, the inventor is through the research, a clamping device has been designed, through set up first clamping part and second clamping part on the bracing piece, first clamping part is specific angle and specific interval setting with the second clamping part, centre gripping specific part that messenger's bracing piece can be convenient, in order to reach the stable effect of support logistics storage robot, it is more convenient to make through this kind of mode to support logistics storage robot, and the steam generator has the advantages of simple structure, save material, extensive applicability, etc.

The clamping device disclosed in the embodiment of the present application may be used for, but not limited to, a logistics storage robot, and may also be applied to any other scenario where the clamping device needs to be arranged.

For convenience of description, an X-axis direction in fig. 1 to 11 is defined as a front-rear direction, an arrow of the X-axis is directed to a forward direction, a Y-axis direction is defined as a left-right direction, an arrow of the Y-axis is directed to a right direction, a Z-axis direction is defined as an up-down direction, and an arrow of the Z-axis is directed to an upward direction.

According to some embodiments of the present application, referring to fig. 1, 2, 3 and 5, and with further reference to fig. 6, there is provided a clamping device 100 comprising: a support rod 200 and a self-locking structure 300; the supporting rod 200 is connected with the self-locking structure 300, a first clamping portion 210 and a second clamping portion 220 are arranged on the supporting rod 200, an accommodating space 230 is formed between the first clamping portion 210 and the second clamping portion 220 along the axial direction of the supporting rod 200, the accommodating space 230 is used for accommodating a portion to be clamped 810, a first included angle a is formed between the first clamping portion 210 and the second clamping portion 220 along the circumferential direction of the supporting rod 200, and the degree of the first included angle a is greater than 0 degree and smaller than 180 degrees; when the portion to be clamped 810 is located in the accommodating space 230, the self-locking structure 300 limits the support rod 200 to move in the axial direction.

The supporting rod 200 is a rod-shaped structure, and may also be a telescopic structure or a hinge structure, and different basic structures may be adopted as the main body of the supporting rod 200 according to actual conditions, and only a certain stable supporting function needs to be borne, which is not particularly limited in the embodiment of the present application. The supporting rod 200 may be made of a metal material, and may be made of other materials, preferably a hard material, as long as it can bear a sufficient supporting force.

The to-be-clamped portion 810 may be any object or any part on any object, and is configured to serve as an anchor point to support the support rod 200, and when the to-be-clamped portion 810 needs to take the role of the anchor point, the to-be-clamped portion 810 should have a stable structure and a characteristic of being not easy to move.

The first clamping portion 210 and the second clamping portion 220 are disposed on the supporting rod 200, the first clamping portion 210 and the second clamping portion 220 are disposed at intervals, the interval is an accommodating space 230, the accommodating space 230 is used for accommodating a to-be-clamped portion 810, and the to-be-clamped portion 810 should be selected according to the size of the accommodating space 230, so as to achieve stable clamping. First clamping part 210 and second clamping part 220 form first contained angle a along the radial of bracing piece 200, in order to make first clamping part 210 and second clamping part 220 can form the clamping effect to the portion 810 of treating in the accommodation space 230, first contained angle a should be greater than 0 degree and be less than 180 degrees, otherwise be difficult to realize effectual centre gripping, in this application embodiment, first contained angle a is 90 degrees, also can be according to actual need, the shape of treating the clamping part 810 also selects suitable angle in optional range in combination, the purpose is in order to realize better clamping effect, and then better cooperation bracing piece 200 supports stably, this application embodiment does not do the special limitation to this. The portion 810 to be clamped may be made of a metal material, or may be made of different materials according to the weight or the clamping angle of the portion 810 to be clamped, which is required to be clamped, and is preferably made of a hard material as long as the hard material can bear enough force transmitted to the portion 810 to be clamped, which is not particularly limited in this embodiment of the present application. When the first clamping portion 210 and the second clamping portion 220 reach the position of the to-be-clamped portion 810, the supporting rod 200 can be clamped and fixed by the first clamping portion 210 and the second clamping portion 220, for example, the supporting rod 200 rotates, so that the to-be-clamped portion 810 is clamped in the accommodating space 230 by the first clamping portion 210 and the second clamping portion 220.

The self-locking structure 300 is used for driving and limiting the support rod 200 to move back and forth, and since the support rod 200 is connected with the self-locking structure 300, when the support rod 200 needs to move forward or backward to more accurately position and clamp the to-be-clamped part 810, the self-locking structure 300 can be driven to move forward or backward to realize the back and forth movement of the support rod 200. The mode of driving the movement of the self-locking structure 300 can be driven by manpower, and can also adopt a conventional mechanical transmission structure, such as a motor driving transmission belt, a gear, etc., so as to drive the self-locking structure 300 to move back and forth, and further drive the back and forth movement of the supporting rod 200, which is not particularly limited in the embodiment of the present application.

The first driving structure 400 is used to drive the linkage member 380 to move along the front-back direction, the first driving structure 400 may be a transmission belt formed by combining a gear and a belt, or may be any transmission combination, and only the requirement of driving the linkage member 380 to move is met, which is not particularly limited in the embodiment of the present application.

After the supporting rod 200 is driven by the self-locking structure 300 to reach the designated position, that is, to reach the position where the clamping portion 810 is to be clamped by the cooperation of the first clamping portion 210 and the second clamping portion 220 on the supporting rod 200, the motor driving structure driving the self-locking structure 300 to move back and forth should stop driving, the clamping portion 810 is to be clamped by the supporting rod 200, or a sensor can be installed on the second clamping portion 220 of the supporting rod 200 to sense the relative position of the clamping portion 810 and the second clamping portion 220, and when the second clamping portion 220 abuts against the clamping portion 810, the motor driving structure driving the self-locking structure 300 to move back and forth stops moving. In order to achieve better clamping, the supporting rod 200 may rotate to clamp the to-be-clamped portion 810 between the first clamping portion 210 and the second clamping portion 220, that is, at least a part of the area of one side of the first clamping portion 210 opposite to the side of the second clamping portion 220 is located in the to-be-clamped portion 810. It can be understood that the accommodating space 230 formed by the first clamping portion 210 and the second clamping portion 220 should be adapted to the portion to be clamped 810, so that the portion to be clamped 810 can be clamped by the first clamping portion 210 and the second clamping portion 220 when the portion to be clamped 810 is located in the accommodating space 230. After the supporting rod 200 is successfully clamped with the to-be-clamped portion 810, the self-locking structure 300 is used for limiting the front and back movement of the supporting rod 200, so that the supporting rod 200 and the to-be-clamped portion 810 can play a role in supporting stably. The self-locking mode of the self-locking structure 300 may be friction self-locking or motor-driven self-locking, and only the supporting rod 200 needs to be restricted from moving back and forth after the supporting rod 200 successfully clamps the to-be-clamped portion 810, which is not particularly limited in the embodiment of the present application.

Through the arrangement of the supporting rod 200, the first clamping portion 210, the second clamping portion 220 and the self-locking structure 300, when the clamping portion 810 is clamped by the first clamping portion 210 and the second clamping portion 220, the front and back movement of the supporting rod 200 is limited through the fixing of the supporting rod 200 and the self-locking structure 300, when the supporting rod 200 is used, the supporting rod 200 extends out, the second clamping portion 220 abuts against the rear portion of the clamping portion 810, the supporting rod 200 rotates by a certain angle to enable the first clamping portion 210 and the second clamping portion 220 to abut against the rear portion 810 so that the clamping portion 810 is limited between the first clamping portion 210 and the second clamping portion 220, the clamping portion 810 is limited to move along the front and back direction, the supporting rod 200 has a stable effect on the clamping portion 810 through clamping, after clamping and fixing are achieved, the self-locking structure 300 achieves self-locking, and the supporting rod 200 achieves the effect of stable supporting in the front and back direction through the clamping portion 810 and the self-locking structure 300.

According to some embodiments of the present application, referring to fig. 1, 2, 3, and 4, the self-locking structure 300 includes a guide rail 310, a self-locking block 320, a first slider 330, a resilient return member 370, and a first movable stop 350; the self-locking block 320 is connected with the support rod 200, one side of the self-locking block 320 facing the guide rail 310 is provided with a first abutting part 321, and the first sliding block 330 is positioned between the first abutting part 321 and the guide rail 310; a first limiting member 323 is convexly disposed toward the guide rail 310 from the locking block 320, the first limiting member 323 is used for limiting the first sliding block 330 to be located between the first abutting portion 321 and the first limiting member 323, and a distance from the first abutting portion 321 to the guide rail 310 gradually increases along a direction toward the first limiting member 323; the first movable stopping member 350 is connected to the first sliding block 330, the first movable stopping member 350 includes a first stopping portion 351 located at a side of the self-locking block 320 far from the guide rail 310, the first stopping portion 351 is used for limiting the self-locking block 320 from moving upwards; the elastic restoring element 370 is connected to the first sliding block 330 to drive the first sliding block 330 to move along the first abutting portion 321 and restore to a side away from the first limiting member 323, so that the self-locking block 320 is upwards blocked by the first blocking portion 351, and the first sliding block 330 and the first blocking portion 351 limit the movement of the self-locking block 320 together.

The guide rail 310 is a groove or a ridge made of metal or other materials, and can be used for bearing, fixing, guiding and reducing friction of a moving device, component or equipment, and is used in a situation where the device, component or equipment reciprocates linearly. In this embodiment, the guide rail 310 is used to guide the first slider 330 to move on the guide rail 310.

The first sliding block 330 is used for sliding or rolling on the guide rail 310 to move left and right along the guide rail 310, the first sliding block 330 should be made of a material capable of generating a certain friction force with the guide rail 310 to improve the self-locking effect, and meanwhile, the first sliding block 330 can also have an uneven outer surface to further improve the self-locking effect, and only the first sliding block 330 needs to be ensured to smoothly slide or roll along the guide rail 310, which is not particularly limited in the embodiment of the present application.

The self-locking block 320 is coupled to the support pole 200 such that the self-locking mechanism 300 can limit the forward or backward movement of the support pole 200 by limiting the forward or backward movement of the self-locking block 320. The self-locking piece 320 has a first abutting portion 321, the first abutting portion 321 has an inclined surface as shown in fig. 3 or fig. 4, and may also have a smooth curved surface or an arc surface, the purpose is to cooperate with the first slider 330 to realize self-locking, and only the first slider 330 needs to be abutted, so that the first slider 330 can tightly abut the self-locking piece 320 along the first abutting portion 321 in the up-and-down direction, and the self-locking can be realized in cooperation. The first limiting member 323 is disposed in the self-locking block 320 and protrudes downward toward the guide rail 310, the first limiting member 323 and the first abutting portion 321 limit the first slider 330 between the first limiting member 323 and the first abutting portion 321, the shape of the first limiting member 323 can be arbitrarily set according to actual conditions, and only the effect of limiting the position of the first slider 330 needs to be achieved, which is not particularly limited in this embodiment of the present invention.

Referring to fig. 1, the first movable blocking member 350 is connected to the first slider 330, and the connection manner may be fixed connection or bearing connection, and it is only required to ensure that the first movable blocking member 350 can drive the first slider 330 to move on the guide rail 310. When the first movable stopper 350 drives the first slider 330 to move along the guide rail 310 toward the first position-limiting part 323, the first slider 330 is located at a position where the distance between the first abutting part 321 and the guide rail 310 is relatively large, and the first slider 330 cannot tightly abut against the self-locking block 320 along the up-down direction through the first abutting part 321, so that self-locking cannot occur.

The elastic restoring member 370 is connected to the first sliding block 330, which may be a metal spring shown in fig. 3 or fig. 4 in the embodiment of the present application, or may be elastic rubber, or an elastic metal strip, and the like, and is configured to drive the first sliding block 330 to move along the first abutting portion 321 to restore, so that the first sliding block 330 moves in a direction away from the first limiting member 323, and tightly abuts against the self-locking block 320 in an up-down direction, the elastic restoring member 370 only needs to have an elastic restoring effect, so that the first sliding block 330 can be restored to a side of the first abutting portion 321 away from the first limiting member 323, which is not specifically limited in this embodiment of the present application. The first slider 330 abuts against the self-locking block 320 through the first abutting portion 321, the first stopping portion 351 of the first movable stopper 350 limits the self-locking block 320 from moving upwards, the first slider 330 presses the guide rail 310 and the self-locking block 320, the first stopping portion 351 presses the self-locking block 320, the self-locking block 320 is pressed between the first slider 330 and the first stopping portion 351 due to the connection between the first stopping portion 351 and the first slider 330, the force of the self-locking block 320 moving in the forward direction is divided into the pressing force of the first slider 330 and the first stopping portion 351 on the self-locking block 320, the movement of the self-locking block 320 is limited, and the self-locking block 320 forms self-locking in the moving direction of the first limiting member 323. The elastic resetting element 370 may be disposed in a manner of connecting the first slider 330 to different positions according to actual situations, so as to drive the first slider 330 to move and reset along the first abutting portion 321, for example, connecting the first slider 330 and one end of the self-locking block 320 far from the first limiting element 323 only needs to ensure that the first slider 330 can be tightly abutted against the self-locking block 320 through the first abutting portion 321 under the driving of the elastic resetting element 370, and this embodiment of the present application is not particularly limited thereto.

Through the arrangement of the self-locking block 320, the first sliding block 330, the guide rail 310 and the first movable stopper 350, the self-locking structure 300 can realize self-locking in one direction without external force, and after the supporting rod 200 clamps and fixes the to-be-clamped part 810, the supporting rod 200 and the self-locking structure 300 can be matched to realize stable supporting through self-locking of the self-locking structure 300. The first movable stopper 350 is connected to the first slider 330, when the lock needs to be unlocked, the supporting rod 200 can be driven by the self-locking block 320 to move again, and only the first movable stopper 350 needs to be moved along the guide rail 310 toward the first limiting part 323, so that the first movable stopper 350 drives the first slider 330 to move, the self-locking block 320 is no longer tightly supported by the first slider 330, the self-locking can be released, the self-locking structure 300 can drive the supporting rod 200 to move, and the convenient and stable self-locking support is realized.

According to some embodiments of the present application, referring to fig. 2, 3 and 4, a side of the self-locking block 320 facing the guide rail 310 further has a second abutting portion 322, the second abutting portion 322 and the first abutting portion 321 are symmetrically disposed about a vertical plane, and a second slider 340 is disposed between the second abutting portion 322 and the guide rail 310; a second limiting member 324 is further disposed in the self-locking block 320 and protrudes toward the guide rail 310, the second limiting member 324 is disposed behind the first limiting member 323 and is used for limiting the second slider 340 to be located between the second abutting portion 322 and the second limiting member 324, and the distance from the second abutting portion 322 to the guide rail 310 along the up-down direction gradually increases along the direction toward the second limiting member 324; the self-locking structure 300 further includes a second movable stopper 360, the second movable stopper 360 is connected to the second slider 340, the second movable stopper 360 includes a second stopping portion 361 located at a side of the self-locking block 320 far away from the guide rail 310, and the second stopping portion 361 is used for limiting the self-locking block 320 to move upwards; the elastic restoring member 370 is further connected to the second sliding block 340, the elastic restoring member 370 drives the second sliding block 340 to move along the second abutting portion 322 and restore to a side far away from the second limiting member 324, so that the self-locking block 320 is stopped by the second stopping portion 361, and the second sliding block 340 and the second stopping portion 361 limit the movement of the self-locking block 320 together.

The second abutting portion 322 and the first abutting portion 321 are symmetrically disposed about a vertical plane, and the distance from the second abutting portion 322 to the guide rail 310 along the vertical direction gradually increases along the direction toward the second stopper 324, which means that the inclination or curved surface direction of the second abutting portion 322 and the first abutting portion 321 is opposite. The second abutting portion 322 is an inclined surface as shown in fig. 3 or fig. 4, and may also be a smooth curved surface or an arc surface, so as to be used for matching the second slider 340 to realize self-locking, and only the second slider 340 needs to be squeezed, so that the second slider 340 can be abutted against the self-locking block 320 through the second abutting portion 322 to realize self-locking in a matching manner, which is not particularly limited in this embodiment of the application. The second abutting portion 322 and the second slider 340 should have a certain frictional force therebetween so that the self-locking piece 320 is pressed against the second slider 340 and the second blocking portion 361 when the second slider 340 moves to a position where the second abutting portion 322 is thick. The self-locking block 320 is provided with a second limiting member 324 protruding downward toward the guide rail 310, the second limiting member 324 and the second abutting portion 322 limit the second slider 340 between the second limiting member 324 and the second abutting portion 322, the shape of the second limiting member 324 can be set arbitrarily according to actual conditions, and only the effect of limiting the position of the second slider 340 needs to be achieved, which is not particularly limited in the embodiment of the present application.

The second movable stopper 360 is connected to the second slider 340, and the connection manner may be a fixed connection or a bearing connection, and it is only required to ensure that the second movable stopper 360 can drive the second slider 340 to move on the guide rail 310. When the second movable stopper 360 drives the second slider 340 to move along the guide rail 310 toward the second position-limiting member 324, the second slider 340 will not abut against the self-locking block 320 through the second abutting portion 322, and self-locking will not occur.

The elastic reset piece 370 is connected to the second slider 340, and is used for driving the second slider 340 to move and reset along the second abutting portion 322, so that the second slider 340 moves in a direction away from the second limiting piece 324 and abuts against the self-locking piece 320, the second slider 340 abuts against the self-locking piece 320 through the second abutting portion 322, the second blocking portion 361 of the second movable blocking piece 360 limits the self-locking piece 320 to move upwards, the second slider 340 tightly presses the guide rail 310 and the self-locking piece 320, and the second blocking portion 361 tightly presses the self-locking piece 320, because the second blocking portion 361 and the second slider 340 are connected, the self-locking piece 320 is tightly pressed between the second slider 340 and the second blocking portion 361, so that the force of the self-locking piece 320 moving towards the second limiting piece 324 is divided into the force of the second slider 340 and the second blocking portion 361 pressing the self-locking piece 320, thereby limiting the movement of the self-locking piece 320, and forming self-locking towards the moving direction of the second limiting piece 324. Meanwhile, since the elastic restoring element 370 is also connected to the first slider 330, the first slider 330 and the second slider 340 are respectively abutted against the self-locking block 320 through the first abutting portion 321 and the second abutting portion 322, and the first movable stopper 350, the second movable stopper 360, the first slider 330 and the second slider 340 are abutted against the self-locking block 320 together to form self-locking.

By providing the second slider 340, the second abutting portion 322, the second limiting member 324, the second movable stopper 360 and the second stopping portion 361, and connecting the elastic reset member 370 with the first slider 330 and the second slider 340, when the self-locking structure 300 is stationary, the elastic reset member 370 drives the first slider 330 and the second slider 340, so that the first slider 330 and the second slider 340 respectively abut against the self-locking block 320 through the first abutting portion 321 and the second abutting portion 322, and abut against the self-locking block 320 together with the first stopping portion 351 and the second stopping portion 361, thereby achieving self-locking, at this time, if the self-locking block 320 moves along the guide rail 310 toward the first limiting member 323, the self-locking is achieved by the limitation of the first slider 330 and the first stopping portion, if the self-locking block 320 moves along the guide rail 310 toward the second limiting member 324, the self-locking is achieved by the limitation of the second slider 340 and the second stopping portion 361, that is, when the self-locking structure 300 is stationary, no matter the support rod 200 is subjected to any force along the front and rear sides of the guide rail 310, the self-locking structure 300 can achieve self-locking, thereby preventing the support rod 351 from moving, and ensuring that the support the self-locking block 200 can stably bear the function. When the self-locking structure 300 needs to be unlocked and the supporting rod 200 is driven to move along the guide rail 310 towards the first limiting part 323, only the first movable stopper 350 needs to be moved to drive the first slider 330 to move, so that the first slider 330 is not tightly abutted against the self-locking block 320 any more, and meanwhile, the first slider 330 is connected with the second slider 340 through the elastic resetting part 370, that is, the second slider 340 is not rigidly driven to be continuously tightly abutted against the self-locking block 320 when the first slider 330 moves, so that the self-locking block 320 can be separated from the tight abutment of the second slider 340 and the second blocking part 361 while moving towards the first limiting part 323, and the self-locking block 320 is not tightly abutted any more and can freely move towards the first limiting part 323 along the guide rail 310; when the supporting rod 200 needs to be driven to move along the guide rail 310 towards the second limiting member 324, only the second movable blocking member 360 needs to be moved to drive the second sliding block 340 to move, so that the second sliding block 340 does not tightly abut against the self-locking block 320, meanwhile, since the second sliding block 340 is connected with the first sliding block 330 through the elastic resetting member 370, the first sliding block 330 is not rigidly driven to continuously tightly abut against the self-locking block 320 when the second sliding block 340 moves, so that the self-locking block 320 can move towards the second limiting member 324 while being separated from the tight abutment between the first sliding block 330 and the first blocking portion 351, the self-locking block 320 is not tightly abutted, and can freely move towards the second limiting member 324 along the guide rail 310. Through the above structure and operation mode, the self-locking structure 300 realizes self-locking and unlocking in the front-back direction, and improves the stability and applicability when the support rod 200 supports.

According to some embodiments of the present application, referring to fig. 3 and 4, the first stopping portion 351 and the second stopping portion 361 have openings formed at intervals along the front-back direction, a linkage member 380 is disposed in the openings, and the linkage member 380 is driven by the first driving structure 400 to abut against the first stopping portion 351 or the second stopping portion 361 to move forward or backward, so that the first slider 330 abuts against the first limiting member 323 or drives the second slider 340 to abut against the second limiting member 324 to drive the self-locking structure 300 to move forward or backward, and the supporting rod 200 moves forward or backward.

The linkage 380 is disposed in an opening formed between the first blocking portion 351 and the second blocking portion 361, so as to drive the linkage 380 to move, and respectively drive the first blocking portion 351 or the second blocking portion 361 to move, thereby unlocking the self-locking structure 300 in any one of the front and rear directions. Since the first stopping portion 351 is connected to the first slider 330, the second stopping portion 361 is connected to the second slider 340, the first slider 330 is connected to the second slider 340 through the elastic restoring member 370, and the elastic restoring member 370 needs to maintain a pulling force on the first slider 330 and the second slider 340 to maintain the self-locking of the self-locking structure 300 in a stationary state, in order not to affect the stability of the self-locking structure 300, a certain space should be reserved between the linkage member 380 and the spaced opening for the first stopping portion 351 and the second stopping portion 361, so that the linkage member 380 does not generate a pulling force on the elastic restoring member 370 through the first stopping portion 351 or the second stopping portion 361 when stationary, and the self-locking of the first slider 330 and the second slider 340 is affected by the elastic restoring member 370 pulling the first slider 330 and the second slider 340, and the reserved space is a difference between a distance between the first stopping portion 351 and the second stopping portion 361 and a maximum length of the linkage member 380 in a front-back direction, and a size of the reserved space can be freely set according to the size of the overall member and the actual needs, which is not limited by the embodiment of the present application.

The linkage member 380 may be a square block-shaped member, or may be a protrusion, as long as the first blocking portion 351 or the second blocking portion 361 can be driven to move, and linkage members 380 with different shapes and styles may be provided according to actual needs, which is not particularly limited in this embodiment of the application.

The first driving structure 400 may be any power source capable of driving the link member 380 to move in the front-back direction, for example, the first driving structure 400 may be a gear or a belt driven by a motor, or may be a handle for an operator to manually drag, and the like, which is not limited in this embodiment of the present invention.

The opening is formed between the first stopping portion 351 and the second stopping portion 361 along the front-back direction, the linkage member 380 is arranged in the opening, the first driving structure 400 drives the linkage member 380 to move along the front-back direction, unlocking of the self-locking structure 300 along any front-back direction can be achieved, when the linkage member 380 moves forwards, the linkage member is abutted to drive the first stopping portion 351 to move, the first stopping portion 351 drives the first sliding block 330 to move, the first sliding block 330 drives the self-locking block 320 to move forwards through the first limiting piece 323 and enables the self-locking block 320 not to be abutted any more, and unlocking and moving in the front direction are achieved; when linkage 380 backward movement, the butt drives second stopping portion 361 and moves, and second stopping portion 361 drives second slider 340 and moves, and second slider 340 drives from the locking piece 320 through second locating part 324 and moves backward and makes it no longer by tightly supporting, realizes the unblock and the removal of backward direction. In this way, the unlocking and movement of the self-locking structure 300 can be controlled more simply, and the controllability is improved.

According to some embodiments of the present application, referring to fig. 5, 6 and 8, the clamping device 100 further includes a second driving mechanism 500, the second driving mechanism 500 is connected to the supporting rod 200 to drive the supporting rod 200 to rotate along the circumferential direction by a first angle to drive the supporting rod 200 to rotate along the circumferential direction by the first angle, and the first angle is smaller than the first included angle a.

The second driving structure 500 may be any power source capable of driving the supporting rod 200 to rotate, for example, the second driving structure 500 may be a motor, and may also be a torque wrench for an operator to twist, which is not limited in this embodiment of the present application.

After the to-be-clamped portion 810 is located in the accommodating space 230 between the first clamping portion 210 and the second clamping portion 220, in order to enable the to-be-clamped portion 810 to provide a forward or backward supporting force to the supporting rod 200, so as to achieve a supporting effect, the supporting rod 200 needs to enable the first clamping portion 210 and the second clamping portion 220 to clamp the to-be-clamped portion 810 while offsetting the forward or backward force transmitted by the supporting rod 200, even if the first clamping portion 210 and the second clamping portion 220 clamp two sides of the to-be-clamped portion 810. At this time, at least part of the second clamping portion 220 is located on one side of the to-be-clamped portion 810, the first clamping portion 210 is not located on the other side of the to-be-clamped portion 810, the supporting rod 200 rotates by a first angle, so that at least part of the first clamping portion 210 is located on the other side of the to-be-clamped portion 810, and at least part of the second clamping portion 220 is still located on one side of the to-be-clamped portion 810, so that the to-be-clamped portion 810 can be clamped, and the forward or backward force transmitted by the supporting rod 200 is offset, the first included angle a is an included angle between the first clamping portion 210 and the second clamping portion 220, if the first angle of rotation is greater than the first included angle a, the first clamping portion 210 and the second clamping portion 220 cannot have a portion located on one side of the to-be-clamped portion 810 at the same time, and clamping support cannot be achieved. Of course, if the second driving structure 500 drives the supporting rod 200 to rotate more than 360 degrees, the first angle should be considered as a portion of more than 360 degrees, for example, if the second driving structure 500 drives the supporting rod 200 to rotate 400 degrees, the first angle is considered as 40 degrees, and so on, which is not described herein again.

The first angle can be set to different angles according to actual conditions, and only the first angle needs to be smaller than the first included angle a, which is not specially limited in the embodiment of the application.

Make bracing piece 200 rotate first angle through setting up second drive structure 500, make first clamping part 210 and second clamping part 220 can treat the both sides formation centre gripping of clamping part 810, make bracing piece 200 can realize supporting to the fore-and-aft direction through treating clamping part 810, the structure is simpler, and the centre gripping is fixed more convenient.

According to some embodiments of the present application, referring to fig. 8, 9 and 10, and further referring to fig. 11, the support bar 200 is provided with a sensor for detecting a position of the portion to be clamped 810 on the support bar 200, the sensor controlling the second driving mechanism 500 to rotate according to the position of the portion to be clamped 810.

The sensor can be touch sensor, pressure sensor and infrared sensor etc. and the effect is the position of treating holder 810, can adopt the sensor of different grade type according to actual need, only need can be convenient detect treat holder 810 the position can, this does not do the special restriction to this embodiment of this application. According to the type of the sensor, the sensor may be disposed at different positions, for example, when a touch sensor or a pressure sensor is used, the sensor may be disposed at a position where the support rod 200 is close to the first clamping portion 210 and the second clamping portion 220, or may be directly disposed on the first clamping portion 210 or the second clamping portion 220, and only the position of the to-be-clamped portion 810 needs to be conveniently detected, which is not particularly limited in the embodiment of the present invention.

When the sensor detects that the to-be-clamped portion 810 is located at the correct position, i.e., located in the accommodating space 230, the second driving structure 500 is controlled to rotate the supporting rod 200 by a first angle, so that the to-be-clamped portion 810 can be successfully clamped by the first clamping portion 210 and the second clamping portion 220, and the supporting function of the supporting rod 200 in the front-back direction is achieved.

Through setting up the sensor, make clamping device 100's centre gripping and support can realize the automation, it is more convenient to control the operation.

According to some embodiments of the present application, referring to fig. 7, the self-locking mechanism 300 includes a third driving mechanism 600 and a locking key 390, the third driving mechanism 600 is used for driving the locking key 390, and the locking key 390 is used for pressing the guide rail 310 when being driven by the third driving mechanism 600 to limit the axial movement of the support rod 200.

The locking key 390 may have a block structure or a bar structure, and only needs to be able to abut against the guide rail 310, which is not particularly limited in the embodiment of the present application. In order to increase the friction force of the locking key 390 to obtain a better self-locking effect, one end of the locking key 390, which is in contact with the guide rail 310, may be made of a rubber material, or a rubber coating may be used on a contact surface with the guide rail 310, and may be made of different materials according to actual needs, and only the locking may be achieved by abutting the locking key 390 against the guide rail 310, which is not particularly limited in the embodiment of the present application. Since the locking key 390 needs to bear a certain supporting force transmitted in the front-rear direction, in order to make the locking key 390 not easily break in the using process, the locking key 390 may also be made of a hard metal material, which is not particularly limited in this embodiment of the present application.

The third driving structure 600 may be any power source capable of driving the locking key 390 to move, for example, the third driving structure 600 may be a gear structure driven by a motor, and may also be a belt transmission structure, and the like, which is not particularly limited in this embodiment of the application.

In order to further improve the self-locking effect, in an embodiment of the present application, a hole 311 may be additionally disposed on the guide rail 310, and when the third driving structure 600 drives the locking key 390 to move, the locking key 390 may move into the hole 311, so as to implement the clamping. The hole 311 cooperates with the locking key 390 to limit the movement of the self-locking mechanism 300 on the guide rail 310, so as to achieve self-locking. The hole slot 311 is configured in such a way that the locking key 390 can be inserted into the inner space thereof to achieve clamping, meanwhile, the hole slot 311 may be a through hole penetrating through the guide rail 310 or a slot not penetrating through the guide rail, and only the locking key 390 needs to be clamped, which is not particularly limited in this embodiment of the present invention.

Through the third driving structure 600 and the locking key 390, the self-locking structure 300 can be self-locked on the guide rail 310, so as to limit the movement of the supporting rod 200 along the front-back direction, and the supporting rod 200 can be stably supported after being clamped to the clamping portion 810.

According to some embodiments of the present application, referring to fig. 5 and 6, the support rod 200 includes a support rod body 240, and the first clamping portion 210 and the second clamping portion 220 have a cross-sectional size greater than a cross-sectional size of the support rod body 240.

In order to enable the first clamping portion 210 and the second clamping portion 220 to clamp the to-be-clamped portion 810, the cross-sectional dimensions of the first clamping portion 210 and the second clamping portion 220 need to be larger than the cross-sectional dimension of the support rod body 240.

By making the sectional dimensions of the first clamping portion 210 and the second clamping portion 220 larger than the sectional dimension of the support rod body 240, the support rod 200 can stably clamp the to-be-clamped portion 810 through the first clamping portion 210 and the second clamping portion 220, the range of objects which can be selected as the to-be-clamped portion 810 is expanded, and the applicability is improved.

According to some embodiments of the present application, referring to fig. 5 and 6, the first included angle a is 90 °.

In the embodiment of the present application, the degree of the first included angle a formed between the first clamping portion 210 and the second clamping portion 220 is 90 °.

Through making first contained angle a be 90, make first clamping part 210 more even with the centre gripping position of second clamping part 220 when the clamping treats clamping part 810 in the centre gripping, can keep great equilibrium, make treat that clamping part 810 is difficult for breaking away from the centre gripping because the atress is uneven when being centre gripping, improved clamping device 100's stability.

According to some embodiments of the present application, referring to fig. 11, there is provided a logistics storage robot 700, including: the lifting structure 710 and the lifting part 720, wherein the lifting structure 710 is used for driving the lifting part 720 to lift; the lift 720 comprises a pick-and-place structure 721 and a holding structure 722, the pick-and-place structure 721 being for moving the article, the holding structure 722 comprising the holding device 100 according to any of the embodiments described above.

The logistics storage robot 700 is used for matching with the shelf 800 for picking and placing the goods 820 from the shelf 800, the logistics storage robot 700 in the embodiment of the application has the lifting structure 710, the lifting structure 710 drives the lifting part 720 to lift to a proper height according to different heights of the goods 820 on the shelf 800, so that the picking and placing operation of the goods 820 can be conveniently carried out by the picking and placing structure 721 arranged on the lifting part 720

When the clamping device 100 provided by the present application is applied to the logistics storage robot 700, only the shelf 800 is required to be present on one side of the logistics storage robot 700, that is, the to-be-clamped portion 810 is present, the clamping device 100 can drive the unlocking self-locking structure 300 through the first driving structure 400, so that the supporting rod 200 connected to the self-locking block 320 in the self-locking structure 300 is driven by the first driving structure 400 to move along the front-back direction, when the supporting rod 200 moves to make the to-be-clamped portion 810 located in the accommodating space 230, the second driving structure 500 drives the supporting rod 200 to rotate by a first angle, so that the first clamping portion 210 and the second clamping portion 220 limit the to-be-clamped portion 810 to be located in the accommodating space 230, at this time, the front-back direction of the supporting rod 200 and the to-be-clamped portion 810 are relatively fixed, the first driving structure 400 receives a sensor signal to stop driving, the first slider 330 and the second slider 340 in the self-locking structure 300 move toward the thicker portion 321 and the thicker portion 322 under the pulling of the elastic reset member 370, so that the self-locking block 320 is abutted against the first slider 330, the second slider 340, the first blocking portion 351 and the self-locking structure 300. The back and forth movement of the supporting rod 200 is restricted due to the self-locking of the self-locking block 320 connecting the supporting rod 200, and meanwhile, the first clamping portion 210 and the second clamping portion 220 restrict the to-be-clamped portion 810 from being located in the accommodating space 230 and also restrict the back and forth movement of the supporting rod 200, and the supporting rod 200 can support the logistics storage robot 700 through the to-be-clamped portion 810 on the shelf 800.

Through this kind of mode to support logistics storage robot 700, do not need logistics storage robot 700 both sides to have goods shelves 800 simultaneously, improved the suitability, clamping device 100 only need set up a bracing piece 200 to a direction can realize basic fixed stay to the fore-and-aft direction simultaneously, simple structure, only need simple rotation can realize treating the centre gripping of clamping part 810 fixed during bracing piece 200 operation, easy operation controllability is higher.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present disclosure, and the present disclosure should be construed as being covered by the claims and the specification. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present application is not intended to be limited to the particular embodiments disclosed herein, but rather to cover all embodiments falling within the scope of the appended claims.

Claims (10)

1. A clamping device, comprising: a support rod and a self-locking structure;

the supporting rod is connected with the self-locking structure, a first clamping part and a second clamping part are arranged on the supporting rod, an accommodating space is formed between the first clamping part and the second clamping part along the axial direction of the supporting rod and is used for accommodating a part to be clamped, a first included angle is formed between the first clamping part and the second clamping part along the circumferential direction of the supporting rod, and the degree of the first included angle is greater than 0 degree and less than 180 degrees;

when the part to be clamped is located in the accommodating space, the self-locking structure limits the support rod to move along the axial direction.

2. The clamping device as claimed in claim 1, wherein the self-locking structure comprises a guide rail, a self-locking block, a first sliding block, an elastic resetting piece and a first movable blocking piece;

the self-locking block is connected with the support rod, one side of the self-locking block, which faces the guide rail, is provided with a first abutting part, and the first sliding block is positioned between the first abutting part and the guide rail;

the self-locking block is convexly provided with a first limiting piece towards the guide rail, the first limiting piece is used for limiting the first sliding block to be positioned between the first abutting part and the first limiting piece, and the distance from the first abutting part to the guide rail is gradually increased along the direction towards the first limiting piece;

the first movable stopper is connected with the first sliding block and comprises a first stopping part which is positioned on one side of the self-locking block away from the guide rail, and the first stopping part is used for limiting the self-locking block to move upwards;

the elastic reset piece is connected with the first sliding block so as to drive the first sliding block to move along the first abutting part and reset to one side far away from the first limiting part, the self-locking block is upwards blocked by the first blocking part, and the first sliding block and the first blocking part limit the movement of the self-locking block together.

3. The clamping device as claimed in claim 2, wherein a second abutting part is further arranged on one side of the self-locking block facing the guide rail, the second abutting part and the first abutting part are symmetrically arranged about a vertical plane, and a second sliding block is arranged between the second abutting part and the guide rail;

the self-locking block is further convexly provided with a second limiting piece towards the guide rail, the second limiting piece is arranged behind the first limiting piece and used for limiting the second slider to be positioned between the second abutting part and the second limiting piece, and the distance from the second abutting part to the guide rail along the vertical direction gradually increases along the direction towards the second limiting piece;

the self-locking structure further comprises a second movable blocking piece, the second movable blocking piece is connected with the second sliding block, the second movable blocking piece comprises a second blocking part located on one side, away from the guide rail, of the self-locking block, and the second blocking part is used for limiting the self-locking block to move upwards;

the elastic reset piece is further connected with the second sliding block, the elastic reset piece drives the second sliding block to move along the second abutting portion to reset to the side far away from the second limiting piece, the self-locking block is upwards blocked by the second blocking portion, and the second sliding block and the second blocking portion limit the movement of the self-locking block together.

4. The clamping device as claimed in claim 3, wherein an opening is formed between the first stopping portion and the second stopping portion at an interval along a front-rear direction, a linkage is disposed in the opening, and the linkage is driven by the first driving structure to abut against the first stopping portion or the second stopping portion to move forward or backward, so that the first slider abuts against the first limiting member or drives the second slider to abut against the second limiting member to drive the self-locking structure to move forward or backward, and the supporting rod moves forward or backward.

5. The clamping device as claimed in claim 1, further comprising a second driving structure connected to the supporting rod for driving the supporting rod to rotate along the circumferential direction by a first angle, wherein the first angle is smaller than the first included angle.

6. A holding arrangement as claimed in claim 5, wherein the support bar is provided with a sensor for detecting the position of the part to be held on the support bar, the sensor controlling the rotation of the second drive arrangement in dependence on the position of the part to be held on the support bar.

7. The clamping device of claim 1, wherein the self-locking mechanism comprises a third driving mechanism, a guide rail and a locking key, the third driving mechanism is used for driving the locking key, and the locking key is used for pressing the guide rail when being driven by the third driving mechanism so as to limit the support rod to move along the axial direction.

8. The clamping device of claim 1, wherein the support rod includes a support rod body, and the first clamping portion and the second clamping portion have a cross-sectional dimension greater than a cross-sectional dimension of the support rod body.

9. Clamping device according to claim 1, characterised in that the first angle is 90 °.

10. A logistics storage robot, comprising:

the lifting structure is used for driving the lifting part to lift;

the lift comprises a pick and place structure for moving an article and a gripping structure comprising a gripping device as claimed in any one of claims 1 to 9.

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