CN219075707U - Fixed four-point material box clamp and robot - Google Patents

Abstract

The utility model provides a fixed four-point material box clamp and a robot, comprising: a clamp bracket; the first clamp group comprises a plurality of first clamp units, each first clamp unit is positioned on different side frames of the clamp bracket, and the first clamp units are used for positioning the target workbin and clamping the side frames of the target workbin; the second fixture group comprises a plurality of second fixture units, each second fixture unit is located on different side frames of the fixture support, and the second fixture units are used for clamping at least one side frame of the target bin so as to clamp the target bin. According to the utility model, the first clamp group and the second clamp group are arranged on the clamp support, the target workbin is positioned by the two first clamp units in the first clamp group, and the target workbin is clamped by the two second clamp units in the second clamp group in cooperation with the first clamp units, so that the problems that a single sucker or a single gripper cannot realize stable grabbing and deformation of some articles is easily caused in the grabbing process are avoided.

Description

Fixed four-point material box clamp and robot

Technical Field

The utility model relates to an intelligent robot, in particular to a fixed four-point material box clamp and a robot.

Background

The robot is intelligent equipment with a sensor, an objective lens and an electronic optical system, and can be used for rapidly sorting and carrying cargoes.

More and more 3D vision, force sensors are used on robots, which become more and more intelligent. With the technical progress of sensing and recognition systems, artificial intelligence and the like, robots are gradually informationized from unidirectional control to self-storage and self-application data development.

When the sorting robot is in different application scenarios, it is often necessary to assemble different jigs, which commonly include suction cups and grippers. However, when sorting large-volume articles such as some frame-type feed boxes, a single sucker or a gripper cannot realize stable gripping, deformation of some plastic articles is easily caused in the gripping process, and when the articles are not stably gripped, a falling phenomenon often occurs along with movement of a robot, so that a novel clamp is needed to solve the problems.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model aims to provide a fixed four-point material box clamp and a robot.

The utility model provides a fixed four-point material box clamp, which comprises:

a clamp bracket;

the first clamp group comprises a plurality of first clamp units, each first clamp unit is positioned on different side frames of the clamp bracket, and the first clamp units are used for positioning the target workbin and clamping the side frames of the target workbin;

the second clamp group comprises a plurality of second clamp units, each second clamp unit is located on different side frames of the clamp support, and the second clamp units are used for clamping at least one side frame of the target workbin so as to clamp the target workbin.

Preferably, the first clamp group includes a first clamp unit a and a first clamp unit B;

the first clamp unit A and the first clamp unit B are respectively positioned on two opposite ends of the clamp bracket;

the first clamp unit A is used for clamping a first side frame of the target workbin;

the first clamp unit B is used for clamping a second side frame adjacent to the first side frame or a third side frame opposite to the first side frame on the target bin.

Preferably, the first clamp unit comprises a first sliding table cylinder, a first finger cylinder, a first cylinder bracket, a first clamping piece and a second clamping piece;

the first sliding table cylinder is fixed on the clamp bracket through the first cylinder bracket, and a first movable sliding table is arranged on the first sliding table cylinder; the finger cylinder is arranged on the first movable sliding table and can move away from or close to the target material box under the driving of the first sliding table cylinder;

the first finger cylinder comprises a first output rod and a second output rod, the first clamping piece is arranged on the first output rod, the second clamping piece is arranged on the second output rod, and the first finger cylinder is used for driving the first clamping piece and the second clamping piece to move in opposite directions or in opposite directions so as to carry out clamping or releasing operation of the target material box.

Preferably, the second clamp group includes a second clamp unit a and a second clamp unit B;

the second clamp unit A and the second clamp unit B are respectively positioned on two opposite ends of the clamp bracket;

the second clamp unit A is used for clamping two side frames at the first corner end on the target bin;

the second clamp unit B is used for clamping a third side frame of the target bin opposite to the first side frame or two side frames of two corner ends opposite to the first corner end.

Preferably, the second clamp unit a includes a second slide table cylinder, a second finger cylinder, a second cylinder bracket, a third clamping member and a fourth clamping member;

the second sliding table cylinder is fixed on the clamp bracket through the second cylinder bracket, and a second movable sliding table is arranged on the second sliding table cylinder; the second finger cylinder is arranged on the second movable sliding table and can move away from or close to the target feed box under the driving of the second sliding table cylinder;

the second finger cylinder comprises a third output rod and a fourth output rod, the third clamping piece is arranged on the third output rod, and the fourth clamping piece is arranged on the fourth output rod;

the third clamping piece comprises a first clamping rod and a second clamping rod which are integrally arranged; the fourth clamping piece comprises a first clamping piece and a second clamping piece which are integrally arranged; the first clamping rod is used for clamping one side frame of the target material box in cooperation with the first clamping piece, and the second clamping rod is used for clamping the other side frame of the target material box in cooperation with the second clamping piece;

and the second finger cylinder is used for driving the third clamping piece and the fourth clamping piece to move towards or away from each other so as to clamp or release the target bin.

Preferably, the second clamp unit B includes a driving cylinder, a first mounting bracket, a second mounting bracket, and a clamping member;

the first mounting bracket is fixedly connected with the clamp bracket;

the clamping piece is connected with the tail end of the first mounting bracket through a rotating shaft and can rotate along the axis of the rotating shaft;

one end of the driving cylinder is connected with the clamp bracket through the second mounting bracket, and the other end of the driving cylinder is hinged with one end of the clamping piece through an output shaft of the driving cylinder;

the driving cylinder is used for driving the clamping piece to rotate at the tail end of the first mounting bracket so that the other end of the clamping piece moves away from or close to the target bin to carry out clamping or releasing operation of the target bin.

Preferably, the first clamping rod and the second clamping rod form an integral structure through a first connecting plate;

the first connecting plate is fixed on a third output rod of the second finger cylinder.

Preferably, the first clamping piece and the second clamping piece form an integral structure through a second connecting plate;

the second connecting plate is fixed on a fourth output rod of the second finger cylinder.

Preferably, the first clamp unit a and the first clamp unit B employ the same type of clamp unit or different types of clamp units;

the second clamp unit a and the second clamp unit B employ the same type of clamp unit or different types of clamp units.

The robot provided by the utility model comprises the fixed four-point material box clamp and a mechanical arm;

the fixed four-point material box clamp is arranged at the tail end of the mechanical arm.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the first clamp group and the second clamp group are arranged on the clamp bracket, the target workbin is positioned by the two first clamp units in the first clamp group, and the target workbin is clamped by the two second clamp units in the second clamp group in cooperation with the first clamp units, so that the problems that a single sucker or a gripper cannot realize stable grabbing and deformation of some articles is easily caused in the grabbing process are avoided, and stable grabbing of the target workbin is realized;

according to the clamping device, the two side frames at the corner end of the target material box to be clamped are clamped simultaneously through the second clamp unit in the second clamp group, so that the target material box is prevented from sliding in the clamping process, and stable grabbing of the target material box is realized.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic diagram of a stationary four-point bin clamp in an embodiment of the utility model;

FIG. 2 is a schematic view illustrating a structure of a first fixture unit in one direction according to an embodiment of the present utility model;

FIG. 3 is a schematic view illustrating another direction of the first fixture unit according to the embodiment of the present utility model;

FIG. 4 is a schematic view showing a structure of the second clamp unit A in one direction according to an embodiment of the present utility model;

fig. 5 is a schematic view illustrating a structure of the second clamp unit a in another direction according to an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a second clamp unit B according to an embodiment of the present utility model;

FIG. 7 is a schematic structural view of a third clamping member and a fourth clamping member according to an embodiment of the present utility model;

FIG. 8 is a schematic view of a use state of a fixed four-point bin clamp according to an embodiment of the utility model; and

fig. 9 is a schematic structural diagram of a robot according to an embodiment of the present utility model.

In the figure:

1 is a clamp bracket; 2 is a first clamp unit a;3 is a first clamp unit B;4 is a second clamp unit A;5 is a second clamp unit B;201 is a first cylinder bracket; 202 is a first slipway cylinder; 203 is a first finger cylinder; 204 is a first clamp; 205 is a second clamp; 401 is a second cylinder bracket; 402 is a second slipway cylinder; 403 is a second finger cylinder; 404 is a third clamp; 4041 is a first clamping bar; 4042 is a second clamping bar; 4043 is a first connection plate; 405 is a fourth clamp; 4051 is a first clip; 4052 is a second grip tab; 4053 is a second connection plate; 501 is a first mounting bracket; 502 is a retainer; 503 is a second mounting bracket; 504 is a driving cylinder; reference numeral 505 denotes an output shaft for driving the cylinder; 100 is a fixed four-point material box clamp; 200 is a robot.

Detailed Description

The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for a fixing function or for a circuit communication function.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the utility model and to simplify the description by referring to the figures, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present utility model, the meaning of "plurality" is two or more, unless explicitly defined otherwise.

The utility model provides a fixed four-point material box clamp, which comprises:

a clamp bracket;

the first clamp group comprises a plurality of first clamp units, each first clamp unit is positioned on a different side frame of the clamp bracket, and the first clamp units are used for positioning the target workbin and clamping the side frame of the target workbin;

the second clamp group comprises a plurality of second clamp units, each second clamp unit is located on a different side frame of the clamp support, and the second clamp units are used for clamping at least one side frame of the target workbin so as to clamp the target workbin.

According to the utility model, the first clamp group and the second clamp group are arranged on the clamp support, the target workbin is positioned by the two first clamp units in the first clamp group, and the target workbin is clamped by the two second clamp units in the second clamp group in cooperation with the first clamp units, so that the problems that a single sucker or a gripper cannot realize stable grabbing and deformation of some articles is easily caused in the grabbing process are avoided, and stable grabbing of the target workbin is realized.

The foregoing is a core idea of the present utility model, and in order that the above-mentioned objects, features and advantages of the present utility model can be more clearly understood, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is obvious that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

FIG. 1 is a schematic structural diagram of a fixed four-point bin clamp according to an embodiment of the utility model, as shown in FIG. 1, the fixed four-point bin clamp provided by the utility model comprises:

a clamp bracket 1;

the first clamp group comprises a plurality of first clamp units, each first clamp unit is positioned on different side frames of the clamp bracket 1, and the first clamp units are used for positioning the target workbin and clamping the side frames of the target workbin;

the second clamp group comprises a plurality of second clamp units, each second clamp unit is positioned on different side frames of the clamp bracket 1, and the second clamp units are used for clamping at least one side frame of a target workbin so as to clamp the target workbin.

In the embodiment of the present utility model, the first clamp group includes a first clamp unit A2 and a first clamp unit B3; the first clamp unit A2 and the first clamp unit B3 are respectively positioned at two opposite corner ends of the clamp bracket; the first clamp unit A2 is used for clamping a first side frame of a target workbin, and the first clamp unit B3 is used for clamping a second side frame adjacent to the first side frame or a third side frame opposite to the first side frame on the target workbin, so that the target workbin is positioned;

the two side frames of the target bin clamped by the first clamp unit A2 and the first clamp unit B3 may be two side frames connected with the target bin or two side frames opposite to the target bin; when clamping by the first clamp unit A2 and the first clamp unit B3, controlling the first clamp unit A2 and the first clamp unit B3 to be farthest as possible;

when the two side frames are connected with the target bin clamped by the first clamp unit A2 and the first clamp unit B3, the first clamp unit A2 is positioned at one end of the first side frame, and the first clamp unit B3 is positioned at the position of the adjacent second side frame and far away from the other end of the first side frame;

when the first clamp unit A2 and the first clamp unit B3 clamp two opposite side frames of the target bin, the first clamp unit A2 is located at one end of the first side frame, and the first clamp unit B3 is located at the other end of the adjacent third side frame.

Fig. 2 is a schematic structural view of a first clamp unit in one direction in an embodiment of the present utility model, and fig. 3 is a schematic structural view of the first clamp unit in another direction in an embodiment of the present utility model, as shown in fig. 2 and 3, the first clamp unit includes a first sliding table cylinder 202, a first finger cylinder 203, a first cylinder bracket 201, a first clamping member 204, and a second clamping member 205;

the first sliding table cylinder 202 is fixed on the fixture bracket 1 through the first cylinder bracket 201, and a first moving sliding table is arranged on the first sliding table cylinder 202; the finger cylinder is arranged on the first movable sliding table and can move away from or close to the target material box under the driving of the first sliding table cylinder 202;

the first finger cylinder 203 includes a first output rod and a second output rod, the first clamping member 204 is disposed on the first output rod, the second clamping member 205 is disposed on the second output rod, and the first finger cylinder 203 is configured to drive the first clamping member 204 and the second clamping member 205 to move in opposite directions or in opposite directions so as to perform a clamping or releasing operation of the target bin.

In an embodiment of the present utility model, the second clamp group includes a second clamp unit A4 and a second clamp unit B5;

the second clamp unit A4 and the second clamp unit B are respectively positioned on two opposite ends of the clamp bracket 1;

the second clamp unit A4 is used for clamping two side frames of the first corner end on the target bin;

the second clamp unit B5 is configured to clamp a third side frame of the target bin opposite to the first side frame or two side frames of a second corner end opposite to the first corner end.

Fig. 4 is a schematic structural view of the second clamp unit a in one direction in the embodiment of the present utility model, and fig. 5 is a schematic structural view of the second clamp unit a in the other direction in the embodiment of the present utility model, as shown in fig. 4 and 5, the second clamp unit A4 includes a second sliding table cylinder 402, a second finger cylinder 403, a second cylinder bracket 401, a third clamping member 404, and a fourth clamping member 405;

the second sliding table cylinder 402 is fixed on the fixture bracket 1 through the second cylinder bracket 401, and a second moving sliding table is arranged on the second sliding table cylinder 402; the second finger cylinder 403 is mounted on the second moving sliding table, and can move away from or close to the target bin under the driving of the second sliding table cylinder 402;

the second finger cylinder 403 includes a third output rod and a fourth output rod, the third clamping member 404 is disposed on the third output rod, and the fourth clamping member 405 is disposed on the fourth output rod;

the third clamping member 404 includes a first clamping bar 4041 and a second clamping bar 4042 integrally provided; the fourth clamping member 405 includes a first clamping piece 4051 and a second clamping piece 4052 that are integrally provided; the first clamping rod 4041 is used for clamping one side frame of the target bin in cooperation with the first clamping piece 4051, and the second clamping rod 4042 is used for clamping the other side frame of the target bin in cooperation with the second clamping piece 4052;

the second finger cylinder 403 is configured to drive the third clamping member 404 and the fourth clamping member 405 to move toward or away from each other, so as to perform a clamping or releasing operation of the target bin.

Fig. 6 is a schematic structural diagram of a second fixture unit B according to an embodiment of the present utility model, as shown in fig. 6, the second fixture unit B5 includes a driving cylinder 504, a first mounting bracket 501, a second mounting bracket 503, and a clamping member 502;

the clamping piece 502 is connected with the clamp bracket 1 through the first mounting bracket 501;

the clamping piece 502 is connected with the tail end of the first mounting bracket 501 through a rotating shaft and can rotate along the axis of the rotating shaft;

one end of the driving cylinder 504 is connected with the clamp bracket 1 through the second mounting bracket 503, and the other end of the driving cylinder 504 is hinged with one end of the clamping piece 502 through an output shaft 505 of the driving cylinder 504;

the driving cylinder 504 is configured to drive the clamping member 502 to rotate at the end of the first mounting bracket 501, so that the other end of the clamping member 502 moves away from or towards the target bin to perform a clamping or releasing operation of the target bin.

Fig. 7 is a schematic structural diagram of the third clamping member and the fourth clamping member according to the embodiment of the present utility model, as shown in fig. 7, the first clamping bar 4041 and the second clamping bar 4042 form an integral structure through the first connecting plate 4043;

the first connection plate 4043 is fixed to the third output rod of the second finger cylinder 403.

The first clamping piece 4051 and the second clamping piece 4052 form an integral structure through a second connecting plate 4053; the second connection plate 4053 is fixed to a fourth output rod of the second finger cylinder 403.

In the embodiment of the present utility model, the first clamp unit A2 and the first clamp unit B3 adopt the same type of clamp unit;

the second clamp unit A4 and the second clamp unit B5 employ different types of clamp units.

In a modification of the present utility model, the first clamp unit A2 and the first clamp unit B3 are different types of clamp units;

the second clamp unit A4 and the second clamp unit B5 employ the same type of clamp unit.

FIG. 8 is a schematic diagram of a use state of a fixed four-point material box clamp in an embodiment of the present utility model, as shown in FIG. 8, when the fixed four-point material box clamp provided by the present utility model is used, two first clamp units in a first clamp group are used to clamp two side frames of a target material box respectively to position the target material box, then a second clamp unit A4 in a second clamp group is used to clamp two side frames of a corner end of the target material box to prevent sliding of the target material box, and then a second clamp unit B5 is used to hook the target material box, so that the second clamp unit cooperates with the first clamp unit to clamp the target material box, thereby avoiding the problems that a single sucker or a gripper cannot realize stable grabbing and deformation of some objects is easy to cause in the grabbing process, and realizing stable grabbing of the target material box;

fig. 9 is a schematic structural diagram of a robot in an embodiment of the present utility model, and as shown in fig. 9, the robot 200 provided in the present utility model includes the fixed four-point bin clamp 100 and further includes a mechanical arm;

the fixed four-point bin clamp 100 is disposed at the end of the mechanical arm.

In the embodiment of the present utility model, the robot 200 drives the fixed four-point material box clamp 100 through the mechanical arm, and sorts the frame body through the fixed four-point material box clamp 100.

According to the embodiment of the utility model, the first clamp group and the second clamp group are arranged on the clamp bracket, the target workbin is positioned by the two first clamp units in the first clamp group, and the target workbin is clamped by the two second clamp units in the second clamp group in cooperation with the first clamp units, so that the problems that a single sucker or a gripper cannot realize stable grabbing and deformation of some articles is easily caused in the grabbing process are avoided, and stable grabbing of the target workbin is realized; and simultaneously clamping the two side frames at the corner end of the target material box to be clamped through a second clamp unit in the second clamp group, so that the target material box is prevented from sliding in the clamping process, and stable grabbing of the target material box is realized.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the utility model.

Claims (10)

1. A fixed four-point bin clamp, comprising:

a clamp bracket;

the first clamp group comprises a plurality of first clamp units, each first clamp unit is positioned on different side frames of the clamp bracket, and the first clamp units are used for positioning the target workbin and clamping the side frames of the target workbin;

the second clamp group comprises a plurality of second clamp units, each second clamp unit is located on different side frames of the clamp support, and the second clamp units are used for clamping at least one side frame of the target workbin so as to clamp the target workbin.

2. The stationary four-point bin clamp of claim 1, wherein the first clamp group includes a first clamp unit a and a first clamp unit B;

the first clamp unit A and the first clamp unit B are respectively positioned at two opposite corner ends of the clamp bracket;

the first clamp unit A is used for clamping a first side frame of the target workbin;

the first clamp unit B is used for clamping a second side frame adjacent to the first side frame or a third side frame opposite to the first side frame on the target bin.

3. The fixed four-point bin clamp of claim 1, wherein the first clamp unit comprises a first slipway cylinder, a first finger cylinder, a first cylinder bracket, a first clamp, and a second clamp;

the first sliding table cylinder is fixed on the clamp bracket through the first cylinder bracket, and a first movable sliding table is arranged on the first sliding table cylinder; the finger cylinder is arranged on the first movable sliding table and can move away from or close to the target material box under the driving of the first sliding table cylinder;

the first finger cylinder comprises a first output rod and a second output rod, the first clamping piece is arranged on the first output rod, the second clamping piece is arranged on the second output rod, and the first finger cylinder is used for driving the first clamping piece and the second clamping piece to move in opposite directions or in opposite directions so as to carry out clamping or releasing operation of the target material box.

4. The stationary four-point bin clamp according to claim 2, wherein the second clamp group includes a second clamp unit a and a second clamp unit B;

the second clamp unit A and the second clamp unit B are respectively positioned on two opposite ends of the clamp bracket;

the second clamp unit A is used for clamping two side frames at the first corner end on the target bin;

the second clamp unit B is used for clamping a third side frame of the target bin opposite to the first side frame or two side frames of a second corner end opposite to the first corner end.

5. The fixed four-point bin clamp according to claim 4, wherein the second clamp unit a includes a second slipway cylinder, a second finger cylinder, a second cylinder bracket, a third clamp, and a fourth clamp;

the second sliding table cylinder is fixed on the clamp bracket through the second cylinder bracket, and a second movable sliding table is arranged on the second sliding table cylinder; the second finger cylinder is arranged on the second movable sliding table and can move away from or close to the target feed box under the driving of the second sliding table cylinder;

the second finger cylinder comprises a third output rod and a fourth output rod, the third clamping piece is arranged on the third output rod, and the fourth clamping piece is arranged on the fourth output rod;

the third clamping piece comprises a first clamping rod and a second clamping rod which are integrally arranged; the fourth clamping piece comprises a first clamping piece and a second clamping piece which are integrally arranged; the first clamping rod is used for clamping one side frame of the target material box in cooperation with the first clamping piece, and the second clamping rod is used for clamping the other side frame of the target material box in cooperation with the second clamping piece;

and the second finger cylinder is used for driving the third clamping piece and the fourth clamping piece to move towards or away from each other so as to clamp or release the target bin.

6. The stationary four-point bin clamp according to claim 4, wherein the second clamp unit B includes a drive cylinder, a first mounting bracket, a second mounting bracket, and a catch;

the first mounting bracket is fixedly connected with the clamp bracket;

the clamping piece is connected with the tail end of the first mounting bracket through a rotating shaft and can rotate along the axis of the rotating shaft;

one end of the driving cylinder is connected with the clamp bracket through the second mounting bracket, and the other end of the driving cylinder is hinged with one end of the clamping piece through an output shaft of the driving cylinder;

the driving cylinder is used for driving the clamping piece to rotate at the tail end of the first mounting bracket so that the other end of the clamping piece moves away from or close to the target bin to carry out clamping or releasing operation of the target bin.

7. The stationary four-point bin clamp of claim 5, wherein the first clamping bar and the second clamping bar form an integral structure through a first connecting plate;

the first connecting plate is fixed on a third output rod of the second finger cylinder.

8. The stationary four-point bin clamp of claim 5, wherein the first clamping tab and the second clamping tab form an integral structure through a second web;

the second connecting plate is fixed on a fourth output rod of the second finger cylinder.

9. The fixed four-point bin clamp according to claim 4, wherein the first clamp unit a and the first clamp unit B employ the same type of clamp unit or different types of clamp units;

the second clamp unit a and the second clamp unit B employ the same type of clamp unit or different types of clamp units.

10. A robot comprising the stationary four-point bin clamp of any one of claims 1 to 9, further comprising a robotic arm;

the fixed four-point material box clamp is arranged at the tail end of the mechanical arm.

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