An engineering robot

Abstract

The present invention provides an engineering robot, including a grasping device. The grasping device includes a telescopic device, a flipping device, and a grasping device, and the grasping device is located on one side of the flipping device; the fixed end of the telescopic device is connected to the flipping device, the movable end of the telescopic device is connected to the grasping device, and the telescopic device drives the grasping device to approach and move away from the flipping device; the telescopic device drives the grasping device to extend and retract; so that the box-shaped material grasped by the grasping device can be moved into the flipping device; by providing the telescopic device, the grasping device can grasp box-shaped materials at different distances from the frame; at the same time, the grasping rotating bracket of the grasping device is rotatably arranged, and the grasping rotating bracket is connected with a suction attachment; in this way, box-shaped materials can be grasped from different directions.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an engineering robot. Background Art

[0002] Engineering robots are quite similar to the handling robots in the logistics industry. They both need to achieve the clamping and handling of regular objects within a certain weight at different heights. Through automation, intelligent logistics can be realized. For example, in scenarios such as ports and logistics centers, fully automated logistics can be achieved. As in Chinese Patent Application No. CN202220569739.4, the publication date is July 5, 2022, which specifically discloses a global positioning handling robot, including a chassis. Power devices for assisting the robot to move omnidirectionally are fixedly installed on both sides of the chassis, and cargo holds are installed on both sides. The upper surface

[0003] of the front end of the chassis is installed with a robotic arm device for completing the grasping action, and the rear end of the upper surface of the chassis is installed with a single-chip microcomputer. The setting of the shock-absorbing mechanism in the power device can reduce the vibration of the robot during operation. When the terrain where the robot is located is uneven or the environment has vibrations, the supporting force received by the Mecanum wheels is transmitted to the shock-absorbing spring of the shock absorber through the shock-absorbing plate. At this time, the shock absorber is compressed by the force, and the parallelogram mechanism of the shock-absorbing device deforms, so that the Mecanum wheels always keep in close contact with the ground, avoiding slipping and improving the terrain adaptability of the robot. At the same time, the shock-absorbing mechanism can reduce the impact of undulating vibrations during the operation of the robot and increase the stability of the robot.

[0004] However, the handling robot with this structure only grabs the goods through the manipulator and cannot turn over the box-shaped materials being handled. At the same time, the moving direction of the gripper of the existing handling robot is fixed, and it can only clamp the box-shaped materials in one direction, that is, it can only approach the box-shaped materials from top to bottom for clamping, or approach the box-shaped materials from left to right for clamping. It cannot clamp the box-shaped materials in different directions and is easily restricted by site factors when in use, resulting in the inability to pick up the box-shaped materials. At the same time, the gripper cannot catch the materials falling from the air. When the gripper grabs the box-shaped materials, it needs to open the gripper, then move the gripper so that the box-shaped materials are located between the two claw teeth of the gripper, and then close the gripper to achieve the grasping of the box-shaped materials. The operation of the gripper when grabbing the box-shaped materials is cumbersome. At the same time, the existing engineering trolley cannot rescue other robots. Summary of the Invention

[0005] The present invention provides an engineering robot that can turn over box-shaped materials and can grab box-shaped materials from different directions.

[0006] To achieve the above object, the technical solution of the present invention is: An engineering robot, comprising a frame, a grasping device is provided on the frame, the grasping device includes a telescopic device, a flipping device and a grasping device, and the grasping device is located on one side of the flipping device; A towing mechanism is provided on the side of the frame away from the grasping device; The fixed end of the telescopic device is connected to the flipping device, the movable end of the telescopic device is connected to the grasping device, and the telescopic device drives the grasping device to approach and move away from the flipping device.

[0007] The flipping device includes a flipping bracket, a flipping driving device, a flipping seat and two flipping tracks; The flipping driving device is arranged at the bottom of the flipping bracket, and the two flipping tracks are both arranged on the flipping bracket and above the flipping driving device; The flipping driving device drives the flipping seat to slide on the flipping track.

[0008] The flipping seat includes a flipping fixed seat and a flipping supporting member, and the flipping supporting member is rotatably arranged on the flipping fixed seat; The flipping fixed seat is fixedly connected to the flipping driving device; The flipping supporting member includes a first flipping supporting plate and a second flipping supporting plate, and the second flipping supporting plate is located below the first flipping supporting plate; The first flipping supporting plate is connected to the second flipping supporting plate and is vertically arranged; Flipping sliding members are respectively arranged at both ends of the second flipping supporting plate, and the flipping track is provided with an arc-shaped sliding groove; One end of the arc-shaped sliding groove extends upward away from the grasping device along the length direction of the flipping bracket; The other end of the arc-shaped sliding groove extends downward close to the grasping device along the length direction of the flipping bracket; The flipping sliding member is slidably arranged in the arc-shaped sliding groove; The flipping driving device is used to drive the flipping supporting member to rotate an angle A along the arc-shaped sliding groove, 0° < A < 100°.

[0009] The grasping device includes a grasping mounting bracket, a grasping driving device, a grasping rotating bracket and a suction attachment; The grasping mounting bracket is connected to the movable end of the telescopic device, the grasping driving device is fixed on the grasping mounting bracket and is connected to the grasping rotating bracket, and the suction attachment is mounted on the grasping rotating bracket; The grasping driving device drives the grasping rotating bracket to rotate, and the grasping rotating bracket drives the suction attachment to approach and move away from the flipping seat.

[0010] The towing mechanism includes more than one towing hook, and the towing hook includes a U-shaped mounting seat, a towing cylinder, two relatively arranged towing mounting plates, a towing fixing block, a towing limiting member, a towing slide rail, a towing slider, a limiting connecting rod and a towing member.

[0011] The two ends of the U-shaped mounting seat are fixedly connected to the frame respectively; the pulling fixed block is arranged between the two pulling mounting plates, and the pulling fixed blocks are fixedly connected to the two pulling mounting plates respectively; the fixed end of the pulling cylinder is connected to the frame, and the movable end of the pulling cylinder is fixedly connected to the pulling fixed block; the middle position of the limit link is hinged between the two pulling mounting plates, and one end of the pulling member is hinged between the two pulling mounting plates and is located at the end of the pulling mounting plate away from the pulling fixed block; the end of the pulling member hinged to the pulling mounting plate abuts against the limit link; a reset torsion spring is connected between the pulling member and the two pulling mounting plates; under the elastic force of the reset torsion spring, the end of the pulling member away from the limit link is vertically downward.

[0012] The dragging limiter is installed on the frame and is located on the side of the U-shaped mounting seat away from the dragging cylinder; a first protrusion is extended upward from the upper end of the dragging mounting plate and is located on the side close to the dragging cylinder, and the height of the uppermost end of the first protrusion is lower than the highest point of the groove formed by the U-shaped mounting seat; a second protrusion is extended upward from the upper end of the dragging mounting plate and is located on the side away from the dragging cylinder; the dragging limiter is used to limit the first protrusion and the second protrusion.

[0013] The dragging rail is arranged on one side of the dragging mounting plate away from the other dragging mounting plate, the dragging slider is fixedly mounted on the inner wall of the groove formed by the U-shaped mounting seat, the dragging slider is provided with a slide groove corresponding to the dragging rail, and the dragging rail is slidably arranged on the dragging slider.

[0014] According to the above arrangement, the grabbing device is used to grab the box-type material and place the grabbed box-type material in the flipping device; the flipping device flips the box-type material over; by vertically setting the flipping first supporting plate and the flipping second supporting plate, the flipping supporting member can contact the adjacent surfaces of the box-type material at the same time, and the flipping supporting member can support the bottom surface of the box-type material before and after flipping; when the box-type material is not flipped over, the box-type material is supported by the flipping second supporting plate, and when the box-type material is flipped over, the box-type material is supported by the flipping first supporting plate; the box-type material is prevented from detaching from the flipping supporting member under the action of gravity.

[0015] At the same time, since the flipping support member is rotatably arranged on the flipping fixing base, and the flipping support member is slidably connected to the arc-shaped chute through the flipping sliding member, the arc-shaped chute restricts the movement of the flipping support member. When the flipping support member moves away from the grasping device, under the guiding action of the arc-shaped chute, the flipping support member rotates counterclockwise, and the flipping support member changes from the state where the first flipping support plate is above the second flipping support plate to the state where the second flipping support plate is above the first flipping support plate; when the flipping support member moves closer to the grasping device, under the guiding action of the arc-shaped chute, the flipping support member rotates clockwise, and the flipping support member changes from the state where the second flipping support plate is above the first flipping support plate to the state where the first flipping support plate is above the second flipping support plate. In this way, the box-shaped material can be turned over in the clockwise direction or in the counterclockwise direction.

[0016] By setting a rotatable grasping rotating bracket, the grasping rotating bracket drives the suction attachment to rotate. In this way, the suction attachment can grasp the box-shaped material horizontally; it can also grasp the box-shaped material vertically; and it can also grasp the box-shaped material in an inclined direction between the horizontal direction and the vertical direction; it is not easily restricted by the site and has a wide application range; at the same time, since the grasping rotating bracket can rotate, after the grasping device grasps the box-shaped material in one direction, the grasping device can place the box-shaped material in another direction.

[0017] The telescopic device drives the grasping device to extend and retract; so that the box-shaped material grasped by the grasping device can be moved into the flipping device; by setting the telescopic device, the grasping device can grasp box-shaped materials at different distances from the frame.

[0018] By setting a dragging mechanism to drag other robots; since the dragging slide rail is fixedly connected to the frame through a U-shaped mounting seat; the dragging slide rail is fixedly connected to the dragging mounting plate; the dragging fixing block connects the dragging mounting plate and the movable end of the dragging cylinder; when the dragging cylinder extends, the dragging mounting plate is driven to move through the transmission of the dragging fixing block, and the dragging slide rail slides on the dragging slider; the dragging mounting plate simultaneously drives the limiting link and the dragging member to move relative to the dragging slide rail; until the first convex portion on the dragging mounting plate abuts against the dragging limiting member fixed on the frame; the dragging limiting member moves above one end of the limiting link; the dragging limiting member limits the movement of the dragging mounting plate and the rotation of the limiting link.

[0019] By moving through the moving device, the dragging member is pushed towards the cross bar arranged on other robots. The reaction force generated by the cross bar of other robots pushes the dragging portion of the pushing and pulling member to rotate towards the limiting link against the elastic force of the return spring until the cross bar disengages from the pushing and pulling portion of the pushing and pulling member, and then the dragging member resets under the elastic force of the return spring; the dragging mechanism completes the connection action with the cross bar of other robots.

[0020] When the tractor frame moves away from other robots, the non-rotatable limit link restricts the rotation of the towing member; thereby restricting the tendency of the crossbar of other robots to drive the towing link to rotate; enabling the towing member to hook the crossbar of other robots; and achieving the towing of other robots.

[0021] When the towing cylinder contracts, the second convex portion on the towing mounting plate abuts against the towing limit member fixed on the frame. At this time, the towing limit member no longer restricts the end of the limit link away from the towing member; enabling the limit link to rotate clockwise; and further when the crossbar of other robots drives the towing link to rotate counterclockwise, the crossbar of other robots can be separated from the towing mechanism.

[0022] Further, the telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a telescopic first driving device, and a telescopic second driving device; one end of the telescopic movable bracket is connected to the grasping device; the telescopic movable bracket is arranged above the telescopic fixed bracket and is slidably connected to the telescopic fixed bracket; the fixed end of the telescopic first driving device is connected to the telescopic fixed bracket, the movable end of the telescopic first driving device is connected to the fixed end of the telescopic second driving device, and the movable end of the telescopic second driving device is connected to the telescopic movable bracket; the telescopic first driving device is used to drive the telescopic movable bracket to move, and the telescopic second driving device is used to drive the telescopic movable bracket to move relative to the telescopic first driving device.

[0023] With the above settings, the telescopic first driving device drives the telescopic movable bracket to perform the first extension, and the telescopic second driving device drives the telescopic movable bracket to perform the second extension; the moving distance of the telescopic movable bracket is far; and further the grasping range of the grasping device is far.

[0024] Further, the telescopic first driving device includes a telescopic first fixed seat, a telescopic first cylinder body, and a telescopic first slider; the telescopic movable bracket is located between the telescopic first slider and the telescopic fixed bracket; one end of the telescopic first fixed seat is connected to the telescopic fixed bracket, and the telescopic first cylinder body is arranged at the other end of the telescopic first fixed seat; the telescopic first slider is inserted through the telescopic first cylinder body and is slidably arranged on the telescopic first cylinder body.

[0025] The telescopic second driving device includes a telescopic second fixed seat, a telescopic second cylinder, and a telescopic third fixed seat; the fixed end of the telescopic second cylinder is connected to the telescopic second fixed seat, and the telescopic second fixed seat is connected to the telescopic first slider; the movable end of the telescopic second cylinder is connected to the telescopic third fixed seat, and the telescopic third fixed seat is connected to the telescopic movable bracket.

[0026] With the above settings, the telescopic first slider is connected to the telescopic second fixed seat and slides on the telescopic first cylinder body. At the same time, the telescopic second fixed seat is connected to the telescopic movable bracket through the telescopic second cylinder and the telescopic third fixed seat, avoiding the rotation of the telescopic first slider during the movement.

[0027] Furthermore, the telescopic device further includes a pulley assembly, which is arranged at one end of the telescopic movable bracket away from the grasping device. The pulley assembly includes a pulley bracket, and more than one rotatable pulley is arranged on both sides of the pulley bracket. The pulley abuts against the bottom of the telescopic first slider.

[0028] With the above settings, when the telescopic first driving device drives the telescopic movable bracket to move, the telescopic movable bracket moves synchronously with the telescopic first slider. Since the telescopic first slider moves synchronously with the telescopic movable bracket, there is no sliding friction between the telescopic first slider and the telescopic movable bracket at this time. When the telescopic second driving device drives the telescopic movable bracket to move, the telescopic movable bracket moves relative to the telescopic first slider. By arranging the pulley assembly at one end of the telescopic movable bracket away from the grasping device, the friction force received by the telescopic first slider during the movement is reduced.

[0029] Furthermore, the flipping seat further includes a flipping swing seat. The flipping supporting member is fixedly connected to the flipping swing seat, and the flipping swing seat is hinged to the flipping fixed seat. The flipping swing seat includes a swing first seat body and a swing second seat body. The swing first seat body is connected to the swing second seat body and is vertically arranged. The flipping first supporting plate is connected to the swing first seat body, and the flipping second supporting plate is connected to the swing second seat body.

[0030] With the above settings, the flipping swing seat is fixedly connected to the flipping supporting member, and the flipping swing seat is hinged to the flipping fixed seat. When the flipping supporting member rotates, the flipping supporting member drives the flipping swing seat to rotate on the flipping fixed seat.

[0031] Furthermore, the flipping bracket includes a flipping fixing member and a flipping positioning member. The flipping positioning member is arranged on the flipping fixing member, and an avoidance hole is arranged on the flipping positioning member. An avoidance space is formed between the avoidance hole and the flipping fixing member. An installation hole is arranged on the flipping fixing member. The flipping track passes through the installation hole and is arranged in the avoidance space and is fixedly connected to the flipping fixing member and the flipping positioning member.

[0032] With the above settings, the avoidance space is set to accommodate the box-shaped material and the flipping device. In this way, the volume of the flipping device can be reduced. At the same time, when the flipping supporting member flips the box-shaped material, the box-shaped material can be prevented from falling off the flipping supporting member.

[0033] Further, the flipping drive device is arranged at the bottom of the flipping fixed seat; the flipping drive device includes a flipping drive support, a flipping drive cylinder body, and a flipping drive slider; the flipping drive support is connected to the flipping fixed seat, the flipping drive cylinder body is arranged on the flipping fixed seat, the flipping drive slider is arranged through the flipping drive cylinder body and is slidably arranged on the flipping drive cylinder body; a connection hole is arranged on the flipping fixing member, and one end of the flipping drive slider passes through the connection hole and is connected to the flipping fixed seat. The flipping seat is driven to move by the movement of the flipping drive slider.

[0034] Further, it further includes a lifting device; the lifting device includes a lifting fixed bracket, a lifting movable bracket, a lifting drive device, and a transmission component; the lifting fixed bracket is fixedly connected to the frame, and the lifting movable bracket is slidably connected to the lifting fixed bracket and the flipping device.

[0035] The transmission component includes a first lifting transmission wheel, a second lifting transmission wheel, a lifting synchronous belt, a first synchronous belt fixing member, and a second synchronous belt fixing member; the output end of the lifting drive device passes through the first lifting transmission wheel and is connected to one end of the lifting movable bracket, and the second lifting transmission wheel is rotatably arranged at the other end of the lifting movable bracket; the lifting synchronous belt is sleeved on the first lifting transmission wheel and the second lifting transmission wheel.

[0036] One end of the first synchronous belt fixing member is fixedly connected to the lifting fixed bracket, and the other end of the first synchronous belt fixing member clamps the lifting synchronous belt sleeve on one side of the first lifting transmission wheel and the second lifting transmission wheel; the second synchronous belt fixing member clamps the lifting synchronous belt sleeve on the other side of the first lifting transmission wheel and the second lifting transmission wheel on the flipping bracket; the transmission component is used to drive the lifting movable bracket and the flipping device to lift synchronously.

[0037] With the above settings, the flipping device is driven to lift by the lifting device, and then the grasping device is driven to lift; in this way, the grasping device can grasp box-shaped materials at different heights; since the flipping device lifts synchronously with the grasping device, the cooperation effect between the grasping device and the flipping device is good; the lifting synchronous belt sleeve on one side of the transmission component is connected to the lifting fixed bracket, the transmission component rotates in one direction to drive the lifting synchronous belt to move, the first synchronous belt fixing member approaches the bottom end of the lifting fixed bracket, and the first synchronous belt fixing member generates a force to drive the lifting fixed bracket to move downward; since the lifting fixed bracket is fixed on the frame and cannot move, and the transmission component is arranged on the lifting movable bracket, and the lifting movable bracket is slidably connected to the lifting fixed bracket, this will drive the lifting movable bracket to move upward, making the first synchronous belt fixing member move downward relative to the first lifting transmission wheel, and thus realizing the upward movement of the lifting movable bracket.

[0038] The transmission component rotates the lifting synchronous belt sleeve in the other direction. The first synchronous belt fixing member approaches the top of the lifting fixing bracket, and the first synchronous belt fixing member generates a force to drive the lifting fixing bracket to move upward. Since the lifting fixing bracket is fixed to the machine frame and cannot move, while the transmission component is arranged on the lifting movable bracket, and the lifting movable bracket is slidably connected to the lifting fixing bracket, this will drive the lifting movable bracket to move downward, causing the first synchronous belt fixing member to move upward relative to the first lifting transmission wheel, thereby realizing the descent of the lifting movable bracket.

[0039] At the same time, a second synchronous belt fixing member is connected to the lifting synchronous belt sleeve on the other side of the transmission component. When the lifting movable bracket rises, the first synchronous belt fixing member moves downward relative to the first lifting transmission wheel. In this way, the second synchronous belt fixing member moves upward relative to the first lifting transmission wheel, and the flipping bracket rises simultaneously. When the lifting movable bracket descends, the first synchronous belt fixing member moves upward relative to the first lifting transmission wheel. In this way, the second synchronous belt fixing member moves downward relative to the first lifting transmission wheel, and the flipping bracket descends simultaneously. The flipping bracket moves based on the movement of the lifting movable bracket, and the lifting height range of the flipping bracket is large.

[0040] Further, A is 83°. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a three-dimensional schematic diagram of the present invention.

[0042] Figure 2 is Figure 1 an enlarged view of a in.

[0043] Figure 3 is a three-dimensional structural diagram of the grasping device and the lifting device in the present invention.

[0044] Figure 4 is a three-dimensional schematic diagram of the grasping device in the present invention.

[0045] Figure 5 is an exploded view of the grasping device in the present invention.

[0046] Figure 6 is a three-dimensional schematic diagram of the flipping device after removing the flipping bracket in the present invention.

[0047] Figure 7 is an exploded view of the flipping device after removing the flipping bracket in the present invention.

[0048] Figure 8 is a schematic diagram of the flipping support member moving to one end of the arc-shaped chute.

[0049] Figure 9 is a schematic diagram of the flipping support member approaching the other end of the arc-shaped chute.

[0050] Figure 10 Schematic diagram of the turning support moving to the other end of the arc-shaped chute.

[0051] Figure 11 Stereoscopic schematic diagram of the telescopic device and the grasping device in the present invention.

[0052] Figure 12 Schematic diagram of the telescopic first driving device driving the telescopic movable bracket to extend in the present invention.

[0053] Figure 13 For Figure 12 Enlarged view of b in

[0054] Figure 14 Schematic diagram of the telescopic second driving device driving the telescopic movable bracket to extend in the present invention.

[0055] Figure 15 Stereoscopic schematic diagram of the turning positioning member in the present invention.

[0056] Figure 16 Stereoscopic schematic diagram of the turning fixing member in the present invention.

[0057] Figure 17 Stereoscopic schematic diagram of the lifting device in the present invention.

[0058] Figure 18 Front view of the lifting device in the present invention.

[0059] Figure 19 Schematic diagram of the lifting device after rising in the present invention.

[0060] Figure 20 Structural schematic diagram of the towing hook in the present invention.

[0061] Figure 21 Side view structural schematic diagram of the towing hook in the present invention.

[0062] Figure 22 Cross-sectional schematic diagram of the towing hook in the state where the towing cylinder extends in the present invention.

[0063] Figure 23 Cross-sectional schematic diagram of the towing hook in the state where the towing cylinder contracts in the present invention.

[0064] Figure 24 Schematic diagram of the present invention cooperating with box-shaped materials of different heights. Detailed description of the specific implementation

[0065] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0066] Such as Figure 1-24As shown in the figure; an engineering robot, including a frame 10, a grasping device 1 and a lifting device 2 are provided on the frame 10. In this embodiment, there are two lifting devices 2, and the grasping device 1 is located between the two lifting devices 2; the two lifting devices 2 are connected to the grasping device 1 and drive the grasping device 1 to lift and lower.

[0067] As Figure 2 , 4 , 5 shown; the grasping device 1 includes a telescopic device 11, a flipping device 12 and a grasping device 13, and the grasping device 13 is located on one side of the flipping device 12; a towing mechanism 3 is provided on the side of the frame 10 away from the grasping device 13; the fixed end of the telescopic device 11 is connected to the flipping device 12, and the movable end of the telescopic device 11 is connected to the grasping device 13. The telescopic device 11 drives the grasping device 13 to approach and move away from the flipping device 12. The telescopic device 11 drives the grasping device 13 to extend and retract; so that the box-shaped material grasped by the grasping device 13 can be moved into the flipping device 12; by setting the telescopic device 11, the grasping device 13 can grasp box-shaped materials at different distances from the frame 10.

[0068] As Figure 5 , 11 shown; the grasping device 13 includes a grasping mounting bracket 131, a grasping driving device 132, a grasping rotating bracket 133 and a suction attachment 134; in this embodiment, there are two grasping mounting brackets 131, and the two grasping mounting brackets 131 are connected to the movable end of the telescopic device 11. The grasping driving device 132 is fixed on one grasping mounting bracket 131, and the output end of the grasping driving device 132 is fixedly connected to one end of the grasping rotating bracket 133. The other end of the grasping rotating bracket 133 is rotatably connected to the other grasping mounting bracket 131; the suction attachment 134 is mounted on the grasping rotating bracket 133; the grasping driving device 132 drives the grasping rotating bracket 133 to rotate, and the grasping rotating bracket 133 drives the suction attachment 134 to approach and move away from the flipping device 12. In this embodiment, the suction attachment 134 is a suction cup; a support member with a hollow structure (not shown in the figure) is provided in the suction attachment 134, and the suction attachment 134 is connected with a vacuum pumping device (not shown in the figure); the vacuum pumping device is a vacuum pump; by setting the support member with a hollow structure, it does not affect the adsorption of the box-shaped material by the suction attachment 134; at the same time, the supporting force of the suction attachment 134 is improved. In this embodiment, the grasping driving device 132 is a stepping motor. The grasping device 13 is used to grasp the box-shaped material and place the grasped box-shaped material in the flipping device 12.

[0069] A rotatable grasping and rotating bracket 133 is provided. The grasping and rotating bracket 133 drives the suction attachment 134 to rotate. In this way, the suction attachment 134 can grasp the box-shaped material both horizontally and vertically, and can also grasp the box-shaped material in an inclined direction between the horizontal and vertical directions. It is not easily restricted by the site and has a wide application range. At the same time, since the grasping and rotating bracket 133 can rotate, after the grasping device 13 grasps the box-shaped material in one direction, the grasping device 13 can place the box-shaped material in another direction.

[0070] Refer to Figure 24 As shown; the box-shaped materials Q1, Q2, and Q3 are arranged on the wall 6 through the clamping device 5; the box-shaped material Q4 is arranged on the ground 7; the clamping device clamps the side of the box-shaped material. In this embodiment, the clamping device is a clamping jaw; the clamping device is a prior art and will not be elaborated here.

[0071] If the box-shaped material is within the lifting range of the grasping device 13; then the lifting device 2 is used to drive the grasping device 13 to rise and fall to cooperate with box-shaped materials at different position heights. Refer to Figure 24 The box-shaped materials Q2, Q3, and Q4 in

[0072] Refer to Figure 24 For the box-shaped material Q3 in

[0073] Refer to Figure 24 Q2 and Q4 in

[0074] Refer to Figure 24 Q2 in

[0075] Refer to Figure 24 Q4 in

[0076] As in Figure 4 , 5As shown in the figure; the flipping device 12 includes a flipping bracket 121, a flipping driving device 122, a flipping seat 123, and two flipping tracks 124; the flipping driving device 122 is arranged at the bottom of the flipping bracket 121, and the two flipping tracks 124 are both arranged on the flipping bracket 121 and above the flipping driving device 122; the flipping driving device 122 drives the flipping seat 123 to slide on the flipping track 124.

[0077] As Figure 5-7 shown in the figure; the flipping seat 123 includes a flipping fixed seat 1231, a flipping swing seat 1232, and a flipping support member 1233; the flipping support member 1233 is fixedly connected to the flipping swing seat 1232, and the flipping swing seat 1232 is hinged to the flipping fixed seat 1231; the flipping swing seat 1232 includes a swing first seat body 1234 and a swing second seat body 1235; the swing first seat body 1234 is connected to the swing second seat body 1235 and is vertically arranged; the flipping support member 1233 includes a flipping first support plate 1236 and a flipping second support plate 1237, and the flipping second support plate 1237 is located below the flipping first support plate 1236; the flipping first support plate 1236 is connected to the flipping second support plate 1237 and is vertically arranged; the flipping first support plate 1236 is connected to the swing first seat body 1234, and the flipping second support plate 1237 is connected to the swing second seat body 1235; the flipping swing seat 1232 is fixedly connected to the flipping support member 1233; the flipping swing seat 1232 is hinged to the flipping fixed seat 1231; the flipping driving device 122 drives the flipping support member 1233 to move, and the flipping support member 1233 rotates during the movement; when the flipping support member 1233 rotates, the flipping support member 1233 drives the flipping swing seat 1232 to rotate on the flipping fixed seat 1231.

[0078] As Figure 7 shown in the figure; flipping sliding members 1238 are respectively arranged at both ends of the flipping second support plate 1237, and the flipping track 124 is provided with an arc-shaped sliding groove 1241; one end of the arc-shaped sliding groove 1241 extends upward along the length direction of the flipping bracket 121 away from the grasping device 13; the other end of the arc-shaped sliding groove 1241 extends downward along the length direction of the flipping bracket 121 close to the grasping device 13; the flipping sliding member 1238 is slidably arranged in the arc-shaped sliding groove 1241 through a flange bearing; the flipping driving device 122 is used to drive the flipping support member 1233 to rotate an angle A along the arc-shaped sliding groove 1241, where 0° < A < 100°. In this embodiment, A is 83°.

[0079] As Figure 4 、 5As shown in FIGS. 15 and 16; the flipping bracket 121 includes a flipping fixing member 1211 and a flipping positioning member 1212, and the flipping positioning member 1212 is arranged on the flipping fixing member 1211. An avoidance hole 1214 is provided on the flipping positioning member 1212, and an avoidance space 1215 is formed between the avoidance hole 1214 and the flipping fixing member 1211; in this embodiment, a flipping support member 1213 is provided on the flipping fixing member 1211; the flipping positioning member 1212 is arranged on the flipping support member 1213; thus increasing the height of the avoidance space 1215.

[0080] as shown together in Figure 16 As shown; a mounting hole 1216 is provided on the flipping fixing member 1211; the flipping track 124 is arranged to pass through the mounting hole 1216 and is arranged in the avoidance space 1215 and is fixedly connected to the flipping fixing member 1211 and the flipping positioning member 1212. By providing the avoidance space 1215 for accommodating the box-shaped material and the flipping device 12; this can reduce the volume of the flipping device 12; at the same time, it can prevent the box-shaped material from falling off the flipping support member 1233 when the flipping support member 1233 flips the box-shaped material.

[0081] As shown in Figure 7 、 15 As shown in FIGS. 15 and 16; locking members 1217 are provided on both sides of the flipping fixing member 1211 and both sides of the flipping positioning member 1212. A first through hole 12171 vertically penetrating the locking member 1217 and a second through hole 12172 horizontally penetrating the locking member 1217 are provided on the locking member 1217; two locking members 1217 on one side are connected to a flipping track 124; two locking members 1217 on the other side are connected to another flipping track 124; the first through hole 12171 is aligned with a first threaded hole (not shown in the figure) on the flipping fixing member 1211 and a second threaded hole (not shown in the figure) on the flipping positioning member 1212; the second through hole 12172 is aligned with a third threaded hole 1242 on the flipping track 124; a bolt passes through the first through hole 12171 and is connected to the first threaded hole to fix the locking member 1217 on the flipping fixing member 1211, a bolt passes through the first through hole 12171 and is connected to the second threaded hole to fix the locking member 1217 on the flipping positioning member 1212, and a bolt passes through the second through hole 12172 and is connected to the third threaded hole 1242 to lock the flipping track 124 on the locking member 1217; thus realizing the stable connection of the flipping track 124 with the flipping fixing member 1211 and the flipping positioning member 1212.

[0082] Two fixed support members 1218 are provided at one end of the flipping fixing member 1211 away from the grasping device 13, and a first card slot 12181 is provided at the top of each fixed support member 1218; the first card slot 12181 is clamped on one end of the flipping positioning member 1212 away from the grasping device 13.

[0083] In another embodiment, two second card slots 12182 are provided at one end of the flipping positioning member 1212 away from the grasping device 13; the first card slot 12181 is engaged with the second card slot 12182. By engaging the first card slot 12181 with the flipping positioning member 1212, the stability of the connection between the flipping fixing member 1211 and the flipping positioning member 1212 is further improved.

[0084] As Figure 7 and Figure 16 shown, the flipping drive device 122 is arranged at the bottom of the flipping fixing seat 1231; in this embodiment, the flipping drive device 122 is a rodless cylinder; the flipping drive device 122 includes a flipping drive support 1221, a flipping drive cylinder body 1222 and a flipping drive slider 1223; the flipping drive support 1221 is connected to the flipping fixing seat 1231, the flipping drive cylinder body 1222 is arranged on the flipping fixing seat 1231, the flipping drive slider 1223 is arranged through the flipping drive cylinder body 1222 and is slidably arranged on the flipping drive cylinder body 1222; a connection hole 1219 is provided on the flipping fixing member 1211, and one end of the flipping drive slider 1223 passes through the connection hole 1219 and is connected to the flipping fixing seat 1231. The flipping seat 123 is driven to move by the movement of the flipping drive slider 1223. By connecting the flipping drive slider 1223 to the flipping fixing seat 1231, the rotation of the flipping drive slider 1223 during movement is avoided; a guiding effect is exerted on the movement of the flipping drive slider 1223.

[0085] The flipping device 12 flips the box-shaped material; through the vertically arranged flipping first supporting plate 1236 and flipping second supporting plate 1237, the flipping supporting member 1233 can be in contact with the adjacent surfaces of the box-shaped material at the same time, and the flipping supporting member 1233 can support the bottom surfaces of the box-shaped material before and after flipping; when the box-shaped material is not flipped, the box-shaped material is supported by the flipping second supporting plate 1237, and when the box-shaped material is flipped, the box-shaped material is supported by the flipping first supporting plate 1236; the box-shaped material is prevented from separating from the flipping supporting member 1233 under the action of gravity.

[0086] At the same time, since the flipping supporting member 1233 is rotatably arranged on the flipping fixing seat 1231, and the flipping supporting member 1233 is slidably connected to the arc-shaped chute 1241 through the flipping sliding member 1238, the movement of the flipping supporting member 1233 is restricted by the arc-shaped chute 1241.

[0087] Referring to Figure 8-10As shown in the figure; when the flipping support member 1233 moves away from the grasping device 13, under the guiding action of the arc-shaped chute 1241, the flipping support member 1233 rotates counterclockwise, and the flipping support member 1233 changes from the state where the first flipping support plate 1236 is above the second flipping support plate 1237 to the state where the second flipping support plate 1237 is above the first flipping support plate 1236; when the flipping support member 1233 moves towards the grasping device 13, under the guiding action of the arc-shaped chute 1241, the flipping support member 1233 rotates clockwise, and the flipping support member 1233 changes from the state where the second flipping support plate 1237 is above the first flipping support plate 1236 to the state where the first flipping support plate 1236 is above the second flipping support plate 1237. That is, the box-shaped material is flipped from the state where the A side is on the left and the B side is on the top to the state where the B side is on the left and the A side is on the bottom; in this way, the box-shaped material can be flipped clockwise or counterclockwise.

[0088] As Figure 11-14 shown in the figure; the telescopic device 11 includes a telescopic fixed bracket 111, a telescopic movable bracket 112, a first telescopic driving device 113, and a second telescopic driving device 114; one end of the telescopic movable bracket 112 is connected to the grasping device 13; the telescopic movable bracket 112 is arranged above the telescopic fixed bracket 111 and is slidably connected to the telescopic fixed bracket 111; in this embodiment, a slide rail (not shown in the figure) is provided at the top of the telescopic fixed bracket 111, and a slider (not shown in the figure) is provided at the bottom of the telescopic movable bracket 112, and the slider is slidably arranged on the slide rail.

[0089] The fixed end of the first telescopic driving device 113 is connected to the telescopic fixed bracket 111, the movable end of the first telescopic driving device 113 is connected to the fixed end of the second telescopic driving device 114, and the movable end of the second telescopic driving device 114 is connected to the telescopic movable bracket 112; the first telescopic driving device 113 is used to drive the telescopic movable bracket 112 to move, and the second telescopic driving device 114 is used to drive the telescopic movable bracket 112 to move relative to the first telescopic driving device 113. The first telescopic driving device 113 drives the telescopic movable bracket 112 to perform the first extension, and the second telescopic driving device 114 drives the telescopic movable bracket 112 to perform the second extension; the moving distance of the telescopic movable bracket 112 is far; thereby making the grasping range of the grasping device 13 far.

[0090] In this embodiment, the telescopic first driving device 113 is a rodless cylinder; the telescopic first driving device 113 includes a telescopic first fixed seat 1131, a telescopic first cylinder body 1132 and a telescopic first slider 1133; the telescopic movable bracket 112 is located between the telescopic first slider 1133 and the telescopic fixed bracket 111; one end of the telescopic first fixed seat 1131 is connected to the telescopic fixed bracket 111, and the telescopic first cylinder body 1132 is arranged at the other end of the telescopic first fixed seat 1131; the telescopic first slider 1133 is sleeved on the telescopic first cylinder body 1132 and is slidably arranged on the telescopic first cylinder body 1132.

[0091] The telescopic second driving device 114 includes a telescopic second fixed seat 1141, a telescopic second cylinder 1142 and a telescopic third fixed seat 1143; the fixed end of the telescopic second cylinder 1142 is connected to the telescopic second fixed seat 1141, and the telescopic second fixed seat 1141 is connected to the telescopic first slider 1133; the movable end of the telescopic second cylinder 1142 is connected to the telescopic third fixed seat 1143, and the telescopic third fixed seat 1143 is connected to the telescopic movable bracket 112.

[0092] The telescopic first slider 1133 is connected to the telescopic second fixed seat 1141 and slides on the telescopic first cylinder body 1132. At the same time, the telescopic second fixed seat 1141 is connected to the telescopic movable bracket 112 through the telescopic second cylinder and the telescopic third fixed seat 1143; this avoids the rotation of the telescopic first slider 1133 during the movement process and plays a guiding role in the movement of the telescopic first slider 1133.

[0093] In another embodiment, the telescopic device 11 further includes a pulley 1152 assembly 115. The pulley 1152 assembly 115 is arranged at one end of the telescopic movable bracket 112 away from the grasping device 13; the pulley 1152 assembly 115 includes a pulley bracket 1151, and more than one rotatable pulley 1152 is provided on both sides of the pulley bracket 1151; the pulley 1152 abuts against the bottom of the telescopic first slider 1133. When the telescopic first driving device 113 drives the telescopic movable bracket 112 to move, the telescopic movable bracket 112 moves synchronously with the telescopic first slider 1133; since the telescopic first slider 1133 moves synchronously with the telescopic movable bracket 112, there is no sliding friction between the telescopic first slider 1133 and the telescopic movable bracket 112 at this time; when the telescopic second driving device 114 drives the telescopic movable bracket 112 to move, the telescopic movable bracket 112 moves relative to the telescopic first slider 1133; by arranging the pulley assembly 115 at one end of the telescopic movable bracket 112 away from the grasping device 13, the friction force received by the telescopic first slider 1133 during the movement process is reduced.

[0094] Such as Figure 17-19As shown in the figure; the lifting device 2 includes a lifting fixed bracket 21, a lifting movable bracket 22, a lifting drive device 23 and a transmission component 24; the lifting fixed bracket 21 is fixedly connected to the frame 10, and the lifting movable bracket 22 is slidably connected to the lifting fixed bracket 21 and the grasping device 1.

[0095] In this embodiment, a slide rail is provided on the lifting fixed bracket 21, and a slider is provided on the side of the lifting movable bracket 22 close to the lifting fixed bracket 21; a slider is provided on the flipping bracket 121. A slide rail is provided on the side of the lifting movable bracket 22 close to the flipping bracket 121; the slider is slidably arranged on the slide rail; thereby realizing the sliding connection between the lifting movable bracket 22 and the lifting fixed bracket 21, and between the lifting movable bracket 22 and the flipping bracket 121.

[0096] There are two lifting fixed brackets 21, two lifting movable brackets 22 and two transmission components 24; the two lifting movable brackets 22 are located between the two lifting fixed brackets 21, and a lifting drive support member 25 is connected between the two lifting movable brackets 22.

[0097] The transmission component 24 includes a first lifting transmission wheel 241, a second lifting transmission wheel 242, a lifting synchronous belt 243, a first synchronous belt fixing member 244 and a second synchronous belt fixing member 245; the output end of the lifting drive device 23 passes through the first lifting transmission wheel 241 and is connected to one end of the lifting movable bracket 22, and the second lifting transmission wheel 242 is rotatably arranged at the other end of the lifting movable bracket 22; the lifting synchronous belt 243 is sleeved on the first lifting transmission wheel 241 and the second lifting transmission wheel 242.

[0098] One end of the first synchronous belt fixing member 244 is fixedly connected to the lifting fixed bracket 21, and the other end of the first synchronous belt fixing member 244 clamps the lifting synchronous belt 243 on one side of the first lifting transmission wheel 241 and the second lifting transmission wheel 242; referring to Figure 4 and 15 As shown; the second synchronous belt fixing member 245 sleeves and fixes the lifting synchronous belt 243 on the other side of the first lifting transmission wheel 241 and the second lifting transmission wheel 242 on the flipping bracket 121; the transmission component 24 is used to drive the lifting movable bracket 22 and the flipping device 12 to lift synchronously.

[0099] The lifting drive device 23 includes a lifting drive motor 231, a lifting drive gear 232, a lifting driven gear 233, and a lifting synchronizing shaft 234; the lifting drive motor 231 is fixed on a lifting drive support member 25, and the output end of the lifting drive motor 231 is connected to the lifting drive gear 232; the lifting driven gear 233 is sleeved on the lifting synchronizing shaft 234; one end of the lifting synchronizing shaft 234 passes through a first lifting transmission wheel 241 and is rotationally connected to a lifting movable bracket 22; the other end of the lifting synchronizing shaft 234 passes through another first lifting transmission wheel 241 and is rotationally connected to another lifting movable bracket 22; the lifting drive gear 232 meshes with the lifting driven gear 233.

[0100] The lifting device 2 drives the tipping device 12 to lift, and further drives the grasping device 13 to lift; in this way, the grasping device 13 can grasp box-shaped materials at different heights; since the tipping device 12 is lifted synchronously with the grasping device 13, the cooperation effect between the grasping device 13 and the tipping device 12 is good; the lifting synchronous belt 243 sleeve on one side of the transmission assembly 24 is connected to the lifting fixed bracket 21, and the transmission assembly 24 rotates in one direction to drive the lifting synchronous belt 243 to move, referring to Figure 17 the W direction in; the first synchronous belt fixing member 244 approaches the bottom end of the lifting fixed bracket 21, and the first synchronous belt fixing member 244 generates a force to drive the lifting fixed bracket 21 to move downward; since the lifting fixed bracket 21 is fixed on the frame 10, the lifting fixed bracket 21 cannot move, while the transmission assembly 24 is arranged on the lifting movable bracket 22, and the lifting movable bracket 22 is slidably connected to the lifting fixed bracket 21, this will drive the lifting movable bracket 22 to move upward, making the first synchronous belt fixing member 244 move downward relative to the first lifting transmission wheel 241, thereby realizing the rise of the lifting movable bracket 22.

[0101] The transmission assembly 24 rotates the lifting synchronous belt 243 in the other direction, referring to Figure 17 the Q direction in; the first synchronous belt fixing member 244 approaches the top end of the lifting fixed bracket 21, and the first synchronous belt fixing member 244 generates a force to drive the lifting fixed bracket 21 to move upward; since the lifting fixed bracket 21 is fixed on the frame 10, the lifting fixed bracket 21 cannot move, while the transmission assembly 24 is arranged on the lifting movable bracket 22, and the lifting movable bracket 22 is slidably connected to the lifting fixed bracket 21, this will drive the lifting movable bracket 22 to move downward, making the first synchronous belt fixing member 244 move upward relative to the first lifting transmission wheel 241, thereby realizing the descent of the lifting movable bracket 22.

[0102] At the same time, a second synchronous belt fixing member 245 is connected to the lifting synchronous belt 243 on the other side of the transmission assembly 24. Since the first synchronous belt fixing member 244 is connected to the lifting synchronous belt 243 on one side of the first lifting transmission wheel 241; the second synchronous belt fixing member 245 is connected to the lifting synchronous belt 243 on the other side of the first lifting transmission wheel 241; when the lifting movable bracket 22 rises, the first synchronous belt fixing member 244 moves downward relative to the first lifting transmission wheel 241, so that the second synchronous belt fixing member 245 moves upward relative to the first lifting transmission wheel 241, and the flipping bracket 121 rises at the same time; when the lifting movable bracket 22 descends, the first synchronous belt fixing member 244 moves upward relative to the first lifting transmission wheel 241, so that the second synchronous belt fixing member 245 moves downward relative to the first lifting transmission wheel 241, and the flipping bracket 121 descends at the same time; the flipping bracket 121 moves on the basis of the movement of the lifting movable bracket 22, and the lifting height range of the flipping bracket 121 is large.

[0103] As Figure 1 shown; there is also a moving device 4 at the bottom of the frame 10; the moving device 4 is used to drive the frame 10 to move. By driving the frame 10 to move through the moving device, the engineering robot can be moved closer to the box-shaped material or other robots. The moving device 4 includes four groups of moving wheels, and each group of moving wheels is driven by an independent motor.

[0104] As Figure 2 、 20 -23 shown; the towing mechanism 3 is arranged near the bottom of the frame 10; the towing mechanism 3 includes two tow hooks, and each tow hook includes a U-shaped mounting seat 31, a towing cylinder 32, two relatively arranged towing mounting plates 33, a towing fixing block 34, a towing limiting member 35, a towing slide rail 36, a towing slider 37, a limiting connecting rod 38 and a towing member 39.

[0105] Both ends of the U-shaped mounting seat 31 are respectively fixedly connected to the frame 10; the towing fixing block 34 is arranged between the two towing mounting plates 33, and the towing fixing block 34 is respectively fixedly connected to the two towing mounting plates 33; the fixed end of the towing cylinder 32 is connected to the frame 10, and the movable end of the towing cylinder 32 is fixedly connected to the towing fixing block 34; the middle position of the limiting connecting rod 38 is hinged between the two towing mounting plates 33, and one end of the towing member 39 is hinged between the two towing mounting plates 33 and is located at the end of the towing mounting plate 33 far from the towing fixing block 34; the end of the towing member 39 hinged to the towing mounting plate 33 abuts against the limiting connecting rod 38; in this embodiment, a return torsion spring (not shown in the figure) is connected between the towing member 39 and the two towing mounting plates 33; under the elastic force of the return torsion spring, the end of the towing member 39 far from the limiting connecting rod 38 is vertically downward.

[0106] The towing limit member 35 is installed on the frame 10 and is located on the side of the U-shaped mounting base 31 away from the towing cylinder 32; a first protrusion 331 extends upward at the upper end of the towing mounting plate 33 and is located on the side close to the towing cylinder 32, and the height of the uppermost end of the first protrusion 331 is lower than the highest point of the groove formed by the U-shaped mounting base 31; a second protrusion 332 extends upward at the upper end of the towing mounting plate 33 and is located on the side away from the towing cylinder 32; the towing limit member 35 is used to limit the first protrusion 331 and the second protrusion 332.

[0107] The towing slide rail 36 is arranged on the side surface of the towing mounting plate 33 away from the other towing mounting plate 33, the towing slider 37 is fixedly installed on the inner side wall of the groove formed by the U-shaped mounting base 31, a chute corresponding to the towing slide rail 36 is arranged on the towing slider 37, and the towing slide rail 36 is slidably arranged on the towing slider 37; the towing member 39 includes a towing portion 391 and a bending portion 392, the towing portion 391 and the bending portion 392 are obliquely connected, and the towing member 39 is hinged to the towing mounting plate 33 at the end where the towing portion 391 is connected to the bending portion 392.

[0108] Since the towing slider 37 is fixedly connected to the frame 10 through the U-shaped mounting base 31; the towing slide rail 36 is fixedly connected to the towing mounting plate 33; the towing slide rail 36 is slidably arranged on the towing slider 37; the towing fixing block 34 connects the towing mounting plate 33 and the movable end of the towing cylinder 32; when the towing cylinder 32 extends, the towing mounting plate 33 is driven to move through the transmission of the towing fixing block 34, and the towing slide rail 36 slides on the towing slider 37; the towing mounting plate 33 simultaneously drives the limit link 38 and the towing member 39 to move relative to the towing slide rail 36; until the first protrusion 331 on the towing mounting plate 33 abuts against the towing limit member 35 fixed on the frame 10; the towing limit member 35 limits the movement of the towing mounting plate 33; refer to Figure 22 as shown; at this time, the towing limit member 35 is located above the end of the limit link 38 away from the towing member 39.

[0109] Refer to Figure 22 as shown; wherein Figure 22 the arrow direction L in is the direction of the force received by the limit link 38 due to the action of the towing limit member 35; the arrow direction K is the direction of the force received by the towing member 39 when it contacts the cross bar of other robots; when the towing mechanism 3 tows other robots, the towing hook hooks the cross bar 30 of other robots, and the dotted line part is the position where the cross bar 30 is located.

[0110] The mobile device 4 moves, pushing the towing member 39 towards the crossbar provided on other robots. The reaction force generated by the crossbar of other robots pushes the towing part 391 of the push-pull member 39 to rotate towards the limit link 35 against the elastic force of the return spring until the crossbar disengages from the push-pull part 391 of the push-pull member 39. Then, the towing member 39 returns under the action of the elastic force of the return spring, and the towing mechanism 3 completes the connection action with the crossbar of other robots.

[0111] Refer to Figure 22 as shown; when the towing mechanism 3 pulls other robots through the towing member 39, the frame 10 moves away from other robots to achieve towing; the crossbar 30 of other robots approaches the towing member 39 along the J direction and generates a force to drive the towing member 39 to rotate counterclockwise; however, since one end of the limit link 38 abuts against the towing limit member 35; the limit link 38 cannot rotate clockwise; at this time, the other end of the limit link 3 abuts against the towing member 39; so that the towing member 39 cannot rotate counterclockwise; thus restricting the tendency of the towing link to rotate; enabling the towing member 39 to hook the crossbar 30 of other robots; achieving the towing of other robots. When the towing cylinder 32 contracts, the towing fixing block 34 slides towards the frame 10 through the cooperation of the towing slide rail 36 and the towing slider 37 until the second protrusion 332 on the towing mounting plate 33 abuts against the towing limit member 35 fixed on the frame 10. At this time, the towing limit member 35 no longer restricts the end of the limit link 38 away from the towing member 39; enabling the limit link 38 to rotate clockwise under the action of force; and then when the frame 10 continues to move away from other robots; the crossbar 30 of other robots approaches the towing member 39 along the J direction; and generates a force to drive the towing member 39 to rotate counterclockwise; when the towing member 39 rotates counterclockwise, the crossbar 30 of other robots is separated from the towing mechanism 3. The working method of the engineering robot includes the transfer method and the rescue method of box-shaped materials;

[0112] The transfer method of box-shaped materials includes the following steps:

[0113] S1. Determine whether the box-shaped material is within the lifting range of the grasping device 13. If so, proceed to S2; in this embodiment, it is manually determined whether the box-shaped material is within the lifting range of the grasping device 13.

[0114] S2. The mobile device 4 drives the frame 10 to move to one side of the box-shaped material.

[0115] S3. Determine whether the adsorbing member 134 of the grasping device 1313 can contact one side surface opposite to the box-shaped material. If so, proceed to S4; if not, proceed to S6; in this embodiment, it is manually determined whether the adsorbing member 134 can contact one side opposite to the box-shaped material.

[0116] S4. The grasping and rotating bracket 133 drives the suction attachment 134 to rotate away from the avoidance space 1215, so that the suction surface of the suction attachment 134 is parallel to the side opposite to the box-shaped material; the lifting device 2 is used to drive the suction attachment 134 to move to the same horizontal height as the box-shaped material; then the telescopic movable bracket 112 extends to make the suction attachment 134 contact the box-shaped material.

[0117] S5. The suction attachment 134 adsorbs the box-shaped material, and then the telescopic movable bracket 112 retracts; then S12 is performed.

[0118] S6. If the box-shaped material is above the grasping device 13, then S7 is performed; if the box-shaped material is below the grasping device 13, then S9 is performed.

[0119] S7. The telescopic movable bracket 112 extends to make the suction attachment 134 directly below the box-shaped material, and the grasping and rotating bracket 133 rotates away from the avoidance space 1215 to make the suction surface of the suction attachment 134 correspond to the bottom of the box-shaped material; the lifting device drives the suction attachment 134 to rise and contact the box-shaped material; then S8 is performed.

[0120] S8. The lifting device drives the suction attachment 134 to descend, and then the telescopic movable bracket 112 retracts; then S11 is performed;

[0121] S9. The telescopic movable bracket 112 extends to make the suction attachment 134 directly above the box-shaped material, and the grasping and rotating bracket 133 drives the suction attachment 134 to rotate away from the avoidance space 1215 to make the suction surface of the suction attachment 134 correspond to the top of the box-shaped material; the lifting device drives the suction attachment 134 to descend and contact the box-shaped material; then S10 is performed.

[0122] S10. The lifting device drives the suction attachment 134 to rise, and then the telescopic movable bracket 112 retracts; then S11 is performed.

[0123] S11. The grasping and rotating bracket 133 drives the suction attachment 134 to rotate towards the avoidance space 1215. When the box-shaped material contacts the flipping support, the suction attachment 134 releases the adsorption of the box-shaped material; then the grasping and rotating bracket 133 rotates away from the avoidance space 1215; then S12 is performed.

[0124] S12. The flipping drive device drives the flipping support to move away from the grasping device 13. When the flipping support slides along the arc-shaped chute, the flipping support gradually rotates counterclockwise; then S13 is performed.

[0125] S13. When the flipping support slides to the end of the arc-shaped chute away from the grasping device, the flipping support rotates counterclockwise by an angle A; the rotation of the flipping support drives the box-shaped material to turn over; then S14 is performed.

[0126] S14, grab the rotating bracket 133 to drive the adsorption member 134 to rotate towards the avoidance space 1215, and the adsorption member 134 adsorbs the box-shaped material that has been turned over; then proceed to S15.

[0127] S15, the moving device drives the frame to move to the target point; the adsorption member 134 drives the box-shaped material to rotate away from the avoidance space 1215, and places the box-shaped material on the contact surface of the target point.

[0128] In the above method, the grabbing rotating bracket drives the adsorption element to rotate, so that the adsorption element can contact the box-type materials at different heights and different positions; when there is no obstacle between the adsorption element and the box-type material, the adsorption element contacts the opposite side of the box-type material, which is highly efficient; when the box-type material is located above or below the adsorption element, and there is no obstacle between the adsorption element and the box-type material; the height of the adsorption element is changed by the lifting device; so that the adsorption element can contact the opposite side of the box-type material at different heights; and the box-type materials at different heights can be grabbed.

[0129] When the box-shaped material is located above or below the adsorbent and there is an obstacle between the adsorbent and the box-shaped material; the grabbing and rotating bracket changes the contact position of the adsorbent with the box-shaped material; when the box-shaped material is located above the adsorbent, the adsorbent contacts the bottom of the box-shaped material; when the box-shaped material is located below the adsorbent, the adsorbent contacts the top of the box-shaped material; then the adsorbent and the box-shaped material are driven to move by the lifting device, so that the box-shaped material can be grabbed by crossing the obstacle.

[0130] At the same time, the box-shaped material moves to the turning device, and the box-shaped material is turned over by the turning device; thus, the surface position of the box-shaped material when the adsorbent is taken out of the turning device will change.

[0131] In the above method,

[0132] S2 also includes: if the box-shaped material is not within the lifting range of the grabbing device 13, then proceed to S16.

[0133] S16: If the box-shaped material is located above the adsorption member, proceed to S17.

[0134] S17, the telescopic movable bracket 112 is extended to make the adsorption member 134 located directly below the box-shaped material, and the grabbing rotating bracket 133 is rotated away from the avoidance space 1215, so that the adsorption surface of the adsorption member 134 corresponds to the bottom of the box-shaped material; the lifting device drives the adsorption member 134 to rise to the highest height; the adsorption member performs adsorption; and then proceeds to S18.

[0135] S18, the clamping device clamping the upper box-shaped material releases the clamping of the box-shaped material; the box-shaped material moves closer to the adsorption member under the action of gravity; and then S19 is performed.

[0136] S19. When the box-shaped material contacts the suction attachment, the support member supports the box-shaped material; under the suction force of the suction attachment, the box-shaped material is adsorbed on the suction attachment; then S8 is performed.

[0137] The above method can grasp the box-shaped material falling from a high altitude; since the box-shaped material impacts the suction attachment under the action of gravity, it will cause the suction attachment to deform, and then the suction attachment cannot adsorb the box-shaped material; by setting the support member to increase the stiffness of the suction attachment, the support member supports the box-shaped material; to prevent the box-shaped material from impacting the suction attachment under the action of gravity and causing the suction attachment to deform.

[0138] The rescue method includes the following steps: A1. When the towing cylinder extends, the sliding mechanism slides outward under the action of the transmission connecting block until the first protrusion on the connecting plate abuts against the towing limit member fixed on the frame; the towing limit member limits the clockwise rotation of the limit link.

[0139] A2. Move through the moving device to push the towing member towards the crossbar of the target vehicle body. The reaction force generated by the crossbar of the target vehicle body pushes the towing part of the push-pull member to rotate towards the limit link against the elastic force of the return spring until the crossbar disengages from the push-pull part of the push-pull member, and then the towing member returns under the elastic force of the return spring, and the towing mechanism completes the connection action with the crossbar of the target vehicle body.

[0140] A3. One end of the limit link abuts against the bent part of the towing member, and the other end of the limit link abuts against the towing limit member; the moving device drives the frame to move away from the target vehicle body. The crossbar of the target vehicle body approaches the towing member along the direction away from the limit link of the towing part and generates a force to drive the towing member to rotate away from the limit link; the clockwise rotation of the limited limit link limits the counterclockwise rotation of the towing member; the limit link restricts the rotation trend of the towing link, and thus the crossbar of the target vehicle body cannot disengage from the towing part of the towing member.

[0141] A4. The moving device drives the frame to continue to move away from the target vehicle body, and the towing mechanism pulls the target vehicle body to move through the towing member.

[0142] A5. After completing the towing of the target vehicle body, the towing cylinder contracts, driving the connecting plate to contract until the second protrusion abuts against the towing limit member, and the towing limit member no longer restricts the clockwise rotation of the limit link, and the limit link no longer restricts the counterclockwise rotation of the towing member; when the engineering robot continues to move away from the target vehicle body; the crossbar of the target vehicle body drives the towing member to rotate away from the limit link; realizing the separation of the crossbar of the target vehicle body from the towing mechanism.

Claims

1. An engineering robot, comprising a frame, and a grasping device is provided on the frame, characterized in that: The grabbing device includes a telescopic device, a turning device and a grabbing device, wherein the grabbing device is located on one side of the turning device; a traction mechanism is provided on the side of the frame away from the grabbing device; the fixed end of the telescopic device is connected to the turning device, the movable end of the telescopic device is connected to the grabbing device, and the telescopic device drives the grabbing device to approach or move away from the turning device; The turning device comprises a turning bracket, a turning driving device, a turning seat and two turning rails; The flip driving device is arranged at the bottom of the flip bracket, and the two flip rails are arranged on the flip bracket and are located above the flip driving device; The turning driving device drives the turning seat to slide on the turning track; The flip seat comprises a flip fixing seat and a flip supporting member, the flip supporting member is rotatably arranged on the flip fixing seat; the flip fixing seat is fixedly connected to the flip driving device; the flip supporting member comprises a flip first supporting plate and a flip second supporting plate, the flip second supporting plate is located below the flip first supporting plate, the flip first supporting plate is connected to the flip second supporting plate and is vertically arranged; flip sliding members are respectively arranged at both ends of the flip second supporting plate, and the flip track is provided with an arc-shaped slide groove; one end of the arc-shaped slide groove is away from the grasping device and extends upward along the length direction of the flip bracket; the other end of the arc-shaped slide groove is close to the grasping device and extends downward along the length direction of the flip bracket; the flip sliding member is slidably arranged in the arc-shaped slide groove; the flip driving device is used to drive the flip supporting member to rotate along the arc-shaped slide groove at an angle A, 0°<A<100°; The grabbing device includes a grabbing mounting bracket, a grabbing driving device, a grabbing rotating bracket and an adsorbent; the grabbing mounting bracket is connected to the movable end of the telescopic device, the grabbing driving device is fixed on the grabbing mounting bracket and connected to the grabbing rotating bracket, and the adsorbent is installed on the grabbing rotating bracket; the grabbing driving device drives the grabbing rotating bracket to rotate, and the grabbing rotating bracket drives the adsorbent to approach and move away from the flip seat; The tractor mechanism includes more than one towing hook, and the towing hook includes a U-shaped mounting seat, a towing cylinder, two oppositely arranged towing mounting plates, a towing fixing block, a towing limiter, a towing slide rail, a towing slider, a limiter connecting rod and a towing member; The two ends of the U-shaped mounting seat are fixedly connected to the frame respectively; the pulling fixed block is arranged between the two pulling mounting plates, and the pulling fixed blocks are fixedly connected to the two pulling mounting plates respectively; the fixed end of the pulling cylinder is connected to the frame, and the movable end of the pulling cylinder is fixedly connected to the pulling fixed block; the middle position of the limit link is hinged between the two pulling mounting plates, and one end of the pulling member is hinged between the two pulling mounting plates and is located at the end of the pulling mounting plate away from the pulling fixed block; the end of the pulling member hinged to the pulling mounting plate abuts against the limit link; a reset torsion spring is connected between the pulling member and the two pulling mounting plates; under the elastic force of the reset torsion spring, the end of the pulling member away from the limit link is vertically downward; The dragging limit piece is installed on the machine frame and is located on the side of the U-shaped mounting seat away from the dragging cylinder; at the upper end of the dragging mounting plate and on the side close to the dragging cylinder, a first convex part extends upward, and the height of the uppermost end of the first convex part is lower than the highest point of the groove formed by the U-shaped mounting seat; at the upper end of the dragging mounting plate and on the side away from the dragging cylinder, a second convex part extends upward; the dragging limit piece is used to limit the first convex part and the second convex part; The dragging slide rail is arranged on the side surface of the dragging mounting plate away from the other dragging mounting plate, the dragging slider is fixedly installed on the inner side wall of the groove formed by the U-shaped mounting seat, a sliding groove corresponding to the dragging slide rail is arranged on the dragging slider, and the dragging slide rail is slidably arranged on the dragging slider; the telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a telescopic first driving device and a telescopic second driving device; one end of the telescopic movable bracket is connected with the grasping device; the telescopic movable bracket is arranged above the telescopic fixed bracket and is slidably connected with the telescopic fixed bracket; the fixed end of the telescopic first driving device is connected with the telescopic fixed bracket, the movable end of the telescopic first driving device is connected with the fixed end of the telescopic second driving device, and the movable end of the telescopic second driving device is connected with the telescopic movable bracket; the telescopic first driving device is used to drive the telescopic movable bracket to move, and the telescopic second driving device is used to drive the telescopic movable bracket to move relative to the telescopic first driving device; when the dragging mechanism pulls other robots through the dragging piece, the machine frame moves in the direction away from other robots to realize dragging; when the dragging cylinder contracts, the dragging fixed block slides towards the machine frame through the cooperation of the dragging slide rail and the dragging slider until the second convex part on the dragging mounting plate abuts against the dragging limit piece fixed on the machine frame, so that the limit connecting rod can rotate clockwise under the action of force. Furthermore, when the machine frame continues to move in the direction away from other robots, the cross bar of other robots approaches the dragging piece and generates a force to drive the dragging piece to rotate counterclockwise. When the dragging piece rotates counterclockwise, the cross bar of other robots is separated from the dragging mechanism.

2. An engineering robot according to claim 1, characterized in that: The telescopic first driving device includes a telescopic first fixed seat, a telescopic first cylinder body and a telescopic first slider; the telescopic movable bracket is located between the telescopic first slider and the telescopic fixed bracket; one end of the telescopic first fixed seat is connected with the telescopic fixed bracket, and the telescopic first cylinder body is arranged at the other end of the telescopic first fixed seat; the telescopic first slider is arranged on the telescopic first cylinder body in a penetrating manner and is slidably arranged on the telescopic first cylinder body; The telescopic second driving device includes a telescopic second fixed seat, a telescopic second cylinder and a telescopic third fixed seat; the fixed end of the telescopic second cylinder is connected with the telescopic second fixed seat, and the telescopic second fixed seat is connected with the telescopic first slider; the movable end of the telescopic second cylinder is connected with the telescopic third fixed seat, and the telescopic third fixed seat is connected with the telescopic movable bracket.

3. An engineering robot according to claim 2, characterized in that: The telescopic device further includes a pulley assembly, and the pulley assembly is arranged at the end of the telescopic movable bracket away from the grasping device; the pulley assembly includes a pulley bracket, and more than one rotatable pulley is arranged on both sides of the pulley bracket; the pulley abuts against the bottom of the telescopic first slider.

4. An engineering robot according to claim 2, characterized in that: The flipping base further includes a flipping swing base. The flipping support member is fixedly connected to the flipping swing base, and the flipping swing base is hinged to the flipping fixed base. The flipping swing base includes a first swing body and a second swing body. The first swing body is connected to the second swing body and is vertically arranged. The first flipping support plate is connected to the first swing body, and the second flipping support plate is connected to the second swing body.

5. An engineering robot according to claim 1, characterized in that: The flipping bracket includes a flipping fixing member and a flipping positioning member. The flipping positioning member is arranged on the flipping fixing member. An avoidance hole is provided on the flipping positioning member, and an avoidance space is formed between the avoidance hole and the flipping fixing member. An installation hole is provided on the flipping fixing member. The flipping track is arranged in the avoidance space through the installation hole and is fixedly connected to the flipping fixing member and the flipping positioning member.

6. An engineering robot according to claim 5, characterized in that: The flipping driving device is arranged at the bottom of the flipping fixed base. The flipping driving device includes a flipping driving support, a flipping driving cylinder body, and a flipping driving slider. The flipping driving support is connected to the flipping fixed base. The flipping driving cylinder body is arranged on the flipping fixed base. The flipping driving slider is arranged through the flipping driving cylinder body and is slidably arranged on the flipping driving cylinder body. A connection hole is provided on the flipping fixing member, and one end of the flipping driving slider passes through the connection hole and is connected to the flipping fixed base.

7. An engineering robot according to claim 1, characterized in that: It further includes a lifting device. The lifting device includes a lifting fixed bracket, a lifting movable bracket, a lifting driving device, and a transmission assembly. The lifting fixed bracket is fixedly connected to the frame. The lifting movable bracket is slidably connected to the lifting fixed bracket and the grasping device. The transmission assembly includes a first lifting transmission wheel, a second lifting transmission wheel, a lifting synchronous belt, a first synchronous belt fixing member, and a second synchronous belt fixing member. The output end of the lifting driving device passes through the first lifting transmission wheel and is connected to one end of the lifting movable bracket. The second lifting transmission wheel is rotatably arranged at the other end of the lifting movable bracket. The lifting synchronous belt is sleeved on the first lifting transmission wheel and the second lifting transmission wheel. One end of the first synchronous belt fixing member is fixedly connected to the lifting fixed bracket, and the other end of the first synchronous belt fixing member is clamped on the lifting synchronous belt on one side of the first lifting transmission wheel and the second lifting transmission wheel. The second synchronous belt fixing member sleeves and fixes the lifting synchronous belt on the other side of the first lifting transmission wheel and the second lifting transmission wheel on the flipping bracket. The transmission assembly is used to drive the lifting movable bracket and the flipping device to lift synchronously.

8. An engineering robot according to claim 1, characterized in that: A is 83°.

9. An engineering robot according to claim 1, characterized in that: The dragging member includes a dragging portion and a bending portion. The dragging portion and the bending portion are obliquely connected. The dragging member is hinged to the dragging mounting plate at the end where the dragging portion is connected to the bending portion.

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