A stacking method

Abstract

The present invention provides a stacking method, which is realized by a handling device. The handling device includes a clamping and lifting device and a clamping device; the clamping and lifting device drives the clamping device to lift and lower; the clamping device includes a first clamping device and a second clamping device; the first clamping device is rotatably arranged relative to the second clamping device; the material is first clamped by the first clamping device; then the material is secondarily clamped by the second clamping device; when the second clamping device clamps the material, the first clamping device releases the clamping of the material and rotates; then the material is tertiarily clamped; in this way, when the clamping device clamps the material, the clamping device can rotate relative to the material; during stacking, the clamping surface of the material can be changed so that the material can contact other objects with different surfaces.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a stacking method. Background Art

[0002] Goods handling refers to the general term for short-distance movement operations of goods during the transportation production process. Traditional goods handling is manual handling, with low handling efficiency and a waste of a large amount of manpower and material resources. To improve efficiency, handling robots have emerged on the market. Existing handling robots grasp materials through vacuum adsorption or through clamping.

[0003] In the patent document with the Chinese application number 201720308579.7 and the publication date of October 31, 2017, there is disclosed an automatic transportation robot for a express delivery station, including: a chassis, wheels respectively rotatably installed at four corners of the chassis, a reduction motor installed on the chassis and drivingly connected to the wheels, a battery installed on the chassis and connected to the reduction motor, and a bracket Ⅰ installed on the chassis. A servo motor Ⅰ drives a bracket Ⅱ to swing relative to the chassis in the front-back direction, and a servo motor Ⅱ drives a servo motor Ⅲ to swing relative to the chassis in the front-back direction, so as to swing the clamping jaw to a specified position. After the servo motor Ⅲ drives the clamping jaw to rotate to a reasonable position, two clamping jaws are driven by a clamping jaw driving mechanism to clamp the goods.

[0004] Refer to Figure 1 and 2 As shown; surface U1 is the left side surface of the material, surface U2 is the right side surface of the material, surface U3 is the rear side surface of the material, surface U4 is the front side surface of the material, surface U5 is the top surface of the material, and surface U6 is the bottom surface of the material.

[0005] This robot drives the clamping jaw to rotate through the servo motor Ⅲ. After the clamping jaw grasps the material, the material rotates synchronously with the clamping jaw; when the clamping jaw grasps the U1 surface and U2 surface of the material; if it is necessary to change the clamping surface of the material, taking the U5 surface and U6 surface as an example; this robot needs to place the material on a support surface, and then the robot moves so that the clamping jaw corresponds to the U5 surface and U6 surface of the material, so as to clamp different clamping surfaces of the material; the clamping jaw of this robot cannot rotate relative to the material; when the clamping jaw clamps the material, the clamping surface of the material cannot be changed. Summary of the Invention

[0006] The present invention provides a stacking method, which can quickly change the clamping surface of the material during stacking, facilitating stacking the same material with the same surface.

[0007] To achieve the above object, the technical solution of the present invention is: a stacking method realized by a handling robot. The handling device includes a frame body, a clamping and lifting device, a clamping device, and a traveling device. The traveling device is used to drive the handling device to move; the clamping and lifting device is arranged on the frame body and connected to the clamping device, and the clamping and lifting device drives the clamping device to move along the height direction of the frame body.

[0008] The clamping device includes a first clamping device and a second clamping device; the first clamping device includes a first clamping fixed frame, a first clamping rotating frame, a clamping device, and a clamping rotating device; there are two clamping devices, and the first clamping rotating frame is located between the two first clamping rotating frames and connected to the two first clamping rotating frames; the first clamping fixed frame is rotatably arranged on the first clamping fixed frame; the second clamping device passes through the first clamping rotating frame and is fixedly connected to the first clamping fixed frame; there is a gap between the second clamping device and the first clamping rotating frame; the clamping rotating device is used to drive the two clamping devices to rotate relative to the first clamping fixed frame.

[0009] The clamping rotating device includes a clamping rotating motor, a clamping rotating driving gear, a clamping rotating driven gear, and a clamping rotating bearing; the first clamping rotating frame is fixedly connected to one side of the clamping rotating driven gear, the other side of the clamping rotating driven gear is fixedly connected to the inner ring of the clamping rotating bearing, and the outer ring of the clamping rotating bearing is fixedly connected to the first clamping fixed frame; the clamping rotating motor is arranged on the first clamping fixed frame, the output end of the clamping rotating motor is connected to the clamping rotating driving gear, and the clamping rotating driving gear meshes with the clamping rotating driven gear.

[0010] Each clamping device includes a first clamping driving device and a first clamping member. The clamping device is connected to the first clamping rotating frame. The movable end of the first clamping driving device is connected to the first clamping member. The first clamping driving device drives the first clamping member to approach and move away from the second clamping device; the two first clamping members approach each other to clamp the material.

[0011] The second clamping device includes a clamping structure and a clamping moving device. The fixed end of the clamping moving device is fixedly connected to the first clamping fixed frame. The movable end of the clamping moving device is connected to the clamping structure. The clamping moving device drives the clamping structure to approach and move away from the first clamping fixed frame; the clamping structure is used to clamp the material, and a clamping avoidance space for avoiding the first clamping member is provided on the clamping structure.

[0012] The stacking method includes the following steps:

[0013] A1. Preset the stacking area.

[0014] A2. The handling device clamps a material through the first clamping member.

[0015] A3. Determine whether it is necessary to change the clamping surface of the currently clamped material; if not, proceed to A10; if so, proceed to A4.

[0016] A4. The clamping lifting device drives the clamping device to rise so that the first clamping device does not interfere with the contact surface of the stacking area when rotating.

[0017] A5. The clamping and moving device drives the clamping structure to approach the material, and at the same time, the clamping structure clamps the material.

[0018] A6. The first clamping member releases the clamping of the currently clamped material.

[0019] A7. The clamping and rotating device drives the first clamping rotating frame to rotate 90° along the first direction; then the first clamping member clamps the currently clamped material again.

[0020] A8. The clamping structure releases the clamping of the material; at the same time, the clamping and moving device drives the clamping structure away from the material.

[0021] A9. The clamping and rotating device drives the first clamping rotating frame to rotate 90° along the second direction.

[0022] A10. The handling device moves towards the stacking area. When the handling device reaches the stacking area, perform A11.

[0023] A11. The first clamping member releases the clamping of the currently clamped material; the material is placed on the stacking area; when clamping the next box-shaped material, then perform A2 until the next material is placed on the material in the stacking area; if it is not necessary to clamp the next box body material, stop working.

[0024] In the above method, the first clamping member first clamps the material for the first time; when it is necessary to change the clamping surface of the currently clamped material; the height of the first clamping member is adjusted by the clamping lifting device to avoid the clamping device from hitting the ground when rotating; when there is enough space between the first clamping member and the ground, the first clamping rotating frame and the clamping device rotate; then the clamping structure clamps the currently clamped material for the second time; after the clamping structure clamps the material, the first clamping member releases the clamping of the currently clamped material; in this way, the material is prevented from falling; then the clamping and rotating device drives the first clamping rotating frame to rotate; so that the first clamping member corresponds to the other clamping surface of the material; the first clamping member clamps the currently clamped material for the third time; after the first clamping member clamps the material, the clamping structure releases the clamping of the currently clamped material; then the first clamping rotating frame is driven to rotate again; in this way, while clamping the material, the clamping surface of the material is changed.

[0025] Further, the clamping structure includes a tightening bracket, a clamping device and a tightening device; the clamping device is located on one side of the tightening bracket; there are two clamping devices; the tightening device includes a first sliding device, a second sliding device, a tightening clamping lifting transmission device, and a tightening telescopic device; one clamping device is slidably arranged at one end of the tightening bracket through the first sliding device; the other clamping device is slidably arranged at the other end of the tightening bracket through the second sliding device.

[0026] The tightening, clamping and lifting transmission device includes a tightening transmission gear, a first tightening transmission rack and a second tightening transmission rack; the tightening transmission gear is rotatably arranged on the tightening bracket, the first tightening transmission rack is located on one side of the tightening transmission gear, the first tightening transmission rack is fixedly connected to a clamping device and meshes with the tightening transmission gear; the second tightening rotating rack is located on the other side of the tightening transmission gear, the second tightening transmission rack is fixedly connected to another clamping device and meshes with the tightening transmission gear.

[0027] The fixed end of the tightening and telescopic device is connected to the tightening bracket, and the movable end of the tightening and telescopic device is connected to a clamping device; the tightening and telescopic device is used to drive the two clamping devices to move away from each other or closer to each other.

[0028] A clamping device comprises a clamping connection piece and two clamping pieces; the two clamping pieces are connected via the clamping connection piece; a first tightening transmission rack is connected to one of the clamping pieces in one clamping device, and a second tightening transmission rack is connected to one of the clamping pieces in another clamping device.

[0029] The clamping member includes a clamping fixing member, a clamping and clamping member, a first clamping limiter and a second clamping limiter; the clamping and clamping member is located on one side of the clamping fixing member, and the first clamping limiter and the second clamping limiter are arranged opposite to each other and are located between the first clamping and clamping member and the first clamping fixing member.

[0030] One end of the clamping member is a contact end, and the other end of the clamping member is an abutment end; the contact end is used to contact the material; the first clamping limit member is connected to the clamping fixing member, and the second clamping limit member is connected to the abutment end of the clamping member; a receiving groove is formed between the first clamping limit member and the second clamping limit member, and a rotating shaft is provided in the receiving groove, and the clamping member is rotatably connected to the clamping fixing member through the rotating shaft; a torsion spring is passed through the rotating shaft, one end of the torsion spring abuts against the first clamping limit member, and the other end of the torsion spring abuts against the first clamping limit member.

[0031] Both ends of the tightening bracket are provided with a stopper protruding from the tightening bracket, and the stopper is located between the tightening bracket and the clamping device; the stopper is used to drive the contact end of the clamping member to swing toward the direction close to the first clamping limit member when it contacts the contact end of the clamping member; the first clamping limit member is used to limit the contact end of the clamping member that swings toward the direction away from the first clamping limit member under the elastic force of the torsion spring when the contact end of the clamping member is separated from the stopper.

[0032] In the above settings, the first tightening drive rack is arranged on one side of the tightening drive gear, and the second tightening drive rack is arranged on the other side of the tightening drive gear. When the first tightening drive rack moves in one direction, the second tightening drive rack will move in the opposite direction to the movement of the first tightening drive rack. The first tightening drive rack is connected to a clamping device, and the second tightening drive gear is connected to another clamping device. When the movable end of the tightening telescopic device extends, the two clamping devices move away from each other to realize the unfolding of the clamping structure. When the movable end of the tightening telescopic device extends, the two clamping devices move closer to each other to realize the folding of the clamping structure. When clamping the material, first unfold the clamping structure, then the clamping and moving device drives the clamping structure to approach the material, and then fold the clamping structure, and the clamping structure clamps the material.

[0033] The two clamping members are connected by a clamping connecting member to realize the synchronous movement of the two clamping members, and two clamping members are provided to stably clamp the material; the clamping and picking member and the clamping and fixing member are movably connected by a rotating shaft; the clamping and picking member can swing relative to the clamping and fixing member; at the same time, since the first clamping limiting member is connected to the clamping and fixing member, and the second clamping limiting member is connected to the clamping and picking member; when the abutting end of the clamping and picking member contacts the resisting member, the contact end of the clamping and picking member approaches the first clamping limiting member against the elastic force of the torsion spring, realizing the folding of the clamping member; when the abutting end of the clamping and picking member separates from the resisting member, under the action of the elastic force of the torsion spring itself, the contact end of the clamping and picking member swings away from the first clamping limiting member; realizing the unfolding of the clamping and picking member. At the same time, during the unfolding process of the clamping and picking member, when the second clamping limiting member abuts against the first clamping limiting member, the first clamping limiting member limits the second clamping limiting member, so that the second clamping limiting member cannot continue to swing, thereby realizing the unfolding of the clamping member.

[0034] At the same time, the first clamping limiting member and the second clamping limiting member of the unfolded clamping member abut against each other; the first clamping limiting member supports the second clamping limiting member; when clamping the material, the clamping and moving device drives the clamping structure to extend, so that the material is located between the clamping devices at both ends of the tightening bracket; then the movable end of the tightening telescopic device retracts, driving the clamping member to fold, and clamping the material through the contact end of the clamping and picking member; when the abutting end of the clamping and picking member contacts the resisting member; at this time, under the supporting effect of the material on the contact end, the clamping and picking member will not swing.

[0035] At the same time, the resisting member in contact with the abutting end of the clamping and picking member will give the contact end of the clamping and picking member a force to swing towards the first clamping limiting member; in this way, the clamping and picking members opposite to each other at both ends of the tightening stably clamp the material. At the same time, the folding and unfolding of the clamping and picking member are realized during the movement of the clamping member, and the structure is simple.

[0036] Further, in A5, the clamping and moving device drives the clamping structure to approach the material, and at the same time, the clamping structure clamps the material; specifically, it is A5.1 - A5.3.

[0037] A5.1. The movable end of the tightening telescopic device extends, and the two clamping devices are separated from each other; at the same time, the clamping and picking members are unfolded.

[0038] A5.2. The clamping and moving device drives the two clamping devices to approach the clamped material; when the material is located between the contact parts of the clamping and picking members at both ends of the receiving bracket, A5.3 is performed.

[0039] A5.3. The movable end of the tightening telescopic device retracts, and the two clamping devices approach each other and contact the material; when the two clamping devices clamp the material, then A6 is performed.

[0040] Further, in A8, the clamping structure releases the clamping of the material; at the same time, the clamping and moving device drives the clamping structure away from the material; specifically, it is A8.1 - A8.2.

[0041] A8.1. The movable end of the tightening telescopic device extends, and the two clamping devices are separated from each other and separated from the material; when the clamping and picking members are separated from the material, A8.2 is performed.

[0042] A8.2. The clamping and moving device drives the two clamping devices away from the material; then the movable end of the tightening telescopic device retracts; the two clamping devices approach each other to realize the folding of the clamping and picking members; then A9 is performed.

[0043] In the above method, when the tightening telescopic device 3214f acts, the clamping devices 3211f at both ends of the tightening bracket 3210f act synchronously to realize approaching or separating from each other; during the process of the two clamping devices separating from each other, the clamping and picking members are unfolded simultaneously; during the process of the two clamping devices approaching each other, the clamping and picking members are folded simultaneously; in this way, the speed of the two clamping devices unfolding and folding is fast, and the working effect of clamping the material is high.

[0044] Further, in A5.1 and A8.1; the movable end of the tightening telescopic device extends, and the two clamping devices are separated from each other; specifically:

[0045] The movable end of the tightening telescopic device drives a clamping device away from the tightening bracket, and the first tightening transmission rack drives the tightening transmission gear to rotate; the tightening transmission gear drives the second tightening transmission rack to move in the opposite direction of the movement along the first tightening transmission rack; so that the other clamping device also moves away from the tightening bracket; the two clamping devices are separated from each other; at the same time, when the contact end of the clamping and gripping member is separated from the resisting member; under the elastic force of the torsion spring, the contact end of the clamping and gripping member swings away from the first clamping limiting member; during the swinging process of the clamping and gripping member, one end of the second clamping limiting member approaches the first clamping limiting member; when one end of the second clamping limiting member abuts against the first clamping limiting member, the first clamping limiting member limits the second clamping limiting member, so that the second clamping limiting member cannot continue to swing, realizing the unfolding of the clamping and gripping member.

[0046] Further, in A5.3 and A8.2; the movable end of the tightening telescopic device retracts; the two clamping devices approach each other; specifically:

[0047] The movable end of the tightening telescopic device drives a clamping device close to the tightening bracket, and the first tightening transmission rack drives the tightening transmission gear to rotate; the tightening transmission gear drives the second tightening transmission rack to move in the opposite direction of the movement along the first tightening transmission rack; so that the other clamping device also moves close to the tightening bracket; the two clamping devices approach each other.

[0048] Further, in A5.3; the contact ends of the clamping and gripping members of the two clamping devices approaching each other clamp the material; when the two clamping devices continue to approach each other; when the contact end of the clamping and gripping member contacts the resisting member; at this time, under the supporting effect of the material on the contact end, the clamping and gripping member will not swing; the resisting member gives the contact end of the clamping and gripping member a force to swing towards the first clamping limiting member, so that the contact end of the clamping and gripping member clamps the material.

[0049] Further, in A8.2; when the contact end of the clamping and gripping member contacts the resisting member; the contact end of the clamping and gripping member approaches the first clamping limiting member against the elastic force of the torsion spring, and the second clamping limiting member is separated from the first clamping limiting member; realizing the folding of the clamping and gripping member. Description of the Drawings

[0050] Figure 1 It is a three-dimensional schematic diagram of the material.

[0051] Figure 2 It is a three-dimensional schematic diagram of the handling device using the present invention.

[0052] Figure 3 It is a three-dimensional schematic diagram of the clamping device of the handling device using the present invention.

[0053] Figure 4 It is an exploded view of the clamping device of the handling device using the present invention.

[0054] Figure 5 It is a schematic diagram of the first clamping fixed frame and the clamping rotating device of the handling device of the present invention.

[0055] Figure 6 It is an exploded view of the first clamping fixed frame and the clamping rotating device of the handling device using the present invention.

[0056] Figure 7 It is a three-dimensional schematic diagram of a first clamping rotating frame and a clamping device of the handling device of the present invention.

[0057] Figure 8 for Figure 7 Enlarged view of a.

[0058] Figure 9 It is a three-dimensional schematic diagram of the second clamping device of the handling device of the present invention.

[0059] Figure 10 It is an exploded view of the second clamping device of the handling device of the present invention.

[0060] Figure 11 It is an exploded view of the clamping structure of the handling device using the present invention.

[0061] Figure 12 It is a schematic diagram of the clamping structure of the handling device of the present invention after being unfolded.

[0062] Figure 13 It is a three-dimensional schematic diagram of the clamping device, the tightening and telescopic device, and the first tightening transmission rack at the upper end of the tightening bracket of the handling device using the present invention.

[0063] Figure 14 It is a three-dimensional schematic diagram of a tightening bracket and a tightening transmission gear of the handling device using the present invention.

[0064] Figure 15 It is a three-dimensional schematic diagram of a clamping device at the lower end of a tightening bracket and a second tightening transmission rack of a handling device using the present invention.

[0065] Figure 16 It is a schematic diagram of the clamping and picking member of the handling device of the present invention when it is folded.

[0066] Figure 17 It is a schematic diagram of the unfolded clamping and picking member of the handling device using the present invention.

[0067] Figure 18 It is a schematic diagram of the cooperation between the blocking member and the clamping and taking member of the handling device of the present invention.

[0068] Figure 19 It is a schematic diagram of a clamping and lifting device using the handling device of the present invention. Detailed implementation mode

[0069] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0070] As shown in Figure 1-19 ; A stacking method is realized through a handling device. The handling device includes a frame 1f, a clamping and lifting device 2f, and a clamping device 3f. The clamping and lifting device 2f is arranged on the frame 1f and connected to the clamping device 3f. The clamping and lifting device 2f drives the clamping device 3f to move along the height direction of the frame 1f. By driving the clamping device 3f to move through the clamping and lifting device 2f, the clamping device 3f can clamp materials at different heights.

[0071] As shown in Figure 3 , 4 ; The clamping device 3f includes a first clamping device 31f and a second clamping device 32f; The first clamping device 31f includes a first clamping fixed frame 311f, a first clamping rotating frame 312f, a clamping device 313f, and a clamping rotating device 314f; There are two clamping devices 313f. The first clamping rotating frame 312f is located between the two clamping devices 313f and connected to the two clamping devices 313f; The first clamping rotating frame 312f is rotatably arranged on the first clamping fixed frame 311f; The second clamping device 32f passes through the first clamping rotating frame 312f and is fixedly connected to the first clamping fixed frame 311f; There is a gap between the second clamping device 32f and the first clamping rotating frame 312f; The clamping rotating device 314f is used to drive the two clamping devices 313f to rotate relative to the first clamping fixed frame 311f. In this embodiment, along the width direction and height direction of the second clamping device 32f, there is a gap between the second clamping device 32f and the first clamping rotating frame 312f.

[0072] By fixedly connecting the clamping device 313f to the first clamping rotating frame 312f, fixedly connecting the second clamping device 32f to the first clamping fixed frame 311f, and rotatably connecting the first clamping rotating frame 312f to the first clamping fixed frame 311f, the clamping device 313f rotates relative to the second clamping device 32f; At the same time, a rotation avoidance space is set to avoid the second clamping device 32f, and the rotation of the clamping device 313f will not affect the second clamping device 32f. The clamping device 313f is used for the first clamping of the material, and the second clamping device 32f is used for the second clamping of the material; When the second clamping device 32f clamps the material, the clamping device 313f releases the clamping of the material, and then the clamping rotating device 314f drives the clamping device 313f to rotate 90°, and the clamping device 313f is used for the third clamping of the material; In this way, after clamping the material, the clamping device 3f can rotate relative to the material; Furthermore, the clamping surface of the material can be changed when clamping the material.

[0073] The material is first clamped by the clamping device 313f. When the clamping device 313f clamps the material and it is necessary to change the clamping surface of the material, the material is secondarily clamped by the second clamping device 32f; then the clamping device 313f is rotated to thirdly clamp the material; in this way, the clamping surface of the material is changed when clamping the material, and the downward clamping surface of the material can be changed, so that the material can contact other objects with different surfaces. When it is necessary to rotate the clamping device 313f, the height of the clamping device 313f is adjusted by the clamping lifting device 2f to prevent the clamping device 313f from hitting the ground when rotating.

[0074] As Figure 5 、 6 shown; the clamping and rotating device 314f includes a clamping and rotating motor 3141f, a clamping and rotating driving gear 3142f, a clamping and rotating driven gear 3143f, and a clamping and rotating bearing 3144f; the first clamping rotating frame 312f is fixedly connected to one side of the clamping and rotating driven gear 3143f, the other side of the clamping and rotating driven gear 3143f is fixedly connected to the inner ring of the clamping and rotating bearing 3144f, and the outer ring of the clamping and rotating bearing 3144f is fixedly connected to the first clamping fixing frame 311f; the clamping and rotating motor 3141f is arranged on the first clamping fixing frame 311f, the output end of the clamping and rotating motor 3141f is connected to the clamping and rotating driving gear 3142f, and the clamping and rotating driving gear 3142f meshes with the clamping and rotating driven gear 3143f.

[0075] In this embodiment, a first clamping support plate 3145f is provided on the side of the clamping and rotating driven gear 3143f close to the first clamping rotating frame 312f, and the clamping and rotating driven gear 3143f is connected to the first clamping rotating frame 312f through the first clamping support plate 3145f; a second clamping support plate 3146f is provided on the side of the clamping and rotating driven gear 3143f close to the clamping and rotating bearing 3144f. The clamping and rotating driven gear 3143f is connected to the inner ring of the clamping and rotating bearing 3144f through the second clamping support plate 3146f. A third clamping support plate 3147f is provided on the side of the first clamping fixing frame 311f away from the clamping and rotating driven gear 3143f.

[0076] In this embodiment, the first clamping support plate 3145f, the clamping and rotating driven gear 3143f, the second clamping support plate 3146f, the clamping and rotating bearing 3144f, and the third clamping support plate 3147f are all of hollow structures.

[0077] As Figure 4 、 7As shown; each clamping device 313f includes a first clamping driving device 3131f and a first clamping member 3132f. The fixed end of the first clamping driving device 3131f is connected to the first clamping rotating frame 312f, and the movable end of the first clamping driving device 3131f is connected to the first clamping member 3132f. The first clamping driving device 3131f drives the first clamping member 3132f to approach and move away from the second clamping device 32f; the two first clamping members 3132f approach each other to clamp the material.

[0078] As Figure 7 , 8 shown; in this embodiment, the first clamping driving device 3131f is a rodless cylinder; the first clamping driving device 3131f includes a first clamping bracket 3133f, a first clamping cylinder block 3134f, a first clamping slider 3135f and a connecting device 3130f; the first clamping bracket 3133f is connected to the first clamping rotating frame 312f, and the first clamping cylinder block 3134f is arranged on the first clamping bracket 3133f; the first clamping slider 3135f is slidably arranged on the first clamping cylinder block 3134f; one end of the connecting device 3130f is fixedly connected to the first clamping member 3132f, and the other end of the connecting device 3130f is fixedly connected to the first clamping slider 3135f and slidably connected to the first clamping bracket 3133f. By fixedly connecting the connecting device 3130f to the first clamping slider 3135f and slidably connecting it to the first clamping bracket 3133f, it is avoided that the first clamping slider 3135f rotates when sliding on the first clamping cylinder block 3134f, and the movement of the first clamping slider 3135f is stable.

[0079] As Figure 7 , 8 shown; the connecting device 3130f includes a first connecting member 3136f, a second connecting member 3137f, a third connecting member 3138f and a fourth connecting member 3139f; the third connecting member 3138f is arranged on one side of the first connecting member 3136f and the second connecting member 3137f; the fourth connecting member 3139f is arranged on the other side of the first connecting member 3136f and the second connecting member 3137f; the first clamping slider 3135f is located between the first connecting member 3136f and the second connecting member 3137f.

[0080] The first connecting member 3136f is provided with a first through hole 31301f, and a pulley assembly 4f is arranged in the first through hole 31301f; the first clamping bracket 3133f is arranged through the first through hole 31301f and contacts the sliding assembly; the first connecting member 3136f is slidably arranged on the first clamping bracket 3133f.

[0081] The second connecting member 3137f is fixedly connected to the first clamping slider 3135f; one end of the third connecting member 3138f and one end of the fourth connecting member 3139f are both fixedly connected to the first connecting member 3136f and the second connecting member 3137f; the other end of the third connecting member 3138f and the other end of the fourth connecting member 3139f are both fixedly connected to the first clamping member 3132f. The first connecting member 3136f is slidably connected to the first clamping bracket 3133f, and the second connecting member 3137f is fixedly connected to the first clamping slider 3135f; the third connecting member 3138f and the fourth connecting member 3139f are connected to the first clamping member 3132f; at the same time, the second connecting member 3137f connects the third connecting member 3138f and the fourth connecting member 3139f; when the first clamping slider 3135f moves, it drives the first connecting member 3136f, the second connecting member 3137f, the third connecting member 3138f, and the fourth connecting member 3139f to move synchronously, so the structure is simple.

[0082] As Figure 9-10 shown; the second clamping device 32f includes a clamping structure 321f and a clamping moving device 322f. The fixed end of the clamping moving device 322f is fixedly connected to the first clamping fixed bracket 311f, the movable end of the clamping moving device 322f is connected to the clamping structure 321f, and the clamping moving device 322f drives the clamping structure 321f to approach and move away from the first clamping fixed bracket 311f; the clamping structure 321f is used for clamping the material, and a clamping avoidance space 323f for avoiding the first clamping member 3132f is provided on the clamping structure 321f. By setting the clamping moving device 322f to drive the clamping structure 321f to move, the clamping structure 321f approaches or moves away from the first clamping fixed bracket 311f, so as to realize that the clamping structure 321f moves away from or approaches the material clamped by the material clamping device 313f; in the initial installation state, the clamping structure 321f approaches the first clamping fixed bracket 311f, so as to avoid interference between the material and the clamping structure 321f when the clamping device 313f clamps the material; when it is necessary to change the clamping surface of the material, the clamping structure 321f moves away from the first clamping fixed bracket 311f and approaches the material. After the rotated clamping device 313f clamps the material, the clamping structure 321f resets.

[0083] As Figure 9-17As shown in the figure; the clamping structure 321f includes a tightening bracket 3210f, a clamping device 3211f, and a tightening device 3212f; the clamping device 3211f is located on one side of the tightening bracket 3210f; there are two clamping devices 3211f; the tightening device 3212f includes a first sliding device, a second sliding device, a tightening lifting transmission device 3213f, and a tightening telescopic device 3214f; one clamping device 3211f is slidably arranged at one end of the tightening bracket 3210f through the first sliding device; the other clamping device 3211f is slidably arranged at the other end of the tightening bracket 3210f through the second sliding device.

[0084] In this embodiment, both the first sliding device and the second sliding device are slide rails. The outer slide rail of the first sliding device is connected to the tightening bracket 3210f, and the inner slide rail of the first sliding device is connected to one clamping device 3211f; the outer slide rail of the second sliding device is connected to the tightening bracket 3210f, and the inner slide rail of the second sliding device is connected to the other clamping device 3211f.

[0085] As Figure 11 shown in the figure; the tightening lifting transmission device 3213f includes a tightening transmission gear 32131f, a first tightening transmission rack 32132f, and a second tightening transmission rack 32133f; the tightening transmission gear 32131f is rotatably arranged on the tightening bracket 3210f, the first tightening transmission rack 32132f is located on one side of the tightening transmission gear 32131f, the first tightening transmission rack 32132f is fixedly connected to one clamping device 3211f and meshes with the tightening transmission gear 32131f; the second tightening rotation rack is located on the other side of the tightening transmission gear 32131f, and the second tightening transmission rack 32133f is fixedly connected to the other clamping device 3211f and meshes with the tightening transmission gear 32131f.

[0086] As Figure 11 shown in the figure, the fixed end of the tightening telescopic device 3214f is connected to the tightening bracket 3210f, and the movable end of the tightening telescopic device 3214f is connected to one clamping device 3211f; the tightening telescopic device 3214f is used to drive the two clamping devices 3211f to move away from each other and close to each other. In this embodiment, the tightening telescopic device 3214f is a cylinder.

[0087] The first tightening transmission rack 32132f is arranged on one side of the tightening transmission gear 32131f, and the second tightening transmission rack 32133f is arranged on the other side of the tightening transmission gear 32131f. When the first tightening transmission rack 32132f moves in one direction, the second tightening transmission rack 32133f will move in the opposite direction of the movement of the first tightening transmission rack 32132f. The first tightening transmission rack 32132f is connected to a clamping device 3211f, and the second tightening transmission gear 32131f is connected to another clamping device 3211f. When the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move away from each other to realize the unfolding of the clamping structure 321f. When the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move closer to each other to realize the folding of the clamping structure 321f. When clamping the material, first unfold the clamping structure 321f, then the clamping and moving device 322f drives the clamping structure 321f to approach the material, and then fold the clamping structure 321f, and the clamping structure 321f clamps the material.

[0088] As Figure 13 , 15 shown; a clamping device 3211f includes a clamping connecting piece 3216f and two clamping pieces 3215f; the clamping avoidance space 323f is arranged between the two clamping pieces 3215f; the clamping avoidance space 323f is used to accommodate the first clamping piece 3132f. The two clamping pieces 3215f are connected by the clamping connecting piece 3216f; the first tightening transmission rack 32132f is connected to one of the clamping pieces 3215f in a clamping device 3211f, and the second tightening transmission rack 32133f is connected to one of the clamping pieces 3215f in another clamping device 3211f.

[0089] As Figure 15-16 shown; the clamping piece 3215f includes a clamping fixing piece 32151f, a clamping picking piece 32152f, a first clamping limiting piece 32153f and a second clamping limiting piece 32154f; the clamping picking piece 32152f is located on one side of the clamping fixing piece 32151f, and the first clamping limiting piece 32153f and the second clamping limiting piece 32154f are arranged oppositely and are located between the first clamping picking piece 32152f and the first clamping fixing piece 32151f.

[0090] As Figure 15-16As shown; one end of the clamping and taking member 32152f is a contact end 32155f, and the other end of the clamping member 3215f is a contact end 32156f; the contact end 32155f is used to contact with the material; the first clamping limiter 32153f is connected to the clamping fixing member 32151f, and the second clamping limiter 32154f is connected to the contact end 32156f of the clamping and taking member 32152f; the first clamping limiter 32153f is connected to the second A accommodating groove 32157f is formed between the clamping limit members 32154f, and a rotating shaft (not shown in the figure) is provided in the accommodating groove 32157f, and the clamping and clamping member 32152f is rotatably connected with the clamping fixing member 32151f via the rotating shaft; a torsion spring 32158f is passed through the rotating shaft, and one end of the torsion spring 32158f abuts against the first clamping limit member 32153f, and the other end of the torsion spring 32158f abuts against the first clamping limit member 32153f.

[0091] like Figure 14 , 16 -18; both ends of the tightening bracket 3210f are provided with a stopper 3217f protruding from the tightening bracket 3210f, and the stopper 3217f is located between the tightening bracket 3210f and the clamping device 3211f; the stopper 3217f is used to drive the contact end 32155f of the clamping member 32152f to swing toward the direction close to the first clamping limit member 32153f when it contacts the contact end 32156f of the clamping member 32152f; the first clamping limit member 32153f is used to limit the contact end 32155f of the clamping member 32152f that swings away from the first clamping limit member 32153f under the elastic force of the torsion spring 32158f when the contact end 32156f of the clamping member 32152f is separated from the stopper 3217f.

[0092] The two clamping members 3215f are connected by a clamping connection member 3216f to achieve synchronous movement of the two clamping members 3215f, and the two clamping members 3215f are set to stably clamp the material; the clamping and picking member 32152f and the clamping and fixing member 32151f are movably connected by a rotating shaft; the clamping and picking member 32152f can swing relative to the clamping and fixing member 32151f; at the same time, since the first clamping limit member 32153f is connected to the clamping and fixing member 32151f, and the second clamping limit member 32154f is connected to the clamping and picking member 32152f; when the clamping and picking member 32152f is closed, the retracting telescopic device 3214f retracts; the retracting telescopic device 3214f drives the two picking devices 313f to approach the retracting bracket 3210f; when the contact end 32156f of the clamping and picking member 32152f contacts the resisting member 3217f on the retracting bracket 3210f, the contact end 32155f of the clamping and picking member 32152f approaches the first clamping limit member 32153f against the elastic force of the torsion spring 32158f, realizing the closing of the clamping member 3215f; when the clamping and picking member 32152f is unfolded, the retracting telescopic device 3214f extends, and the retracting telescopic device 3214f drives the two picking devices 313f to move away from the retracting bracket 3210f; when the contact end 32156f of the clamping and picking member 32152f separates from the resisting member 3217f on the retracting bracket 3210f, under the action of the elastic force of the torsion spring 32158f itself, the contact end 32155f of the clamping and picking member 32152f swings away from the first clamping limit member 32153f; realizing the unfolding of the clamping and picking member 32152f. At the same time, during the unfolding process of the clamping and picking member 32152f, when the second clamping limit member 32154f abuts against the first clamping limit member 32153f, the first clamping limit member 32153f limits the second clamping limit member 32154f, so that the second clamping limit member 32154f cannot continue to swing, thereby realizing the unfolding of the clamping member 3215f.

[0093] At the same time, after unfolding, the first clamping limit member 32153f of the clamping member 3215f abuts against the second clamping limit member 32154f; the first clamping limit member 32153f supports the second clamping limit member 32154f; when clamping the material, the clamping and moving device 322f drives the clamping structure 321f to extend, so that the material is located between the clamping devices 3211f at both ends of the retracting bracket 3210f; then the movable end of the retracting telescopic device 3214f retracts, driving the clamping member 3215f to close, and clamping the material through the contact end 32155f of the clamping and picking member 32152f; when the contact end 32156f of the clamping and picking member 32152f contacts the resisting member 3217f; at this time, under the supporting effect of the material on the contact end 32155f, the clamping and picking member 32152f will not swing.

[0094] Meanwhile, the contact end 32155f of the clamping and gripping member 32152f will be given a force to swing towards the first clamping limit member 32153f by the contact end 32156f of the clamping and gripping member 32152f in contact with the abutting member 3217f; in this way, the clamping and gripping member 32152f with opposite ends relative to each other between the tightened parts stably clamps the material. At the same time, the closing and unfolding of the clamping and gripping member 3215f are realized during the movement of the clamping member 3215f, and the structure is simple.

[0095] As Figure 16-18 shown; in this embodiment, the contact end 32156f extends obliquely away from the contact end 32155f to have a contact portion 32159f approaching the abutting member 3217f, and the contact portion 32159f is used to contact the abutting member 3217f. By providing the inclined contact portion 32159f approaching the abutting member 3217f, it is convenient for the clamping and gripping member 32152f to cooperate with the abutting member 3217f;

[0096] As Figure 9 、 10 shown; the clamping and moving device 322f includes a moving fixed bracket 3221f, a moving sliding bracket 3222f, and a moving driving device; the moving fixed bracket 3221f is connected to the first clamping fixed bracket 311f, a second through hole 3223f penetrates through the moving fixed bracket 3221f, and a pulley assembly 4f is provided in the second through hole 3223f; one end of the moving sliding bracket 3222f is connected to the clamping structure 321f, and the other end of the moving sliding bracket 3222f is inserted into the second through hole 3223f and contacts the sliding assembly.

[0097] The moving driving device includes a moving driving motor 3224f, a moving driving driving gear 3225f, and a moving driving rack 3226f; a moving groove 3227f is provided on the moving sliding bracket 3222f, and the moving driving rack 3226f is fixed in the moving sliding bracket 3222f and corresponds to the moving groove 3227f; the moving driving motor 3224f is fixed on the moving fixed bracket 3221f, the output end of the moving driving motor 3224f is connected to the moving driving driving gear 3225f, and the moving driving driving gear 3225f passes through the moving groove 3227f and extends into the moving sliding bracket 3222f to mesh with the moving driving rack 3226f.

[0098] A fixed moving drive rack 3226f is provided inside the moving sliding bracket 3222f, and the moving sliding bracket 3222f is slidably arranged inside the moving fixed bracket 3221f; the moving drive rack 3226f is driven to move by the moving drive driving gear 3225f, and the moving drive rack 3226f drives the moving sliding bracket 3222f to move; the structure is simple; at the same time, the moving drive driving gear 3225f passes through the moving slot 3227f and extends into the moving sliding bracket 3222f to limit the movement of the moving sliding bracket 3222f; when the end of the moving slot 3227f contacts the moving drive driving gear 3225f, the moving sliding bracket 3222f stops moving.

[0099] As Figure 5 and Figure 19 shown; the clamping lifting device 2f includes a clamping lifting drive device, a clamping lifting synchronizing shaft 21f and two clamping lifting transmission devices 22f; the clamping lifting synchronizing shaft 21f connects the two clamping lifting transmission devices 22f, and the output end of the clamping lifting drive device is connected to the clamping lifting synchronizing shaft 21f.

[0100] The clamping lifting transmission device 22f includes a clamping lifting first pulley 23f, a clamping lifting second pulley 24f, a clamping lifting synchronous belt 25f and a clamping synchronous belt fixing member 26f; the clamping lifting first pulley 23f is rotatably arranged at the top end of the frame body 1f; the clamping lifting second pulley 24f is rotatably arranged at the bottom end of the frame body 1f; the clamping lifting synchronous belt 25f is sleeved on the first pulley and the clamping lifting second pulley 24f; referring to Figure 5 shown; the clamping synchronous belt fixing member 26f clamps the clamping lifting synchronous belt 25f on the first clamping fixing frame 311f.

[0101] The clamping lifting drive device includes a clamping lifting drive motor 27f, a clamping lifting first transmission gear 28f, a second transmission gear 29f and a clamping lifting drive bracket; the clamping lifting drive bracket is connected to the frame body 1f; the clamping lifting drive motor is fixed on the clamping lifting drive bracket; the clamping lifting first transmission gear 28f is connected to the output end of the clamping lifting drive motor 27f, and the second transmission gear 29f is sleeved on the clamping lifting synchronizing shaft 21f; the clamping lifting first transmission gear 28f meshes with the second transmission gear 29f; the clamping lifting drive motor 27f drives the clamping lifting synchronizing shaft 21f to rotate through the clamping lifting first transmission gear and the second transmission gear, and the clamping lifting synchronizing shaft 21f drives the clamping lifting transmission device 22f to act.

[0102] The first clamping and fixing frame 311f is connected to the clamping lifting synchronous belt 25f sleeve through the clamping synchronous belt fixing part 26f, so as to realize that the clamping lifting device 2f drives the first clamping and fixing frame 311f to clamp and lift. At the same time, the first clamping rotating frame 312f is connected to the first clamping and fixing frame 311f, and the second clamping device 32f is also connected to the first clamping and fixing frame 311f; thus, the first clamping device 31f and the second clamping device 32f are synchronously clamped and lifted.

[0103] Refer to Figure 5 and Figure 8 As shown, a third through hole 3110f is provided on the first clamping and fixing frame 311f, and a pulley assembly 4f is provided in the third through hole 3110f; the frame body 1f is passed through the third through hole 3110f and contacts the sliding assembly.

[0104] Refer to Figure 2 、 5 、8, 10 In this embodiment, the first through hole 31301f, the second through hole 3223f and the third through hole 3110f are all rectangular holes; at least two opposite inner walls of the first through hole 31301f, the second through hole 3223f and the third through hole 3110f are respectively provided with more than one set of pulley assemblies 4f; each set of pulley assemblies 4f includes a first sliding shaft 41f and a first pulley 42f; the first sliding shaft 41f is fixed on the first through hole 31301f, the second through hole 3223f and the third through hole 3110f; the first pulley 42f is rotatably arranged on the first sliding shaft 41f and is used to contact the frame body 1f, the first clamping support 3133f and the moving sliding support 3222f.

[0105] As Figure 2 shown; there is also a chassis at the bottom of the frame body 1f, and a traveling device 5f is provided on the chassis; the traveling device 5f is used to drive the frame body 1f to move. By driving the frame body 1f to move through the traveling device 5f, the clamping device 3f is moved closer to the material. The traveling device 5f includes four groups of traveling wheels, and each group of traveling wheels is driven by an independent motor.

[0106] The stacking method includes the following steps:

[0107] A1. Preset the stacking area.

[0108] A2. The handling device clamps a material through the first clamping part 3132f.

[0109] A3. Determine whether it is necessary to change the clamping surface of the currently clamped material along the Y direction; if not, go to A10; if so, go to A4.

[0110] A4. The clamping lifting device drives the clamping device to rise so that the first clamping device does not interfere with the contact surface of the stacking area when rotating.

[0111] A5. The clamping and moving device drives the clamping structure to approach the material, and at the same time, the clamping structure clamps the material.

[0112] A6. The first clamping member 3132f releases the clamping of the currently clamped material.

[0113] A7. The clamping and rotating device 314f drives the first clamping rotating frame 312f to rotate clockwise by 90°; then the first clamping member 3132f clamps the currently clamped material again.

[0114] A8. The clamping structure releases the clamping of the material; at the same time, the clamping and moving device drives the clamping structure away from the material.

[0115] A9. The clamping and rotating device 314f drives the first clamping rotating frame 312f to rotate counterclockwise by 90°.

[0116] A10. The handling device moves towards the stacking area. When the handling device reaches the stacking area, A11 is performed.

[0117] A11. The first clamping member 3132f releases the clamping of the currently clamped material; the material is placed on the stacking area; when clamping the next box-shaped material, then A2 is performed until the next material is placed on the material in the stacking area. If it is not necessary to clamp the next box material, the work stops.

[0118] In the above method, the first clamping member 3132f first clamps the material for the first time; when it is necessary to change the clamping surface of the currently clamped material; the height of the first clamping member 3132f is adjusted by the clamping lifting device to avoid the clamping device 313f hitting the ground when rotating; when there is enough space between the first clamping member 3132f and the ground, the first clamping rotating frame 312f and the clamping device 313f rotate; then the second clamping of the currently clamped material is performed by the clamping structure 321f; after the clamping structure 321f clamps the material, the first clamping member 3132f releases the clamping of the currently clamped material; in this way, the material is prevented from falling; then the clamping and rotating device 314f drives the first clamping rotating frame 312f to rotate; so that the first clamping member 3132f corresponds to the other clamping surface of the material; the third clamping of the currently clamped material is performed by the first clamping member 3132f; after the first clamping member 3132f clamps the material, the clamping structure releases the clamping of the currently clamped material; then the first clamping rotating frame 312f is driven to rotate again; in this way, while clamping the material, the clamping surface of the material is changed.

[0119] In the above method,

[0120] In A5, the clamping moving device drives the clamping structure to approach the material, and the clamping structure clamps the material at the same time; specifically A5.1-A5.3.

[0121] A5.1. The movable end of the tightening and telescopic device 3214f is extended, and the two clamping devices 3211f are separated from each other; at the same time, the clamping and taking member 32152f is unfolded.

[0122] A5.2, the clamping moving device 322f drives the two clamping devices 3211f to approach the clamped material; when the material is located between the contact parts of the clamping and clamping members 32152f at both ends of the receiving bracket, proceed to A5.3;

[0123] A5.3. Tighten the movable end of the telescopic device 3214f and retract it, so that the two clamping devices 3211f approach each other and contact with the material; after the two clamping devices 3211f clamp the material, proceed to A6.

[0124] In A8, the clamping structure is released to clamp the material; at the same time, the clamping moving device drives the clamping structure away from the material; specifically A8.1-A8.2.

[0125] A8.1. Tighten and extend the movable end of the telescopic device 3214f, and the two clamping devices 3211f are separated from each other and the material; when the clamping and picking member 32152f is separated from the material, proceed to A8.2.

[0126] A8.2. The clamping moving device 322f drives the two clamping devices 3211f away from the material; then the movable end of the telescopic device 3214f is tightened and retracted; the two clamping devices 3211f are brought closer to each other to realize the folding of the clamping and picking parts 32152f; then proceed to A9.

[0127] In the above method, when the tightening and telescopic device 3214f is in motion, the clamping devices 3211f at both ends of the tightening bracket 3210f are in synchronous motion to achieve mutual approach or distance; in the process of the two clamping devices separating from each other, the clamping and clamping parts are simultaneously unfolded; in the process of the two clamping devices approaching each other, the clamping and clamping parts are simultaneously retracted; in this way, the speed of unfolding and retracting the two clamping devices is fast, and the working effect is high when clamping materials.

[0128] In the above method;

[0129] In A5.1 and A8.1, the movable end of the tightening telescopic device 3214f extends, and the two clamping devices 3211f are separated from each other. Specifically, the movable end of the tightening telescopic device 3214f drives a clamping device 3211f away from the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate. The tightening transmission gear 32131f drives the second tightening transmission rack 32133f to move in the opposite direction of the movement along the first tightening transmission rack 32132f, so that the other clamping device 3211f also moves away from the tightening bracket 3210f, and the two clamping devices 3211f are separated from each other. At the same time, when the contact end 32156f of the clamping and gripping member 32152f is separated from the resisting member 3217f, under the elastic force of the torsion spring, the contact end of the clamping and gripping member 32152f swings away from the first clamping limiting member 32153f. During the swinging process of the clamping and gripping member 32152f, one end of the second clamping limiting member 32154f approaches the first clamping limiting member 32153f. When one end of the second clamping limiting member 32154f abuts against the first clamping limiting member 32153f, the first clamping limiting member 32153f limits the second clamping limiting member 32154f so that the second clamping limiting member 32154f cannot swing continuously, realizing the unfolding of the clamping and gripping member 32152f.

[0130] In A5.3 and A8.2, the movable end of the tightening telescopic device 3214f retracts, and the two clamping devices 3211f approach each other. Specifically:

[0131] The movable end of the tightening telescopic device 3214f drives a clamping device 3211f close to the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate. The tightening transmission gear 32131f drives the second tightening transmission rack 32133f to move in the opposite direction of the movement along the first tightening transmission rack 32132f, so that the other clamping device 3211f also moves close to the tightening bracket 3210f, and the two clamping devices 3211f approach each other.

[0132] In A5.3, the contact end 32155f of the clamping and gripping member 32152f of the two mutually approaching clamping devices 3211f clamps the material. When the two clamping devices continue to approach each other, when the contact end 32156f of the clamping and gripping member 32152f contacts the resisting member 3217f, at this time, under the supporting effect of the material on the contact end 32155f, the clamping and gripping member 32152f will not swing.

[0133] The resisting member 3217f applies a force to the contact end 32156f of the clamping and gripping member 32152f to swing towards the first clamping limiting member 32153f, so that the contact end of the clamping and gripping member clamps the material, thus stably clamping the material.

[0134] In A8.2, when the abutting end 32156f of the clamping member 32152f contacts the resisting member 3217f, the contact end 32155f of the clamping member 32152f overcomes the elastic force of the torsion spring 32158f and approaches the first clamping limit member 32153f, and the second clamping limit member 32154f separates from the first clamping limit member 32153f, thus realizing the retraction of the clamping member 32152f.

[0135] Reference Figure 1 As shown; take the change from the U1 surface and U2 surface of the clamping material to the U5 surface and U6 surface of the clamping material as an example; change the clamping surface of the material along the Y direction;

[0136] In A2, the handling device clamps the U1 surface and U2 surface of a material through the first clamping member 3132f.

[0137] In A5.1, the movable end of the tightening and retracting device 3214f is extended, and the two clamping devices 3211f are separated from each other; at the same time, the clamping and taking member 32152f is unfolded.

[0138] In A5.2, the clamping moving device 322f drives the two clamping devices 3211f to approach the clamped material; when the U5 surface and the U6 surface of the material are located between the contact portions of the clamping and clamping members 32152f at both ends of the receiving bracket, A5.3 is performed.

[0139] In A5.3, the movable end of the retractable device 3214f is retracted, and the two clamping devices 3211f approach each other and contact the U5 surface and U6 surface of the material; when the two clamping devices 3211f clamp the material, A6 is performed.

[0140] In A6, the first clamping member 3132f releases the clamping of the U1 surface and U2 surface of the currently clamped material.

[0141] A7; the clamping rotating device 314f drives the first clamping rotating frame 312f to rotate 90° clockwise; then the first clamping member 3132f clamps the U5 surface and U6 surface of the currently clamped material again.

[0142] In A8.1, the movable end of the tightening and retracting device 3214f is extended, and the two clamping devices 3211f are separated from each other and from the U5 surface and U6 surface of the material; at the same time, the clamping and gripping member 32152f is unfolded; when the clamping and gripping member 32152f is separated from the material, A8.2 is performed.

[0143] A8.2. The clamping moving device 322f drives the two clamping devices 3211f away from the material; then the movable end of the telescopic device 3214f is tightened and retracted; the two clamping devices 3211f are brought closer to each other to realize the folding of the clamping and picking parts 32152f; then proceed to A9.

Claims

1. A stacking method, characterized in that: It is realized by a handling device, which includes a frame body, a clamping and lifting device and a clamping device. The clamping and lifting device is arranged on the frame body and connected to the clamping device, and the clamping and lifting device drives the clamping device to move along the height direction of the frame body; The clamping device includes a first clamping device and a second clamping device; the first clamping device includes a first clamping fixed frame, a first clamping rotating frame, a clamping device and a clamping rotating device; there are two clamping devices, and the first clamping rotating frame is located between the two clamping devices and connected to the two clamping devices; the first clamping rotating frame is rotatably arranged on the first clamping fixed frame; the second clamping device passes through the first clamping rotating frame and is fixedly connected to the first clamping fixed frame; there is a gap between the second clamping device and the first clamping rotating frame; the clamping rotating device is used to drive the two clamping devices to rotate relative to the first clamping fixed frame; The clamping rotating device includes a clamping rotating motor, a clamping rotating driving gear, a clamping rotating driven gear, and a clamping rotating bearing; the first clamping rotating frame is fixedly connected to one side of the clamping rotating driven gear, and the other side of the clamping rotating driven gear is fixedly connected to the inner ring of the clamping rotating bearing, and the outer ring of the clamping rotating bearing is fixedly connected to the first clamping fixed frame; the clamping rotating motor is arranged on the first clamping fixed frame, the output end of the clamping rotating motor is connected to the clamping rotating driving gear, and the clamping rotating driving gear meshes with the clamping rotating driven gear; Each clamping device includes a first clamping driving device and a first clamping member. The fixed end of the first clamping driving device is connected to the first clamping rotating frame, and the movable end of the first clamping driving device is connected to the first clamping member. The first clamping driving device drives the first clamping member to approach and move away from the second clamping device; the two first clamping members approach each other to clamp the material; The second clamping device includes a clamping structure and a clamping moving device. The fixed end of the clamping moving device is fixedly connected to the first clamping fixed frame, and the movable end of the clamping moving device is connected to the clamping structure. The clamping moving device drives the clamping structure to approach and move away from the first clamping fixed frame; the clamping structure is used to clamp the material, and a clamping avoidance space for avoiding the first clamping member is provided on the clamping structure; The stacking method includes the following steps: A1. Preset a stacking area; A2. The handling device clamps a material through the first clamping member; A3. Judge whether it is necessary to change the clamping surface of the currently clamped material; if not, go to A10; if so, go to A4; A4. The clamping and lifting device drives the clamping device to rise so that the first clamping device does not interfere with the contact surface of the stacking area when rotating; A5. The clamping moving device drives the clamping structure to approach the material, and at the same time the clamping structure clamps the material; A6. The first clamping member releases the clamping of the currently clamped material; A7. The clamping rotating device drives the first clamping rotating frame to rotate 90° along the first direction, and then the first clamping member clamps the currently clamped material again; A8. The clamping structure releases the clamping of the material; at the same time, the clamping moving device drives the clamping structure to move away from the material; A9. The clamping rotating device drives the first clamping rotating frame to rotate 90° along the second direction; A10, the transport device moves to the stacking area. When the transport device reaches the stacking area, proceed to A11; A11. The first clamping member releases the clamping of the currently clamped material; the material is placed on the stacking area; if the next material is to be clamped, then A2 is performed until the next material is placed on the material in the stacking area; if the next box material does not need to be clamped, the operation is stopped.

2. A stacking method according to claim 1, Features: The clamping structure includes a tightening bracket, a clamping device and a tightening device; the clamping device is located on one side of the tightening bracket; two clamping devices are provided; the tightening device includes a first sliding device, a second sliding device, a tightening lifting transmission device, and a tightening telescopic device; A clamping device is slidably arranged at one end of the tightening bracket through a first sliding device; another clamping device is slidably arranged at the other end of the tightening bracket through a second sliding device; The tightening lifting transmission device includes a tightening transmission gear, a first tightening transmission rack and a second tightening transmission rack; the tightening transmission gear is rotatably arranged on the tightening bracket, the first tightening transmission rack is located on one side of the tightening transmission gear, the first tightening transmission rack is fixedly connected to a clamping device and meshed with the tightening transmission gear; the second tightening rotating rack is located on the other side of the tightening transmission gear, the second tightening transmission rack is fixedly connected to another clamping device and meshed with the tightening transmission gear; The fixed end of the tightening and telescopic device is connected to the tightening bracket, and the movable end of the tightening and telescopic device is connected to a clamping device; the tightening and telescopic device is used to drive the two clamping devices to move away from each other or closer to each other; A clamping device comprises a clamping connection member and two clamping members; the two clamping members are connected by the clamping connection member; a first tightening transmission rack is connected to one of the clamping members in one clamping device, and a second tightening transmission rack is connected to one of the clamping members in another clamping device; The clamping member includes a clamping fixing member, a clamping and taking member, a first clamping and limiting member, and a second clamping and limiting member; the clamping and taking member is located on one side of the clamping and fixing member, and the first clamping and limiting member and the second clamping and limiting member are arranged opposite to each other and are located between the clamping and taking member and the clamping and fixing member; One end of the clamping and clamping member is a contact end, and the other end of the clamping member is an abutting end; the contact end is used to contact the material; the first clamping limiter is connected to the clamping and fixing member, and the second clamping limiter is connected to the abutting end of the clamping and clamping member; a receiving groove is formed between the first clamping limiter and the second clamping limiter, a rotating shaft is provided in the receiving groove, and the clamping and clamping member is rotatably connected to the clamping and fixing member through the rotating shaft; a torsion spring is passed through the rotating shaft, one end of the torsion spring abuts against the first clamping limiter, and the other end of the torsion spring abuts against the second clamping limiter; Both ends of the tightening bracket are provided with a stopper protruding from the tightening bracket, and the stopper is located between the tightening bracket and the clamping device; the stopper is used to drive the contact end of the clamping member to swing toward the direction close to the first clamping limit member when it contacts the contact end of the clamping member; the first clamping limit member is used to limit the contact end of the clamping member that swings toward the direction away from the first clamping limit member under the elastic force of the torsion spring when the contact end of the clamping member is separated from the stopper.

3. A stacking method according to claim 2, Features: In A5, the clamping moving device drives the clamping structure to approach the material, and the clamping structure clamps the material; specifically A5.1- A5.3; A5.

1. The movable end of the tightening telescopic device extends, and the two clamping devices separate from each other; at the same time, the clamping and picking parts unfold; A5.

2. The clamping moving device drives the two clamping devices to approach the clamped material; when the material is located between the contact parts of the clamping and gripping parts at both ends of the tightening bracket, proceed to A5.3; A5.

3. Tighten the movable end of the telescopic device and retract it. The two clamping devices approach each other and contact the material. After the two clamping devices clamp the material, proceed to A6.

4. A stacking method according to claim 3, Features: In A8, the clamping structure is released to clamp the material; at the same time, the clamping moving device drives the clamping structure away from the material; specifically A8.1- A8.2; A8.

1. The movable end of the tightening telescopic device is extended, and the two clamping devices are separated from each other and the material; when the clamping and picking parts are separated from the material, proceed to A8.2; A8.

2. The clamping moving device drives the two clamping devices away from the material; then the movable end of the retractable device is tightened and retracted; the two clamping devices are brought closer to each other to close the clamping parts; then A9 is performed.

5. A stacking method according to claim 4, Features: In A5.1 and A8.1, the movable end of the tightening and telescopic device is extended, and the two clamping devices are separated from each other, specifically: The movable end of the tightening and retracting device drives a clamping device to move away from the tightening bracket, and the first tightening transmission rack drives the tightening transmission gear to rotate; the tightening transmission gear drives the second tightening transmission rack to move in the opposite direction of the movement of the first tightening transmission rack, so that the other clamping device also moves away from the tightening bracket; the two clamping devices are separated from each other; at the same time, when the abutting end of the clamping and clamping member is separated from the abutting member, under the elastic force of the torsion spring, the contact end of the clamping and clamping member swings in the direction away from the first clamping limit member; during the swinging process of the clamping and clamping member, one end of the second clamping limit member approaches the first clamping limit member, and when one end of the second clamping limit member abuts against the first clamping limit member, the first clamping limit member limits the second clamping limit member, so that the second clamping limit member cannot continue to swing, thereby realizing the expansion of the clamping and clamping member.

6. A stacking method according to claim 4, Features: In A5.3 and A8.2, the movable end of the tightening telescopic device is retracted, and the two clamping devices are moved closer to each other, specifically: The movable end of the tightening and telescopic device drives a clamping device to approach the tightening bracket, the first tightening transmission rack drives the tightening transmission gear to rotate, and the tightening transmission gear drives the second tightening transmission rack to move in the opposite direction of the first tightening transmission rack, so that the other clamping device also approaches the tightening bracket, and the two clamping devices approach each other.

7. A stacking method according to claim 6, Features: In A5.3, the contact ends of the clamping members of the two clamping devices approaching each other clamp the material. When the two clamping devices continue to approach each other and the abutting end of the clamping member contacts the resisting member, the clamping member will not swing due to the support effect of the material on the contact end. The resisting member applies a force to the contact end of the clamping member to swing toward the first clamping limit member, thereby causing the contact end of the clamping member to clamp the material.

8. A stacking method according to claim 6, Features: In A8.2, when the abutting end of the clamping member contacts the resisting member, the contacting end of the clamping member overcomes the elastic force of the torsion spring and approaches the first clamping limit member, and the second clamping limit member separates from the first clamping limit member, thereby realizing the retraction of the clamping member.

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