A method for grasping and flipping a material

Abstract

The present invention provides a method for grasping and flipping materials, which is realized by an engineering trolley. The engineering trolley includes a grasping device and a lifting device. The grasping device includes a telescopic device, a flipping device and a grasping device. The lifting device is connected to the flipping device; 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, and the movable end of the telescopic device is connected to the grasping device. 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; 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, the box-shaped material can be grasped from different directions; the lifting device drives the grasping device to move, so that the grasping device can cooperate with box-shaped materials at different heights.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and specifically relates to a method for grasping and flipping materials. Background Art

[0002] Engineering robots are quite similar to handling robots in the logistics industry. Both need to achieve 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 disclosed in Chinese Patent Application No. CN202220569739.4, publication date July 5, 2022, it specifically discloses a global positioning handling robot, which specifically includes 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. A robotic arm device for completing the grasping action is installed at the front end of the upper surface of the chassis, and a single-chip microcomputer is installed at the rear end of the upper surface of the chassis. The setting of the shock absorption mechanism in the power device of the present utility model can reduce the vibration when the robot is running. 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 absorption spring of the shock absorber through the shock absorption plate. At this time, the shock absorber is compressed by the force, and the parallelogram mechanism of the shock absorption 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 absorption mechanism can reduce the impact of undulating vibrations during the operation of the robot and increase the stability of the robot. However, the handling robot with this structure only grabs goods through the manipulator and cannot turn over the box-shaped materials being transported. 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 to clamp, or approach the box-shaped materials from left to right to clamp. It cannot clamp the box-shaped materials in different directions, and it is easy to be restricted by site factors when in use and cannot 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 action of the gripper when grabbing the box-shaped materials is cumbersome. At the same time, the existing engineering vehicle cannot rescue other robots. Summary of the Invention

[0003] The present invention provides a method for grasping and flipping materials, which can grasp box-shaped materials at different heights and flip the materials on different surfaces, so that the materials placed at different heights and on different surfaces can be discharged with the same surface, and the working method is simple.

[0004] To achieve the above object, the technical solution of the present invention is: a working method of an engineering vehicle, which is realized by the engineering vehicle. The engineering vehicle includes a frame, a grasping device, a lifting device and a moving device; the lifting device drives the grasping device to lift; the moving device drives the engineering vehicle to move; the grasping device includes a telescopic device, a flipping device and a grasping device; 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, and 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 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.

[0005] 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 flipping first supporting plate and a flipping second supporting plate, and the flipping second supporting plate is located below the flipping first supporting plate; the flipping first supporting plate is connected to the flipping second supporting plate and is vertically arranged; flipping sliding members are respectively arranged at both ends of the flipping second supporting plate, and the flipping track is provided with an arc-shaped chute; one end of the arc-shaped chute extends upward away from the grasping device along the length direction of the flipping bracket; the other end of the arc-shaped chute extends downward close to the grasping device along the length direction of the flipping bracket; the flipping sliding members are slidably arranged in the arc-shaped chute; the flipping driving device is used to drive the flipping supporting member to rotate an angle A along the arc-shaped chute, where 0° < A < 100°.

[0006] 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.

[0007] The method for grasping and flipping materials includes the following steps:

[0008] S1. Judge whether the box-shaped material is within the moving range of the grasping device during lifting. If so, proceed to S2.

[0009] S2. The moving device drives the frame to move to one side of the box-shaped material.

[0010] S3. Judge whether the suction attachment of the grasping device can contact the opposite side of the box-shaped material. If so, proceed to S4; if not, proceed to S6.

[0011] S4. The grasping and rotating bracket drives the adsorbing member to rotate away from the flipping device, so that the adsorbing surface of the adsorbing member is parallel to the side opposite to the box-shaped material; the lifting device drives the adsorbing member to move to the same horizontal height as the box-shaped material; then the telescopic movable bracket extends to make the adsorbing member contact the box-shaped material.

[0012] S5. The adsorbing member adsorbs the box-shaped material, and then the telescopic movable bracket retracts; then S12 is performed.

[0013] S6. If the box-shaped material is above the grasping device, S7 is performed; if the box-shaped material is below the grasping device, S9 is performed.

[0014] S7. The telescopic movable bracket extends to make the adsorbing member directly below the box-shaped material, and the grasping and rotating bracket rotates away from the flipping device, so that the adsorbing surface of the adsorbing member corresponds to the bottom of the box-shaped material; the lifting device drives the adsorbing member to rise and contact the box-shaped material; then S8 is performed.

[0015] S8. The lifting device drives the adsorbing member to descend, and then the telescopic movable bracket retracts; then S11 is performed.

[0016] S9. The telescopic movable bracket extends to make the adsorbing member directly above the box-shaped material, and the grasping and rotating bracket drives the adsorbing member to rotate away from the flipping device, so that the adsorbing surface of the adsorbing member corresponds to the top of the box-shaped material; the lifting device drives the adsorbing member to descend and contact the box-shaped material; then S10 is performed.

[0017] S10. The lifting device drives the adsorbing member to rise, and then the telescopic movable bracket retracts; then S11 is performed.

[0018] S11. The grasping and rotating bracket drives the adsorbing member to rotate towards the flipping device. When the box-shaped material contacts the flipping support member, the adsorbing member releases the adsorption of the box-shaped material; then the grasping and rotating bracket rotates away from the flipping device; then S12 is performed.

[0019] S12. The flipping drive device drives the flipping support member to move away from the grasping device. When the flipping support member slides along the arc-shaped chute, the flipping support member gradually rotates counterclockwise; then S13 is performed.

[0020] S13. When the flipping support member slides to the end of the arc-shaped chute away from the grasping device, the flipping support member rotates counterclockwise by an angle A; the rotation of the flipping support member drives the box-shaped material to turn over; then S14 is performed.

[0021] S14. The grasping and rotating bracket drives the adsorbing member to rotate towards the flipping device, and the adsorbing member adsorbs the box-shaped material that has been turned over.

[0022] S15. Move the mobile device to drive the frame to move to the target point; the suction attachment drives the box-shaped material to rotate away from the flipping device and places the box-shaped material on the contact surface at the target point.

[0023] In the above method, the grasping rotating bracket drives the suction attachment to rotate, so that the suction attachment can contact box-shaped materials at different heights and positions; when there is no obstacle between the suction attachment and the box-shaped material, one side surface of the suction attachment contacts the box-shaped material, which has high efficiency; when the box-shaped material is above or below the suction attachment and there is no obstacle between the suction attachment and the box-shaped material; the height of the suction attachment is changed through the lifting device; so that the suction attachment can contact one side surface of the box-shaped materials at different heights; realizing the grasping of box-shaped materials at different heights.

[0024] When the box-shaped material is above or below the suction attachment and there is an obstacle between the suction attachment and the box-shaped material; the grasping rotating bracket changes the contact position between the suction attachment and the box-shaped material; when the box-shaped material is above the suction attachment, the suction attachment contacts the bottom of the box-shaped material; when the box-shaped material is below the suction attachment, the suction attachment contacts the top of the box-shaped material; then the lifting device drives the suction attachment and the box-shaped material to move, and thus can grasp the box-shaped material over the obstacle.

[0025] At the same time, the box-shaped material moves into the flipping device, and the flipping device flips the box-shaped material; in this way, the surface position of the box-shaped material taken out from the flipping device by the suction attachment will change.

[0026] Further, a support member with a hollow structure is provided in the suction attachment.

[0027] Further, S2 also includes: if the box-shaped material is not within the moving range of the grasping device's lifting, then perform S16.

[0028] S16. If the box-shaped material is above the suction attachment, then perform S17.

[0029] S17. The telescopic movable bracket extends, so that the suction attachment is located directly below the box-shaped material, the grasping rotating bracket rotates away from the flipping device, so that the adsorption surface of the suction attachment corresponds to the bottom of the box-shaped material; the lifting device drives the suction attachment to rise to the highest height; the suction attachment performs adsorption; then perform S18.

[0030] S18. The clamping device that clamps the upper box-shaped material releases the clamping of the box-shaped material; the box-shaped material approaches the suction attachment under the action of gravity; then perform S19.

[0031] 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 perform S8.

[0032] The above method can grasp box-shaped materials falling from a high altitude; since the box-shaped materials will deform the suction attachment when hitting the suction attachment under the action of gravity, which will cause the suction attachment to be unable to adsorb the box-shaped materials; by setting a support member to increase the stiffness of the suction attachment and support the box-shaped materials through the support member; avoiding the box-shaped materials hitting the suction attachment under the action of gravity and deforming the suction attachment.

[0033] Further, the telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a first telescopic driving device, and a second telescopic 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 first telescopic driving device is connected to the telescopic fixed bracket, the movable end of the first telescopic driving device is connected to the fixed end of the second telescopic driving device, and the movable end of the second telescopic driving device is connected to the telescopic movable bracket; the first telescopic driving device is used to drive the telescopic movable bracket to move, and the second telescopic driving device is used to drive the telescopic movable bracket to move relative to the first telescopic driving device.

[0034] With the above settings, the telescopic movable bracket is driven by the first telescopic driving device to perform the first extension, and the telescopic movable bracket is driven by the second telescopic driving device to perform the second extension; the moving distance of the telescopic movable bracket is far; thus, the grasping range of the grasping device is far.

[0035] Further, in S4, S7, and S9, the extension of the telescopic movable bracket specifically is: the first telescopic driving device drives the telescopic movable bracket to perform the first extension, and the second telescopic driving device drives the telescopic movable bracket to perform the second extension;

[0036] In S5, S8, and S10, the retraction of the telescopic movable bracket specifically is: the first telescopic driving device drives the telescopic movable bracket to perform the first retraction, and the second telescopic driving device drives the telescopic movable bracket to perform the second retraction.

[0037] Further, the lifting device includes a lifting fixed bracket, a lifting movable bracket, a lifting driving 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.

[0038] 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 driving 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.

[0039] One end of the first synchronous belt fixing member is fixedly connected to the lifting fixing bracket, and the other end of the first synchronous belt fixing member is clamped on the lifting synchronous sleeve on one side of the first lifting transmission wheel and the second lifting transmission wheel; the second synchronous belt fixing member sleevs the lifting synchronous belt on the other side of the first lifting transmission wheel and the second lifting transmission wheel and is fixed on the flipping bracket; the transmission assembly is used to drive the lifting movable bracket and the flipping device to lift synchronously.

[0040] 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 assembly is connected to the lifting fixing bracket, and the transmission assembly 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 fixing bracket, and the first synchronous belt fixing member generates a force to drive the lifting fixing bracket to move downward; since the lifting fixing bracket is fixed on the frame and cannot move, and the transmission assembly 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 upward, making the first synchronous belt fixing member move downward relative to the first lifting transmission wheel, and then realizing the rise of the lifting movable bracket.

[0041] The transmission assembly rotates the lifting synchronous belt sleeve in the other direction, the first synchronous belt fixing member approaches the top end 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 on the frame and cannot move, and the transmission assembly 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, making the first synchronous belt fixing member move upward relative to the first lifting transmission wheel, and then realizing the descent of the lifting movable bracket.

[0042] 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 assembly. 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 at the same time; 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 at the same time; the flipping bracket moves based on the movement of the lifting movable bracket, and the lifting height range of the flipping bracket is large.

[0043] Further, A is 83°. Brief Description of the Drawings

[0044] Figure 1 It is a three-dimensional schematic diagram of the engineering vehicle using the present invention.

[0045] Figure 2 Schematic three-dimensional view of the grasping device and the lifting device in the engineering trolley using the present invention.

[0046] Figure 3 Schematic three-dimensional view of the grasping device in the engineering trolley using the present invention.

[0047] Figure 4 Exploded view of the grasping device in the engineering trolley using the present invention.

[0048] Figure 5 Schematic three-dimensional view of the tipping device of the engineering trolley using the present invention after removing the tipping bracket.

[0049] Figure 6 Exploded view of the tipping device of the engineering trolley using the present invention after removing the tipping bracket.

[0050] Figure 7 Schematic view of the tipping support member of the engineering trolley using the present invention moving to one end of the arc-shaped chute.

[0051] Figure 8 Schematic view of the tipping support member of the engineering trolley using the present invention approaching the other end of the arc-shaped chute.

[0052] Figure 9 Schematic view of the tipping support member of the engineering trolley using the present invention moving to the other end of the arc-shaped chute.

[0053] Figure 10 Schematic three-dimensional view of the telescopic device and the grasping device of the engineering trolley using the present invention.

[0054] Figure 11 Schematic view of the telescopic first driving device of the engineering trolley using the present invention driving the telescopic movable bracket to extend.

[0055] Figure 12 For Figure 11 Enlarged view of b in

[0056] Figure 13 Schematic view of the telescopic second driving device of the engineering trolley using the present invention driving the telescopic movable bracket to extend.

[0057] Figure 14 Schematic three-dimensional view of the tipping positioning member of the engineering trolley using the present invention.

[0058] Figure 15 Schematic three-dimensional view of the tipping fixing member of the engineering trolley using the present invention.

[0059] Figure 16 Schematic three-dimensional view of the lifting device of the engineering trolley using the present invention.

[0060] Figure 17 This is the front view of the lifting device of the engineering vehicle using the present invention.

[0061] Figure 18 This is a schematic diagram after the lifting device of the engineering vehicle using the present invention rises.

[0062] Figure 19 This is a schematic diagram of the engineering vehicle using the present invention cooperating with box-shaped materials at different heights. Specific embodiments

[0063] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] As Figure 1-19 shown; a method for grasping and flipping a material is realized by an engineering vehicle. The engineering vehicle includes a frame 10, and 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. As Figure 3 、 4 shown; the grasping device 1 includes a telescopic device 11, a flipping device 12, and a grasping device 13. The grasping device 13 is located on one side of the flipping device 12; 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. By driving the grasping device 13 to extend and retract through the telescopic device 11; the box-shaped material grasped by the grasping device 13 can be moved into the flipping device 12; by providing the telescopic device 11, the grasping device 13 can grasp box-shaped materials at different distances from the frame 10.

[0065] As Figure 4 、 10As shown in the figure; 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. 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 is provided in the suction attachment 134 (not shown in the figure), and the suction attachment 134 is connected to a vacuum pumping device (not shown in the figure). The vacuum pumping device is a vacuum pump. By providing a support member with a hollow structure, it does not affect the adsorption of the suction attachment 134 to the box-shaped material, and at the same time improves the supporting force of the suction attachment 134. 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.

[0066] A rotatable grasping rotating bracket 133 is provided. The grasping rotating bracket 133 drives the suction attachment 134 to rotate. In this way, the suction attachment 134 can grasp the box-shaped material not only horizontally but also 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 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.

[0067] Refer to Figure 19 As shown in the figure; 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 surface of the box-shaped material. In this embodiment, the clamping device is a jaw. The clamping device is a prior art and will not be elaborated here.

[0068] 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 19 The box-shaped materials Q2, Q3, and Q4 in

[0069] Refer to Figure 19For the box-shaped material Q3, when the adsorption surface of the adsorbing member 134 can contact the opposite side of the box-shaped material; the adsorbing member rotates away from the flipping device 12 and contacts the opposite side of the box-shaped material to achieve the grasping of the box-shaped material.

[0070] Referring to Figure 19 Q2 and Q4 in ; when there is an obstacle K between the box-shaped material and the adsorbing member; the adsorption surface of the adsorbing member 134 cannot contact the opposite side of the box-shaped material; at this time, the position of the box-shaped material is determined.

[0071] Referring to Figure 19 Q2 in ; after Q3 is transported, if the box-shaped material is located above the adsorbing member 134, the adsorbing member rotates away from the flipping device 12, and the adsorption surface of the adsorbing member corresponds to the bottom of the upper box-shaped material; in this way, after the lifting device drives the adsorbing member to rise; the grasping of the box-shaped material is achieved.

[0072] Referring to Figure 19 Q4 in ; after Q3 is transported, if the box-shaped material is located below the adsorbing member 134, the adsorbing member rotates away from the flipping device 12, and the adsorption surface of the adsorbing member corresponds to the top of the lower box-shaped material; in this way, after the lifting device 2 drives the adsorbing member to descend; the grasping of the box-shaped material is achieved.

[0073] As Figure 3 、 4 shown; the flipping device 12 includes a flipping bracket 121, a flipping drive device 122, a flipping seat 123 and two flipping tracks 124; the flipping drive 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 drive device 122; the flipping drive device 122 drives the flipping seat 123 to slide on the flipping tracks 124.

[0074] As Figure 4-6As shown in the figure; the flipping base 123 includes a flipping fixed base 1231, a flipping swing base 1232, and a flipping support member 1233; the flipping support member 1233 is fixedly connected to the flipping swing base 1232, and the flipping swing base 1232 is hinged to the flipping fixed base 1231; the flipping swing base 1232 includes a swing first body 1234 and a swing second body 1235; the swing first body 1234 is connected to the swing second 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 body 1234, and the flipping second support plate 1237 is connected to the swing second body 1235; the flipping swing base 1232 is fixedly connected to the flipping support member 1233; the flipping swing base 1232 is hinged to the flipping fixed base 1231; the flipping drive 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 base 1232 to rotate on the flipping fixed base 1231.

[0075] As Figure 6 shown in the figure; flipping sliding members 1238 are respectively provided 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 away from the grasping device 13 and upward along the length direction of the flipping bracket 121; the other end of the arc-shaped sliding groove 1241 extends close to the grasping device 13 and downward along the length direction of the flipping bracket 121; the flipping sliding members 1238 are slidably arranged in the arc-shaped sliding groove 1241 through flange bearings; the flipping drive 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°.

[0076] As Figure 3 、 4 、14、15 shown in the figure; the flipping bracket 121 includes a flipping fixed member 1211 and a flipping positioning member 1212, and the flipping positioning member 1212 is arranged on the flipping fixed 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 fixed member 1211; in this embodiment, a flipping support member 1213 is provided on the flipping fixed member 1211; the flipping positioning member 1212 is arranged on the flipping support member 1213; in this way, the height of the avoidance space 1215 is increased.

[0077] collectively as Figure 15As shown; an installation hole 1216 is provided on the flipping fixing member 1211; the flipping track 124 passes through the installation 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 turns over the box-shaped material.

[0078] As Figure 6 , 14 As shown in FIGS. 15; locking members 1217 are provided on both sides of the flipping fixing member 1211 and on 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, a stable connection between the flipping track 124 and the flipping fixing member 1211 and the flipping positioning member 1212 is achieved.

[0079] 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. 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 connection stability between the flipping fixing member 1211 and the flipping positioning member 1212 is further improved.

[0080] As Figure 6 and Figure 15As shown, the flipping drive device 122 is arranged at the bottom of the flipping fixed 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 block 1222, and a flipping drive slider 1223; the flipping drive support 1221 is connected to the flipping fixed seat 1231, the flipping drive cylinder block 1222 is arranged on the flipping fixed seat 1231, and the flipping drive slider 1223 is inserted through the flipping drive cylinder block 1222 and is slidably arranged on the flipping drive cylinder block 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 fixed 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 fixed 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.

[0081] 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 simultaneously contact the adjacent surfaces of the box-shaped material, and the flipping supporting member 1233 can support the bottom surface 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.

[0082] At the same time, since the flipping supporting member 1233 is rotatably arranged on the flipping fixed 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.

[0083] Refer to Figure 8-10As shown; 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.

[0084] As Figure 10-13 shown; 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.

[0085] 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; thus, the grasping range of the grasping device 13 is far.

[0086] 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 block 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 block 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 block 1132 and is slidably arranged on the telescopic first cylinder block 1132.

[0087] 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.

[0088] The telescopic first slider 1133 is connected to the telescopic second fixed seat 1141 and slides on the telescopic first cylinder block 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 prevents the telescopic first slider 1133 from rotating during movement; it plays a guiding role in the movement of the telescopic first slider 1133.

[0089] 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 one or more rotatable pulleys 1152 are 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 moves synchronously with the telescopic movable bracket 112, at this time, the telescopic first slider 1133 does not have sliding friction with the telescopic movable bracket 112; 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 1152 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 movement is reduced.

[0090] Such as Figure 16-18As 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 assembly 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.

[0091] 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 turning bracket 121. A slide rail is provided on the side of the lifting movable bracket 22 close to the turning bracket 121; the slider is slidably arranged on the slide rail; thus, a sliding connection is realized between the lifting movable bracket 22 and the lifting fixed bracket 21, and between the lifting movable bracket 22 and the turning bracket 121.

[0092] There are two lifting fixed brackets 21, two lifting movable brackets 22 and two transmission assemblies 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.

[0093] The transmission assembly 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.

[0094] 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 is clamped on the lifting synchronous belt 243 on one side of the first lifting transmission wheel 241 and the second lifting transmission wheel 242; refer 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 turning bracket 121; the transmission assembly 24 is used to drive the lifting movable bracket 22 and the turning device 12 to lift synchronously.

[0095] 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 the 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.

[0096] 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; the tipping device 12 is lifted synchronously with the grasping device 13, and 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, and then realizing the rising of the lifting movable bracket 22.

[0097] 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, and then realizing the descending of the lifting movable bracket 22.

[0098] At the same time, a second synchronous belt fixing part 245 is connected to the lifting synchronous belt 243 on the other side of the transmission component 24, because the first synchronous belt fixing part 244 is connected to the lifting synchronous belt 243 on one side of the lifting first transmission wheel 241; the second synchronous belt fixing part 245 is connected to the lifting synchronous belt 243 on the other side of the lifting first transmission wheel 241; when the lifting movable bracket 22 rises, the first synchronous belt fixing part 244 moves downward relative to the lifting first transmission wheel 241, so that the second synchronous belt fixing part 245 moves upward relative to the lifting first transmission wheel 241, and the flip bracket 121 rises at the same time; when the lifting movable bracket 22 descends, the first synchronous belt fixing part 244 moves upward relative to the lifting first transmission wheel 241, so that the second synchronous belt fixing part 245 moves downward relative to the lifting first transmission wheel 241, and the flip bracket 121 descends at the same time; the flip bracket 121 moves on the basis of the movement of the lifting movable bracket 22, and the lifting height amplitude of the flip bracket 121 is large.

[0099] like Figure 1 As 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. The frame 10 is driven to move by the moving device, so that the engineering vehicle approaches the box-shaped material. The moving device 4 includes four sets of moving wheels, each set of moving wheels is driven by an independent motor.

[0100] The method for grabbing and flipping materials includes the following steps:

[0101] S1. Determine whether the box-shaped material is within the lifting range of the grabbing 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 grabbing device 13.

[0102] S2. The moving device 4 drives the frame 10 to move to one side of the box-shaped material.

[0103] S3, determine whether the adsorption component 134 of the grasping device 1313 can contact the side 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 adsorption component 134 can contact the side opposite to the box-shaped material.

[0104] S4, grab the rotating bracket 133 to drive the adsorbent 134 to rotate away from the avoidance space 1215, so that the adsorption surface of the adsorbent 134 is parallel to the side opposite to the box-shaped material; drive the adsorbent 134 to move to the same level as the box-shaped material through the lifting device 2; then extend the telescopic movable bracket 112 to make the adsorbent 134 contact with the box-shaped material;

[0105] S5, the adsorption member 134 adsorbs the box-shaped material, and then the telescopic movable bracket 112 retracts; then S12 is performed;

[0106] S6. If the box-shaped material is above the grasping device 13, proceed to S7; if the box-shaped material is below the grasping device 13, proceed to S9.

[0107] S7. The telescopic movable bracket 112 extends, so that the suction attachment 134 is located directly below the box-shaped material. The grasping rotating bracket 133 rotates away from the avoidance space 1215, so that the adsorption surface of the suction attachment 134 corresponds 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 proceed to S8.

[0108] S8. The lifting device drives the suction attachment 134 to descend, and then the telescopic movable bracket 112 retracts; then proceed to S11.

[0109] S9. The telescopic movable bracket 112 extends, so that the suction attachment 134 is located directly above the box-shaped material. The grasping rotating bracket 133 drives the suction attachment 134 to rotate away from the avoidance space 1215, so that the adsorption surface of the suction attachment 134 corresponds 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 proceed to S10.

[0110] S10. The lifting device drives the suction attachment 134 to rise, and then the telescopic movable bracket 112 retracts; then proceed to S11.

[0111] S11. The grasping rotating bracket 133 drives the suction attachment 134 to rotate towards the avoidance space 1215. When the box-shaped material contacts the flipping support member, the suction attachment 134 releases the adsorption of the box-shaped material; then the grasping rotating bracket 133 rotates away from the avoidance space 1215; then proceed to S12.

[0112] S12. The flipping drive device drives the flipping support member to move away from the grasping device 13. When the flipping support member slides along the arc-shaped chute, the flipping support member gradually rotates counterclockwise; then proceed to S13.

[0113] S13. When the flipping support member slides to the end of the arc-shaped chute away from the grasping device, the flipping support member rotates counterclockwise by an angle A; the rotation of the flipping support member drives the box-shaped material to turn over.

[0114] S14. The grasping rotating bracket 133 drives the suction attachment 134 to rotate towards the avoidance space 1215, and the suction attachment 134 adsorbs the box-shaped material that has been turned over; then proceed to S15.

[0115] S15. The moving device drives the frame to move to the target point; the suction attachment 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] In the above method,

[0120] S2 also includes: if the box-shaped material is not within the lifting range of the grabbing device 13, then proceed to S16;

[0121] S16: If the box-shaped material is located above the adsorption member, proceed to S17.

[0122] S17, the telescopic movable bracket 112 is extended to make the adsorbent 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 adsorbent 134 corresponds to the bottom of the box-shaped material; the lifting device drives the adsorbent 134 to rise to the highest height; the adsorbent performs adsorption. Then S18 is performed.

[0123] S18, the clamping device clamping the upper box-shaped material releases the clamping of the box-shaped material; the box-shaped material moves toward the adsorption member under the action of gravity. Then, S19 is performed.

[0124] S19, when the box-shaped material contacts the adsorption member, the support member supports the box-shaped material; under the suction force of the adsorption member, the box-shaped material is adsorbed on the adsorption member; then S8 is performed.

[0125] The above method can grasp box-shaped materials falling from a high altitude; since the box-shaped materials will deform the suction attachment when hitting the suction attachment under the action of gravity, which will in turn cause the suction attachment to be unable to adsorb the box-shaped materials; by setting up a support member to increase the stiffness of the suction attachment and using the support member to support the box-shaped materials; this avoids the box-shaped materials hitting the suction attachment under the action of gravity and deforming the suction attachment.

Claims

1. A method for grasping and flipping a material, characterized in that: It is realized by an engineering trolley, which includes a frame, a grasping device, a lifting device and a moving device; the moving device drives the engineering trolley to move; the lifting device drives the grasping device to lift; the grasping device includes a telescopic device, a flipping device and a grasping device; 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, and 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 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; 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 both flipping tracks are 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; 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 flipping first supporting plate and a flipping second supporting plate, the flipping second supporting plate is located below the flipping first supporting plate, and the flipping first supporting plate is connected to the flipping second supporting plate and is vertically arranged; flipping sliding members are respectively arranged at both ends of the flipping second supporting plate, and the flipping track is provided with an arc-shaped chute; one end of the arc-shaped chute extends away from the grasping device and upward along the length direction of the flipping bracket; the other end of the arc-shaped chute extends close to the grasping device and downward along the length direction of the flipping bracket; the flipping sliding members are slidably arranged in the arc-shaped chute; the flipping driving device is used to drive the flipping supporting member to rotate an angle A along the arc-shaped chute, 0° < A < 100°; 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; A method for grasping and flipping materials includes the following steps: S1. Judge whether the box-shaped material is within the moving range of the grasping device. If so, proceed to S2; S2. The moving device drives the frame to move to one side of the box-shaped material; S3. Judge whether the suction attachment of the grasping device can contact the opposite side of the box-shaped material. If so, proceed to S4; if not, proceed to S6; S4. The grasping rotating bracket drives the suction attachment to rotate away from the flipping device, making the adsorption surface of the suction attachment parallel to the side opposite to the box-shaped material; the lifting device drives the suction attachment to move to the same horizontal height as the box-shaped material; then the telescopic movable bracket extends to make the suction attachment contact the box-shaped material; S5. The suction attachment adsorbs the box-shaped material, and then the telescopic movable bracket retracts; then proceed to S12; S6. If the box-shaped material is above the grasping device, proceed to S7; if the box-shaped material is below the grasping device, proceed to S9; S7. The telescopic movable bracket extends to place the suction attachment directly below the box-shaped material, and the grasping rotating bracket rotates away from the flipping device, making the adsorption surface of the suction attachment correspond to the bottom of the box-shaped material; the lifting device drives the suction attachment to rise and contact the box-shaped material; then proceed to S8; S8. The lifting device drives the suction attachment to descend, and then the telescopic movable bracket retracts; then proceed to S11; S9. The telescopic movable bracket extends to place the suction attachment directly above the box-shaped material, and the grasping rotating bracket drives the suction attachment to rotate away from the flipping device, making the adsorption surface of the suction attachment correspond to the top of the box-shaped material; the lifting device drives the suction attachment to descend and contact the box-shaped material; then proceed to S10; S10. The lifting device drives the suction attachment to rise, and then the telescopic movable bracket retracts; then proceed to S11; S11. The grasping rotating bracket drives the suction attachment to rotate towards the flipping device. When the box-shaped material contacts the flipping support, the suction attachment releases the adsorption of the box-shaped material; then the grasping rotating bracket rotates away from the flipping device; then proceed to S12; S12. The flipping drive device drives the flipping support to move away from the grasping device. When the flipping support slides along the arc-shaped chute, the flipping support gradually rotates counterclockwise; then proceed to S13; 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 angle A; the rotation of the flipping support drives the box-shaped material to turn over; then proceed to S14; S14. The grasping rotating bracket drives the suction attachment to rotate towards the flipping device, and the suction attachment adsorbs the box-shaped material that has been turned over; then proceed to S15; S15. The moving device drives the frame to move to the target point; the suction attachment drives the box-shaped material to rotate away from the flipping device and places the box-shaped material on the contact surface of the target point.

2. The method for grasping and flipping a material according to claim 1, wherein: A support member with a hollow structure is provided in the suction attachment.

3. The grasping and flipping method of a material according to claim 2, characterized in that: S2 also includes: If the box-shaped material is not within the moving range of the grasping device's lifting, proceed to S16; S16. If the box-shaped material is above the suction attachment, proceed to S17; S17. The telescopic movable bracket extends to place the suction attachment directly below the box-shaped material, and the grasping rotating bracket rotates away from the flipping device, making the adsorption surface of the suction attachment correspond to the bottom of the box-shaped material; the lifting device drives the suction attachment to rise to the highest height; the suction attachment performs adsorption; then proceed to S18; S18. The clamping device is arranged on the wall; the box-shaped material is arranged on the ground; the clamping device clamps the side of the box-shaped material, and the clamping device that clamps the upper box-shaped material releases the clamping of the box-shaped material; the box-shaped material approaches the suction attachment under the action of gravity; then proceed to S19; 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 proceed to S8.

4. A method for grasping and flipping a material according to claim 1, characterized in that: In S4, S7, and S9, the telescopic movable bracket extends specifically as follows: the telescopic first driving device drives the telescopic movable bracket to extend for the first time, and the telescopic second driving device drives the telescopic movable bracket to extend for the second time; In S5, S8, and S10, the telescopic movable bracket retracts specifically as follows: the telescopic first driving device drives the telescopic movable bracket to retract for the first time, and the telescopic second driving device drives the telescopic movable bracket to retract for the second time.

5. A method for grasping and flipping a material according to claim 1, characterized in that: The lifting device includes a lifting fixed bracket, a lifting movable bracket, a lifting driving 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; The transmission component includes a lifting first transmission wheel, a lifting second 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 lifting first transmission wheel and is connected to one end of the lifting movable bracket, and the lifting second transmission wheel is rotatably arranged at the other end of the lifting movable bracket; the lifting synchronous belt is sleeved on the lifting first transmission wheel and the lifting second 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 clamps the lifting synchronous belt on one side of the lifting first transmission wheel and the lifting second transmission wheel; the second synchronous belt fixing member sleeves and fixes the lifting synchronous belt on the other side of the lifting first transmission wheel and the lifting second transmission wheel on the flipping bracket; the transmission component is used to drive the lifting movable bracket and the flipping device to lift synchronously.

6. A method for grasping and flipping a material according to claim 1, characterized in that: A is 83°.

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