Working method of an engineering vehicle

Abstract

This invention provides a working method for an engineering trolley, which includes a gripping device and a lifting device. The gripping device includes a telescopic device, a tilting device, and a gripping mechanism. The lifting device is connected to the tilting device. The gripping mechanism is located on one side of the tilting device. The fixed end of the telescopic device is connected to the tilting device, and the movable end of the telescopic device is connected to the gripping mechanism. The telescopic device drives the gripping mechanism to move closer to and away from the tilting device. The telescopic device also drives the gripping mechanism to extend, retract, and expand, allowing the box-shaped material gripped by the gripping mechanism to move into the tilting device. Simultaneously, the gripping rotating bracket of the gripping mechanism is rotatable and connected to an adsorption element, enabling the gripping of box-shaped materials from different directions. The lifting device drives the gripping mechanism to move, allowing it to work with box-shaped materials of different heights.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a method for operating an engineering vehicle. Background Technology

[0002] Engineering vehicles and logistics robots are quite similar; both require the ability to grip and move regular objects of a certain weight at different heights. Automation enables intelligent logistics, such as fully automated logistics in ports and logistics centers. For example, Chinese patent application CN202220569739.4, published on July 5, 2022, discloses a globally positioned handling robot, specifically including a chassis. Power devices for assisting the robot's omnidirectional movement are fixedly installed on both sides of the chassis, and cargo compartments are installed on both sides. The upper surface of the chassis...

[0003] The front end is equipped with a robotic arm for grasping, and a microcontroller is mounted on the rear of the upper surface of the chassis. The shock absorption mechanism in the power unit reduces vibration during robot operation. When the robot is on uneven terrain or in a vibrating environment, the supporting force on the Mecanum wheels is transmitted through the damping plate to the damping springs of the shock absorber. At this time, the shock absorber is compressed, causing the parallel four-bar linkage of the shock absorption device to deform, ensuring that the Mecanum wheels maintain close contact with the ground, preventing slippage and improving the robot's adaptability to terrain. Simultaneously, the shock absorption mechanism reduces the impact of undulations and oscillations during robot operation, increasing the robot's stability.

[0004] However, this type of handling robot only grasps goods using its robotic arm; it cannot flip over box-shaped materials being handled. Furthermore, the gripper of this existing handling robot has a fixed direction of movement, meaning it can only clamp box-shaped materials in one direction—either from top to bottom or from left to back. It cannot clamp in different directions, making it susceptible to limitations imposed by space constraints, preventing it from picking up box-shaped materials. The gripper also cannot catch materials falling from the air. When grasping box-shaped materials, the gripper needs to open, move the gripper to position the box between the two teeth, and then close the gripper to achieve a grip. This process is cumbersome. Additionally, this type of handling robot cannot assist other robots in their recovery. Summary of the Invention

[0005] This invention provides a working method for an engineering vehicle that can grasp box-shaped materials and rescue other robots, and is simple to operate.

[0006] To achieve the above objectives, the technical solution of the present invention is: a working method for an engineering trolley, implemented by the engineering trolley, which includes a frame, a gripping device, a lifting device, and a moving device; the moving device drives the engineering trolley to move; the gripping device includes a telescopic device, a tilting device, and a gripping device, with the lifting device connected to the tilting device; the gripping device is located on one side of the tilting device; a tractor mechanism is provided on the side of the frame away from the gripping device; the fixed end of the telescopic device is connected to the tilting device, and the movable end of the telescopic device is connected to the gripping device, the telescopic device driving the gripping device to move closer to and away from the tilting device. The tilting device includes a tilting bracket, a tilting drive device, a tilting seat, and two tilting tracks; the tilting drive device is located at the bottom of the tilting bracket, and both tilting tracks are located on the tilting bracket and above the tilting drive device; the tilting drive device drives the tilting seat to slide on the tilting tracks.

[0007] The flipping seat includes a flipping fixed seat and a flipping support, the flipping support being rotatably mounted on the flipping fixed seat; the flipping fixed seat is fixedly connected to the flipping drive device; the flipping support includes a flipping first support plate and a flipping second support plate, the flipping second support plate being located below the flipping first support plate; the flipping first support plate and the flipping second support plate are connected and vertically arranged; flipping sliding members are respectively provided at both ends of the flipping second support plate, and the flipping track is provided with an arc-shaped groove; one end of the arc-shaped groove extends upward away from the gripping device along the length direction of the flipping bracket; the other end of the arc-shaped groove extends downward close to the gripping device along the length direction of the flipping bracket; the flipping sliding member is slidably mounted in the arc-shaped groove; the flipping drive device is used to drive the flipping support to rotate along the arc-shaped groove by an angle A, 0° < A < 100°.

[0008] The gripping device includes a gripping mounting bracket, a gripping drive device, a gripping rotating bracket, and an adsorption component; the gripping mounting bracket is connected to the movable end of the telescopic device, the gripping drive device is fixed on the gripping mounting bracket and connected to the gripping rotating bracket, and the adsorption component is installed on the gripping rotating bracket; the gripping drive device drives the gripping rotating bracket to rotate, and the gripping rotating bracket causes the adsorption component to move closer to and away from the flipping seat.

[0009] The tractor mechanism includes one or more tow hooks, and the tow hook includes a U-shaped mounting base, a towing cylinder, two oppositely arranged towing mounting plates, a towing fixing block, a towing limiter, a towing slide rail, a towing slider, a limit link, and a towing component.

[0010] The two ends of the U-shaped mounting base are fixedly connected to the frame; the towing fixing block is set between the two towing mounting plates, and the towing fixing block is fixedly connected to the two towing mounting plates respectively; the fixed end of the towing cylinder is connected to the frame, and the movable end of the towing cylinder is fixedly connected to the towing fixing block; the middle position of the limit link is hinged between the two towing mounting plates, and one end of the towing component is hinged between the two towing mounting plates and located at the end of the towing mounting plate away from the towing fixing block; the end of the towing component that is hinged to the towing mounting plate abuts against the limit link; a return torsion spring is connected between the towing component and the two towing mounting plates; under the elastic force of the return torsion spring, the end of the towing component away from the limit link is vertically downward.

[0011] The towing limiter is mounted on the frame and located on the side of the U-shaped mounting base away from the towing cylinder; a first protrusion extends upward from the upper end of the towing mounting plate and is located near the towing cylinder, the height of the uppermost part of the first protrusion being lower than the highest point of the groove formed by the U-shaped mounting base; a second protrusion extends upward from the upper end of the towing mounting plate and is located away from the towing cylinder; the towing limiter is used to limit the first protrusion and the second protrusion.

[0012] The towing slide rail is set on the side of the towing mounting plate away from the other towing mounting plate. The towing slider is fixedly installed on the inner side wall of the groove formed by the U-shaped mounting base. The towing slider has a groove corresponding to the towing slide rail. The towing slide rail is slidably set on the towing slider.

[0013] The working methods of engineering vehicles include methods for transferring box-shaped materials and rescue methods.

[0014] The method for transferring box-shaped materials includes the following steps:

[0015] S1. Determine whether the box-shaped material is within the lifting range of the gripping device. If so, proceed to S2.

[0016] S2. The moving device drives the frame to move to one side of the box-shaped material.

[0017] S3. Determine whether the adsorption element of the gripping device can contact the opposite side of the box-shaped material. If yes, proceed to S4; otherwise, proceed to S6.

[0018] S4. The gripping rotating bracket drives the adsorption element to rotate away from the flipping device, so that the adsorption surface of the adsorption element is parallel to the side opposite to the box-shaped material; the lifting device drives the adsorption element to move to the same horizontal height as the box-shaped material; then the telescopic movable bracket extends to make the adsorption element contact the box-shaped material.

[0019] S5, the adsorption element adsorbs the box-shaped material, and then the telescopic movable support retracts; then proceed to S12.

[0020] S6. If the box-shaped material is above the gripping device, proceed to S7; if the box-shaped material is below the gripping device, proceed to S9.

[0021] S7. Extend the telescopic movable bracket so that the adsorption element is directly below the box-shaped material. Rotate the gripping rotating bracket away from the flipping device so that the adsorption surface of the adsorption element corresponds to the bottom of the box-shaped material. The lifting device drives the adsorption element to rise and contact the box-shaped material. Then proceed to S8.

[0022] S8. The lifting device drives the adsorption component to descend, and then the telescopic movable bracket retracts; then proceed to S11.

[0023] S9. Extend the telescopic movable bracket so that the adsorption element is directly above the box-shaped material. Grasp the rotating bracket to drive the adsorption element to rotate away from the flipping device so that the adsorption surface of the adsorption element corresponds to the top of the box-shaped material. The lifting device drives the adsorption element to descend and contact the box-shaped material. Then proceed to S10.

[0024] S10, The lifting device drives the adsorption component to rise, and then the telescopic movable bracket retracts; then proceed to S11.

[0025] S11. The gripping rotating bracket drives the adsorption component to rotate towards the flipping device. When the box-shaped material comes into contact with the flipping support, the adsorption component releases the adsorption of the box-shaped material. Then the gripping rotating bracket rotates away from the flipping device. Then proceed to S12.

[0026] S12, the flipping drive device drives the flipping support to move away from the gripping device. When the flipping support slides along the arc-shaped groove, the flipping support gradually rotates in the counterclockwise direction; then proceed to S13.

[0027] S13. When the flipping support slides to the end of the arc-shaped chute away from the gripping device, the flipping support rotates counterclockwise by angle A; the rotation of the flipping support causes the box-shaped material to flip over.

[0028] S14. The gripping rotating bracket drives the adsorption component to rotate towards the flipping device, and the adsorption component adsorbs the box-shaped material that has been flipped; then proceed to S15.

[0029] S15. The moving device drives the frame to move to the target point; the adsorption element 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.

[0030] The above method for transferring box-shaped materials involves a gripping rotating bracket that drives the adsorption component to rotate, allowing the adsorption component to contact box-shaped materials of different heights and positions. When there are no obstacles between the adsorption component and the box-shaped material, the adsorption component contacts the opposite side of the box-shaped material, resulting in high efficiency. When the box-shaped material is located above or below the adsorption component, and there are no obstacles between them, the height of the adsorption component is changed by a lifting device, allowing the adsorption component to contact the opposite side of box-shaped materials of different heights, thus enabling the gripping of box-shaped materials of varying heights.

[0031] When the box-shaped material is located above or below the adsorption element, and there is an obstacle between the adsorption element and the box-shaped material, the gripping rotating bracket changes the contact position between the adsorption element and the box-shaped material. When the box-shaped material is above the adsorption element, the adsorption element contacts the bottom of the box-shaped material; when the box-shaped material is below the adsorption element, the adsorption element contacts the top of the box-shaped material. Then, the lifting device moves the adsorption element and the box-shaped material, thereby enabling it to overcome obstacles and grip the box-shaped material.

[0032] At the same time, the box-shaped material is moved into the flipping device, which flips the box-shaped material over; thus, the surface position of the box-shaped material will change when the adsorbent is removed from the flipping device.

[0033] The rescue method includes the following steps:

[0034] A1. When the towing cylinder extends, the sliding mechanism slides outward under the action of the transmission connecting block until the first protrusion on the connecting plate abuts against the towing limiter fixed on the frame; the towing limiter limits the clockwise rotation of the limit link.

[0035] A2. By moving the moving device, the towing component is pushed towards the crossbar of the target vehicle body. The reaction force generated by the crossbar of the target vehicle body pushes the towing part of the push-pull component to rotate in the direction of the limit link against the elastic force of the return spring until the crossbar disengages from the push-pull part of the push-pull component. Then, the towing component resets under the elastic force of the return spring, and the tractor mechanism completes the connection action with the crossbar of the target vehicle body.

[0036] A3. One end of the limiting link abuts against the bent part of the towing component, and the other end of the limiting link abuts against the towing limiting component; the moving device drives the frame to move away from the target vehicle body, and the crossbar of the target vehicle body approaches the towing component along the direction away from the limiting link, generating a force that drives the towing component to rotate away from the limiting link; the clockwise rotation of the limiting link limits the counterclockwise rotation of the towing component; the limiting link restricts the tendency of the towing link to rotate, thus preventing the crossbar of the target vehicle body from disengaging from the towing part of the towing component.

[0037] A4. The mobile device drives the frame to continue moving away from the target vehicle body, and the tractor mechanism pulls the target vehicle body to move through the tractor.

[0038] A5. After towing the target vehicle body, the towing cylinder retracts, causing the connecting plate to retract until the second protrusion abuts against the towing limiter. The towing limiter no longer restricts the clockwise rotation of the limit link, and the limit link no longer restricts the counterclockwise rotation of the towing component. As the engineering robot continues to move away from the target vehicle body, the crossbar of the target vehicle body drives the towing component to rotate away from the limit link, thus separating the crossbar of the target vehicle body from the towing mechanism.

[0039] The above rescue method involves the following steps: the towing rail is fixedly connected to the frame via a U-shaped mounting base; the towing rail is fixedly connected to the towing mounting plate; the towing fixing block connects the towing mounting plate and the movable end of the towing cylinder; when the towing cylinder extends, it drives the towing mounting plate to move through the towing fixing block, and the towing rail slides on the towing slider; the towing mounting plate simultaneously drives the limiting linkage and the towing component to move relative to the towing rail; until the first protrusion on the towing mounting plate abuts against the towing limiting component fixed on the frame; the towing limiting component moves above one end of the limiting linkage; the towing limiting component limits the movement of the towing mounting plate and the rotation of the limiting linkage.

[0040] The moving device moves the towed component towards the crossbars set on other robots. The reaction force generated by the crossbars of other robots pushes the towing part of the push-pull component to rotate towards the limit link, overcoming the elastic force of the return spring, until the crossbar disengages from the push-pull part of the push-pull component. Then, the towed component resets under the elastic force of the return spring. The tractor mechanism completes the connection action with the crossbars of other robots.

[0041] When the tractor frame moves away from other robots, the non-rotating limit link restricts the rotation of the towing component; thus limiting the tendency of other robots' crossbars to drive the towing link to rotate; allowing the towing component to hook onto the crossbars of other robots; thus enabling the towing of other robots.

[0042] When the towing cylinder retracts, the second protrusion on the towing mounting plate abuts against the towing limiter fixed on the frame. At this time, the towing limiter no longer restricts the end of the limit link away from the towing component, allowing the limit link to rotate clockwise. Consequently, when the crossbar of another robot drives the towing link to rotate counterclockwise, the crossbar of the other robot can separate from the towing mechanism.

[0043] Furthermore, the adsorption component is equipped with a hollow support structure.

[0044] Furthermore, S2 also includes: if the box-shaped material is not within the lifting range of the gripping device, then proceed to S16.

[0045] S16, if the box-shaped material is located above the adsorption element, then proceed to S17.

[0046] S17. Extend the telescopic movable bracket so that the adsorption element is directly below the box-shaped material. Rotate the gripping rotating bracket away from the flipping device so that the adsorption surface of the adsorption element corresponds to the bottom of the box-shaped material. The lifting device drives the adsorption element to rise to the highest height. The adsorption element adsorbs. Then proceed to S18.

[0047] S18. The clamping device holding the box-shaped material above releases its grip on the box-shaped material; the box-shaped material moves closer to the adsorption component under the action of gravity; then proceed to S19.

[0048] S19. When the box-shaped material comes into contact with the adsorption element, the support element supports the box-shaped material; under the suction force of the adsorption element, the box-shaped material is adsorbed onto the adsorption element; then proceed to S8.

[0049] The above method can grab box-shaped materials falling from a height. However, when the box-shaped materials hit the adsorption component under gravity, the adsorption component will deform, thus preventing it from adsorbing the box-shaped materials. By setting up support components to increase the rigidity of the adsorption component, the box-shaped materials can be supported, thus preventing the adsorption component from deforming when it hits the adsorption component under gravity.

[0050] Furthermore, the telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a first telescopic drive device, and a second telescopic drive device; one end of the telescopic movable bracket is connected to the gripping device; the telescopic movable bracket is disposed above the telescopic fixed bracket and slidably connected to the telescopic fixed bracket; the fixed end of the first telescopic drive device is connected to the telescopic fixed bracket, the movable end of the first telescopic drive device is connected to the fixed end of the second telescopic drive device, and the movable end of the second telescopic drive device is connected to the telescopic movable bracket; the first telescopic drive device is used to drive the telescopic movable bracket to move, and the second telescopic drive device is used to drive the telescopic movable bracket to move relative to the first telescopic drive device.

[0051] The above configuration involves the telescopic movable bracket being extended for the first time by the first telescopic drive device and for the second telescopic movable bracket being extended for the second time by the second telescopic drive device; the telescopic movable bracket has a long moving distance; thus, the grasping range of the grasping device is far.

[0052] Furthermore, in S4, S7, and S9, the extension of the telescopic movable bracket is specifically as follows: the first telescopic drive device drives the telescopic movable bracket to extend for the first time, and the second telescopic drive device drives the telescopic movable bracket to extend for the second time.

[0053] In S5, S8, and S10, the retraction of the telescopic movable support is specifically as follows: the first telescopic drive device drives the telescopic movable support to retract for the first time, and the second telescopic drive device drives the telescopic movable support to retract for the second time.

[0054] Furthermore, the lifting device includes a fixed lifting bracket, a movable lifting bracket, a lifting drive device, and a transmission assembly; the fixed lifting bracket is fixedly connected to the frame, and the movable lifting bracket is slidably connected to the fixed lifting bracket and the gripping device.

[0055] The transmission assembly includes a first lifting transmission wheel, a second lifting transmission wheel, a lifting synchronous belt, a first synchronous belt fixing component, and a second synchronous belt fixing component; the output end of the lifting drive device passes through the first lifting transmission wheel and is connected to one end of the lifting movable support, and the second lifting transmission wheel is rotatably mounted on the other end of the lifting movable support; the lifting synchronous belt is sleeved on the first lifting transmission wheel and the second lifting transmission wheel.

[0056] One end of the first synchronous belt fixing member is fixedly connected to the lifting fixed bracket, and the other end of the first synchronous belt fixing member is clamped on the lifting synchronous belt on one side of the lifting first transmission wheel and the lifting second transmission wheel; the second synchronous belt fixing member puts the lifting synchronous belt on the other side of the lifting first transmission wheel and the lifting second transmission wheel onto the tilting bracket; the transmission assembly is used to drive the lifting movable bracket and the tilting device to lift synchronously.

[0057] The above setup uses a lifting device to drive the tilting device to rise and fall, which in turn drives the gripping device to rise and fall. This allows the gripping device to grasp box-shaped materials of different heights. The tilting device rises and falls synchronously with the gripping device, resulting in good coordination between them. The lifting synchronous belt sleeve on one side of the transmission assembly is connected to the lifting fixed bracket. The transmission assembly rotates in one direction, causing the lifting synchronous belt to move. The first synchronous belt fixing component moves towards the bottom of the lifting fixed bracket, generating a force that drives the lifting fixed bracket to move downward. Since the lifting fixed bracket is fixed to the frame, it cannot move. However, the transmission assembly is mounted on the lifting movable bracket, and the lifting movable bracket is slidably connected to the lifting fixed bracket. This drives the lifting movable bracket to move upward, causing the first synchronous belt fixing component to move downward relative to the lifting first transmission wheel, thereby raising the lifting movable bracket.

[0058] The transmission assembly rotates in another direction to lift the timing belt sleeve. The first timing belt fixing member moves closer to the top of the lifting fixed bracket. The first timing belt fixing member generates a force that drives the lifting fixed bracket to move upward. Since the lifting fixed bracket is fixed on the frame, it cannot move. The transmission assembly is set on the lifting movable bracket, and the lifting movable bracket is slidably connected to the lifting fixed bracket. This will drive the lifting movable bracket to move downward, causing the first timing belt fixing member to move upward relative to the lifting first transmission wheel, thereby realizing the descent of the lifting movable bracket.

[0059] Meanwhile, a second synchronous belt fixing component 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 component moves downward relative to the lifting first transmission wheel, so that the second synchronous belt fixing component moves upward relative to the lifting first transmission wheel, and the tilting bracket rises at the same time. When the lifting movable bracket falls, the first synchronous belt fixing component moves upward relative to the lifting first transmission wheel, so that the second synchronous belt fixing component moves downward relative to the lifting first transmission wheel, and the tilting bracket falls at the same time. The tilting bracket moves based on the movement of the lifting movable bracket, and the lifting height range of the tilting bracket is large.

[0060] Furthermore, A is 83°. Attached Figure Description

[0061] Figure 1 This is a perspective view of an engineering vehicle using the present invention.

[0062] Figure 2 for Figure 1 A magnified view of 'a' in the middle.

[0063] Figure 3 This is a three-dimensional schematic diagram of the gripping device and lifting device in the engineering vehicle using the present invention.

[0064] Figure 4 This is a perspective view of the gripping device in the engineering vehicle using the present invention.

[0065] Figure 5 An exploded view of the gripping device in the engineering vehicle using the present invention.

[0066] Figure 6 This is a perspective view of the engineering trolley using the present invention after removing the flipping bracket.

[0067] Figure 7 An exploded view of the tilting device of the engineering trolley using the present invention after removing the tilting bracket.

[0068] Figure 8 This is a schematic diagram showing the tilting support of the engineering trolley using the present invention moving to one end of the arc-shaped chute.

[0069] Figure 9 This is a schematic diagram showing the tilting support of the engineering trolley using the present invention moving towards the other end of the arc-shaped chute.

[0070] Figure 10 This is a schematic diagram showing the tilting support of the engineering trolley using the present invention moving to the other end of the arc-shaped chute.

[0071] Figure 11 This is a perspective view of the telescopic device and gripping device of the engineering vehicle using the present invention.

[0072] Figure 12 This is a schematic diagram showing how the telescopic movable support is extended using the telescopic first drive device of the engineering vehicle in this invention.

[0073] Figure 13 for Figure 12 A magnified view of b in the middle.

[0074] Figure 14 This is a schematic diagram illustrating how the telescopic second drive device of the engineering trolley of the present invention drives the telescopic movable support to extend.

[0075] Figure 15 This is a perspective view of the tilting and positioning component of the engineering trolley using the present invention.

[0076] Figure 16 This is a perspective view of the tilting and fixing component of the engineering trolley using the present invention.

[0077] Figure 17 This is a perspective view of the lifting device of the engineering trolley using the present invention.

[0078] Figure 18 This is a front view of the lifting device of the engineering trolley using the present invention.

[0079] Figure 19 This is a schematic diagram of the lifting device of the engineering trolley using the present invention after it has been raised.

[0080] Figure 20 This is a schematic diagram of the tow hook of the engineering vehicle using the present invention.

[0081] Figure 21 This is a side view of the tow hook of the engineering vehicle using the present invention.

[0082] Figure 22 This is a cross-sectional schematic diagram of the tow hook of the engineering vehicle using the present invention in the extended state of the towing cylinder.

[0083] Figure 23 This is a cross-sectional schematic diagram of the towing hook of the engineering vehicle using the present invention in the retracted state of the towing cylinder.

[0084] Figure 24This is a schematic diagram illustrating the use of the engineering trolley of the present invention in conjunction with box-shaped materials of different heights. Detailed Implementation

[0085] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0086] like Figure 1-24 As shown; a working method of an engineering vehicle, which is implemented by the engineering vehicle, the engineering vehicle includes a frame 10, on which a gripping device 1 and a lifting device 2 are provided. In this embodiment, there are two lifting devices 2, and the gripping device 1 is located between the two lifting devices 2; the two lifting devices 2 are connected to the gripping device 1 and drive the gripping device 1 to lift.

[0087] like Figure 2 , 4 As shown in Figure 5, the gripping device 1 includes a telescopic device 11, a tilting device 12, and a gripping device 13, with the gripping device 13 located on one side of the tilting device 12. A tractor mechanism 3 is provided on the side of the frame 10 away from the gripping device 13. The fixed end of the telescopic device 11 is connected to the tilting device 12, and the movable end of the telescopic device 11 is connected to the gripping device 13. The telescopic device 11 drives the gripping device 13 to move closer to and further away from the tilting device 12. By driving the gripping device 13 to extend, retract, and expand, the box-shaped material gripped by the gripping device 13 can be moved into the tilting device 12. By setting the telescopic device 11, the gripping device 13 can grip box-shaped materials at different distances from the frame 10.

[0088] like Figure 5 , 11As shown; the gripping device 13 includes a gripping mounting bracket 131, a gripping driving device 132, a gripping rotating bracket 133, and an adsorption member 134; in this embodiment, there are two gripping mounting brackets 131, which are connected to the movable end of the telescopic device 11. The gripping driving device 132 is fixed on one gripping mounting bracket 131 and its output end is fixedly connected to one end of the gripping rotating bracket 133. The other end of the gripping rotating bracket 133 is rotatably connected to the other gripping mounting bracket 131. The adsorption member 134 is mounted on the gripping rotating bracket 133. The gripping driving device 132 drives the gripping rotating bracket 133 to rotate, and the gripping rotating bracket 133 causes the adsorption member 134 to move closer to and away from the flipping device 12. In this embodiment, the adsorption element 134 is a suction cup; a hollow support structure (not shown in the figure) is provided in the adsorption element 134, and the adsorption element 134 is connected to a vacuum pump (not shown in the figure); the vacuum pump is a vacuum pump; by setting the hollow support structure, the adsorption element 134 can adsorb box-shaped materials without affecting the adsorption of the box-shaped materials; at the same time, the supporting force of the adsorption element 134 is improved. In this embodiment, the gripping drive device 132 is a stepper motor. The gripping device 13 is used to grip the box-shaped materials and place the gripped box-shaped materials in the flipping device 12.

[0089] A rotatable gripping support 133 is provided, which drives the adsorption element 134 to rotate. In this way, the adsorption element 134 can grip box-shaped materials in the horizontal direction, in the vertical direction, and in the inclined direction between the horizontal and vertical directions. It is not easily restricted by the site and has a wide range of applications. At the same time, since the gripping support 133 can rotate, after the gripping device 13 grips the box-shaped material in one direction, the gripping device 13 can place the box-shaped material in another direction.

[0090] Reference Figure 24 As shown; box-shaped materials Q1, Q2, and Q3 are mounted on the wall 6 via clamping device 5; box-shaped material Q4 is mounted on the ground 7; the clamping device clamps the side of the box-shaped materials. In this embodiment, the clamping device is a gripper; the clamping device is prior art and will not be described in detail here.

[0091] If the box-shaped material is within the lifting range of the gripping device 13, then the lifting device 2 drives the gripping device 13 to rise and fall to accommodate the box-shaped material at a different height. (Refer to...) Figure 24 The box-shaped materials Q2, Q3, and Q4 are all within the lifting range of the gripping device 13.

[0092] Reference Figure 24When the adsorption surface of the adsorption element 134 can contact the opposite side of the box-shaped material Q3, the adsorption element rotates away from the flipping device 12 and contacts the opposite side of the box-shaped material, thereby grasping the box-shaped material.

[0093] Reference Figure 24 Q2 and Q4; when there is an obstacle K between the box-shaped material and the adsorption element; the adsorption surface of the adsorption element 134 cannot contact the opposite side of the box-shaped material; at this time, the position of the box-shaped material is determined.

[0094] Reference Figure 24 In the case of Q2, after Q3 is transported, if the box-shaped material is located above the adsorption element 134, the adsorption element will rotate away from the flipping device 12, and the adsorption surface of the adsorption element will correspond to the bottom of the box-shaped material above; in this way, the adsorption element is driven to rise by the lifting device, thereby realizing the grabbing of the box-shaped material.

[0095] Reference Figure 24 Q4; after Q3 is transported, if the box-shaped material is located below the adsorption element 134, the adsorption element rotates away from the flipping device 12, and the adsorption surface of the adsorption element corresponds to the top of the box-shaped material below; in this way, the adsorption element is driven to descend by the lifting device 2; thus, the box-shaped material is grasped.

[0096] like Figure 4 , 5 As 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 located at the bottom of the flipping bracket 121, and the two flipping tracks 124 are both located 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.

[0097] like Figure 5-7As shown; the flipping seat 123 includes a flipping fixed seat 1231, a flipping swing seat 1232, and a flipping support 1233; the flipping support 1233 is fixedly connected to the flipping swing seat 1232, and the flipping swing seat 1232 is hinged to the flipping fixed seat 1231; the flipping swing seat 1232 includes a swinging first seat body 1234 and a swinging second seat body 1235; the swinging first seat body 1234 and the swinging second seat body 1235 are connected and vertically arranged; the flipping support 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; flipping The first support plate 1236 is connected to and vertically arranged with the flipping second support plate 1237; the flipping first support plate 1236 is connected to the swinging first seat 1234, and the flipping second support plate 1237 is connected to the swinging second seat 1235; the flipping swinging seat 1232 is fixedly connected to the flipping support member 1233; the flipping swinging seat 1232 is hinged to the flipping fixed seat 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 swinging seat 1232 to rotate on the flipping fixed seat 1231.

[0098] like Figure 7 As shown; 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 groove 1241; one end of the arc-shaped groove 1241 extends upward away from the gripping device 13 along the length direction of the flipping bracket 121; the other end of the arc-shaped groove 1241 extends downward close to the gripping device 13 along the length direction of the flipping bracket 121; the flipping sliding member 1238 is slidably disposed in the arc-shaped groove 1241 through a flange bearing; the flipping drive device 122 is used to drive the flipping support member 1233 to rotate along the arc-shaped groove 1241 by an angle A, where 0° < A < 100°. In this embodiment, A is 83°.

[0099] like Figure 4 , 5 As shown in Figures 15 and 16, the flipping bracket 121 includes a flipping fixing member 1211 and a flipping positioning member 1212, with the flipping positioning member 1212 disposed on the flipping fixing member 1211. An clearance hole 1214 is provided on the flipping positioning member 1212, forming a clearance space 1215 between the clearance hole 1214 and the flipping fixing member 1211. In this embodiment, a flipping support member 1213 is provided on the flipping fixing member 1211; the flipping positioning member 1212 is disposed on the flipping support member 1213, thus increasing the height of the clearance space 1215.

[0100] together as Figure 16As shown, a mounting hole 1216 is provided on the flipping fixing member 1211; the flipping track 124 is disposed through the mounting hole 1216 and disposed in the clearance space 1215 and is fixedly connected to the flipping fixing member 1211 and the flipping positioning member 1212. The clearance space 1215 is provided to accommodate the box-shaped material and the flipping device 12; this reduces the volume of the flipping device 12; and at the same time prevents the box-shaped material from falling off the flipping support member 1233 when the flipping support member 1233 flips the box-shaped material.

[0101] like Figure 7 , 15 As shown in Figure 16, locking members 1217 are provided on both sides of the flipping fixing member 1211 and both sides of the flipping positioning member 1212. Each locking member 1217 has a first through hole 12171 that vertically penetrates the locking member 1217 and a second through hole 12172 that horizontally penetrates 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 the first threaded hole (not shown in the figure) of the flipping fixing member 1211, and the second threaded hole (not shown in the figure) on the flipping positioning member 1212 is aligned with the first threaded hole (not shown in the figure). Alignment; the second through hole 12172 and the third threaded hole 1242 on the flip track 124 are rotated; the bolt passes through the first through hole 12171 and connects with the first threaded hole to fix the locking member 1217 on the flip fixing member 1211; the bolt passes through the first through hole 12171 and connects with the second threaded hole to fix the locking member 1217 on the flip positioning member 1212; the bolt passes through the second through hole 12172 and connects with the third threaded hole 1242 to lock the flip track 124 on the locking member 1217; thus, a stable connection is achieved between the flip track 124 and the flip fixing member 1211 and the flip positioning member 1212.

[0102] Two fixed support members 1218 are provided at the end of the flipping fixing member 1211 away from the gripping device 13. Each fixed support member 1218 has a first slot 12181 at its top. The first slot 12181 is engaged on the end of the flipping positioning member 1212 away from the gripping device 13.

[0103] In another embodiment, two second slots 12182 are provided at the end of the flip positioning member 1212 away from the gripping device 13; the first slot 12181 engages with the second slot 12182. The engagement of the first slot 12181 with the flip positioning member 1212 further improves the stability of the connection between the flip fixing member 1211 and the flip positioning member 1212.

[0104] like Figure 7 and Figure 16As shown, the flipping drive device 122 is disposed at the bottom of the flipping fixed base 1231. In this embodiment, the flipping drive device 122 is a rodless cylinder. The flipping drive device 122 includes a flipping drive support 1221, a flipping drive cylinder body 1222, and a flipping drive slider 1223. The flipping drive support 1221 is connected to the flipping fixed base 1231, the flipping drive cylinder body 1222 is disposed on the flipping fixed base 1231, and the flipping drive slider 1223 passes through and slides on the flipping drive cylinder body 1222. A connecting hole 1219 is provided on the flipping fixed member 1211, and one end of the flipping drive slider 1223 passes through the connecting hole 1219 and connects to the flipping fixed base 1231. The flipping base 123 moves by moving the flipping drive slider 1223. The connection between the flipping drive slider 1223 and the flipping fixed base 1231 prevents the flipping drive slider 1223 from rotating during movement and guides the movement of the flipping drive slider 1223.

[0105] The flipping device 12 flips the box-shaped material. Through the vertically arranged first flipping support plate 1236 and second flipping support plate 1237, the flipping support 1233 can simultaneously contact the adjacent surfaces of the box-shaped material. The flipping support 1233 can support the bottom surface of the box-shaped material before and after flipping. When the box-shaped material is not flipped, the second flipping support plate 1237 supports the box-shaped material. When the box-shaped material is flipped, the first flipping support plate 1236 supports the box-shaped material. This prevents the box-shaped material from falling off the flipping support 1233 under the action of gravity.

[0106] Meanwhile, since the flip support 1233 is rotatably mounted on the flip fixing seat 1231, and the flip support 1233 is slidably connected to the arc-shaped slide groove 1241 through the flip sliding member 1238, the arc-shaped slide groove 1241 restricts the movement of the flip support 1233.

[0107] Reference Figure 8-10As shown; when the flipping support 1233 moves away from the gripping device 13, under the guidance of the arc-shaped slide 1241, the flipping support 1233 rotates counterclockwise, changing from a state where the flipping first support plate 1236 is above the flipping second support plate 1237 to a state where the flipping second support plate 1237 is above the flipping first support plate 1236; when the flipping support 1233 moves closer to the gripping device 13, under the guidance of the arc-shaped slide 1241, the flipping support 1233 rotates clockwise, changing from a state where the flipping second support plate 1237 is above the flipping first support plate 1236 to a state where the flipping first support plate 1236 is above the flipping second support plate 1237. That is, the box-shaped material is flipped from side A on the left and side B on top to side B on the left and side A on the bottom; this allows the box-shaped material to be flipped in either a clockwise or counterclockwise direction.

[0108] like Figure 11-14 As shown; the telescopic device 11 includes a telescopic fixed bracket 111, a telescopic movable bracket 112, a first telescopic drive device 113, and a second telescopic drive device 114; one end of the telescopic movable bracket 112 is connected to the gripping device 13; the telescopic movable bracket 112 is disposed 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 disposed on the slide rail.

[0109] The fixed end of the first telescopic drive device 113 is connected to the telescopic fixed bracket 111, and the movable end of the first telescopic drive device 113 is connected to the fixed end of the second telescopic drive device 114. The movable end of the second telescopic drive device 114 is connected to the telescopic movable bracket 112. The first telescopic drive device 113 drives the telescopic movable bracket 112 to move, and the second telescopic drive device 114 drives the telescopic movable bracket 112 to move relative to the first telescopic drive device 113. The first telescopic drive device 113 drives the telescopic movable bracket 112 to extend for the first time, and the second telescopic drive device 114 drives the telescopic movable bracket 112 to extend for the second time. The telescopic movable bracket 112 moves a long distance, thus enabling the gripping range of the gripping device 13 to be far.

[0110] In this embodiment, the telescopic first driving device 113 is a rodless cylinder; the telescopic first driving device 113 includes a telescopic first fixed seat 1131, a telescopic first cylinder body 1132, and a telescopic first slider 1133; the telescopic movable bracket 112 is located between the telescopic first slider 1133 and the telescopic fixed bracket 111; one end of the telescopic first fixed seat 1131 is connected to the telescopic fixed bracket 111, and the telescopic first cylinder body 1132 is disposed at the other end of the telescopic first fixed seat 1131; the telescopic first slider 1133 passes through the telescopic first cylinder body 1132 and slides on the telescopic first cylinder body 1132.

[0111] 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.

[0112] The telescopic first slider 1133 is connected to the telescopic second fixed seat 1141 and slides on the telescopic first cylinder 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 and guides the movement of the telescopic first slider 1133.

[0113] In another embodiment, the telescopic device 11 further includes a pulley 1152 assembly 115, which is disposed at the end of the telescopic movable bracket 112 away from the gripping 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 pulleys 1152 abut against the bottom of the telescopic first slider 1133. When the first telescopic drive device 113 drives the telescopic movable bracket 112 to move, the telescopic movable bracket 112 and the telescopic first slider 1133 move synchronously. Since the telescopic first slider 1133 and the telescopic movable bracket 112 move synchronously, the telescopic first slider 1133 does not slide against the telescopic movable bracket 112. When the second telescopic drive device 114 drives the telescopic movable bracket 112 to move, the telescopic movable bracket 112 moves relative to the telescopic first slider 1133. By setting a pulley assembly 115 at the end of the telescopic movable bracket 112 away from the gripping device 13, the friction force on the telescopic first slider 1133 during movement is reduced.

[0114] like Figure 17-19As shown; the lifting device 2 includes a fixed lifting bracket 21, a movable lifting bracket 22, a lifting drive device 23, and a transmission assembly 24; the fixed lifting bracket 21 is fixedly connected to the frame 10, and the movable lifting bracket 22 is slidably connected to the fixed lifting bracket 21 and the gripping device 1.

[0115] In this embodiment, the lifting fixed bracket 21 is provided with a slide rail, and the lifting movable bracket 22 is provided with a slider on the side near the lifting fixed bracket 21; a slider is also provided on the flip bracket 121. The lifting movable bracket 22 is provided with a slide rail on the side near the flip bracket 121; the slider is slidably mounted on the slide rail; thus achieving a sliding connection between the lifting movable bracket 22 and the lifting fixed bracket 21, and between the lifting movable bracket 22 and the flip bracket 121.

[0116] Two lifting fixed brackets 21, two lifting movable brackets 22 and two transmission components 24 are provided; two lifting movable brackets 22 are located between two lifting fixed brackets 21, and a lifting drive support 25 is connected between the two lifting movable brackets 22.

[0117] 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 support 22, and the second lifting transmission wheel 242 is rotatably disposed at the other end of the lifting movable support 22; the lifting synchronous belt 243 is sleeved on the first lifting transmission wheel 241 and the second lifting transmission wheel 242.

[0118] One end of the first synchronous belt fixing member 244 is fixedly connected to the lifting fixing 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 lifting first transmission wheel 241 and the lifting second transmission wheel 242; see reference Figure 4 and 15 As shown; the second synchronous belt fixing component 245 puts the lifting synchronous belt 243 on the other side of the lifting first transmission wheel 241 and the lifting second transmission wheel 242 onto the tilting bracket 121 and fixes it; the transmission component 24 is used to drive the lifting movable bracket 22 and the tilting device 12 to lift synchronously.

[0119] The lifting drive device 23 includes a lifting drive motor 231, a lifting drive gear 232, a lifting driven gear 233, and a lifting synchronous shaft 234. The lifting drive motor 231 is fixed on the lifting drive support 25, and the output end of the lifting drive motor 231 is connected to the lifting drive gear 232. The lifting driven gear 233 passes through the lifting synchronous shaft 234. One end of the lifting synchronous shaft 234 passes through a lifting first transmission wheel 241 and is rotatably connected to a lifting movable bracket 22. The other end of the lifting synchronous shaft 234 passes through another lifting first transmission wheel 241 and is rotatably connected to another lifting movable bracket 22. The lifting drive gear 232 meshes with the lifting driven gear 233.

[0120] The lifting device 2 drives the tilting device 12 to rise and fall, which in turn drives the gripping device 13 to rise and fall; in this way, the gripping device 13 can grip box-shaped materials of different heights; the tilting device 12 rises and falls synchronously with the gripping device 13, and the cooperation between the gripping device 13 and the tilting device 12 is good; the lifting synchronous belt 243 on one side of the transmission component 24 is connected to the lifting fixed bracket 21, and the rotation of the transmission component 24 in one direction drives the lifting synchronous belt 243 to move, as shown in the figure. Figure 17 In the W direction; the first synchronous belt fixing member 244 moves closer to 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 component 24 is set on the lifting movable bracket 22, and the lifting movable bracket 22 is slidably connected to the lifting fixed bracket 21, which will drive the lifting movable bracket 22 to move upward, so that the first synchronous belt fixing member 244 moves downward relative to the lifting first transmission wheel 241, thereby realizing the lifting movable bracket 22 rising.

[0121] The transmission assembly 24 rotates in another direction to raise and lower the synchronous belt 243, as shown in the reference. Figure 17 In the Q direction; the first synchronous belt fixing member 244 moves closer to the top 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 component 24 is set on the lifting movable bracket 22, and the lifting movable bracket 22 is slidably connected to the lifting fixed bracket 21, which will drive the lifting movable bracket 22 to move downward, so that the first synchronous belt fixing member 244 moves upward relative to the lifting first transmission wheel 241, thereby realizing the descent of the lifting movable bracket 22.

[0122] Meanwhile, a second synchronous belt fixing member 245 is connected to the lifting synchronous belt 243 on the other side of the transmission assembly 24. Since the first synchronous belt fixing member 244 is connected to the lifting synchronous belt 243 on one side of the lifting first transmission wheel 241, and the second synchronous belt fixing member 245 is connected to the lifting synchronous belt 243 on the other side of the lifting first transmission wheel 241, when the lifting movable support 22 rises, the first synchronous belt fixing member 244 moves downward relative to the lifting first transmission wheel 241, so the second synchronous belt fixing member 245 moves upward relative to the lifting first transmission wheel 241, and the tilting support 121 rises at the same time; when the lifting movable support 22 falls, the first synchronous belt fixing member 244 moves upward relative to the lifting first transmission wheel 241, so the second synchronous belt fixing member 245 moves downward relative to the lifting first transmission wheel 241, and the tilting support 121 falls at the same time; the tilting support 121 moves based on the movement of the lifting movable support 22, and the lifting height range of the tilting support 121 is large.

[0123] like Figure 1 As shown; at the bottom of the frame 10, there is also a moving device 4; the moving device 4 is used to drive the frame 10 to move. By driving the frame 10 to move through the moving device, the engineering trolley can approach box-shaped materials or other robots. The moving device 4 includes four sets of moving wheels, each set of moving wheels is driven by an independent motor.

[0124] The two ends of the U-shaped mounting base 31 are fixedly connected to the frame 10 respectively; the drag fixing block 34 is disposed between the two drag mounting plates 33, and the drag fixing block 34 is fixedly connected to the two drag mounting plates 33 respectively; the fixed end of the drag cylinder 32 is connected to the frame 10, and the movable end of the drag cylinder 32 is fixedly connected to the drag fixing block 34; the middle position of the limiting link 38 is hinged between the two drag mounting plates 33, and one end of the drag member 39 is hinged between the two drag mounting plates 33 and located at the end of the drag mounting plate 33 away from the drag fixing block 34; the end of the drag member 39 that is hinged to the drag mounting plate 33 abuts against the limiting link 38; in this embodiment, a return torsion spring (not shown in the figure) is connected between the drag member 39 and the two drag mounting plates 33; under the elastic force of the return torsion spring, the end of the drag member 39 away from the limiting link 38 is vertically downward.

[0125] The towing limiter 35 is mounted on the frame 10 and located on the side of the U-shaped mounting base 31 away from the towing cylinder 32; the upper end of the towing mounting plate 33 and the side near the towing cylinder 32 has a first protrusion 331 extending upward, the height of the uppermost part of the first protrusion 331 being lower than the highest point of the groove formed by the U-shaped mounting base 31; the upper end of the towing mounting plate 33 and the side away from the towing cylinder 32 has a second protrusion 332 extending upward; the towing limiter 35 is used to limit the first protrusion 331 and the second protrusion 332.

[0126] The towing slide rail 36 is disposed on the side of the towing mounting plate 33 away from the other towing mounting plate 33. The towing slider 37 is fixedly mounted on the inner side wall of the groove formed by the U-shaped mounting base 31. The towing slider 37 is provided with a groove corresponding to the towing slide rail 36. The towing slide rail 36 is slidably disposed on the towing slider 37. The towing member 39 includes a towing part 391 and a bending part 392. The towing part 391 and the bending part 392 are inclinedly connected. The end of the towing member 39 connected to the towing part 391 and the bending part 392 is hinged to the towing mounting plate 33.

[0127] The working methods of engineering vehicles include methods for transferring box-shaped materials and rescue methods;

[0128] The method for transferring box-shaped materials includes the following steps:

[0129] S1. Determine whether the box-shaped material is within the lifting range of the gripping device 13. If so, proceed to S2. In this embodiment, the determination of whether the box-shaped material is within the lifting range of the gripping device 13 is made manually.

[0130] S2, the moving device 4 drives the frame 10 to move to one side of the box-shaped material.

[0131] S3. Determine whether the adsorption element 134 of the gripping device 1313 can contact the opposite side of the box-shaped material. If yes, proceed to S4; if no, proceed to S6. In this embodiment, the adsorption element 134 can contact the opposite side of the box-shaped material by human judgment.

[0132] S4. The gripping rotating bracket 133 drives the adsorption element 134 to rotate away from the clearance space 1215, so that the adsorption surface of the adsorption element 134 is parallel to the side opposite to the box-shaped material; the lifting device 2 drives the adsorption element 134 to move to the same horizontal height as the box-shaped material; then the telescopic movable bracket 112 extends to make the adsorption element 134 contact the box-shaped material.

[0133] S5, the adsorption element 134 adsorbs the box-shaped material, and then the telescopic movable bracket 112 retracts; then S12 is performed.

[0134] S6. If the box-shaped material is above the gripping device 13, proceed to S7; if the box-shaped material is below the gripping device 13, proceed to S9.

[0135] S7. The telescopic movable bracket 112 extends, so that the adsorption element 134 is directly below the box-shaped material. The gripping rotating bracket 133 rotates away from the clearance space 1215, so that the adsorption surface of the adsorption element 134 corresponds to the bottom of the box-shaped material. The lifting device drives the adsorption element 134 to rise and contact the box-shaped material. Then proceed to S8.

[0136] S8. The lifting device drives the adsorption component 134 to descend, and then the telescopic movable bracket 112 retracts; then proceed to S11.

[0137] S9. The telescopic movable bracket 112 extends, so that the adsorption element 134 is directly above the box-shaped material. The gripping rotating bracket 133 drives the adsorption element 134 to rotate away from the clearance space 1215, so that the adsorption surface of the adsorption element 134 corresponds to the top of the box-shaped material. The lifting device drives the adsorption element 134 to descend and contact the box-shaped material. Then proceed to S10.

[0138] S10, the lifting device drives the adsorption component 134 to rise, and then the telescopic movable bracket 112 retracts; then proceed to S11;

[0139] S11, the gripping rotating bracket 133 drives the adsorption component 134 to rotate towards the clearance space 1215. When the box-shaped material comes into contact with the flipping support, the adsorption component 134 releases the adsorption of the box-shaped material. Then the gripping rotating bracket 133 rotates away from the clearance space 1215. Then proceed to S12.

[0140] S12, the flipping drive device drives the flipping support to move away from the gripping device 13. When the flipping support slides along the arc-shaped groove, the flipping support gradually rotates in the counterclockwise direction; then S13 is performed.

[0141] S13. When the flipping support slides to the end of the arc-shaped chute away from the gripping device, the flipping support rotates counterclockwise by angle A; the rotation of the flipping support causes the box-shaped material to flip over.

[0142] S14, the gripping rotating bracket 133 drives the adsorption element 134 to rotate towards the clearance space 1215, and the adsorption element 134 adsorbs the box-shaped material that has been flipped; then proceed to S15.

[0143] S15, the moving device drives the frame to move to the target point; the adsorption element 134 drives the box-shaped material to rotate away from the clearance space 1215 and places the box-shaped material on the contact surface of the target point.

[0144] The above method uses a rotating gripper to rotate the adsorption component, allowing it to contact box-shaped materials of different heights and positions. When there are no obstacles between the adsorption component and the box-shaped material, the adsorption component contacts the opposite side of the material, resulting in high efficiency. When the box-shaped material is above or below the adsorption component, and there are no obstacles between them, the height of the adsorption component is changed by a lifting device, allowing it to contact the opposite side of box-shaped materials of different heights, thus enabling the gripping of box-shaped materials of varying heights.

[0145] When the box-shaped material is located above or below the adsorption element, and there is an obstacle between the adsorption element and the box-shaped material, the gripping rotating bracket changes the contact position between the adsorption element and the box-shaped material. When the box-shaped material is above the adsorption element, the adsorption element contacts the bottom of the box-shaped material; when the box-shaped material is below the adsorption element, the adsorption element contacts the top of the box-shaped material. Then, the lifting device moves the adsorption element and the box-shaped material, thereby enabling it to overcome obstacles and grip the box-shaped material.

[0146] At the same time, the box-shaped material is moved into the flipping device, which flips the box-shaped material over; thus, the surface position of the box-shaped material will change when the adsorbent is removed from the flipping device.

[0147] In the above method,

[0148] S2 also includes: if the box-shaped material is not within the lifting range of the gripping device 13, then proceed to S16.

[0149] S16, if the box-shaped material is located above the adsorption element, then proceed to S17.

[0150] S17, the telescopic movable bracket 112 extends, so that the adsorption element 134 is directly below the box-shaped material, the gripping rotating bracket 133 rotates away from the clearance space 1215, so that the adsorption surface of the adsorption element 134 corresponds to the bottom of the box-shaped material; the lifting device drives the adsorption element 134 to rise to the highest height; the adsorption element adsorbs; then proceed to S18.

[0151] S18. The clamping device holding the box-shaped material above releases its grip on the box-shaped material; the box-shaped material moves closer to the adsorption component under the action of gravity; then proceed to S19.

[0152] S19. When the box-shaped material comes into contact with the adsorption element, the support element supports the box-shaped material; under the suction force of the adsorption element, the box-shaped material is adsorbed onto the adsorption element; then proceed to S8.

[0153] The above method can grab box-shaped materials falling from a height. However, when the box-shaped materials hit the adsorption component under gravity, the adsorption component will deform, thus preventing it from adsorbing the box-shaped materials. By setting up support components to increase the rigidity of the adsorption component, the box-shaped materials can be supported, thus preventing the adsorption component from deforming when it hits the adsorption component under gravity.

[0154] The rescue method includes the following steps:

[0155] A1. When the towing cylinder extends, the sliding mechanism slides outward under the action of the transmission connecting block until the first protrusion on the connecting plate abuts against the towing limiter fixed on the frame; the towing limiter limits the clockwise rotation of the limit link.

[0156] A2. By moving the moving device, the towing component is pushed towards the crossbar of the target vehicle body. The reaction force generated by the crossbar of the target vehicle body pushes the towing part of the push-pull component to rotate in the direction of the limit link against the elastic force of the return spring until the crossbar disengages from the push-pull part of the push-pull component. Then, the towing component resets under the elastic force of the return spring, and the tractor mechanism completes the connection action with the crossbar of the target vehicle body.

[0157] A3. One end of the limiting link abuts against the bent part of the towing component, and the other end of the limiting link abuts against the towing limiting component; the moving device drives the frame to move away from the target vehicle body, and the crossbar of the target vehicle body approaches the towing component along the direction away from the limiting link, generating a force that drives the towing component to rotate away from the limiting link; the clockwise rotation of the limiting link limits the counterclockwise rotation of the towing component; the limiting link restricts the tendency of the towing link to rotate, thus preventing the crossbar of the target vehicle body from disengaging from the towing part of the towing component.

[0158] A4. The mobile device drives the frame to continue moving away from the target vehicle body, and the tractor mechanism pulls the target vehicle body to move through the tractor.

[0159] A5. After towing the target vehicle body, the towing cylinder retracts, causing the connecting plate to retract until the second protrusion abuts against the towing limiter. The towing limiter no longer restricts the clockwise rotation of the limit link, and the limit link no longer restricts the counterclockwise rotation of the towing component. As the engineering robot continues to move away from the target vehicle body, the crossbar of the target vehicle body drives the towing component to rotate away from the limit link, thus separating the crossbar of the target vehicle body from the towing mechanism.

[0160] In the above method, the towing slider 37 is fixedly connected to the frame 10 via the U-shaped mounting base 31; the towing slide rail 36 is fixedly connected to the towing mounting plate 33; the towing slide rail 36 is slidably mounted on the towing slider 37; the towing fixing block 34 connects the towing mounting plate 33 and the movable end of the towing cylinder 32; when the towing cylinder 32 extends, it drives the towing mounting plate 33 to move through the towing fixing block 34, and the towing slide rail 36 slides on the towing slider 37; the towing mounting plate 33 simultaneously drives the limiting link 38 and the towing component 39 to move relative to the towing slide rail 36; until the first protrusion 331 on the towing mounting plate 33 abuts against the towing limiting component 35 fixed on the frame 10; the towing limiting component 35 limits the movement of the towing mounting plate 33; see reference. Figure 22 As shown; at this time, the towing limiter 35 is located above the end of the limit link 38 that is away from the towing member 39.

[0161] Reference Figure 22 As shown; where Figure 22The arrow L in the diagram indicates the direction of the force exerted by the limiting link 38 and the dragging limiting member 35; the arrow K indicates the direction of the force exerted by the dragging member 39 when it contacts the crossbars of other robots; when the tractor mechanism 3 drags other robots, the hook catches the crossbar 30 of other robots, and the dotted line indicates the position of the crossbar 30.

[0162] The moving device 4 moves the dragging part 39 towards the crossbar set on other robots. The reaction force generated by the crossbar of the other robots pushes the dragging part 391 of the push-pull part 39 to overcome the elastic force of the return spring and rotate in the direction of the limiting link 35 until the crossbar disengages from the push-pull part 391 of the push-pull part 39. Then the dragging part 39 is reset under the elastic force of the return spring, and the tractor mechanism 3 completes the connection action with the crossbar of other robots.

[0163] Reference Figure 22 As shown; when the tractor mechanism 3 pulls other robots via the towing member 39, the frame 10 moves away from the other robots to achieve towing; the crossbar 30 of the other robots approaches the towing member 39 along the J direction and generates a force that drives the towing member 39 to rotate counterclockwise; however, because one end of the limiting link 38 abuts against the towing limiting member 35, the limiting link 38 cannot rotate clockwise; at this time, the other end of the limiting link 3 abuts against the towing member 39, preventing the towing member 39 from rotating counterclockwise; thus limiting the tendency of the towing link to rotate; allowing the towing member 39 to hook the crossbar 30 of the other robots; thus achieving the towing of the other robots. When the towing cylinder 32 retracts, the towing fixing block 34 slides towards the frame 10 through the cooperation of the towing slide rail 36 and the towing slider 37 until the second protrusion 332 on the towing mounting plate 33 abuts against the towing limiting member 35 fixed on the frame 10. At this time, the towing limiting member 35 no longer restricts the end of the limiting link 38 away from the towing member 39, so that the limiting link 38 can rotate clockwise under the action of force. Then, when the frame 10 continues to move away from other robots, the crossbar 30 of other robots approaches the towing member 39 in the J direction and generates a force to drive the towing member 39 to rotate counterclockwise. When the towing member 39 rotates counterclockwise, the crossbar 30 of other robots is separated from the tractor mechanism 3.

Claims

1. A method for operating an engineering vehicle, characterized in that: This is achieved using an engineering trolley, which includes a frame, a gripping device, a lifting device, and a moving device. The moving device drives the engineering trolley to move. The gripping device includes a telescopic device, a tilting device, and a gripping device. The lifting device is connected to the tilting device. The gripping device is located on one side of the tilting device. A tractor mechanism is provided on the side of the frame away from the gripping device. The fixed end of the telescopic device is connected to the tilting device, and the movable end of the telescopic device is connected to the gripping device. The telescopic device drives the gripping device to move closer to and away from the tilting device. The flipping device includes a flipping bracket, a flipping drive unit, a flipping base, and two flipping tracks; The flipping drive device is located at the bottom of the flipping bracket, and both flipping tracks are located on the flipping bracket and above the flipping drive device. The flipping drive device drives the flipping seat to slide on the flipping track; The flipping seat includes a flipping fixed seat and a flipping support, the flipping support being rotatably mounted on the flipping fixed seat; the flipping fixed seat is fixedly connected to the flipping drive device; the flipping support includes a flipping first support plate and a flipping second support plate, the flipping second support plate being located below the flipping first support plate, the flipping first support plate being connected to the flipping second support plate and being vertically arranged; flipping sliding members are respectively provided at both ends of the flipping second support plate, the flipping track is provided with an arc-shaped groove; one end of the arc-shaped groove extends upward away from the gripping device along the length direction of the flipping bracket; the other end of the arc-shaped groove extends downward close to the gripping device along the length direction of the flipping bracket; the flipping sliding member is slidably mounted in the arc-shaped groove; the flipping drive device is used to drive the flipping support to rotate along the arc-shaped groove by an angle A, 0° < A < 100°; The gripping device includes a gripping mounting bracket, a gripping drive device, a gripping rotating bracket, and an adsorption component; the gripping mounting bracket is connected to the movable end of the telescopic device, the gripping drive device is fixed on the gripping mounting bracket and connected to the gripping rotating bracket, and the adsorption component is installed on the gripping rotating bracket; the gripping drive device drives the gripping rotating bracket to rotate, and the gripping rotating bracket causes the adsorption component to move closer to and away from the flipping seat; The tractor mechanism includes one or more tow hooks, and the tow hook includes a U-shaped mounting base, a towing cylinder, two oppositely arranged towing mounting plates, a towing fixing block, a towing limiter, a towing slide rail, a towing slider, a limit link, and a towing component; The two ends of the U-shaped mounting base are fixedly connected to the frame; the towing fixing block is set between the two towing mounting plates and is fixedly connected to the two towing mounting plates respectively; the fixed end of the towing cylinder is connected to the frame, and the movable end of the towing cylinder is fixedly connected to the towing fixing block; the middle position of the limiting link is hinged between the two towing mounting plates, and one end of the towing component is hinged between the two towing mounting plates and located at the end of the towing mounting plate away from the towing fixing block; the end of the towing component that is hinged to the towing mounting plate abuts against the limiting link; a return torsion spring is connected between the towing component and the two towing mounting plates; under the elastic force of the return torsion spring, the end of the towing component away from the limiting link is vertically downward; The towing limiter is mounted on the frame and located on the side of the U-shaped mounting base away from the towing cylinder; a first protrusion extends upward from the upper end of the towing mounting plate and on the side closer to the towing cylinder, the height of the uppermost part of the first protrusion being lower than the highest point of the groove formed by the U-shaped mounting base; a second protrusion extends upward from the upper end of the towing mounting plate and on the side away from the towing cylinder; the towing limiter is used to limit the first and second protrusions. The towing slide rail is set on the side of the towing mounting plate away from the other towing mounting plate. The towing slider is fixedly installed on the inner side wall of the groove formed by the U-shaped mounting base. The towing slider has a groove corresponding to the towing slide rail. The towing slide rail is slidably set on the towing slider. The working methods of engineering vehicles include methods for transferring box-shaped materials and rescue methods; The method for transferring box-shaped materials includes the following steps: S1. Determine whether the box-shaped material is within the lifting range of the gripping device. If so, proceed to S2. S2. The moving device drives the frame to move to one side of the box-shaped material; S3. Determine whether the adsorption element of the gripping device can contact the opposite side of the box-shaped material. If yes, proceed to S4; otherwise, proceed to S6. S4. The gripping rotating bracket drives the adsorption component to rotate away from the flipping device, so that the adsorption surface of the adsorption component is parallel to the side opposite to the box-shaped material; the lifting device drives the adsorption component to move to the same horizontal height as the box-shaped material; then the telescopic device extends to make the adsorption component contact the box-shaped material. S5. The adsorption element adsorbs the box-shaped material, and then the telescopic device retracts; then proceed to S12. S6. If the box-shaped material is above the gripping device, proceed to S7; if the box-shaped material is below the gripping device, proceed to S9. S7. The telescopic device extends so that the adsorption element is directly below the box-shaped material. The gripping rotating bracket rotates away from the flipping device so that the adsorption surface of the adsorption element corresponds to the bottom of the box-shaped material. The lifting device drives the adsorption element to rise and contact the box-shaped material. Then proceed to S8. S8. The lifting device drives the adsorption component to descend, and then the telescopic device retracts; then proceed to S11. S9. The telescopic device extends so that the adsorption element is directly above the box-shaped material. The gripping rotating bracket drives the adsorption element to rotate away from the flipping device so that the adsorption surface of the adsorption element corresponds to the top of the box-shaped material. The lifting device drives the adsorption element to descend and contact the box-shaped material. Then proceed to S10. S10, The lifting device drives the adsorption component to rise, and then the telescopic device retracts; then proceed to S11; S11. The gripping rotating bracket drives the adsorption component to rotate towards the flipping device. When the box-shaped material comes into contact with the flipping support, the adsorption component releases the adsorption of the box-shaped material. Then the gripping 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 gripping device. When the flipping support slides along the arc-shaped groove, the flipping support gradually rotates in the counterclockwise direction; then proceed to S13. S13. When the flipping support slides to the end of the arc-shaped chute away from the gripping device, the flipping support rotates counterclockwise by angle A; the rotation of the flipping support causes the box-shaped material to flip over. S14. The gripping rotating bracket drives the adsorption component to rotate towards the flipping device, and the adsorption component adsorbs the box-shaped material that has been flipped; then proceed to S15. S15. The moving device drives the frame to move to the target point; the adsorption element drives the box-shaped material to rotate away from the turning device and places the box-shaped material on the contact surface of the target point. The rescue method includes the following steps: A1. When the towing cylinder extends, the towing mounting plate slides outward under the action of the towing fixing block until the first protrusion on the towing mounting plate abuts against the towing limiting component fixed on the frame; the towing limiting component limits the clockwise rotation of the limiting linkage. A2. The moving mechanism moves the towing component towards the crossbar of the target vehicle body. The reaction force generated by the crossbar of the target vehicle body pushes the towing part of the push-pull component to overcome the elastic force of the return spring and rotate towards the limit link until the crossbar disengages from the push-pull part of the push-pull component. Then the towing component resets under the elastic force of the return spring, and the tractor mechanism completes the connection action with the crossbar of the target vehicle body. A3. One end of the limiting link abuts against the bent part of the towing component, and the other end of the limiting link abuts against the towing limiting component; the moving device drives the frame to move away from the target vehicle body, and the crossbar of the target vehicle body approaches the towing component along the direction away from the limiting link, generating a force that drives the towing component to rotate away from the limiting link; the clockwise rotation of the limiting link limits the counterclockwise rotation of the towing component; the limiting link restricts the tendency of the towing link to rotate, thus preventing the crossbar of the target vehicle body from disengaging from the towing part of the towing component; A4. The mobile device drives the frame to continue moving away from the target vehicle body, and the tractor mechanism pulls the target vehicle body to move through the tractor. A5. After towing the target vehicle body, the towing cylinder retracts, causing the towing mounting plate to retract until the second protrusion abuts against the towing limiter. The towing limiter no longer restricts the clockwise rotation of the limit link, and the limit link no longer restricts the counterclockwise rotation of the towing component. As the engineering robot continues to move away from the target vehicle body, the crossbar of the target vehicle body causes the towing component to rotate away from the limit link, thus separating the crossbar of the target vehicle body from the towing mechanism.

2. The working method of an engineering trolley according to claim 1, characterized in that: The adsorption component is equipped with a hollow support structure.

3. The working method of an engineering trolley according to claim 2, characterized in that: S2 also includes: if the box-shaped material is not within the lifting range of the gripping device, then proceed to S16; S16, if the box-shaped material is located above the adsorption element, then proceed to S17; S17. The telescopic device extends, positioning the adsorption element directly below the box-shaped material. The gripping rotating bracket rotates away from the flipping device, aligning the adsorption surface of the adsorption element with the bottom of the box-shaped material. The lifting device drives the adsorption element to its maximum height. The adsorption element then performs adsorption. Then proceed to S18. S18. The clamping device holding the box-shaped material above releases its grip on the box-shaped material; the box-shaped material moves closer to the adsorption component under the action of gravity; then proceed to S19. S19. When the box-shaped material comes into contact with the adsorption element, the support element supports the box-shaped material; under the suction force of the adsorption element, the box-shaped material is adsorbed onto the adsorption element; then proceed to S8.

4. The working method of an engineering trolley according to claim 1, characterized in that: The telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a first telescopic drive device, and a second telescopic drive device; one end of the telescopic movable bracket is connected to the gripping device; the telescopic movable bracket is disposed above the telescopic fixed bracket and slidably connected to the telescopic fixed bracket; the fixed end of the first telescopic drive device is connected to the telescopic fixed bracket, the movable end of the first telescopic drive device is connected to the fixed end of the second telescopic drive device, and the movable end of the second telescopic drive device is connected to the telescopic movable bracket; the first telescopic drive device is used to drive the telescopic movable bracket to move, and the second telescopic drive device is used to drive the telescopic movable bracket to move relative to the first telescopic drive device.

5. The working method of an engineering trolley according to claim 4, characterized in that: In S4, S7, and S9, the extension of the telescopic movable bracket is specifically as follows: the first telescopic drive device drives the telescopic movable bracket to extend for the first time, and the second telescopic drive device drives the telescopic movable bracket to extend for the second time. In S5, S8, and S10, the retraction of the telescopic movable support is specifically as follows: the first telescopic drive device drives the telescopic movable support to retract for the first time, and the second telescopic drive device drives the telescopic movable support to retract for the second time.

6. The working method of an engineering trolley according to claim 1, characterized in that: The lifting device includes a fixed lifting bracket, a movable lifting bracket, a lifting drive device, and a transmission assembly; the fixed lifting bracket is fixedly connected to the frame, and the movable lifting bracket is slidably connected to the fixed lifting bracket and the gripping device. The transmission assembly includes a first lifting transmission wheel, a second lifting transmission wheel, a lifting synchronous belt, a first synchronous belt fixing component, and a second synchronous belt fixing component; the output end of the lifting drive device passes through the first lifting transmission wheel and is connected to one end of the lifting movable support; the second lifting transmission wheel is rotatably mounted on the other end of the lifting movable support; the lifting synchronous belt is sleeved on the first lifting transmission wheel and the second lifting transmission wheel. One end of the first synchronous belt fixing member is fixedly connected to the lifting fixed bracket, and the other end of the first synchronous belt fixing member is clamped on the lifting synchronous belt on one side of the lifting first transmission wheel and the lifting second transmission wheel; the second synchronous belt fixing member puts the lifting synchronous belt on the other side of the lifting first transmission wheel and the lifting second transmission wheel onto the tilting bracket; the transmission assembly is used to drive the lifting movable bracket and the tilting device to lift synchronously.

7. The working method of an engineering trolley according to claim 1, characterized in that: A is 83°.

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