A method of material transfer

Abstract

The present application provides a kind of material transfer method, is realized by transfer stacking device, and transfer stacking device includes handling device and grabbing overturning device, and grabbing overturning device is used to grab box type material, and transports box type material;When transporting box type material, it can turn over box type material;Handling device is used to stack box type material;Grabbing overturning device can grab box type material along from horizontal direction;Also can grab box type material along vertical direction;Also can grab box type material from the inclination between horizontal direction and vertical direction;Not easily subject to site restrictions, wide application range;Handling device is realized when clamping box type material relative to box type material rotates;Further realize the change of the clamping surface of material.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a material transfer method. Background Technology

[0002] Cargo handling refers to the general term for short-distance movement of goods during the transportation and production process. Traditional cargo handling is done manually, which is inefficient and wastes a lot of manpower and resources. In order to improve efficiency, handling robots have emerged in the market. Existing handling robots use vacuum suction to grab box-shaped materials or use clamps to grab box-shaped materials.

[0003] Chinese patent application number 201720308579.7, published on October 31, 2017, discloses an automated transport robot for express delivery stations, comprising: a chassis, wheels rotatably mounted at the four corners of the chassis, a reduction motor mounted on the chassis and connected to the wheels, a battery mounted on the chassis and connected to the reduction motor, and a bracket I mounted on the chassis. Servo I drives bracket II to swing back and forth relative to the chassis, and servo II drives servo III to swing back and forth relative to the chassis, thereby enabling the gripper to swing to a designated position. After servo III drives the gripper to rotate to a reasonable position, the gripper drive mechanism drives the two grippers to clamp the goods.

[0004] This robot transports box-shaped materials placed in a storage compartment, but it cannot flip the box-shaped materials while they are being transported. The robot's grippers swing back and forth relative to the chassis to different positions to grasp the box-shaped materials; however, the height of the grippers constantly changes as they swing, requiring multiple servo motors to adjust the height and angle. The actions for gripping box-shaped materials are cumbersome. Furthermore, the grippers cannot move vertically downwards to grasp the box-shaped materials. Its use is easily limited by site conditions, making it impossible to grip box-shaped materials.

[0005] Reference Figure 1 and 2 As shown; U1 is the left side of the box-shaped material, U2 is the right side of the box-shaped material, U3 is the rear side of the box-shaped material, U4 is the front side of the box-shaped material, U5 is the top side of the box-shaped material, and U6 is the bottom side of the box-shaped material.

[0006] The robot uses servo motor III to drive the gripper to rotate. After the gripper picks up the box-shaped material, the box-shaped material rotates synchronously with the gripper. When the gripper picks up the U1 and U2 surfaces of the box-shaped material, if it is necessary to change the gripping surface of the box-shaped material, taking the U5 and U6 surfaces as an example, the robot needs to place the box-shaped material on the support surface and then move the robot so that the gripper aligns with the U5 and U6 surfaces of the box-shaped material in order to grip the different gripping surfaces of the box-shaped material. The robot's gripper cannot rotate relative to the box-shaped material. When the gripper is holding the box-shaped material, the gripping surface of the box-shaped material cannot be changed. Summary of the Invention

[0007] This invention provides a material transfer method that can quickly transport materials with different orientations to the same location and stack them in the same orientation.

[0008] To achieve the above objectives, the technical solution of the present invention is: a material transfer method, implemented by a transfer and stacking device, the transfer and stacking device including a handling device and a gripping and flipping device, the gripping and flipping device being used to grip box-shaped materials and transport the box-shaped materials; the handling device being used to stack the box-shaped materials.

[0009] The handling device includes a handling frame, a clamping and lifting device, and a clamping device. A traveling device is provided on the handling frame; the traveling device is used to drive the handling device to move; the clamping and lifting device is set on the frame and connected to the clamping device, and the clamping and lifting device drives the clamping device to rise and fall along the height direction of the handling frame.

[0010] The clamping device includes a first clamping device and a second clamping device; the first clamping device includes a first clamping fixed frame, a first clamping rotating frame, a clamping device, and a clamping rotating device; two clamping devices are provided, the first clamping rotating frame is located between and connected to the two clamping devices; the first clamping rotating frame is rotatably mounted on the first clamping fixed frame; the second clamping device passes through the first clamping rotating frame and is fixedly connected to the first clamping fixed frame; there is a gap between the second clamping device and the first clamping rotating frame; the clamping rotating device is used to drive the two clamping devices to rotate relative to the first clamping fixed frame.

[0011] The clamping and rotating device includes a clamping and rotating motor, a clamping and rotating drive gear, a clamping and rotating driven gear, and a clamping and rotating bearing. A first clamping and rotating frame is fixedly connected to one side of the clamping and rotating driven gear, and the other side of the clamping and rotating driven gear is fixedly connected to the inner ring of the clamping and rotating bearing. The outer ring of the clamping and rotating bearing is fixedly connected to the first clamping and fixing frame. The clamping and rotating motor is mounted on the first clamping and fixing frame, and the output end of the clamping and rotating motor is connected to the clamping and rotating drive gear, which meshes with the clamping and rotating driven gear.

[0012] Each clamping device includes a first clamping drive device and a first clamping member. The clamping device is connected to a first clamping rotating frame. The movable end of the first clamping drive device is connected to the first clamping member. The first clamping drive device drives the first clamping member to move closer to and away from the second clamping device. The two first clamping members move closer to each other to clamp the material.

[0013] The second clamping device includes a clamping structure and a clamping moving device. The fixed end of the clamping moving device is fixedly connected to the first clamping fixed frame, and the movable end of the clamping moving device is connected to the clamping structure. The clamping moving device drives the clamping structure to move closer to and away from the first clamping fixed frame. The clamping structure is used to clamp the material, and a clamping clearance space is provided on the clamping structure to avoid the first clamping member. The clamping device is used to clamp the box-shaped material for the first time. The clamping structure is used to clamp the box-shaped material for the second time. The clamping rotating device drives the clamping rotating device to rotate and then clamps the box-shaped material for the third time.

[0014] The gripping and flipping device includes a first frame, on which a moving device is provided; the moving device is used to drive the gripping and flipping device to move; a lifting device and a gripping device are provided on the first frame; the lifting device drives the gripping device to lift and lower.

[0015] The gripping device includes a telescopic device, a flipping device, and a gripping device. The gripping 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 gripping device. The telescopic device drives the gripping device to move closer to and away from the flipping device.

[0016] The flipping device includes a flipping bracket, a flipping drive device, a flipping seat, and two flipping tracks; the flipping drive device is located at the bottom of the flipping bracket, and the two flipping tracks are both located on the flipping bracket and above the flipping drive device; the flipping drive device drives the flipping seat to slide on the flipping tracks.

[0017] 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°.

[0018] 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.

[0019] Material transfer method, including the following steps:

[0020] S1. Determine whether the box-shaped material is within the lifting range of the gripping device. If so, proceed to S2.

[0021] S2. The moving device drives the first frame to move to one side of the box-shaped material.

[0022] 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.

[0023] S4. The gripping rotating bracket drives the adsorption component to rotate away from the clearance space, 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 movable bracket extends to make the adsorption component contact the box-shaped material.

[0024] S5, the adsorption element adsorbs the box-shaped material, and then the telescopic movable support retracts; then proceed to S12.

[0025] 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.

[0026] 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 clearance space 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.

[0027] S8. The lifting device drives the adsorption component to descend, and then the telescopic movable bracket retracts; then proceed to S11.

[0028] S9. Extend the telescopic movable bracket so that the adsorption element is directly above the box-shaped material. Grab the rotating bracket to drive the adsorption element to rotate away from the clearance space 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.

[0029] S10, The lifting device drives the adsorption component to rise, and then the telescopic movable bracket retracts; then proceed to S11.

[0030] S11. The gripping rotating bracket drives the adsorption component to rotate towards the clearance space. 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 clearance space. Then proceed to S12.

[0031] 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.

[0032] 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; then proceed to S14.

[0033] S14. The gripping rotating bracket drives the adsorption component to rotate towards the clearance space, and the adsorption component adsorbs the box-shaped material that has been flipped; then proceed to S15.

[0034] S15. The moving device drives the first frame to approach the conveying device. Then, the adsorption element drives the box-shaped material to rotate away from the clearance space, providing material to the conveying device; then proceed to S16.

[0035] S16. The clamping and lifting device drives the clamping equipment to rise and fall, so that the clamping equipment and the box-shaped material gripped by the gripping and flipping device are at the same horizontal height.

[0036] S17. The conveying device clamps a box-shaped material through the first clamping member; then the gripping and flipping device releases the adsorption of the box-shaped material; then the gripping and flipping device performs S1-S15 to grip other box-shaped materials.

[0037] S18. Determine whether it is necessary to change the clamping surface of the current clamping box-shaped material; if not, proceed to S25; if yes, proceed to S19.

[0038] S19. The clamping lifting device drives the clamping equipment to rise, so that the first clamping device does not interfere with the contact surface of the stacking area when it rotates.

[0039] S20. The clamping and moving device drives the clamping structure to move closer to the box-shaped material, while the clamping structure clamps the box-shaped material.

[0040] S21, The first clamping element releases its grip on the currently clamped box-shaped material.

[0041] S22, The clamping rotation device drives the first clamping rotating frame to rotate 90° in the first direction; then the first clamping member clamps the currently clamped box-shaped material again.

[0042] S23, The clamping structure releases its grip on the box-shaped material; at the same time, the clamping moving device drives the clamping structure away from the box-shaped material.

[0043] S24. The clamping rotation device drives the first clamping rotating frame to rotate 90° in the second direction.

[0044] S25. The conveying device moves to the stacking area. When the conveying device reaches the stacking area, proceed to S26.

[0045] S26, the first clamping member releases the clamping of the currently clamped box-shaped material; the box-shaped material is placed on the stacking area; if the next box-shaped material is to be clamped, then proceed to A2 until the next material is placed on the material in the stacking area; if the next box-shaped material is not to be clamped, then stop working.

[0046] The above method utilizes the gripping and flipping device 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 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, enabling it to contact the opposite side of box-shaped materials of different heights, thus achieving the gripping of box-shaped materials of varying heights.

[0047] 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.

[0048] 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.

[0049] The handling device first clamps the box-shaped material using a first clamping member. When it is necessary to change the clamping surface of the box-shaped material, the height of the first clamping member is adjusted by a clamping lifting device to prevent the clamping device from colliding with the ground during rotation. Once there is sufficient space between the first clamping member and the ground, the first clamping rotating frame and the clamping device rotate. Then, the clamping structure clamps the box-shaped material a second time. After the clamping structure clamps the box-shaped material, the first clamping member releases its grip, thus preventing the box-shaped material from falling. Then, the clamping rotating device drives the first clamping rotating frame to rotate, aligning the first clamping member with the other clamping surface of the box-shaped material. The first clamping member then clamps the box-shaped material a third time. After the first clamping member clamps the box-shaped material, the clamping structure releases its grip. Then, the first clamping rotating frame is driven to rotate again. In this way, the clamping surface of the box-shaped material is changed while it is being clamped. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the transfer and stacking device using the present invention.

[0051] Figure 2 This is a perspective view of the gripping and flipping device using the present invention.

[0052] Figure 3 This is a perspective view of the gripping device using the present invention.

[0053] Figure 4 An exploded view of the gripping device using the present invention.

[0054] Figure 5 An exploded view of the flipping device of the present invention after removing the flipping bracket.

[0055] Figure 6 This is a schematic diagram showing how the rotating support moves to one end of the arc-shaped groove.

[0056] Figure 7 This is a schematic diagram showing how to move the flip support to the other end of the arc-shaped chute.

[0057] Figure 8 This is a schematic diagram of using the telescopic first drive device of the present invention to drive the telescopic movable bracket to extend.

[0058] Figure 9 for Figure 8 A magnified view of b in the middle.

[0059] Figure 10 This is a perspective view of the flipping positioning element using the present invention.

[0060] Figure 11 This is a perspective view of the flipping fastener using the present invention.

[0061] Figure 12 This is a perspective view of the lifting device using the present invention.

[0062] Figure 13 This is a front view of the lifting device using the present invention.

[0063] Figure 14 This is a schematic diagram showing the lifting device of the present invention after it has been raised.

[0064] Figure 15 This is a schematic diagram illustrating the use of the gripping and flipping device of the present invention in conjunction with box-shaped materials of different heights.

[0065] Figure 16 This is a three-dimensional schematic diagram of box-shaped materials.

[0066] Figure 17This is a perspective view of the conveying device using the present invention.

[0067] Figure 18 This is a perspective view of the clamping device using the present invention.

[0068] Figure 19 An exploded view of the clamping device using the present invention.

[0069] Figure 20 for Figure 19 A magnified view of 'a' in the middle.

[0070] Figure 21 This is an exploded view of the first clamping and fixing frame and the clamping and rotating device of the present invention.

[0071] Figure 22 An exploded view of the second clamping device of the present invention.

[0072] Figure 23 An exploded view of the clamping structure using the present invention.

[0073] Figure 24 This is a schematic diagram showing the clamping structure of the present invention after it has been unfolded.

[0074] Figure 25 This is a perspective view of the clamping device and tightening telescopic device at the upper end of the tightening bracket, and the first tightening transmission rack of the present invention.

[0075] Figure 26 This is a perspective view of the tightening bracket and tightening transmission gear using the present invention.

[0076] Figure 27 This is a perspective view of the clamping device at the lower end of the tightening bracket and the second tightening transmission rack of the present invention.

[0077] Figure 28 This is a schematic diagram showing the clamping and grasping components of the present invention being retracted.

[0078] Figure 29 This is a schematic diagram showing the clamping and gripping component of the present invention after it has been unfolded.

[0079] Figure 30 This is a schematic diagram showing the cooperation between the blocking member and the clamping member of the present invention.

[0080] Figure 31 This is a schematic diagram of the clamping and lifting device using the present invention. Detailed Implementation

[0081] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0082] like Figure 1-31As shown; a material transfer method is implemented by a transfer and stacking device, which includes a handling device and a gripping and flipping device. The gripping and flipping device grips box-shaped materials and transports them to the handling device; at the same time, the gripping and flipping device flips the box-shaped materials; after receiving the box-shaped materials, the handling device stacks them.

[0083] like Figure 2-15 As shown; the gripping and flipping device includes a first frame 10, on which gripping device 1 and lifting device 2 are provided. In this embodiment, there are two lifting devices 2, and gripping device 1 is located between the two lifting devices 2; the two lifting devices 2 are connected to gripping device 1 and drive gripping device 1 to lift and lower.

[0084] like Figure 2-3 As shown, the gripping device 1 includes a telescopic device 11, a flipping device 12, and a gripping device 13. The gripping 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 gripping device 13. The telescopic device 11 drives the gripping device 13 to move closer to and further away from the flipping 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 flipping device 12. By setting the telescopic device 11, the gripping device 13 can grip box-shaped materials that are at different distances from the first frame 10.

[0085] like Figure 4 , 8 As shown in Figures 9 and 1, the gripping device 13 includes a gripping mounting bracket 131, a gripping driving device 132, a gripping rotating bracket 133, and an adsorption element 134. In this embodiment, two gripping mounting brackets 131 are provided, and the two gripping mounting brackets 131 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 the output end of the gripping driving device 132 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 element 134 is installed 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 drives the adsorption element 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.

[0086] 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.

[0087] Reference Figure 15 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.

[0088] 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 15 The box-shaped materials Q2, Q3, and Q4 are all within the lifting range of the gripping device 13.

[0089] Reference Figure 15 When 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.

[0090] Reference Figure 15 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.

[0091] Reference Figure 15 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.

[0092] Reference Figure 15 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.

[0093] like Figure 3 , 4 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.

[0094] like Figure 4-5 As 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.

[0095] like Figure 5 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, 0° < A < 100°. In this embodiment, A is 83°.

[0096] like Figure 4 , 10As shown in Figure 11, 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 obstacle hole 1214 is provided on the flipping positioning member 1212, forming an obstacle space 1215 between the obstacle 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 obstacle space 1215.

[0097] together as Figure 11 As shown, a mounting hole 1216 is provided on the flipping fixing member 1211; the flipping track 124 passes through the mounting hole 1216 and is set in the clearance space 1215 and is fixedly connected to the flipping fixing member 1211 and the flipping positioning member 1212. By setting the clearance space 1215 to accommodate the box-shaped material and the flipping device 12, the volume of the flipping device 12 can be reduced; at the same time, it is prevented that the box-shaped material will fall off the flipping support member 1233 when the flipping support member 1233 flips the box-shaped material.

[0098] like Figure 5 , 10 As shown in Figure 11, 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.

[0099] Two fixing supports 1218 are provided at the end of the flipping fixing member 1211 away from the gripping device 13. Each fixing support 1218 has a first slot 12181 at its top. The first slot 12181 is engaged with the end of the flipping positioning member 1212 away from the gripping device 13. In another embodiment, two second slots 12182 are provided at the end of the flipping 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 flipping positioning member 1212 further improves the stability of the connection between the flipping fixing member 1211 and the flipping positioning member 1212.

[0100] like Figure 4 , 5 and Figure 11 As 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.

[0101] 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.

[0102] 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.

[0103] Reference Figure 6-7As 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.

[0104] like Figure 8-9 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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 first telescopic slider 1133 move synchronously. Since the first telescopic slider and the telescopic movable bracket 112 move synchronously, the first telescopic 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 first telescopic slider 1133. By setting a pulley 1152 assembly 115 at the end of the telescopic movable bracket 112 away from the gripping device 13, the friction force experienced by the first telescopic slider 1133 during movement is reduced.

[0110] like Figure 12-14As 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 first frame 10, and the movable lifting bracket 22 is slidably connected to the fixed lifting bracket 21 and the gripping device 1.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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 10 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.

[0115] 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.

[0116] 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 12 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 first 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.

[0117] The transmission assembly 24 rotates in another direction to raise and lower the synchronous belt 243, as shown in the reference. Figure 12 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 first 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.

[0118] 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.

[0119] like Figure 2 As shown; at the bottom of the first frame 10, there is also a moving device 4; the moving device 4 is used to drive the first frame 10 to move. By driving the first frame 10 to move through the moving device, the gripping and flipping device can be brought closer to 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.

[0120] like Figure 16-31 As shown, the handling device includes a handling frame 1f, a clamping and lifting device 2f, and a clamping device 3f. The clamping and lifting device 2f is mounted on the handling frame 1f and connected to the clamping device 3f. The clamping and lifting device 2f drives the clamping device 3f to move along the height direction of the handling frame 1f. By driving the clamping device 3f to move, the clamping device 3f can clamp box-shaped materials of different heights.

[0121] like Figure 18 , 19 As shown; the clamping device 3f includes a first clamping device 31f and a second clamping device 32f; the first clamping device 31f includes a first clamping fixing frame 311f, a first clamping rotating frame 312f, a clamping device 313f, and a clamping rotating device 314f; two clamping devices 313f are provided, and the first clamping rotating frame 312f is located between and connected to the two clamping devices 313f; the first clamping rotating frame 312f is rotatably mounted on the first clamping fixing frame 311f; the second clamping device 32f passes through the first clamping rotating frame 312f and is fixedly connected to the first clamping fixing frame 311f; there is a gap between the second clamping device 32f and the first clamping rotating frame 312f; the clamping rotating device 314f is used to drive the two clamping devices 313f to rotate relative to the first clamping fixing frame 311f.

[0122] The clamping device 313f is fixedly connected to the first clamping rotating frame 312f, and the second clamping device 32f is fixedly connected to the first clamping fixed frame 311f. The first clamping rotating frame 312f and the first clamping fixed frame 311f are rotatably connected, so that the clamping device 313f rotates relative to the second clamping device 32f. At the same time, a rotation avoidance space is provided to avoid the second clamping device 32f, so that the rotation of the clamping device 313f will not affect the second clamping device 32f. The clamping device 313f is used to clamp the box-shaped material for the first time, and the second clamping device 32f is used to clamp the box-shaped material for the second time. After the second clamping device 32f clamps the box-shaped material, the clamping device 313f releases the clamping device. Then, the clamping rotation device 314f drives the clamping device 313f to rotate 90°, and the clamping device 313f is used to clamp the box-shaped material for the third time. In this way, after clamping the box-shaped material, the clamping device 3f can rotate relative to the box-shaped material, thereby changing the clamping surface of the box-shaped material when clamping it.

[0123] The box-shaped material is first clamped by the clamping device 313f. Once the clamping device 313f has clamped the box-shaped material, if it is necessary to change the clamping surface, the box-shaped material is clamped a second time by the second clamping device 32f. Then, the clamping device 313f is rotated to clamp the box-shaped material a third time. This allows the clamping surface of the box-shaped material to be changed during clamping, altering the downward-facing clamping surface so that the box-shaped material can contact other objects with different surfaces. When it is necessary to rotate the clamping device 313f, the height of the clamping device 313f is adjusted by the clamping lifting device 2f to prevent the clamping device 313f from colliding with the ground during rotation.

[0124] like Figure 25 , 26 As shown; the clamping rotation device 314f includes a clamping rotation motor 3141f, a clamping rotation drive gear 3142f, a clamping rotation driven gear 3143f, and a clamping rotation bearing 3144f; the first clamping rotation frame 312f is fixedly connected to one side of the clamping rotation driven gear 3143f, the other side of the clamping rotation driven gear 3143f is fixedly connected to the inner ring of the clamping rotation bearing 3144f, and the outer ring of the clamping rotation bearing 3144f is fixedly connected to the first clamping fixing frame 311f; the clamping rotation motor 3141f is mounted on the first clamping fixing frame 311f, the output end of the clamping rotation motor 3141f is connected to the clamping rotation drive gear 3142f, and the clamping rotation drive gear 3142f meshes with the clamping rotation driven gear 3143f.

[0125] In this embodiment, a first clamping support plate 3145f is provided on the side of the clamping driven gear 3143f near the first clamping rotating frame 312f, and the clamping driven gear 3143f is connected to the first clamping rotating frame 312f through the first clamping support plate 3145f; a second clamping support plate 3146f is provided on the side of the clamping driven gear 3143f near the clamping rotating bearing 3144f. The clamping driven gear 3143f is connected to the inner ring of the clamping rotating bearing 3144f through the second clamping support plate 3146f. A third clamping support plate 3147f is provided on the side of the first clamping fixing frame 311f away from the clamping driven gear 3143f.

[0126] In this embodiment, the first clamping support plate 3145f, the clamping rotating driven gear 3143f, the second clamping support plate 3146f, the clamping rotating bearing 3144f, and the third clamping support plate 3147f are all hollow structures.

[0127] like Figure 19 , 20 As shown; each clamping device 313f includes a first clamping drive device 3131f and a first clamping member 3132f. The fixed end of the first clamping drive device 3131f is connected to the first clamping rotating frame 312f, and the movable end of the first clamping drive device 3131f is connected to the first clamping member 3132f. The first clamping drive device 3131f drives the first clamping member 3132f to move closer to and away from the second clamping device 32f. The two first clamping members 3132f move closer to each other to clamp box-shaped materials.

[0128] like Figure 19 , 20 As shown; in this embodiment, the first clamping drive device 3131f is a rodless cylinder; the first clamping drive device 3131f includes a first clamping bracket 3133f, a first clamping cylinder 3134f, a first clamping slider 3135f, and a connecting device 3130f; the first clamping bracket 3133f is connected to the first clamping rotating frame 312f, and the first clamping cylinder 3134f is disposed on the first clamping bracket 3133f; the first clamping slider 3135f is slidably disposed on the first clamping cylinder 3134f; one end of the connecting device 3130f is fixedly connected to the first clamping member 3132f, and the other end of the connecting device 3130f is fixedly connected to the first clamping slider 3135f and slidably connected to the first clamping bracket 3133f. The first clamping slider 3135f is fixedly connected to the first clamping slider 3135f by the connecting device 3130f and slidably connected to the first clamping bracket 3133f, so as to prevent the first clamping slider 3135f from rotating when sliding on the first clamping cylinder 3134f, and the first clamping slider 3135f moves stably.

[0129] like Figure 20As shown; the connecting device 3130f includes a first connecting member 3136f, a second connecting member 3137f, a third connecting member 3138f, and a fourth connecting member 3139f; the third connecting member 3138f is disposed on one side of the first connecting member 3136f and the second connecting member 3137f; the fourth connecting member 3139f is disposed on the other side of the first connecting member 3136f and the second connecting member 3137f; the first clamping slider 3135f is located between the first connecting member 3136f and the second connecting member 3137f.

[0130] The first connector 3136f has a first through hole 31301f, and a pulley assembly 4f is provided in the first through hole 31301f; the first clamping bracket 3133f passes through the first through hole 31301f and contacts the sliding assembly; the first connector 3136f is slidably disposed on the first clamping bracket 3133f.

[0131] The second connector 3137f is fixedly connected to the first clamping slider 3135f; one end of the third connector 3138f and one end of the fourth connector 3139f are fixedly connected to the first connector 3136f and the second connector 3137f; the other end of the third connector 3138f and the other end of the fourth connector 3139f are fixedly connected to the first clamping member 3132f. The first connecting piece 3136f is slidably connected to the first clamping bracket 3133f, and the second connecting piece 3137f is fixedly connected to the first clamping slider 3135f. The third connecting piece 3138f and the fourth connecting piece 3139f are connected to the first clamping member 3132f. At the same time, the second connecting piece 3137f connects the third connecting piece 3138f and the fourth connecting piece 3139f. When the first clamping slider 3135f moves, it drives the first connecting piece 3136f, the second connecting piece 3137f, the third connecting piece 3138f, and the fourth connecting piece 3139f to move synchronously. This structure is simple.

[0132] like Figure 19 , 23As shown; the second clamping device 32f includes a clamping structure 321f and a clamping moving device 322f. The fixed end of the clamping moving device 322f is fixedly connected to the first clamping fixing frame 311f, and the movable end of the clamping moving device 322f is connected to the clamping structure 321f. The clamping moving device 322f drives the clamping structure 321f to move closer to and away from the first clamping fixing frame 311f. The clamping structure 321f is used to clamp box-shaped materials. A clamping avoidance space 323f is provided on the clamping structure 321f to avoid the first clamping member 3132f. By setting the clamping moving device 322f to drive the clamping structure 321f to move, the clamping structure 321f moves closer to or further away from the first clamping fixing frame 311f. This allows the clamping structure 321f to move closer to or further away from the box-shaped material held by the box-shaped material clamping device 313f. In the initial loading state, the clamping structure 321f moves closer to the first clamping fixing frame 311f, thus avoiding interference between the box-shaped material and the clamping structure 321f when the clamping device 313f clamps the box-shaped material. When it is necessary to change the clamping surface of the box-shaped material, the clamping structure 321f moves away from the first clamping fixing frame 311f and moves closer to the box-shaped material. After the clamping device 313f clamps the box-shaped material after rotation, the clamping structure 321f resets.

[0133] like Figure 19 , 23 As shown in -30; the clamping structure 321f includes a tightening bracket 3210f, a clamping device 3211f, and a tightening device 3212f; the clamping device 3211f is located on one side of the tightening bracket 3210f; there are two clamping devices 3211f; the tightening device 3212f includes a first sliding device, a second sliding device, a tightening lifting transmission device 3213f, and a tightening telescopic device 3214f; one clamping device 3211f is slidably disposed at one end of the tightening bracket 3210f through the first sliding device; the other clamping device 3211f is slidably disposed at the other end of the tightening bracket 3210f through the second sliding device.

[0134] In this embodiment, both the first sliding device and the second sliding device are slide rails. The outer slide rail of the first sliding device is connected to the tightening bracket 3210f, and the inner slide rail of the first sliding device is connected to a clamping device 3211f. The outer slide rail of the second sliding device is connected to the tightening bracket 3210f, and the inner slide rail of the second sliding device is connected to another clamping device 3211f.

[0135] like Figure 23As shown; the tightening lifting transmission device 3213f includes a tightening transmission gear 32131f, a first tightening transmission rack 32132f, and a second tightening transmission rack 32133f; the tightening transmission gear 32131f is rotatably mounted on the tightening bracket 3210f, the first tightening transmission rack 32132f is located on one side of the tightening transmission gear 32131f, the first tightening transmission rack 32132f is fixedly connected to a clamping device 3211f and meshes with the tightening transmission gear 32131f; the second tightening rotating rack is located on the other side of the tightening transmission gear 32131f, the second tightening transmission rack 32133f is fixedly connected to another clamping device 3211f and meshes with the tightening transmission gear 32131f.

[0136] like Figure 23 As shown, the fixed end of the tightening telescopic device 3214f is connected to the tightening bracket 3210f, and the movable end of the tightening telescopic device 3214f is connected to a clamping device 3211f; the tightening telescopic device 3214f is used to drive the two clamping devices 3211f to move away from each other and closer to each other. In this embodiment, the tightening telescopic device 3214f is a cylinder.

[0137] The first tightening drive rack 32132f is disposed on one side of the tightening drive gear 32131f, and the second tightening drive rack 32133f is disposed on the other side of the tightening drive gear 32131f. When the first tightening drive rack 32132f moves in one direction, the second tightening drive rack 32133f moves in the opposite direction to the movement of the first tightening drive rack 32132f. The first tightening drive rack 32132f is connected to a clamping device 3211f, and the second tightening drive gear 32131f is connected to another clamping device 321. When the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move away from each other to unfold the clamping structure 321f. When the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move closer to each other to retract the clamping structure 321f. When clamping box-shaped materials, the clamping structure 321f is unfolded first, then the clamping moving device 322f drives the clamping structure 321f to move closer to the box-shaped materials, and then the clamping structure 321f is retracted to clamp the box-shaped materials.

[0138] like Figure 23 , 25As shown in Figure 27, a clamping device 3211f includes a clamping connector 3216f and two clamping members 3215f; the clamping clearance space 323f is disposed between the two clamping members 3215f; the clamping clearance space 323f is used to accommodate the first clamping member 3132f. The two clamping members 3215f are connected by the clamping connector 3216f; the first tightening transmission rack 32132f is connected to one of the clamping members 3215f in the clamping device 3211f, and the second tightening transmission rack 32133f is connected to one of the clamping members 3215f in the other clamping device 3211f.

[0139] like Figure 27-29 As shown; the clamping member 3215f includes a clamping fixing member 32151f, a clamping gripper 32152f, a first clamping limiting member 32153f, and a second clamping limiting member 32154f; the clamping gripper 32152f is located on one side of the clamping fixing member 32151f, and the first clamping limiting member 32153f and the second clamping limiting member 32154f are arranged opposite to each other and located between the first clamping gripper 32152f and the first clamping fixing member 32151f.

[0140] like Figure 27-29 As shown; one end of the clamping and gripping member 32152f is the contact end 32155f, and the other end of the clamping member 3215f is the abutment end 32156f; the contact end 32155f is used to contact the box-shaped material; the first clamping limiting member 32153f is connected to the clamping fixing member 32151f, and the second clamping limiting member 32154f is connected to the abutment end 32156f of the clamping and gripping member 32152f; the first clamping limiting member 32153f and the second clamping limiting member 32154f are connected to the abutment end 32156f of the clamping and gripping member 32152f. A receiving groove 32157f is formed between the two clamping limiting members 32154f. A rotating shaft (not shown in the figure) is provided in the receiving groove 32157f. The clamping and gripping member 32152f is rotatably connected to the clamping and fixing member 32151f through the rotating shaft. A torsion spring 32158f is passed through the rotating shaft. One end of the torsion spring 32158f abuts against the first clamping limiting member 32153f, and the other end of the torsion spring 32158f abuts against the first clamping limiting member 32153f.

[0141] like Figure 26 , 28As shown in Figure -30; both ends of the tightening bracket 3210f are provided with abutment members 3217f protruding from the tightening bracket 3210f, and the abutment members 3217f are located between the tightening bracket 3210f and the clamping device 3211f; the abutment members 3217f are used to drive the contact end 32155f of the clamping and grasping member 32152f to swing towards the first clamping limit member 32153f when they come into contact with the contact end 32156f of the clamping and grasping member 32152f; the first clamping limit member 32153f is used to limit the contact end 32155f of the clamping and grasping member 32152f, which swings away from the first clamping limit member 32153f under the elastic force of the torsion spring 32158f, when the contact end 32156f of the clamping and grasping member 32152f separates from the abutment member 3217f.

[0142] Two clamping components 3215f are connected by a clamping connector 3216f to achieve synchronous movement of the two clamping components 3215f, thus stably clamping box-shaped materials. A rotating shaft connects a clamping and grasping component 32152f and a clamping fixing component 32151f. The clamping and grasping component 32152f can swing relative to the clamping fixing component 32151f. Simultaneously, the first clamping limiter 32153f is connected to the clamping fixing component 32151f, and the second clamping limiter 32154f is connected to the clamping and grasping component 32152f. When the clamping and grasping component 32152f retracts, the tightening telescopic device 3214f retracts. The tightening telescopic device 3214f drives the two grasping devices 313f to move closer to the tightening bracket 3210f. When the contact end 32156 of the clamping and grasping component 32152f... When the clamping member 3215f contacts the stop 3217f on the tightening bracket 3210f, the contact end 32155f of the clamping member 32152f overcomes the elastic force of the torsion spring 32158f and moves closer to the first clamping limit member 32153f, thus achieving the retraction of the clamping member 3215f. When the clamping member 32152f unfolds, the tightening telescopic device 3214f extends, and the tightening telescopic device 3214f drives the two clamping devices 313f away from the tightening bracket 3210f. When the stop end 32156f of the clamping member 32152f separates from the stop 3217f on the tightening bracket 3210f, under the elastic force of the torsion spring 32158f itself, the contact end 32155f of the clamping member 32152f swings away from the first clamping limit member 32153f, thus achieving the unfolding of the clamping member 32152f. Meanwhile, during the unfolding process of the clamping and gripping member 32152f, when the second clamping limit member 32154f abuts against the first clamping limit member 32153f, the first clamping limit member 32153f limits the second clamping limit member 32154f, preventing the second clamping limit member 32154f from continuing to swing, thereby realizing the unfolding of the clamping member 3215f.

[0143] Simultaneously, the first clamping limit member 32153f and the second clamping limit member 32154f abut after the clamping member 3215f is unfolded; the first clamping limit member 32153f supports the second clamping limit member 32154f; when clamping box-shaped materials, the clamping moving device 322f drives the clamping structure 321f to extend, so that the box-shaped materials are located between the clamping devices 3211f at both ends of the tightening bracket 3210f; then the movable end of the tightening telescopic device 3214f retracts, driving the clamping member 3215f to close, and clamping the box-shaped materials through the contact end 32155f of the clamping and grasping member 32152f; when the abutting end 32156f of the clamping and grasping member 32152f contacts the blocking member 3217f; at this time, under the support effect of the box-shaped materials on the contact end 32155f, the clamping and grasping member 32152f will not swing.

[0144] Simultaneously, the contact end 32156f of the clamping and gripping member 32152f and the contacting blocking member 3217f exert a force on the contact end 32155f of the clamping and gripping member 32152f, causing it to swing towards the first clamping limit member 32153f; thus, the clamping and gripping members 32152f located at opposite ends of the tightening bracket stably clamp the box-shaped material. Furthermore, the retraction and unfolding of the clamping member 3215f are achieved during the movement of the clamping member 3215f, resulting in a simple structure.

[0145] like Figures 28-30 As shown; in this embodiment, the contact end 32156f extends obliquely towards the contact end 32155f and has a contact portion 32159f that approaches the blocking member 3217f. The contact portion 32159f is used to contact the blocking member 3217f. By providing the oblique contact portion 32159f that approaches the blocking member 3217f, it is convenient to clamp the gripper 32152f and the blocking member 3217f.

[0146] like Figure 19 , 22 As shown, the clamping and moving device 322f includes a movable fixed bracket 3221f, a movable sliding bracket 3222f, and a moving drive device; the movable fixed bracket 3221f is connected to the first clamping fixed frame 311f, and a second through hole 3223f is provided through the movable fixed bracket 3221f, and a pulley assembly 4f is provided in the second through hole 3223f; one end of the movable sliding bracket 3222f is connected to the clamping structure 321f, and the other end of the movable sliding bracket 3222f passes through the second through hole 3223f and contacts the sliding assembly.

[0147] The moving drive device includes a moving drive motor 3224f, a moving drive gear 3225f, and a moving drive rack 3226f; a moving groove 3227f is provided on the moving sliding bracket 3222f, and the moving drive rack 3226f is fixed in the moving sliding bracket 3222f and corresponds to the moving groove 3227f; the moving drive motor 3224f is fixed on the moving fixed bracket 3221f, and the output end of the moving drive motor 3224f is connected to the moving drive gear 3225f. The moving drive gear 3225f passes through the moving groove 3227f and extends into the moving sliding bracket 3222f to mesh with the moving drive rack 3226f.

[0148] A fixed moving drive rack 3226f is provided inside the movable sliding bracket 3222f, and the movable sliding bracket 3222f is slidably disposed inside the movable fixed bracket 3221f; the movable drive rack 3226f is driven to move by the moving drive drive gear 3225f, and the moving drive rack 3226f drives the movable sliding bracket 3222f to move; the structure is simple; at the same time, the moving drive drive gear 3225f extends into the movable sliding bracket 3222f through the moving groove 3227f to limit the movement of the movable sliding bracket 3222f; when the end of the moving groove 3227f contacts the moving drive drive gear 3225f, the movable sliding bracket 3222f stops moving.

[0149] like Figure 31 As shown; the clamping lifting device 2f includes a clamping lifting drive device, a clamping lifting synchronous shaft 21f and two clamping lifting transmission devices 22f; the clamping lifting synchronous shaft 21f connects to the two clamping lifting transmission devices 22f, and the output end of the clamping lifting drive device is connected to the clamping lifting synchronous shaft 21f.

[0150] The clamping and lifting transmission device 22f includes a clamping and lifting first pulley 23f, a clamping and lifting second pulley 24f, a clamping and lifting synchronous belt 25f, and a clamping and lifting synchronous belt fixing member 26f; the clamping and lifting first pulley 23f is rotatably mounted on the top of the transport frame 1f; the clamping and lifting second pulley 24f is rotatably mounted on the bottom of the transport frame 1f; the clamping and lifting synchronous belt 25f is sleeved on the first pulley and the clamping and lifting second pulley 24f; see reference. Figure 25 As shown; the clamping timing belt fixing component 26f clamps the clamping lifting timing belt 25f onto the first clamping fixing frame 311f.

[0151] The clamping and lifting drive device includes a clamping and lifting drive motor 27f, a clamping and lifting first transmission gear 28f, a second transmission gear 29f, and a clamping and lifting drive bracket; the clamping and lifting drive bracket is connected to the frame 1f; the clamping and lifting drive motor is fixed on the clamping and lifting drive bracket; the clamping and lifting first transmission gear 28f is connected to the output end of the clamping and lifting drive motor 27f, and the second transmission gear 29f passes through the clamping and lifting synchronous shaft 21f; the clamping and lifting first transmission gear 28f and the second transmission gear 29f mesh; the clamping and lifting drive motor 27f drives the clamping and lifting synchronous shaft 21f to rotate through the clamping and lifting first transmission gear and the second transmission gear, and the clamping and lifting synchronous shaft 21f drives the clamping and lifting transmission device 22f to operate.

[0152] By connecting the clamping timing belt fixing member 26f to the first clamping fixing frame 311f and the clamping lifting timing belt 25f, the clamping lifting device 2f drives the first clamping fixing frame 311f to clamp and lift. At the same time, the first clamping rotating frame 312f is connected to the first clamping fixing frame 311f, and the second clamping device 32f is also connected to the first clamping fixing frame 311f; thus, the first clamping device 31f and the second clamping device 32f are clamped and lifted synchronously.

[0153] Reference Figure 21 As shown, a third through hole 3110f is provided on the first clamping and fixing frame 311f, and a pulley assembly 4f is provided in the third through hole 3110f; the transport frame 1f passes through the third through hole 3110f and is in contact with the sliding assembly.

[0154] Reference Figure 20 , 21 22 In this embodiment, the first through hole 31301f, the second through hole 3223f, and the third through hole 3110f are all rectangular holes; at least two opposite inner walls of the first through hole 31301f, the second through hole 3223f, and the third through hole 3110f are provided with one or more sets of pulley assemblies 4f; each set of pulley assembly 4f includes a first sliding shaft 41f and a first pulley 42f; the first sliding shaft 41f is fixed on the first through hole 31301f, the second through hole 3223f, and the third through hole 3110f; the first pulley 42f is rotatably disposed on the first sliding shaft 41f and is used to contact the transport frame 1f, the first clamping bracket 3133f, and the movable sliding bracket 3222f.

[0155] like Figure 17 As shown; at the bottom of the transport frame 1f, there is also a chassis, on which a traveling device 5f is installed; the traveling device 5f is used to drive the transport frame 1f to move. By driving the transport frame 1f to move through the traveling device 5f, the clamping device 3f can move closer to the box-shaped material. The traveling device 5f includes four sets of traveling wheels, each set of traveling wheels is driven by an independent motor.

[0156] Material transfer method, including the following steps:

[0157] 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.

[0158] S2, the moving device 4 drives the first frame 10 to move to one side of the box-shaped material.

[0159] 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.

[0160] 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.

[0161] S5, the adsorption element 134 adsorbs the box-shaped material, and then the telescopic movable bracket 112 retracts; then S12 is performed.

[0162] 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.

[0163] 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.

[0164] S8. The lifting device drives the adsorption component 134 to descend, and then the telescopic movable bracket 112 retracts; then proceed to S11.

[0165] 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.

[0166] S10, the lifting device drives the adsorption component 134 to rise, and then the telescopic movable bracket 112 retracts; then proceed to S11.

[0167] 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.

[0168] 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.

[0169] 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; then proceed to S14.

[0170] 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.

[0171] S15, the moving device drives the first frame to approach the conveying device, and then the adsorption element 134 drives the box-shaped material to rotate away from the clearance space 1215, providing material to the conveying device; then proceed to S16.

[0172] S16. The clamping lifting device 2f drives the clamping equipment 3f to lift, so that the clamping equipment 3f and the box-shaped material gripped by the gripping and flipping device are at the same horizontal height.

[0173] S17. The conveying device clamps a box-shaped material through the first clamping member 3132f; then the gripping and flipping device releases the adsorption of the box-shaped material; then the gripping and flipping device performs S1-S15 to grip other box-shaped materials.

[0174] S18. Determine whether it is necessary to change the clamping surface of the current clamping box-shaped material; if not, proceed to S25; if yes, proceed to S19.

[0175] S19. The clamping lifting device drives the clamping equipment to rise, so that the first clamping device does not interfere with the contact surface of the stacking area when it rotates.

[0176] S20. The clamping and moving device drives the clamping structure to move closer to the box-shaped material, while the clamping structure clamps the box-shaped material.

[0177] S21, the first clamping member 3132f releases its grip on the currently clamped box-shaped material.

[0178] S22, the clamping rotation device 314f drives the first clamping rotating frame 312f to rotate 90° clockwise; then the first clamping member 3132f clamps the currently clamped box-shaped material again.

[0179] S23, The clamping structure releases its grip on the box-shaped material; at the same time, the clamping moving device drives the clamping structure away from the box-shaped material.

[0180] S24, The clamping rotation device 314f drives the first clamping rotating frame 312f to rotate counterclockwise by 90°.

[0181] S25. The conveying device moves to the stacking area. When the conveying device reaches the stacking area, proceed to S26.

[0182] S26, the first clamping member 3132f releases the clamping of the currently clamped box material; the box material is placed on the stacking area; if the next box material is to be clamped, then proceed to A2 until the next material is placed on the material in the stacking area; if the next box material is not to be clamped, then stop working.

[0183] The above method utilizes the gripping and flipping device 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 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, enabling it to contact the opposite side of box-shaped materials of different heights, thus achieving the gripping of box-shaped materials of varying heights.

[0184] 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.

[0185] 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.

[0186] The conveying device first clamps the box-shaped material using the first clamping member 3132f. When it is necessary to change the clamping surface of the currently clamped box-shaped material, the height of the first clamping member 3132f is adjusted by the clamping lifting device to avoid the clamping device 313f from colliding with the ground when rotating. Once there is sufficient space between the first clamping member 3132f and the ground, the first clamping rotating frame 312f and the clamping device 313f rotate. Then, the clamping structure 321f clamps the currently clamped box-shaped material a second time. Only after the clamping structure 321f clamps the box-shaped material does the first clamping member 3132f release. The clamping mechanism holds the box-shaped material in place to prevent it from falling. Then, the clamping rotation device 314f drives the first clamping rotating frame 312f to rotate, aligning the first clamping member 3132f with the other clamping surface of the box-shaped material. The first clamping member 3132f then clamps the box-shaped material for the third time. Once the first clamping member 3132f has clamped the box-shaped material, the clamping structure releases its grip. The first clamping rotating frame 312f is then driven to rotate again, thus changing the clamping surface of the box-shaped material while it is being clamped.

[0187] In the above method,

[0188] In S20, the clamping moving device drives the clamping structure to move closer to the box-shaped material, and at the same time the clamping structure clamps the box-shaped material; specifically S20.1-S20.3.

[0189] S20.1, the movable end of the tightening telescopic device 3214f extends, and the two clamping devices 3211f separate from each other; at the same time, the clamping and gripping part 32152f unfolds.

[0190] S20.2, The clamping and moving device 322f drives the two clamping devices 3211f to move closer to the clamping box-shaped material; when the box-shaped material is located between the contact parts of the clamping and holding parts 32152f at both ends of the receiving bracket, S20.3 is performed;

[0191] S20.3, the movable end of the tightening telescopic device 3214f retracts, and the two clamping devices 3211f approach each other and come into contact with the box-shaped material; after the two clamping devices 3211f clamp the box-shaped material, then proceed to S21.

[0192] In S23, the clamping structure releases to hold the box-shaped material; at the same time, the clamping moving device drives the clamping structure away from the box-shaped material; specifically S23.1-S23.2.

[0193] S23.1, The movable end of the tightening telescopic device 3214f extends, and the two clamping devices 3211f separate from each other and from the box-shaped material; after the clamping and gripping part 32152f separates from the box-shaped material, proceed to S23.2.

[0194] S23.2, The clamping and moving device 322f drives the two clamping devices 3211f away from the box-shaped material; then the movable end of the telescopic device 3214f is tightened and retracted; the two clamping devices 3211f move closer to each other to clamp the clamping and taking part 32152f and then proceed to S24.

[0195] In the above method, when the telescopic device 3214f is activated, the clamping devices 3211f at both ends of the tightening bracket 3210f are activated synchronously, allowing them to move closer or further apart. During the separation of the two clamping devices, the clamping and holding parts unfold simultaneously. During the approach of the two clamping devices, the clamping and holding parts retract simultaneously. This results in fast unfolding and retraction of the two clamping devices, leading to high working efficiency when clamping box-shaped materials.

[0196] In the above method;

[0197] In S20.1 and S23.1; the movable end of the tightening telescopic device 3214f extends, and the two clamping devices 3211f separate from each other; specifically: the movable end of the tightening telescopic device 3214f drives one clamping device 3211f away from the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate; the tightening transmission gear 32131f drives the second tightening transmission rack 32133f to move in the opposite direction to the movement of the first tightening transmission rack 32132f; causing the other clamping device 3211f to also move away from the tightening bracket 3210f; the two clamping devices 3211f separate from each other; at the same time, when the clamping gripper 32152... After the contact end 32156f of clamping member 3217f separates from the blocking member 3217f, under the elastic force of the torsion spring, the contact end of clamping member 32152f swings away from the first clamping limit member 32153f. During the swinging process of clamping member 32152f, one end of the second clamping limit member 32154f approaches the first clamping limit member 32153f. When one end of the second clamping limit member 32154f abuts against the first clamping limit member 32153f, the first clamping limit member 32153f limits the second clamping limit member 32154f, preventing the second clamping limit member 32154f from continuing to swing, thus realizing the unfolding of clamping member 32152f.

[0198] In S20.3 and S23.2; the movable end of the tightening telescopic device 3214f retracts; the two clamping devices 3211f move closer to each other; specifically:

[0199] The movable end of the tightening telescopic device 3214f drives a clamping device 3211f to move closer to the tightening bracket 3210f. The first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate. The tightening transmission gear 32131f drives the second tightening transmission rack 32133f to move in the opposite direction to the movement of the first tightening transmission rack 32132f. This causes the other clamping device 3211f to also move closer to the tightening bracket 3210f. The two clamping devices 3211f move closer to each other.

[0200] In S20.3, the contact ends 32155f of the clamping and gripping parts 32152f of the two clamping devices 3211f that are close to each other clamp the box-shaped material. When the two clamping devices continue to move closer to each other, the contact end 32156f of the clamping and gripping part 32152f contacts the blocking part 3217f. At this time, under the support effect of the box-shaped material on the contact end 32155f, the clamping and gripping part 32152f will not swing. At the same time, the contact end 32156f of the clamping and gripping part 32152f and the blocking part 3217f will give the contact end 32155f of the clamping and gripping part 32152f a force to swing towards the first clamping limit member 32153f. In this way, the clamping and gripping parts 32152f located at opposite ends of the tightening bracket stably clamp the box-shaped material.

[0201] In S23.2; when the contact end 32156f of the clamping member 32152f contacts the blocking member 3217f; the contact end 32155f of the clamping member 32152f overcomes the elastic force of the torsion spring 32158f and moves closer to the first clamping limit member 32153f, and the second clamping limit member 32154f separates from the first clamping limit member 32153f; thus realizing the retraction of the clamping member 32152f.

[0202] Reference Figure 21 As shown; taking the change from the U1 and U2 surfaces for clamping box-shaped materials to the U5 and U6 surfaces for clamping box-shaped materials as an example; the clamping surfaces of the box-shaped materials are changed along the Y direction;

[0203] In S17, the conveying device clamps the U1 and U2 surfaces of a box-shaped material through the first clamping member 3132f.

[0204] In S20.1, the movable end of the tightening telescopic device 3214f extends, and the two clamping devices 3211f separate from each other; at the same time, the clamping and grasping part 32152f unfolds.

[0205] In S20.2, the clamping and moving device 322f drives the two clamping devices 3211f to move closer to the clamping box-shaped material; when the U5 and U6 surfaces of the box-shaped material are between the contact parts of the clamping and holding parts 32152f at both ends of the receiving bracket, S20.3 is performed.

[0206] In S20.3, the movable end of the tightening telescopic device 3214f retracts, and the two clamping devices 3211f approach each other and contact the U5 and U6 surfaces of the box-shaped material; after the two clamping devices 3211f clamp the box-shaped material, S21 is performed.

[0207] In S21, the first clamping member 3132f releases its grip on the U1 and U2 surfaces of the currently clamped box-shaped material.

[0208] In S22, the clamping rotation device 314f drives the first clamping rotating frame 312f to rotate 90° clockwise; then the first clamping member 3132f clamps the U5 and U6 surfaces of the currently clamped box-shaped material again.

[0209] In S23.1, the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f separate from each other and from the U5 and U6 surfaces of the box-shaped material; at the same time, the clamping and grasping component 32152f unfolds; after the clamping and grasping component 32152f separates from the box-shaped material, S23.2 is performed.

[0210] S23.2, The clamping and moving device 322f drives the two clamping devices 3211f away from the box-shaped material; then the movable end of the telescopic device 3214f is tightened and retracted; the two clamping devices 3211f move closer to each other to clamp the clamping and taking part 32152f and then proceed to S24.

Claims

1. A material transfer method, characterized in that: This is achieved through a transfer and stacking device, which includes a handling device and a gripping and flipping device. The gripping and flipping device is used to grip box-shaped materials and transport them; the handling device is used to stack the box-shaped materials. The handling device includes a handling frame, a clamping and lifting device, and a clamping device. A traveling device is provided on the handling frame; the traveling device is used to drive the handling device to move; the clamping and lifting device is provided on the handling frame and connected to the clamping device, and the clamping and lifting device drives the clamping device to move up and down along the height direction of the handling frame. The clamping device includes a first clamping device and a second clamping device; the first clamping device includes a first clamping fixed frame, a first clamping rotating frame, a clamping device, and a clamping rotating device; two clamping devices are provided, the first clamping rotating frame is located between and connected to the two clamping devices; the first clamping rotating frame is rotatably mounted on the first clamping fixed frame; the second clamping device passes through the first clamping rotating frame and is fixedly connected to the first clamping fixed frame; there is a gap between the second clamping device and the first clamping rotating frame; the clamping rotating device is used to drive the two clamping devices to rotate relative to the first clamping fixed frame; The clamping and rotating device includes a clamping and rotating motor, a clamping and rotating drive gear, a clamping and rotating driven gear, and a clamping and rotating bearing. A first clamping rotating frame is fixedly connected to one side of the clamping and rotating driven gear, and the other side of the clamping and rotating driven gear is fixedly connected to the inner ring of the clamping and rotating bearing. The outer ring of the clamping and rotating bearing is fixedly connected to the first clamping and fixing frame. The clamping and rotating motor is mounted on the first clamping and fixing frame, and its output end is connected to the clamping and rotating drive gear, which meshes with the clamping and rotating driven gear. Each clamping device includes a first clamping drive device and a first clamping member. The clamping device is connected to a first clamping rotating frame. The movable end of the first clamping drive device is connected to the first clamping member. The first clamping drive device drives the first clamping member to move closer to and away from the second clamping device. The two first clamping members move closer to each other to clamp the material. The second clamping device includes a clamping structure and a clamping moving device. The fixed end of the clamping moving device is fixedly connected to the first clamping fixed frame, and the movable end of the clamping moving device is connected to the clamping structure. The clamping moving device drives the clamping structure to move closer to and away from the first clamping fixed frame. The clamping structure is used to clamp the material, and a clamping clearance space is provided on the clamping structure to avoid the first clamping component. The clamping device is used to clamp the box-shaped material for the first time. The clamping structure is used to clamp the box-shaped material for the second time. The clamping rotating device drives the clamping rotating device to rotate and then clamps the box-shaped material for the third time. The gripping and flipping device includes a first frame, on which a moving device is mounted; the moving device is used to drive the gripping and flipping device to move; a lifting device and a gripping device are mounted on the first frame; the lifting device drives the gripping device to lift and lower. The gripping device includes a telescopic device, a flipping device, and a gripping device, with the gripping device 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 gripping device. The telescopic device drives the gripping device to move closer to or away from the flipping 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; Material transfer method, including 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 first 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 clearance space, 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 movable bracket extends to make the adsorption component contact the box-shaped material. S5. The adsorption element 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 gripping device, proceed to S7; if the box-shaped material is below the gripping device, proceed to S9. 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 clearance space 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 movable bracket retracts; then proceed to S11. S9. Extend the telescopic movable bracket so that the adsorption element is directly above the box-shaped material. Grab the rotating bracket to drive the adsorption element to rotate away from the clearance space 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 movable bracket retracts; then proceed to S11; S11. The gripping rotating bracket drives the adsorption component to rotate towards the clearance space. 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 clearance space. 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; then proceed to S14. S14. The gripping rotating bracket drives the adsorption component to rotate towards the clearance space, and the adsorption component adsorbs the box-shaped material that has been flipped over; then proceed to S15. S15. The moving device drives the first frame to approach the conveying device. Then, the adsorption element drives the box-shaped material to rotate away from the clearance space, providing material to the conveying device; then proceed to S16. S16. The clamping lifting device drives the clamping equipment to rise and fall, so that the clamping equipment and the box-shaped material gripped by the gripping and flipping device are at the same horizontal height. S17. The conveying device clamps a box-shaped material through the first clamping member; then the gripping and flipping device releases the adsorption of the box-shaped material; then the gripping and flipping device performs S1-S15 to grip other box-shaped materials. S18. Determine whether it is necessary to change the clamping surface of the current clamping box-shaped material; if not, proceed to S25; if yes, proceed to S19. S19. The clamping lifting device drives the clamping equipment to rise, so that the first clamping device does not interfere with the contact surface of the stacking area when it rotates. S20. The clamping and moving device drives the clamping structure to approach the box-shaped material, and at the same time the clamping structure clamps the box-shaped material. S21, The first clamping element releases its grip on the currently clamped box-shaped material; S22, The clamping rotation device drives the first clamping rotating frame to rotate 90° in the first direction; then the first clamping member clamps the currently clamped box-shaped material again; S23, The clamping structure releases its grip on the box-shaped material; at the same time, the clamping moving device drives the clamping structure away from the box-shaped material; S24. The clamping rotation device drives the first clamping rotating frame to rotate 90° in the second direction; S25. The conveying device moves to the stacking area. When the conveying device reaches the stacking area, proceed to S26. S26, the first clamping member releases the clamping of the currently clamped box-shaped material; the box-shaped material is placed on the stacking area; if the next box-shaped material is to be clamped, then proceed to A2 until the next material is placed on the material in the stacking area; if the next box-shaped material is not to be clamped, then stop working.

2. The material transfer method according to claim 1, characterized in that: The clamping structure includes a clamping bracket, a clamping device, and a tightening mechanism; the clamping device is located on one side of the clamping bracket; two clamping devices are provided; the tightening mechanism includes a first sliding device, a second sliding device, a tightening lifting transmission device, and a tightening telescopic device. One clamping device is slidably disposed at one end of the tightening bracket via a first sliding device; another clamping device is slidably disposed at the other end of the tightening bracket via a second sliding device. The tightening and lifting transmission device includes a tightening transmission gear, a first tightening transmission rack, and a second tightening transmission rack. The tightening transmission gear is rotatably mounted on the tightening bracket. The first tightening transmission rack is located on one side of the tightening transmission gear and is fixedly connected to and meshes with a clamping device. The second tightening rotating rack is located on the other side of the tightening transmission gear and is fixedly connected to and meshes with another clamping device. The fixed end of the tightening telescopic device is connected to the tightening bracket, and the movable end of the tightening telescopic device is connected to a clamping device; the tightening telescopic device is used to drive the two clamping devices to move away from each other and to move closer to each other. A clamping device includes a clamping connector and two clamping members; the two clamping members are connected by the clamping connector; a first tightening drive rack is connected to one of the clamping members in the clamping device, and a second tightening drive rack is connected to one of the clamping members in the other clamping device. The clamping component includes a clamping fixing component, a clamping gripping component, a first clamping limiting component, and a second clamping limiting component; the clamping gripping component is located on one side of the clamping fixing component, and the first clamping limiting component and the second clamping limiting component are arranged opposite to each other and located between the first clamping gripping component and the first clamping fixing component; One end of the clamping and gripping member is a contact end, and the other end of the clamping member is an abutting end; the contact end is used to contact the material; the first clamping limiting member is connected to the clamping fixing member, and the second clamping limiting member is connected to the abutting end of the clamping and gripping member; a receiving groove is formed between the first clamping limiting member and the second clamping limiting member, and a rotating shaft is provided in the receiving groove, through which the clamping and gripping member is rotatably connected to the clamping fixing member; a torsion spring is passed through the rotating shaft, one end of the torsion spring abuts against the first clamping limiting member, and the other end of the torsion spring abuts against the second clamping limiting member; Both ends of the tightening bracket are provided with abutments that protrude from the tightening bracket. The abutments are located between the tightening bracket and the clamping device. When the abutments come into contact with the contact end of the clamping member, they drive the contact end of the clamping member to swing toward the direction of the first clamping limiter. The first clamping limiter is used to limit the contact end of the clamping member, which swings away from the first clamping limiter under the elastic force of the torsion spring, when the contact end of the clamping member separates from the abutments.

3. A material transfer method according to claim 1, characterized in that: In S20, the clamping moving device drives the clamping structure to move closer to the box-shaped material, while the clamping structure clamps the box-shaped material; specifically S20.1-S20.3; S20.1 The movable end of the tightening telescopic device extends, and the two clamping devices separate from each other; at the same time, the clamping and gripping parts unfold. S20.2, The clamping and moving device drives the two clamping devices to approach the clamping box-shaped material; when the box-shaped material is located between the contact parts of the clamping and gripping parts f at both ends of the receiving bracket, S20.3 is performed; S20.3, the movable end of the tightening telescopic device retracts, the two clamping devices approach each other and come into contact with the box-shaped material; after the two clamping devices clamp the box-shaped material, then proceed to S21.

4. A material transfer method according to claim 3, characterized in that: In S23, the clamping structure releases to hold the box-shaped material; at the same time, the clamping moving device drives the clamping structure away from the box-shaped material; specifically S23.1-S23.2; S23.1, The movable end of the tightening telescopic device extends, the two clamping devices separate from each other and from the box-shaped material; after the clamping and gripping parts are separated from the box-shaped material, proceed to S23.2; S23.2, The clamping and moving device drives the two clamping devices away from the box-shaped material; then the movable end of the telescopic device is tightened and retracted; the two clamping devices move closer to each other to achieve clamping and retraction of the clamped parts; then proceed to S24.

5. A material transfer method according to claim 4, characterized in that: In S20.1 and S23.1, the movable end of the tightening telescopic device extends, and the two clamping devices separate from each other; specifically: The movable end of the tightening telescopic device drives a clamping device away from the tightening bracket, and the first tightening transmission rack drives the tightening transmission gear to rotate; the tightening transmission gear drives the second tightening transmission rack to move in the opposite direction to the movement of the first tightening transmission rack; causing the other clamping device to also move away from the tightening bracket; the two clamping devices separate from each other; at the same time, after the contact end of the clamping and grasping member separates from the blocking member; under the elastic force of the torsion spring, the contact end of the clamping and grasping member swings away from the first clamping limiting member; during the swinging process of the clamping and grasping member, one end of the second clamping limiting member moves closer to the first clamping limiting member; when one end of the second clamping limiting member abuts against the first clamping limiting member, the first clamping limiting member limits the second clamping limiting member, preventing the second clamping limiting member from continuing to swing, thus realizing the unfolding of the clamping and grasping member.

6. A material transfer method according to claim 5, characterized in that: In S20.3 and S23.2, the movable end of the tightening telescopic device retracts; the two clamping devices move closer to each other; specifically: The movable end of the tightening telescopic device drives a clamping device to approach the tightening bracket, and the first tightening transmission rack drives the tightening transmission gear to rotate; the tightening transmission gear drives the second tightening transmission rack to move in the opposite direction to the movement of the first tightening transmission rack; so that the other clamping device also approaches the tightening bracket; the two clamping devices approach each other.

7. A material transfer method according to claim 6, characterized in that: In S20.3, the contact ends of the clamping and gripping parts of the two clamping devices that are close to each other clamp the material. When the two clamping devices continue to move closer to each other, the contact end of the clamping and gripping part contacts the blocking part. At this time, under the support effect of the material on the contact end, the clamping and gripping part will not swing. The blocking part gives the contact end of the clamping and gripping part a force to swing towards the first clamping limit member, thereby clamping the material at the contact end of the clamping and gripping part.

8. A material transfer method according to claim 7, characterized in that: In S23.2; when the contact end of the clamping member contacts the blocking member; the contact end of the clamping member overcomes the elastic force of the torsion spring and moves closer to the first clamping limit member, and the second clamping limit member separates from the first clamping limit member; To achieve the gathering of clamped and gripped parts.

9. A material transfer method according to claim 1, characterized in that: A is 83°.

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