A transfer stacker device

Abstract

The present application provides a kind of transfer stacking device, including handling device and grab overturning device, grab overturning device is used to grab box type material, and transport box type material;When transporting box type material, it can turn over box type material;Handling device is used to stack box type material;Grab 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 realizes when clamping box type material relative to box type material rotates;Further realize the change of material clamping surface.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a transfer stacking device. BACKGROUND

[0002] Cargo handling refers to the short-distance movement of goods in the transportation production process. The traditional cargo handling is manual handling, which is low in efficiency and wastes a lot of manpower and material resources. In order to improve the efficiency, cargo handling robots appear in the market. The existing cargo handling robots can grab box-shaped materials by vacuum adsorption or by clamping.

[0003] A fast delivery station automatic transportation robot is disclosed in a patent document with Chinese application number 201720308579.7 and publication date 2017.10.31, which comprises a chassis, wheels respectively rotatably installed at four corners of the chassis, a reduction motor installed on the chassis and in transmission connection with the wheels, a battery installed on the chassis and connected with the reduction motor, and a bracket I installed on the chassis. The rudder I drives the bracket II to swing in the front and back direction of the chassis, the rudder II drives the rudder III to swing in the front and back direction of the chassis, so as to realize the swinging of the clamping jaw to the specified position, and the rudder III drives the clamping jaw to rotate to the reasonable position, and then the two clamping jaws are driven by the clamping jaw driving mechanism to clamp the goods.

[0004] The robot places the box-shaped materials in the storage bin for transportation, but cannot turn over the box-shaped materials being transported. At the same time, the clamping jaw of the robot swings in the front and back direction of the chassis to different positions to clamp the box-shaped materials. However, when the clamping jaw swings, the height of the clamping jaw is always changing. The height and angle of the clamping jaw need to be adjusted by multiple rudders. The action of clamping the box-shaped materials is complicated. At the same time, the clamping jaw cannot move vertically downward to clamp the box-shaped materials. When used, it is easily limited by the site factors, which leads to the inability to clamp the 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 back side of the box-shaped material, U4 is the front side of the box-shaped material, U5 is the top surface of the box-shaped material, and U6 is the bottom surface of the box-shaped material.

[0006] The robot drives the clamping jaw to rotate through the rudder III, the box-shaped material is synchronously rotated with the clamping jaw after the clamping jaw clamps the box-shaped material, when the clamping jaw clamps the U1 surface and the U2 surface of the box-shaped material, if the clamping surface of the box-shaped material needs to be changed, taking the U5 surface and the U6 surface as an example, the robot needs to place the box-shaped material on the supporting surface, then the robot moves, so that the clamping jaw corresponds to the U5 surface and the U6 surface of the box-shaped material, so that the different clamping surfaces of the box-shaped material can be clamped, the clamping jaw of the robot cannot rotate relative to the box-shaped material, the clamping surface of the box-shaped material cannot be changed when the clamping jaw clamps the box-shaped material, and after clamping, the box-shaped material can only be placed into the transport vehicle and cannot be transported to a specific position and then stacked and stored. SUMMARY

[0007] The present application provides a kind of transfer stacking device, when clamping box-shaped material, the clamping surface of the box-shaped material can be changed, when transporting box-shaped material, the box-shaped material can be turned over, and simultaneously box-shaped material can be grabbed from different directions.

[0008] To achieve the above object, the technical scheme of the present application is: a kind of transfer stacking device, including handling device and grabbing turnover device, grabbing turnover device is used to grab box-shaped material, and box-shaped material is transported;Handling device is used to stack box-shaped material.

[0009] The handling device includes a handling frame, a clamping lifting device and a clamping device, a walking device is provided on the handling frame;The walking device is used to drive the handling device to move;The clamping lifting device is arranged on the frame and connected with the clamping device, and the clamping lifting device drives the clamping device to lift 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;The clamping device is provided with two, the first clamping rotating frame is located between the two clamping devices and is connected with the two clamping devices;The first clamping rotating frame is rotatably arranged on the first clamping fixed frame;The second clamping device is fixedly connected with the first clamping fixed frame through the first clamping rotating 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 rotating device includes a clamping rotating motor, a clamping rotating drive gear, a clamping rotating driven gear and a clamping rotating bearing;The first clamping rotating frame is fixedly connected with one side of the clamping rotating driven gear, the other side of the clamping rotating driven gear is fixedly connected with the inner ring of the clamping rotating bearing, and the outer ring of the clamping rotating bearing is fixedly connected with the first clamping fixed frame;The clamping rotating motor is arranged on the first clamping fixed frame, the output end of the clamping rotating motor is connected with the clamping rotating drive gear, and the clamping rotating drive gear is engaged with the clamping rotating driven gear.

[0012] Each clamping device comprises a first clamping driving device and a first clamping piece, the clamping device is connected with the first clamping rotating frame, the movable end of the first clamping driving device is connected with the first clamping piece, the first clamping driving device drives the first clamping piece to approach and move away from the second clamping device; the two first clamping pieces approach each other to clamp the material.

[0013] The second clamping device comprises a clamping structure and a clamping moving device, the fixed end of the clamping moving device is fixedly connected with the first clamping fixed frame, the movable end of the clamping moving device is connected with the clamping structure, and the clamping moving device drives the clamping structure to approach and move away from the first clamping fixed frame; the clamping structure is used for clamping the material, and a clamping avoiding space for avoiding the first clamping piece is arranged on the clamping structure; the clamping device is used for clamping the box-shaped material for the first time; the clamping structure is used for clamping the box-shaped material for the second time; and the clamping rotating device drives the clamping rotating device to rotate and clamps the box-shaped material for the third time.

[0014] The grabbing and overturning device comprises a first frame, and a moving device is arranged on the first frame; the moving device is used for driving the grabbing and overturning device to move; a lifting device and a grabbing equipment are arranged on the first frame; and the lifting device drives the grabbing equipment to lift.

[0015] The grabbing equipment comprises a telescopic device, an overturning device and a grabbing device, the grabbing device is located on one side of the overturning device; the fixed end of the telescopic device is connected with the overturning device, the movable end of the telescopic device is connected with the grabbing device, and the telescopic device drives the grabbing device to approach and move away from the overturning device.

[0016] The overturning device comprises an overturning support, an overturning driving device, an overturning seat and two overturning tracks; the overturning driving device is arranged at the bottom of the overturning support, and the two overturning tracks are both arranged on the overturning support and located above the overturning driving device; the overturning driving device drives the overturning seat to slide on the overturning track.

[0017] The overturning seat comprises an overturning fixed seat and an overturning bearing piece, the overturning bearing piece is rotatably arranged on the overturning fixed seat; the overturning fixed seat is fixedly connected with the overturning driving device; the overturning bearing piece comprises an overturning first bearing plate and an overturning second bearing plate, the overturning second bearing plate is located below the overturning first bearing plate, the overturning first bearing plate is connected with the overturning second bearing plate and is arranged perpendicularly; overturning sliding pieces are arranged at the two ends of the overturning second bearing plate respectively, and the overturning track is provided with an arc-shaped sliding groove; one end of the arc-shaped sliding groove extends away from the grabbing device along the length direction of the overturning support and upward; the other end of the arc-shaped sliding groove extends close to the grabbing device along the length direction of the overturning support and downward; the overturning sliding pieces are slidably arranged in the arc-shaped sliding groove; and the overturning driving device is used for driving the overturning bearing piece to rotate an angle A along the arc-shaped sliding groove, 0° < A < 100°.

[0018] The grabbing device comprises a grabbing mounting bracket, a grabbing driving device, a grabbing rotating bracket and a suction accessory; the grabbing mounting bracket is connected with the movable end of the telescopic device; the grabbing driving device is fixed on the grabbing mounting bracket and connected with the grabbing rotating bracket; the suction accessory is mounted on the grabbing rotating bracket; the grabbing driving device drives the grabbing rotating bracket to rotate, and the grabbing rotating bracket drives the suction accessory to approach or move away from the turnover seat.

[0019] The above settings provide the box-shaped material for the carrying device by grabbing the box-shaped material with the grabbing turnover device and transporting the box-shaped material; meanwhile, the box-shaped material is turned over by the grabbing turnover device; after the carrying device receives the box-shaped material, the box-shaped material is stacked.

[0020] The above grabbing turnover device is used for grabbing the box-shaped material and placing the grabbed box-shaped material in the turnover device; the turnover device turns over the box-shaped material; the rotatable grabbing rotating bracket is provided, and the grabbing rotating bracket drives the suction accessory to rotate, so that the suction accessory can grab the box-shaped material in the horizontal direction, the vertical direction and the inclined direction between the horizontal direction and the vertical direction; the grabbing device is not easily limited by the site and has a wide range of applications; meanwhile, since the grabbing rotating bracket can rotate, the grabbing device can place the box-shaped material in another direction after grabbing the box-shaped material in one direction.

[0021] The telescopic device drives the grabbing device to extend and retract, so that the box-shaped material grabbed by the grabbing device can move into the turnover device; the telescopic device is provided, so that the grabbing device can grab the box-shaped material at different distances from the first rack.

[0022] The vertically arranged turnover first supporting plate and turnover second supporting plate are provided, so that the turnover supporting member can simultaneously contact the adjacent surfaces of the box-shaped material, and the turnover supporting member can support the bottom surface before and after the box-shaped material is turned over; when the box-shaped material is not turned over, the turnover second supporting plate supports the box-shaped material; when the box-shaped material is turned over, the turnover first supporting plate supports the box-shaped material; the box-shaped material is prevented from being separated from the turnover supporting member under the action of gravity.

[0023] Meanwhile, the turnover supporting member is rotatably arranged on the turnover fixing base, and the turnover supporting member is slidably connected with the arc-shaped sliding groove through the turnover sliding member, the arc-shaped sliding groove limits the movement of the turnover supporting member, when the turnover supporting member moves away from the grabbing device, under the guidance of the arc-shaped sliding groove, the turnover supporting member rotates counterclockwise, and the turnover supporting member changes from the state that the turnover first supporting plate is above the turnover second supporting plate to the state that the turnover second supporting plate is above the turnover first supporting plate; when the turnover supporting member moves towards the grabbing device, under the guidance of the arc-shaped sliding groove, the turnover supporting member rotates clockwise, and the turnover supporting member changes from the state that the turnover second supporting plate is above the turnover first supporting plate to the state that the turnover first supporting plate is above the turnover second supporting plate. In this way, the box-shaped material can be turned over in the clockwise direction, and the box-shaped material can also be turned over in the counterclockwise direction.

[0024] The above conveying device drives the clamping device to move through the clamping lifting device, so that the clamping device can clamp materials of different heights; the clamping device is fixedly connected with the first clamping rotating frame, the second clamping device is fixedly connected with the first clamping fixed frame, and the first clamping rotating frame is rotatably connected with the first clamping fixed frame, so that the clamping device rotates relative to the second clamping device; meanwhile, a gap is arranged between the first clamping rotating frame and the second clamping device, and the rotation of the clamping device will not affect the second clamping device; the clamping device clamps the material for the first time, and when the clamping surface of the material needs to be changed after the clamping device clamps the material, the second clamping device clamps the material for the second time; then the clamping device clamps the material for the third time; in this way, the clamping surface of the material can be changed when the material is clamped, the downward clamping surface of the material can be changed, and the material can contact other objects with different surfaces. When the clamping device needs to be rotated, the height of the clamping device is adjusted through the clamping lifting device, so that the clamping device is prevented from colliding with the ground when rotating.

[0025] Meanwhile, the clamping structure is driven to move by the clamping moving device, so that the clamping structure moves away from or approaches the first clamping fixed frame, so that the clamping structure moves away from or approaches the material clamped by the clamping device; in the initial state, the clamping structure approaches the first clamping fixed frame, so that the material is prevented from interfering with the clamping structure when the clamping device clamps the material; when the clamping surface of the material needs to be changed, the clamping structure moves away from the first clamping fixed frame and approaches the material, and the clamping structure is reset after the clamping device clamps the material after rotating. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic view of the present application.

[0027] Figure 2 is a schematic view of the present application.

[0028] Figure 3 is a perspective view of the grabbing device in the present application.

[0029] Figure 4 is an exploded view of the grabbing device in the present application.

[0030] Figure 5 is an exploded view of the turnover device after removing the turnover support in the present application.

[0031] Figure 6 is a schematic view of the turnover support moving to one end of the arc-shaped sliding groove.

[0032] Figure 7 is a schematic view of the turnover support moving to the other end of the arc-shaped sliding groove.

[0033] Figure 8 is a schematic view of the telescopic first driving device driving the telescopic movable support to extend in the present application.

[0034] Figure 9 is a perspective view of Figure 8 is an enlarged view of b in the present application.

[0035] Figure 10 is a perspective view of the turnover positioning member in the present application.

[0036] Figure 11 is a perspective view of the turnover fixing member in the present application.

[0037] Figure 12 is a perspective view of the lifting device in the present application.

[0038] Figure 13 is a front view of the lifting device in the present application.

[0039] Figure 14 is a schematic view of the lifting device after lifting in the present application.

[0040] Figure 15 is a schematic view of the present application cooperating with the box-shaped material of different heights.

[0041] Figure 16 is a perspective view of the box-shaped material.

[0042] Figure 17 is a perspective view of the carrying device in the present application.

[0043] Figure 18 is a perspective view of the clamping device in the present application.

[0044] Figure 19 is an exploded view of the clamping device in the present application.

[0045] Figure 20 is a perspective view of Figure 19 is an enlarged view of a in the present application.

[0046] Figure 21 This is an exploded view of the first clamping and fixing frame and the clamping and rotating device in the present invention.

[0047] Figure 22 This is an exploded view of the second clamping device in the present invention.

[0048] Figure 23 2 is an exploded view of the clamping structure of the present invention.

[0049] Figure 24 It is a schematic diagram of the clamping structure after it is unfolded in the present invention.

[0050] Figure 25 It is a three-dimensional schematic diagram of the clamping device, the tightening and telescopic device, and the first tightening transmission rack at the upper end of the tightening bracket in the present invention.

[0051] Figure 26 It is a three-dimensional schematic diagram of the tightening bracket and the tightening transmission gear in the present invention.

[0052] Figure 27 It is a three-dimensional schematic diagram of the clamping device at the lower end of the tightening bracket and the second tightening transmission rack in the present invention.

[0053] Figure 28 This is a schematic diagram of the clamping and gripping member of the present invention when it is folded.

[0054] Figure 29 This is a schematic diagram of the clamping and gripping member after it is unfolded in the present invention.

[0055] Figure 30 It is a schematic diagram of the cooperation between the blocking member and the clamping and taking member in the present invention.

[0056] Figure 31 Schematic diagram of the clamping and lifting device in the present invention. DETAILED DESCRIPTION

[0057] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] like Figures 1-31 As shown; a transfer stacking device includes a handling device and a grabbing and turning device. The grabbing and turning device grabs box-shaped materials and transports the box-shaped materials to provide box-shaped materials for the handling device; at the same time, the grabbing and turning device turns the box-shaped materials over; after the handling device receives the box-shaped materials, it stacks the box-shaped materials.

[0059] like Figures 2-15As shown; the grabbing and flipping device includes a first frame 10, on which a grabbing device 1 and a lifting device 2 are provided. In this embodiment, two lifting devices 2 are provided, and the grabbing device 1 is located between the two lifting devices 2; the two lifting devices 2 are connected to the grabbing device 1 and drive the grabbing device 1 to rise and fall.

[0060] like Figures 2-3 As shown, the gripping device 1 includes a telescopic device 11, a turning device 12, and a gripping device 13. The gripping device 13 is located on one side of the turning device 12. The fixed end of the telescopic device 11 is connected to the turning 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 toward and away from the turning device 12. The telescopic device 11 drives the gripping device 13 to extend and retract, allowing the box-shaped material grasped by the gripping device 13 to move into the turning device 12. By providing the telescopic device 11, the gripping device 13 can grasp box-shaped materials at different distances from the first frame 10.

[0061] like Figure 4 、 8 9; the grabbing device 13 includes a grabbing mounting bracket 131, a grabbing driving device 132, a grabbing rotating bracket 133 and an adsorption member 134; in this embodiment, two grabbing mounting brackets 131 are provided, and the two grabbing mounting brackets 131 are connected to the movable end of the telescopic device 11, the grabbing driving device 132 is fixed on one grabbing mounting bracket 131 and the output end of the grabbing driving device 132 is fixedly connected to one end of the grabbing rotating bracket 133, and the other end of the grabbing rotating bracket 133 is rotatably connected to the other grabbing mounting bracket 131; the adsorption member 134 is installed on the grabbing rotating bracket 133; the grabbing driving device 132 drives the grabbing rotating bracket 133 to rotate, and the grabbing rotating bracket 133 drives the adsorption member 134 to approach and move away from the flipping device 12. In this embodiment, the suction element 134 is a suction cup; a hollow support member (not shown) is provided within the suction element 134. The suction element 134 is connected to a vacuum pump (not shown). The hollow support member does not affect the suction element 134's ability to absorb the box-shaped material, while also increasing the holding force of the suction element 134. In this embodiment, the gripping drive 132 is a stepper motor. The gripping device 13 is used to grip the box-shaped material and place it in the turning device 12.

[0062] The rotatable grabbing rotating support 133 is arranged, and the suction accessory 134 is driven to rotate by the grabbing rotating support 133, so that the suction accessory 134 can grab the box-shaped material along the horizontal direction, the vertical direction and the inclined direction between the horizontal direction and the vertical direction, is not easily affected by the site limitation, and has wide application range; meanwhile, since the grabbing rotating support 133 can rotate, after the grabbing device 13 grabs the box-shaped material along one direction, the grabbing device 13 can place the box-shaped material along another direction.

[0063] Referring to Figure 15 , the box-shaped materials Q1, Q2 and Q3 are arranged on the wall body 6 by the clamping device 5, the box-shaped material Q4 is arranged on the ground 7, and the clamping device clamps the side surface of the box-shaped material. In the embodiment, the clamping device is a clamping jaw; the clamping device is prior art, and is not described here.

[0064] If the box-shaped material is in the activity range of the lifting of the grabbing device 13, the grabbing device 13 is driven to ascend and descend by the lifting device 2 and cooperates with the box-shaped material with different position heights. Referring to Figure 15 , the box-shaped materials Q2, Q3 and Q4 are in the activity range of the lifting of the grabbing device 13.

[0065] Referring to Figure 15 , the box-shaped material Q3, when the suction surface of the suction accessory 134 can contact the side opposite to the box-shaped material, the suction accessory is rotated to the direction away from the turnover device 12 and contacts the side opposite to the box-shaped material, so that the box-shaped material is grabbed.

[0066] Referring to Figure 15 , the box-shaped materials Q2 and Q4, when there is an obstacle K between the box-shaped material and the suction accessory, the suction surface of the suction accessory 134 cannot contact the side opposite to the box-shaped material; at this time, the position of the box-shaped material is determined.

[0067] Referring to Figure 15 , the box-shaped material Q2, after the box-shaped material Q3 is carried, if the box-shaped material is above the suction accessory 134, the suction accessory is rotated to the direction away from the turnover device 12, and the suction surface of the suction accessory corresponds to the bottom of the box-shaped material above; so that the suction accessory is driven to ascend by the lifting device, and the box-shaped material is grabbed.

[0068] Referring to Figure 15 , the box-shaped material Q4, after the box-shaped material Q3 is carried, if the box-shaped material is below the suction accessory 134, the suction accessory is rotated to the direction away from the turnover device 12, and the suction surface of the suction accessory corresponds to the top of the box-shaped material below; so that the suction accessory is driven to descend by the lifting device 2, and the box-shaped material is grabbed.

[0069] As Figure 3 , 4As shown in the figure; the overturning device 12 comprises an overturning support 121, an overturning driving device 122, an overturning seat 123 and two overturning tracks 124; the overturning driving device 122 is arranged at the bottom of the overturning support 121, and the two overturning tracks 124 are arranged on the overturning support 121 and above the overturning driving device 122; the overturning driving device 122 drives the overturning seat 123 to slide on the overturning tracks 124.

[0070] As shown in the figure; Figures 4-5 The overturning seat 123 comprises an overturning fixed seat 1231, an overturning swing seat 1232 and an overturning bearing 1233; the overturning bearing 1233 is fixedly connected with the overturning swing seat 1232, and the overturning swing seat 1232 is hinged with the overturning fixed seat 1231; the overturning swing seat 1232 comprises a swing first seat body 1234 and a swing second seat body 1235; the swing first seat body 1234 is connected with the swing second seat body 1235 and arranged vertically; the overturning bearing 1233 comprises an overturning first bearing plate 1236 and an overturning second bearing plate 1237, and the overturning second bearing plate 1237 is below the overturning first bearing plate 1236; the overturning first bearing plate 1236 is connected with the overturning second bearing plate 1237 and arranged vertically; the overturning first bearing plate 1236 is connected with the swing first seat body 1234, and the overturning second bearing plate 1237 is connected with the swing second seat body 1235; the overturning swing seat 1232 is fixedly connected with the overturning bearing 1233; the overturning swing seat 1232 is hinged with the overturning fixed seat 1231; the overturning driving device 122 drives the overturning bearing 1233 to move, and the overturning bearing 1233 rotates in the moving process; when the overturning bearing 1233 rotates, the overturning bearing 1233 drives the overturning swing seat 1232 to rotate on the overturning fixed seat 1231.

[0071] As shown in the figure; Figure 5 The overturning second bearing plate 1237 is provided with an overturning sliding piece 1238 at both ends respectively, and the overturning track 124 is provided with an arc-shaped sliding groove 1241; one end of the arc-shaped sliding groove 1241 extends away from the grabbing device 13 along the length direction of the overturning support 121 and upward; the other end of the arc-shaped sliding groove 1241 extends close to the grabbing device 13 along the length direction of the overturning support 121 and downward; the overturning sliding piece 1238 is slidingly arranged in the arc-shaped sliding groove 1241 through a flange bearing; the overturning driving device 122 is used to drive the overturning bearing 1233 to rotate an angle A along the arc-shaped sliding groove 1241, 0°<A<100°. In the embodiment, A is 83°.

[0072] As shown in the figure; Figure 4 , 10The turnover support 121 comprises a turnover fixing member 1211 and a turnover positioning member 1212, and the turnover positioning member 1212 is arranged on the turnover fixing member 1211. An avoiding hole 1214 is arranged on the turnover positioning member 1212, and an avoiding space 1215 is formed between the avoiding hole 1214 and the turnover fixing member 1211. In this embodiment, a turnover support member 1213 is arranged on the turnover fixing member 1211, and the turnover positioning member 1212 is arranged on the turnover support member 1213, so that the height of the avoiding space 1215 is increased.

[0073] As shown in Figure 11 , a mounting hole 1216 is arranged on the turnover fixing member 1211, and a turnover track 124 is arranged in the avoiding space 1215 and fixedly connected with the turnover fixing member 1211 and the turnover positioning member 1212. The avoiding space 1215 is arranged for accommodating the box-shaped material and the turnover device 12, so that the volume of the turnover device 12 is reduced, and the box-shaped material is prevented from falling off the turnover supporting member 1233 when the turnover supporting member 1233 turns over the box-shaped material.

[0074] As shown in Figure 5 , 10 , the turnover fixing member 1211 and the turnover positioning member 1212 are arranged on the turnover support 121, and the turnover support 121 is arranged on the turnover device 12 as shown in Figs. 11. The turnover support 121 comprises a turnover fixing member 1211 and a turnover positioning member 1212, and the turnover positioning member 1212 is arranged on the turnover fixing member 1211. An avoiding hole 1214 is arranged on the turnover positioning member 1212, and an avoiding space 1215 is formed between the avoiding hole 1214 and the turnover fixing member 1211. In this embodiment, a turnover support member 1213 is arranged on the turnover fixing member 1211, and the turnover positioning member 1212 is arranged on the turnover support member 1213, so that the height of the avoiding space 1215 is increased.

[0075] Two fixing supports 1218 are arranged at the end of the turnover fixing part 1211 away from the grabbing device 13, and the top end of each fixing support 1218 is provided with a first clamping groove 12181; the first clamping groove 12181 is clamped on the end of the turnover positioning part 1212 away from the grabbing device 13. In another embodiment, two second clamping grooves 12182 are arranged at the end of the turnover positioning part 1212 away from the grabbing device 13; the first clamping groove 12181 is clamped with the second clamping groove 12182. By clamping the first clamping groove 12181 with the turnover positioning part 1212, the stability of the connection between the turnover fixing part 1211 and the turnover positioning part 1212 is further improved.

[0076] As shown in Figure 4 , 5 and Figure 11 , the turnover driving device 122 is arranged at the bottom of the turnover fixing base 1231; in this embodiment, the turnover driving device 122 is a rodless cylinder; the turnover driving device 122 includes a turnover driving support 1221, a turnover driving cylinder body 1222 and a turnover driving sliding block 1223; the turnover driving support 1221 is connected with the turnover fixing base 1231, the turnover driving cylinder body 1222 is arranged on the turnover fixing base 1231, and the turnover driving sliding block 1223 is arranged on the turnover driving cylinder body 1222 and slides on the turnover driving cylinder body 1222; a connecting hole 1219 is arranged on the turnover fixing part 1211, and one end of the turnover driving sliding block 1223 passes through the connecting hole 1219 and is connected with the turnover fixing base 1231. The turnover driving sliding block 1223 moves to drive the turnover base 123 to move. By connecting the turnover driving sliding block 1223 with the turnover fixing base 1231, rotation of the turnover driving sliding block 1223 during movement is avoided; the movement of the turnover driving sliding block 1223 is guided.

[0077] The turnover device 12 turns over the box-shaped material; by arranging the turnover first supporting plate 1236 and the turnover second supporting plate 1237 vertically, the turnover supporting part 1233 can be in contact with the adjacent surfaces of the box-shaped material at the same time, and the turnover supporting part 1233 can support the bottom surface before and after the box-shaped material is turned over; when the box-shaped material is not turned over, the turnover second supporting plate 1237 supports the box-shaped material, and when the box-shaped material is turned over, the turnover first supporting plate 1236 supports the box-shaped material; the box-shaped material is prevented from being separated from the turnover supporting part 1233 under the action of gravity.

[0078] At the same time, the turnover supporting part 1233 is rotatably arranged on the turnover fixing base 1231, and the turnover supporting part 1233 is slidably connected with the arc-shaped sliding groove 1241 through the turnover sliding part 1238, and the arc-shaped sliding groove 1241 limits the movement of the turnover supporting part 1233.

[0079] Referring to Figures 6-7As shown; when the flip supporting member 1233 moves away from the grasping device 13, under the guidance of the arc-shaped slide groove 1241, the flip supporting member 1233 rotates counterclockwise, and the flip supporting member 1233 changes from the state where the flip first supporting plate 1236 is located above the flip second supporting plate 1237 to the state where the flip second supporting plate 1237 is located above the flip first supporting plate 1236; when the flip supporting member 1233 moves toward the grasping device 13, under the guidance of the arc-shaped slide groove 1241, the flip supporting member 1233 rotates clockwise, and the flip supporting member 1233 changes from the state where the flip second supporting plate 1237 is located above the flip first supporting plate 1236 to the state where the flip first supporting plate 1236 is located above the flip second supporting plate 1237. That is, the box-shaped material is flipped from side A on the left and side B on the top to side B on the left and side A on the bottom; in this way, the box-shaped material can be turned over in a clockwise direction or in a counterclockwise direction.

[0080] like Figures 8-9 As shown; the telescopic device 11 includes a telescopic fixed bracket 111, a telescopic movable bracket 112, a telescopic first drive device 113 and a telescopic second drive device 114; one end of the telescopic movable bracket 112 is connected to the grasping device 13; the telescopic movable bracket 112 is arranged above the telescopic fixed bracket 111 and is slidably connected to the telescopic fixed bracket 111; in this embodiment, a slide rail (not shown in the figure) is provided at the top of the telescopic fixed bracket 111, and a slider (not shown in the figure) is provided at the bottom of the telescopic movable bracket 112, and the slider is slidably arranged on the slide rail.

[0081] The fixed end of the first telescopic drive mechanism 113 is connected to the telescopic fixed bracket 111, the movable end of the first telescopic drive mechanism 113 is connected to the fixed end of the second telescopic drive mechanism 114, and the movable end of the second telescopic drive mechanism 114 is connected to the telescopic movable bracket 112. The first telescopic drive mechanism 113 is used to drive the telescopic movable bracket 112 to move, and the second telescopic drive mechanism 114 is used to drive the telescopic movable bracket 112 to move relative to the first telescopic drive mechanism 113. The first telescopic drive mechanism 113 drives the telescopic movable bracket 112 to extend for the first time, and the second telescopic drive mechanism 114 drives the telescopic movable bracket 112 to extend for the second time. The telescopic movable bracket 112 can move a long distance, thereby extending the grasping range of the grasping device 13.

[0082] In the embodiment, the telescopic first driving device 113 is a rodless cylinder; the telescopic first driving device 113 comprises a telescopic first fixed seat 1131, a telescopic first cylinder 1132 and a telescopic first sliding block 1133; the telescopic movable support 112 is located between the telescopic first sliding block 1133 and the telescopic fixed support 111; one end of the telescopic first fixed seat 1131 is connected with the telescopic fixed support 111, and the telescopic first cylinder 1132 is arranged at the other end of the telescopic first fixed seat 1131; the telescopic first sliding block 1133 is arranged on the telescopic first cylinder 1132 and slides on the telescopic first cylinder 1132.

[0083] The telescopic second driving device 114 comprises 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 with the telescopic second fixed seat 1141, the telescopic second fixed seat 1141 is connected with the telescopic first sliding block 1133; the movable end of the telescopic second cylinder 1142 is connected with the telescopic third fixed seat 1143, and the telescopic third fixed seat 1143 is connected with the telescopic movable support 112.

[0084] The telescopic first sliding block 1133 is connected with the telescopic second fixed seat 1141 and slides on the telescopic first cylinder 1132, and the telescopic second fixed seat 1141 is connected with the telescopic movable support 112 through the telescopic second cylinder and the telescopic third fixed seat 1143; the rotation of the telescopic first sliding block 1133 during movement is avoided; the movement of the telescopic first sliding block 1133 is guided.

[0085] In another embodiment, the telescopic device 11 further comprises a pulley 1152 assembly 115 arranged at the end of the telescopic movable support 112 away from the grabbing device 13; the pulley 1152 assembly 115 comprises a pulley support 1151, and more than one rotatable pulley 1152 is arranged on both sides of the pulley support 1151; the pulley 1152 abuts against the bottom of the telescopic first sliding block 1133. When the telescopic first driving device 113 drives the telescopic movable support 112 to move, the telescopic movable support 112 moves synchronously with the telescopic first sliding block 1133; because the telescopic first sliding block 1133 moves synchronously with the telescopic movable support 112, the telescopic first sliding block 1133 does not slide and rub with the telescopic movable support 112 at this time; when the telescopic second driving device 114 drives the telescopic movable support 112 to move, the telescopic movable support 112 moves relative to the telescopic first sliding block 1133; the frictional force suffered by the telescopic first sliding block 1133 during movement is reduced by arranging the pulley 1152 assembly 115 at the end of the telescopic movable support 112 away from the grabbing device 13.

[0086] As Figures 12-14As shown in the figure; the lifting device 2 comprises a lifting fixed support 21, a lifting movable support 22, a lifting driving device 23 and a transmission assembly 24; the lifting fixed support 21 is fixedly connected with the first rack 10, and the lifting movable support 22 is slidingly connected with the lifting fixed support 21 and the grabbing device 1.

[0087] In this embodiment, the lifting fixed support 21 is provided with a sliding rail, and the side of the lifting movable support 22 close to the lifting fixed support 21 is provided with a sliding block; the overturning support 121 is provided with a sliding block. The side of the lifting movable support 22 close to the overturning support 121 is provided with a sliding rail; the sliding block is slidingly arranged on the sliding rail; thereby achieving the sliding connection between the lifting movable support 22 and the lifting fixed support 21, and the sliding connection between the lifting movable support 22 and the overturning support 121,

[0088] The lifting fixed support 21, the lifting movable support 22 and the transmission assembly 24 are all provided with two; the two lifting movable supports 22 are located between the two lifting fixed supports 21, and the lifting driving member 25 is connected between the two lifting movable supports 22.

[0089] The transmission assembly 24 comprises a lifting first transmission wheel 241, a lifting second 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 driving device 23 is connected with one end of the lifting movable support 22 through the lifting first transmission wheel 241, and the lifting second transmission wheel 242 is rotatably arranged at the other end of the lifting movable support 22; the lifting synchronous belt 243 is sleeved on the lifting first transmission wheel 241 and the lifting second transmission wheel 242.

[0090] One end of the first synchronous belt fixing member 244 is fixedly connected with the lifting fixed support 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; for reference Figure 4 and 10 The second synchronous belt fixing member 245 sleeves the lifting synchronous belt 243 on the other side of the lifting first transmission wheel 241 and the lifting second transmission wheel 242 and fixes it on the overturning support 121; the transmission assembly 24 is used for driving the lifting movable support 22 and the overturning device 12 to synchronously lift.

[0091] The lifting drive device 23 includes a lifting drive motor 231, a lifting drive gear 232, a lifting driven gear 233, and a lifting synchronization 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 is passed through the lifting synchronization shaft 234; one end of the lifting synchronization shaft 234 passes through a lifting first transmission wheel 241 and is connected to the rotation of a lifting movable bracket 22; the other end of the lifting synchronization shaft 234 passes through another lifting first transmission wheel 241 and is connected to the rotation of another lifting movable bracket 22; the lifting drive gear 232 is engaged with the lifting driven gear 233.

[0092] The lifting device 2 drives the flipping device 12 to rise and fall, and then drives the grabbing device 13 to rise and fall; in this way, the grabbing device 13 can grab box-shaped materials of different heights; the flipping device 12 is lifted and lowered synchronously with the grabbing device 13, and the cooperation effect between the grabbing device 13 and the flipping 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 transmission component 24 rotates in one direction to drive the lifting synchronous belt 243 to move, refer to Figure 12 W direction in the middle; the first synchronous belt fixing member 244 approaches the bottom end of the lifting fixed bracket 21, and the first synchronous belt fixing member 244 generates a force that drives the lifting fixed bracket 21 to move downward; since the lifting fixed bracket 21 is fixed to the first frame 10, the lifting fixed bracket 21 cannot move, and the transmission assembly 24 is provided on the lifting movable bracket 22, and the lifting movable bracket 22 is slidingly connected to the lifting fixed bracket 21, which drives 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.

[0093] The transmission assembly 24 rotates the lifting synchronous belt 243 in the other direction, referring to Figure 12 Q direction in the middle; the first synchronous belt fixing part 244 approaches the top of the lifting fixed bracket 21, and the first synchronous belt fixing part 244 generates a force that drives the lifting fixed bracket 21 to move upward; since the lifting fixed bracket 21 is fixed to the first frame 10, the lifting fixed bracket 21 cannot move, and the transmission assembly 24 is provided on the lifting movable bracket 22, and the lifting movable bracket 22 is slidingly connected to the lifting fixed bracket 21, which drives the lifting movable bracket 22 to move downward, so that the first synchronous belt fixing part 244 moves upward relative to the lifting first transmission wheel 241, thereby realizing the descent of the lifting movable bracket 22.

[0094] At the same time, a second synchronous belt fixing part 245 is connected to the lifting synchronous belt 243 on the other side of the transmission assembly 24. Since the first synchronous belt fixing part 244 is connected to the lifting synchronous belt 243 on one side of the lifting first transmission wheel 241; the second synchronous belt fixing part 245 is connected to the lifting synchronous belt 243 on the other side of the lifting first transmission wheel 241; when the lifting movable bracket 22 rises, the first synchronous belt fixing part 244 moves downward relative to the lifting first transmission wheel 241, so that the second synchronous belt fixing part 245 moves upward relative to the lifting first transmission wheel 241, and the flip bracket 121 rises at the same time; when the lifting movable bracket 22 falls, the first synchronous belt fixing part 244 moves upward relative to the lifting first transmission wheel 241, so that the second synchronous belt fixing part 245 moves downward relative to the lifting first transmission wheel 241, and the flip bracket 121 falls at the same time; the flip bracket 121 moves based on the movement of the lifting movable bracket 22, and the lifting height amplitude of the flip bracket 121 is large.

[0095] like Figure 2 As shown, a moving device 4 is provided at the bottom of the first frame 10. The moving device 4 is used to drive the first frame 10 to move. The moving device drives the first frame 10 to move, allowing the grabbing and flipping device to move closer to the box-shaped material. The moving device 4 includes four sets of moving wheels, each set of which is driven by an independent motor.

[0096] like Figures 16-31 As shown, the transport device includes a transport frame 1f, a clamping and lifting device 2f, and a clamping device 3f. The clamping and lifting device 2f is mounted on the transport 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 of the transport frame 1f. The clamping and lifting device 2f drives the clamping device 3f to move, allowing the clamping device 3f to grasp box-shaped materials at different heights.

[0097] 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 fixed frame 311f, a first clamping rotating frame 312f, a clamping device 313f and a clamping rotating device 314f; the clamping device 313f is provided with two, the first clamping rotating frame 312f is located between the two clamping devices 313f and is connected to the two clamping devices 313f; the first clamping rotating frame 312f is rotatably set on the first clamping fixed frame 311f; the second clamping device 32f passes through the first clamping rotating frame 312f and is fixedly connected to the first clamping fixed frame 311f; there is a gap between the second clamping device 32f and the first clamping rotating frame 312f; the clamping rotating device 314f is used to drive the two clamping devices 313f to rotate relative to the first clamping fixed frame 311f.

[0098] The first clamping rotating frame 312f is rotatably connected with the first clamping fixed frame 311f, so that the clamping device 313f rotates relative to the second clamping device 32f; meanwhile, a rotation avoiding space is arranged to avoid the second clamping device 32f, and the clamping device 313f rotates without affecting the second clamping device 32f. The clamping device 313f is used for clamping the box-shaped material for the first time, and the second clamping device 32f is used for clamping the box-shaped material for the second time; after the second clamping device 32f clamps the box-shaped material, the clamping of the box-shaped material by the clamping device 313f is released, then the clamping rotating device 314f drives the clamping device 313f to rotate by 90°, and the clamping device 313f is used for clamping the box-shaped material for the third time; in this way, after the box-shaped material is clamped, the clamping equipment 3f can rotate relative to the box-shaped material, and then the clamping surface of the box-shaped material can be changed when the box-shaped material is clamped.

[0099] The clamping device 313f is used for clamping the box-shaped material for the first time, and when the clamping surface of the box-shaped material needs to be changed after the clamping device 313f clamps the box-shaped material, the second clamping device 32f is used for clamping the box-shaped material for the second time; then the clamping device 313f is rotated to clamp the box-shaped material for the third time; in this way, the clamping surface of the box-shaped material can be changed when the box-shaped material is clamped, and the downward clamping surface of the box-shaped material can be changed, so that the box-shaped material can contact other objects with different surfaces. When the clamping device 313f needs to be rotated, the height of the clamping device 313f is adjusted by the clamping lifting device 2f to avoid the clamping device 313f from colliding with the ground when the clamping device 313f rotates.

[0100] As shown in Figure 25 , 26 ; the clamping rotating device 314f includes a clamping rotating motor 3141f, a clamping rotating driving gear 3142f, a clamping rotating driven gear 3143f and a clamping rotating bearing 3144f; one side of the first clamping rotating frame 312f is fixedly connected with the clamping rotating driven gear 3143f, the other side of the clamping rotating driven gear 3143f is fixedly connected with the inner ring of the clamping rotating bearing 3144f, and the outer ring of the clamping rotating bearing 3144f is fixedly connected with the first clamping fixed frame 311f; the clamping rotating motor 3141f is arranged on the first clamping fixed frame 311f, the output end of the clamping rotating motor 3141f is connected with the clamping rotating driving gear 3142f, and the clamping rotating driving gear 3142f is engaged with the clamping rotating driven gear 3143f.

[0101] In the embodiment, the first clamping support plate 3145f is arranged on the side of the clamping rotary driven gear 3143f close to the first clamping rotating frame 312f, and the clamping rotary driven gear 3143f is connected with the first clamping rotating frame 312f through the first clamping support plate 3145f; the second clamping support plate 3146f is arranged on the side of the clamping rotary driven gear 3143f close to the clamping rotary bearing 3144f. The clamping rotary driven gear 3143f is connected with the inner ring of the clamping rotary bearing 3144f through the second clamping support plate 3146f. The third clamping support plate 3147f is arranged on the side of the first clamping fixed frame 311f away from the clamping rotary driven gear 3143f.

[0102] In the embodiment, the first clamping support plate 3145f, the clamping rotary driven gear 3143f, the second clamping support plate 3146f, the clamping rotary bearing 3144f and the third clamping support plate 3147f are all hollow structures.

[0103] As shown in Figure 19 , 20 , each clamping device 313f includes the first clamping driving device 3131f and the first clamping piece 3132f. The fixed end of the first clamping driving device 3131f is connected with the first clamping rotating frame 312f, and the movable end of the first clamping driving device 3131f is connected with the first clamping piece 3132f. The first clamping driving device 3131f drives the first clamping piece 3132f to move close to or away from the second clamping device 32f. The two first clamping pieces 3132f move close to each other to clamp the box-shaped material.

[0104] As shown in Figure 19 , 20 , in the embodiment, the first clamping driving device 3131f is a rodless cylinder. The first clamping driving device 3131f includes the first clamping support 3133f, the first clamping cylinder body 3134f, the first clamping sliding block 3135f and the connecting device 3130f. The first clamping support 3133f is connected with the first clamping rotating frame 312f, and the first clamping cylinder body 3134f is arranged on the first clamping support 3133f. The first clamping sliding block 3135f is slidingly arranged on the first clamping cylinder body 3134f. One end of the connecting device 3130f is fixedly connected with the first clamping piece 3132f, and the other end of the connecting device 3130f is fixedly connected with the first clamping sliding block 3135f and slidingly connected with the first clamping support 3133f. Through the fixed connection between the connecting device 3130f and the first clamping sliding block 3135f and the sliding connection between the connecting device 3130f and the first clamping support 3133f, the first clamping sliding block 3135f is prevented from rotating when sliding on the first clamping cylinder body 3134f, and the movement of the first clamping sliding block 3135f is stable.

[0105] As shown in Figure 20The connecting device 3130f includes a first connecting piece 3136f, a second connecting piece 3137f, a third connecting piece 3138f, and a fourth connecting piece 3139f; the third connecting piece 3138f is arranged on one side of the first connecting piece 3136f and the second connecting piece 3137f; the fourth connecting piece 3139f is arranged on the other side of the first connecting piece 3136f and the second connecting piece 3137f; and the first clamping sliding block 3135f is located between the first connecting piece 3136f and the second connecting piece 3137f.

[0106] The first connecting piece 3136f is provided with a first through hole 31301f, and a pulley assembly 4f is arranged in the first through hole 31301f; the first clamping support 3133f passes through the first through hole 31301f and is in contact with the sliding assembly; and the first connecting piece 3136f is slidingly arranged on the first clamping support 3133f.

[0107] The second connecting piece 3137f is fixedly connected with the first clamping sliding block 3135f; one end of the third connecting piece 3138f and one end of the fourth connecting piece 3139f are fixedly connected with the first connecting piece 3136f and the second connecting piece 3137f; and the other end of the third connecting piece 3138f and the other end of the fourth connecting piece 3139f are fixedly connected with the first clamping piece 3132f. The first connecting piece 3136f is slidingly connected with the first clamping support 3133f, the second connecting piece 3137f is fixedly connected with the first clamping sliding block 3135f, the third connecting piece 3138f and the fourth connecting piece 3139f are connected with the first clamping piece 3132f, and the third connecting piece 3138f and the fourth connecting piece 3139f are connected through the second connecting piece 3137f; when the first clamping sliding block 3135f moves, the first connecting piece 3136f, the second connecting piece 3137f, the third connecting piece 3138f, and the fourth connecting piece 3139f move synchronously, so that the structure is simple.

[0108] As Figure 19 , 23The 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 with the first clamping fixed frame 311f, and the movable end of the clamping moving device 322f is connected with the clamping structure 321f. The clamping moving device 322f drives the clamping structure 321f to move close to or away from the first clamping fixed frame 311f. The clamping structure 321f is used for clamping the box-shaped material. The clamping structure 321f is provided with a clamping avoiding space 323f for avoiding the first clamping part 3132f. The clamping moving device 322f is arranged to drive the clamping structure 321f to move, so that the clamping structure 321f moves close to or away from the box-shaped material clamping device 313f to hold the box-shaped material. In the initial loading state, the clamping structure 321f moves close to the first clamping fixed frame 311f, so as to avoid the interference between the box-shaped material and the clamping structure 321f when the clamping device 313f clamps the box-shaped material. When it is needed to change the clamping surface of the box-shaped material, the clamping structure 321f moves away from the first clamping fixed frame 311f to move close to the box-shaped material. After the clamping device 313f clamps the box-shaped material, the clamping structure 321f is reset.

[0109] As shown in Figure 19 , 23 As shown in

[0110] In this embodiment, the first sliding device and the second sliding device are both sliding rails. The outer sliding rail of the first sliding device is connected with the tightening bracket 3210f, and the inner sliding rail of the first sliding device is connected with one clamping device 3211f. The outer sliding rail of the second sliding device is connected with the tightening bracket 3210f, and the inner sliding rail of the second sliding device is connected with the other clamping device 3211f.

[0111] As shown in Figure 23The tightening lifting transmission 3213f includes a tightening transmission gear 32131f, a first tightening transmission rack 32132f and a second tightening transmission rack 32133f. The tightening transmission gear 32131f is rotatably arranged on the tightening support 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 with a clamping device 3211f and is engaged with the tightening transmission gear 32131f. The second tightening transmission rack 32133f is located on the other side of the tightening transmission gear 32131f. The second tightening transmission rack 32133f is fixedly connected with another clamping device 3211f and is engaged with the tightening transmission gear 32131f.

[0112] As shown in Figure 23 , the fixed end of the tightening telescopic device 3214f is connected with the tightening support 3210f, and the movable end of the tightening telescopic device 3214f is connected with a clamping device 3211f. The tightening telescopic device 3214f is used to drive the two clamping devices 3211f to move away from each other or move close to each other. In this embodiment, the tightening telescopic device 3214f is a pneumatic cylinder.

[0113] The first tightening transmission rack 32132f is arranged on one side of the tightening transmission gear 32131f, and the second tightening transmission rack 32133f is arranged on the other side of the tightening transmission gear 32131f. When the first tightening transmission rack 32132f moves in one direction, the second tightening transmission rack 32133f moves in the opposite direction of the movement of the first tightening transmission rack 32132f. The first tightening transmission rack 32132f is connected with a clamping device 3211f, and the second tightening transmission gear 32131f is connected with another clamping device 3211f. When the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move away from each other to unfold the clamping structure 321f. When the movable end of the tightening telescopic device 3214f retracts, the two clamping devices 3211f move close to each other to fold the clamping structure 321f. When the box-shaped material is clamped, the clamping structure 321f is unfolded first, then the clamping and moving device 322f drives the clamping structure 321f to move close to the box-shaped material, then the clamping structure 321f is folded, and the clamping structure 321f clamps the box-shaped material.

[0114] As shown in Figure 23 , 25,27; one clamping device 3211f includes a clamping connecting piece 3216f and two clamping pieces 3215f; the clamping avoidance space 323f is arranged between the two clamping pieces 3215f; the clamping avoidance space 323f is used for accommodating the first clamping piece 3132f. The two clamping pieces 3215f are connected through the clamping connecting piece 3216f; the first tightening transmission rack 32132f is connected with one of the clamping pieces 3215f in one clamping device 3211f, and the second tightening transmission rack 32133f is connected with one of the clamping pieces 3215f in the other clamping device 3211f.

[0115] As shown in Figures 27-29 ; the clamping piece 3215f includes a clamping fixing piece 32151f, a clamping clamping piece 32152f, a first clamping limiting piece 32153f and a second clamping limiting piece 32154f; the clamping clamping piece 32152f is located on one side of the clamping fixing piece 32151f, and the first clamping limiting piece 32153f and the second clamping limiting piece 32154f are oppositely arranged and located between the first clamping clamping piece 32152f and the first clamping fixing piece 32151f.

[0116] As shown in Figures 27-29 ; one end of the clamping clamping piece 32152f is a contact end 32155f, and the other end of the clamping piece 3215f is an abutting end 32156f; the contact end 32155f is used for contacting the box-shaped material; the first clamping limiting piece 32153f is connected with the clamping fixing piece 32151f, and the second clamping limiting piece 32154f is connected with the abutting end 32156f of the clamping clamping piece 32152f; the first clamping limiting piece 32153f and the second clamping limiting piece 32154f form an accommodation groove 32157f, a rotating shaft (not shown in the figure) is arranged in the accommodation groove 32157f, and the clamping clamping piece 32152f is rotationally connected with the clamping fixing piece 32151f through the rotating shaft; a torsional spring 32158f is arranged on the rotating shaft, one end of the torsional spring 32158f abuts against the first clamping limiting piece 32153f, and the other end of the torsional spring 32158f abuts against the first clamping limiting piece 32153f.

[0117] As shown in Figure 26 , 28-30 is shown; the resisting piece 3217f is arranged on both ends of the tightening bracket 3210f, and is located between the tightening bracket 3210f and the clamping device 3211f; the resisting piece 3217f is used to drive the contact end 32155f of the clamping clamp piece 32152f to swing towards the first clamping limiting piece 32153f when the resisting piece 3217f is in contact with the resisting end 32156f of the clamping clamp piece 32152f; the first clamping limiting piece 32153f is used to limit the contact end 32155f of the clamping clamp piece 32152f which swings away from the first clamping limiting piece 32153f under the elastic force of the torsional spring 32158f when the resisting end 32156f of the clamping clamp piece 32152f is separated from the resisting piece 3217f.

[0118] The two clamping pieces 3215f are connected by the clamping connecting piece 3216f, synchronous movement of the two clamping pieces 3215f is realized, and the two clamping pieces 3215f are arranged to stably clamp the box-shaped material; the clamping clamp piece 32152f and the clamping fixed piece 32151f are movably connected through the rotating shaft; the clamping clamp piece 32152f can swing relative to the clamping fixed piece 32151f; meanwhile, the first clamping limiting piece 32153f is connected with the clamping fixed piece 32151f, and the second clamping limiting piece 32154f is connected with the clamping clamp piece 32152f; when the clamping clamp piece 32152f is folded, the tightening retractable device 3214f is retracted; the tightening retractable device 3214f drives the two clamping devices 313f to move towards the tightening bracket 3210f; when the resisting end 32156f of the clamping clamp piece 32152f is in contact with the resisting piece 3217f on the tightening bracket 3210f, the contact end 32155f of the clamping clamp piece 32152f moves towards the first clamping limiting piece 32153f against the elastic force of the torsional spring 32158f, and the folding of the clamping piece 3215f is realized; when the clamping clamp piece 32152f is unfolded, the tightening retractable device 3214f is extended, the tightening retractable device 3214f drives the two clamping devices 313f to move away from the tightening bracket 3210f; when the resisting end 32156f of the clamping clamp piece 32152f is separated from the resisting piece 3217f on the tightening bracket 3210f, the contact end 32155f of the clamping clamp piece 32152f swings away from the first clamping limiting piece 32153f under the elastic force of the torsional spring 32158f, and the unfolding of the clamping clamp piece 32152f is realized. Meanwhile, during the unfolding process of the clamping clamp piece 32152f, when the second clamping limiting piece 32154f abuts against the first clamping limiting piece 32153f, the first clamping limiting piece 32153f limits the second clamping limiting piece 32154f, so that the second clamping limiting piece 32154f cannot continue to swing, and the unfolding of the clamping piece 3215f is realized.

[0119] The first clamping limiting piece 32153f of the clamping piece 3215f after being unfolded at the same time abuts against the second clamping limiting piece 32154f; the first clamping limiting piece 32153f supports the second clamping limiting piece 32154f; when clamping the box-shaped material, the clamping moving device 322f drives the clamping structure 321f to extend out, so that the box-shaped material is located between the clamping devices 3211f at both ends of the tightening support 3210f; then the movable end of the tightening telescopic device 3214f is retracted, the clamping piece 3215f is driven to fold, and the box-shaped material is clamped by the contact end 32155f of the clamping gripper 32152f; when the abutting end 32156f of the clamping gripper 32152f contacts the resisting piece 3217f; at this time, under the supporting effect of the box-shaped material on the contact end 32155f, the clamping gripper 32152f will not swing.

[0120] At the same time, the abutting end 32156f of the clamping gripper 32152f contacting the resisting piece 3217f will give the contact end 32155f of the clamping gripper 32152f a swinging force towards the first clamping limiting piece 32153f; in this way, the clamping grippers 32152f located at both ends of the tightening support opposite to each other stably clamp the box-shaped material. At the same time, the folding and unfolding of the clamping gripper 3215f are realized in the movement process of the clamping piece 3215f, and the structure is simple.

[0121] As shown in Figures 28-30 In the embodiment, the abutting end 32156f extends obliquely towards the contact end 32155f away from the abutting end 32156f, and the abutting end 32156f is provided with an abutting part 32159f close to the resisting piece 3217f, and the abutting part 32159f is used to contact the resisting piece 3217f. By arranging the abutting part 32159f close to the resisting piece 3217f obliquely, the clamping gripper 32152f is facilitated to cooperate with the resisting piece 3217f.

[0122] As shown in Figure 19 , 22 The clamping moving device 322f includes a moving fixed support 3221f, a moving sliding support 3222f and a moving driving device; the moving fixed support 3221f is connected with the first clamping fixed frame 311f, a second through hole 3223f is penetrated through the moving fixed support 3221f, and a pulley assembly 4f is arranged in the second through hole 3223f; one end of the moving sliding support 3222f is connected with the clamping structure 321f, and the other end of the moving sliding support 3222f is arranged in the second through hole 3223f and contacts with the sliding assembly.

[0123] The moving driving device comprises a moving driving motor 3224f, a moving driving driving gear 3225f and a moving driving rack 3226f. A moving groove 3227f is arranged on the moving sliding support 3222f. The moving driving rack 3226f is fixed in the moving sliding support 3222f and corresponds to the moving groove 3227f. The moving driving motor 3224f is fixed on the moving fixed support 3221f. The output end of the moving driving motor 3224f is connected with the moving driving driving gear 3225f. The moving driving driving gear 3225f penetrates through the moving groove 3227f and extends into the moving sliding support 3222f to engage with the moving driving rack 3226f.

[0124] The moving driving rack 3226f is fixed in the moving sliding support 3222f. The moving sliding support 3222f is slidingly arranged in the moving fixed support 3221f. The moving driving rack 3226f is driven to move by the moving driving driving gear 3225f. The moving driving rack 3226f drives the moving sliding support 3222f to move. The structure is simple. The moving driving driving gear 3225f penetrates through the moving groove 3227f and extends into the moving sliding support 3222f to limit the movement of the moving sliding support 3222f. When the end of the moving groove 3227f is in contact with the moving driving driving gear 3225f, the moving sliding support 3222f stops moving.

[0125] As shown in Figure 31 The clamping lifting device 2f comprises a clamping lifting driving device, a clamping lifting synchronous shaft 21f and two clamping lifting transmission devices 22f. The clamping lifting synchronous shaft 21f is connected with the two clamping lifting transmission devices 22f. The output end of the clamping lifting driving device is connected with the clamping lifting synchronous shaft 21f.

[0126] The clamping lifting transmission device 22f comprises a clamping lifting first pulley 23f, a clamping lifting second pulley 24f, a clamping lifting synchronous belt 25f and a clamping synchronous belt fixing member 26f. The clamping lifting first pulley 23f is rotatably arranged at the top end of the carrying frame body 1f. The clamping lifting second pulley 24f is rotatably arranged at the bottom end of the carrying frame body 1f. The clamping lifting synchronous belt 25f is sleeved on the clamping lifting first pulley and the clamping lifting second pulley 24f. As shown in Figure 25 The clamping synchronous belt fixing member 26f clamps the clamping lifting synchronous belt 25f on the first clamping fixed frame 311f.

[0127] The clamping lifting driving device comprises a clamping lifting driving motor 27f, a clamping lifting first transmission gear 28f, a clamping lifting second transmission gear 29f and a clamping lifting driving support; the clamping lifting driving support is connected with the frame body 1f; the clamping lifting driving motor is fixed on the clamping lifting driving support; the clamping lifting first transmission gear 28f is connected with the output end of the clamping lifting driving motor 27f, and the clamping lifting second transmission gear 29f is arranged on the clamping lifting synchronous shaft 21f; the clamping lifting first transmission gear 28f is engaged with the clamping lifting second transmission gear 29f; the clamping lifting driving motor 27f drives the clamping lifting synchronous shaft 21f to rotate through the clamping lifting first transmission gear and the clamping lifting second transmission gear, and the clamping lifting synchronous shaft 21f drives the clamping lifting transmission device 22f to act.

[0128] The first clamping fixed frame 311f is driven to clamping lift by the clamping lifting device 2f through the clamping synchronous belt fixing member 26f and the clamping lifting synchronous belt 25f, the first clamping fixed frame 311f is connected with the first clamping rotating frame 312f, and the second clamping device 32f is also connected with the first clamping fixed frame 311f; and then the first clamping device 31f and the second clamping device 32f are synchronously clamped and lifted.

[0129] Referring to Figure 21 , the third through hole 3110f is arranged on the first clamping fixed frame 311f, and the pulley assembly 4f is arranged in the third through hole 3110f; the frame body 1f is arranged in the third through hole 3110f and is in contact with the sliding assembly.

[0130] Referring to Figure 20 , 21 , the first through hole 31301f, the second through hole 3223f and the third through hole 3110f are all rectangular holes; a plurality of pulley assemblies 4f are arranged on at least two opposite inner walls of the first through hole 31301f, the second through hole 3223f and the third through hole 3110f; each group of pulley assemblies 4f comprises a first sliding shaft 41f and a first pulley 42f; the first sliding shaft 41f is fixed on the first through hole 31301f, the second through hole 3223f and the third through hole 3110f; the first pulley 42f is rotatably arranged on the first sliding shaft 41f and is used for contacting the frame body 1f, the first clamping support 3133f and the moving sliding support 3222f.

[0131] As Figure 17 shown, the bottom of the frame body 1f is provided with a chassis, and the chassis is provided with a walking device 5f; the walking device 5f is used for driving the frame body 1f to move. The walking device 5f drives the frame body 1f to move, so that the clamping equipment 3f approaches the box-shaped material. The walking device 5f comprises four groups of walking wheels, and each group of walking wheels is driven by an independent motor.

[0132] The working method of the transfer stacking device comprises the following steps:

[0133] S1, judging whether the box type material is in the lifting range of the grabbing device 13, if yes, S2 is performed; in this embodiment, whether the box type material is in the lifting range of the grabbing device 13 is judged artificially.

[0134] S2, the moving device 4 drives the first rack 10 to move to one side of the box type material.

[0135] S3, judging whether the suction accessory 134 of the grabbing device 1313 can contact the opposite side of the box type material, if yes, S4 is performed; if no, S6 is performed; in this embodiment, whether the suction accessory 134 can contact the opposite side of the box type material is judged artificially.

[0136] S4, the grabbing rotating support 133 drives the suction accessory 134 to rotate away from the avoiding space 1215, so that the suction surface of the suction accessory 134 is parallel to the opposite side of the box type material; the lifting device 2 drives the suction accessory 134 to move to the same horizontal height as the box type material; then the telescopic movable support 112 is extended to make the suction accessory 134 contact the box type material;

[0137] S5, the suction accessory 134 adsorbs the box type material, and then the telescopic movable support 112 is retracted; then S12 is performed.

[0138] S6, if the box type material is above the grabbing device 13, S7 is performed; if the box type material is below the grabbing device 13, S9 is performed.

[0139] S7, the telescopic movable support 112 is extended, so that the suction accessory 134 is located directly below the box type material, the grabbing rotating support 133 is rotated away from the avoiding space 1215, so that the suction surface of the suction accessory 134 corresponds to the bottom of the box type material; the lifting device drives the suction accessory 134 to rise and contact the box type material; then S8 is performed.

[0140] S8, the lifting device drives the suction accessory 134 to descend, and then the telescopic movable support 112 is retracted; then S11 is performed.

[0141] S9, the telescopic movable support 112 is extended, so that the suction accessory 134 is located directly above the box type material, the grabbing rotating support 133 drives the suction accessory 134 to rotate away from the avoiding space 1215, so that the suction surface of the suction accessory 134 corresponds to the top of the box type material; the lifting device drives the suction accessory 134 to descend and contact the box type material; then S10 is performed.

[0142] S10, the lifting device drives the suction accessory 134 to rise, and then the telescopic movable support 112 is retracted; then S11 is performed.

[0143] S11, the grabbing rotating support 133 drives the suction accessory 134 to rotate towards the direction close to the avoiding space 1215, when the box-shaped material contacts the turnover supporting piece, the suction accessory 134 loosens the suction of the box-shaped material; then the grabbing rotating support 133 rotates towards the direction away from the avoiding space 1215; then S12 is performed.

[0144] S12, the turnover driving device drives the turnover supporting piece to move towards the direction away from the grabbing device 13, when the turnover supporting piece slides along the arc-shaped sliding groove, the turnover supporting piece gradually rotates in the counterclockwise direction; then S13 is performed.

[0145] S13, when the turnover supporting piece slides to the end of the arc-shaped sliding groove away from the grabbing device, the turnover supporting piece rotates by an angle A in the counterclockwise direction; the turnover supporting piece rotation drives the box-shaped material to turn over; then S14 is performed.

[0146] S14, the grabbing rotating support 133 drives the suction accessory 134 to rotate towards the direction close to the avoiding space 1215, the suction accessory 134 suctions the box-shaped material which has turned over; then S15 is performed.

[0147] S15, the moving device drives the first rack to move close to the carrying device, then the suction accessory 134 drives the box-shaped material to rotate towards the direction away from the avoiding space 1215, to provide the carrying device with the material; then S16 is performed.

[0148] S16, the clamping lifting device 2f drives the clamping equipment 3f to lift, so that the clamping equipment 3f is at the same horizontal height as the box-shaped material grabbed by the grabbing and turnover device;

[0149] S17, the carrying device clamps a box-shaped material through the first clamping piece 3132f; then the grabbing and turnover device loosens the suction of the box-shaped material; then the grabbing and turnover device performs S1-S15 to grab other box-shaped materials.

[0150] S18, it is judged whether the clamping surface of the currently clamped box-shaped material needs to be changed; if not, S25 is performed; if yes, S19 is performed.

[0151] 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 rotating.

[0152] S20, the clamping moving device drives the clamping structure to move close to the box-shaped material, and the clamping structure clamps the box-shaped material.

[0153] S21, the first clamping piece 3132f loosens the clamping of the currently clamped box-shaped material.

[0154] S22, the clamping rotating device 314f drives the first clamping rotating frame 312f to rotate clockwise by 90°; then the first clamping piece 3132f clamps the current clamped box-shaped material again.

[0155] S23, the clamping structure loosens the clamping of the box-shaped material; at the same time, the clamping moving device drives the clamping structure to move away from the box-shaped material.

[0156] S24, the clamping rotating device 314f drives the first clamping rotating frame 312f to rotate counterclockwise by 90°.

[0157] S25, the carrying device moves to the stacking area, and when the carrying device reaches the stacking area, S26 is performed.

[0158] S26, the first clamping piece 3132f loosens the clamping of the current clamped box-shaped material; the box-shaped material is placed on the stacking area; if the next box-shaped material needs to be clamped, then A2 is performed until the next material is placed on the material in the stacking area; if the next box-shaped material does not need to be clamped, the work is stopped.

[0159] The above method, the grabbing rotating support of the grabbing and overturning device drives the suction accessory to rotate, so that the suction accessory can contact the box-shaped material of different heights and different positions; when there is no obstacle between the suction accessory and the box-shaped material, the suction accessory contacts the side surface opposite to the box-shaped material, which is high in efficiency; when the box-shaped material is above or below the suction accessory, and there is no obstacle between the suction accessory and the box-shaped material; the height of the suction accessory is changed by the lifting device; so that the suction accessory can contact the side surface opposite to the box-shaped material of different heights; realizing grabbing the box-shaped material of different heights.

[0160] When the box-shaped material is above or below the suction accessory, and there is an obstacle between the suction accessory and the box-shaped material; the grabbing rotating support changes the contact position of the suction accessory with the box-shaped material; when the box-shaped material is above the suction accessory, the suction accessory contacts the bottom of the box-shaped material; when the box-shaped material is below the suction accessory, the suction accessory contacts the top of the box-shaped material; then the suction accessory and the box-shaped material are moved by the lifting device, so that the box-shaped material can be grabbed by overcoming the obstacle.

[0161] At the same time, the box-shaped material moves into the overturning device, and the box-shaped material is turned over by the overturning device; in this way, the surface position of the box-shaped material taken out of the overturning device by the suction accessory will change.

[0162] The handling device first clamps the box-shaped material through the first clamping member 3132f; when the clamping surface of the current clamping box-shaped material needs to be changed, the height of the first clamping member 3132f is adjusted by the clamping lifting device to prevent the clamping device 313f from colliding with the ground when rotating; when there is enough space between the first clamping member 3132f and the ground, the first clamping rotating frame 312f and the clamping device 313f rotate; then the clamping structure 321f clamps the currently clamped box-shaped material for the second time; after the clamping structure 321f clamps the box-shaped material, the first clamping member 3132f is released. The currently clamped box-type material is clamped; this prevents the box-type material from falling; then the clamping rotating device 314f drives the first clamping rotating frame 312f to rotate; so that the first clamping member 3132f corresponds to the other clamping surface of the box-type material; the currently clamped box-type material is clamped for the third time by the first clamping member 3132f; after the first clamping member 3132f clamps the box-type material, the clamping structure releases the clamping of the currently clamped box-type material; then the first clamping rotating frame 312f is driven to rotate again; in this way, while clamping the box-type material, the clamping surface of the box-type material is changed.

[0163] In the above method,

[0164] In S20, the clamping movement device drives the clamping structure to approach the box-shaped material, and the clamping structure clamps the box-shaped material; specifically, S20.1-S20.3.

[0165] S20.1. The movable end of the retractable device 3214f is extended, and the two clamping devices 3211f are separated from each other; at the same time, the clamping and taking member 32152f is unfolded.

[0166] S20.2: The clamping movement device 322f drives the two clamping devices 3211f toward the box-shaped material. When the box-shaped material is located between the contact portions of the clamping and picking members 32152f at both ends of the receiving bracket, proceed to S20.3.

[0167] S20.3. Tighten and retract the movable end of the telescopic device 3214f, so that the two clamping devices 3211f approach each other and contact the box-shaped material. After the two clamping devices 3211f clamp the box-shaped material, proceed to S21.

[0168] In S23, the clamping structure is released to clamp 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.

[0169] S23.1. Tighten and extend the movable end of the telescopic device 3214f. The two clamping devices 3211f are separated from each other and the box-shaped material. After the clamping and picking member 32152f is separated from the box-shaped material, proceed to S23.2.

[0170] S23.2, the clamping mobile device 322f drives two clamping devices 3211f away from the box material; then the movable end of the tightening telescopic device 3214f is retracted; two clamping devices 3211f are close to each other to achieve clamping and clamping 32152f; then S24 is performed.

[0171] In the above method, when the tightening telescopic device 3214f is in action, the clamping devices 3211f at both ends of the tightening support 3210f are in synchronous action, and the clamping devices 3211f are close to each other or away from each other; during the separation of the two clamping devices, the clamping and clamping piece is expanded at the same time; during the approach of the two clamping devices, the clamping and clamping piece is retracted at the same time; in this way, the speed of the two clamping devices is fast, and the working effect is high when clamping the box material.

[0172] In the above method,

[0173] In S20.1 and S23.1, the movable end of the tightening telescopic device 3214f is extended, and the two clamping devices 3211f are separated from each other; specifically, the movable end of the tightening telescopic device 3214f drives one clamping device 3211f away from the tightening support 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 along the first tightening transmission rack 32132f; so that the other clamping device 3211f also moves away from the tightening support 3210f; the two clamping devices 3211f are separated from each other; at the same time, when the abutting end 32156f of the clamping and clamping piece 32152f is separated from the abutting piece 3217f, the contact end of the clamping and clamping piece 32152f swings away from the first clamping limiting piece 32153f under the elastic force of the torsional spring; during the swinging of the clamping and clamping piece 32152f, one end of the second clamping limiting piece 32154f approaches the first clamping limiting piece 32153f; when one end of the second clamping limiting piece 32154f abuts against the first clamping limiting piece 32153f, the first clamping limiting piece 32153f limits the second clamping limiting piece 32154f, so that the second clamping limiting piece 32154f cannot continue to swing, and the expansion of the clamping and clamping piece 32152f is achieved.

[0174] In S20.3 and S23.2, the movable end of the tightening telescopic device 3214f is retracted; the two clamping devices 3211f are close to each other; specifically,

[0175] The movable end of the tightening telescopic device 3214f drives a clamping device 3211f to approach the tightening support 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate; the tightening transmission gear 32131f drives the second tightening transmission rack 32133f to move in the opposite direction of the first tightening transmission rack 32132f; so that the other clamping device 3211f also approaches the tightening support 3210f; and the two clamping devices 3211f approach each other.

[0176] In S20.3, the contact end 32155f of the clamping clamp 32152f of the two clamping devices 3211f approaching each other clamps the box-shaped material; when the two clamping devices continue to approach each other, the abutting end 32156f of the clamping clamp 32152f contacts the resistance piece 3217f; at this time, under the support effect of the contact end 32155f of the clamping clamp 32152f on the box-shaped material, the clamping clamp 32152f will not swing; at the same time, the contact of the abutting end 32156f of the clamping clamp 32152f with the resistance piece 3217f will give the contact end 32155f of the clamping clamp 32152f a force to swing towards the first clamping limiting piece 32153f; so that the clamping clamps 32152f located at the opposite ends of the tightening support stably clamp the box-shaped material.

[0177] In S23.2, when the abutting end 32156f of the clamping clamp 32152f contacts the resistance piece 3217f, the contact end 32155f of the clamping clamp 32152f overcomes the elastic force of the torsional spring 32158f to approach the first clamping limiting piece 32153f, and the second clamping limiting piece 32154f is separated from the first clamping limiting piece 32153f; to realize the folding of the clamping clamp 32152f.

[0178] Referring to Figure 21 As shown in the figure; taking the change from clamping the U1 face and the U2 face of the box-shaped material to clamping the U5 face and the U6 face of the box-shaped material as an example; the clamping face of the box-shaped material is changed along the Y direction;

[0179] In S17, the conveying device clamps the U1 face and the U2 face of a box-shaped material by the first clamping piece 3132f.

[0180] In S20.1, the movable end of the tightening telescopic device 3214f is extended, and the two clamping devices 3211f are separated from each other; at the same time, the clamping clamp 32152f is unfolded.

[0181] In S20.2, the clamping and moving device 322f drives the two clamping devices 3211f to approach the clamped box-shaped material; when the U5 face and the U6 face of the box-shaped material are located between the contact parts of the clamping clamps 32152f at the two ends of the receiving support, S20.3 is performed.

[0182] S20.3; the active end of the telescopic device 3214f is retracted, the two clamping devices 3211f are close to 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.

[0183] S21; the first clamping part 3132f releases the clamping of the U1 and U2 surfaces of the currently clamped box-shaped material.

[0184] S22; the clamping rotating device 314f drives the first clamping rotating frame 312f to rotate clockwise by 90°; then the first clamping part 3132f clamps the U5 and U6 surfaces of the currently clamped box-shaped material again.

[0185] S23.1; the active end of the telescopic device 3214f is extended, the two clamping devices 3211f are separated from each other and separated from the U5 and U6 surfaces of the box-shaped material; at the same time, the clamping gripper 32152f is unfolded; after the clamping gripper 32152f is separated from the box-shaped material, S23.2 is performed.

[0186] S23.2, the clamping moving device 322f drives the two clamping devices 3211f away from the box-shaped material; then the active end of the telescopic device 3214f is retracted; the two clamping devices 3211f are close to each other to realize the folding of the clamping gripper 32152f; then S24 is performed.

Claims

1. A transfer stacking device, characterized in that: It includes a handling device and a grabbing and turning device. The grabbing and turning device is used to grab box-shaped materials and transport them; the handling device is used to stack box-shaped materials; The transport device includes a transport frame, a clamping and lifting device, and a clamping device. A walking device is provided on the transport frame; the walking device is used to drive the transport device to move; the clamping and lifting device is provided on the transport 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 transport 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 turret, a clamping device, and a clamping rotation device; the clamping devices are provided with two, the first clamping turret is located between the two clamping devices and is connected to the two clamping devices; the first clamping turret is rotatably arranged on the first clamping fixed frame; the second clamping device passes through the first clamping turret and is fixedly connected to the first clamping fixed frame; a gap is provided between the second clamping device and the first clamping turret; the clamping rotation 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 driving gear, a clamping and rotating driven gear, and a clamping and rotating bearing; the first clamping and rotating frame is fixedly connected to one side of the clamping and rotating driven gear, the other side of the clamping and rotating driven gear is fixedly connected to the inner ring of the clamping and rotating bearing, and 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 arranged on the first clamping and fixing frame, the output end of the clamping and rotating motor is connected to the clamping and rotating driving gear, and the clamping and rotating driving gear is meshed 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 the first clamping turret. 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 are brought closer to each other to clamp the material. The second clamping device includes a clamping structure and a clamping movement device, wherein the fixed end of the clamping movement device is fixedly connected to the first clamping fixed frame, and the movable end of the clamping movement device is connected to the clamping structure, and the clamping movement device drives the clamping structure to approach and move away from the first clamping fixed frame; the clamping structure is used to clamp the material, and a clamping avoidance space is provided on the clamping structure for avoiding 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; and the clamping rotation device drives the clamping rotation device to rotate to clamp the box-shaped material for the third time. The grabbing and flipping device includes a first frame, on which a moving device is provided; the moving device is used to drive the grabbing and flipping device to move; a lifting device and a grabbing device are provided on the first frame; the lifting device drives the grabbing device to move up and down; The grabbing device includes a telescopic device, a flipping device and a grabbing device. The grabbing 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 grabbing device. The telescopic device drives the grabbing device to move closer to or away from the flipping device. The turning device comprises a turning bracket, a turning drive device, a turning seat and two turning rails; The flip driving device is arranged at the bottom of the flip bracket, and the two flip rails are arranged on the flip bracket and are located above the flip driving device; The turning drive device drives the turning seat to slide on the turning track; The flip seat includes a flip fixing seat and a flip supporting member, and the flip supporting member is rotatably arranged on the flip fixing seat; the flip fixing seat is fixedly connected to the flip driving device; the flip supporting member includes a flip first supporting plate and a flip second supporting plate, the flip second supporting plate is located below the flip first supporting plate, and the flip first supporting plate is connected to the flip second supporting plate and is vertically arranged; a flip sliding member is respectively provided at both ends of the flip second supporting plate, and the flip track is provided with an arc-shaped slide groove; one end of the arc-shaped slide groove is away from the grasping device and extends upward along the length direction of the flip bracket; the other end of the arc-shaped slide groove is close to the grasping device and extends downward along the length direction of the flip bracket; the flip sliding member is slidably arranged in the arc-shaped slide groove; the flip driving device is used to drive the flip supporting member to rotate along the arc-shaped slide groove at an angle A, 0°<A<100°; The grabbing device includes a grabbing mounting bracket, a grabbing driving device, a grabbing rotating bracket and an adsorption piece; the grabbing mounting bracket is connected to the movable end of the telescopic device, the grabbing driving device is fixed on the grabbing mounting bracket and connected to the grabbing rotating bracket, and the adsorption piece is installed on the grabbing rotating bracket; the grabbing driving device drives the grabbing rotating bracket to rotate, and the grabbing rotating bracket drives the adsorption piece to approach and move away from the flip seat.

2. The transfer stacking device according to claim 1, characterized in that: The telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a telescopic first drive device and a telescopic second drive device; one end of the telescopic movable bracket is connected to the grasping device; the telescopic movable bracket is arranged above the telescopic fixed bracket and is slidably connected to the telescopic fixed bracket; the fixed end of the telescopic first drive device is connected to the telescopic fixed bracket, the movable end of the first telescopic drive device is connected to the fixed end of the telescopic second drive device, and the movable end of the second telescopic drive device is connected to the telescopic movable bracket; the first telescopic drive device is used to drive the telescopic movable bracket to move, and the second telescopic drive device is used to drive the telescopic movable bracket to move relative to the first telescopic drive device.

3. The transfer stacking device according to claim 2, characterized in that: The telescopic first driving device includes a telescopic first fixed seat, a telescopic first cylinder and a telescopic first slide; the telescopic movable bracket is located between the telescopic first slide and the telescopic fixed bracket; one end of the telescopic first fixed seat is connected to the telescopic fixed bracket, and the telescopic first cylinder is arranged at the other end of the telescopic first fixed seat; the telescopic first slide is inserted into the telescopic first cylinder and is slidably arranged on the telescopic first cylinder; The telescopic second driving device includes a telescopic second fixed seat, a telescopic second cylinder and a telescopic third fixed seat; the fixed end of the telescopic second cylinder is connected to the telescopic second fixed seat, and the telescopic second fixed seat is connected to the telescopic first slider; the movable end of the telescopic second cylinder is connected to the telescopic third fixed seat, and the telescopic third fixed seat is connected to the telescopic movable bracket.

4. The transfer stacking device according to claim 1, characterized in that: The flip bracket includes a flip fixing member and a flip positioning member, the flip positioning member is arranged on the flip fixing member, an avoidance hole is provided on the flip positioning member, and an avoidance space is formed between the avoidance hole and the flip fixing member; a mounting hole is provided on the flip fixing member; the flip track passes through the mounting hole and is arranged in the avoidance space and is fixedly connected to the flip fixing member and the flip positioning member; The flip drive device is arranged at the bottom of the flip fixed seat; the flip drive device comprises a flip drive support, a flip drive cylinder and a flip drive slider; The driving support is connected to the flip fixing seat, the flip driving cylinder is arranged on the flip driving support, the flip driving slider is passed through the flip driving cylinder and is slidably arranged on the flip driving cylinder; a connecting hole is provided on the flip fixing piece, and one end of the flip driving slider passes through the connecting hole and is connected to the flip fixing seat.

5. The transfer stacking device according to claim 1, characterized in that: The lifting device includes a lifting fixed bracket, a lifting movable bracket, a lifting drive device and a transmission assembly; the lifting fixed bracket is fixedly connected to the frame, and the lifting movable bracket is slidably connected to the lifting fixed bracket and the grabbing device; The transmission assembly includes a first lifting transmission wheel, a second lifting transmission wheel, a lifting synchronous belt, a first synchronous belt fixing member and a second synchronous belt fixing member; the output end of the lifting drive device passes through the first lifting transmission wheel and is connected to one end of the lifting movable bracket, and the second lifting transmission wheel is rotatably arranged at the other end of the lifting movable bracket; the lifting synchronous belt is mounted on the first lifting transmission wheel and the second lifting transmission wheel; One end of the first synchronous belt fixing part is fixedly connected to the lifting fixed bracket, and the other end of the first synchronous belt fixing part is clamped on the lifting synchronous belt on one side of the lifting first transmission wheel and the lifting second transmission wheel; the second synchronous belt fixing part is put on the lifting synchronous belt on the other side of the lifting first transmission wheel and the lifting second transmission wheel and fixed to the flip bracket; the transmission assembly is used to drive the lifting movable bracket and the flip device to rise and fall synchronously.

6. The transfer stacking device according to claim 1, characterized in that: A is 83°.

7. The transfer stacking device according to claim 1, characterized in that: The first clamping drive device includes a first clamping bracket, a first clamping cylinder, a first clamping slider and a connecting device; the first clamping bracket is connected to the first clamping rotating frame, and the first clamping cylinder is arranged on the first clamping bracket; the first clamping slider is slidably arranged on the first clamping cylinder; one end of the connecting device is fixedly connected to the first clamping member, and the other end of the connecting device is fixedly connected to the first clamping slider and slidably connected to the first clamping bracket.

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

9. The transfer stacking device according to claim 1, characterized in that: The clamping and moving device includes a movable fixed bracket, a movable sliding bracket, and a movable driving device; the movable fixed bracket is connected to the first clamping and fixing bracket, and a second through-hole is passed through the movable fixed bracket, and a pulley assembly is provided in the second through-hole; one end of the movable sliding bracket is connected to the clamping structure, and the other end of the movable sliding bracket is passed through the second through-hole and contacts the sliding assembly; The mobile drive device includes a mobile drive motor, a mobile drive driving gear, and a mobile drive rack; a mobile groove is provided on the mobile sliding bracket, and the mobile drive rack is fixed in the mobile sliding bracket and corresponds to the mobile groove; the mobile drive motor is fixed on the mobile fixed bracket, and the output end of the mobile drive motor is connected to the mobile drive driving gear, and the mobile drive driving gear passes through the mobile groove and extends into the mobile sliding bracket to engage with the mobile drive rack.

10. The transfer stacking device according to claim 1, characterized in that: The clamping and lifting device includes a clamping and lifting drive device, a clamping and lifting synchronization shaft and two clamping and lifting transmission devices; the clamping and lifting synchronization shaft is connected to the two clamping and lifting transmission devices, and the output end of the clamping and lifting drive device is connected to the clamping and lifting synchronization shaft; The clamping and lifting transmission device includes a clamping and lifting first pulley, a clamping and lifting second pulley, a clamping and lifting synchronous belt and a clamping and lifting synchronous belt fixing piece; the clamping and lifting first pulley can be rotatably set at the top end of the frame; the clamping and lifting second pulley can be rotatably set at the bottom end of the frame; the clamping and lifting synchronous belt is sleeved on the first pulley and the clamping and lifting second pulley; the clamping and lifting synchronous belt fixing piece clamps the clamping and lifting synchronous belt sleeve on the first clamping fixing frame.

Images