Working method of a multi-functional device for material transfer and storage

Abstract

The present invention provides a working method for a multi-functional device for material transfer and storage, comprising the following steps: The vehicle body identifies the position and height of the material through a visual recognition module, and moves to one side of the material through a moving mechanism; The first-level lifting mechanism is driven to enable the lifting frame to move up and down along the support rod through the first-level pulley, so that the clamping device is located on one side of the material; The clamping device clamps the material; The storage mechanism is driven by the second-level lifting mechanism to lift and lower the material in the storage mechanism. When the storage mechanism descends, the material is received in the lifting frame; The present invention can clamp box-shaped materials with yaw-axis offset, making it difficult for the materials to fall or be damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a working method of a multi-functional device for material transfer and storage. Background Art

[0002] Engineering robots are quite similar to handling robots in the logistics industry. Both need to achieve the clamping and handling of regular objects within a certain weight at different heights. Through automation, intelligent logistics can be realized. For example, in scenarios such as ports and logistics centers, fully automated logistics can be achieved. However, for existing handling robots, for some box-shaped objects with yaw-axis offset, that is, the object rotates and offsets around the y-axis, also called the yaw angle. When the object has a yaw-axis offset, the area of the object on the projection planes of the X and Y axes increases, and thus it is easy to occur that the robot gets stuck at the edge of the material, resulting in the situation that the material is not firmly clamped and drops or is damaged. Summary of the Invention

[0003] The present invention provides a working method of a multi-functional device. By using the solution of the present invention, it is possible to clamp box-shaped materials with yaw-axis offset, so that the materials are not easily dropped or damaged, and the operation is convenient.

[0004] To achieve the above object, the technical solution of the present invention is: a working method of a multifunctional device, including the following steps: S1. The vehicle body identifies the position and height of the material through the vision recognition module, and moves to one side of the material through the moving mechanism; S2. Drive the first-level lifting mechanism, so that the lifting frame moves up and down along the support rod through the first-level pulley, so that the clamping device is located on one side of the material; S3. The clamping device clamps the material; S31. When the clamping device clamps the material, drive the clamping manipulator to slide close to the material through the horizontal sliding mechanism; S32. Drive the clamping cylinder, and the clamping cylinder drives the two clamping fingers to slide on the clamping guide rod, so as to be able to adjust the distance between the two clamping fingers for different materials to perform clamping; S32. When the material enters the clamping range of the clamping manipulator, drive the two clamping fingers to approach each other through the clamping cylinder, so that the friction wheels on the two clamping fingers clamp the material; if the material is in an offset state on the yaw axis at this time, under the clamping action of the clamping cylinder, the rotation guide shaft on the finger rotating part slides in the two arc-shaped limit grooves, stretching the tension spring, and then supporting the two clamping fingers apart, so that the material offset on the yaw axis can also be clamped; S34. The friction wheels on the two clamping fingers are in contact with the surface of the material, and the friction wheels are driven to rotate by the friction wheel motor, so as to drive the material to move in the direction close to the clamping guide rod; if the material is in an offset state on the yaw axis at this time, during the process of winding the material, the material will push the finger rotating part to rotate outwards along the arc-shaped limit groove relative to the finger support, and at this time the rotation guide shaft slides in the two arc-shaped limit grooves, so as to stretch the tension spring, and then the friction wheel can clamp the material offset on the yaw axis to prevent jamming of the edge of the material; S4. Drive the storage mechanism to lift through the second-level lifting mechanism, lift the material in the storage mechanism, and when the storage mechanism descends, the material is stored in the lifting frame.

[0005] In the above method, the vehicle body identifies the position and height of the material through the vision recognition module and moves to one side of the material through the moving mechanism; according to the height of the material, the first-level lifting mechanism is driven, so that the lifting frame moves up and down along the support rod through the first-level pulley, thereby realizing the lifting action of the clamping device and making the clamping device located on one side of the material; when the clamping device clamps the material, the turning motor is started, and the output end of the turning motor drives the clamping connecting piece to swing. The swing of the clamping connecting piece drives the clamping guide rod to turn, and the turning of the clamping guide rod drives the clamping finger to turn, so that the free end of the clamping finger turns to the outside of the clamping frame, facilitating the clamping of the material by the clamping finger. Then, the clamping manipulator is driven by the horizontal sliding mechanism to slide close to the material, so that the two friction wheels are respectively located on both sides of the material, and the turning motor stops working; then, the clamping cylinder is driven to retract the piston rod and drive one of the clamping fingers to approach the material and abut against the material. When the piston rod of the clamping cylinder is blocked by the material and cannot continue to retract, the cylinder body of the clamping cylinder will drive the other clamping finger to move towards the material through the reaction force, so that the two clamping fingers are driven by the clamping cylinder to slide on the clamping guide rod, thereby being able to adjust the distance between the two clamping fingers for different materials to clamp the material, making the clamping of the material by the clamping manipulator more stable; after firmly clamping the material with the clamping finger, the clamping manipulator is driven by the horizontal sliding mechanism to slide towards the clamping frame. At the same time or after the clamping manipulator slides laterally and resets, the turning motor rotates in the reverse direction. The output end of the turning motor drives the clamping connecting piece to swing in the reverse direction. The reverse swing of the clamping connecting piece drives the clamping guide rod to turn in the reverse direction. The reverse turning of the clamping guide rod drives the clamping finger to turn in the reverse direction, so that the free end of the clamping finger turns into the clamping frame. Since the clamping finger is provided with a sliding through hole corresponding to the clamping guide rod on the finger sliding part, the clamping finger can stably slide on the clamping guide rod through the sliding through hole; when the material enters the clamping range of the clamping manipulator, the two clamping fingers are driven to approach each other by the clamping cylinder, so that the friction wheels on the two clamping fingers clamp the material; if the material is in an offset state on the yaw axis at this time, under the clamping action of the clamping cylinder, the rotation guide shaft on the finger rotating part slides in the two arc-shaped limiting grooves, stretching the tension spring, and then supporting the two clamping fingers apart, so that the offset material on the yaw axis can also be clamped. Subsequently, under the drive of the clamping cylinder, during the process of the two clamping fingers approaching each other, due to the elastic action of the tension spring itself, the stability of the clamping finger when clamping the material can be improved;The friction wheels on the two clamping fingers are in contact with the surface of the material. The friction wheels are driven to rotate by a friction wheel motor, thereby driving the material to move in the direction close to the clamping guide rod. At the same time, for the material offset on the yaw axis, during the process of winding the material, the material will push the finger rotating member to rotate outward along the arc-shaped limiting groove relative to the finger bracket. At this time, the rotating guide shaft slides in the two arc-shaped limiting grooves, thereby stretching the tension spring. Furthermore, the friction wheel can clamp the material offset on the yaw axis, preventing the edge of the material from being stuck, so as to realize the clamping of materials at different angles on the yaw axis, making the materials not easy to fall or be damaged. In addition, the storage mechanism can be driven to lift by a secondary lifting mechanism, so as to lift the materials in the storage mechanism. When the storage mechanism descends, the materials are stored in the lifting frame and are not easy to separate from the vehicle body, and the operation is convenient and reliable.

[0006] Furthermore, the above method is realized through the following structure, including a vehicle body, which includes a moving mechanism for driving the vehicle body to move, a lifting device, a storage mechanism, a clamping device and a towing mechanism; the lifting device is installed on the moving mechanism, and the storage mechanism is arranged in the lifting device; the clamping device is arranged on the lifting device; the lifting device can drive the storage mechanism and the clamping device to lift respectively; the towing mechanism is arranged on one side of the moving mechanism; the moving mechanism includes a chassis.

[0007] The lifting device includes a support frame, a primary lifting mechanism, a lifting frame, a primary pulley and a secondary lifting mechanism; support frames are symmetrically and vertically arranged on both sides of the chassis relative to the center of the chassis. The support frame includes two support rods vertically arranged on the chassis and a horizontal support rod horizontally arranged. The two ends of the horizontal support rod are respectively fixedly connected to the two support rods; the primary pulley is connected to the lifting frame and the primary pulley is slidably arranged on the support rod, and the lifting frame is slidably arranged on the support rod through the primary pulley; the primary lifting mechanism is arranged between the moving mechanism and the support frame, and the primary lifting mechanism is connected to the lifting frame. By driving the primary lifting mechanism, the lifting frame is driven to slide on the support frame; one end of the secondary lifting mechanism is connected to the chassis, and the other end of the secondary lifting mechanism is connected to the primary lifting mechanism.

[0008] The storage mechanism is movably arranged on the lifting frame through the secondary lifting mechanism, and the storage mechanism is driven to lift by the secondary lifting mechanism; the clamping device is arranged on the lifting frame, and the clamping device is driven to lift by driving the primary lifting mechanism.

[0009] The storage mechanism includes a storage rack, a material turning mechanism and a material clamping mechanism; the secondary lifting mechanism is connected to the storage rack; the material turning mechanism is installed on the storage rack; limiting plates are respectively arranged on both sides of the storage rack on the side of the material turning mechanism; the material clamping mechanism is fixedly connected to the storage rack on one side of the material turning mechanism.

[0010] The clamping device includes a clamping frame, a horizontal sliding mechanism for driving the clamping manipulator to move, a vision recognition module, and a clamping manipulator; the horizontal sliding mechanism is installed between the clamping frame and the clamping manipulator, the clamping manipulator is connected to the horizontal sliding mechanism, and the clamping manipulator is arranged above the clamping frame through the horizontal sliding mechanism; the vision recognition module is arranged on the horizontal sliding mechanism and is located on one side of the clamping manipulator, and the clamping frame is installed on the lifting frame.

[0011] The clamping manipulator includes two symmetrically arranged clamping bases, clamping guide rods, clamping limit blocks, clamping connectors, clamping cylinders, two oppositely arranged clamping fingers, and a turning motor for driving the clamping manipulator to turn; the two clamping bases are respectively fixedly installed on one side of the sliding bottom plate of the horizontal sliding mechanism, and a turning motor is fixedly arranged on each clamping base; the output end of the turning motor is fixedly connected with a clamping connector, and the two ends of the clamping guide rod are respectively fixedly connected with the two clamping connectors; the two clamping fingers are slidably arranged on the clamping guide rod relatively, and the two clamping fingers are located between the two clamping connectors; the clamping limit block is arranged at the middle position of the clamping guide rod, the cylinder body of the clamping cylinder is fixedly connected with one of the clamping fingers, and the piston rod of the clamping cylinder is fixedly connected with the other clamping finger.

[0012] The clamping finger includes a finger bracket, a finger sliding part, a finger rotating part, a friction wheel, and a friction wheel motor for driving the friction wheel; the finger sliding part is arranged at one end of the finger bracket, and a through hole corresponding to the clamping guide rod for sliding is arranged on the finger sliding part; the finger rotating part is rotatably arranged at the other end of the finger bracket relative to the finger sliding part, the friction wheel is rotatably arranged at the end of the finger rotating part away from the finger bracket, the friction wheel motor is fixedly installed on the finger rotating part, and the output end of the friction wheel motor is fixedly connected with the friction wheel.

[0013] The finger bracket includes two vertically corresponding finger plates, and arc-shaped limit grooves are formed on the two finger plates; the finger rotating part includes two vertically corresponding finger rotating plates, and the two finger rotating plates are connected through the friction wheel motor; a rotating guide shaft and a tension spring are arranged between the two finger rotating plates, the two ends of the rotating guide shaft respectively pass through the arc-shaped limit grooves on the two finger plates and are movably arranged in the two arc-shaped limit grooves; one end of the tension spring is connected to the rotating guide shaft, the other end of the tension spring is connected to the output end of the friction wheel motor, and the tension spring is in a stretched state; the friction wheel is rotatably arranged between the two finger rotating plates and is connected to the output shaft of the friction wheel motor; the friction wheel motor is fixedly installed on one finger rotating plate.

[0014] Further, the first-level lifting mechanism includes a lifting motor, a lower gear, an upper gear, a lifting fixing member, and a chain; the lifting motor is installed on the chassis; the upper gear is arranged on the horizontal support rod, the lower gear is arranged directly below the upper gear, and the lower gear is drivingly connected to the output end of the lifting motor; the upper gear and the lower gear are drivingly connected by a chain, one end of the lifting fixing member is fixedly connected to a link of the chain, and the other end of the lifting fixing member is fixedly connected to the lifting frame; with the above settings, the lower gear, the chain, and the upper gear form a transmission loop. By driving the lifting motor, the lifting fixing member moves up and down with the chain, thereby driving the lifting frame to move up and down along the support rod.

[0015] Further, the second-level lifting mechanism includes a second-level pulley, a rodless cylinder, a lifting slider slidably arranged on the rodless cylinder, a lifting guide rod vertically arranged on the lifting frame, and a lifting sliding mechanism. The rodless cylinder is fixedly installed on the lifting frame; the lifting slider is slidably arranged on the rodless cylinder, and one end of the lifting slider is fixedly connected to the storage rack; the second-level pulley is fixedly installed on the storage rack, and the second-level pulley is slidably arranged on the lifting guide rod; by driving the rodless cylinder to drive the lifting slider to slide, the storage mechanism is driven to move up and down along the lifting guide rod; with the above settings, the lifting frame can move up and down along the lifting guide rod.

[0016] Further, the lifting frame includes two relatively arranged first lifting side frames, a second lifting side frame, a third lifting side frame, and a lifting fixing seat; the second lifting side frame and the third lifting side frame are relatively arranged, and both ends of the second lifting side frame are fixedly connected to one ends of the two first lifting side frames respectively; both ends of the third lifting side frame are fixedly connected to the other ends of the two first lifting side frames opposite to the second lifting side frame respectively; the lifting guide rod is vertically and fixedly installed on one side of the first lifting side frame, and the lifting chute is installed on the outside of the first lifting side frame; the lifting fixing seat is arranged at the bottom of the first lifting side frame, and the lifting fixing seat is fixedly connected to the lifting fixing member; by driving the lifting motor, the lifting fixing member and the lifting fixing seat cooperate to drive the lifting frame to lift.

[0017] Further, the horizontal sliding mechanism includes a sliding cylinder, a sliding rail, a sliding slider, a pulley, and a sliding bottom plate; one end of the sliding cylinder is fixedly installed on the clamping frame, the sliding rail is arranged on the clamping frame, the pulley is rotatably arranged on the clamping frame and is located at one end of the sliding rail close to the clamping manipulator; the sliding slider is arranged on the bottom surface of the sliding bottom plate, a chute corresponding to the sliding rail is arranged on the sliding slider, and the sliding slider is slidably arranged on the sliding rail; the bottom surface of the sliding bottom plate abuts against the pulley respectively; by driving the sliding cylinder to extend and retract, the sliding bottom plate slides under the cooperation of the sliding rail and the sliding slider and the action of the pulley.

[0018] Furthermore, the towing mechanism includes more than one towing hook, and each towing hook includes a U-shaped mounting base, a towing cylinder, two oppositely arranged towing mounting plates, a towing fixing block, a towing limiting member, a towing slide rail, a towing slider, a limiting connecting rod, and a towing member;

[0019] Both ends of the U-shaped mounting base are respectively fixedly connected to the chassis; the towing fixing block is arranged between the two towing mounting plates and is fixedly connected to the two towing mounting plates respectively; the fixed end of the towing cylinder is connected to the chassis, and the movable end of the towing cylinder is fixedly connected to the towing fixing block; the middle position of the limiting connecting rod is hinged between the two towing mounting plates, and one end of the towing member is hinged between the two towing mounting plates and is located at the end of the towing mounting plate away from the towing fixing block; the end of the towing member hinged to the towing mounting plate abuts against the limiting connecting rod; the towing limiting member is mounted on the chassis and is located on the side of the U-shaped mounting base away from the towing cylinder; a first convex portion extends upward at the upper end of the towing mounting plate and on the side close to the towing cylinder, and the height of the convex portion is lower than the highest point of the groove formed by the U-shaped mounting base; a second convex portion extends upward at the upper end of the towing mounting plate and on the side away from the towing cylinder; the towing slide rail is arranged on the side surface of the towing mounting plate away from the other towing mounting plate, the towing slider is fixedly mounted on the inner side wall of the groove formed by the U-shaped mounting base, a chute is provided on the towing slider corresponding to the towing slide rail, and the towing slide rail is slidably arranged on the towing slider; the towing member includes a towing portion and a bent portion, the towing portion and the bent portion are obliquely connected, and the end of the towing member where the towing portion and the bent portion are connected is hinged to the towing mounting plate.

[0020] With the above settings, when the towing cylinder extends, through the transmission of the towing fixing block, it drives the cooperation of the towing slide rail and the towing slider to slide outwards until the first convex portion on the towing mounting plate abuts against the towing limiting member fixed on the chassis; through the movement of the moving mechanism 1, the towing member is pushed towards the cross bar provided on other robots, and the reaction force generated by the cross bar of other robots pushes the towing portion of the towing member to rotate towards the limiting connecting rod until the cross bar disengages from the towing portion of the towing member. At this time, the towing member resets, and the towing mechanism completes the connection action with the cross bar of other robots; when the towing mechanism pulls other robots through the towing member, one end of the limiting connecting rod abuts against the bent portion of the towing member, and the other end of the limiting connecting rod abuts against the towing limiting member. When the multi-functional robot moves, the towing member rotates. At this time, the bent portion rotates towards the limiting connecting rod and pushes the limiting connecting rod to rotate, and the other end of the limiting connecting rod abuts against the towing limiting member, thereby restricting the rotation tendency of the towing connecting rod, enabling the multi-functional robot to tow other robots through the towing member; when the towing cylinder contracts, the towing fixing block slides towards the chassis through the cooperation of the towing slide rail and the towing slider until the second convex portion on the towing mounting plate abuts against the towing limiting member fixed on the chassis, thereby completing the retraction action of the towing mechanism.

[0021] Further, the lifting and sliding mechanism includes a lifting slide rail and a lifting chute. The lifting slide rail is fixedly installed on the side of the support rod, and the lifting chute is fixedly installed on one side of the lifting frame corresponding to the lifting slide rail; when the lifting frame moves up and down along the support rod, the lifting slide rail slides in the lifting chute.

[0022] Further, an L-shaped limiting rod for preventing the secondary pulley from disengaging from the lifting guide rod is provided at the top end of the lifting guide rod. One end of the L-shaped limiting rod is fixedly connected to the lifting guide rod, and the other end of the L-shaped limiting rod is fixedly connected to the lifting frame; with the above settings, the lifting guide rod, the L-shaped limiting rod and the lifting frame form a closed loop structure, thereby preventing the secondary pulley from disengaging from the lifting guide rod.

[0023] Further, the material turning mechanism includes a material turning seat, a material turning rotating member, a push plate and a material turning motor. The material turning seat is fixedly installed on the storage rack, and the material turning rotating member is rotatably arranged on the material turning seat; the material turning motor is fixedly connected to the storage mechanism on one side of the material turning seat, and the output end of the material turning motor passes through the material turning seat and is fixedly connected to the material turning rotating member, and the material turning rotating member is driven to rotate on the material turning seat by the material turning motor; the material turning rotating member extends in two directions to form two mounting portions respectively, and the planes where the two mounting portions are located are perpendicular to each other; the push plate is fixedly installed on one side surface of the mounting portion close to the other mounting portion; with the above settings, the material turning motor can be used to drive the material turning rotating member to drive the push plate to turn the material.

[0024] Further, the material clamping mechanism includes two symmetrically arranged material clamping bases, a material clamping bottom plate, a material clamping cylinder, a material clamping member and a pressure rod arranged at the end of the material clamping member; the two material clamping bases are symmetrically arranged on the storage rack and are respectively adjacent to one side of the two limiting plates; the material clamping bottom plate is arranged on the two material clamping bases, the material clamping members are respectively rotatably arranged on the two material clamping bases, and the material clamping cylinder is installed on the material clamping bottom plate; by controlling the expansion and contraction of the material clamping cylinder, the material clamping members are driven to rotate on the material clamping bases; with the above settings, the material clamping cylinder is used to drive the material clamping members on both sides, and the pressure rod at the end of the material clamping member is used to clamp the material tightly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a three-dimensional schematic diagram of the present invention.

[0026] Figure 2 is an exploded view of the chassis, the lifting device, the storage mechanism and the clamping device in the present invention.

[0027] Figure 3 is a structural schematic diagram of the chassis, the support frame, the lifting frame and the primary lifting mechanism in the present invention.

[0028] Figure 4 is Figure 3 a partial enlarged schematic diagram of part A in

[0029] Figure 5It is a side view of the chassis, support frame, lifting frame and primary lifting mechanism in the present invention.

[0030] Figure 6 It is a schematic structural diagram of the chassis, support frame and primary lifting mechanism in the present invention.

[0031] Figure 7 It is a schematic structural diagram of the lifting frame, storage mechanism and clamping device in the present invention.

[0032] Figure 8 It is a schematic structural diagram of the lifting frame and storage mechanism in the present invention.

[0033] Figure 9 It is a schematic structural diagram of the clamping device in the present invention.

[0034] Figure 10 It is a schematic structural diagram of the clamping device from another angle in the present invention.

[0035] Figure 11 It is Figure 10 a partial enlarged schematic diagram at position B in

[0036] Figure 12 It is an exploded view of the clamping device in the present invention.

[0037] Figure 13 It is a schematic structural diagram of the clamping fingers in the present invention.

[0038] Figure 14 It is an exploded view of the clamping fingers in the present invention.

[0039] Figure 15 It is a schematic structural diagram of the storage mechanism in the present invention.

[0040] Figure 16 It is an exploded view of the storage mechanism in the present invention.

[0041] Figure 17 It is a schematic structural diagram of the material clamping mechanism in the present invention.

[0042] Figure 18 It is a schematic structural diagram of the chassis and towing mechanism in the present invention.

[0043] Figure 19 It is Figure 18 a partial enlarged schematic diagram at position C in

[0044] Figure 20 It is a schematic structural diagram of the towing hook in the present invention.

[0045] Figure 21 It is a side view schematic structural diagram of the towing hook in the present invention.

[0046] Figure 22This is a schematic cross-sectional view of the towing hook in the extended state of the towing cylinder in the present invention.

[0047] Figure 23 This is a schematic cross-sectional view of the towing hook in the retracted state of the towing cylinder in the present invention.

[0048] Figure 24 This is a schematic structural view of the clamping device in the state of clamping the yaw-axis offset material in the present invention.

[0049] Figure 25 This is a schematic structural view of the clamping device in the state of clamping the material without yaw-axis offset in the present invention.

[0050] Figure 26 This is a schematic structural view of the lifting in the present invention. Detailed implementation manners

[0051] The following further describes the present invention in detail with reference to the drawings and specific implementation manners.

[0052] As Figures 1 - 26 shown, a working method of a multifunctional device for material transfer and storage includes the following steps:

[0053] S1. The vehicle body 10 identifies the position and height of the material through the vision recognition module 43, and moves to one side of the material 7 through the moving mechanism 1.

[0054] S2. Drive the first-level lifting mechanism, so that the lifting frame 23 moves up and down along the support rod 211 through the first-level pulley 24, and the clamping device 4 is located on one side of the material 7.

[0055] S3. The clamping device 4 clamps the material 7.

[0056] S31. When the clamping device 4 clamps the material 7, drive the clamping manipulator 44 to slide close to the material 7 through the horizontal sliding mechanism.

[0057] S32. Drive the clamping cylinder 445 to drive the two clamping fingers 446 to slide on the clamping guide rod 442, so as to be able to adjust the distance between the two clamping fingers 446 for clamping different materials.

[0058] S32. When the material 7 enters the clamping range of the clamping manipulator 44, drive the two clamping fingers 446 to approach each other through the clamping cylinder 445, so that the friction wheels 4464 on the two clamping fingers 446 clamp the material; if the material is in an offset state on the yaw axis at this time, under the clamping action of the clamping cylinder, the rotation guide shaft on the finger rotating part slides in the two arc-shaped limit grooves, stretching the tension spring, and then supporting the two clamping fingers 446 apart, so that the material offset on the yaw axis can also be clamped.

[0059] S34. The friction wheels 4464 on the two clamping fingers 446 are in contact with the surface of the material. The friction wheels 4464 are driven to rotate by the friction wheel motor 4465, thereby driving the material 7 to move in the direction close to the clamping guide rod 442. If the material 7 is in a state of being offset on the yaw axis at this time, during the process of winding in the material 7, the material 7 will push the finger rotating member 4463 to rotate outward relative to the finger bracket along the arc-shaped limiting groove 44612. At this time, the rotation guide shaft 44636 slides in the two arc-shaped limiting grooves 44612, thereby stretching the tension spring 44637. Furthermore, the friction wheel 4464 can clamp the material 7 offset on the yaw axis to prevent the edge of the material 7 from being stuck.

[0060] S4. The storage mechanism 3 is driven to lift by the secondary lifting mechanism, and the material 7 in the storage mechanism 3 is lifted. When the storage mechanism 3 descends, the material 7 is stored in the lifting frame 23.

[0061] The material transfer and storage multifunctional device includes a vehicle body 10. The vehicle body 10 includes a moving mechanism 1 for driving the vehicle body 10 to move, a lifting device, a storage mechanism 3, a clamping device 4, and a towing mechanism 5. The lifting device is installed on the moving mechanism 1, and the storage mechanism 3 is arranged inside the lifting device. The clamping device 4 is arranged on the lifting device. The lifting device can respectively drive the storage mechanism 3 and the clamping device 4 to lift. The towing mechanism 5 is arranged on one side of the moving mechanism 1.

[0062] As Figure 1 shown, the moving mechanism 1 includes a chassis 11 and wheels 100 arranged on the chassis 11. Motors for driving the wheels 100 are provided on the wheels 100, and the motors are fixed on the chassis 11. When the motors work, the output shafts of the motors drive the wheels to rotate, thereby driving the material transfer and storage multifunctional robot to move. In this embodiment, four wheels 100 are provided on the chassis 11, and each wheel corresponds to a motor. The towing mechanism 5 is arranged on one side of the chassis 11.

[0063] As Figure 2 、 Figure 3 and Figure 5 shown, the lifting device includes a support frame 21, a primary lifting mechanism, a lifting frame 23, a primary pulley 24, and a secondary lifting mechanism.

[0064] On both sides of the chassis 11, support frames 21 are vertically arranged symmetrically with respect to the center of the chassis 11. The support frame 21 includes two support rods 211 vertically arranged on the chassis 11 and a horizontal support rod 212 horizontally arranged. The two ends of the horizontal support rod 212 are respectively fixedly connected to the two support rods 211. The first-stage pulley 24 is fixedly connected to the lifting frame 23 and the first-stage pulley 24 is slidably arranged on the support rod 211. The lifting frame 23 is slidably arranged on the support rod 211 through the first-stage pulley 24. The first-stage lifting mechanism is arranged between the moving mechanism 1 and the support frame 21. The first-stage lifting mechanism is connected to the lifting frame 23. By driving the first-stage lifting mechanism, the lifting frame 23 is driven to slide on the support frame 21. One end of the second-stage lifting mechanism is connected to the chassis 11, and the other end of the second-stage lifting mechanism is connected to the first-stage lifting mechanism.

[0065] The storage mechanism 3 is movably arranged on the lifting frame 23 through the second-stage lifting mechanism, and the storage mechanism 3 is driven to lift through the second-stage lifting mechanism. The clamping device 4 is arranged on the lifting frame 23, and the clamping device 4 is driven to lift by driving the first-stage lifting mechanism.

[0066] As Figures 15 - 17 shown, the storage mechanism 3 includes a storage rack 31, a material turning mechanism, and a material clamping mechanism 33. The second-stage lifting mechanism is connected to the storage rack 31. The material turning mechanism is installed on the storage rack 31. The storage rack 31 is respectively provided with limit plates 34 on both sides of the material turning mechanism. The material clamping mechanism 33 is fixedly connected to the storage rack 31 on one side of the material turning mechanism.

[0067] As Figures 9 - 12 shown, the clamping device 4 includes a clamping rack 41, a horizontal sliding mechanism for driving the clamping manipulator 44 to move, a visual recognition module 43, and a clamping manipulator 44. The horizontal sliding mechanism is installed between the clamping rack 41 and the clamping manipulator 44. The clamping manipulator 44 is connected to the horizontal sliding mechanism. The clamping manipulator 44 is arranged above the clamping rack 41 through the horizontal sliding mechanism. The visual recognition module 43 is arranged on the horizontal sliding mechanism and is located on one side of the clamping manipulator 44. The clamping rack 41 is installed on the lifting frame 23.

[0068] The clamping manipulator 44 includes two symmetrically arranged clamping bases 441, clamping guide rods 442, clamping limit blocks 443, clamping connectors 444, clamping cylinders 445, two oppositely arranged clamping fingers 446, and a flipping motor 447 for driving the rotation of the clamping manipulator 44; the two clamping bases 441 are respectively fixedly installed on one side of the sliding base plate 425 of the horizontal sliding mechanism, and a flipping motor 447 is fixedly arranged on each clamping base 441; the output end of the flipping motor 447 is fixedly connected with a clamping connector 444, and the two ends of the clamping guide rod 442 are respectively fixedly connected with the two clamping connectors 444; the two clamping fingers 446 are slidably arranged relative to each other on the clamping guide rod 442, and the two clamping fingers 446 are located between the two clamping connectors 444; the clamping limit block 443 is arranged at the middle position of the clamping guide rod 442, the cylinder body of the clamping cylinder 445 is fixedly connected with one of the clamping fingers 446, and the piston rod of the clamping cylinder 445 is fixedly connected with the other clamping finger 446.

[0069] As Figure 13 shown, the clamping finger 446 includes a finger bracket 4461, a finger sliding part 4462, a finger rotating part 4463, a friction wheel 4464, and a friction wheel motor 4465 for driving the friction wheel 4464; the finger sliding part 4462 is arranged at one end of the finger bracket 4461, and a through hole 44620 for slidingly arranging corresponding to the clamping guide rod 442 is arranged on the finger sliding part 4462; by driving the finger sliding part 4462 through the clamping cylinder 445, the clamping finger 446 slides along the clamping guide rod 442 between the clamping limit block 443 and the clamping connector 444 through the finger sliding part 4462; the finger rotating part 4463 is rotatably arranged at the other end of the finger bracket relative to the finger sliding part 4462, the friction wheel 4464 is rotatably arranged at the end of the finger rotating part 4463 away from the finger bracket 4461, the friction wheel motor 4465 is fixedly installed on the finger rotating part 4463, and the output end of the friction wheel motor 4465 is fixedly connected with the friction wheel 4464.

[0070] As Figure 14As shown in the figure, the finger bracket includes two finger support plates 44611 arranged corresponding to each other up and down, and arc-shaped limiting grooves 44612 are formed on the two finger support plates 44611; the finger rotating member 4463 includes two finger rotating support plates 44631 arranged corresponding to each other up and down, and the two finger rotating support plates 44631 are connected by a friction wheel motor 4465; a rotating guide shaft 44636 and a tension spring 44637 are arranged between the two finger rotating support plates 44631, and both ends of the rotating guide shaft 44636 respectively pass through the arc-shaped limiting grooves 44612 on the two finger support plates 44611, and the rotating guide shaft 44636 is movably arranged in the two arc-shaped limiting grooves 44612; one end of the tension spring 44637 is connected to the rotating guide shaft 44636, the other end of the tension spring 44637 is connected to the output end of the friction wheel motor 4465, and the tension spring 44637 is in a stretched state; the friction wheel 4464 is rotatably arranged between the two finger rotating support plates 44631 and is connected to the output shaft of the friction wheel motor 4465; the friction wheel motor 4465 is fixedly installed on one finger rotating support plate 44631.

[0071] With the above settings, the vehicle body 10 identifies the position and height of the material 7 through the visual recognition module 43, and moves to one side of the material 7 through the moving mechanism 1; according to the height of the material 7, the first-level lifting mechanism is driven, so that the lifting frame 23 moves up and down along the support rod 211 through the first-level pulley 24, thereby realizing the lifting action of the clamping device 4, and making the clamping device 4 located on one side of the material 7; when the clamping device 4 clamps the material 7, the flipping motor 447 is started, and the output end of the flipping motor 447 drives the clamping connecting piece 444 to swing. The swing of the clamping connecting piece 444 drives the clamping guide rod 442 to flip, and the flipping of the clamping guide rod 442 drives the clamping finger 446 to flip, so that the free end of the clamping finger 446 flips to the outside of the clamping frame 41, facilitating the clamping of the material by the clamping finger 446. Then, the clamping manipulator 44 is driven to slide close to the material 7 through the horizontal sliding mechanism, so that the two friction wheels 4464 are respectively located on both sides of the material, and the flipping motor 447 stops working; then, the clamping cylinder 445 is driven to retract the piston rod and drive one of the clamping fingers 446 to move closer to the material 7 and abut against the material 7. When the piston rod of the clamping cylinder 445 is blocked by the material 7 and cannot continue to retract, the cylinder body of the clamping cylinder 445 will drive the other clamping finger 446 to move towards the material 7 through the reaction force, so that the two clamping fingers 446 are driven by the clamping cylinder 445 to slide on the clamping guide rod 442, so as to be able to adjust the distance between the two clamping fingers 446 for different materials 7 to clamp the material, making the clamping of the material 7 by the clamping manipulator 44 more stable.After firmly clamping the material with the clamping fingers 446, the clamping manipulator 44 is driven to slide towards the clamping frame 41 through the horizontal sliding mechanism. At the same time or after the clamping manipulator 44 slides laterally and resets, the flipping motor 447 starts to rotate in the reverse direction. The output end of the flipping motor 447 drives the clamping connecting piece 444 to swing in the reverse direction. The reverse swing of the clamping connecting piece 444 drives the clamping guide rod 442 to flip in the reverse direction. The reverse flip of the clamping guide rod 442 drives the clamping fingers 446 to flip in the reverse direction, so that the free end of the clamping fingers 446 flips into the clamping frame 41. Since the clamping fingers 446 are provided with sliding through holes corresponding to the clamping guide rod 442 on the finger sliding part 4462, the clamping fingers 446 can slide stably on the clamping guide rod 442 through the sliding through holes; when the material 7 enters the clamping range of the clamping manipulator 44, the two clamping fingers 446 are driven to approach each other through the clamping cylinder 445, so that the friction wheels 4464 on the two clamping fingers 446 clamp the material 7; if the material 7 is in an offset state on the yaw axis at this time, under the clamping action of the clamping cylinder 445, the rotation guide shaft 44636 on the finger rotating part 4463 slides in the two arc-shaped limiting grooves 44612, stretching the tension spring 44637, and then the two clamping fingers 446 are supported and separated, so that the offset material 7 on the yaw axis can also be clamped. Subsequently, under the drive of the clamping cylinder 445, when the two clamping fingers 446 approach each other, due to the elastic action of the tension spring 44637 itself, the stability of the clamping fingers 446 when clamping the material 7 can be improved; the friction wheels 4464 on the two clamping fingers 446 are in contact with the surface of the material 7, and the friction wheels are driven to rotate through the friction wheel motor 4465, so as to drive the material 7 to move towards the direction close to the clamping guide rod 442. At the same time, for the material 7 offset on the yaw axis, during the process of winding the material, the material 7 will push the finger rotating part 4463 to rotate outward relative to the finger bracket along the arc-shaped limiting groove 44612. At this time, the rotation guide shaft 44636 slides in the two arc-shaped limiting grooves 44612, so as to stretch the tension spring 44637, and then the friction wheel 4464 can clamp the material 7 offset on the yaw axis, preventing the edge of the material 7 from being stuck, so as to realize the clamping of the material 7 at different angles on the yaw axis, making the material 7 not easy to fall or be damaged; in addition, the storage mechanism 3 can also be driven to lift through the secondary lifting mechanism, so as to lift the material 7 in the storage mechanism 3. When the storage mechanism 3 descends, the material 7 is stored in the lifting frame 23 and is not easy to separate from the vehicle body 10.

[0072] As Figures 2 - 5 and Figure 7 shown, the primary lifting mechanism includes a lifting motor 221, a lower gear 222, an upper gear 223, a lifting fixing piece 224 and a chain 225 (refer to Figure 4); The lifting motor 221 is installed on the chassis 11; The upper gear 223 is arranged on the horizontal support rod 212, the lower gear 222 is arranged directly below the upper gear 223, and the lower gear 222 is in transmission connection with the output end of the lifting motor 221; The upper gear 223 and the lower gear 222 are in transmission connection through a chain 225. One end of the lifting fixing member 224 is fixedly connected to a link of the chain 225, and the other end of the lifting fixing member 224 is fixedly connected to the lifting frame 23; With the above settings, the lower gear 222, the chain 225, and the upper gear 223 form a transmission loop. By driving the lifting motor 221, the lifting fixing member 224 is driven to move up and down with the chain 225, and then the lifting frame 23 is driven to perform a lifting action along the support rod 211.

[0073] As Figure 3 , Figure 5 , Figures 7 - 8 shown, the secondary lifting mechanism includes a secondary pulley 251, a rodless cylinder 252, a lifting slider 253 slidably arranged on the rodless cylinder 252, a lifting guide rod 254 vertically arranged on the lifting frame 23, and a lifting sliding mechanism 255. The rodless cylinder 252 is fixedly installed on the lifting frame; The lifting slider 253 is slidably arranged on the rodless cylinder 252, and one end of the lifting slider 253 is fixedly connected to the storage rack 31; The secondary pulley 251 is fixedly installed on the storage rack 31, and the secondary pulley 251 is slidably arranged on the lifting guide rod 254; By driving the lifting slider 253 to slide through the rodless cylinder 252, the storage mechanism 3 is driven to move up and down along the lifting guide rod 254; With the above settings, through the drive of the rodless cylinder 252, the storage rack 31 can be lifted along the lifting guide rod.

[0074] As Figures 3 - 4 and Figures 7 - 8 shown, the lifting sliding mechanism 255 includes a lifting slide rail 2551 and a lifting slide groove 2552. The lifting slide rail 2551 is fixedly installed on the side surface of the support rod 211, and the lifting slide groove 2552 is fixedly installed on one side of the lifting frame 23 corresponding to the lifting slide rail 2551; When the lifting frame 23 moves up and down along the support rod 211, the lifting slide rail 2551 slides in the lifting slide groove 2552; With the above settings, when the lifting frame 23 is lifted, through the cooperation of the lifting slide rail 2551 and the lifting slide groove 2552, the lifting is made more stable.

[0075] As Figures 3 - 4As shown in the figure, in this embodiment, an L-shaped limiting rod 2541 for preventing the secondary pulley 251 from detaching from the lifting guide rod 254 is further provided at the top of the lifting guide rod 254. One end of the L-shaped limiting rod 2541 is fixedly connected to the lifting guide rod 254, and the other end of the L-shaped limiting rod 2541 is fixedly connected to the lifting frame 23. With the above settings, the lifting guide rod 254, the L-shaped limiting rod 2541, and the lifting frame 23 form a closed loop structure, thereby preventing the secondary pulley 251 from detaching from the lifting guide rod 254.

[0076] As Figure 5 , Figure 7 and Figure 26 As shown in the figure, the lifting frame 23 includes two relatively arranged first lifting side frames 231, second lifting side frames 232, third lifting side frames 233, and a lifting fixed seat 234. The second lifting side frame 232 and the third lifting side frame 233 are relatively arranged, and both ends of the second lifting side frame 232 are fixedly connected to one end of the two first lifting side frames 231 respectively. Both ends of the third lifting side frame 233 are fixedly connected to the other ends of the two first lifting side frames 231 opposite to the second lifting side frame 232 respectively. The lifting guide rod 254 is vertically and fixedly installed on one side of the first lifting side frame, and the lifting chute 2552 is installed on the outside of the first lifting side frame. The lifting fixed seat 234 is arranged at the bottom of the first lifting side frame 231, and the lifting fixed seat 234 is fixedly connected to the lifting fixing member 224. A fourth lifting side frame 235 is provided on the first lifting side frame 231, the primary pulley 24 is fixed on the fourth lifting side frame 235, and the rodless cylinder 252 is arranged on one of the first lifting side frames. The clamping device 4 is arranged at the tops of the second lifting side frame 232 and the third lifting side frame 233. By driving the lifting motor 221, the lifting fixing member 224 and the lifting fixed seat 234 cooperate to drive the lifting frame 23 to lift and lower.

[0077] As Figures 9 - 12 As shown in the figure, the horizontal sliding mechanism includes a sliding cylinder 421, a sliding rail 422, a sliding slider 423, a pulley 424, and a sliding bottom plate 425. One end of the sliding cylinder 421 is fixedly installed on the clamping frame 41, the sliding rail 422 is arranged on the clamping frame 41, the pulley 424 is rotatably arranged on the clamping frame 41 and is located at one end of the sliding rail 422 close to the clamping manipulator 44. The sliding slider 423 is arranged on the bottom surface of the sliding bottom plate 425, a chute corresponding to the sliding rail 422 is provided on the sliding slider 423, and the sliding slider 423 is slidably arranged on the sliding rail 422. The bottom surface of the sliding bottom plate 425 is respectively in contact with the pulley 424. By driving the sliding cylinder 421 to extend and retract, the sliding bottom plate 425 slides under the cooperation of the sliding rail 422 and the sliding slider 423 and the action of the pulley 424.

[0078] As Figures 18 - 23As shown in the figure, the towing mechanism 5 includes two towing hooks. Each towing hook includes a U-shaped mounting base 51, a towing cylinder 52, two relatively arranged towing mounting plates 53, a towing fixing block 54, a towing limiting member 55, a towing slide rail 56, a towing slider 57, a limiting connecting rod 58, and a towing member 59. The two ends of the U-shaped mounting base 51 are respectively fixedly connected to the chassis 11. The towing fixing block 54 is arranged between the two towing mounting plates 53 and is respectively fixedly connected to the chassis 11. The fixed end of the towing cylinder 52 is connected to the chassis 11, and the movable end of the towing cylinder 52 is fixedly connected to the towing fixing block 54. The middle position of the limiting connecting rod 58 is hinged between the two towing mounting plates 53. One end of the towing member 59 is hinged between the two towing mounting plates 53 and is located at the end of the towing mounting plate 53 far from the towing fixing block 54. The end of the towing member 59 hinged to the towing mounting plate 53 abuts against the limiting connecting rod 58. In this embodiment, a return torsion spring (not shown in the figure) is connected between the towing member 59 and the towing mounting plate 53. Under the elastic force of the return torsion spring, the end of the towing member 29 far from the limiting connecting rod 58 is vertically downward.

[0079] The towing limiting member 55 is installed on the chassis 11 and is located on the side of the U-shaped mounting base 51 far from the towing cylinder 52. At the upper end of the towing mounting plate 53 and on the side close to the towing cylinder 52, a first protruding portion 531 extends upward. The height of the uppermost end of the first protruding portion 531 is lower than the highest point of the groove formed by the U-shaped mounting base 51. At the upper end of the towing mounting plate 53 and on the side far from the towing cylinder 52, a second protruding portion 532 extends upward. The towing limiting member 55 is used to limit the first protruding portion 531 and the second protruding portion 532.

[0080] The towing slide rail 56 is arranged on the side surface of the towing mounting plate 53 far from the other towing mounting plate 53. The towing slider 57 is fixedly installed on the inner side wall of the groove formed by the U-shaped mounting base 51. A chute corresponding to the towing slide rail 56 is provided on the towing slider 57, and the towing slide rail 56 is slidably arranged on the towing slider 57. The towing member 59 includes a towing portion 591 and a bending portion 592. The towing portion 591 and the bending portion 592 are obliquely connected. The end of the towing member 59 where the towing portion 591 is connected to the bending portion 592 is hinged to the towing mounting plate 53.

[0081] Among them Figure 22 the arrows indicate the directions of the forces received by the limiting connecting rod and the towing member. When the towing mechanism tows other robots, the towing hook hooks the cross bar 50 of other robots, and the dotted line part indicates the position where the cross bar 50 is located.

[0082] With the above settings, when the dragging cylinder 52 extends, through the transmission of the dragging fixed block 54, the cooperation of the dragging slide rail 56 and the dragging slider 57 is driven to slide outwards until the first convex portion 531 on the dragging mounting plate 53 abuts against the dragging limit member 55 fixed on the chassis 11; by moving the moving mechanism 1, the dragging member 59 is pushed towards the cross bar provided on other robots, and the reaction force generated by the cross bar of other robots pushes the dragging portion 591 of the dragging member 59 to rotate towards the limit link 55 until the cross bar disengages from the dragging portion 591 of the dragging member 59. At this time, the dragging member 59 resets, and the dragging mechanism 5 completes the connection action with the cross bar of other robots; when the dragging mechanism 5 pulls other robots through the dragging member 59, one end of the limit link 58 abuts against the bent portion 592 of the dragging member 59, and the other end of the limit link 58 abuts against the dragging limit member 55. When the multi-functional robot moves, the dragging member 59 rotates. At this time, the bent portion 592 rotates towards the limit link 58 and pushes the limit link 58 to rotate. The other end of the limit link 58 abuts against the dragging limit member 55, thereby restricting the rotation tendency of the dragging link, enabling the multi-functional robot to drag other robots through the dragging member 59; when the dragging cylinder 52 contracts, the dragging fixed block 54 slides towards the chassis 11 through the cooperation of the dragging slide rail 56 and the dragging slider 57 until the second convex portion 532 on the dragging mounting plate 53 abuts against the dragging limit member 55 fixed on the chassis 11, thereby completing the retraction action of the dragging mechanism 5.

[0083] As Figures 15 - 17 shown, the material turning mechanism includes a material turning seat 321, a material turning rotating member 322, a push plate 323 and a material turning motor 324. The material turning seat 321 is fixedly installed on the storage rack 31, and the material turning rotating member 322 is rotatably arranged on the material turning seat 321; the material turning motor 324 is fixedly connected to the storage mechanism 3 on one side of the material turning seat 321, and the output end of the material turning motor 324 passes through the material turning seat 321 and is fixedly connected to the material turning rotating member 322. The material turning rotating member 322 is driven by the material turning motor 324 to rotate on the material turning seat 321; the material turning rotating member 322 extends to form two mounting portions in two directions respectively, and the planes where the two mounting portions are located are perpendicular to each other; the push plate 323 is fixedly installed on the side surface of the mounting portion close to the other mounting portion; with the above settings, the material turning rotating member 322 can be driven by the turning motor 447 to drive the push plate 323 to turn the material 7; wherein, a guide wheel 6 for reducing the friction force between the material 7 and the push plate 323 is provided at the end of the mounting portion far from the material turning seat 321.

[0084] Figures 16 - 17As shown in the figure, the material clamping mechanism 33 includes two symmetrically arranged material clamping bases 331, a material clamping bottom plate 332, a material clamping cylinder 333, a material clamping member 334, and a pressure rod 335 provided at the end of the material clamping member 334; the two material clamping bases 331 are symmetrically arranged on the storage rack 31 and are respectively adjacent to one side of the two limit plates 34; the material clamping bottom plate 332 is arranged on the two material clamping bases 331, the material clamping members 334 are respectively rotatably arranged on the two material clamping bases 331, and the material clamping cylinder 333 is installed on the material clamping bottom plate 332; by controlling the expansion and contraction of the material clamping cylinder 333, the material clamping member 334 is driven to rotate on the material clamping base 331; with the above settings, the material clamping cylinder 333 drives the material clamping members 334 on both sides, and the pressure rod 335 at the end of the material clamping member 334 presses the material 7 tightly; among them, a guide wheel 6 for reducing friction is provided on the material clamping bottom plate 332, and when the pressure rod 335 presses the material 7 tightly, the material 7 moves under the rolling action of the guide wheel 6.

Claims

1. A working method of a multifunctional device for material transfer and storage, characterized in that: It includes the following steps: S1. The vehicle body identifies the position and height of the material through the visual recognition module, and moves to one side of the material through the moving mechanism; S2. Drive the first-level lifting mechanism so that the lifting frame moves up and down along the support rod through the first-level pulley, and the clamping device is located on one side of the material; S3. The clamping device clamps the material; S31. When the clamping device clamps the material, drive the clamping manipulator to slide close to the material through the horizontal sliding mechanism; S32. Drive the clamping cylinder to drive the two clamping fingers to slide on the clamping guide rod, so as to be able to adjust the distance between the two clamping fingers for clamping according to different materials; S32. When the material enters the clamping range of the clamping manipulator, drive the two clamping fingers to approach each other through the clamping cylinder, so that the friction wheels on the two clamping fingers clamp the material; if the material is in an offset state on the yaw axis at this time, under the clamping action of the clamping cylinder, the rotation guide shaft on the finger rotating part slides in the two arc-shaped limit grooves, stretching the tension spring, and then supporting the two clamping fingers apart, so that the offset material on the yaw axis can also be clamped; S34. The friction wheels on the two clamping fingers are in contact with the surface of the material, and the friction wheels are driven to rotate by the friction wheel motor, so as to drive the material to move towards the direction close to the clamping guide rod; if the material is in an offset state on the yaw axis at this time, during the winding process, the material will push the finger rotating part to rotate outwards along the arc-shaped groove relative to the finger support. At this time, the rotation guide shaft slides in the two arc-shaped limit grooves, so as to stretch the tension spring, and then the friction wheel can clamp the offset material on the yaw axis to prevent the edge of the material from being stuck; S4. Drive the storage mechanism to lift through the second-level lifting mechanism to lift the material in the storage mechanism. When the storage mechanism descends, the material is stored in the lifting frame; The clamping device includes a clamping frame, a horizontal sliding mechanism for driving the clamping manipulator to move, a vision recognition module, and a clamping manipulator; the horizontal sliding mechanism is installed between the clamping frame and the clamping manipulator, the clamping manipulator is connected to the horizontal sliding mechanism, and the clamping manipulator is arranged above the clamping frame through the horizontal sliding mechanism; the first-level lifting mechanism includes a lifting motor, a lower gear, an upper gear, a lifting fixing member, and a chain; the lifting motor is installed on the chassis; the upper gear is arranged on the horizontal support rod, the lower gear is arranged directly below the upper gear, and the lower gear is in transmission connection with the output end of the lifting motor; the upper gear and the lower gear are in transmission connection through the chain, one end of the lifting fixing member is fixedly connected to a link of the chain, and the other end of the lifting fixing member is fixedly connected to the lifting frame; the second-level lifting mechanism includes a second-level pulley car, a rodless cylinder, a lifting slider slidably arranged on the rodless cylinder, a lifting guide rod vertically arranged on the lifting frame, and a lifting sliding mechanism, the rodless cylinder is fixedly installed on the lifting frame; the lifting slider is slidably arranged on the rodless cylinder, and one end of the lifting slider is fixedly connected to the storage frame; the second-level pulley car is fixedly installed on the storage frame, and the second-level pulley car is slidably arranged on the lifting guide rod; by driving the rodless cylinder to drive the lifting slider to slide, the storage mechanism is driven to move up and down along the lifting guide rod; the lifting frame includes two relatively arranged first lifting side frames, a second lifting side frame, a third lifting side frame, and a lifting fixing seat; the second lifting side frame and the third lifting side frame are relatively arranged, and both ends of the second lifting side frame are respectively fixedly connected to one ends of the two first lifting side frames; both ends of the third lifting side frame are respectively fixedly connected to the other ends of the two first lifting side frames opposite to the second lifting side frame; the lifting guide rod is vertically and fixedly installed on one side of the first lifting side frame, and the lifting chute is installed on the outside of the first lifting side frame; the lifting fixing seat is arranged at the bottom of the first lifting side frame, and the lifting fixing seat is fixedly connected to the lifting fixing member; by driving the lifting motor, the lifting fixing member and the lifting fixing seat cooperate to drive the lifting frame to lift; the horizontal sliding mechanism includes a sliding cylinder, a sliding rail, a sliding slider, a pulley, and a sliding bottom plate; one end of the sliding cylinder is fixedly installed on the clamping frame, the sliding rail is arranged on the clamping frame, the pulley is rotatably arranged on the clamping frame and is located at one end of the sliding rail close to the clamping manipulator; the sliding slider is arranged on the bottom surface of the sliding bottom plate, a chute corresponding to the sliding rail is arranged on the sliding slider, and the sliding slider is slidably arranged on the sliding rail; the bottom surface of the sliding bottom plate is respectively abutted against the pulley; by driving the sliding cylinder to extend and retract, the sliding bottom plate slides under the cooperation of the sliding rail and the sliding slider and the action of the pulley.

2. The working method of a multi-functional material transfer and storage device according to claim 1, characterized in that: It is realized through the following structure, including a vehicle body, the vehicle body includes a moving mechanism for driving the vehicle body to move, a lifting device, a storage mechanism, a clamping device, and a towing mechanism; the lifting device is installed on the moving mechanism, and the storage mechanism is arranged inside the lifting device; the clamping device is arranged on the lifting device; The lifting device can respectively drive the storage mechanism and the clamping device to lift; the towing mechanism is arranged on one side of the moving mechanism; the moving mechanism includes a chassis; The lifting device includes a support frame, a first-level lifting mechanism, a lifting frame, a first-level pulley, and a second-level lifting mechanism; support frames are symmetrically and vertically arranged on both sides of the chassis with respect to the center of the chassis. The support frame includes two support rods vertically arranged on the chassis and a horizontal support rod horizontally arranged. Both ends of the horizontal support rod are fixedly connected to the two support rods respectively; the first-level pulley is fixedly connected to the lifting frame and the first-level pulley is slidably arranged on the support rod, and the lifting frame is slidably arranged on the support rod through the first-level pulley; the first-level lifting mechanism is arranged between the moving mechanism and the support frame, and the first-level lifting mechanism is connected to the lifting frame. By driving the first-level lifting mechanism, the lifting frame is driven to slide on the support frame; One end of the second-level lifting mechanism is connected to the chassis, and the other end of the second-level lifting mechanism is connected to the first-level lifting mechanism; The storage mechanism is movably arranged on the lifting frame through the second-level lifting mechanism, and the storage mechanism is driven to lift through the second-level lifting mechanism; the clamping device is arranged on the lifting frame, and the clamping device is driven to lift by driving the first-level lifting mechanism; The storage mechanism includes a storage rack, a material turning mechanism, and a material clamping mechanism; the second-level lifting mechanism is connected to the storage rack; the material turning mechanism is installed on the storage rack; Limit plates are respectively arranged on both sides of the storage rack on both sides of the material turning mechanism; the material clamping mechanism is fixedly connected to the storage rack on one side of the material turning mechanism; The visual recognition module is arranged on the horizontal sliding mechanism and is located on one side of the clamping manipulator, and the clamping frame is installed on the lifting frame; The clamping manipulator includes two symmetrically arranged clamping bases, clamping guide rods, clamping limit blocks, clamping connecting pieces, clamping cylinders, two relatively arranged clamping fingers, and a turning motor for driving the clamping manipulator to turn; the two clamping bases are respectively fixedly installed on one side of the sliding bottom plate of the horizontal sliding mechanism, and a turning motor is fixedly arranged on each clamping base; the output end of the turning motor is fixedly connected to the clamping connecting piece, and both ends of the clamping guide rod are respectively fixedly connected to the two clamping connecting pieces; the two clamping fingers are relatively slidably arranged on the clamping guide rod, and the two clamping fingers are located between the two clamping connecting pieces; the clamping limit block is arranged at the middle position of the clamping guide rod, the cylinder body of the clamping cylinder is fixedly connected to one of the clamping fingers, and the piston rod of the clamping cylinder is fixedly connected to the other clamping finger; The clamping finger includes a finger support, a finger sliding part, a finger rotating part, a friction wheel, and a friction wheel motor for driving the friction wheel; the finger sliding part is arranged at one end of the finger support, and a through hole corresponding to the clamping guide rod is arranged on the finger sliding part; the finger rotating part is rotatably arranged at the other end of the finger support relative to the finger sliding part, the friction wheel is rotatably arranged at the end of the finger rotating part away from the finger support, the friction wheel motor is fixedly installed on the finger rotating part, and the output end of the friction wheel motor is fixedly connected to the friction wheel; The finger support includes two finger support plates arranged corresponding to each other up and down, and arc-shaped limiting grooves are formed on the two finger support plates; the finger rotating member includes two finger rotating support plates arranged corresponding to each other up and down, and the two finger rotating support plates are connected by a friction wheel motor; a rotating guide shaft and a tension spring are arranged between the two finger rotating support plates, and both ends of the rotating guide shaft respectively pass through the arc-shaped limiting grooves on the two finger support plates, and the rotating guide shaft is movably arranged in the two arc-shaped limiting grooves; one end of the tension spring is connected to the rotating guide shaft, and the other end of the tension spring is connected to the output end of the friction wheel motor, and the tension spring is in a stretched state; the friction wheel is rotatably arranged between the two finger rotating support plates and is connected to the output shaft of the friction wheel motor; the friction wheel motor is fixedly installed on one finger rotating support plate.

3. The working method of a multifunctional material transfer and storage device according to claim 1, characterized in that: The towing mechanism includes more than one towing hook, and the towing hook includes a U-shaped mounting seat, a towing cylinder, two relatively arranged towing mounting plates, a towing fixing block, a towing limiting member, a towing slide rail, a towing slider, a limiting connecting rod and a towing member; Both ends of the U-shaped mounting seat are respectively fixedly connected to the chassis; the towing fixing block is arranged between the two towing mounting plates, and the towing fixing block is respectively fixedly connected to the two towing mounting plates; the fixed end of the towing cylinder is connected to the chassis, and the movable end of the towing cylinder is fixedly connected to the towing fixing block; the middle position of the limiting connecting rod is hinged between the two towing mounting plates, and one end of the towing member is hinged between the two towing mounting plates and is located at the end of the towing mounting plate away from the towing fixing block; the end of the towing member hinged to the towing mounting plate abuts against the limiting connecting rod; the towing limiting member is installed on the chassis and is located on the side of the U-shaped mounting seat away from the towing cylinder; a first convex portion extends upward at the upper end of the towing mounting plate and on the side close to the towing cylinder, and the height of the convex portion is lower than the highest point of the groove formed by the U-shaped mounting seat; a second convex portion extends upward at the upper end of the towing mounting plate and on the side away from the towing cylinder; the towing slide rail is arranged on the side surface of the towing mounting plate away from the other towing mounting plate, the towing slider is fixedly installed on the inner side wall of the groove formed by the U-shaped mounting seat, a chute corresponding to the towing slide rail is arranged on the towing slider, and the towing slide rail is slidably arranged on the towing slider; the towing member includes a towing portion and a bent portion, the towing portion and the bent portion are obliquely connected, and the end of the towing member where the towing portion is connected to the bent portion is hinged to the towing mounting plate.

4. The working method of a multi-functional material transfer and storage device according to claim 1, characterized in that: The lifting and sliding mechanism includes a lifting slide rail and a lifting chute, the lifting slide rail is fixedly installed on the side surface of the support rod, and the lifting chute is fixedly installed corresponding to the lifting slide rail on one side of the lifting frame; when the lifting frame moves up and down along the support rod, the lifting slide rail slides in the lifting chute.

5. The working method of a multi-functional material transfer and storage device according to claim 1, characterized in that: The material turning mechanism includes a material turning seat, a material turning rotating member, a push plate and a material turning motor, the material turning seat is fixedly installed on the storage rack, and the material turning rotating member is rotatably arranged on the material turning seat; the material turning motor is fixedly connected to the storage mechanism on one side of the material turning seat, and the output end of the material turning motor passes through the material turning seat and is fixedly connected to the material turning rotating member, and the material turning rotating member is driven by the material turning motor to rotate on the material turning seat; the material turning rotating member extends respectively in two directions to form two mounting portions, and the planes where the two mounting portions are located are perpendicular to each other; the push plate is fixedly installed on the side surface of the mounting portion close to the other mounting portion.

6. The working method of a multi-functional material transfer and storage device according to claim 1, characterized in that: The material clamping mechanism includes two symmetrically arranged material clamping bases, a material clamping bottom plate, a material clamping cylinder, a material clamping member, and a pressure rod arranged at the end of the material clamping member; the two material clamping bases are symmetrically arranged on the storage rack and are respectively adjacent to one side of the two limit plates; the material clamping bottom plate is arranged on the two material clamping bases, the material clamping members are respectively rotatably arranged on the two material clamping bases, and the material clamping cylinder is installed on the material clamping bottom plate; by controlling the expansion and contraction of the material clamping cylinder, the material clamping member is driven to rotate on the material clamping base.

Images