A method for grasping a material

Abstract

The present invention provides a method for grasping materials, which is realized by an engineering trolley. The engineering trolley includes a grasping device and a lifting device, and the lifting device drives the grasping device to lift and lower; the grasping device includes a telescopic device, a bracket and a grasping device, and the grasping device is located on one side of the bracket; the fixed end of the telescopic device is connected to the bracket, and the movable end of the telescopic device is connected to the grasping device, and the telescopic device drives the grasping device to approach and move away from the avoidance space; the telescopic device is used to drive the grasping device to extend and retract; so that the box-shaped material grasped by the grasping device can be moved into the avoidance space; by providing the telescopic device, the grasping device can grasp box-shaped materials at different distances from the rack; at the same time, the grasping and rotating bracket of the grasping device is rotatably arranged, and the grasping and rotating bracket is connected with a suction attachment; in this way, box-shaped materials can be grasped from different directions; and box-shaped materials can be grasped bypassing obstacles.

Description

Technical Field

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

[0002] Engineering trolleys are quite similar to handling robots in the logistics industry. Both need to achieve clamping and handling of regular objects within a certain weight at different heights. Through automation, intelligent logistics can be realized. For example, fully automated logistics can be achieved in scenarios such as ports and logistics centers. However, existing handling robots cannot turn over the box-shaped materials being handled. At the same time, the moving direction of the clamping jaws of existing handling robots is fixed. They can only clamp the box-shaped materials along one direction, that is, they can only approach the box-shaped materials from top to bottom for clamping, or approach the box-shaped materials from left to right for clamping. They cannot clamp the box-shaped materials along different directions, and are easily restricted by site factors during use and cannot pick up the box-shaped materials. At the same time, the clamping jaws cannot catch the materials falling from the air. When the clamping jaws grasp the box-shaped materials, they need to open the clamping jaws, then move the clamping jaws so that the box-shaped materials are located between the two claw teeth of the clamping jaws. Then, the clamping jaws need to be closed to achieve the grasping of the box-shaped materials. The actions of the clamping jaws when grasping the box-shaped materials are cumbersome. Summary of the Invention

[0003] The present invention provides a method for grasping materials, which can quickly grasp materials at different positions.

[0004] To achieve the above object, the technical solution of the present invention is: a method for grasping materials, realized by an engineering trolley. The engineering trolley includes a frame, a grasping device, a lifting device, and a moving device; the moving device drives the engineering trolley to move.

[0005] The grasping device includes a telescopic device, a bracket, and a grasping unit. The grasping unit is located on one side of the bracket; the fixed end of the telescopic device is connected to the bracket, and the movable end of the telescopic device is connected to the grasping unit. The telescopic device drives the grasping unit to approach and move away from the bracket.

[0006] The bracket includes a fixing member and a positioning member. The positioning member is arranged on the fixing member, and an avoidance hole is provided on the positioning member. An avoidance space is formed between the avoidance hole and the fixing member; the avoidance space is used to accommodate box-shaped materials.

[0007] The grasping unit includes a grasping mounting bracket, a grasping driving device, a grasping rotating bracket, and an adsorbing member; the grasping mounting bracket is connected to the movable end of the telescopic device. The grasping driving device is fixed on the grasping mounting bracket and is connected to the grasping rotating bracket. The adsorbing member is installed on the grasping rotating bracket; the grasping driving device drives the grasping rotating bracket to rotate, and the grasping rotating bracket drives the adsorbing member to approach and move away from the avoidance space.

[0008] The method for grasping materials includes the following steps:

[0009] S1. Determine whether the box-shaped material is within the moving range of the lifting of the grasping device. If so, proceed to S2.

[0010] S2. The moving device drives the frame to move to one side of the box-shaped material.

[0011] S3. Determine whether the suction attachment of the grasping device can contact the opposite side surface of the box-shaped material. If so, proceed to S4; if not, proceed to S6.

[0012] S4. The grasping rotating bracket drives the suction attachment to rotate away from the avoidance space, making the adsorption surface of the suction attachment parallel to the opposite side of the box-shaped material; the lifting device drives the suction attachment to move to the same horizontal height as the box-shaped material; then the telescopic movable bracket extends to make the suction attachment contact the box-shaped material.

[0013] S5. The suction attachment adsorbs the box-shaped material, and then the telescopic movable bracket retracts; then proceed to S12.

[0014] S6. If the box-shaped material is above the grasping device, proceed to S7; if the box-shaped material is below the grasping device, proceed to S9.

[0015] S7. The telescopic movable bracket extends to place the suction attachment directly below the box-shaped material, the grasping rotating bracket rotates away from the avoidance space, making the adsorption surface of the suction attachment correspond to the bottom of the box-shaped material; the lifting device drives the suction attachment to rise and contact the box-shaped material; then proceed to S8.

[0016] S8. The lifting device drives the suction attachment to descend, and then the telescopic movable bracket retracts; then proceed to S11.

[0017] S9. The telescopic movable bracket extends to place the suction attachment directly above the box-shaped material, the grasping rotating bracket drives the suction attachment to rotate away from the avoidance space, making the adsorption surface of the suction attachment correspond to the top of the box-shaped material; the lifting device drives the suction attachment to descend and contact the box-shaped material; then proceed to S10.

[0018] S10. The lifting device drives the suction attachment to rise, and then the telescopic movable bracket retracts; then proceed to S11.

[0019] S11. The grasping rotating bracket drives the suction attachment to rotate towards the avoidance space. When the box-shaped material enters the avoidance space, the suction attachment releases the adsorption of the box-shaped material; then the grasping rotating bracket rotates away from the avoidance space; then proceed to S12.

[0020] S12. Move the mobile device to drive the frame to the target point; grasp the rotating bracket to drive the adsorber to rotate towards the direction close to the avoidance space, and the adsorber adsorbs the box-shaped material; the adsorber drives the box-shaped material to rotate away from the avoidance space and places the box-shaped material on the contact surface at the target point.

[0021] In the above method, the grasping rotating bracket drives the adsorber to rotate, so that the adsorber can contact box-shaped materials at different heights and positions; when there is no obstacle between the adsorber and the box-shaped material, one side of the adsorber contacts the box-shaped material, which is highly efficient; when the box-shaped material is above or below the adsorber and there is no obstacle between the adsorber and the box-shaped material; the height of the adsorber is changed through the lifting device; so that the adsorber can contact one side of the box-shaped material at different heights; realizing the grasping of box-shaped materials at different heights.

[0022] When the box-shaped material is above or below the adsorber and there is an obstacle between the adsorber and the box-shaped material; the grasping rotating bracket changes the contact position between the adsorber and the box-shaped material; when the box-shaped material is above the adsorber, the adsorber contacts the bottom of the box-shaped material; when the box-shaped material is below the adsorber, the adsorber contacts the top of the box-shaped material; then the lifting device drives the adsorber and the box-shaped material to move, so as to grasp the box-shaped material across the obstacle.

[0023] Furthermore, a support member with a hollow structure is provided in the adsorber.

[0024] Furthermore, S2 further includes: if the box-shaped material is not within the moving range of the grasping device for lifting, then perform S13.

[0025] S13. If the box-shaped material is above the adsorber, then perform S14.

[0026] S14. The telescopic movable bracket extends, so that the adsorber is located directly below the box-shaped material, and the grasping rotating bracket rotates away from the flipping device, so that the adsorption surface of the adsorber corresponds to the bottom of the box-shaped material; the lifting device drives the adsorber to rise to the highest height; the adsorber performs adsorption; then perform S15.

[0027] S15. The clamping device for clamping the upper box-shaped material releases the clamping of the box-shaped material; the box-shaped material approaches the adsorber under the action of gravity; then perform S16.

[0028] S16. When the box-shaped material contacts the adsorber, the support member supports the box-shaped material; under the suction force of the adsorber, the box-shaped material is adsorbed on the adsorber; then perform S8.

[0029] The above method can grasp box-shaped materials falling from a high altitude. Since the box-shaped materials will deform the suction attachment when hitting it under the action of gravity, which will cause the suction attachment to be unable to adsorb the box-shaped materials. By setting up a support member to enhance the stiffness of the suction attachment and support the box-shaped materials with the support member, it can avoid the box-shaped materials hitting the suction attachment under the action of gravity and deforming the suction attachment.

[0030] Furthermore, the telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a first telescopic driving device, and a second telescopic driving device. One end of the telescopic movable bracket is connected to the grasping device. The telescopic movable bracket is arranged above the telescopic fixed bracket and is slidably connected to the telescopic fixed bracket. The fixed end of the first telescopic driving device is connected to the telescopic fixed bracket, the movable end of the first telescopic driving device is connected to the fixed end of the second telescopic driving device, and the movable end of the second telescopic driving device is connected to the telescopic movable bracket. The first telescopic driving device is used to drive the telescopic movable bracket to move, and the second telescopic driving device is used to drive the telescopic movable bracket to move relative to the first telescopic driving device.

[0031] With the above settings, the telescopic device drives the grasping device to extend and retract, so that the box-shaped materials grasped by the grasping device can be moved into the avoidance space. By setting up the telescopic device, the grasping device can grasp box-shaped materials at different distances from the frame. The first telescopic driving device drives the telescopic movable bracket to extend for the first time, and the second telescopic driving device drives the telescopic movable bracket to extend for the second time. The moving distance of the telescopic movable bracket is far, so that the grasping range of the grasping device is far.

[0032] Furthermore, in S4, S7, and S9, the extension of the telescopic movable bracket specifically means: the first telescopic driving device drives the telescopic movable bracket to extend for the first time, and the second telescopic driving device drives the telescopic movable bracket to extend for the second time.

[0033] In S5, S8, and S10, the retraction of the telescopic movable bracket specifically means: the first telescopic driving device drives the telescopic movable bracket to retract for the first time, and the second telescopic driving device drives the telescopic movable bracket to retract for the second time.

[0034] Furthermore, the lifting device includes a lifting fixed bracket, a lifting movable bracket, a lifting driving device, and a transmission component. The lifting fixed bracket is fixedly connected to the frame, and the lifting movable bracket is slidably connected to the lifting fixed bracket and the flipping device.

[0035] The transmission component includes a first lifting transmission wheel, a second lifting transmission wheel, a lifting synchronous belt, a first synchronous belt fixing member, and a second synchronous belt fixing member. The output end of the lifting driving device passes through the first lifting transmission wheel and is connected to one end of the lifting movable bracket. The second lifting transmission wheel is rotatably arranged at the other end of the lifting movable bracket. The lifting synchronous belt is sleeved on the first lifting transmission wheel and the second lifting transmission wheel.

[0036] One end of the first synchronous belt fixing member is fixedly connected to the lifting fixing bracket, and the other end of the first synchronous belt fixing member is clamped on the lifting synchronous belt sleeve on one side of the first lifting driving wheel and the second lifting driving wheel; the second synchronous belt fixing member sleevs the lifting synchronous belt on the other side of the first lifting driving wheel and the second lifting driving wheel and is fixed on the flipping bracket; the transmission assembly is used to drive the lifting movable bracket and the flipping device to lift synchronously.

[0037] With the above settings, the bracket is driven to lift by the lifting device, and then the grasping device is driven to lift; in this way, the grasping device can grasp box-shaped materials at different heights; since the bracket is lifted synchronously with the grasping device, the cooperation effect between the grasping device and the avoidance space is good; the lifting synchronous belt sleeve on one side of the transmission assembly is connected to the lifting fixing bracket, and the transmission assembly rotates in one direction to drive the lifting synchronous belt to move. The first synchronous belt fixing member approaches the bottom end of the lifting fixing bracket, and the first synchronous belt fixing member generates a force to drive the lifting fixing bracket to move downward; since the lifting fixing bracket is fixed on the machine frame and cannot move, and the transmission assembly is arranged on the lifting movable bracket, and the lifting movable bracket is slidably connected to the lifting fixing bracket, this will drive the lifting movable bracket to move upward, making the first synchronous belt fixing member move downward relative to the first lifting driving wheel, and then realizing the rise of the lifting movable bracket.

[0038] The transmission assembly rotates the lifting synchronous belt sleeve in the other direction, the first synchronous belt fixing member approaches the top end of the lifting fixing bracket, and the first synchronous belt fixing member generates a force to drive the lifting fixing bracket to move upward; since the lifting fixing bracket is fixed on the machine frame and cannot move, and the transmission assembly is arranged on the lifting movable bracket, and the lifting movable bracket is slidably connected to the lifting fixing bracket, this will drive the lifting movable bracket to move downward, making the first synchronous belt fixing member move upward relative to the first lifting driving wheel, and then realizing the descent of the lifting movable bracket.

[0039] At the same time, a second synchronous belt fixing member is connected to the lifting synchronous belt sleeve on the other side of the transmission assembly. When the lifting movable bracket rises, the first synchronous belt fixing member moves downward relative to the first lifting driving wheel. In this way, the second synchronous belt fixing member moves upward relative to the first lifting driving wheel, and the bracket rises at the same time; when the lifting movable bracket descends, the first synchronous belt fixing member moves upward relative to the first lifting driving wheel. In this way, the second synchronous belt fixing member moves downward relative to the first lifting driving wheel, and the bracket descends at the same time; the bracket moves based on the movement of the lifting movable bracket, and the lifting height range of the bracket is large. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a three-dimensional schematic diagram of the engineering vehicle using the present invention.

[0041] Figure 2 Schematic three-dimensional view of the gripping device and the lifting device using the present invention.

[0042] Figure 3 Schematic three-dimensional view of the gripping device using the present invention.

[0043] Figure 4 Exploded view of the gripping device using the present invention.

[0044] Figure 5 Schematic three-dimensional view of the telescopic device and the gripping device using the present invention.

[0045] Figure 6 Schematic view of the telescopic first driving device in the present invention driving the telescopic movable bracket to extend.

[0046] Figure 7 For Figure 6 Enlarged view of b in

[0047] Figure 8 Schematic view of the telescopic second driving device in the present invention driving the telescopic movable bracket to extend.

[0048] Figure 9 Schematic three-dimensional view of the positioning member in the present invention.

[0049] Figure 10 Schematic three-dimensional view of the fixing member in the present invention.

[0050] Figure 11 Schematic three-dimensional view of the lifting device in the present invention.

[0051] Figure 12 Front view of the lifting device in the present invention.

[0052] Figure 13 Schematic view after the lifting device in the present invention rises.

[0053] Figure 14 Schematic view of the engineering trolley using the present invention cooperating with box-shaped materials of different heights. Detailed implementation manners

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0055] As Figures 1-14 shown; a method for gripping materials, realized by an engineering trolley; the engineering trolley includes a frame 10; a gripping device 1 and a lifting device 2 are provided on the frame 10. In this embodiment, there are two lifting devices 2, and the gripping device 1 is located between the two lifting devices 2; the two lifting devices 2 are connected to the gripping device 1 and drive the gripping device 1 to lift.

[0056] As shown in Figure 3 and 4 ; the grasping device 1 includes a telescopic device 11, a bracket 12, and a grasping device 13. The grasping device 13 is located on one side of the bracket 12. The fixed end of the telescopic device 11 is connected to the bracket 12, and the movable end of the telescopic device 11 is connected to the grasping device 13. The telescopic device 11 drives the grasping device 13 to approach and move away from the bracket 12. The telescopic device 11 drives the grasping device 13 to extend and retract, so that the box-shaped material grasped by the grasping device 13 can be moved into the bracket 12. By providing the telescopic device 11, the grasping device 13 can grasp box-shaped materials at different distances from the rack 10.

[0057] The bracket 121 includes a fixing member 1211 and a positioning member 1212. The positioning member 1212 is arranged on the fixing member 1211. An avoidance hole 1214 is provided on the positioning member 1212, and an avoidance space 1215 is formed between the avoidance hole 1214 and the fixing member 1211. The avoidance space 1215 is used to accommodate the box-shaped material.

[0058] As shown in Figure 4 and 5 ; the grasping device 13 includes a grasping mounting bracket 131, a grasping driving device 132, a grasping rotating bracket 133, and a suction member 134. In this embodiment, there are two grasping mounting brackets 131. The two grasping mounting brackets 131 are connected to the movable end of the telescopic device 11. The grasping driving device 132 is fixed on one grasping mounting bracket 131, and the output end of the grasping driving device 132 is fixedly connected to one end of the grasping rotating bracket 133. The other end of the grasping rotating bracket 133 is rotatably connected to the other grasping mounting bracket 131. The suction member 134 is mounted on the grasping rotating bracket 133. The grasping driving device 132 drives the grasping rotating bracket 133 to rotate, and the grasping rotating bracket 133 drives the suction member 134 to approach and move away from the bracket 12. In this embodiment, the suction member 134 is a suction cup. A support member with a hollow structure (not shown in the figure) is provided in the suction member 134, and the suction member 134 is connected to a vacuum pumping device (not shown in the figure). The vacuum pumping device is a vacuum pump. By providing the support member with a hollow structure, it does not affect the adsorption of the box-shaped material by the suction member 134, and at the same time, the supporting force of the suction member 134 is improved. In this embodiment, the grasping driving device 132 is a stepping motor. The grasping device 13 is used to grasp the box-shaped material and place the grasped box-shaped material in the bracket 12.

[0059] A rotatable grasping and rotating bracket 133 is provided. The grasping and rotating bracket 133 drives the suction attachment 134 to rotate. In this way, the suction attachment 134 can grasp the box-shaped material both horizontally and vertically. It can also grasp the box-shaped material in an inclined direction between the horizontal and vertical directions. It is not easily restricted by the site and has a wide application range. At the same time, since the grasping and rotating bracket 133 can rotate, after the grasping device 13 grasps the box-shaped material in one direction, the grasping device 13 can place the box-shaped material in another direction.

[0060] Refer to Figure 14 As shown; the box-shaped materials Q1, Q2, Q3 are arranged on the wall 6 through the clamping device 5; the box-shaped material Q4 is arranged on the ground 7; the clamping device clamps the side surface of the box-shaped material. In this embodiment, the clamping device is a jaw; the clamping device is a prior art and will not be elaborated here.

[0061] If the box-shaped material is within the lifting range of the grasping device 13; then the lifting device 2 is used to drive the grasping device 13 to rise and fall to cooperate with the box-shaped materials at different position heights. Refer to Figure 14 The box-shaped materials Q2, Q3, Q4 in

[0062] Refer to Figure 14 For the box-shaped material Q3 in

[0063] Refer to Figure 14 Q2, Q4 in

[0064] Refer to Figure 14 For Q2 in

[0065] Refer to Figure 14 Q4 in

[0066] Refer to Figure 9 and10 As shown in the figure; at one end of the fixing member 1211 away from the grasping device 13, there are two fixed support members 1218, and at the top of each fixed support member 1218, there is a first card slot 12181; the first card slot 12181 is clamped on one end of the positioning member 1212 away from the grasping device 13. In another embodiment, at one end of the positioning member 1212 away from the grasping device 13, there are two second card slots 12182; the first card slot 12181 is engaged with the second card slot 12182. By engaging the first card slot 12181 with the positioning member 1212, the connection stability between the fixing member 1211 and the positioning member 1212 is further improved.

[0067] As Figures 5-8 shown in the figure; the telescopic device 11 includes a telescopic fixed bracket 111, a telescopic movable bracket 112, a telescopic first driving device 113 and a telescopic second driving device 114; one end of the telescopic movable bracket 112 is connected to the grasping device 13; the telescopic movable bracket 112 is arranged above the telescopic fixed bracket 111 and is slidably connected to the telescopic fixed bracket 111; in this embodiment, at the top of the telescopic fixed bracket 111, there is a slide rail (not shown in the figure), and at the bottom of the telescopic movable bracket 112, there is a slider (not shown in the figure), and the slider is slidably arranged on the slide rail.

[0068] The fixed end of the telescopic first driving device 113 is connected to the telescopic fixed bracket 111, the movable end of the telescopic first driving device 113 is connected to the fixed end of the telescopic second driving device 114, and the movable end of the telescopic second driving device 114 is connected to the telescopic movable bracket 112; the telescopic first driving device 113 is used to drive the telescopic movable bracket 112 to move, and the telescopic second driving device 114 is used to drive the telescopic movable bracket 112 to move relative to the telescopic first driving device 113. The telescopic first driving device 113 drives the telescopic movable bracket 112 to perform the first extension, and the telescopic second driving device 114 drives the telescopic movable bracket 112 to perform the second extension; the moving distance of the telescopic movable bracket 112 is far; thus, the grasping range of the grasping device 13 is far.

[0069] In this embodiment, the telescopic first driving device 113 is a rodless cylinder; the telescopic first driving device 113 includes a telescopic first fixed seat 1131, a telescopic first cylinder body 1132 and a telescopic first slider 1133; the telescopic movable bracket 112 is located between the telescopic first slider 1133 and the telescopic fixed bracket 111; one end of the telescopic first fixed seat 1131 is connected to the telescopic fixed bracket 111, and the telescopic first cylinder body 1132 is arranged at the other end of the telescopic first fixed seat 1131; the telescopic first slider 1133 is arranged through the telescopic first cylinder body 1132 and is slidably arranged on the telescopic first cylinder body 1132.

[0070] The telescopic second driving device 114 includes a telescopic second fixed seat 1141, a telescopic second cylinder 1142, and a telescopic third fixed seat 1143; the fixed end of the telescopic second cylinder 1142 is connected to the telescopic second fixed seat 1141, and the telescopic second fixed seat 1141 is connected to the telescopic first slider 1133; the movable end of the telescopic second cylinder 1142 is connected to the telescopic third fixed seat 1143, and the telescopic third fixed seat 1143 is connected to the telescopic movable bracket 112.

[0071] The telescopic first slider 1133 is connected to the telescopic second fixed seat 1141 and slides on the telescopic first cylinder block 1132. At the same time, the telescopic second fixed seat 1141 is connected to the telescopic movable bracket 112 through the telescopic second cylinder and the telescopic third fixed seat 1143; this prevents the telescopic first slider 1133 from rotating during movement; it plays a guiding role in the movement of the telescopic first slider 1133.

[0072] In another embodiment, the telescopic device 11 further includes a pulley 1152 assembly 115. The pulley 1152 assembly 115 is disposed at one end of the telescopic movable bracket 112 away from the grasping device 13; the pulley 1152 assembly 115 includes a pulley bracket 1151, and one or more rotatable pulleys 1152 are provided on both sides of the pulley bracket 1151; the pulley 1152 abuts against the bottom of the telescopic first slider 1133. When the telescopic first driving device 113 drives the telescopic movable bracket 112 to move, the telescopic movable bracket 112 moves synchronously with the telescopic first slider 1133; since the telescopic first slider moves synchronously with the telescopic movable bracket 112, at this time, the telescopic first slider 1133 does not have sliding friction with the telescopic movable bracket 112; when the telescopic second driving device 114 drives the telescopic movable bracket 112 to move, the telescopic movable bracket 112 moves relative to the telescopic first slider 1133; by providing the pulley 1152 assembly 115 at one end of the telescopic movable bracket 112 away from the grasping device 13, the friction force received by the telescopic first slider 1133 during movement is reduced.

[0073] As Figures 11-13 shown; the lifting device 2 includes a lifting fixed bracket 21, a lifting movable bracket 22, a lifting driving device 23, and a transmission assembly 24; the lifting fixed bracket 21 is fixedly connected to the frame 10, and the lifting movable bracket 22 is slidably connected to the lifting fixed bracket 21 and the bracket 12.

[0074] In this embodiment, a slide rail is provided on the lifting fixed bracket 21, and a slider is provided on one side of the lifting movable bracket 22 close to the lifting fixed bracket 21; a slider is provided on the bracket 121. A slide rail is provided on one side of the lifting movable bracket 22 close to the bracket 121; the slider is slidably disposed on the slide rail; thereby realizing the sliding connection between the lifting movable bracket 22 and the lifting fixed bracket 21, and between the lifting movable bracket 22 and the bracket 121.

[0075] There are two sets of the lifting and fixing brackets 21, the lifting movable brackets 22 and the transmission components 24 respectively; the two lifting movable brackets 22 are located between the two lifting and fixing brackets 21, and a lifting drive support member 25 is connected between the two lifting movable brackets 22.

[0076] The transmission component 24 includes a first lifting transmission wheel 241, a second lifting transmission wheel 242, a lifting synchronous belt 243, a first synchronous belt fixing member 244 and a second synchronous belt fixing member 245; the output end of the lifting drive device 23 passes through the first lifting transmission wheel 241 and is connected to one end of the lifting movable bracket 22, and the second lifting transmission wheel 242 is rotatably arranged at the other end of the lifting movable bracket 22; the lifting synchronous belt 243 is sleeved on the first lifting transmission wheel 241 and the second lifting transmission wheel 242.

[0077] One end of the first synchronous belt fixing member 244 is fixedly connected to the lifting and fixing bracket 21, and the other end of the first synchronous belt fixing member 244 clamps the lifting synchronous belt 243 on one side of the first lifting transmission wheel 241 and the second lifting transmission wheel 242; refer to Figure 4 ; the second synchronous belt fixing member 245 sleevs and fixes the lifting synchronous belt 243 on the other side of the first lifting transmission wheel 241 and the second lifting transmission wheel 242 on the bracket 121; the transmission component 24 is used to drive the lifting movable bracket 22 and the bracket 12 to lift synchronously.

[0078] The lifting drive device 23 includes a lifting drive motor 231, a lifting drive gear 232, a lifting driven gear 233, and a lifting synchronous shaft 234; the lifting drive motor 231 is fixed on the lifting drive support member 25, and the output end of the lifting drive motor 231 is connected to the lifting drive gear 232; the lifting driven gear 233 is sleeved on the lifting synchronous shaft 234; one end of the lifting synchronous shaft 234 passes through a first lifting transmission wheel 241 and is rotatably connected to a lifting movable bracket 22; the other end of the lifting synchronous shaft 234 passes through another first lifting transmission wheel 241 and is rotatably connected to another lifting movable bracket 22; the lifting drive gear 232 meshes with the lifting driven gear 233.

[0079] The lifting device 2 drives the bracket 12 to lift, and then drives the grasping device 13 to lift; in this way, the grasping device 13 can grasp the box-shaped materials at different heights; since the bracket 12 and the grasping device 13 lift synchronously, the cooperation effect between the grasping device 13 and the bracket 12 is good; the lifting synchronous belt 243 sleeve on one side of the transmission component 24 is connected to the lifting and fixing bracket 21, and the transmission component 24 rotates in one direction to drive the lifting synchronous belt 243 to move, refer to Figure 11in the W direction; the first synchronous belt fixing member 244 approaches the bottom end of the lifting fixing bracket 21, and the first synchronous belt fixing member 244 generates a force to drive the lifting fixing bracket 21 to move downward; since the lifting fixing bracket 21 is fixed to the frame 10, the lifting fixing bracket 21 cannot move, and the transmission assembly 24 is arranged on the lifting movable bracket 22, and the lifting movable bracket 22 is slidably connected with the lifting fixing bracket 21, so that the lifting movable bracket 22 will be driven to move upward, making the first synchronous belt fixing member 244 move downward relative to the first lifting transmission wheel 241, thereby realizing the rise of the lifting movable bracket 22.

[0080] The transmission assembly 24 rotates the lifting synchronous belt 243 in the other direction, referring to Figure 11 in the Q direction; the first synchronous belt fixing member 244 approaches the top end of the lifting fixing bracket 21, and the first synchronous belt fixing member 244 generates a force to drive the lifting fixing bracket 21 to move upward; since the lifting fixing bracket 21 is fixed to the frame 10, the lifting fixing bracket 21 cannot move, and the transmission assembly 24 is arranged on the lifting movable bracket 22, and the lifting movable bracket 22 is slidably connected with the lifting fixing bracket 21, so that the lifting movable bracket 22 will be driven to move downward, making the first synchronous belt fixing member 244 move upward relative to the first lifting transmission wheel 241, thereby realizing the descent of the lifting movable bracket 22.

[0081] At the same time, a second synchronous belt fixing member 245 is connected to the lifting synchronous belt 243 on the other side of the transmission assembly 24. Since the first synchronous belt fixing member 244 is connected to the lifting synchronous belt 243 on one side of the first lifting transmission wheel 241; the second synchronous belt fixing member 245 is connected to the lifting synchronous belt 243 on the other side of the first lifting transmission wheel 241; when the lifting movable bracket 22 rises, the first synchronous belt fixing member 244 moves downward relative to the first lifting transmission wheel 241, so that the second synchronous belt fixing member 245 moves upward relative to the first lifting transmission wheel 241, and the bracket 121 rises at the same time; when the lifting movable bracket 22 descends, the first synchronous belt fixing member 244 moves upward relative to the first lifting transmission wheel 241, so that the second synchronous belt fixing member 245 moves downward relative to the first lifting transmission wheel 241, and the bracket 121 descends at the same time; the bracket 121 moves on the basis of the movement of the lifting movable bracket 22, and the lifting height range of the bracket 121 is large.

[0082] As Figure 1 shown; there is also a moving device 4 at the bottom of the engineering vehicle; the moving device 4 is used to drive the frame 10 to move. By driving the frame 10 to move through the moving device, the grasping device is brought closer to the box-shaped material. The moving device 4 includes four groups of moving wheels, and each group of moving wheels is driven by an independent motor. The adsorption working method includes the following steps:

[0083] S1. Determine whether the box-shaped material is within the moving range of the lifting of the grasping device 13. If so, proceed to S2. In this embodiment, it is manually determined whether the box-shaped material is within the moving range of the lifting of the grasping device 13.

[0084] S2. The moving device 4 drives the frame 10 to move to one side of the box-shaped material.

[0085] S3. Determine whether the suction attachment 134 of the grasping device 13 can contact the opposite side surface of the box-shaped material. If so, proceed to S4; if not, proceed to S6. In this embodiment, it is manually determined whether the suction attachment 134 can contact the opposite side of the box-shaped material.

[0086] S4. The grasping rotation bracket 133 drives the suction attachment 134 to rotate away from the avoidance space 1215, so that the adsorption surface of the suction attachment 134 is parallel to the opposite side of the box-shaped material; the lifting device 2 drives the suction attachment 134 to move to the same horizontal height as the box-shaped material; then the telescopic movable bracket 112 extends to make the suction attachment 134 contact the box-shaped material.

[0087] S5. The suction attachment 134 adsorbs the box-shaped material, and then the telescopic movable bracket 112 retracts; then proceed to S12.

[0088] S6. If the box-shaped material is above the grasping device 13, proceed to S7; if the box-shaped material is below the grasping device 13, proceed to S9.

[0089] S7. The telescopic movable bracket 112 extends, so that the suction attachment 134 is located directly below the box-shaped material. The grasping rotation bracket 133 rotates away from the avoidance space 1215, so that the adsorption surface of the suction attachment 134 corresponds to the bottom of the box-shaped material; the lifting device 2 drives the suction attachment 134 to rise and contact the box-shaped material; then proceed to S8.

[0090] S8. The lifting device 2 drives the suction attachment 134 to descend, and then the telescopic movable bracket 112 retracts; then proceed to S11;

[0091] S9. The telescopic movable bracket 112 extends, so that the suction attachment 134 is located directly above the box-shaped material. The grasping rotation bracket 133 drives the suction attachment 134 to rotate away from the avoidance space 1215, so that the adsorption surface of the suction attachment 134 corresponds to the top of the box-shaped material; the lifting device drives the suction attachment 134 to descend and contact the box-shaped material; then proceed to S10.

[0092] S10. The lifting device drives the suction attachment 134 to rise, and then the telescopic movable bracket 112 retracts; then proceed to S11.

[0093] S11, grab the rotating bracket 133 to drive the adsorption member 134 to rotate towards the avoidance space 1215. When the box-shaped material enters the avoidance space, the adsorption member 134 releases the adsorption of the box-shaped material; then grab the rotating bracket 133 to rotate away from the avoidance space 1215; then proceed to S12.

[0094] S12, the moving device drives the frame to move to the target point; the grabbing rotating bracket 133 drives the adsorption component 134 to rotate toward the avoidance space 1215, and the adsorption component 134 adsorbs the box-shaped material; the adsorption component 134 drives the box-shaped material to rotate away from the avoidance space 1215, and places the box-shaped material on the contact surface of the target point.

[0095] In the above method, the grabbing rotating bracket drives the adsorption element to rotate, so that the adsorption element can contact the box-type materials at different heights and different positions; when there is no obstacle between the adsorption element and the box-type material, the adsorption element contacts the opposite side of the box-type material, which is highly efficient; when the box-type material is located above or below the adsorption element, and there is no obstacle between the adsorption element and the box-type material; the height of the adsorption element is changed by the lifting device; so that the adsorption element can contact the opposite side of the box-type material at different heights; and the box-type materials at different heights can be grabbed.

[0096] When the box-shaped material is located above or below the adsorbent and there is an obstacle between the adsorbent and the box-shaped material; the grabbing and rotating bracket changes the contact position of the adsorbent with the box-shaped material; when the box-shaped material is located above the adsorbent, the adsorbent contacts the bottom of the box-shaped material; when the box-shaped material is located below the adsorbent, the adsorbent contacts the top of the box-shaped material; then the adsorbent and the box-shaped material are driven to move by the lifting device, so that the box-shaped material can be grabbed by crossing the obstacle.

[0097] In the above method,

[0098] S2 also includes: if the box-shaped material is not within the lifting range of the grabbing device 13, then proceed to S13.

[0099] S13, if the box-shaped material is located above the adsorption member, proceed to S14.

[0100] S14, the telescopic movable bracket 112 is extended to make the adsorption member 134 located directly below the box-shaped material, and the grabbing rotating bracket 133 is rotated away from the avoidance space 1215, so that the adsorption surface of the adsorption member 134 corresponds to the bottom of the box-shaped material; the lifting device drives the adsorption member 134 to rise to the highest height; the adsorption member performs adsorption; and then proceeds to S15.

[0101] S15, the clamping device clamping the upper box-shaped material releases the clamping of the box-shaped material; the box-shaped material moves closer to the adsorption member under the action of gravity; and then S16 is performed.

[0102] S16. When the box-shaped material contacts the suction attachment, the support member supports the box-shaped material; under the suction force of the suction attachment, the box-shaped material is adsorbed on the suction attachment; then S8 is performed.

[0103] The above method can grasp the box-shaped material falling from a high altitude; since the box-shaped material impacts the suction attachment under the action of gravity, it will cause the suction attachment to deform, and then the suction attachment cannot adsorb the box-shaped material; by setting the support member to increase the stiffness of the suction attachment and supporting the box-shaped material through the support member, it is avoided that the box-shaped material impacts the suction attachment under the action of gravity and causes the suction attachment to deform.

Claims

1. A method for grasping a material, characterized in that: It is realized by an engineering trolley, and the engineering trolley includes a frame, a grasping device, a lifting device and a moving device; the moving device drives the engineering trolley to move; The grasping device includes a telescopic device, a bracket and a grasping device, and the grasping device is located on one side of the bracket; the fixed end of the telescopic device is connected to the bracket, the movable end of the telescopic device is connected to the grasping device, and the telescopic device drives the grasping device to approach and move away from the bracket; The bracket includes a fixing member and a positioning member, the positioning member is arranged on the fixing member, and an avoidance hole is provided on the positioning member, and an avoidance space is formed between the avoidance hole and the fixing member; the avoidance space is used to accommodate box-shaped materials; The grasping device includes a grasping mounting bracket, a grasping driving device, a grasping rotating bracket and a suction attachment; the grasping mounting bracket is connected to the movable end of the telescopic device, the grasping driving device is fixed on the grasping mounting bracket and is connected to the grasping rotating bracket, and the suction attachment is mounted on the grasping rotating bracket; The grasping driving device drives the grasping rotating bracket to rotate, and the grasping rotating bracket drives the suction attachment to approach and move away from the avoidance space; The method for grasping a material includes the following steps: S1. Judge whether the box-shaped material is within the moving range of the grasping device during lifting. If so, proceed to S2; S2. The moving device drives the frame to move to one side of the box-shaped material; S3. Judge whether the suction attachment of the grasping device can contact the opposite side surface of the box-shaped material. If so, proceed to S4; if not, proceed to S6; S4. The grasping rotating bracket drives the suction attachment to rotate away from the avoidance space, so that the adsorption surface of the suction attachment is parallel to the opposite side of the box-shaped material; the lifting device drives the suction attachment to move to the same horizontal height as the box-shaped material; then the telescopic movable bracket extends to make the suction attachment contact the box-shaped material; S5. The suction attachment adsorbs the box-shaped material, and then the telescopic movable bracket retracts; then proceed to S12; S6. If the box-shaped material is above the grasping device, proceed to S7; if the box-shaped material is below the grasping device, proceed to S9; S7. The telescopic movable bracket extends, so that the suction attachment is directly below the box-shaped material, and the grasping rotating bracket rotates away from the avoidance space, so that the adsorption surface of the suction attachment corresponds to the bottom of the box-shaped material; the lifting device drives the suction attachment to rise and contact the box-shaped material; then proceed to S8; S8. The lifting device drives the suction attachment to descend, and then the telescopic movable bracket retracts; then proceed to S11; S9. The telescopic movable bracket extends, so that the suction attachment is directly above the box-shaped material, and the grasping rotating bracket drives the suction attachment to rotate away from the avoidance space, so that the adsorption surface of the suction attachment corresponds to the top of the box-shaped material; the lifting device drives the suction attachment to descend and contact the box-shaped material; then proceed to S10; S10. The lifting device drives the suction attachment to rise, and then the telescopic movable bracket retracts; then proceed to S11; S11. The grasping rotating bracket drives the suction attachment to rotate towards the avoidance space. When the box-shaped material enters the avoidance space, the suction attachment releases the adsorption of the box-shaped material; then the grasping rotating bracket rotates away from the avoidance space; then proceed to S12; S12. Move the mobile device to drive the frame to the target point; grab the rotating bracket to drive the adsorber to rotate towards the direction close to the avoidance space, and the adsorber adsorbs the box-shaped material; the adsorber drives the box-shaped material to rotate away from the avoidance space and places the box-shaped material on the contact surface at the target point.

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

3. A method for grasping a material according to claim 2, wherein: S2 further includes: if the box-shaped material is not within the moving range of the grasping device for lifting and lowering, then perform S13; S13. If the box-shaped material is above the adsorber, then perform S14; S14. The telescopic movable bracket extends, so that the adsorber is located directly below the box-shaped material, and the grasping rotating bracket rotates away from the flipping device, so that the adsorption surface of the adsorber corresponds to the bottom of the box-shaped material; the lifting device drives the adsorber to rise to the highest height; the adsorber performs adsorption; then perform S15; S15. The clamping device for clamping the upper box-shaped material releases the clamping of the box-shaped material; the box-shaped material approaches the adsorber under the action of gravity; then perform S16; S16. When the box-shaped material contacts the adsorber, the support member supports the box-shaped material; under the suction force of the adsorber, the box-shaped material is adsorbed on the adsorber; then perform S8.

4. A method for grasping a material according to claim 1, wherein: The telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a telescopic first driving device, and a telescopic second driving device; one end of the telescopic movable bracket is connected to the grasping device; the telescopic movable bracket is arranged above the telescopic fixed bracket and is slidably connected to the telescopic fixed bracket; the fixed end of the telescopic first driving device is connected to the telescopic fixed bracket, the movable end of the telescopic first driving device is connected to the fixed end of the telescopic second driving device, and the movable end of the telescopic second driving device is connected to the telescopic movable bracket; the telescopic first driving device is used to drive the telescopic movable bracket to move, and the telescopic second driving device is used to drive the telescopic movable bracket to move relative to the telescopic first driving device.

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

6. A method for grasping a material according to claim 1, wherein: The lifting device includes a lifting fixed bracket, a lifting movable bracket, a lifting driving device, and a transmission component; the lifting fixed bracket is fixedly connected to the frame, and the lifting movable bracket is slidably connected to the lifting fixed bracket and the flipping device; The transmission assembly includes a lifting first transmission wheel, a lifting second transmission wheel, a lifting synchronous belt, a first synchronous belt fixing member, and a second synchronous belt fixing member; the output end of the lifting drive device passes through the lifting first transmission wheel and is connected to one end of the lifting movable bracket, and the lifting second transmission wheel is rotatably arranged at the other end of the lifting movable bracket; the lifting synchronous belt is sleeved on the lifting first transmission wheel and the lifting second transmission wheel; One end of the first synchronous belt fixing member is fixedly connected to the lifting fixed bracket, and the other end of the first synchronous belt fixing member is clamped on the lifting synchronous belt sleeve on one side of the lifting first transmission wheel and the lifting second transmission wheel; the second synchronous belt fixing member is sleeved on the lifting synchronous belt sleeve on the other side of the lifting first transmission wheel and the lifting second transmission wheel and fixed on the flipping bracket; the transmission assembly is used to drive the lifting movable bracket and the flipping device to lift synchronously.

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