A grasping and stacking device

Abstract

The present invention provides a grasping and stacking device, including an adsorption device and a grasping and flipping device. The adsorption device is used to grasp box-shaped materials and transport the box-shaped materials; the handling device is used to stack the box-shaped materials; the adsorption device can grasp the box-shaped materials not only in the horizontal direction, but also in the vertical direction, and can also grasp the box-shaped materials in an inclined direction between the horizontal direction and the vertical direction; it is not easily restricted by the site and has a wide application range; the handling device realizes rotation relative to the box-shaped material when clamping the box-shaped material, so as to change the clamping surface of the material.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a grasping and stacking device. Background Art

[0002] Goods handling refers to the general term for short-distance movement operations of goods during the transportation production process. Traditional goods handling is manual handling, with low handling efficiency and a waste of a large amount of human and material resources. To improve efficiency, handling robots have emerged on the market. Existing handling robots grasp box-shaped materials through vacuum adsorption or through clamping.

[0003] A patent document with a Chinese application number of 201720308579.7 and a publication date of October 31, 2017 discloses an automatic transportation robot for a express delivery station, including: a chassis, wheels respectively rotatably installed at four corners of the chassis, a reduction motor installed on the chassis and drivingly connected to the wheels, a battery installed on the chassis and connected to the reduction motor, and a bracket I installed on the chassis. A servo motor I drives a bracket II to swing back and forth relative to the chassis, and a servo motor II drives a servo motor III to swing back and forth relative to the chassis, so as to swing the gripper to a specified position. After the servo motor III drives the gripper to rotate to a reasonable position, the two grippers are driven by a gripper driving mechanism to clamp the goods.

[0004] This robot places box-shaped materials in a storage bin for transportation, but cannot turn over the box-shaped materials being transported; at the same time, the gripper of this robot swings back and forth relative to the chassis to different positions to clamp box-shaped materials; however, when the gripper swings, the height of the gripper is constantly changing; multiple servo motors are required to adjust the height and angle of the gripper; the actions for clamping box-shaped materials are cumbersome; at the same time, the gripper cannot move vertically downward or vertically downward to clamp the material box; it is easily restricted by site factors during use and cannot pick up box-shaped materials.

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

[0006] The robot drives the gripper to rotate through the servo III. After the gripper grabs the box-shaped material, the box-shaped material rotates synchronously with the gripper. When the gripper grabs the U1 and U2 surfaces of the box-shaped material; if it is necessary to change the clamping surface of the box-shaped material, taking the U5 and U6 surfaces as an example; the robot needs to place the box-shaped material on the support surface, and then the robot moves to make the gripper correspond to the U5 and U6 surfaces of the box-shaped material, so as to clamp different clamping surfaces of the box-shaped material; the gripper of the robot cannot rotate relative to the box-shaped material; when the gripper clamps the box-shaped material, the clamping surface of the box-shaped material cannot be changed. This gripper can only grab the material at the bottom of the gripper. For the situation where there are obstacles on both the upper and side surfaces of the material, it cannot be grabbed by the gripper. Summary of the Invention

[0007] The present invention provides a grasping and stacking device. The adsorption device can bypass obstacles to grab box-shaped materials and provide box-shaped materials for the handling device; when the handling device clamps the box-shaped material, it can change the clamping surface of the box-shaped material.

[0008] To achieve the above object, the technical solution of the present invention is: a grasping and stacking device, including an adsorption device and a handling device. The adsorption device is used to grab box-shaped materials and transport the box-shaped materials; the handling device is used to stack the box-shaped materials.

[0009] The adsorption device includes a frame. A moving device and a grasping device are provided on the frame. The moving device is used to drive the adsorption device to move; the grasping device includes a telescopic device, a bracket and a grasping device. 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. The telescopic device drives the grasping device to approach and move away from the bracket.

[0010] The bracket includes a fixing member and a positioning member. The positioning member is arranged on the fixing member. 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 the box-shaped material.

[0011] The grasping device 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 mounted 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.

[0012] The handling device includes a handling frame body, a clamping lifting device and a clamping device. A traveling device is provided on the handling frame body; the traveling device is used to drive the handling device to move; the clamping lifting device is arranged on the handling frame body and is connected to the clamping device. The clamping lifting device drives the clamping device to lift along the height direction of the handling frame body.

[0013] The clamping device includes a first clamping device and a second clamping device; the first clamping device includes a first clamping fixed frame, a first clamping rotating frame, a clamping device, and a clamping rotating device; there are two clamping devices, the first clamping rotating frame is located between the two clamping devices and is connected to the two clamping devices; the first clamping rotating frame is rotatably arranged on the first clamping fixed frame; the second clamping device passes through the first clamping rotating frame and is fixedly connected to the first clamping fixed frame; there is a gap between the second clamping device and the first clamping rotating frame; the clamping rotating device is used to drive the two clamping devices to rotate relative to the first clamping fixed frame.

[0014] The clamping rotating device includes a clamping rotating motor, a clamping rotating driving gear, a clamping rotating driven gear, and a clamping rotating bearing; the first clamping rotating frame is fixedly connected to one side of the clamping rotating driven gear, the other side of the clamping rotating driven gear is fixedly connected to the inner ring of the clamping rotating bearing, and the outer ring of the clamping rotating bearing is fixedly connected to the first clamping fixed frame; the clamping rotating motor is arranged on the first clamping fixed frame, the output end of the clamping rotating motor is connected to the clamping rotating driving gear, and the clamping rotating driving gear meshes with the clamping rotating driven gear.

[0015] Each clamping device includes a first clamping driving device and a first clamping member, the clamping device is connected to the first clamping rotating frame, the movable end of the first clamping driving device is connected to the first clamping member, and the first clamping driving device drives the first clamping member to approach and move away from the second clamping device; the two first clamping members approach each other to clamp the material.

[0016] The second clamping device includes a clamping structure and a clamping moving device, the fixed end of the clamping moving device is fixedly connected to the first clamping fixed frame, the movable end of the clamping moving device is connected to the clamping structure, and the clamping moving device drives the clamping structure to approach and move away from the first clamping fixed frame; the clamping structure is used to clamp the material, and there is a clamping avoidance space on the clamping structure for avoiding the first clamping member; the clamping device is used to perform the first clamping on the box-shaped material; the clamping structure is used to perform the second clamping on the box-shaped material; the clamping rotating device drives the clamping rotating device to rotate and then performs the third clamping on the box-shaped material.

[0017] With the above settings, the box-shaped material is grabbed by the adsorption device and transported, providing the box-shaped material for the handling device; after receiving the box-shaped material, the handling device stacks the box-shaped material.

[0018] For the above adsorption device, the grabbing device is used to grab the box-shaped material and place the grabbed box-shaped material in the avoidance space, thus realizing the accommodation of the box-shaped material.

[0019] By setting a rotatable grasping and rotating bracket, the grasping and rotating bracket drives the suction attachment to rotate. In this way, the suction attachment can grasp the box-shaped material horizontally, vertically, or at 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 can rotate, after the grasping device grasps the box-shaped material in one direction, the grasping device can place the box-shaped material in another direction.

[0020] The telescopic device drives 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 setting the telescopic device, the grasping device can grasp box-shaped materials at different distances from the frame. 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. The moving distance of the telescopic movable bracket is far, so that the grasping range of the grasping device is far.

[0021] For the above handling device, the clamping and lifting device drives the clamping equipment to move, so that the clamping equipment can clamp materials at different heights. The clamping device is fixedly connected to the first clamping rotating frame, the second clamping device is fixedly connected to the first clamping fixed frame, and the first clamping rotating frame is rotatably connected to the first clamping fixed frame. In this way, the clamping device rotates relative to the second clamping device. At the same time, a rotating avoidance space is set to avoid the second clamping device. When the clamping device rotates, it will not affect the second clamping device. The clamping device clamps the material for the first time. When the clamping device clamps the material and needs to change the clamping surface of the material, the second clamping device clamps the material for the second time. Then the clamping device rotates to clamp the material for the third time. In this way, when clamping the material, the clamping surface of the material can be changed, and the downward clamping surface of the material can be changed, so that the material can contact other objects with different surfaces. When the clamping device needs to be rotated, the height of the clamping device is adjusted by the clamping and lifting device to avoid the clamping device hitting the ground when rotating.

[0022] At the same time, by setting the clamping moving device to drive the clamping structure to move, the clamping structure can be moved closer to or away from the first clamping fixed frame, so as to realize that the clamping structure is away from or close to the material clamped by the material clamping device. In the initial installation state, the clamping structure moves closer to the first clamping fixed frame, so as to avoid interference between the material and the clamping structure when the clamping device clamps the material. When the clamping surface of the material needs to be changed, the clamping structure moves away from the first clamping fixed frame and approaches the material. After the rotated clamping device clamps the material, the clamping structure resets. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the present invention.

[0024] Figure 2It is a three-dimensional schematic diagram of the adsorption device in the present invention.

[0025] Figure 3 It is a three-dimensional schematic diagram of the grasping device in the present invention.

[0026] Figure 4 It is an exploded view of the grasping device in the present invention.

[0027] Figure 5 It is a schematic diagram of the telescopic first driving device driving the telescopic movable bracket to extend in the present invention.

[0028] Figure 6 It is Figure 5 an enlarged view of b in

[0029] Figure 7 It is a three-dimensional schematic diagram of the positioning member in the present invention.

[0030] Figure 8 It is a three-dimensional schematic diagram of the fixing member in the present invention.

[0031] Figure 9 It is a three-dimensional schematic diagram of the lifting device in the present invention.

[0032] Figure 10 It is a front view of the lifting device in the present invention.

[0033] Figure 11 It is a schematic diagram after the lifting device in the present invention rises.

[0034] Figure 12 It is a schematic diagram of the adsorption device in the present invention cooperating with box-shaped materials of different heights.

[0035] Figure 13 It is a three-dimensional schematic diagram of the box-shaped material.

[0036] Figure 14 It is a three-dimensional schematic diagram of the handling device in the present invention.

[0037] Figure 15 It is a three-dimensional schematic diagram of the clamping device in the present invention.

[0038] Figure 16 It is an exploded view of the clamping device in the present invention.

[0039] Figure 17 It is Figure 16 an enlarged view of a in

[0040] Figure 18 It is an exploded view of the first clamping fixing frame and the clamping rotating device in the present invention.

[0041] Figure 19 It is an exploded view of the second clamping device in the present invention.

[0042] Figure 20 It is an exploded view of the clamping structure in the present invention.

[0043] Figure 21 It is a schematic diagram of the clamping structure after being unfolded in the present invention.

[0044] Figure 22 It is a three-dimensional schematic diagram of the clamping device, the tightening and telescopic device, and the first tightening transmission rack at the upper end of the tightening bracket in the present invention.

[0045] Figure 23 It is a three-dimensional schematic diagram of the tightening bracket and the tightening transmission gear in the present invention.

[0046] Figure 24 It is a three-dimensional schematic diagram of the clamping device at the lower end of the tightening bracket and the second tightening transmission rack in the present invention.

[0047] Figure 25 It is a schematic diagram of the clamping and taking member of the present invention when it is folded.

[0048] Figure 26 It is a schematic diagram of the clamping and gripping member after being unfolded in the present invention.

[0049] Figure 27 It is a schematic diagram of the cooperation between the blocking member and the clamping and taking member in the present invention.

[0050] Figure 28 It is a schematic diagram of the clamping lifting device in the present invention. DETAILED DESCRIPTION

[0051] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] like Figures 1 - 28 As shown; a grabbing and stacking device includes an adsorption device and a conveying device. The adsorption device grabs box-type materials and transports the box-type materials to provide the conveying device with box-type materials. After the conveying device receives the box-type materials, it stacks the box-type materials.

[0053] like Figures 2 - 13 As shown; the adsorption device includes a frame 10, on which a gripping device 1 and a lifting device 2 are provided. In the present embodiment, two lifting devices 2 are provided, 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 rise and fall.

[0054] like Figures 2 - 3As shown in the figure; 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.

[0055] As shown in Figures 3, 4, 7, and 8; the bracket 121 includes a fixing member 1211 and a positioning member 1212. The positioning member 1212 is provided 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.

[0056] As Figure 4 , 5 shown in the figure; 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.

[0057] A rotatable grasping rotating bracket 133 is provided. The grasping 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, and can also grasp the box-shaped material at 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 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.

[0058] Refer to Figure 12 As shown; the box-shaped materials Q1, Q2, and 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 of the box-shaped material. In this embodiment, the clamping device is a clamping jaw; the clamping device is a prior art and will not be elaborated here.

[0059] 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 12 The box-shaped materials Q2, Q3, and Q4 in

[0060] Refer to Figure 12 For the box-shaped material Q3 in

[0061] Refer to Figure 12 For Q2 and Q4 in

[0062] Refer to Figure 12 For Q2 in

[0063] Refer to Figure 12 For Q4 in

[0064] Refer to Figure 7 and8 As shown in the figure, two fixed support members 1218 are provided at one end of the fixing member 1211 away from the grasping device 13, and a first clamping groove 12181 is provided at the top of each fixing support member 1218; the first clamping groove 12181 is clamped on the end of the positioning member 1212 away from the grasping device 13. In another embodiment, two second clamping grooves 12182 are provided at one end of the positioning member 1212 away from the grasping device 13; the first clamping groove 12181 is clamped with the second clamping groove 12182. The first clamping groove 12181 is clamped with the positioning member 1212, so as to further improve the stability of the connection between the fixing member 1211 and the positioning member 1212.

[0065] like Figures 4 - 6 As shown; 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, a slide rail (not shown in the figure) is provided on the top of the telescopic fixed bracket 111, and a slider (not shown in the figure) is provided at the bottom of the telescopic movable bracket 112, and the slider is slidably arranged on the slide rail.

[0066] 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 movable bracket 112 is driven to extend for the first time by the telescopic first driving device 113, and the telescopic movable bracket 112 is driven to extend for the second time by the telescopic second driving device 114; the moving distance of the telescopic movable bracket 112 is long, thereby making the grasping range of the grasping device 13 far.

[0067] In this embodiment, the telescopic first drive device 113 is a rodless cylinder; the telescopic first drive 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 penetrated on the telescopic first cylinder body 1132 and is slidably arranged on the telescopic first cylinder body 1132.

[0068] 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.

[0069] The telescopic first slider 1133 is connected to the telescopic second fixed seat 1141 and slides on the telescopic first cylinder body 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.

[0070] 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.

[0071] As Figures 9 - 11 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 grasping device 1.

[0072] 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.

[0073] There are two lifting and fixing brackets 21, two lifting and movable brackets 22, and two drive assemblies 24; the two lifting and 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 and movable brackets 22.

[0074] The drive assembly 24 includes a first lifting drive pulley 241, a second lifting drive pulley 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 drive pulley 241 and is connected to one end of the lifting and movable bracket 22, and the second lifting drive pulley 242 is rotatably arranged at the other end of the lifting and movable bracket 22; the lifting synchronous belt 243 is sleeved on the first lifting drive pulley 241 and the second lifting drive pulley 242.

[0075] 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 drive pulley 241 and the second lifting drive pulley 242; as shown in Figure 4 and 15 shown; the second synchronous belt fixing member 245 sleeves and fixes the lifting synchronous belt 243 on the other side of the first lifting drive pulley 241 and the second lifting drive pulley 242 on the bracket 121; the drive assembly 24 is used to drive the lifting and movable bracket 22 and the bracket 12 to lift synchronously.

[0076] 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 drive pulley 241 and is rotatably connected to a lifting and movable bracket 22; the other end of the lifting synchronous shaft 234 passes through another first lifting drive pulley 241 and is rotatably connected to another lifting and movable bracket 22; the lifting drive gear 232 meshes with the lifting driven gear 233.

[0077] 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 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 drive assembly 24 is connected to the lifting and fixing bracket 21, and the drive assembly 24 rotates in one direction to drive the lifting synchronous belt 243 to move, as shown in Figure 9in 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 to 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 rising of the lifting movable bracket 22.

[0078] The transmission assembly 24 rotates the lifting synchronous belt 243 in the other direction, referring to Figure 9 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 to 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 lowering of the lifting movable bracket 22.

[0079] 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.

[0080] As Figure 2 shown; there is also a moving device 4 at the bottom of the frame 10; 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 made to approach 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.

[0081] As Figures 13 - 28As shown in the figure; the handling device includes a handling frame 1f, a clamping and lifting device 2f, and a clamping device 3f. The clamping and lifting device 2f is arranged on the handling frame 1f and is connected to the clamping device 3f. The clamping and lifting device 2f drives the clamping device 3f to move along the height direction of the handling frame 1f. By driving the clamping device 3f to move through the clamping and lifting device 2f, the clamping device 3f can clamp box-shaped materials at different heights.

[0082] As Figure 15 , 16 shown in the figure; the clamping device 3f includes a first clamping device 31f and a second clamping device 32f; the first clamping device 31f includes a first clamping fixed frame 311f, a first clamping rotating frame 312f, a clamping device 313f, and a clamping rotating device 314f; there are two clamping devices 313f, and the first clamping rotating frame 312f is located between the two clamping devices 313f and is connected to the two clamping devices 313f; the first clamping rotating frame 312f is rotatably arranged on the first clamping fixed frame 311f; the second clamping device 32f passes through the first clamping rotating frame 312f and is fixedly connected to the first clamping fixed frame 311f; there is a gap between the second clamping device 32f and the first clamping rotating frame 312f; the clamping rotating device 314f is used to drive the two clamping devices 313f to rotate relative to the first clamping fixed frame 311f.

[0083] By fixedly connecting the clamping device 313f to the first clamping rotating frame 312f, fixedly connecting the second clamping device 32f to the first clamping fixed frame 311f, and rotatably connecting the first clamping rotating frame 312f to the first clamping fixed frame 311f, the clamping device 313f rotates relative to the second clamping device 32f; at the same time, a rotation avoidance space is set to avoid the second clamping device 32f, and the rotation of the clamping device 313f will not affect the second clamping device 32f. The clamping device 313f is used for the first clamping of the box-shaped material, and the second clamping device 32f is used for the second clamping of the box-shaped material; when the second clamping device 32f clamps the box-shaped material, the clamping device 313f releases the clamping of the box-shaped material, and then the clamping rotating device 314f drives the clamping device 313f to rotate 90°, and the clamping device 313f is used for the third clamping of the box-shaped material; in this way, after clamping the box-shaped material, the clamping device 3f can rotate relative to the box-shaped material; furthermore, the clamping surface of the box-shaped material can be changed when clamping the box-shaped material.

[0084] The box-shaped material is first clamped by the clamping device 313f. When the box-shaped material is clamped by the clamping device 313f and it is necessary to change the clamping surface of the box-shaped material; the box-shaped material is secondarily clamped by the second clamping device 32f; then the clamping device 313f is rotated to perform a third clamping on the box-shaped material; in this way, the clamping surface of the box-shaped material is changed when clamping the box-shaped material, and the downward clamping surface of the box-shaped material can be changed, so that the box-shaped material can contact other objects with different surfaces. When it is necessary to rotate the clamping device 313f, the height of the clamping device 313f is adjusted by the clamping lifting device 2f to prevent the clamping device 313f from hitting the ground when rotating.

[0085] As Figure 16 , 18 shown; the clamping and rotating device 314f includes a clamping and rotating motor 3141f, a clamping and rotating driving gear 3142f, a clamping and rotating driven gear 3143f, and a clamping and rotating bearing 3144f; the first clamping rotating frame 312f is fixedly connected to one side of the clamping and rotating driven gear 3143f, the other side of the clamping and rotating driven gear 3143f is fixedly connected to the inner ring of the clamping and rotating bearing 3144f, and the outer ring of the clamping and rotating bearing 3144f is fixedly connected to the first clamping fixing frame 311f; the clamping and rotating motor 3141f is arranged on the first clamping fixing frame 311f, the output end of the clamping and rotating motor 3141f is connected to the clamping and rotating driving gear 3142f, and the clamping and rotating driving gear 3142f meshes with the clamping and rotating driven gear 3143f.

[0086] In this embodiment, a first clamping support plate 3145f is provided on the side of the clamping and rotating driven gear 3143f close to the first clamping rotating frame 312f, and the clamping and rotating driven gear 3143f is connected to the first clamping rotating frame 312f through the first clamping support plate 3145f; a second clamping support plate 3146f is provided on the side of the clamping and rotating driven gear 3143f close to the clamping and rotating bearing 3144f. The clamping and rotating driven gear 3143f is connected to the inner ring of the clamping and rotating bearing 3144f through the second clamping support plate 3146f. A third clamping support plate 3147f is provided on the side of the first clamping fixing frame 311f away from the clamping and rotating driven gear 3143f.

[0087] In this embodiment, the first clamping support plate 3145f, the clamping and rotating driven gear 3143f, the second clamping support plate 3146f, the clamping and rotating bearing 3144f, and the third clamping support plate 3147f are all of hollow structures.

[0088] As Figure 16 , 17As shown; each clamping device 313f includes a first clamping driving device 3131f and a first clamping member 3132f. The fixed end of the first clamping driving device 3131f is connected to the first clamping rotating frame 312f, and the movable end of the first clamping driving device 3131f is connected to the first clamping member 3132f. The first clamping driving device 3131f drives the first clamping member 3132f to approach and move away from the second clamping device 32f; the two first clamping members 3132f approach each other to clamp the box-shaped material.

[0089] As Figure 16 , 17 shown; in this embodiment, the first clamping driving device 3131f is a rodless cylinder; the first clamping driving device 3131f includes a first clamping bracket 3133f, a first clamping cylinder block 3134f, a first clamping slider 3135f, and a connecting device 3130f; the first clamping bracket 3133f is connected to the first clamping rotating frame 312f, and the first clamping cylinder block 3134f is arranged on the first clamping bracket 3133f; the first clamping slider 3135f is slidably arranged on the first clamping cylinder block 3134f; one end of the connecting device 3130f is fixedly connected to the first clamping member 3132f, and the other end of the connecting device 3130f is fixedly connected to the first clamping slider 3135f and is slidably connected to the first clamping bracket 3133f. By fixedly connecting the connecting device 3130f to the first clamping slider 3135f and slidably connecting it to the first clamping bracket 3133f, it is avoided that the first clamping slider 3135f rotates when sliding on the first clamping cylinder block 3134f, and the movement of the first clamping slider 3135f is stable.

[0090] As Figure 17 shown; the connecting device 3130f includes a first connecting member 3136f, a second connecting member 3137f, a third connecting member 3138f, and a fourth connecting member 3139f; the third connecting member 3138f is arranged on one side of the first connecting member 3136f and the second connecting member 3137f; the fourth connecting member 3139f is arranged on the other side of the first connecting member 3136f and the second connecting member 3137f; the first clamping slider 3135f is located between the first connecting member 3136f and the second connecting member 3137f.

[0091] The first connecting member 3136f is provided with a first through hole 31301f, and a pulley assembly 4f is arranged in the first through hole 31301f; the first clamping bracket 3133f passes through the first through hole 31301f and contacts the sliding assembly; the first connecting member 3136f is slidably arranged on the first clamping bracket 3133f.

[0092] The second connecting member 3137f is fixedly connected to the first clamping slider 3135f; one end of the third connecting member 3138f and one end of the fourth connecting member 3139f are both fixedly connected to the first connecting member 3136f and the second connecting member 3137f; the other end of the third connecting member 3138f and the other end of the fourth connecting member 3139f are both fixedly connected to the first clamping member 3132f. The first connecting member 3136f is slidably connected to the first clamping bracket 3133f, and the second connecting member 3137f is fixedly connected to the first clamping slider 3135f; the third connecting member 3138f and the fourth connecting member 3139f are connected to the first clamping member 3132f; at the same time, the second connecting member 3137f connects the third connecting member 3138f and the fourth connecting member 3139f; when the first clamping slider 3135f moves, it drives the first connecting member 3136f, the second connecting member 3137f, the third connecting member 3138f, and the fourth connecting member 3139f to move synchronously, so the structure is simple.

[0093] As Figure 16 , 19 shown; the second clamping device 32f includes a clamping structure 321f and a clamping moving device 322f. The fixed end of the clamping moving device 322f is fixedly connected to the first clamping fixed frame 311f, the movable end of the clamping moving device 322f is connected to the clamping structure 321f, and the clamping moving device 322f drives the clamping structure 321f to approach and move away from the first clamping fixed frame 311f; the clamping structure 321f is used for clamping the box-shaped material, and a clamping avoidance space 323f for avoiding the first clamping member 3132f is provided on the clamping structure 321f. By setting the clamping moving device 322f to drive the clamping structure 321f to move, the clamping structure 321f approaches or moves away from the first clamping fixed frame 311f, so as to realize that the clamping structure 321f moves away from or approaches the box-shaped material clamped by the box-shaped material clamping device 313f; in the initial installation state, the clamping structure 321f approaches the first clamping fixed frame 311f, so as to avoid interference between the box-shaped material and the clamping structure 321f when the clamping device 313f clamps the box-shaped material; when it is necessary to change the clamping surface of the box-shaped material, the clamping structure 321f moves away from the first clamping fixed frame 311f and approaches the box-shaped material. After the rotated clamping device 313f clamps the box-shaped material, the clamping structure 321f resets.

[0094] As Figure 16 , 19As shown in Fig. -27; the clamping structure 321f includes a tightening bracket 3210f, a clamping device 3211f and a tightening device 3212f; the clamping device 3211f is located on one side of the tightening bracket 3210f; there are two clamping devices 3211f; the tightening device 3212f includes a first sliding device, a second sliding device, a tightening lifting transmission device 3213f, and a tightening telescopic device 3214f; one clamping device 3211f is slidably arranged at one end of the tightening bracket 3210f through the first sliding device; the other clamping device 3211f is slidably arranged at the other end of the tightening bracket 3210f through the second sliding device f.

[0095] In this embodiment, both the first sliding device and the second sliding device are slide rails. The outer slide rail of the first sliding device is connected to the tightening bracket 3210f, and the inner slide rail of the first sliding device is connected to one clamping device 3211f; the outer slide rail of the second sliding device is connected to the tightening bracket 3210f, and the inner slide rail of the second sliding device is connected to the other clamping device 3211f.

[0096] As Figure 20 shown; the tightening lifting transmission device 3213f includes a tightening transmission gear 32131f, a first tightening transmission rack 32132f and a second tightening transmission rack 32133f; the tightening transmission gear 32131f is rotatably arranged on the tightening bracket 3210f, the first tightening transmission rack 32132f is located on one side of the tightening transmission gear 32131f, the first tightening transmission rack 32132f is fixedly connected to one clamping device 3211f and meshes with the tightening transmission gear 32131f; the second tightening rotation rack is located on the other side of the tightening transmission gear 32131f, the second tightening transmission rack 32133f is fixedly connected to the other clamping device 3211f and meshes with the tightening transmission gear 32131f.

[0097] As Figure 20 shown, the fixed end of the tightening telescopic device 3214f is connected to the tightening bracket 3210f, and the movable end of the tightening telescopic device 3214f is connected to one clamping device 3211f; the tightening telescopic device 3214f is used to drive the two clamping devices 3211f to move away from and close to each other. In this embodiment, the tightening telescopic device 3214f is a cylinder.

[0098] The first tightening transmission rack 32132f is arranged on one side of the tightening transmission gear 32131f, and the second tightening transmission rack 32133f is arranged on the other side of the tightening transmission gear 32131f. When the first tightening transmission rack 32132f moves in one direction, the second tightening transmission rack 32133f will move in the opposite direction of the movement of the first tightening transmission rack 32132f. The first tightening transmission rack 32132f is connected to a clamping device 3211f, and the second tightening transmission gear 32131f is connected to another clamping device 3211f. When the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move away from each other to realize the unfolding of the clamping structure 321f. When the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move closer to each other to realize the folding of the clamping structure 321f. When clamping a box-shaped material, first unfold the clamping structure 321f, then the clamping and moving device 322f drives the clamping structure 321f to approach the box-shaped material, and then fold the clamping structure 321f. The clamping structure 321f clamps the box-shaped material.

[0099] As Figure 20 , 22 , shown in 24; a clamping device 3211f includes a clamping connecting piece 3216f and two clamping pieces 3215f; the clamping avoidance space 323f is arranged between the two clamping pieces 3215f; the clamping avoidance space 323f is used to accommodate the first clamping piece 3132f. The two clamping pieces 3215f are connected by the clamping connecting piece 3216f; the first tightening transmission rack 32132f is connected to one of the clamping pieces 3215f in a clamping device 3211f, and the second tightening transmission rack 32133f is connected to one of the clamping pieces 3215f in another clamping device 3211f.

[0100] As Figures 24 - 27 shown; the clamping piece 3215f includes a clamping fixing piece 32151f, a clamping picking piece 32152f, a first clamping limiting piece 32153f and a second clamping limiting piece 32154f; the clamping picking piece 32152f is located on one side of the clamping fixing piece 32151f, and the first clamping limiting piece 32153f and the second clamping limiting piece 32154f are oppositely arranged and located between the first clamping picking piece 32152f and the first clamping fixing piece 32151f.

[0101] As Figures 24 - 27As shown; one end of the clamping and gripping member 32152f is the contact end 32155f, and the other end of the clamping member 3215f is the abutting end 32156f; the contact end 32155f is used to contact the box-shaped material; the first clamping limiting member 32153f is connected to the clamping fixing member 32151f, and the second clamping limiting member 32154f is connected to the abutting end 32156f of the clamping and gripping member 32152f; a receiving groove 32157f is formed between the first clamping limiting member 32153f and the second clamping limiting member 32154f, and a rotating shaft (not shown in the figure) is provided in the receiving groove 32157f. The clamping and gripping member 32152f is rotatably connected to the clamping fixing member 32151f through the rotating shaft; a torsion spring 32158f is sleeved on the rotating shaft, one end of the torsion spring 32158f abuts against the first clamping limiting member 32153f, and the other end of the torsion spring 32158f abuts against the first clamping limiting member 32153f.

[0102] As Figure 23 , 24 -27, anti-blocking members 3217f protruding from the tightening bracket 3210f are provided at both ends of the tightening bracket 3210f. The anti-blocking members 3217f are located between the tightening bracket 3210f and the clamping device 3211f; the anti-blocking members 3217f are used to drive the contact end 32155f of the clamping and gripping member 32152f to swing towards the direction close to the first clamping limiting member 32153f when contacting the abutting end 32156f of the clamping and gripping member 32152f; the first clamping limiting member 32153f is used to limit the contact end 32155f of the clamping and gripping member 32152f that swings away from the first clamping limiting member 32153f under the elastic force of the torsion spring 32158f when the abutting end 32156f of the clamping and gripping member 32152f is separated from the anti-blocking member 3217f.

[0103] The two clamping members 3215f are connected by a clamping connection member 3216f to achieve synchronous movement of the two clamping members 3215f, and the two clamping members 3215f are set to stably clamp the box-shaped material; the clamping and picking member 32152f and the clamping and fixing member 32151f are movably connected by a rotating shaft; the clamping and picking member 32152f can swing relative to the clamping and fixing member 32151f; at the same time, since the first clamping limit member 32153f is connected to the clamping and fixing member 32151f, and the second clamping limit member 32154f is connected to the clamping and picking member 32152f; when the clamping and picking member 32152f is closed, the tightening telescopic device 3214f retracts; the tightening telescopic device 3214f drives the two picking devices 313f to approach the tightening bracket 3210f; when the contact end 32156f of the clamping and picking member 32152f contacts the resisting member 3217f on the tightening bracket 3210f, the contact end 32155f of the clamping and picking member 32152f approaches the first clamping limit member 32153f against the elastic force of the torsion spring 32158f, realizing the closing of the clamping member 3215f; when the clamping and picking member 32152f is unfolded, the tightening telescopic device 3214f extends, and the tightening telescopic device 3214f drives the two picking devices 313f to move away from the tightening bracket 3210f; when the contact end 32156f of the clamping and picking member 32152f is separated from the resisting member 3217f on the tightening bracket 3210f, under the action of the elastic force of the torsion spring 32158f itself, the contact end 32155f of the clamping and picking member 32152f swings away from the first clamping limit member 32153f; realizing the unfolding of the clamping and picking member 32152f. At the same time, during the unfolding process of the clamping and picking member 32152f, when the second clamping limit member 32154f abuts against the first clamping limit member 32153f, the first clamping limit member 32153f limits the second clamping limit member 32154f, so that the second clamping limit member 32154f cannot continue to swing, thereby realizing the unfolding of the clamping member 3215f.

[0104] At the same time, after unfolding, the first clamping limit member 32153f of the clamping member 3215f abuts against the second clamping limit member 32154f; the first clamping limit member 32153f supports the second clamping limit member 32154f; when clamping the box-shaped material, the clamping and moving device 322f drives the clamping structure 321f to extend, so that the box-shaped material is located between the clamping devices 3211f at both ends of the tightening bracket 3210f; then the movable end of the tightening telescopic device 3214f retracts, driving the clamping member 3215f to close, and clamping the box-shaped material through the contact end 32155f of the clamping and picking member 32152f; when the contact end 32156f of the clamping and picking member 32152f contacts the resisting member 3217f; at this time, under the supporting effect of the box-shaped material on the contact end 32155f, the clamping and picking member 32152f will not swing.

[0105] Meanwhile, the contact end 32155f of the clamping and gripping member 32152f will be given a force to swing towards the first clamping limit member 32153f by the contact end 32156f of the clamping and gripping member 32152f in contact with the resisting member 3217f; in this way, the clamping and gripping members 32152f at both ends of the tightening bracket opposite to each other stably clamp the box-shaped material. At the same time, the folding and unfolding of the clamping and gripping member 3215f are realized during the movement of the clamping member 3215f, and the structure is simple.

[0106] In this embodiment, the contact end 32156f extends obliquely away from the contact end 32155f to have a contact portion 32159f approaching the resisting member 3217f, and the contact portion 32159f is used to contact the resisting member 3217f. By providing the inclined contact portion 32159f approaching the resisting member 3217f, it is convenient for the clamping and gripping member 32152f to cooperate with the resisting member 3217f.

[0107] As Figure 16 , 19 shown; the clamping and moving device 322f includes a moving fixed bracket 3221f, a moving sliding bracket 3222f, and a moving driving device; the moving fixed bracket 3221f is connected to the first clamping fixed bracket 311f, a second through hole 3223f penetrates through the moving fixed bracket 3221f, and a pulley assembly 4f is provided in the second through hole 3223f; one end of the moving sliding bracket 3222f is connected to the clamping structure 321f, and the other end of the moving sliding bracket 3222f is inserted into the second through hole 3223f and contacts the sliding assembly.

[0108] The moving driving device includes a moving driving motor 3224f, a moving driving driving gear 3225f, and a moving driving rack 3226f; a moving groove 3227f is provided on the moving sliding bracket 3222f, and the moving driving rack 3226f is fixed in the moving sliding bracket 3222f and corresponds to the moving groove 3227f; the moving driving motor 3224f is fixed on the moving fixed bracket 3221f, the output end of the moving driving motor 3224f is connected to the moving driving driving gear 3225f, and the moving driving driving gear 3225f passes through the moving groove 3227f and extends into the moving sliding bracket 3222f to mesh with the moving driving rack 3226f.

[0109] A fixed moving drive rack 3226f is provided inside the moving sliding bracket 3222f, and the moving sliding bracket 3222f is slidably arranged inside the moving fixed bracket 3221f; the moving drive rack 3226f is driven to move by the moving drive driving gear 3225f, and the moving drive rack 3226f drives the moving sliding bracket 3222f to move; the structure is simple; at the same time, the moving drive driving gear 3225f passes through the moving slot 3227f and extends into the moving sliding bracket 3222f to limit the movement of the moving sliding bracket 3222f; when the end of the moving slot 3227f contacts the moving drive driving gear 3225f, the moving sliding bracket 3222f stops moving.

[0110] As Figure 28 shown; the clamping lifting device 2f includes a clamping lifting drive device, a clamping lifting synchronizing shaft 21f and two clamping lifting transmission devices 22f; the clamping lifting synchronizing shaft 21f connects the two clamping lifting transmission devices 22f, and the output end of the clamping lifting drive device is connected to the clamping lifting synchronizing shaft 21f.

[0111] The clamping lifting transmission device 22f includes a clamping lifting first pulley 23f, a clamping lifting second pulley 24f, a clamping lifting synchronous belt 25f and a clamping synchronous belt fixing member 26f; the clamping lifting first pulley 23f is rotatably arranged at the top end of the handling frame body 1f; the clamping lifting second pulley 24f is rotatably arranged at the bottom end of the handling frame body 1f; the clamping lifting synchronous belt 25f is sleeved on the first pulley and the clamping lifting second pulley 24f; referring to Figure 25 shown; the clamping synchronous belt fixing member 26f clamps the clamping lifting synchronous belt 25f on the first clamping fixing frame 311f.

[0112] The clamping lifting drive device includes a clamping lifting drive motor 27f, a clamping lifting first transmission gear 28f, a second transmission gear 29f and a clamping lifting drive bracket; the clamping lifting drive bracket is connected to the frame body 1f; the clamping lifting drive motor is fixed on the clamping lifting drive bracket; the clamping lifting first transmission gear 28f is connected to the output end of the clamping lifting drive motor 27f, and the second transmission gear 29f is sleeved on the clamping lifting synchronizing shaft 21f; the clamping lifting first transmission gear 28f meshes with the second transmission gear 29f; the clamping lifting drive motor 27f drives the clamping lifting synchronizing shaft 21f to rotate through the clamping lifting first transmission gear and the second transmission gear, and the clamping lifting synchronizing shaft 21f drives the clamping lifting transmission device 22f to act.

[0113] The clamping lifting device 2f drives the first clamping fixing frame 311f to clamp and lift by connecting the clamping synchronous belt fixing part 26f to the first clamping fixing frame 311f and the clamping lifting synchronous belt 25f. At the same time, the first clamping rotating frame 312f is connected to the first clamping fixing frame 311f, and the second clamping device 32f is also connected to the first clamping fixing frame 311f; thus, the first clamping device 31f and the second clamping device 32f are synchronously clamped and lifted.

[0114] Refer to Figure 21 As shown, a third through hole 3110f is provided on the first clamping fixing frame 311f, and a pulley assembly 4f is provided in the third through hole 3110f; the handling frame body 1f is inserted through the third through hole 3110f and contacts the sliding assembly.

[0115] In this embodiment, the first through hole 31301f, the second through hole 3223f, and the third through hole 3110f are all rectangular holes; at least two opposite inner walls of the first through hole 31301f, the second through hole 3223f, and the third through hole 3110f are respectively provided with more than one group of pulley assemblies 4f; each group of pulley assemblies 4f includes a first sliding shaft 41f and a first pulley 42f; the first sliding shaft 41f is fixed on the first through hole 31301f, the second through hole 3223f, and the third through hole 3110f; the first pulley 42f is rotatably arranged on the first sliding shaft 41f and is used to contact the handling frame body 1f, the first clamping bracket 3133f, and the moving sliding bracket 3222f.

[0116] As Figure 14 shown; there is also a chassis at the bottom of the handling frame body 1f, and a traveling device 5f is provided on the chassis; the traveling device 5f is used to drive the handling frame body 1f to move. The traveling device 5f drives the handling frame body 1f to move, so that the clamping device 3f approaches the box-shaped material. The traveling device 5f includes four groups of traveling wheels, and each group of traveling wheels is driven by an independent motor.

[0117] The working method of the grasping and stacking device includes the following steps:

[0118] S1. Judge whether the box-shaped material is within the moving range of the grasping device 13 lifting. If so, proceed to S2; in this embodiment, it is judged manually whether the material is within the moving range of the grasping device 13 lifting.

[0119] S2. The moving device 4 drives the first rack 10 to move to one side of the box-shaped material.

[0120] S3. Judge whether the suction attachment 134 of the grasping device 1313 can contact the opposite side of the box-shaped material. If so, proceed to S4; if not, proceed to S6; in this embodiment, it is judged manually whether the suction attachment 134 can contact the opposite side of the box-shaped material.

[0121] S4. The grasping and rotating 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 side opposite to 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;

[0122] S5. The suction attachment 134 adsorbs the box-shaped material, and then the telescopic movable bracket 112 retracts; then S12 is performed;

[0123] S6. If the box-shaped material is above the grasping device 13, S7 is performed; if the box-shaped material is below the grasping device 13, S9 is performed;

[0124] S7. The telescopic movable bracket 112 extends to make the suction attachment 134 directly below the box-shaped material, and the grasping and rotating bracket 133 rotates away from the avoidance space 1215 to make the adsorption surface of the suction attachment 134 correspond to the bottom of the box-shaped material; the lifting device drives the suction attachment 134 to rise and contact the box-shaped material; then S8 is performed.

[0125] S8. The lifting device drives the suction attachment 134 to descend, and then the telescopic movable bracket 112 retracts; then S11 is performed;

[0126] S9. The telescopic movable bracket 112 extends to make the suction attachment 134 directly above the box-shaped material, and the grasping and rotating bracket 133 drives the suction attachment 134 to rotate away from the avoidance space 1215 to make the adsorption surface of the suction attachment 134 correspond 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 S10 is performed.

[0127] S10. The lifting device drives the suction attachment 134 to rise, and then the telescopic movable bracket 112 retracts; then S11 is performed.

[0128] S11. The grasping and rotating bracket 133 drives the suction attachment 134 to rotate towards the avoidance space 1215. When the box-shaped material enters the avoidance space, the suction attachment 134 releases the adsorption of the box-shaped material; then the grasping and rotating bracket 133 rotates away from the avoidance space 1215; then S12 is performed.

[0129] S12. The moving device drives the first rack to approach the handling device, and then the grasping and rotating bracket drives the suction attachment to rotate towards the avoidance space. The suction attachment adsorbs the box-shaped material; the suction attachment drives the box-shaped material to rotate away from the avoidance space to provide materials for the handling device; then S13 is performed.

[0130] S13. The clamping and lifting device 2f drives the clamping device 3f to lift, so that the clamping device 3f and the box-shaped material grasped by the grasping and flipping device are at the same horizontal height.

[0131] S14. The handling device clamps a box-shaped material through the first clamping member 3132f; then the grasping and flipping device releases the adsorption of the box-shaped material; then the grasping and flipping device performs S1 - S11 to grasp other box-shaped materials.

[0132] S15. Determine whether it is necessary to change the clamping surface of the currently clamped box-shaped material; if not, proceed to S22; if so, proceed to S16.

[0133] S16. The clamping and lifting device drives the clamping device to rise, so that the first clamping device does not interfere with the contact surface of the stacking area when rotating.

[0134] S17. The clamping and moving device drives the clamping structure to approach the box-shaped material, and at the same time the clamping structure clamps the box-shaped material.

[0135] S18. The first clamping member 3132f releases the clamping of the currently clamped box-shaped material.

[0136] S19. The clamping and rotating device 314f drives the first clamping rotating frame 312f to rotate clockwise by 90°; then the first clamping member 3132f clamps the currently clamped box-shaped material again.

[0137] S20. The clamping structure releases the clamping of the box-shaped material; at the same time, the clamping and moving device drives the clamping structure away from the box-shaped material.

[0138] S21. The clamping and rotating device 314f drives the first clamping rotating frame 312f to rotate counterclockwise by 90°.

[0139] S22. The handling device moves towards the stacking area. When the handling device reaches the stacking area, proceed to S23.

[0140] S23. The first clamping member 3132f releases the clamping of the currently clamped box-shaped material; the box-shaped material is placed on the stacking area; if it is necessary to clamp the next box-shaped material, then proceed to A2 until the next material is placed on the material in the stacking area; if it is not necessary to clamp the next box-shaped material, stop working.

[0141] 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.

[0142] 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.

[0143] The handling device first clamps the box-shaped material through the first clamping member 3132f; when the clamping surface of the current clamping box-shaped material needs to be changed; the height of the first clamping member 3132f is adjusted through the clamping lifting device to prevent the clamping device 313f from hitting the ground when rotating; when there is enough space between the first clamping member 3132f and the ground, the first clamping rotating frame 312f and the clamping device 313f rotate; then the clamping structure 321f clamps the current clamped box-shaped material for the second time; after the clamping structure 321f clamps the box-shaped material, the first clamping member 3132f is released The currently clamped box-type material is clamped; this prevents the box-type material from falling; then the clamping rotating device 314f drives the first clamping rotating frame 312f to rotate; so that the first clamping member 3132f corresponds to the other clamping surface of the box-type material; the currently clamped box-type material is clamped for the third time by the first clamping member 3132f; after the first clamping member 3132f clamps the box-type material, the clamping structure releases the clamping of the currently clamped box-type material; then the first clamping rotating frame 312f is driven to rotate again; in this way, while clamping the box-type material, the clamping surface of the box-type material is changed.

[0144] In the above method,

[0145] In S17, the clamping moving device drives the clamping structure to approach the box-shaped material, and the clamping structure clamps the box-shaped material; specifically, S17.1-S17.3.

[0146] S17.1. The movable end of the tightening and telescopic device 3214f is extended, and the two clamping devices 3211f are separated from each other; at the same time, the clamping and taking member 32152f is unfolded.

[0147] S17.2. The clamping and moving device 322f drives the two clamping devices 3211f to approach the box-shaped material to be clamped. When the box-shaped material is located between the contact parts of the clamping and picking parts 32152f at both ends of the receiving bracket, proceed to S17.3;

[0148] S17.3. The movable end of the retracting telescopic device 3214f retracts, and the two clamping devices 3211f approach each other and contact the box-shaped material. After the two clamping devices 3211f clamp the box-shaped material, then proceed to S18.

[0149] In S20, the clamping structure releases the clamping of the box-shaped material; at the same time, the clamping and moving device drives the clamping structure away from the box-shaped material; specifically, it is S20.1 - S20.2.

[0150] S20.1. The movable end of the retracting telescopic device 3214f extends, and the two clamping devices 3211f separate from each other and separate from the box-shaped material. After the clamping and picking part 32152f separates from the box-shaped material, proceed to S20.2.

[0151] S20.2. The clamping and moving device 322f drives the two clamping devices 3211f away from the box-shaped material; then the movable end of the retracting telescopic device 3214f retracts; the two clamping devices 3211f approach each other to make the clamping and picking parts 32152f close; then proceed to S21.

[0152] In the above method, when the retracting telescopic device 3214f acts, the two clamping devices 3211f at both ends of the retracting bracket 3210f act synchronously to approach or separate from each other; during the process of the two clamping devices separating from each other, the clamping and picking parts expand simultaneously; during the process of the two clamping devices approaching each other, the clamping and picking parts close simultaneously; in this way, the speed of the two clamping devices expanding and closing is fast, and the working effect of clamping the box-shaped material is high.

[0153] In the above method;

[0154] In S17.1 and S20.1, the movable end of the tightening telescopic device 3214f extends, and the two clamping devices 3211f are separated from each other. Specifically: the movable end of the tightening telescopic device 3214f drives a clamping device 3211f away from the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate; the tightening transmission gear 32131f drives the second tightening transmission rack 32133f to move in the opposite direction of the movement along the first tightening transmission rack 32132f; so that the other clamping device 3211f also moves away from the tightening bracket 3210f; the two clamping devices 3211f are separated from each other; at the same time, when the contact end 32156f of the clamping and gripping member 32152f is separated from the resisting member 3217f; under the elastic force of the torsion spring, the contact end of the clamping and gripping member 32152f swings away from the first clamping limiting member 32153f; during the swinging process of the clamping and gripping member 32152f, one end of the second clamping limiting member 32154f approaches the first clamping limiting member 32153f; when one end of the second clamping limiting member 32154f abuts against the first clamping limiting member 32153f, the first clamping limiting member 32153f limits the second clamping limiting member 32154f, so that the second clamping limiting member 32154f cannot swing continuously, and the unfolding of the clamping and gripping member 32152f is realized.

[0155] In S17.3 and S20.2, the movable end of the tightening telescopic device 3214f retracts; the two clamping devices 3211f approach each other. Specifically:

[0156] The movable end of the tightening telescopic device 3214f drives a clamping device 3211f close to the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate; the tightening transmission gear 32131f drives the second tightening transmission rack 32133f to move in the opposite direction of the movement along the first tightening transmission rack 32132f; so that the other clamping device 3211f also moves close to the tightening bracket 3210f; the two clamping devices 3211f approach each other.

[0157] In S17.3, the contact end 32155f of the clamping and clamping members 32152f of the two clamping devices 3211f approaching each other clamps the box-shaped material; when the two clamping devices continue to approach each other, the abutting end 32156f of the clamping and clamping member 32152f contacts the resisting member 3217f; at this time, under the supporting effect of the box-shaped material on the contact end 32155f, the clamping and clamping member 32152f will not swing; at the same time, the abutting member 3217f contacting the abutting member 3217f and the abutting end 32156f of the clamping and clamping member 32152f will give the contact end 32155f of the clamping and clamping member 32152f a force to swing in the direction close to the first clamping limit member 32153f; in this way, the clamping and clamping members 32152f located at opposite ends of the tightening bracket stably clamp the box-shaped material.

[0158] In S20.2, when the abutting end 32156f of the clamping member 32152f contacts the resisting member 3217f, the contacting end 32155f of the clamping member 32152f overcomes the elastic force of the torsion spring 32158f and approaches the first clamping limit member 32153f, and the second clamping limit member 32154f separates from the first clamping limit member 32153f, the clamping member 32152f is retracted.

[0159] Reference Figure 13 As shown; taking the change from the U1 surface and U2 surface of the clamping box-shaped material to the U5 surface and U6 of the clamping box-shaped material as an example; changing the clamping surface of the box-shaped material along the Y direction;

[0160] In S14, the transport device clamps the U1 surface and U2 surface of a box-shaped material through the first clamping member 3132f.

[0161] In S17.1, the movable end of the tightening and retracting device 3214f is extended, and the two clamping devices 3211f are separated from each other; at the same time, the clamping and clamping member 32152f is unfolded.

[0162] In S17.2, the clamping moving device 322f drives the two clamping devices 3211f to clamp the box-shaped material closer; when the U5 surface and U6 surface of the box-shaped material are located between the contact portions of the clamping and clamping members 32152f at both ends of the receiving bracket, S17.3 is performed.

[0163] In S17.3, the movable end of the retractable device 3214f is retracted, and the two clamping devices 3211f are close to each other and contact the U5 surface and U6 surface of the box-shaped material; when the two clamping devices 3211f clamp the box-shaped material, S18 is performed.

[0164] In S18, the first clamping member 3132f releases the clamping of the U1 surface and U2 surface of the currently clamped box-shaped material.

[0165] In S19, the clamping rotating device 314f drives the first clamping rotating frame 312f to rotate 90° clockwise; then the first clamping member 3132f clamps the U5 surface and U6 surface of the currently clamped box-shaped material again.

[0166] In S20.1, the movable end of the tightening and retracting device 3214f is extended, and the two clamping devices 3211f are separated from each other and from the U5 surface and U6 surface of the box-shaped material; at the same time, the clamping and gripping member 32152f is unfolded; when the clamping and gripping member 32152f is separated from the box-shaped material, S20.2 is performed.

[0167] S20.2, the clamping moving device 322f drives the two clamping devices 3211f away from the box-shaped material; then the movable end of the telescopic device 3214f is tightened and retracted; the two clamping devices 3211f are moved closer to each other to realize the folding of the clamping and picking parts 32152f; then S21 is performed.

Claims

1. A grasping and stacking device, characterized in that: It includes an adsorption device and a handling device. The adsorption device is used to grasp box-shaped materials and transport the box-shaped materials. The handling device is used to stack the box-shaped materials. The adsorption device includes a frame. A moving device and a grasping device are provided on the frame. The moving device is used to drive the adsorption device to move. The grasping device includes a telescopic device, a bracket, and a grasping device. 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. 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. 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. The grasping device 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 mounted 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. The handling device includes a handling frame body, a clamping lifting device, and a clamping device. A traveling device is provided on the handling frame body. The traveling device is used to drive the handling device to move. The clamping lifting device is arranged on the handling frame body and is connected to the clamping device. The clamping lifting device drives the clamping device to lift along the height direction of the handling frame body. The clamping device includes a first clamping device and a second clamping device. The first clamping device includes a first clamping fixing frame, a first clamping rotating frame, a clamping device, and a clamping rotating device. There are two clamping devices. The first clamping rotating frame is located between the two clamping devices and is connected to the two clamping devices. The first clamping rotating frame is rotatably arranged on the first clamping fixing frame. The second clamping device passes through the first clamping rotating frame and is fixed to the first clamping fixing frame. There is a gap between the second clamping device and the first clamping rotating frame. The clamping rotating device is used to drive the two clamping devices to rotate relative to the first clamping fixing frame. The clamping rotating device includes a clamping rotating motor, a clamping rotating driving gear, a clamping rotating driven gear, and a clamping rotating bearing. The first clamping rotating frame is fixedly connected to one side of the clamping rotating driven gear. The other side of the clamping rotating driven gear is fixedly connected to the inner ring of the clamping rotating bearing. The outer ring of the clamping rotating bearing is fixedly connected to the first clamping fixing frame. The clamping rotating motor is arranged on the first clamping fixing frame. The output end of the clamping rotating motor is connected to the clamping rotating driving gear. The clamping rotating driving gear meshes with the clamping rotating driven gear. Each clamping device includes a first clamping driving device and a first clamping member. The clamping device is connected to the first clamping rotating frame. The movable end of the first clamping driving device is connected to the first clamping member. The first clamping driving device drives the first clamping member to approach and move away from the second clamping device. The two first clamping members approach each other to clamp the material. The second clamping device includes a clamping structure and a clamping moving device. The fixed end of the clamping moving device is fixedly connected to the first clamping fixed bracket, and the movable end of the clamping moving device is connected to the clamping structure. The clamping moving device drives the clamping structure to approach and move away from the first clamping fixed bracket. The clamping structure is used to clamp the material, and a clamping avoidance space for avoiding the first clamping member is provided on the clamping structure. The picking device is used to perform the first clamping on the box-shaped material. The clamping structure is used to perform the second clamping on the box-shaped material. The clamping rotation device drives the picking device to rotate and then performs the third clamping on the box-shaped material.

2. The grasping and stacking device according to claim 1, characterized in that: 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.

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

4. A grasping and stacking device according to claim 1, characterized in that: The telescopic device further includes a pulley assembly, and the pulley assembly is arranged at the end of the telescopic movable bracket away from the grasping device. The pulley assembly includes a pulley bracket, and more than one rotatable pulley is provided on both sides of the pulley bracket. The pulley abuts against the bottom of the first telescopic slider.

5. A grasping and stacking device according to claim 1, characterized in that: 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. 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. One end of the first synchronous belt fixing part is fixedly connected to the lifting fixed bracket, and the other end of the first synchronous belt fixing part is clamped on the lifting synchronous belt on one side of the first lifting transmission wheel and the second lifting transmission wheel; the second synchronous belt fixing part is put on the lifting synchronous belt on the other side of the first lifting transmission wheel and the second lifting transmission wheel and fixed on the bracket; the transmission assembly is used to drive the lifting movable bracket and the bracket to rise and fall synchronously.

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

7. A grasping and stacking device according to claim 1, characterized in that: The clamping structure includes a tightening bracket, a clamping device and a tightening device; the clamping device is located on one side of the tightening bracket; two clamping devices are provided; the tightening device includes a first sliding device, a second sliding device, a tightening lifting transmission device, and a tightening telescopic device; A clamping device is slidably arranged at one end of the tightening bracket through a first sliding device; another clamping device is slidably arranged at the other end of the tightening bracket through a second sliding device; The tightening lifting transmission device includes a tightening transmission gear, a first tightening transmission rack and a second tightening transmission rack; the tightening transmission gear is rotatably arranged on the tightening bracket, the first tightening transmission rack is located on one side of the tightening transmission gear, the first tightening transmission rack is fixedly connected to a clamping device and meshed with the tightening transmission gear; the second tightening rotating rack is located on the other side of the tightening transmission gear, the second tightening transmission rack is fixedly connected to another clamping device and meshed with the tightening transmission gear; The fixed end of the tightening and telescopic device is connected to the tightening bracket, and the movable end of the tightening and telescopic device is connected to a clamping device; the tightening and telescopic device is used to drive the two clamping devices to move away from each other or closer to each other; A clamping device comprises a clamping connection member and two clamping members; the two clamping members are connected by the clamping connection member; a first tightening transmission rack is connected to one of the clamping members in one clamping device, and a second tightening transmission rack is connected to one of the clamping members in another clamping device; The clamping member includes a clamping fixing member, a clamping and clamping member, a first clamping and limiting member, and a second clamping and limiting member; the clamping and clamping member is located on one side of the clamping and fixing member, and the first clamping and limiting member and the second clamping and limiting member are arranged opposite to each other and are located between the first clamping and clamping member and the first clamping and fixing member; One end of the clamping and clamping member is a contact end, and the other end of the clamping member is an abutting end; the contact end is used to contact the material; the first clamping limiter is connected to the clamping and fixing member, and the second clamping limiter is connected to the abutting end of the clamping and clamping member; a receiving groove is formed between the first clamping limiter and the second clamping limiter, a rotating shaft is provided in the receiving groove, and the clamping and clamping member is rotatably connected to the clamping and fixing member through the rotating shaft; a torsion spring is passed through the rotating shaft, one end of the torsion spring abuts against the first clamping limiter, and the other end of the torsion spring abuts against the second clamping limiter; At both ends of the tightening bracket, there are resistance members protruding from the tightening bracket, and the resistance members are located between the tightening bracket and the clamping device; the resistance members are used to drive the contact end of the clamping and gripping member to swing towards the direction close to the first clamping limit member when contacting the contact end of the clamping and gripping member; the first clamping limit member is used to limit the contact end of the clamping and gripping member that swings away from the first clamping limit member under the elastic force of the torsion spring when the contact end of the clamping and gripping member separates from the resistance member.

8. A grasping and stacking device according to claim 1, characterized in that: The clamping and moving device includes a moving fixed bracket, a moving sliding bracket, and a moving driving device; the moving fixed bracket is connected to the first clamping fixed bracket, and a second through hole penetrates through the moving fixed bracket, and a pulley assembly is arranged in the second through hole; one end of the moving sliding bracket is connected to the clamping structure, and the other end of the moving sliding bracket is arranged in the second through hole and contacts the pulley assembly; The moving driving device includes a moving driving motor, a moving driving driving gear, and a moving driving rack; a moving groove is arranged on the moving sliding bracket, and the moving driving rack is fixed in the moving sliding bracket and corresponds to the moving groove; the moving driving motor is fixed on the moving fixed bracket, the output end of the moving driving motor is connected to the moving driving driving gear, and the moving driving driving gear penetrates through the moving groove and extends into the moving sliding bracket to mesh with the moving driving rack.

9. A grasping and stacking device according to claim 1, characterized in that: The clamping and lifting device includes a clamping and lifting driving device, a clamping and lifting synchronizing shaft, and two clamping and lifting transmission devices; the clamping and lifting synchronizing shaft connects the two clamping and lifting transmission devices, and the output end of the clamping and lifting driving device is connected to the clamping and lifting synchronizing shaft; The clamping and lifting transmission device includes a clamping and lifting first pulley, a clamping and lifting second pulley, a clamping and lifting synchronous belt, and a clamping synchronous belt fixing member; the clamping and lifting first pulley is rotatably arranged at the top end of the handling frame body; the clamping and lifting second pulley is rotatably arranged at the bottom end of the handling frame body; the clamping and lifting synchronous belt is sleeved on the clamping and lifting first pulley and the clamping and lifting second pulley; the clamping synchronous belt fixing member clamps the clamping and lifting synchronous belt on the first clamping fixed bracket.

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