An adsorption device

Abstract

The present invention provides an adsorption device, including a grabbing device, which includes a telescopic device, a bracket and a grabbing device, wherein the grabbing 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 grabbing device, and the telescopic device drives the grabbing device to approach and move away from the avoidance space; the telescopic device drives the grabbing device to extend and retract, so that the box-shaped materials grabbed by the grabbing device can be moved into the avoidance space; by setting the telescopic device, the grabbing device can grab box-shaped materials at different distances from the frame; at the same time, the grabbing rotating bracket of the grabbing device can be rotatably set, and the grabbing rotating bracket is connected to an adsorption component; in this way, the box-shaped materials can be grabbed from different directions.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to an adsorption device. Background Art

[0002] Engineering robots are similar to handling robots in the logistics industry. Both need to be able to grip and carry regular objects within a certain weight at different heights. Through automation, intelligent logistics can be realized, such as fully automated logistics in scenarios such as ports and logistics centers. However, existing handling robots cannot turn over the box-shaped materials they are carrying. At the same time, the movement direction of the grippers of existing handling robots is fixed, and they can only clamp the box-shaped materials in one direction, that is, they can only clamp the box-shaped materials from top to bottom, or from left to back. They cannot clamp the box-shaped materials in different directions, and are easily restricted by site factors when in use, resulting in the inability to pick up the box-shaped materials. At the same time, the grippers cannot catch materials falling from the air. When grabbing box-shaped materials, the grippers need to open the grippers, and then move the grippers so that the box-shaped materials are located between the two claws of the grippers. Then the grippers can be retracted to grab the box-shaped materials. The grippers move cumbersomely when grabbing box-shaped materials. Summary of the Invention

[0003] The invention provides an adsorption device which can bypass obstacles and grab box-shaped materials.

[0004] To achieve the above-mentioned purpose, the technical solution of the present invention is: an adsorption device, including a frame, on which a grabbing device is provided, the grabbing device including a telescopic device, a bracket and a grabbing device, and the grabbing 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 grabbing device, and the telescopic device drives the grabbing device to approach and move away from the bracket.

[0005] The bracket includes a fixing part and a positioning part. The positioning part is arranged on the fixing part. An avoidance hole is provided on the positioning part. An avoidance space is formed between the avoidance hole and the fixing part. The avoidance space is used to accommodate box-shaped materials.

[0006] The grabbing device includes a grabbing mounting bracket, a grabbing driving device, a grabbing rotating bracket and an adsorption piece; the grabbing mounting bracket is connected to the movable end of the telescopic device, the grabbing driving device is fixed on the grabbing mounting bracket and connected to the grabbing rotating bracket, and the adsorption piece is installed on the grabbing rotating bracket; the grabbing driving device drives the grabbing rotating bracket to rotate, and the grabbing rotating bracket drives the adsorption piece to approach or move away from the avoidance space.

[0007] The telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a telescopic first drive device and a telescopic second drive device; one end of the telescopic movable bracket is connected to the grasping device; the telescopic movable bracket is arranged above the telescopic fixed bracket and is slidably connected to the telescopic fixed bracket; the fixed end of the telescopic first drive device is connected to the telescopic fixed bracket, the movable end of the first telescopic drive device is connected to the fixed end of the telescopic second drive device, and the movable end of the second telescopic drive device is connected to the telescopic movable bracket; the first telescopic drive device is used to drive the telescopic movable bracket to move, and the second telescopic drive device is used to drive the telescopic movable bracket to move relative to the first telescopic drive device.

[0008] The telescopic first driving device includes a telescopic first fixed seat, a telescopic first cylinder and a telescopic first slide; the telescopic movable bracket is located between the telescopic first slide and the telescopic fixed bracket; one end of the telescopic first fixed seat is connected to the telescopic fixed bracket, and the telescopic first cylinder is arranged at the other end of the telescopic first fixed seat; the telescopic first slide is inserted into the telescopic first cylinder and is slidably arranged on the telescopic first cylinder.

[0009] The telescopic second driving device includes a telescopic second fixed seat, a telescopic second cylinder and a telescopic third fixed seat; the fixed end of the telescopic second cylinder is connected to the telescopic second fixed seat, and the telescopic second fixed seat is connected to the telescopic first slider; the movable end of the telescopic second cylinder is connected to the telescopic third fixed seat, and the telescopic third fixed seat is connected to the telescopic movable bracket.

[0010] With the above arrangement, the grabbing device is used to grab the box-shaped materials and place the grabbed box-shaped materials in the avoidance space, thereby achieving the accommodation of the box-shaped materials.

[0011] By setting a rotatable grabbing rotating bracket, the grabbing rotating bracket drives the adsorption part to rotate, so that the adsorption part can grab the box-shaped materials in the horizontal direction, grab the box-shaped materials in the vertical direction, and grab the box-shaped materials in the inclined direction between the horizontal and vertical directions; it is not easily restricted by the site and has a wide range of applications; at the same time, since the grabbing rotating bracket can be rotated, after the grabbing device grabs the box-shaped materials in one direction, the grabbing device can place the box-shaped materials in another direction.

[0012] The telescopic device drives the gripping device to extend and retract, allowing box-shaped materials grasped by the gripping device to be moved into the avoidance space. By providing the telescopic device, the gripping device can grasp box-shaped materials at different distances from the frame. The telescopic movable bracket is driven to extend for the first time by the telescopic first drive device, and to extend for the second time by the telescopic second drive device. The telescopic movable bracket can move a long distance, thereby extending the gripping range of the gripping device.

[0013] The telescopic first slider is connected to the telescopic second fixed seat and slides on the telescopic first cylinder body. At the same time, the telescopic second fixed seat is connected to the telescopic movable bracket through the telescopic second cylinder and the telescopic third fixed seat; the telescopic first slider is prevented from rotating during movement.

[0014] Furthermore, the telescopic device also includes a pulley assembly, which is arranged at one end of the telescopic movable bracket away from the grasping device; the pulley assembly includes a pulley bracket, and one or more rotatable pulleys are provided on both sides of the pulley bracket; the pulley abuts against the bottom of the telescopic first slider.

[0015] According to the above arrangement, when the telescopic first driving device drives the telescopic movable bracket to move, the telescopic movable bracket moves synchronously with the telescopic first slider; since the telescopic first slider moves synchronously with the telescopic movable bracket, the telescopic first slider does not slide or rub against the telescopic movable bracket at this time; when the telescopic second driving device drives the telescopic movable bracket to move, the telescopic movable bracket moves relative to the telescopic first slider; by arranging a pulley assembly at the end of the telescopic movable bracket away from the grasping device, the friction force experienced by the telescopic first slider during movement is reduced.

[0016] Furthermore, two fixing supports are provided at the end of the fixing member away from the gripping device, each of which has a first slot at the top; the first slot is provided on the end of the positioning member away from the gripping device. The first slot engages with the positioning member, further improving the stability of the connection between the fixing member and the positioning member.

[0017] Furthermore, two second slots are provided at one end of the positioning member away from the grabbing device; the first slot is engaged with the second slot.

[0018] Furthermore, a supporting member with a hollow structure is provided in the adsorption member.

[0019] The above arrangement does not affect the adsorption of the box-shaped materials by the adsorption member by providing the support member with a hollow structure; at the same time, the supporting force of the adsorption member is improved.

[0020] Furthermore, it also includes a lifting device; the lifting device includes a lifting fixed bracket, a lifting movable bracket, a lifting drive device and a transmission assembly; the lifting fixed bracket is fixedly connected to the frame, and the lifting movable bracket is slidably connected to the lifting fixed bracket and the grasping device.

[0021] The transmission assembly includes a first lifting transmission wheel, a second lifting transmission wheel, a lifting synchronous belt, a first synchronous belt fixing part and a second synchronous belt fixing part; the output end of the lifting drive device passes through the first lifting transmission wheel and is connected to one end of the lifting movable bracket, and the second lifting transmission wheel is rotatably arranged at the other end of the lifting movable bracket; the lifting synchronous belt is sleeved on the first lifting transmission wheel and the second lifting transmission wheel.

[0022] 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 to the bracket; the transmission assembly is used to drive the lifting movable bracket and the bracket to rise and fall synchronously.

[0023] The above arrangement drives the bracket to rise and fall through the lifting device, and then drives the grabbing device to rise and fall; in this way, the grabbing device can grab box-type materials at different heights; the bracket is lifted and lowered synchronously with the grabbing device, and the coordination effect between the grabbing device and the avoidance space is good; the lifting synchronous belt sleeve on one side of the transmission assembly is connected to the lifting fixed bracket, and the transmission assembly rotates in one direction to drive the lifting synchronous belt to move, and the first synchronous belt fixing part approaches the bottom end of the lifting fixed bracket, and the first synchronous belt fixing part generates a force to drive the lifting fixed bracket to move downward; since the lifting fixed bracket is fixed on the frame, the lifting fixed bracket cannot move, and the transmission assembly is arranged on the lifting movable bracket, and the lifting movable bracket is slidably connected to the lifting fixed bracket, which will drive the lifting movable bracket to move upward, so that the first synchronous belt fixing part moves downward relative to the lifting first transmission wheel, thereby realizing the rising of the lifting movable bracket.

[0024] The transmission assembly rotates the lifting synchronous belt sleeve in the other direction, and the first synchronous belt fixing part approaches the top of the lifting fixed bracket, and the first synchronous belt fixing part generates a force to drive the lifting fixed bracket to move upward; since the lifting fixed bracket is fixed on the frame, the lifting fixed bracket cannot move, and the transmission assembly is arranged on the lifting movable bracket, and the lifting movable bracket is slidably connected to the lifting fixed bracket, which will drive the lifting movable bracket to move downward, so that the first synchronous belt fixing part moves upward relative to the lifting first transmission wheel, thereby realizing the lowering of the lifting movable bracket.

[0025] At the same time, a second synchronous belt fixing part is connected to the lifting synchronous belt sleeve on the other side of the transmission assembly. When the lifting movable bracket rises, the first synchronous belt fixing part moves downward relative to the lifting first transmission wheel, so that the second synchronous belt fixing part moves upward relative to the lifting first transmission wheel, and the bracket rises at the same time; when the lifting movable bracket descends, the first synchronous belt fixing part moves upward relative to the lifting first transmission wheel, so that the second synchronous belt fixing part moves downward relative to the lifting first transmission wheel, and the bracket descends at the same time; the bracket moves based on the movement of the lifting movable bracket, and the lifting height range of the bracket is large. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a three-dimensional schematic diagram of the engineering vehicle using the present invention.

[0027] Figure 2It is a three-dimensional schematic diagram of the grabbing device and the lifting device in the present invention.

[0028] Figure 3 It is a three-dimensional schematic diagram of the grabbing device in the present invention.

[0029] Figure 4 This is an exploded view of the gripping device of the present invention.

[0030] Figure 5 It is a three-dimensional schematic diagram of the telescopic device and the grasping device in the present invention.

[0031] Figure 6 This is a schematic diagram of the telescopic first driving device driving the telescopic movable bracket to extend in the present invention.

[0032] Figure 7 for Figure 6 Enlarged view of middle b.

[0033] Figure 8 This is a schematic diagram of the telescopic second driving device driving the telescopic movable bracket to extend in the present invention.

[0034] Figure 9 It is a three-dimensional schematic diagram of the positioning member in the present invention.

[0035] Figure 10 It is a three-dimensional schematic diagram of the fixing member in the present invention.

[0036] Figure 11 It is a three-dimensional schematic diagram of the lifting device in the present invention.

[0037] Figure 12 It is a front view of the lifting device in the present invention.

[0038] Figure 13 It is a schematic diagram of the lifting device after rising in the present invention.

[0039] Figure 14 This is a schematic diagram of using the engineering trolley of the present invention to cooperate with box-shaped materials of different heights. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] like Figure 1-14 As shown; an adsorption device is installed on an engineering vehicle for use, and the adsorption device includes a frame 10, which is fixedly connected to the engineering vehicle; a grabbing device 1 and a lifting device 2 are provided on the frame 10. In this embodiment, two lifting devices 2 are provided, and the grabbing device 1 is located between the two lifting devices 2; the two lifting devices 2 are connected to the grabbing device 1 and drive the grabbing device 1 to rise and fall.

[0042] like Figure 3 、4 As shown, the gripping device 1 includes a telescopic device 11, a bracket 12, and a gripping device 13. The gripping 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 gripping device 13. The telescopic device 11 drives the gripping device 13 to move toward and away from the bracket 12. The telescopic device 11 drives the gripping device 13 to extend and retract, allowing the box-shaped material grabbed by the gripping device 13 to move into the bracket 12. By providing the telescopic device 11, the gripping device 13 can grip box-shaped materials at different distances from the frame 10.

[0043] As shown in Figures 3, 4, 14 and 15; the bracket 121 includes a fixing member 1211 and a positioning member 1212, the positioning member 1212 is arranged on the fixing member 1211, and 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 box-type materials.

[0044] like Figure 4 、 5 As shown; the grabbing device 13 includes a grabbing mounting bracket 131, a grabbing driving device 132, a grabbing rotating bracket 133 and an adsorption member 134; in this embodiment, there are two grabbing mounting brackets 131, the two grabbing mounting brackets 131 are connected to the movable end of the telescopic device 11, the grabbing driving device 132 is fixed on one grabbing mounting bracket 131 and the output end of the grabbing driving device 132 is fixedly connected to one end of the grabbing rotating bracket 133, and the other end of the grabbing rotating bracket 133 is rotatably connected to the other grabbing mounting bracket 131; the adsorption member 134 is installed on the grabbing rotating bracket 133; the grabbing driving device 132 drives the grabbing rotating bracket 133 to rotate, and the grabbing rotating bracket 133 drives the adsorption member 134 to approach and move away from the bracket 12. In this embodiment, the suction element 134 is a suction cup; a hollow support member (not shown) is provided within the suction element 134. The suction element 134 is connected to a vacuum pump (not shown). The hollow support member does not affect the suction element 134's ability to absorb the box-shaped material, while also increasing the holding force of the suction element 134. In this embodiment, the gripping drive 132 is a stepper motor. The gripping device 13 is used to grip the box-shaped material and place it in the bracket 12.

[0045] A rotatable grabbing rotating bracket 133 is provided, and the grabbing rotating bracket 133 drives the adsorption member 134 to rotate, so that the adsorption member 134 can grab the box-shaped materials in the horizontal direction; it can also grab the box-shaped materials in the vertical direction; it can also grab the box-shaped materials in the inclined direction between the horizontal and vertical directions; it is not easily restricted by the site and has a wide range of applications; at the same time, since the grabbing rotating bracket 133 can rotate, after the grabbing device 13 grabs the box-shaped materials in one direction, the grabbing device 13 can place the box-shaped materials in another direction.

[0046] Reference Figure 14 As shown, box-shaped materials Q1, Q2, and Q3 are placed on a wall 6 via a clamping device 5; a box-shaped material Q4 is placed on the ground 7; and the clamping device clamps the sides of the box-shaped material. In this embodiment, the clamping device is a clamping claw; the clamping device is conventional and will not be described here.

[0047] If the box-shaped material is within the lifting range of the grabbing device 13, the lifting device 2 drives the grabbing device 13 to rise and fall to match the box-shaped material at different heights. Figure 14 The box-shaped materials Q2, Q3, and Q4 are all within the lifting range of the grabbing device 13.

[0048] Reference Figure 14 For the box-shaped material Q3, when the adsorption surface of the adsorption member 134 can contact the side opposite to the box-shaped material, the adsorption member rotates away from the avoidance space 1215 and contacts the side opposite to the box-shaped material, thereby achieving the grabbing of the box-shaped material.

[0049] Reference Figure 14 Q2, Q4; when there is an obstacle K between the box-shaped material and the adsorption member; the adsorption surface of the adsorption member 134 cannot contact the side opposite to the box-shaped material; at this time, determine the position of the box-shaped material.

[0050] Reference Figure 14 In Q2, after Q3 is transported, if the box-shaped material is located above the adsorption part 134, the adsorption part rotates away from the avoidance space 1215, and the adsorption surface of the adsorption part corresponds to the bottom of the box-shaped material above; in this way, the adsorption part is driven to rise by the lifting device; the box-shaped material is grabbed.

[0051] Reference Figure 14 Q4 in; after Q3 is transported, if the box-shaped material is located below the adsorption member 134, the adsorption member rotates away from the avoidance space 1215, and the adsorption surface of the adsorption member corresponds to the top of the box-shaped material below; in this way, the adsorption member is driven down by the lifting device 2; the box-shaped material is grabbed.

[0052] Reference Figure 9 、10 As shown, two fixed support members 1218 are provided at the end of the fixing member 1211 away from the grasping device 13. Each fixed support member 1218 has a first engaging slot 12181 at its top. The first engaging slot 12181 engages with the end of the positioning member 1212 away from the grasping device 13. In another embodiment, two second engaging slots 12182 are provided at the end of the positioning member 1212 away from the grasping device 13. The first engaging slot 12181 engages with the second engaging slot 12182. The engagement of the first engaging slot 12181 with the positioning member 1212 further enhances the stability of the connection between the fixing member 1211 and the positioning member 1212.

[0053] like Figure 5-8 As shown; the telescopic device 11 includes a telescopic fixed bracket 111, a telescopic movable bracket 112, a telescopic first drive device 113 and a telescopic second drive device 114; one end of the telescopic movable bracket 112 is connected to the grasping device 13; the telescopic movable bracket 112 is arranged above the telescopic fixed bracket 111 and is slidably connected to the telescopic fixed bracket 111; in this embodiment, a slide rail (not shown in the figure) is provided at the top of the telescopic fixed bracket 111, and a slider (not shown in the figure) is provided at the bottom of the telescopic movable bracket 112, and the slider is slidably arranged on the slide rail.

[0054] The fixed end of the first telescopic drive mechanism 113 is connected to the telescopic fixed bracket 111, the movable end of the first telescopic drive mechanism 113 is connected to the fixed end of the second telescopic drive mechanism 114, and the movable end of the second telescopic drive mechanism 114 is connected to the telescopic movable bracket 112. The first telescopic drive mechanism 113 is used to drive the telescopic movable bracket 112 to move, and the second telescopic drive mechanism 114 is used to drive the telescopic movable bracket 112 to move relative to the first telescopic drive mechanism 113. The first telescopic drive mechanism 113 drives the telescopic movable bracket 112 to extend for the first time, and the second telescopic drive mechanism 114 drives the telescopic movable bracket 112 to extend for the second time. The telescopic movable bracket 112 can move a long distance, thereby extending the grasping range of the grasping device 13.

[0055] 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 passed through the telescopic first cylinder body 1132 and is slidably arranged on the telescopic first cylinder body 1132.

[0056] 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.

[0057] 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 retractable second cylinder and the telescopic third fixed seat 1143; this prevents the telescopic first slider 1133 from rotating during movement and guides the movement of the telescopic first slider 1133.

[0058] In another embodiment, the telescopic device 11 also includes a pulley 1152 assembly 115, which is arranged at the 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, the telescopic first slider 1133 does not slide or rub against the telescopic movable bracket 112 at this time; 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 arranging the pulley 1152 assembly 115 at the end of the telescopic movable bracket 112 away from the grasping device 13, the friction force exerted on the telescopic first slider 1133 during the movement is reduced.

[0059] like Figure 11-13 As shown; the lifting device 2 includes a lifting fixed bracket 21, a lifting movable bracket 22, a lifting drive 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.

[0060] In this embodiment, a slide rail is provided on the lifting fixed bracket 21, and a slider is provided on the 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 the side of the lifting movable bracket 22 close to the bracket 121; the slider is slidably arranged on the slide rail; thereby realizing 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.

[0061] There are two of each of the lifting fixed bracket 21 , the lifting movable bracket 22 and the transmission assembly 24 ; the two lifting movable brackets 22 are located between the two lifting fixed brackets 21 , and a lifting drive support 25 is connected between the two lifting movable brackets 22 .

[0062] The transmission assembly 24 includes a first lifting transmission wheel 241, a second lifting transmission wheel 242, a lifting synchronous belt 243, a first synchronous belt fixing part 244 and a second synchronous belt fixing part 245; the output end of the lifting drive device 23 is connected to one end of the lifting movable bracket 22 through the first lifting transmission wheel 241, and the second lifting transmission wheel 242 is rotatably set at the other end of the lifting movable bracket 22; the lifting synchronous belt 243 is sleeved on the first lifting transmission wheel 241 and the second lifting transmission wheel 242.

[0063] One end of the first synchronous belt fixing member 244 is fixedly connected to the lifting fixing bracket 21, and the other end of the first synchronous belt fixing member 244 is clamped on the lifting synchronous belt 243 on one side of the lifting first transmission wheel 241 and the lifting second transmission wheel 242; Figure 4 The second synchronous belt fixing member 245 is put on the lifting synchronous belt 243 on the other side of the lifting first transmission wheel 241 and the lifting second transmission wheel 242 and fixed to the bracket 121; the transmission assembly 24 is used to drive the lifting movable bracket 22 and the bracket 12 to lift synchronously.

[0064] The lifting drive device 23 includes a lifting drive motor 231, a lifting drive gear 232, a lifting driven gear 233, and a lifting synchronization shaft 234; the lifting drive motor 231 is fixed on the lifting drive support 25, and the output end of the lifting drive motor 231 is connected to the lifting drive gear 232; the lifting driven gear 233 is passed through the lifting synchronization shaft 234; one end of the lifting synchronization shaft 234 passes through a lifting first transmission wheel 241 and is connected to the rotation of a lifting movable bracket 22; the other end of the lifting synchronization shaft 234 passes through another lifting first transmission wheel 241 and is connected to the rotation of another lifting movable bracket 22; the lifting drive gear 232 is engaged with the lifting driven gear 233.

[0065] The lifting device 2 drives the bracket 12 to rise and fall, and then drives the grabbing device 13 to rise and fall; in this way, the grabbing device 13 can grab box-shaped materials of different heights; the bracket 12 is raised and lowered synchronously with the grabbing device 13, and the cooperation effect between the grabbing device 13 and the bracket 12 is good; the lifting synchronous belt 243 on one side of the transmission component 24 is connected to the lifting fixed bracket 21, and the transmission component 24 rotates in one direction to drive the lifting synchronous belt 243 to move, refer to Figure 11W direction in the middle; the first synchronous belt fixing member 244 approaches the bottom end of the lifting fixed bracket 21, and the first synchronous belt fixing member 244 generates a force that drives the lifting fixed bracket 21 to move downward; since the lifting fixed bracket 21 is fixed to the frame 10, the lifting fixed bracket 21 cannot move, and the transmission assembly 24 is provided on the lifting movable bracket 22, and the lifting movable bracket 22 is slidingly connected to the lifting fixed bracket 21, which drives the lifting movable bracket 22 to move upward, so that the first synchronous belt fixing member 244 moves downward relative to the lifting first transmission wheel 241, thereby realizing the lifting movable bracket 22 rising.

[0066] The transmission assembly 24 rotates the lifting synchronous belt 243 in the other direction, referring to Figure 11 Q direction in; the first synchronous belt fixing part 244 approaches the top of the lifting fixed bracket 21, and the first synchronous belt fixing part 244 generates a force that drives the lifting fixed bracket 21 to move upward; since the lifting fixed bracket 21 is fixed on the frame 10, the lifting fixed bracket 21 cannot move, and the transmission assembly 24 is provided on the lifting movable bracket 22, and the lifting movable bracket 22 is slidingly connected to the lifting fixed bracket 21, which drives the lifting movable bracket 22 to move downward, so that the first synchronous belt fixing part 244 moves upward relative to the lifting first transmission wheel 241, thereby realizing the descent of the lifting movable bracket 22.

[0067] At the same time, a second synchronous belt fixing part 245 is connected to the lifting synchronous belt 243 on the other side of the transmission assembly 24. Since the first synchronous belt fixing part 244 is connected to the lifting synchronous belt 243 on one side of the lifting first transmission wheel 241; the second synchronous belt fixing part 245 is connected to the lifting synchronous belt 243 on the other side of the lifting first transmission wheel 241; when the lifting movable bracket 22 rises, the first synchronous belt fixing part 244 moves downward relative to the lifting first transmission wheel 241, so that the second synchronous belt fixing part 245 moves upward relative to the lifting first transmission wheel 241, and the bracket 121 rises at the same time; when the lifting movable bracket 22 falls, the first synchronous belt fixing part 244 moves upward relative to the lifting first transmission wheel 241, so that the second synchronous belt fixing part 245 moves downward relative to the lifting first transmission wheel 241, and the bracket 121 falls at the same time; the bracket 121 moves on the basis of the movement of the lifting movable bracket 22, and the lifting height amplitude of the bracket 121 is large.

[0068] like Figure 1 As shown, there is also a moving device 4 at the bottom of the engineering trolley; the moving device 4 is used to drive the frame 10 to move. The moving device drives the frame 10 to move, so that the grasping device approaches the box-shaped material. The moving device 4 includes four sets of moving wheels, each set of moving wheels is driven by an independent motor. The adsorption working method includes the following steps:

[0069] S1. Determine whether the box-shaped material is within the lifting range of the gripping device 13. If so, proceed to S2. In this embodiment, it is manually determined whether the box-shaped material is within the lifting range of the gripping device 13.

[0070] S2, the moving device 4 drives the frame 10 to move to one side of the box-shaped material;

[0071] S3. Determine whether the adsorption member 134 of the gripping device 1313 can contact the side opposite to the box-shaped material. If so, proceed to S4; if not, proceed to S6. In this embodiment, it is manually determined whether the adsorption member 134 can contact the side opposite to the box-shaped material.

[0072] S4. Grab the rotating bracket 133 and drive the adsorption member 134 to rotate away from the avoidance space 1215, so that the adsorption surface of the adsorption member 134 is parallel to the side opposite to the box-shaped material; drive the adsorption member 134 to move to the same horizontal height as the box-shaped material through the lifting device 2; then extend the telescopic movable bracket 112 to make the adsorption member 134 contact with the box-shaped material.

[0073] S5, the adsorption member 134 adsorbs the box-shaped material, and then the telescopic movable bracket 112 retracts; then proceeds to S12.

[0074] S6. If the box-shaped material is above the grabbing device 13, proceed to S7; if the box-shaped material is below the grabbing device 13, proceed to S9.

[0075] S7, the telescopic movable bracket 112 is extended to make the adsorption member 134 located directly below the box-shaped material, and the grabbing rotating bracket 133 is rotated away from the avoidance space 1215 so that the adsorption surface of the adsorption member 134 corresponds to the bottom of the box-shaped material; the lifting device 2 drives the adsorption member 134 to rise and contact the box-shaped material; then proceed to S8.

[0076] S8, the lifting device 2 drives the adsorption member 134 to descend, and then the telescopic movable bracket 112 retracts; then proceeds to S11;

[0077] S9, the telescopic movable bracket 112 is extended to make the adsorption member 134 located directly above the box-shaped material, and the grabbing rotating bracket 133 drives the adsorption member 134 to rotate away from the avoidance space 1215, so that the adsorption surface of the adsorption member 134 corresponds to the top of the box-shaped material; the lifting device drives the adsorption member 134 to descend and contact the box-shaped material; then proceed to S10.

[0078] S10, the lifting device drives the adsorption member 134 to rise, and then the telescopic movable bracket 112 retracts; then proceeds to S11.

[0079] S11, grab the rotating bracket 133 to drive the adsorption component 134 to rotate toward the avoidance space 1215. When the box-shaped material enters the avoidance space, the adsorption component 134 releases the adsorption of the box-shaped material; then grab the rotating bracket 133 and rotate it away from the avoidance space 1215; then proceed to S12.

[0080] S12. The moving device drives the frame to move to the target point; the grabbing rotating bracket 133 drives the adsorption component 134 to rotate toward the avoidance space 1215, and the adsorption component 134 adsorbs the box-shaped material; the adsorption component 134 drives the box-shaped material to rotate away from the avoidance space 1215, and places the box-shaped material on the contact surface of the target point.

[0081] In the above method, the grabbing rotating bracket drives the adsorption element to rotate, so that the adsorption element can contact box-shaped materials at different heights and positions; when there is no obstacle between the adsorption element and the box-shaped material, the adsorption element contacts the opposite side of the box-shaped material, which is highly efficient; when the box-shaped material is located above or below the adsorption element, and there is no obstacle between the adsorption element and the box-shaped 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-shaped material at different heights; and the box-shaped materials at different heights can be grabbed.

[0082] When the box-shaped material is located above or below the adsorption component and there is an obstacle between the adsorption component and the box-shaped material, the grabbing and rotating bracket changes the contact position of the adsorption component with the box-shaped material; when the box-shaped material is located above the adsorption component, the adsorption component contacts the bottom of the box-shaped material; when the box-shaped material is located below the adsorption component, the adsorption component contacts the top of the box-shaped material; then the adsorption component 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.

[0083] In the above method,

[0084] S2 also includes: if the box-shaped material is not within the lifting range of the grabbing device 13, then proceed to S13.

[0085] S13: If the box-shaped material is located above the adsorption component, proceed to S14.

[0086] S14, the telescopic movable bracket 112 is extended to make the adsorption member 134 located directly below the box-shaped material, and the grabbing rotating bracket 133 is rotated away from the avoidance space 1215, so that the adsorption surface of the adsorption member 134 corresponds to the bottom of the box-shaped material; the lifting device drives the adsorption member 134 to rise to the highest height; the adsorption member performs adsorption; then proceed to S15.

[0087] S15, the clamping device holding the box-shaped material above releases its grip on the box-shaped material; the box-shaped material moves closer to the adsorption member under the action of gravity; and then proceeds to S16.

[0088] S16. When the box-shaped material contacts the adsorption member, the support member supports the box-shaped material; under the suction force of the adsorption member, the box-shaped material is adsorbed on the adsorption member; then S8 is performed.

[0089] The above method can grab box-shaped materials dropped from a high altitude; since the box-shaped materials will cause the adsorption part to deform when they hit the adsorption part under the action of gravity, the adsorption part will be unable to adsorb the box-shaped materials; by setting the support part, the rigidity of the adsorption part is improved, and the box-shaped materials are supported by the support part; to prevent the box-shaped materials from hitting the adsorption part under the action of gravity and causing the adsorption part to deform.

Claims

1. An adsorption device, comprising a frame, on which a gripping device is provided, characterized in that: The grabbing device includes a telescopic device, a bracket and a grabbing device. The grabbing 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 grabbing device. The telescopic device drives the grabbing device to move closer to or 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 grabbing device includes a grabbing mounting bracket, a grabbing driving device, a grabbing rotating bracket and an adsorbent; the grabbing mounting bracket is connected to the movable end of the telescopic device, the grabbing driving device is fixed to the grabbing mounting bracket and connected to the grabbing rotating bracket, and the adsorbent is installed on the grabbing rotating bracket; the grabbing driving device drives the grabbing rotating bracket to rotate, and the grabbing rotating bracket drives the adsorbent to approach or move away from the avoidance space; The telescopic device includes a telescopic fixed bracket, a telescopic movable bracket, a first telescopic drive device, and a second telescopic drive device; one end of the telescopic movable bracket is connected to the grasping device; the telescopic movable bracket is arranged above the telescopic fixed bracket and is slidably connected to the telescopic fixed bracket; the fixed end of the first telescopic drive device is connected to the telescopic fixed bracket, the movable end of the first telescopic drive device is connected to the fixed end of the second telescopic drive device, and the movable end of the second telescopic drive device is connected to the telescopic movable bracket; the first telescopic drive device is used to drive the telescopic movable bracket to move, and the second telescopic drive device is used to drive the telescopic movable bracket to move relative to the first telescopic drive device; The telescopic first driving device includes a telescopic first fixed seat, a telescopic first cylinder and a telescopic first slide; the telescopic movable bracket is located between the telescopic first slide and the telescopic fixed bracket; one end of the telescopic first fixed seat is connected to the telescopic fixed bracket, and the telescopic first cylinder is arranged at the other end of the telescopic first fixed seat; the telescopic first slide is inserted into the telescopic first cylinder and is slidably arranged on the telescopic first cylinder; The telescopic second driving device includes a telescopic second fixed seat, a telescopic second cylinder and a telescopic third fixed seat; the fixed end of the telescopic second cylinder is connected to the telescopic second fixed seat, and the telescopic second fixed seat is connected to the telescopic first slider; the movable end of the telescopic second cylinder is connected to the telescopic third fixed seat, and the telescopic third fixed seat is connected to the telescopic movable bracket.

2. The adsorption device according to claim 1, characterized in that: The telescopic device also includes a pulley assembly, which is arranged at one end of the telescopic movable bracket away from the grasping device; the pulley assembly includes a pulley bracket, and one or more rotatable pulleys are provided on both sides of the pulley bracket; the pulley abuts against the bottom of the telescopic first sliding block.

3. The adsorption device according to claim 1, characterized in that: Two fixed support members are provided at one end of the fixing member away from the grasping device, and a first clamping slot is provided at the top of each fixed support member; the first clamping slot is clamped on the end of the positioning member away from the grasping device.

4. The adsorption device according to claim 3, characterized in that: Two second card slots are provided at one end of the positioning member away from the grabbing device; the first card slot is engaged with the second card slot.

5. The adsorption device according to claim 3, characterized in that: A supporting member with a hollow structure is provided in the adsorption member.

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

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