CN115123975B - A method of transport - Google Patents

Abstract

The invention provides a conveying method, which comprises the specific steps of (1) starting a moving mechanism to move an dumping conveying robot to the position of a cargo and enable the cargo to be located in a working area, (1.1) pushing the cargo to a position convenient for clamping by a clamping mechanism through a position adjusting rod of a position adjusting mechanism, (1.2) blocking the cargo outside the working area through a telescopic baffle of a telescopic limiting mechanism, (2) when the cargo needs to be dumped, (2.1) lowering the dumping mechanism to the position corresponding to the cargo, (2.2) moving the moving mechanism to drive the dumping mechanism to dump the cargo, (3) lowering the clamping mechanism to the position corresponding to the cargo, (3.1) clamping the cargo by a first clamping jaw assembly and a second clamping jaw assembly, (4) rotating the first clamping jaw assembly and the second clamping jaw assembly by a rotating assembly when the cargo needs to be overturned, and (5) carrying the cargo to a designated position by the moving mechanism.

Description

Conveying method

Technical Field

The invention relates to the technical field of transfer robots, in particular to a transfer method.

Background

Along with the development of the technology of the Internet of things and the continuous improvement of labor cost, lifting and carrying gradually approach to automation and intellectualization directions. Meanwhile, with the continuous development of intelligent technology, great transformation is brought to logistics enterprises. The intelligent transfer robot has the characteristics of large bearing, high transportation efficiency, high automation degree, high safety and the like, and can better help enterprises to simplify the production and transportation process. The intelligent transfer robot technology is applied to the field of loading and unloading transfer, is one of the most basic functional units in a logistics system, can not only improve the transfer efficiency of warehouse logistics and lighten the manual labor of people, but also optimize resources and improve benefits, and has very wide development prospect and good economic benefit.

The patent document with the publication number 202110960685.4 and the publication date 2021.12.07 discloses a transfer robot, which comprises a frame, a travelling mechanism, a rotating mechanism, a grabbing mechanism, a lifting mechanism and a translation mechanism, wherein the rotating mechanism comprises a turntable and a rotating driving piece, the turntable is rotatably arranged on the frame, the rotating driving piece is connected with the turntable and used for driving the turntable to rotate, the lifting mechanism is connected with the grabbing mechanism and used for driving the grabbing mechanism to do lifting motion, and the translation mechanism is fixedly arranged on the frame, is connected with the lifting mechanism and is used for driving the lifting mechanism to translate. The invention has the beneficial effects that a plurality of cargoes are sequentially grabbed onto the turntable through the cooperation of the grabbing mechanism, the lifting mechanism and the translation mechanism, the turntable is driven to rotate by the rotation driving piece, so that the cargoes stacked on the turntable are uniformly placed, and the whole device is driven to reciprocate at the cargo stacking position and the unloading position by the travelling mechanism.

Most of the transfer robots in the prior art are the same as the above documents, and the clamping mode is just to clamp the goods to place at the designated position, but the state of the goods cannot be adjusted, if the goods are erected in the state of the goods in the transfer process, the goods are required to be placed transversely at the designated position of the transfer process, and then the goods can be better uniformly arranged, so that the transfer robot in the prior art also needs to adjust the goods or needs to be manually adjusted by adopting other devices when the goods which do not reach the expected state are transferred, which is easy to waste time and increase cost, and the transfer efficiency is affected.

Disclosure of Invention

The invention aims to provide a conveying method, by which full-automatic conveying of goods can be realized, and the cost can be reduced and the conveying efficiency can be improved without adding other devices for adjusting the goods.

In order to achieve the above purpose, the conveying method is achieved by an overturning conveying robot, the overturning conveying robot comprises a frame, a moving mechanism, a clamping mechanism, a lifting mechanism, a telescopic limiting mechanism, an overturning mechanism and a position adjusting mechanism, the frame comprises a bottom plate, two support columns and a cross beam, two bottom plates are arranged on the bottom plate, a working space is formed between the two bottom plates, the support columns are arranged at two ends of the bottom plate, and the cross beam is arranged between the support columns of the two bottom plates.

The moving mechanism is arranged at two ends of the bottom plate, the telescopic limiting mechanism is arranged on the bottom plate and extends into the working space, the supporting column at one end of the bottom plate is provided with an overturning mechanism, the supporting column below the overturning mechanism is provided with a lifting mechanism, the clamping mechanism is arranged on the lifting mechanism, the bottom end of the bottom plate is provided with a position adjusting mechanism, and the cross beam between the supporting columns at the other end of the bottom plate is provided with a camera.

The lifting mechanism comprises a lifting sliding block and a lifting driving assembly, wherein the lifting driving assembly is arranged on supporting columns on the two bottom plates, the lifting sliding block is connected to the lifting driving assembly, the lifting driving assembly drives the lifting sliding block to slide up and down along the supporting columns, and the lifting sliding block is provided with a clamping mechanism.

The clamping mechanism comprises a rotating assembly, a first clamping jaw assembly, a second clamping jaw assembly, a clamping beam and a clamping stop block, wherein the rotating assembly is arranged on a lifting sliding block, the first clamping jaw assembly is arranged on the rotating assembly on a bottom plate, the second clamping jaw assembly is arranged on the rotating assembly on another bottom plate, the clamping beam is arranged between the first clamping jaw assembly and the second clamping jaw assembly, and the clamping stop block is arranged on the clamping beam between the first clamping jaw assembly and the second clamping jaw assembly.

The pushing mechanism comprises a pushing driving assembly and a pushing rod, wherein the pushing driving assembly is connected with the supporting column through a pushing sliding column, and the pushing driving assembly drives the pushing rod to vertically slide along the pushing sliding column.

The method comprises the following specific steps:

(1) The moving mechanism is started to move the pushing-down conveying robot to the position of the goods, and the goods are located in the working area.

When the position of the goods is inconvenient for the clamping mechanism to clamp, the step (1.1) is carried out, and when the quantity of the goods in the working area is required to be limited, the step (1.2) is carried out.

And (1.1) pushing the goods to move to a position convenient for the clamping mechanism to clamp by a position adjusting rod of the position adjusting mechanism, entering the step (2) when the goods need to be knocked down, and entering the step (3) when the goods do not need to be knocked down.

(1.2) Blocking cargoes outside the working area through a telescopic baffle plate of a telescopic limiting mechanism, entering the step (2) when the cargoes need to be knocked down, and entering the step (3) if the cargoes do not need to be knocked down;

(2) When the cargo needs to be knocked down.

(2.1) The knock-down mechanism is lowered to a position corresponding to the cargo.

And (2.2) the moving mechanism moves to drive the dumping mechanism to dump the goods.

(3) The gripping mechanism is lowered to a position corresponding to the cargo.

(3.1) The first jaw assembly and the second jaw assembly clamp the cargo.

(4) When the cargo needs to be overturned.

(4.1) The rotating assembly rotates to drive the first clamping jaw assembly and the second clamping jaw assembly to rotate, so that the goods are overturned.

(5) The movement mechanism carries the cargo to a specified location. According to the pushing-down conveying robot with the structure, the first clamping jaw assembly and the second clamping jaw assembly are matched to clamp the goods, the goods are conveyed to the appointed position through the moving mechanism, the process is simple and efficient, when the goods are to be conveyed, the moving mechanism moves to the position of the goods to be conveyed and enables the goods to move into the working range, the lifting driving assembly drives the lifting sliding block to move up and down, the clamping mechanism is driven to move to the height corresponding to the goods, after the clamping mechanism moves in place, the first clamping jaw assembly and the second clamping jaw assembly are matched to clamp the goods, the lifting mechanism lifts the clamping mechanism, so that the goods can be conveyed after leaving the ground, before conveying, the state of the goods is observed through the camera, if the goods are vertically placed and the goods are required to be horizontally placed at the appointed position, at this moment, the moving mechanism moves to drive the lifting rod to touch the goods, so that the goods can be in a horizontal state, the clamping mechanism can be driven to clamp the goods, the goods can be conveniently conveyed through the clamping mechanism, and the clamping mechanism can be conveniently clamped at the position of the clamping mechanism is adjusted when the clamping mechanism is not arranged to be conveniently moved in the working range; meanwhile, if the front and the back of the goods are opposite, the first clamping jaw assembly and the second clamping jaw assembly can be overturned through the rotating assembly, therefore, the front and back sides of the goods can be turned over, the state of the goods can be adjusted before being carried, and the problem that carrying efficiency is affected due to the fact that the goods are additionally required to be adjusted when the final goods are uniformly arranged can be avoided, and therefore carrying efficiency is higher.

Further, the lifting driving assembly comprises a lifting driving motor, a lifting driving gear, a lifting driving driven gear, a lifting driving rod, a lifting first driven wheel, a lifting second driven wheel and a lifting driving belt, wherein the lifting driving motor is fixed on one side of a supporting column on a bottom plate through a lifting motor mounting plate, the lifting driving rod is arranged on the supporting column, the lifting driving rod is connected with the supporting columns on the two bottom plates, the lifting driving gear is arranged on a driving shaft of the lifting driving motor, one end of the lifting driving rod is provided with the lifting driving driven gear meshed with the lifting driving gear, the lifting first driven wheel is fixed at two ends of the lifting driving rod, the lifting driving driven gear is fixedly connected with the end face of the lifting first driven wheel at one end of the lifting driving rod, the lifting second driven wheel corresponding to the lifting first driven wheel is arranged on the bottom plate at the bottom end of the supporting column, the lifting driving belt is arranged between the lifting first driven wheel and the lifting second driven wheel, and the lifting sliding block is arranged on the lifting driving belt.

Above setting, when the mechanism is got to the clamp and is got to the needs and reciprocate, lift driving motor drive lift drive driving gear rotates, and then drive lift drive driven gear rotates and drive lift actuating lever and rotate, can make lift first follow driving wheel rotate and make the lift drive area remove from this, thereby make the lift slider that sets up on the lift drive area reciprocate, the effect of lift actuating lever makes the lift drive area on two bottom plates reciprocate in step simultaneously, thereby guaranteed to press from both sides and got the mechanism and can normally go up and down, simple structure and effective.

Further, the turnover driving assembly comprises a turnover driving motor, a turnover sliding block, turnover first driving wheels, turnover second driving wheels, turnover driving belts and turnover driving rods, the turnover first driven wheels, turnover second driven wheels and turnover driven belts are connected with the top ends of support columns at one end of a bottom plate, the bottom ends of the turnover sliding columns are connected to the bottom plate, the turnover driving motor is arranged at the top ends of the turnover sliding columns, the turnover driving rods are arranged on the turnover sliding columns below the turnover driving motor, the turnover driving rods are connected with the turnover sliding columns on the two bottom plates, the turnover first driving wheels are arranged on driving shafts of the turnover driving motor, the turnover second driving wheels are arranged at one ends of the turnover driving rods, the turnover first driving wheels are connected with the turnover second driving wheels through the turnover driving belts, the turnover first driven wheels are arranged at two ends of the turnover driving rods, the bottom plate at the bottom ends of the turnover sliding columns is provided with turnover second driven wheels corresponding to the turnover first driven wheels, the turnover driving wheels are arranged between the turnover first driven wheels and the turnover sliding blocks, and the turnover sliding blocks are arranged on the turnover driving belts.

Above setting, when needs are knocked down the goods, the first drive wheel of the promotion of promotion drive motor drive promotion through the driving band of promotion and the second drive wheel of promotion of promoting down that the first drive wheel is connected, the second drive wheel of promotion drives the promotion pole of promoting down and rotates, and then drives the first driven wheel of promotion of promoting down and rotate, from this makes the driven band of promotion remove and drives the slider of promoting down, from this makes the ejector pad pole can remove to the position corresponding with the goods.

Further, the first clamping jaw assembly comprises a first clamping jaw connecting column, a first clamping jaw base, a first clamping jaw air cylinder and a first clamping jaw, one end of the first clamping jaw connecting column is connected with a rotating assembly on a bottom plate, the other end of the first clamping jaw connecting column is provided with the first clamping jaw base, the first clamping jaw air cylinder is arranged on the first clamping jaw base, and a driving piece of the first clamping jaw air cylinder is provided with the first clamping jaw.

The second clamping jaw assembly comprises a second clamping jaw connecting column, a second clamping jaw base, a second clamping jaw air cylinder and a second clamping jaw, one end of the second clamping jaw connecting column is connected with a rotating assembly on another bottom plate, the other end of the second clamping jaw connecting column is provided with the second clamping jaw base, the second clamping jaw air cylinder is arranged on the second clamping jaw base, and a second clamping jaw is arranged on a driving piece of the second clamping jaw air cylinder.

The first clamping jaw cylinder drives the first clamping jaw to move towards the second clamping jaw, and the second clamping jaw cylinder drives the second clamping jaw to move towards the first clamping jaw.

The step (3.1) specifically comprises:

(3.11) the first jaw cylinder drives the first jaw to move in the direction of the second jaw.

(3.12) The second jaw cylinder drives the second jaw to move in the direction of the first jaw.

(3.13) The first jaw and the second jaw grip the cargo.

Above setting, when needs press from both sides tight with the goods, first clamping jaw cylinder drive first clamping jaw moves to the direction of second clamping jaw and pastes tight goods, and second clamping jaw cylinder drive second clamping jaw moves to the direction of first clamping jaw and pastes tight goods, can press from both sides tight with the goods through the cooperation of first clamping jaw and second clamping jaw, simple structure and effective.

Further, the rotating assembly comprises a rotating motor, a rotating mounting plate, a rotating coupler and a rotating connecting plate, wherein the rotating mounting plate is fixed on the lifting sliding block, the rotating coupler is arranged on the rotating mounting plate, a driving shaft of the rotating motor is fixed on the rotating coupler, the rotating connecting plate is arranged on a main body of the rotating motor, the rotating connecting plate on one bottom plate is connected with the first clamping jaw connecting column, and the rotating connecting plate on the other bottom plate is connected with the second clamping jaw connecting column.

Above setting, when needs overturn the goods, the rotating electrical machines starts, because the drive shaft of rotating electrical machines is fixed on the swivel coupling, consequently, when the rotating electrical machines starts, the drive shaft of rotating electrical machines can't rotate, and make the main part of rotating electrical machines take place to rotate, thereby just also make the main part of following the rotating electrical machines rotate through the first clamping jaw spliced pole and the second clamping jaw spliced pole that the rotatory connecting plate is connected with the main part of rotating electrical machines, make first clamping jaw subassembly and second clamping jaw subassembly rotate from this can overturn the goods.

Further, the position adjusting mechanism comprises a position adjusting motor, a position adjusting driving gear, a position adjusting rack, a position adjusting sliding wheel, a position adjusting guide rail, a position adjusting rod and a position adjusting connecting plate, wherein the position adjusting motor is arranged above the bottom plate, the position adjusting sliding wheel is arranged below the bottom plate through a sliding wheel plate, a mounting through groove is formed in the bottom plate, the position adjusting driving gear is arranged on a driving shaft of the adjusting motor, the position adjusting driving gear extends to the lower side of the bottom plate through the mounting through groove, the position adjusting rack is arranged between the position adjusting sliding wheel and the position adjusting driving gear and meshed with the position adjusting driving gear, the position adjusting guide rail corresponding to the position adjusting rack is further arranged below the bottom plate, one end of the position adjusting rack is arranged on the position adjusting guide rail in a sliding mode through a position adjusting sliding block, the position adjusting rod is connected to one end of the position adjusting rack, and the position adjusting rod is connected with the position adjusting racks on the two bottom plates.

The step (1.1) specifically comprises:

(1.11) the position adjusting motor drives the position adjusting rod to move.

And (1.12) the position adjusting rod drives the goods to move to a position convenient for the clamping mechanism to clamp.

The position adjusting motor drives the position adjusting driving gear and drives the position adjusting rack to move along the position adjusting guide rail when the position of the goods is required to be adjusted, so that the position adjusting rod connected to the position adjusting rack can be driven to move, and the goods can be driven to move through the position adjusting rod.

Further, the moving mechanism comprises a moving motor, a moving motor mounting seat and moving universal wheels, wherein the moving motor is arranged at two ends of the bottom plate through the moving motor mounting seat, and the moving universal wheels are arranged on a driving shaft of the moving motor. The movable universal wheels are driven by the movable motor to move, so that the tipping conveying robot can reach a specified position.

Further, the telescopic limiting mechanism comprises a telescopic motor, a telescopic driving gear, a telescopic driving rack, a telescopic connecting rod, a telescopic driving rod, a telescopic baffle plate, a telescopic base and a telescopic guide rail, wherein the telescopic motor is fixed on a bottom plate through a telescopic motor mounting plate, the telescopic driving gear is arranged on a driving shaft of the telescopic motor, a telescopic rack sliding part is arranged on the telescopic motor mounting plate above the telescopic motor, the telescopic driving rack is arranged on the telescopic rack sliding part in a sliding manner, the telescopic driving rack is connected with the telescopic driving gear in a meshed manner, the telescopic connecting rod is arranged on the telescopic driving rack, the telescopic base is arranged on the bottom plate, the telescopic guide rail is arranged on the telescopic base, one end of the telescopic driving rod is hinged on the telescopic baffle plate through a telescopic sliding block, the other end of the telescopic driving rod is hinged with the telescopic connecting rod, and the telescopic baffle plate slides along the telescopic guide rail into a working section.

The step (1.2) specifically comprises:

(1.21) the telescopic baffle is driven by the telescopic motor to slide into the working area.

(1.22) The telescopic baffle blocks goods outside the working area from entering the working area.

When the goods need to be limited to continue to enter the working space, the telescopic motor drives the telescopic driving gear to rotate so as to drive the telescopic driving rack to move, the telescopic driving rack pushes the telescopic driving rod to move when moving, the telescopic driving rod can push the telescopic baffle to slide along the telescopic guide rail into the working space when moving, the working space is blocked by the telescopic baffle on the two bottom plates, and therefore the goods can be limited to be prevented from continuously moving into the working space.

Further, a first clamping rotating assembly is further arranged on the first clamping hand, the first clamping rotating assembly comprises a clamping rotating motor, a clamping rotating driving wheel, a clamping rotating driven wheel, a clamping rotating driving shaft, a clamping rotating mounting plate and a rotating clamping hand, the clamping rotating motor is arranged at the front end of the first clamping hand, the clamping rotating driving wheel is arranged on the driving shaft of the clamping rotating motor, the clamping rotating mounting plate is arranged at the tail end of the first clamping hand, one end of the clamping rotating driving shaft is arranged on the clamping rotating mounting plate through a clamping rotating bearing in a rotating mode, a rotating clamping hand is arranged at the other end of the clamping rotating driving shaft, the rotating clamping hand is located at one side, close to a clamping stop block, of the first clamping hand, the clamping rotating driving wheel is arranged on the clamping rotating driving shaft, the clamping rotating driving wheel is arranged between the clamping rotating driving wheel and the clamping rotating driven wheel, and the second clamping rotating assembly which has the same structure with the first clamping rotating assembly is arranged on the second clamping hand.

Step (4) specifically includes when turning over smaller cargo:

And (4.11) driving the rotary clamping hand to rotate by the clamping rotary motor to turn over the goods.

Above setting, also can make the goods overturn through pressing from both sides the setting that gets rotating assembly, when the transport, the volume of goods is great, press from both sides and get rotating assembly unable convenient with the goods overturn, then overturn through rotating assembly, when the volume of goods is less, can also can realize the upset through pressing from both sides and getting rotating assembly through rotating assembly, through setting up two turning device that differ, the goods of having guaranteed different sizes all can realize the upset, when needs overturn less goods, press from both sides and get the rotating driving wheel and rotate, and then drive and get the rotation from both sides the rotation of getting rotatory driving wheel with pressing from both sides the clamp that the rotating driving wheel is connected through pressing from both sides, thereby can drive and press from both sides and get rotatory drive shaft rotation and make rotatory tong rotation, realize the upset of goods from this, moreover, the steam generator is simple in structure and useful.

Drawings

Fig. 1 is a schematic structural view of the push-down transfer robot of the present invention.

Fig. 2 is an enlarged view at a in fig. 1.

Fig. 3 is an exploded view of the lift drive assembly of the present invention.

Fig. 4 is a schematic structural view of the gripping mechanism of the present invention.

Fig. 5 is an exploded view of the rotary assembly of the present invention.

Fig. 6 is an exploded view of the first hand grip of the present invention.

Fig. 7 is an enlarged view at B in fig. 1.

Fig. 8 is a schematic structural view of the pushing mechanism on the frame.

Fig. 9 is an enlarged view at C in fig. 8.

Fig. 10 is a bottom view of the housing of the present invention.

Fig. 11 is an enlarged view of D in fig. 10.

Fig. 12 is an exploded view of the position adjustment mechanism of the present invention.

Fig. 13 is a schematic structural view of the moving mechanism of the present invention.

Fig. 14 is a schematic view showing a structure of the push-down conveyor robot according to another aspect of the present invention.

Fig. 15 is an enlarged view at E in fig. 14.

Fig. 16 is a schematic structural view of a telescopic baffle and a telescopic base according to the present invention.

Fig. 17 is an exploded view of the telescopic limit mechanism of the present invention.

Fig. 18 is a schematic view of the gripping mechanism of the present invention gripping and inverting a load.

Fig. 19 is a schematic view of the tipping mechanism of the present invention tipping over cargo.

Fig. 20 is a flowchart of the operation of the push-down conveyance robot of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and the detailed description.

As shown in fig. 1 to 19, a push-down transfer robot comprises a frame 1, a moving mechanism 2, a clamping mechanism 3, a lifting mechanism 4, a telescopic limiting mechanism 5, a push-down mechanism 6 and a position adjusting mechanism 7, wherein the frame 1 comprises a bottom plate 11, support columns 12 and a cross beam 13, the bottom plate 11 is provided with two bottom plates 11, a working space 10 is formed between the two bottom plates 11, the support columns 12 are arranged at two ends of the bottom plate 11, and the cross beam 13 is arranged between the support columns 12 of the two bottom plates 11.

The moving mechanism 2 is arranged at two ends of the bottom plate 11, the telescopic limiting mechanism 5 is arranged on the bottom plate 11 and extends into the working space 10, the pushing mechanism 6 is arranged on a support column 12 at one end of the bottom plate 11, the lifting mechanism 4 is arranged on the support column 12 below the pushing mechanism 6, the clamping mechanism 3 is arranged on the lifting mechanism 4, the bottom end of the bottom plate 11 is provided with the position adjusting mechanism 7, and the camera 100 is arranged on a cross beam 13 between the support columns 12 at the other end of the bottom plate 11. As shown in fig. 1 to 3, the lifting mechanism 4 comprises a lifting slide block 40 and a lifting driving assembly 41, the lifting driving assembly 41 is arranged on the support columns 12 on the two bottom plates 11, the lifting slide block 40 is connected to the lifting driving assembly 41, the lifting driving assembly 41 drives the lifting slide block 40 to slide up and down along the support columns 12, and the clamping mechanism 3 is arranged on the lifting slide block 40.

The lifting driving assembly 41 includes a lifting driving motor 411, a lifting driving gear 412, a lifting driving driven gear 413, a lifting driving rod 414, a lifting first driven gear 415, a lifting second driven gear 416 and a lifting driving belt (not shown in the figure), in this embodiment, the lifting driving belt is a synchronous belt, the lifting driving belt is sleeved on the lifting second driven gear 416, a specific synchronous belt transmission mode is in the prior art, no more details are needed, the lifting driving motor 411 is fixed on one side of a support column 12 on a bottom plate 11 through a lifting motor mounting plate 417, a lifting driving rod 414 is arranged on the support column 12, the lifting driving rod 414 is connected with the support column 12 on two bottom plates 11, a lifting driving gear 412 is arranged on a driving shaft of the lifting driving motor 411, one end of the lifting driving rod 414 is provided with a lifting driving driven gear 413 meshed with the lifting driving gear 412, the lifting first driven gear 415 is fixed at two ends of the lifting driving rod, the lifting driving driven gear is fixedly connected with the end surface of the lifting first driven gear at one end of the lifting driving rod, a bottom plate 11 at the bottom end of the support column 12 is provided with a lifting first driven gear 415 corresponding to the lifting driven gear 415, and a lifting slider is arranged between the lifting driving driven gear 415 and the lifting driving belt 40.

Above setting, when the mechanism 3 is got to the clamp and is got to the needs and reciprocate, lift driving motor 411 drive lift drive pinion 412 rotates, when lift drive driven gear 413 is driven by lift drive pinion 412 and rotates, make lift actuating lever 414 also can rotate in step, thereby make lift first follow driving wheel 415 at lift actuating lever both ends rotate and make the lift actuating belt remove, thereby make the lift slider 40 that sets up on the lift actuating belt reciprocate, the effect of lift actuating lever 414 makes the lift actuating belt on two bottom plates 11 reciprocate simultaneously, thereby guaranteed that the mechanism 3 can normally go up and down to get, and is simple in structure and effective.

As shown in fig. 4 to 6, the gripping mechanism 3 includes a rotating assembly 30, a first jaw assembly 32, a second jaw assembly 33, a gripping beam 34 and a gripping block 35, the rotating assembly 30 is disposed on a lifting slider 40, the first jaw assembly 32 is disposed on the rotating assembly 30 on one base plate 11, the second jaw assembly 33 is disposed on the rotating assembly 30 on the other base plate 11, the gripping beam 34 is disposed between the first jaw assembly 32 and the second jaw assembly 33, and the gripping block 35 is disposed on the gripping beam 34 between the first jaw assembly 32 and the second jaw assembly 33.

The first clamping jaw assembly 32 comprises a first clamping jaw connecting post 321, a first clamping jaw base 322, a first clamping jaw air cylinder 323 and a first clamping jaw 324, one end of the first clamping jaw connecting post 321 is connected with the rotating assembly 30 on the bottom plate 11, the other end of the first clamping jaw connecting post 321 is provided with the first clamping jaw base 322, the first clamping jaw air cylinder 323 is arranged on the first clamping jaw base 322, and the first clamping jaw 324 is arranged on a driving piece of the first clamping jaw air cylinder 323.

The second jaw assembly 33 includes a second jaw connecting post 331, a second jaw base 332, a second jaw cylinder 333, and a second jaw 334, one end of the second jaw connecting post 331 is connected with the rotating assembly 30 on the other bottom plate 11, the other end of the second jaw connecting post 331 is provided with the second jaw base 332, the second jaw base 332 is provided with the second jaw cylinder 333, and the driving member of the second jaw cylinder 333 is provided with the second jaw 334.

The first clamping jaw cylinder 323 drives the first clamping jaw 324 to move towards the second clamping jaw 334, and the second clamping jaw cylinder 332 drives the second clamping jaw 334 to move towards the first clamping jaw 324.

In this embodiment, the first clamping jaw cylinder and the second clamping jaw cylinder are rodless cylinders, and specific working principles thereof are prior art and are not described herein.

Above setting, when needs press from both sides tight with the goods, first clamping jaw cylinder 323 drive first clamping jaw 324 to the direction removal of second clamping jaw 334 paste tight goods, second clamping jaw cylinder 333 drive second clamping jaw 334 to the direction removal of first clamping jaw 324 paste tight goods, can press from both sides tight with the goods through the cooperation of first clamping jaw 324 and second clamping jaw 334, simple structure and effective.

The rotating assembly 30 comprises a rotating motor 301, a rotating mounting plate 302, a rotating coupler 303 and a rotating connecting plate 304, wherein the rotating mounting plate 302 is fixed on the lifting sliding block 40, the rotating coupler 303 is arranged on the rotating mounting plate 302, a driving shaft 3011 of the rotating motor 301 is fixed on the rotating coupler 303, the rotating connecting plate 304 is arranged on a main body 3012 of the rotating motor 301, the rotating connecting plate 304 on one base plate 11 is connected with the first clamping jaw connecting post 321, and the rotating connecting plate 304 on the other base plate 11 is connected with the second clamping jaw connecting post 331.

In the above arrangement, when the goods need to be turned over, the rotating electric machine 301 is started, and since the driving shaft 3011 of the rotating electric machine 301 is fixed on the rotating coupling 303, the driving shaft 3011 of the rotating electric machine 301 cannot rotate when the rotating electric machine 301 is started, so that the main body 3012 of the rotating electric machine 301 rotates, and the first jaw connecting post 321 and the second jaw connecting post 331 connected to the main body 3012 of the rotating electric machine 301 through the rotating connecting plate 304 rotate along with the main body 3012 of the rotating electric machine 301, so that the first jaw assembly 32 and the second jaw assembly 33 rotate to turn over the goods (as shown in fig. 18, 001 is the goods).

As shown in fig. 6, a first clamping rotating assembly 31 is further provided on the first clamping hand 324, the first clamping rotating assembly 31 includes a clamping rotating motor 311, a clamping rotating driving wheel 312, a clamping rotating driven wheel 313, a clamping rotating driving belt (not shown in the drawing), a clamping rotating driving shaft 314, a clamping rotating mounting plate 315 and a rotating clamping hand 316, the clamping rotating motor 311 is provided at the front end of the first clamping hand 324, the clamping rotating driving wheel 312 is provided on the driving shaft of the clamping rotating motor 311, a clamping rotating mounting plate 315 is provided at the end of the first clamping hand 324, one end of the clamping rotating driving shaft 314 is rotatably provided on the clamping rotating mounting plate 315 through a clamping rotating bearing 317, a rotating clamping hand 316 is provided at the other end of the clamping rotating driving shaft 314, the rotating clamping hand 316 is positioned at one side of the first clamping hand 324 close to the clamping stop 35, the clamping rotating driving wheel 313 is provided with the clamping rotating driving belt between the clamping rotating driving wheel 312 and the clamping rotating driven wheel 313, the rotating driving belt is more than the first clamping driving belt, and the goods can be clamped by the clamping driving belt in a synchronous belt with a larger clamping area when the goods is more than the clamping area of the first clamping driving belt;

The second clamping hand 334 is provided with a second clamping rotating assembly which has the same structure as the first clamping rotating assembly 31.

Above setting, also can make the goods overturn through pressing from both sides the setting that gets rotating assembly, when the transport, the volume of goods is great, press from both sides and get rotating assembly unable convenient with the goods overturn, then overturn through rotating assembly, when the volume of goods is less, can also can realize the upset through pressing from both sides and getting rotating assembly through rotating assembly, through setting up two turning device that differ, the goods of having guaranteed different sizes all can realize the upset, when needs overturn less goods, press from both sides and get the rotating driving wheel and rotate, and then drive and get the rotation from both sides the rotation of getting rotatory driving wheel with pressing from both sides the clamp that the rotating driving wheel is connected through pressing from both sides, thereby can drive and press from both sides and get rotatory drive shaft rotation and make rotatory tong rotation, realize the upset of goods from this, moreover, the steam generator is simple in structure and useful.

As shown in fig. 7 to 9, the push-down mechanism 6 includes a push-down driving assembly 61 and a push-down lever 62, the push-down driving assembly 61 is connected to the support column 13 through a push-down sliding column 63, and the push-down driving assembly 61 drives the push-down lever 62 to slide up and down along the push-down sliding column 63.

The push-down driving assembly 61 comprises a push-down driving motor 611, a push-down sliding block 612, a push-down first driving wheel 613, a push-down second driving wheel 614, a push-down driving belt 615, a push-down driving rod 616, a push-down first driven wheel 617, a push-down second driven wheel (not shown in the figure) and a push-down driven belt 618, wherein the top end of the push-down sliding block 63 is connected with the top end of a support column 12 at one end of a bottom plate 11, the bottom end of the push-down sliding block 63 is connected with the bottom plate 11, the push-down driving motor 611 is arranged at the top end of the push-down sliding block 63 below the push-down driving motor 611, the push-down driving rod 616 is connected with the push-down sliding blocks 63 on two bottom plates 11, the drive shaft of the push-down driving motor 611 is provided with the push-down first driving wheel 613, the push-down second driving wheel 614 is arranged at one end of the push-down driving rod 616, the top end of the push-down first driven wheel is connected with the top end of a support column 12 at one end of the bottom plate 11, the push-down second driving wheel 614 is connected with the push-down second driven wheel 617, the push-down first driven wheel 617 is arranged at the bottom end of the push-down driving rod 616, the push-down driven wheel is arranged at the two driven wheel 616, the push-down belt is arranged at the opposite ends of the push-down driven wheel, and the push-down plate is provided with the push-down driven wheel 618 is arranged at one end of the push-down plate, and the push-down 1 is fixedly connected with the push-down plate lower than driven wheel, and is arranged at the push-down 1, and is provided with the driven wheel, and is provided with the push-down second driven wheel, and is provided with a push-down drive bar, and with a push-down drive plate, and is.

Above setting, when the goods need to be knocked down, the knock-down driving motor 611 drives the knock-down first driving wheel 613 to drive the knock-down second driving wheel 614 connected with the knock-down first driving wheel 613 through the knock-down driving belt 615, the knock-down second driving wheel 614 drives the knock-down driving rod 616 to rotate, and then drives the knock-down first driven wheel 617 to rotate, and the first driven wheel 317 rotates and then drives the knock-down driven belt 618 arranged between the knock-down first driven wheel 617 and the knock-down second driven wheel to rotate, thereby driving the knock-down slide 612 to move up and down, and enabling the push block rod 62 to move to a position corresponding to the goods.

The pushing and transporting robot with the structure can clamp the goods through the matching of the first clamping jaw component and the second clamping jaw component, then the goods can be transported to the appointed position through the moving mechanism, the process is simple and efficient, when the goods are to be transported, the moving mechanism moves to the goods position to be transported and enables the goods to move to the working space, the lifting driving component drives the lifting sliding block to move up and down, further drives the clamping mechanism to move to the height corresponding to the goods, after the clamping mechanism moves in place, the first clamping jaw component and the second clamping jaw component are matched to clamp the goods, the lifting mechanism lifts the clamping mechanism to enable the goods to leave the ground, the state of the goods is observed through the camera before the transportation, if the goods are vertically placed and the goods are required to be horizontally placed at the appointed position of the transportation, at this time, the pushing down rod is driven by the pushing down driving component to descend to the upper side of the goods, the moving mechanism moves to drive the pushing down rod to touch the goods to move continuously, so that the goods are knocked down, as shown in fig. 19 (001 is the goods in the drawing), when the pushing down rod touches the goods, the moving mechanism moves in the arrow direction, so that the pushing down rod can drive the goods to incline and then push down the goods, in this way, the goods can be in a transverse state, so that the goods can be clamped by the clamping mechanism and then carried out, and at the same time, if the front side and the back side of the goods are opposite, the first clamping jaw component and the second clamping jaw component can be overturned by the rotating component, so that the front side and the back side of the goods can be overturned, and the state of the goods can be adjusted before carrying, therefore, the problem that the carrying efficiency is affected by additionally adjusting the cargoes in the unified arrangement of the final cargoes can be avoided, and the carrying efficiency is higher.

As shown in fig. 10 to 12, the position adjusting mechanism 7 includes a position adjusting motor (not shown), a position adjusting driving gear 72, a position adjusting rack 73, a position adjusting slide wheel 74, a position adjusting guide rail 75, a position adjusting lever 76, and a position adjusting connection plate 77, the position adjusting motor is disposed above the base plate 11, the position adjusting slide wheel 74 is disposed below the base plate 11 through a slide wheel plate 741, a mounting through groove 111 is provided on the base plate 11, a position adjusting driving gear 72 is provided on a driving shaft of the adjusting motor, the position adjusting driving gear 72 extends to below the base plate 11 through the mounting through groove 111, a position adjusting rack 73 is provided between the position adjusting slide wheel 74 and the position adjusting driving gear 72, the position adjusting rack 73 is meshed with the position adjusting driving gear 72, a position adjusting guide rail 75 corresponding to the position adjusting rack 73 is further provided below the base plate 11, one end of the position adjusting rack 73 is slidably disposed on the position adjusting guide rail 75 through a position adjusting slide block 78, the position adjusting lever 76 is connected to one end of the position adjusting connection plate 73 through the position adjusting connection plate 77, and the position adjusting rack 76 is connected to the position adjusting rack 73 by the position adjusting block 11.

When the position of the goods is required to be adjusted, the position adjusting motor drives the position adjusting driving gear 72 and drives the position adjusting rack 73 to move along the position adjusting guide rail 75, and the position adjusting rack 73 is positioned between the position adjusting sliding wheel 74 and the position adjusting driving gear 72, so that the position adjusting sliding wheel 74 is driven to rotate when the position adjusting rack 73 moves, the position adjusting rack supporting force can be given to the position adjusting rack through the arrangement of the position adjusting sliding wheel without affecting the movement of the position adjusting rack, and the position adjusting rod 76 connected to the position adjusting rack 73 can be driven to move, so that the goods can be driven to move through the position adjusting rod.

As shown in fig. 13, the moving mechanism 2 includes a moving motor 21, a moving motor mount 22, and moving universal wheels 23, the moving motor 21 is disposed at both ends of the base plate 11 through the moving motor mount 22, and the moving universal wheels 23 are disposed on a driving shaft of the moving motor 21. Thereby driving the moving universal wheel 23 to move by the moving motor 21 so that the push-down conveyance robot can reach the designated position.

As shown in fig. 14 to 17, the telescopic limiting mechanism 5 includes a telescopic motor (not shown in the drawings), a telescopic driving gear 52, a telescopic driving rack 53, a telescopic connecting rod 54, a telescopic driving rod 55, a telescopic baffle 56, a telescopic base 57 and a telescopic guide rail 58, wherein the telescopic motor is fixed on the base plate 11 through a telescopic motor mounting plate 51, the telescopic driving gear 52 is arranged on a driving shaft of the telescopic motor, a telescopic rack sliding component 50 is arranged on the telescopic motor mounting plate 51 above the telescopic motor, the telescopic driving rack 53 is slidably arranged on the telescopic rack sliding component 50, the telescopic driving rack 53 is in meshed connection with the telescopic driving gear 52, a telescopic connecting rod 54 is arranged on the telescopic driving rack 53, a telescopic base 57 is arranged on the base plate 11, a telescopic guide rail 58 is arranged on the telescopic base 57, one end of the telescopic driving rod 55 is hinged on the telescopic baffle 56 through a telescopic sliding block 59, the other end of the telescopic driving rod 55 is hinged with the telescopic connecting rod 54, and the telescopic baffle 56 slides along the telescopic guide rail 58 into the working section 10.

As shown in fig. 15, the telescopic driving rod extends from one end of the telescopic connecting rod to one end of the telescopic connecting rod outwards and forwards in an arc manner, and the telescopic driving rod is arranged through the arc, so that the telescopic driving rod does not directly prop against the telescopic baffle when pushing the telescopic baffle to move, but has a certain buffering radian, so that the connection between the telescopic driving rod and the telescopic baffle is smoother, and the structure between the telescopic driving rod and the telescopic baffle can be better protected.

The telescopic rack sliding component 50 comprises a telescopic sliding mounting plate 501 and a telescopic sliding wheel 502, the telescopic sliding wheel 502 is arranged on the telescopic motor mounting plate 51 through the telescopic sliding mounting plate 501, a clamping groove 531 is formed in the telescopic rack 53, the telescopic sliding wheel 502 is arranged in the clamping groove 531 and slides along the clamping groove 531, and through the arrangement of the clamping groove and the telescopic sliding wheel, the telescopic rack can be connected with the telescopic gear and cannot influence the movement of the telescopic rack.

When the goods need to be limited to continue to enter the working space, the telescopic motor drives the telescopic driving gear to rotate so as to drive the telescopic driving rack to move, the telescopic driving rack pushes the telescopic driving rod to move when moving, the telescopic driving rod can push the telescopic baffle to slide along the telescopic guide rail into the working space when moving, the working space is blocked by the telescopic baffle on the two bottom plates, and therefore the goods can be limited to be prevented from continuously moving into the working space.

As shown in fig. 20, the working method of the above-mentioned pushing-down conveying robot specifically includes the following steps:

(1) The moving mechanism is started to move the pushing-down conveying robot to the position of the goods, and the goods are located in the working area. When the position of the goods is inconvenient for the clamping mechanism to clamp, the step (1.1) is entered, and when the quantity of the goods in the working area is required to be limited:

Step (1.2) is entered;

(1.1) pushing the goods to move to a position convenient for clamping by a clamping mechanism through a position adjusting rod of a position adjusting mechanism;

(1.11) the position adjusting motor drives the position adjusting rod to move.

And (1.12) the position adjusting rod drives the goods to move to a position convenient for the clamping mechanism to clamp, when the goods need to be knocked down, the step (2) is carried out, and if the goods do not need to be knocked down, the step (3) is carried out.

(1.2) Blocking cargoes outside the working area through a telescopic baffle plate of a telescopic limiting mechanism;

(1.21) the telescopic baffle is driven by the telescopic motor to slide into the working area.

(1.22) The telescopic baffle blocks goods outside the working area from entering the working area, when the goods need to be knocked down, the step (2) is entered, and if the goods do not need to be knocked down, the step (3) is entered.

(2) When the cargo needs to be knocked down.

(2.1) The knock-down mechanism is lowered to a position corresponding to the cargo.

And (2.2) the moving mechanism moves to drive the dumping mechanism to dump the goods.

(3) The gripping mechanism is lowered to a position corresponding to the cargo.

(3.1) The first jaw assembly and the second jaw assembly clamp the cargo.

(3.11) The first jaw cylinder drives the first jaw to move in the direction of the second jaw.

(3.12) The second jaw cylinder drives the second jaw to move in the direction of the first jaw.

(3.13) The first jaw and the second jaw grip the cargo.

(4) When the goods need to be overturned, the method enters the step (4.1), and if the goods do not need to be overturned, the method enters the step (5).

(4.1) The rotating assembly rotates to drive the first clamping jaw assembly and the second clamping jaw assembly to rotate, so that the goods are overturned.

When smaller cargo is turned over:

And (4.11) driving the rotary clamping hand to rotate by the clamping rotary motor to turn over the goods.

(5) The movement mechanism carries the cargo to a specified location.

Claims (9)

1. The conveying method is realized by a tipping conveying robot and is characterized by comprising a frame, a moving mechanism, a clamping mechanism, a lifting mechanism, a telescopic limiting mechanism, a tipping mechanism and a position adjusting mechanism, wherein the frame comprises two base plates, two support columns and a cross beam, working areas are formed between the two base plates, the support columns are arranged at two ends of the base plates, and the cross beam is arranged between the support columns of the two base plates;

The telescopic limiting mechanism is arranged on the bottom plate and extends into the working space, a push-down mechanism is arranged on a support column at one end of the bottom plate, a lifting mechanism is arranged on the support column below the push-down mechanism, and the clamping mechanism is arranged on the lifting mechanism;

The lifting mechanism comprises a lifting sliding block and a lifting driving assembly, the lifting driving assembly is arranged on support columns on the two bottom plates, the lifting sliding block is connected to the lifting driving assembly, the lifting driving assembly drives the lifting sliding block to slide up and down along the support columns, and the lifting sliding block is provided with a clamping mechanism;

The clamping mechanism comprises a rotating component, a first clamping jaw component, a second clamping jaw component, a clamping beam and a clamping stop block, wherein the rotating component is arranged on a lifting sliding block, the first clamping jaw component is arranged on the rotating component on a bottom plate, the second clamping jaw assembly is arranged on the rotating assembly on the other bottom plate, a clamping cross beam is arranged between the first clamping jaw assembly and the second clamping jaw assembly, and a clamping stop block is arranged on the clamping cross beam between the first clamping jaw assembly and the second clamping jaw assembly;

The pushing mechanism comprises a pushing driving assembly and a pushing rod, the pushing driving assembly is connected with the supporting column through a pushing sliding column, and the pushing driving assembly drives the pushing rod to slide up and down along the pushing sliding column;

The method comprises the following specific steps:

(1) The moving mechanism is started to move the pushing-down conveying robot to the position of the goods, and the goods are located in the working area;

when the position of the goods is inconvenient for the clamping mechanism to clamp, the step (1.1) is carried out, and when the quantity of the goods in the working area is required to be limited, the step (1.2) is carried out;

The method comprises the following steps of (1.1) pushing the goods to move to a position convenient for the clamping mechanism to clamp through a position adjusting rod of the position adjusting mechanism, entering the step (2) when the goods need to be knocked down, and entering the step (3) when the goods do not need to be knocked down;

(1.2) blocking cargoes outside the working area through a telescopic baffle plate of a telescopic limiting mechanism, entering the step (2) when the cargoes need to be knocked down, and entering the step (3) if the cargoes do not need to be knocked down;

(2) When goods need to be knocked down;

(2.1) lowering the knock-down mechanism to a position corresponding to the cargo;

(2.2) the moving mechanism moves to drive the dumping mechanism to dump the goods;

(3) The clamping mechanism descends to a position corresponding to the goods;

(3.1) the first jaw assembly and the second jaw assembly gripping cargo;

(4) When the goods need to be overturned, entering the step (4.1), and if the goods do not need to be overturned, entering the step (5);

(4.1) the rotating assembly rotates to drive the first clamping jaw assembly and the second clamping jaw assembly to rotate, so that the goods are overturned;

(5) The movement mechanism carries the cargo to a specified location.

2. The method according to claim 1, wherein the lifting driving assembly comprises a lifting driving motor, a lifting driving gear, a lifting driving driven gear, a lifting driving rod, a lifting first driven wheel, a lifting second driven wheel and a lifting driving belt, wherein the lifting driving motor is fixed on one side of a supporting column on a bottom plate through a lifting motor mounting plate, the lifting driving rod is arranged on the supporting column, the lifting driving rod is connected with the supporting columns on two bottom plates, the lifting driving gear is arranged on a driving shaft of the lifting driving motor, the lifting driving driven gear meshed with the lifting driving gear is arranged at one end of the lifting driving rod, the lifting driving driven gear is fixedly connected with the end face of the lifting first driven wheel at one end of the lifting driving rod, the lifting second driven wheel corresponding to the lifting first driven wheel is arranged on the bottom plate at the bottom end of the supporting column, the lifting driving belt is arranged between the lifting first driven wheel and the lifting second driven wheel, and the lifting sliding block is arranged on the lifting driving belt.

3. The transporting method according to claim 1, wherein the dumping driving assembly comprises a dumping driving motor, a dumping sliding block, a dumping first driving wheel, a dumping second driving wheel, a dumping driving belt and a dumping driving rod, the dumping first driven wheel, the dumping second driven wheel and a dumping driven belt are arranged on the driving shaft of the dumping driving motor, the top end of the dumping sliding column is connected with the top end of a supporting column at one end of a bottom plate, the bottom end of the dumping sliding column is connected with the bottom plate, the dumping driving motor is arranged at the top end of the dumping sliding column, the dumping sliding column below the dumping driving motor is provided with the dumping driving rod, the dumping driving rod is connected with the dumping sliding columns on two bottom plates, the dumping driving shaft of the dumping driving motor is provided with a dumping first driving wheel, the dumping second driving wheel is arranged at one end of the dumping driving rod, the dumping first driving wheel is connected with the dumping second driving wheel through the dumping driving belt, the dumping first driven wheel is arranged at two ends of the dumping driving rod, the bottom plate at the bottom end of the dumping sliding column is connected with the dumping sliding column, the dumping second driven wheel is arranged between the dumping driven wheel and the dumping driven belt through the dumping sliding block.

4. The method of claim 1, wherein the first jaw assembly comprises a first jaw connecting post, a first jaw base, a first jaw cylinder and a first jaw, wherein one end of the first jaw connecting post is connected with the rotating assembly on a bottom plate, the other end of the first jaw connecting post is provided with the first jaw base, the first jaw cylinder is arranged on the first jaw base, and a first jaw is arranged on a driving piece of the first jaw cylinder;

The second clamping jaw assembly comprises a second clamping jaw connecting column, a second clamping jaw base, a second clamping jaw air cylinder and a second clamping jaw, one end of the second clamping jaw connecting column is connected with the rotating assembly on the other bottom plate, the other end of the second clamping jaw connecting column is provided with the second clamping jaw base, the second clamping jaw air cylinder is arranged on the second clamping jaw base, and a second clamping jaw is arranged on a driving piece of the second clamping jaw air cylinder;

The step (3.1) specifically comprises:

(3.11) the first clamping jaw cylinder drives the first clamping jaw to move towards the second clamping jaw;

(3.12) the second jaw cylinder driving the second jaw to move in the direction of the first jaw;

(3.13) the first jaw and the second jaw grip the cargo.

5. A transporting method according to claim 4, wherein the rotating assembly comprises a rotating motor, a rotating mounting plate, a rotating coupling and a rotating connecting plate, the rotating mounting plate is fixed on the lifting slide block, the rotating coupling is arranged on the rotating mounting plate, a driving shaft of the rotating motor is fixed on the rotating coupling, the rotating connecting plate is arranged on a main body of the rotating motor, the rotating connecting plate on one bottom plate is connected with the first clamping jaw connecting column, and the rotating connecting plate on the other bottom plate is connected with the second clamping jaw connecting column.

6. The conveying method according to claim 1, wherein the position adjusting mechanism comprises a position adjusting motor, a position adjusting driving gear, a position adjusting rack, a position adjusting sliding wheel, a position adjusting guide rail, a position adjusting rod and a position adjusting connecting plate, wherein the position adjusting motor is arranged above the bottom plate, the position adjusting sliding wheel is arranged below the bottom plate through a sliding wheel plate, a mounting through groove is formed in the bottom plate, a position adjusting driving gear is arranged on a driving shaft of the adjusting motor, the position adjusting driving gear extends to the lower side of the bottom plate through the mounting through groove, a position adjusting rack is arranged between the position adjusting sliding wheel and the position adjusting driving gear and meshed with the position adjusting driving gear, a position adjusting guide rail corresponding to the position adjusting rack is further arranged below the bottom plate, one end of the position adjusting rack is arranged on the position adjusting guide rail in a sliding mode through a position adjusting sliding block, the position adjusting rod is connected to one end of the position adjusting rack through a position adjusting connecting rod plate, and the position adjusting rod is connected with the position adjusting racks on the two bottom plates;

the step (1.1) specifically comprises:

(1.11) the position adjusting motor drives the position adjusting rod to move;

and (1.12) the position adjusting rod drives the goods to move to a position convenient for the clamping mechanism to clamp.

7. The method of claim 1, wherein the moving mechanism comprises a moving motor, a moving motor mounting seat and moving universal wheels, the moving motor is arranged at two ends of the bottom plate through the moving motor mounting seat, and the moving universal wheels are arranged on a driving shaft of the moving motor.

8. The transporting method of claim 1, wherein the telescopic limiting mechanism comprises a telescopic motor, a telescopic driving gear, a telescopic driving rack, a telescopic connecting rod, a telescopic driving rod, a telescopic baffle plate, a telescopic base and a telescopic guide rail, wherein the telescopic motor is fixed on a bottom plate through a telescopic motor mounting plate, the telescopic driving gear is arranged on a driving shaft of the telescopic motor, a telescopic rack sliding part is arranged on the telescopic motor mounting plate above the telescopic motor, the telescopic driving rack is arranged on the telescopic rack sliding part in a sliding manner, the telescopic driving rack is in meshed connection with the telescopic driving gear, the telescopic connecting rod is arranged on the telescopic driving rack, the telescopic base is arranged on the bottom plate, the telescopic guide rail is arranged on the telescopic base, one end of the telescopic baffle plate is hinged on the telescopic baffle plate through a telescopic sliding block, and the other end of the telescopic driving rod is hinged with the telescopic connecting rod;

The step (1.2) specifically comprises:

(1.21) the telescopic baffle is driven by the telescopic motor to slide into the working area;

(1.22) the telescopic baffle blocks goods outside the working area from entering the working area.

9. The transport method according to claim 4, wherein a first clamping rotary assembly is further arranged on the first clamping hand, the first clamping rotary assembly comprises a clamping rotary motor, a clamping rotary driving wheel, a clamping rotary driven wheel, a clamping rotary driving belt, a clamping rotary driving shaft, a clamping rotary mounting plate and a rotary clamping hand, the clamping rotary motor is arranged at the front end of the first clamping hand, the clamping rotary driving wheel is arranged on the driving shaft of the clamping rotary motor, the clamping rotary mounting plate is arranged at the tail end of the first clamping hand, one end of the clamping rotary driving shaft is rotatably arranged on the clamping rotary mounting plate through a clamping rotary bearing, the rotary clamping hand is arranged at the other end of the clamping rotary driving shaft, the rotary clamping hand is positioned at one side of the first clamping hand close to the clamping stop block, and the clamping rotary driving shaft is provided with the clamping rotary driving belt between the clamping rotary driving wheel and the clamping rotary driven wheel;

Step (4) specifically includes when turning over smaller cargo:

And (4.11) driving the rotary clamping hand to rotate by the clamping rotary motor to turn over the goods.