CN115196547A

CN115196547A - Carrying device

Info

Publication number: CN115196547A
Application number: CN202210870488.8A
Authority: CN
Inventors: 邓达强; 张文杰; 姚愉彬; 吴金洲; 陈佳锋
Original assignee: Guangzhou City University of Technology
Current assignee: Guangzhou City University of Technology
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2022-10-18
Anticipated expiration: 2042-07-22
Also published as: CN115196547B

Abstract

The invention provides a carrying device, which comprises a clamping lifting device and clamping equipment, wherein the clamping lifting device comprises a lifting device body and a clamping device body; the clamping lifting device drives the clamping equipment to lift; the clamping device comprises a first clamping device and a second clamping device; the first clamping device is rotatably arranged relative to the second clamping device; clamping the material for the first time through a first clamping device; then, the material is clamped for the second time through a second clamping device; after the second clamping device clamps the material; the first clamping device loosens the clamping of the material and rotates; then clamping the material for the third time; therefore, when the clamping equipment clamps the material, the clamping equipment can rotate relative to the material.

Description

Carrying device

Technical Field

The invention relates to the field of robots, in particular to a carrying device.

Background

Cargo handling means in the transportation production process, carries out the general name of short distance removal operation to the goods, and traditional cargo handling is artifical transport, and handling efficiency is low, extravagant a large amount of manpower and materials, for raising the efficiency, transfer robot has appeared in the market, and current transfer robot snatchs the material through vacuum adsorption or snatchs the material through pressing from both sides and getting.

In a patent document having a chinese application number of 201720308579.7 and a publication date of 2017.10.31, disclosed is an automatic transport robot for an express delivery station, including: the chassis, rotate respectively and install in four edges on the chassis wheel, install on the chassis and the gear motor who is connected with the wheel transmission, install on the chassis and with the battery that gear motor is connected and install support I on the chassis, the relative chassis fore-and-aft direction swing of I drive support of steering wheel II, the relative chassis fore-and-aft direction swing of II drive steering wheel III of steering wheel, thereby realize that the clamping jaw swings to the assigned position, it is got the goods clamp to drive two clamping jaws by clamping jaw actuating mechanism behind the rotatory reasonable position of III drive clamping jaws of steering wheel.

As shown with reference to fig. 1 and 2; the U1 face is the left surface of material, and the U2 face is the right flank of material, and the U3 face is the trailing flank of material, and the U4 face is the leading flank of material, and the U5 face is the top surface of material, and the U6 face is the bottom surface of material.

The robot drives the clamping jaws to rotate through the steering engine III, and after the clamping jaws clamp materials, the materials and the clamping jaws synchronously rotate; when the clamping jaw clamps the U1 surface and the U2 surface of the material; if the clamping surface of the material needs to be changed, taking a U5 surface and a U6 surface as examples; the robot needs to place materials on a supporting surface, then moves to enable the clamping jaws to correspond to the U5 surface and the U6 surface of the materials, and then can clamp different clamping surfaces of the materials; the clamping jaw of the robot cannot rotate relative to the material; when the clamping jaw clamps the material, the clamping surface of the material cannot be changed.

Disclosure of Invention

The invention provides a carrying device, which is characterized in that when a clamping device clamps a material, the clamping device can rotate relative to the material.

In order to achieve the purpose, the technical scheme of the invention is as follows: a carrying device comprises a frame body, a clamping lifting device and clamping equipment, wherein the clamping lifting device is arranged on the frame body and connected with the clamping equipment, and the clamping lifting device drives the clamping equipment to move along the height direction of the frame body.

The clamping device comprises a first clamping device and a second clamping device; the first clamping device comprises a first clamping fixed frame, a first clamping rotating frame, a clamping device and a clamping rotating device; the two clamping devices are arranged, and the first clamping rotating frames are positioned between the two first clamping rotating frames and connected with the two first clamping rotating frames; the first clamping fixing frame is rotatably arranged on the first clamping fixing frame; the second clamping device passes through the first clamping rotating frame and is fixedly connected with the first clamping fixing frame; a gap is reserved between the second clamping device and the first clamping rotating frame; the clamping and rotating device is used for driving the two clamping devices to rotate relative to the first clamping and fixing frame.

The clamping and rotating device comprises a clamping and rotating motor, a clamping and rotating driving gear, a clamping and rotating driven gear and a clamping and rotating bearing; the first clamping rotating frame is fixedly connected with one side of the clamping rotary driven gear, the other side of the clamping rotary driven gear is fixedly connected with the inner ring of the clamping rotary bearing, and the outer ring of the clamping rotary bearing is fixedly connected with the first clamping fixing frame; the clamping rotating motor is arranged on the first clamping fixing frame, the output end of the clamping rotating motor is connected with the clamping rotating driving gear, and the clamping rotating driving gear is meshed with the clamping rotating driven gear.

Each clamping device comprises a first clamping driving device and a first clamping piece, the clamping device is connected with the first clamping rotating frame, the movable end of the first clamping driving device is connected with the first clamping piece, and the first clamping driving device drives the first clamping piece to be close to or far away from the second clamping device; the two first clamping pieces are close to each other and used for clamping materials.

The second clamping device comprises a clamping structure and a clamping moving device, the fixed end of the clamping moving device is fixedly connected with the first clamping fixed frame, the movable end of the clamping moving device is connected with the clamping structure, and the clamping moving device drives the clamping structure to be close to and far away from the first clamping fixed frame; the clamping structure is used for clamping materials, and a clamping avoiding space for avoiding the first clamping piece is arranged on the clamping structure.

According to the arrangement, the clamping device is driven to move by the clamping lifting device, so that the clamping device can clamp materials with different heights; the clamping device is fixedly connected with the first clamping rotating frame through the clamping device, the second clamping device is fixedly connected with the first clamping fixing frame, and the first clamping rotating frame is rotatably connected with the first clamping fixing frame, so that the clamping device rotates relative to the second clamping device; meanwhile, when the gap clamping device is arranged between the second clamping device and the first clamping rotating frame, the second clamping device cannot be influenced when the gap clamping device rotates; the material is clamped for the first time through the clamping device, and when the clamping device clamps the material, the clamping surface of the material needs to be changed; the material is clamped for the second time through a second clamping device; then the rotary clamping device clamps the material for the third time; the clamping surface of the material can be changed when the material is clamped, the downward clamping surface of the material can be changed, and the material can be in contact with other objects through different surfaces. When the clamping device needs to be rotated, the height of the clamping device is adjusted through the clamping lifting device, and the clamping device is prevented from being impacted with the ground when rotating.

Meanwhile, the clamping moving device is arranged to drive the clamping structure to move, so that the clamping structure is close to or far away from the first clamping fixing frame, and the clamping structure is far away from or close to the material clamped by the material clamping device; in an initial loading state, the clamping structure approaches to the first clamping fixing frame, so that the interference between the material and the clamping structure is avoided when the clamping device clamps the material; when the clamping surfaces of the materials need to be changed, the clamping structure is far away from the first clamping fixing frame and is close to the materials, and after the rotating clamping device clamps the materials, the clamping structure resets.

Further, the first clamping driving device comprises a first clamping support, a first clamping cylinder, a first clamping slide block and a connecting device; the first clamping bracket is connected with the first clamping rotating frame, and the first clamping cylinder body is arranged on the first clamping bracket; the first clamping slide block is arranged on the first clamping cylinder body in a sliding manner; one end of the connecting device is fixedly connected with the first clamping piece, and the other end of the connecting device is fixedly connected with the first clamping slide block and is in sliding connection with the first clamping support.

Above setting, through connecting device and first centre gripping slider fixed connection and with first centre gripping support sliding connection, avoid first centre gripping slider to take place to rotate when sliding on first centre gripping cylinder body, first centre gripping slider removes stably.

Further, the connecting device comprises a first connecting piece, a second connecting piece, a third connecting piece and a fourth connecting piece; the third connecting piece is arranged on one side of the first connecting piece and one side of the second connecting piece; the fourth connecting piece is arranged on the other side of the first connecting piece and the second connecting piece; the first clamping slide block is positioned between the first connecting piece and the second connecting piece.

The first connecting piece is provided with a first through hole, and a pulley assembly is arranged in the first through hole; the first clamping bracket penetrates through the first through hole and is in contact with the sliding assembly; the first connecting piece is arranged on the first clamping support in a sliding mode.

The second connecting piece is fixedly connected with the first clamping slide block; one end of the third connecting piece and one end of the fourth connecting piece are fixedly connected with the first connecting piece and the second connecting piece; the other end of the third connecting piece and the other end of the fourth connecting piece are fixedly connected with the first clamping piece.

The device is connected with the first clamping bracket in a sliding manner through the first connecting piece and fixedly connected with the first clamping sliding block through the second connecting piece; the first clamping piece is connected with the second clamping piece through a third connecting piece and a fourth connecting piece; meanwhile, the third connecting piece and the fourth connecting piece are connected through the second connecting piece; when the first clamping slide block moves, the first connecting piece, the second connecting piece, the third connecting piece and the fourth connecting piece are driven to synchronously move, so that the structure is simple.

Furthermore, the clamping structure comprises a tightening bracket, a clamping device and a tightening device; the clamping device is positioned on one side of the tightening bracket; two clamping devices are arranged; the tightening device comprises a first sliding device, a second sliding device, a tightening, clamping, lifting and driving device and a tightening and stretching device; a clamping device is arranged at one end of the tightening bracket in a sliding mode through a first sliding device; the other clamping device is arranged at the other end of the tightening bracket in a sliding mode through a second sliding device.

The tightening, clamping and lifting transmission device comprises a tightening transmission gear, a first tightening transmission rack and a second tightening transmission rack; the tightening transmission gear is rotatably arranged on the tightening bracket, the first tightening transmission rack is positioned at one side of the tightening transmission gear, and the first tightening transmission rack is fixedly connected with a clamping device and meshed with the tightening transmission gear; the second tightening rotating rack is positioned on the other side of the tightening transmission gear, and the second tightening transmission rack is fixedly connected with the other clamping device and meshed with the tightening transmission gear.

The fixed end of the tightening telescopic device is connected with the tightening bracket, and the movable end of the tightening telescopic device is connected with a clamping device; the tightening and stretching device is used for driving the two clamping devices to move away from each other and approach each other.

According to the arrangement, the first tightening transmission rack is arranged on one side of the tightening transmission gear, the second tightening transmission rack is arranged on the other side of the tightening transmission gear, when the first tightening transmission rack moves along one direction, the second tightening transmission rack can move along the opposite direction of the movement of the first tightening transmission rack and is connected with one clamping device through the first tightening transmission rack, the second tightening transmission gear is connected with the other clamping device, when the movable end of the tightening telescopic device extends out, the two clamping devices are mutually far away from each other to realize the expansion of the clamping structure, and when the movable end of the tightening telescopic device extends out, the two clamping devices mutually approach to each other to realize the furling of the clamping structure; when the material is clamped, the clamping structure is firstly unfolded, then the clamping moving device drives the clamping structure to approach the material, and then the clamping structure is folded, and the clamping structure clamps the material.

Further, a clamping device comprises a clamping connecting piece and two clamping pieces; the two clamping pieces are connected through a clamping connecting piece; the first tightening drive rack is connected to one of the clamping elements of one of the clamping devices, and the second tightening drive rack is connected to one of the clamping elements of the other clamping device.

The clamping piece comprises a clamping fixing piece, a clamping piece, a first clamping limiting piece and a second clamping limiting piece; the clamping and clamping piece is positioned on one side of the clamping and fixing piece, and the first clamping and limiting piece and the second clamping and limiting piece are oppositely arranged and positioned between the first clamping and clamping piece and the first clamping and fixing piece.

One end of the clamping piece is a contact end, and the other end of the clamping piece is a collision end; the contact end is used for contacting with the material; the first clamping limiting part is connected with the clamping fixing part, and the second clamping limiting part is connected with the abutting end of the clamping part; an accommodating groove is formed between the first clamping limiting part and the second clamping limiting part, a rotating shaft is arranged in the accommodating groove, and the clamping and taking part is rotatably connected with the clamping and fixing part through the rotating shaft; wear to be equipped with the torsional spring in the pivot, the one end and the tight locating part butt of first clamp of torsional spring, the other end and the tight locating part butt of first clamp of torsional spring.

Two ends of the tightening bracket are respectively provided with a stop piece which protrudes out of the tightening bracket, and the stop pieces are positioned between the tightening bracket and the clamping device; the abutting part is used for driving the contact end of the clamping and clamping part to swing towards the direction close to the first clamping and limiting part when contacting with the abutting end of the clamping and clamping part; the first clamping limiting part is used for limiting the contact end of the clamping part which swings to the direction far away from the first clamping limiting part under the elastic action of the torsion spring when the abutting end of the clamping part is separated from the abutting part.

According to the arrangement, the two clamping pieces are connected through the clamping connecting piece, so that the two clamping pieces can move synchronously, and the two clamping pieces are arranged to stably clamp materials; the clamping and taking piece and the clamping and fixing piece are movably connected through a rotating shaft; the clamping and gripping piece can swing relative to the clamping and fixing piece; meanwhile, the first clamping limiting part is connected with the clamping fixing part, and the second clamping limiting part is connected with the clamping and taking part; when the clamping and taking piece is folded, the tightening and stretching device retracts; the tightening telescopic device drives the two clamping devices to approach the tightening bracket; when the abutting end of the clamping and gripping piece is in contact with the resisting piece on the tightening bracket, the contact end of the clamping and gripping piece overcomes the elasticity of the torsion spring to approach the first clamping limiting piece, so that the clamping piece is folded; when the clamping and taking piece is unfolded, the tightening and stretching devices extend out and drive the two clamping and taking devices to move away from the tightening bracket; when the contact end of the clamping and gripping piece is connected with or separated from the resisting piece on the tightening bracket, the contact end of the clamping and gripping piece swings towards the direction far away from the first clamping and limiting piece under the action of the elasticity of the torsion spring; the expansion of the clamping and taking piece is realized. Meanwhile, in the unfolding process of the clamping piece, when the second clamping limiting piece abuts against the first clamping limiting piece, the first clamping limiting piece limits the second clamping limiting piece, so that the second clamping limiting piece cannot continuously swing, and the unfolding of the clamping piece is realized.

Meanwhile, the first clamping limiting part and the second clamping limiting part of the unfolded clamping piece are abutted; the first clamping limiting part supports the second clamping limiting part; when the material is clamped, the clamping moving device drives the clamping structure to extend out, so that the material is positioned between the clamping devices at the two ends of the tightening bracket; then the movable end of the telescopic device is tightened to retract, the clamping piece is driven to be folded, and the material is clamped through the contact end of the clamping and taking piece; when the abutting end of the clamping and taking piece is contacted with the resisting piece; at this time, the clamping and taking piece cannot swing under the supporting effect of the material on the contact end.

Meanwhile, the abutting end of the clamping and clamping piece and the abutting piece in contact can provide force for swinging the contact end of the clamping and clamping piece towards the direction close to the first clamping and limiting piece; the clamping piece with two opposite ends stably clamps the material between tightening. Meanwhile, the clamping piece is folded and unfolded in the moving process of the clamping piece, and the structure is simple.

Further, the clamping avoiding space is arranged between the two clamping pieces; the clamping avoiding space is used for accommodating the first clamping piece.

Furthermore, the abutting end extends towards the direction of the contact end away from the abutting end in an inclined manner to form an abutting part close to the abutting part, and the abutting part is used for contacting with the abutting part.

According to the arrangement, the clamping and taking piece is convenient to be matched with the resisting piece by arranging the inclined resisting part close to the resisting piece;

further, the clamping and moving device comprises a movable fixed bracket, a movable sliding bracket and a movable driving device; the movable fixing support is connected with the first clamping fixing frame, a second through hole penetrates through the movable fixing support, and a pulley assembly is arranged in the second through hole; one end of the movable sliding support is connected with the clamping structure, and the other end of the movable sliding support is arranged in the second through hole in a penetrating mode and is in contact with the sliding assembly.

The mobile driving device comprises a mobile driving motor, a mobile driving gear and a mobile driving rack; a moving groove is formed in the moving sliding support, and the moving driving rack is fixed in the moving sliding support and corresponds to the moving groove; the movable driving motor is fixed on the movable fixing support, the output end of the movable driving motor is connected with the movable driving gear, and the movable driving gear penetrates through the movable groove and extends into the movable sliding support to be meshed with the movable driving rack.

In the arrangement, a fixed movable driving rack is arranged in the movable sliding support, and the movable sliding support is arranged in the movable fixed support in a sliding manner; the movement driving rack is driven to move by the movement driving gear, and the movement driving rack drives the movable sliding support to move; the structure is simple; meanwhile, the driving gear is driven to penetrate through the moving groove to extend into the moving sliding support through moving, so that the moving of the moving sliding support is limited; when the end of the moving groove is contacted with the moving driving gear, the moving sliding support stops moving.

Furthermore, the clamping lifting device comprises a clamping lifting driving device, a clamping lifting synchronous shaft and two clamping lifting transmission devices; the clamping lifting synchronous shaft is connected with the two clamping lifting transmission devices, and the output end of the clamping lifting driving device is connected with the clamping lifting synchronous shaft.

The clamping and clamping lifting transmission device comprises a clamping and lifting first pulley, a clamping and lifting second pulley, a clamping and lifting synchronous belt and a clamping and synchronous belt fixing piece; the clamping lifting first pulley is rotatably arranged at the top end of the frame body; the clamping lifting second pulley is rotatably arranged at the bottom end of the frame body; the clamping lifting synchronous belt is sleeved on the first lifting pulley and the clamping lifting second pulley; the clamping synchronous belt fixing piece clamps the clamping lifting synchronous belt sleeve on the first clamping fixing frame.

According to the arrangement, the clamping and lifting device is connected to the first clamping and fixing frame and the clamping and lifting synchronous belt sleeve through the clamping synchronous belt fixing piece, so that the clamping and lifting device drives the first clamping and fixing frame to clamp and lift, meanwhile, the first clamping rotating frame is connected with the first clamping and fixing frame, and the second clamping device is also connected with the first clamping and fixing frame; and further realize that first clamping device and second clamping device centre gripping go up and down in step.

Drawings

Fig. 1 is a schematic perspective view of a material.

Fig. 2 is a perspective view of the present invention.

Fig. 3 is a perspective view of the clamping device of the present invention.

Fig. 4 is an exploded view of the clamping device of the present invention.

FIG. 5 is a schematic view of a first clamping fixture and a clamping rotary device according to the present invention.

Fig. 6 is an exploded view of the first clamping fixture and the clamping rotary device of the present invention.

Fig. 7 is a perspective view of the first holding turret and the gripping device of the present invention.

Fig. 8 is an enlarged view of a in fig. 7.

Fig. 9 is a perspective view of a second clamping device of the present invention.

Fig. 10 is an exploded view of a second clamping device of the present invention.

Fig. 11 is an exploded view of the clamping structure of the present invention.

Fig. 12 is a schematic view of the clamping structure of the present invention after deployment.

Fig. 13 is a schematic perspective view of the clamping device, the tightening and retracting device, and the first tightening transmission rack for tightening the upper end of the bracket according to the present invention.

FIG. 14 is a perspective view of a take-up bracket and take-up drive gear of the present invention.

Fig. 15 is a perspective view of the clamping device and the second tightening transmission rack tightening the lower end of the bracket according to the present invention.

FIG. 16 is a schematic view of the pinch grips of the present invention as they are closed.

Figure 17 is a schematic view of the pinch grip of the present invention after deployment.

Fig. 18 is a schematic view of the engagement of the retaining member with the clamping jaw of the present invention.

Fig. 19 is a schematic view of the clamping elevating device 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. 1-19; a carrying device comprises a frame body 1f, a clamping lifting device 2f and clamping equipment 3f, wherein the clamping lifting device 2f is arranged on the frame body 1f and is connected with the clamping equipment 3f, and the clamping lifting device 2f drives the clamping equipment 3f to move along the height direction of the frame body 1 f. The clamping device 3f is driven to move through the clamping lifting device 2f, so that the clamping device 3f can clamp materials with different heights.

As shown in fig. 3 and 4; the gripping device 3f comprises a first gripping means 31f and a second gripping means 32f; the first holding means 31f includes a first holding fixture 311f, a first holding turret 312f, a gripping means 313f, and a holding rotating means 314f; the clamping devices 313f are two, and the first clamping rotating frame 312f is positioned between the two clamping devices 313f and is connected with the two clamping devices 313 f; the first clamping rotating frame 312f is rotatably arranged on the first clamping fixing frame 311f; the second clamping device 32f passes through the first clamping rotating frame 312f and is fixedly connected with the first clamping fixing frame 311f; a gap is formed between the second clamping device 32f and the first clamping rotating frame 312 f; the clamping and rotating device 314f is used for driving the two clamping devices 313f to rotate relative to the first clamping and fixing frame 311 f. In the present embodiment, there is a gap between the second clamping device 32f and the first clamping turret 312f in the width direction and the height direction of the second clamping device 32f.

Fixedly connected with the first clamping rotating frame 312f through the clamping device 313f, fixedly connected with the first clamping fixing frame 311f through the second clamping device 32f, and rotatably connected with the first clamping fixing frame 311f through the first clamping rotating frame 312f, so that the clamping device 313f rotates relative to the second clamping device 32f; meanwhile, a rotation avoiding space is provided to avoid the second clamping device 32f, so that the clamping device 313f does not influence the second clamping device 32f when rotating. The clamping device 313f is used for clamping the material for the first time, and the second clamping device 32f is used for clamping the material for the second time; after the second clamping device 32f clamps the material, the clamping device 313f releases the clamping of the material, and then the clamping rotating device 314f drives the clamping device 313f to rotate by 90 degrees, and the clamping device 313f is used for carrying out third clamping on the material; after the material is clamped, the clamping device 3f can rotate relative to the material; so that the clamping surface of the material can be changed when the material is clamped.

The material is clamped for the first time by the clamping device 313f, and when the clamping device 313f clamps the material, the clamping surface of the material needs to be changed; the material is clamped for the second time through the second clamping device 32f; then the rotating clamping device 313f clamps the material for the third time; therefore, the clamping surface of the material can be changed when the material is clamped, the downward clamping surface of the material can be changed, and the material can be in contact with other objects on different surfaces. When the gripping device 313f needs to be rotated, the height of the gripping device 313f is adjusted by the gripping and lifting device 2f, so that the gripping device 313f is prevented from colliding with the ground while rotating.

As shown in fig. 5 and 6; the clamping rotation device 314f includes a clamping rotation motor 3141f, a clamping rotation driving gear 3142f, a clamping rotation driven gear 3143f, and a clamping rotation bearing 3144f; the first clamping rotating frame 312f is fixedly connected with one side of the clamping rotary driven gear 3143f, the other side of the clamping rotary driven gear 3143f is fixedly connected with an inner ring of the clamping rotary bearing 3144f, and an outer ring of the clamping rotary bearing 3144f is fixedly connected with the first clamping fixing frame 311f; the clamping rotating motor 3141f is arranged on the first clamping fixing frame 311f, the output end of the clamping rotating motor 3141f is connected with the clamping rotating driving gear 3142f, and the clamping rotating driving gear 3142f is meshed with the clamping rotating driven gear 3143 f.

In this embodiment, a first holding support plate 3145f is provided on the side of the holding rotary driven gear 3143f close to the first holding turret 312f, and the holding rotary driven gear 3143f is connected to the first holding turret 312f through the first holding support plate 3145 f; a second chucking support plate 3146f is provided on the side of the chucking rotation driven gear 3143f near the chucking rotation bearing 3144 f. The chucking rotation driven gear 3143f is connected to the inner race of the chucking rotation bearing 3144f through a second chucking support plate 3146f. A third clamping support plate 3147f is provided on the side of the first clamping holder 311f remote from the clamping rotation driven gear 3143 f.

In this embodiment, the first clamp support plate 3145f, the clamp rotation driven gear 3143f, the second clamp support plate 3146f, the clamp rotation bearing 3144f, and the third clamp support plate 3147f are all hollow structures.

As shown in fig. 4, 7; each of the gripping devices 313f includes a first grip driving means 3131f and a first grip 3132f, a fixed end of the first grip driving means 3131f being connected to the first grip rotating block 312f, a movable end of the first grip driving means 3131f being connected to the first grip 3132f, the first grip driving means 3131f driving the first grip 3132f to approach and move away from the second grip device 32f; the first clamping members 3132f are close to each other for clamping the material.

As shown in fig. 7 and 8; in this embodiment, the first clamp actuator 3131f is a rodless cylinder; the first clamping driving device 3131f includes a first clamping support 3133f, a first clamping cylinder 3134f, a first clamping slider 3135f, and a connecting device 3130f; a first clamping support 3133f is connected to the first clamping rotating frame 312f, and a first clamping cylinder 3134f is disposed on the first clamping support 3133 f; a first clamping slider 3135f is slidably disposed on the first clamping cylinder 3134 f; one end of the connecting device 3130f is fixedly connected to the first clamping member 3132f, and the other end of the connecting device 3130f is fixedly connected to the first clamping slider 3135f and slidably connected to the first clamping support 3133 f. By fixedly connecting the connecting device 3130f with the first clamping slider 3135f and slidably connecting with the first clamping support 3133f, the first clamping slider 3135f is prevented from rotating while sliding on the first clamping cylinder 3134f, and the first clamping slider 3135f moves stably.

As shown in fig. 7 and 8; the connection device 3130f includes a first connection 3136f, a second connection 3137f, a third connection 3138f, and a fourth connection 3139f; the third connector 3138f is disposed on one side of the first and

second connectors

3136f and 3137 f; the fourth connector 3139f is disposed at the other side of the first and

second connectors

3136f, 3137 f; first clamping shoe 3135f is located between first connector 3136f and second connector 3137 f.

The first connecting part 3136f is provided with a first through hole 31301f, and a pulley assembly 4f is arranged in the first through hole 31301 f; the first clamping support 3133f penetrates through the first through hole 31301f and contacts with the sliding assembly; the first connector 3136f is slidably disposed on the first clamping support 3133 f.

The second connector 3137f is fixedly connected to the first clamping slider 3135 f; one end of the third connector 3138f and one end of the fourth connector 3139f are both fixedly connected to the first connector 3136f and the second connector 3137 f; the other end of the third connector 3138f and the other end of the fourth connector 3139f are both fixedly connected to the first jaw 3132f. Is slidably connected to the first clamping support 3133f via a first connector 3136f and is fixedly connected to the first clamping slider 3135f via a second connector 3137 f; is connected to the first jaw 3132f by a third connector 3138f and a fourth connector 3139f; while the third and

fourth connectors

3138f, 3139f are connected via the second connector 3137 f; when the first clamping slider 3135f moves, it drives the first connecting element 3136f, the second connecting element 3137f, the third connecting element 3138f, and the fourth connecting element 3139f to move synchronously, so that the structure is simple.

As shown in fig. 9-10; the second clamping device 32f comprises a clamping structure 321f and a clamping moving device 322f, a fixed end of the clamping moving device 322f is fixedly connected with the first clamping fixing frame 311f, a movable end of the clamping moving device 322f is connected with the clamping structure 321f, and the clamping moving device 322f drives the clamping structure 321f to approach to and depart from the first clamping fixing frame 311f; the clamping structure 321f is used for clamping the material, and a clamping avoiding space 323f for avoiding the first clamping piece 3132f is arranged on the clamping structure 321 f. The clamping structure 321f is driven to move by the clamping moving device 322f, so that the clamping structure 321f is close to or away from the first clamping fixing frame 311f, and thus the clamping structure 321f is far away from or close to the material clamped by the material clamping device 313 f; in the initial loading state, the clamping structure 321f approaches the first clamping and fixing frame 311f, so that the material is prevented from interfering with the clamping structure 321f when the material is clamped by the clamping device 313 f; when the clamping surface of the material needs to be changed, the clamping structure 321f is far away from the first clamping fixing frame 311f and approaches to the material, and after the rotating clamping device 313f clamps the material, the clamping structure 321f resets.

As shown in fig. 9-17; the clamping structure 321f includes a tightening bracket 3210f, a clamping device 3211f, and a tightening device 3212f; the clamping device 3211f is located on one side of the tightening bracket 3210f; two clamping devices 3211f are provided; the tightening device 3212f comprises a first sliding device, a second sliding device, a tightening lifting transmission device 3213f and a tightening telescopic device 3214f; a clamping device 3211f is slidably disposed at one end of the tightening bracket 3210f by a first sliding device; another clamping device 3211f is slidably disposed at the other end of the tightening bracket 3210f by a second sliding device.

In this embodiment, the first sliding device and the second sliding device are both sliding rails, the outer sliding rail of the first sliding device is connected with the tightening bracket 3210f, and the inner sliding rail of the first sliding device is connected with one clamping device 3211 f; the outboard slide rail of the second slide is connected to the take-up bracket 3210f and the inboard slide rail of the second slide is connected to the other clamp 3211 f.

As shown in fig. 11; the take-up-down transmission device 3213f includes a take-up pinion 32131f, a first take-up pinion 32132f, and a second take-up pinion 32133f; the take-up pinion 32131f is rotatably disposed on the take-up bracket 3210f, the first take-up pinion 32132f is located on one side of the take-up pinion 32131f, and the first take-up pinion 32132f is fixedly connected to a clamping device 3211f and is engaged with the take-up pinion 32131 f; the second take-up rotating rack is located on the other side of the take-up pinion 32131f, and the second take-up rotating rack 32133f is fixedly connected to another clamping device 3211f and is engaged with the take-up pinion 32131 f.

As shown in fig. 11, a fixed end of the tightening telescoping device 3214f is connected to a tightening bracket 3210f, and a movable end of the tightening telescoping device 3214f is connected to a clamping device 3211 f; the tightening telescoping devices 3214f are used to drive the two clamping devices 3211f away from and toward each other. In this embodiment, the tightening telescoping device 3214f is an air cylinder.

The first tightening driving rack 32132f is disposed on one side of the tightening driving gear 32131f, the second tightening driving rack 32133f is disposed on the other side of the tightening driving gear 32131f, and when the first tightening driving rack 32132f moves in one direction, the second tightening driving rack 32133f moves in the opposite direction to the movement of the first tightening driving rack 32132f, and is connected to a clamping device 3211f through the first tightening driving rack 32132f, and the second tightening driving rack 32131f is connected to another clamping device 3211f, when the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move away from each other to achieve the expansion of the clamping structure 321f, and when the movable end of the tightening telescopic device 3214f extends, the two clamping devices 3211f move close to each other to achieve the contraction of the clamping structure 321 f; when the material is clamped, the clamping structure 321f is firstly unfolded, then the clamping moving device 322f drives the clamping structure 321f to approach the material, and then the clamping structure 321f is folded, and the clamping structure 321f clamps the material.

As shown in fig. 13, 15; one clamping device 3211f includes a clamping connection 3216f and two clamping pieces 3215f; the clamp avoiding space 323f is provided between the two clamping pieces 3215f; the clamping avoiding space 323f is used for accommodating the first clamping piece 3132f. The two clamping pieces 3215f are connected by a clamping connection 3216 f; the first takeup drive rack 32132f is connected to one of the grippers 3215f of one of the clamping devices 3211f, and the second takeup drive rack 32133f is connected to one of the grippers 3215f of the other of the clamping devices 3211 f.

As shown in fig. 15-16; the clamping member 3215f includes a clamping fixture 32151f, a clamping gripper 32152f, a first clamping limiter 32153f, and a second clamping limiter 32154f; the clamping and gripping member 32152f is located on one side of the clamping and securing member 32151f, and a first clamping and limiting member 32153f and a second clamping and limiting member 32154f are disposed opposite to each other and between the first clamping and gripping member 32152f and the first clamping and securing member 32151 f.

As shown in fig. 15-16; one end of the clamping and taking piece 32152f is a contact end 32155f, and the other end of the clamping piece 3215f is an abutting end 32156f; the contact end 32155f is used for contacting with the material; the first clamping limiting member 32153f is connected to the clamping securing member 32151f, and the second clamping limiting member 32154f is connected to the abutting end 32156f of the clamping securing member 32152 f; a receiving groove 32157f is formed between the first clamping limiting member 32153f and the second clamping limiting member 32154f, a rotating shaft (not shown) is disposed in the receiving groove 32157f, and the clamping member 32152f is rotatably connected to the clamping and fixing member 32151f through the rotating shaft; a torsion spring 32158f is disposed through the rotating shaft, one end of the torsion spring 32158f abuts against the first clamping limiting member 32153f, and the other end of the torsion spring 32158f abuts against the first clamping limiting member 32153 f.

As shown in fig. 14, 16-18; two ends of the tightening bracket 3210f are both provided with a catch 3217f protruding out of the tightening bracket 3210f, and the catch 3217f is located between the tightening bracket 3210f and the clamping device 3211 f; the abutting member 3217f is configured to drive the contacting end 32155f of the clamping and gripping member 32152f to swing toward the first clamping and limiting member 32153f when contacting the abutting end 32156f of the clamping and gripping member 32152 f; the first clamping limiting member 32153f is configured to limit the contact end 32155f of the clamping member 32152f swinging in the direction away from the first clamping limiting member 32153f under the elastic force of the torsion spring 32158f when the abutting end 32156f of the clamping member 32152f is separated from the abutting member 3217 f.

The two clamping pieces 3215f are connected through the clamping connecting piece 3216f to realize synchronous movement of the two clamping pieces 3215f, and the two clamping pieces 3215f are arranged to stably clamp materials; the clamping and taking piece 32152f and the clamping and fixing piece 32151f are movably connected through a rotating shaft; the clamping and gripping member 32152f can swing relative to the clamping and securing member 32151f; meanwhile, since the first clamping limiting member 32153f is connected to the clamping fixing member 32151f, the second clamping limiting member 32154f is connected to the clamping picking member 32152 f; when the clamping and taking piece 32152f is folded, the telescopic device 3214f is retracted; the tightening telescopic device 3214f drives the two clamping devices 313f to approach the tightening bracket 3210f; when the abutting end 32156f of the clamping and gripping member 32152f contacts the abutting member 3217f of the tightening bracket 3210f, the contacting end 32155f of the clamping and gripping member 32152f overcomes the elastic force of the torsion spring 32158f to approach the first clamping and limiting member 32153f, thereby folding the clamping member 3215f; when the clamping and taking piece 32152f is unfolded, the tightening and telescoping device 3214f extends out, and the tightening and telescoping device 3214f drives the two clamping devices 313f to move away from the tightening bracket 3210f; when the abutting end 32156f of the clamping and gripping member 32152f is separated from the abutting member 3217f of the tightening bracket 3210f, the contact end 32155f of the clamping and gripping member 32152f swings away from the first clamping and limiting member 32153f under the action of the self-elastic force of the torsion spring 32158 f; deployment of the pinch grips 32152f is achieved. Meanwhile, in the process of unfolding the clamping member 32152f, when the second clamping limiting member 32154f abuts against the first clamping limiting member 32153f, the first clamping limiting member 32153f limits the position of the second clamping limiting member 32154f, so that the second clamping limiting member 32154f cannot continuously swing, and the clamping member 3215f is unfolded.

Meanwhile, the first clamping stopper 32153f of the unfolded clamping member 3215f abuts against the second clamping stopper 32154f; the first clamping position limiter 32153f supports the second clamping position limiter 32154f; when clamping a material, the clamping moving device 322f drives the clamping structure 321f to extend out, so that the material is located between the clamping devices 3211f at the two ends of the tightening bracket 3210f; then the movable end of the telescopic device 3214f is tightened to retract, the clamping piece 3215f is driven to fold, and the material is clamped by the contact end 32155f of the clamping and taking piece 32152 f; when the abutting end 32156f of the clamping gripper 32152f contacts the abutting piece 3217 f; at this time, the clamping and gripping member 32152f does not swing due to the supporting effect of the material on the contact end 32155 f.

Meanwhile, the abutting end 32156f of the clamping and gripping member 32152f and the abutting member 3217f contacting therewith give a force to swing the contact end 32155f of the clamping and gripping member 32152f toward the first clamping and limiting member 32153 f; so that the clamping and gripping pieces 32152f which are positioned between the tightening ends and opposite to each other stably grip the materials. Meanwhile, the clamping piece 3215f is folded and unfolded in the moving process of the clamping piece 3215f, and the structure is simple.

As shown in fig. 16-18; in this embodiment, the abutting end 32156f extends obliquely toward the contact end 32155f away from the abutting portion 32159f close to the abutting piece 3217f, and the abutting portion 32159f is configured to contact with the abutting piece 3217 f. The clamping and taking piece 32152f is matched with the abutting piece 3217f conveniently by arranging the abutting portion 32159f which is inclined and close to the abutting piece 3217 f.

As shown in fig. 9, 10; the clamping moving device 322f comprises a moving fixing support 3221f, a moving sliding support 3222f and a moving driving device; the movable fixing support 3221f is connected to the first clamping fixing frame 311f, a second through hole 3223f penetrates through the movable fixing support 3221f, and a pulley assembly 4f is arranged in the second through hole 3223 f; one end of the movable sliding support 3222f is connected to the clamping structure 321f, and the other end of the movable sliding support 3222f penetrates through the second through hole 3223f and contacts the sliding assembly.

The movement driving device comprises a movement driving motor 3224f, a movement driving gear 3225f and a movement driving rack 3226f; a moving groove 3227f is arranged on the moving sliding support 3222f, and a moving driving rack 3226f is fixed in the moving sliding support 3222f and corresponds to the moving groove 3227 f; the moving driving motor 3224f is fixed on the moving fixing support 3221f, an output end of the moving driving motor 3224f is connected to the moving driving gear 3225f, and the moving driving gear 3225f extends into the moving sliding support 3222f through the moving slot 3227f to engage with the moving driving rack 3226 f.

A fixed moving driving rack 3226f is arranged in the moving sliding support 3222f, and the moving sliding support 3222f is slidably arranged in the moving fixing support 3221 f; the driving gear 3225f is driven to move to drive the moving driving rack 3226f to move, and the moving driving rack 3226f drives the moving sliding support 3222f to move; the structure is simple; meanwhile, the movement of the movable sliding support 3222f is limited by moving the driving gear 3225f through the moving slot 3227f and into the movable sliding support 3222 f; when the end of the moving groove 3227f contacts the movement driving gear 3225f, the movement of the moving slide supporter 3222f is stopped.

As shown in fig. 5 and 19; the clamping lifting device 2f comprises a clamping lifting driving device, a clamping lifting synchronous shaft 21f and two clamping lifting transmission devices 22f; the clamping lifting synchronizing shaft 21f is connected with two clamping lifting transmission devices 22f, and the output end of each clamping lifting driving device is connected with the clamping lifting synchronizing shaft 21 f.

The clamping lifting transmission device 22f comprises a clamping lifting first pulley 23f, a clamping lifting second pulley 24f, a clamping lifting synchronous belt 25f and a clamping synchronous belt fixing part 26f; the clamping lifting first pulley 23f is rotatably arranged at the top end of the frame body 1f; the clamping lifting second pulley 24f is rotatably arranged at the bottom end of the frame body 1f; a clamping lifting synchronous belt 25f is sleeved on the first lifting pulley and the clamping lifting second pulley 24 f; as shown with reference to FIG. 5; the clamp timing belt fastener 26f clamps the clamp lifting timing belt 25f to the first clamp holder 311 f.

The clamping lifting driving device comprises a clamping lifting driving motor 27f, a clamping lifting first transmission gear 28f, a second transmission gear 29f and a clamping lifting driving support; the clamping lifting driving bracket is connected with the frame body 1f; the clamping lifting driving motor is fixed on the clamping lifting driving support; the clamping lifting first transmission gear 28f is connected with the output end of the clamping lifting driving motor 27f, and the second transmission gear 29f is arranged on the clamping lifting synchronizing shaft 21f in a penetrating mode; the clamping lifting first transmission gear 28f is meshed with the second transmission gear 29 f; the clamping lifting driving motor 27f drives the clamping lifting synchronizing shaft 21f to rotate through the clamping lifting first transmission gear and the clamping lifting second transmission gear, and the clamping lifting synchronizing shaft 21f drives the clamping lifting transmission device 22f to act.

The clamping and lifting device 2f drives the first clamping and fixing frame 311f to clamp and lift through the clamping and lifting synchronous belt fixing piece 26f connected to the first clamping and fixing frame 311f and the clamping and lifting synchronous belt 25f, meanwhile, the first clamping and rotating frame 312f is connected with the first clamping and fixing frame 311f, and the second clamping device 32f is also connected with the first clamping and fixing frame 311f; and further realize synchronous clamping lifting of the first clamping device 31f and the second clamping device 32f.

Referring to fig. 5 and 8, a third through hole 3110f is formed in the first clamping holder 311f, and a pulley assembly 4f is disposed in the third through hole 3110 f; the frame body 1f penetrates through the third through hole 3110f and contacts the sliding assembly.

Referring to fig. 2, 5, 8 and 10, in the present embodiment, the first through hole 31301f, the second through hole 3223f and the third through hole 3110f are rectangular holes; at least two opposite inner walls of the first through hole 31301f, the second through hole 3223f and the third through hole 3110f are respectively provided with more than one group of pulley assemblies 4f; each set of sheave assemblies 4f includes a first sliding shaft 41f and a first sheave 42f; the first sliding shaft 41f is fixed to the first through hole 31301f, the second through hole 3223f, and the third through hole 3110 f; the first pulley 42f is rotatably disposed on the first sliding shaft 41f and is used to contact the frame body 1f, the first clamping support 3133f and the moving sliding support 3222 f.

As shown in fig. 2; the bottom of the frame body 1f is also provided with a chassis, and the chassis is provided with a traveling device 5f; the traveling device 5f is used for driving the frame body 1f to move. The traveling device 5f drives the frame body 1f to move, and the clamping device 3f is close to the material. The traveling device 5f includes four sets of traveling wheels, each set of traveling wheels being driven by an independent motor.

The working method of the conveying device comprises the following steps:

a1, presetting a stacking area.

A2, the carrying device clamps a material by the first clamping piece 3132f.

A3, judging whether the clamping surface for clamping the material at present needs to be changed along the Y direction; if not, performing A10; if yes, A4 is performed.

And A4, driving the clamping device to ascend by the clamping lifting device, so that the first clamping device does not interfere with the contact surface of the stacking area when rotating.

A5, the clamping moving device drives the clamping structure to approach the material, and meanwhile the clamping structure clamps the material.

A6, first clamp 3132f releases the clamp on the currently clamped material.

A7, the clamping and rotating device 314f drives the first clamping and rotating frame 312f to rotate clockwise by 90 degrees; first clamp 3132f then clamps the now clamped material again.

A8, the clamping structure loosens the clamping of the material; and meanwhile, the clamping and moving device drives the clamping structure to be far away from the material.

A9, the clamping rotation device 314f drives the first clamping rotating frame 312f to rotate 90 ° counterclockwise.

And A10, moving the conveying device to the stacking area, and carrying out A11 when the conveying device reaches the stacking area.

A11, clamping of the currently clamped material by the first clamping member 3132 f; the material is placed on the stacking area; if the next material is to be clamped, then A2 is performed until the next material is placed on the material in the stacking area. And if the next box material is not required to be clamped, stopping working.

In the above method, the material is first clamped by the first clamping piece 3132 f; when the clamping surface for clamping the material at present needs to be changed; the height of the first clamping piece 3132f is adjusted through the clamping lifting device, so that the clamping device 313f is prevented from colliding with the ground when rotating; when the first clamping member 3132f has enough space with the ground, the first clamping rotating frame 312f and the clamping device 313f rotate; secondly, clamping the currently clamped material through a clamping structure 321 f; after the material is clamped by the clamping structure 321f, the first clamping piece 3132f releases the clamping on the currently clamped material; thus avoiding the falling of the materials; the clamping rotation device 314f then drives the first clamping turret 312f to rotate; making the first clamping part 3132f correspond to the other clamping surface of the material; clamping the currently clamped material for the third time through the first clamping piece 3132 f; after the first clamping piece 3132f clamps the material, the clamping structure releases the clamping of the currently clamped material; then the first clamping turret 312f is driven to rotate again; therefore, the clamping surface of the material is changed while the material is clamped.

In the above-mentioned method, the first step of the method,

in A5, the clamping moving device drives the clamping structure to approach to the material, and the clamping structure clamps the material; in particular A5.1-A5.3.

A5.1, extending out the movable end of a tightening telescopic device 3214f, and separating the two clamping devices 3211f from each other; while the pinch grips 32152f are deployed.

A5.2, the clamping moving device 322f drives the two clamping devices 3211f to approach to the clamping materials; a5.3 is carried out when the material is positioned between the contact parts of the clamping and taking pieces 32152f at the two ends of the material receiving bracket;

a5.3, retracting the movable end of the tightening telescopic devices 3214f, and enabling the two clamping devices 3211f to approach each other and to be in contact with the material; after the two clamping devices 3211f clamp the material, A6 is performed.

In A8, the clamping structure is loosened to clamp the material; meanwhile, the clamping moving device drives the clamping structure to be far away from the material; in particular A8.1-A8.2.

A8.1, extending out the movable end of a tightening telescopic device 3214f, and separating the two clamping devices 3211f from each other and the material; after the gripping gripper 32152f separates from the material, a8.2 is performed.

A8.2, the clamping and moving device 322f drives the two clamping devices 3211f to be far away from the material; then the movable end of the telescopic device 3214f is tightened to retract; the two clamping devices 3211f approach each other to fold the clamping and taking piece 32152 f; then A9 is performed.

In the method, when the telescopic devices 3214f are tightened to act, the clamping devices 3211f at the two ends of the tightening bracket 3210f act synchronously to realize mutual approaching or mutual distancing; in the process of mutually separating the two clamping devices, the clamping and taking pieces are unfolded simultaneously; in the process that the two clamping devices approach each other, the clamping and taking pieces are folded simultaneously; therefore, the two clamping devices are fast to unfold and fold, and the working effect is high when the material is clamped.

In the above method;

in a5.1 and a 8.1; the movable end of the tightening telescopic device 3214f extends out, and the two clamping devices 3211f are separated from each other; the method specifically comprises the following steps: the movable end of the tightening telescopic device 3214f drives a clamping device 3211f to move away from the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate; the take-up pinion 32131f drives the second take-up driving rack 32133f to move in the opposite direction to the movement of the first take-up driving rack 32132 f; the other clamping device 3211f is also moved away from the tightening bracket 3210f; the two clamping devices 3211f are separated from each other; meanwhile, after the abutting end 32156f of the clamping and taking piece 32152f is separated from the abutting piece 3217 f; under the action of the elastic force of the torsion spring, the contact end of the clamping and gripping member 32152f swings in a direction away from the first clamping and limiting member 32153 f; during the swinging process of the clamping and gripping member 32152f, one end of the second clamping and limiting member 32154f approaches the first clamping and limiting member 32153 f; when one end of the second clamping limiting member 32154f abuts against the first clamping limiting member 32153f, the first clamping limiting member 32153f limits the position of the second clamping limiting member 32154f, so that the second clamping limiting member 32154f cannot swing continuously, and the clamping member 32152f is unfolded.

In a5.3 and a 8.2; retracting the movable end of the tightening telescoping device 3214f; the two clamping devices 3211f approach each other; the method specifically comprises the following steps:

the movable end of the tightening telescoping device 3214f drives a clamping device 3211f to approach the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate; the take-up pinion 32131f drives the second take-up driving rack 32133f to move in the opposite direction to the movement of the first take-up driving rack 32132 f; the other clamping device 3211f is also brought closer to the tightening bracket 3210f; the two clamping devices 3211f approach each other.

In A5.3; the contact ends 32155f of the clamping and taking pieces 32152f of the two clamping devices 3211f close to each other clamp the material; when the two clamping devices are continuously close to each other; when the abutting end 32156f of the clamping and taking piece 32152f contacts the abutting piece 3217 f; at the moment, under the supporting effect of the material on the contact end 32155f, the clamping and taking piece 32152f cannot swing; meanwhile, the abutting end 32156f of the clamping and gripping member 32152f and the abutting member 3217f contacting therewith give a force to swing the contact end 32155f of the clamping and gripping member 32152f toward the first clamping and limiting member 32153 f; thus, the clamping and gripping pieces 32152f which are positioned at two opposite ends of the tightening bracket stably grip the material.

In A8.2; when the abutting end 32156f of the clamping and gripping member 32152f contacts the abutting member 3217 f; the contact end 32155f of the clamping and picking member 32152f overcomes the elastic force of the torsion spring 32158f to approach the first clamping and limiting member 32153f, and the second clamping and limiting member 32154f is separated from the first clamping and limiting member 32153 f; the clamping gripper 32152f is closed.

As shown with reference to FIG. 1; take the change from the U1 surface and the U2 surface for clamping the material to the U5 surface and the U6 surface for clamping the material as an example; changing the clamping surface of the material along the Y direction;

in A2; the carrying device clamps the U1 surface and the U2 surface of a material by the first clamp 3132f.

In A5.1; the movable end of the tightening telescopic device 3214f extends out, and the two clamping devices 3211f are separated from each other; while the gripping gripper 32152f is deployed.

In A5.2; the clamping moving device 322f drives the two clamping devices 3211f to approach to the clamping material; a5.3 is carried out when the U5 surface and the U6 surface of the material are positioned between the contact parts of the clamping and taking pieces 32152f at the two ends of the receiving bracket.

In A5.3; the movable end of the telescopic devices 3214f is tightened to retract, and the two clamping devices 3211f approach to each other and contact with the surfaces U5 and U6 of the materials; after the two clamping devices 3211f clamp the material, A6 is performed.

In A6; the first clamp 3132f releases the clamping of the U1 and U2 surfaces of the currently clamped material.

In A7; the clamping rotation device 314f drives the first clamping turret 312f to rotate 90 ° clockwise; the first clamp 3132f then clamps the U5 and U6 sides of the currently clamped material again.

In A8.1; the movable end of the telescopic device 3214f is tightened to extend, and the two clamping devices 3211f are separated from each other and from the surfaces U5 and U6 of the material; simultaneously the gripping gripper 32152f is deployed; after the gripping gripper 32152f separates from the material, a8.2 is performed.

A8.2, the clamping and moving device 322f drives the two clamping devices 3211f to be far away from the material; then the movable end of the telescoping device 3214f is tightened to retract; the two clamping devices 3211f approach each other to fold the clamping piece 32152 f; then A9 is performed.

Claims

1. A carrying device is characterized in that: the clamping lifting device is arranged on the frame body and is connected with the clamping equipment, and the clamping lifting device drives the clamping equipment to move along the height direction of the frame body;

the clamping device comprises a first clamping device and a second clamping device; the first clamping device comprises a first clamping fixed frame, a first clamping rotating frame, a clamping device and a clamping rotating device; the first clamping rotating frame is positioned between the two clamping devices and is connected with the two clamping devices; the first clamping rotating frame is rotatably arranged on the first clamping fixing frame; the second clamping device passes through the first clamping rotating frame and is fixedly connected with the first clamping fixing frame; a gap is formed between the second clamping device and the first clamping rotating frame; the clamping and rotating device is used for driving the two clamping devices to rotate relative to the first clamping and fixing frame;

the clamping and rotating device comprises a clamping and rotating motor, a clamping and rotating driving gear, a clamping and rotating driven gear and a clamping and rotating bearing; the first clamping rotating frame is fixedly connected with one side of the clamping rotary driven gear, the other side of the clamping rotary driven gear is fixedly connected with the inner ring of the clamping rotary bearing, and the outer ring of the clamping rotary bearing is fixedly connected with the first clamping fixing frame; the clamping rotary motor is arranged on the first clamping fixing frame, the output end of the clamping rotary motor is connected with the clamping rotary driving gear, and the clamping rotary driving gear is meshed with the clamping rotary driven gear;

each clamping device comprises a first clamping driving device and a first clamping piece, the clamping device is connected with the first clamping rotating frame, the movable end of the first clamping driving device is connected with the first clamping piece, and the first clamping driving device drives the first clamping piece to be close to or far away from the second clamping device; the two first clamping pieces are close to each other and used for clamping materials;

2. A handling device according to claim 1, characterised in that: the first clamping driving device comprises a first clamping bracket, a first clamping cylinder body, a first clamping slide block and a connecting device; the first clamping bracket is connected with the first clamping rotating frame, and the first clamping cylinder body is arranged on the first clamping bracket; the first clamping slide block is arranged on the first clamping cylinder body in a sliding manner; one end of the connecting device is fixedly connected with the first clamping piece, and the other end of the connecting device is fixedly connected with the first clamping slide block and is in sliding connection with the first clamping support.

3. A handling device according to claim 1, characterised in that: the connecting device comprises a first connecting piece, a second connecting piece, a third connecting piece and a fourth connecting piece; the third connecting piece is arranged on one side of the first connecting piece and one side of the second connecting piece; the fourth connecting piece is arranged on the other side of the first connecting piece and the second connecting piece; the first clamping slide block is positioned between the first connecting piece and the second connecting piece;

the first connecting piece is provided with a first through hole, and a pulley assembly is arranged in the first through hole; the first clamping bracket penetrates through the first through hole and is in contact with the sliding assembly; the first connecting piece is arranged on the first clamping bracket in a sliding manner;

4. A handling device according to claim 1, characterised in that: the clamping structure comprises a tightening bracket, a clamping device and a tightening device; the clamping device is positioned on one side of the tightening bracket; two clamping devices are arranged; the tightening device comprises a first sliding device, a second sliding device, a tightening lifting transmission device and a tightening telescopic device; a clamping device is arranged at one end of the tightening bracket in a sliding mode through a first sliding device; the other clamping device is arranged at the other end of the tightening bracket in a sliding manner through a second sliding device;

the tightening lifting transmission device comprises a tightening transmission gear, a first tightening transmission rack and a second tightening transmission rack; the tightening transmission gear is rotatably arranged on the tightening bracket, the first tightening transmission rack is positioned at one side of the tightening transmission gear, and the first tightening transmission rack is fixedly connected with a clamping device and meshed with the tightening transmission gear; the second tightening rotating rack is positioned on the other side of the tightening transmission gear, and the second tightening transmission rack is fixedly connected with the other clamping device and meshed with the tightening transmission gear;

5. A handling device according to claim 4, characterised in that: a clamping device comprising a clamping connection member and two clamping members; the two clamping pieces are connected through a clamping connecting piece; the first tightening transmission rack is connected with one clamping piece in one clamping device, and the second tightening transmission rack is connected with one clamping piece in the other clamping device;

the clamping piece comprises a clamping fixing piece, a clamping piece, a first clamping limiting piece and a second clamping limiting piece; the clamping and clamping piece is positioned at one side of the clamping and fixing piece, and the first clamping and limiting piece and the second clamping and limiting piece are oppositely arranged and positioned between the first clamping and clamping piece and the first clamping and fixing piece;

one end of the clamping piece is a contact end, and the other end of the clamping piece is a collision end; the contact end is used for contacting with the material; the first clamping limiting part is connected with the clamping fixing part, and the second clamping limiting part is connected with the abutting end of the clamping part; an accommodating groove is formed between the first clamping limiting part and the second clamping limiting part, a rotating shaft is arranged in the accommodating groove, and the clamping and taking part is rotatably connected with the clamping and fixing part through the rotating shaft; a torsion spring is arranged on the rotating shaft in a penetrating manner, one end of the torsion spring is abutted against the first clamping limiting part, and the other end of the torsion spring is abutted against the first clamping limiting part;

two ends of the tightening bracket are respectively provided with a stop piece which is arranged by protruding out of the tightening bracket, and the stop pieces are positioned between the tightening bracket and the clamping device; the abutting part is used for driving the contact end of the clamping and clamping part to swing towards the direction close to the first clamping and limiting part when contacting with the abutting end of the clamping and clamping part; the first clamping limiting part is used for limiting the contact end of the clamping part which swings in the direction far away from the first clamping limiting part under the action of the elasticity of the torsion spring when the abutting end of the clamping part is separated from the abutting part.

6. A handling device according to claim 5, characterised in that: the clamping avoiding space is arranged between the two clamping pieces; the clamping avoiding space is used for accommodating the first clamping piece.

7. A handling device according to claim 5, characterised in that: the contact end extends towards the direction of the contact end away from the contact end in an inclined manner to form a contact part close to the stop part, and the contact part is used for contacting with the stop part.

8. A handling device according to claim 1, characterised in that: the clamping and moving device comprises a moving fixed bracket, a moving sliding bracket and a moving driving device; the movable fixing support is connected with the first clamping fixing frame, a second through hole penetrates through the movable fixing support, and a pulley assembly is arranged in the second through hole; one end of the movable sliding support is connected with the clamping structure, and the other end of the movable sliding support penetrates through the second through hole and is in contact with the sliding assembly;

the mobile driving device comprises a mobile driving motor, a mobile driving gear and a mobile driving rack; a moving groove is formed in the moving sliding support, and the moving driving rack is fixed in the moving sliding support and corresponds to the moving groove; the mobile driving motor is fixed on the mobile fixing support, the output end of the mobile driving motor is connected with the mobile driving gear, and the mobile driving gear penetrates through the mobile groove and extends into the mobile sliding support to be meshed with the mobile driving rack.

9. A handling device according to claim 1, characterised in that: the clamping lifting device comprises a clamping lifting driving device, a clamping lifting synchronous shaft and two clamping lifting transmission devices; the clamping lifting synchronous shaft is connected with the two clamping lifting transmission devices, and the output end of the clamping lifting driving device is connected with the clamping lifting synchronous shaft;

the clamping lifting transmission device comprises a clamping lifting first pulley, a clamping lifting second pulley, a clamping lifting synchronous belt and a clamping synchronous belt fixing piece; the clamping lifting first pulley is rotatably arranged at the top end of the frame body; the clamping lifting second pulley is rotatably arranged at the bottom end of the frame body; the clamping lifting synchronous belt is sleeved on the first lifting pulley and the clamping lifting second pulley; the clamping synchronous belt fixing piece clamps the clamping lifting synchronous belt sleeve on the first clamping fixing frame.