CN115196547B

CN115196547B - Handling device

Info

Publication number: CN115196547B
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: 2023-08-22
Anticipated expiration: 2042-07-22
Also published as: CN115196547A

Abstract

The invention provides a carrying device, which comprises a clamping lifting device and clamping equipment; 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; the material is clamped for the first time through the first clamping device; then, carrying out second clamping on the materials through a second clamping device; after the second clamping device clamps the material; the first clamping device releases the clamping of the material and rotates; then carrying out third clamping on the materials; thus, the clamping equipment can rotate relative to the material when clamping the material.

Description

Handling device

Technical Field

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

Background

The goods transport is the generic term of carrying out short distance mobile operation to the goods in transportation production process, and traditional goods transport is manual transport, and transport efficiency is low, extravagant a large amount of manpower and materials, in order to improve efficiency, has appeared transfer robot in the market, and current transfer robot snatchs the material through vacuum absorption or snatchs the material through pressing from both sides.

In chinese application No. 201720308579.7, patent document with publication date 2017.10.31 discloses an automatic transportation robot for express delivery station, comprising: the device comprises a chassis, wheels which are respectively arranged at four corners of the chassis, a gear motor which is arranged on the chassis and is in transmission connection with the wheels, a battery which is arranged on the chassis and is connected with the gear motor, and a bracket I which is arranged on the chassis, wherein a steering engine I drives the bracket II to swing in the front-back direction relative to the chassis, a steering engine II drives the steering engine III to swing in the front-back direction relative to the chassis, so that a clamping jaw swings to a designated position, and a clamping jaw III drives the clamping jaw to rotate to a reasonable position and then drives two clamping jaws to clamp goods.

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

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

In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides a handling device, includes support body, centre gripping elevating gear and holding equipment, and centre gripping elevating gear sets up on the support body and is connected with holding equipment, and the holding elevating gear removes along the direction of height drive holding equipment of support body.

The clamping device comprises a first clamping device and a second clamping device; the first clamping device comprises a first clamping fixing frame, a first clamping rotating frame, a clamping device and a clamping rotating device; the clamping devices are two, 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 penetrates 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 rotating device is used for driving the two clamping devices to rotate relative to the first clamping 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 and far 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 fixing 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 or far from the first clamping fixing frame; the clamping structure is used for clamping materials, and a clamping avoidance space for avoiding the first clamping piece is arranged on the clamping structure.

The clamping device is driven to move through 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, 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, the gap clamping device arranged between the second clamping device and the first clamping rotating frame does not influence the second clamping device when rotating; the clamping device clamps the material for the first time, and when the clamping device clamps the material and the clamping surface of the material is required 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; therefore, the clamping surface of the material is changed when the material is clamped, the downward clamping surface of the material can be changed, and the material can be contacted with other objects on different surfaces. When the clamping device is required to rotate, the clamping device is adjusted in height through the clamping lifting device, so that 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 held by the material clamping device; in the initial assembly state, the clamping structure approaches to the first clamping fixing frame, so that interference between the material and the clamping structure when the clamping device clamps the material is avoided; when the clamping surface of the material needs to be changed, the clamping structure is far away from the first clamping fixing frame and is close to the material, and the clamping structure is reset after the rotated clamping device clamps the material.

Further, the first clamping driving device comprises a first clamping bracket, a first clamping cylinder body, a first clamping sliding 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 sliding 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 sliding block and is in sliding connection with the first clamping support.

The device is fixedly connected with the first clamping slide block through the connecting device and is in sliding connection with the first clamping support, so that the first clamping slide block is prevented from rotating when sliding on the first clamping cylinder body, and the first clamping slide block moves 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 slider is located between the first connecting piece and the second connecting piece.

The first connecting piece is provided with a first perforation, and a pulley assembly is arranged in the first perforation; the first clamping bracket is arranged in the first through hole in a penetrating way and is contacted with the sliding component; the first connecting piece is arranged on the first clamping bracket in a sliding way.

The second connecting piece is fixedly connected with the first clamping sliding 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 first clamping support is connected with the first clamping slide block through the first connecting piece in a sliding manner, and is fixedly connected with the first clamping slide block through the second connecting piece; the first clamping piece is connected with the first connecting piece through a third connecting piece and a fourth connecting piece; simultaneously, the third connecting piece and the fourth connecting piece are connected through the second connecting piece; when the first clamping sliding 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.

Further, the clamping structure comprises a tightening bracket, a clamping device and a tightening device; the clamping device is positioned at one side of the tightening bracket; the clamping devices are provided with two clamping devices; the tightening device comprises a first sliding device, a second sliding device, a tightening clamping lifting transmission device and a tightening telescopic device; one clamping device is arranged at one end of the tightening bracket in a sliding way through the first sliding device; the other clamping device is arranged at the other end of the tightening bracket in a sliding way through the 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 on 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 rotary rack is positioned at the other side of the tightening transmission gear, is fixedly connected with the other clamping device and is meshed with the tightening transmission gear.

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

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 moves along the opposite direction of the movement of the first tightening transmission rack, the second tightening transmission rack 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 expansion device stretches 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 expansion device stretches out, the two clamping devices are mutually close to each other to realize the contraction of the clamping structure; when the clamping structure is used for clamping materials, the clamping structure is unfolded firstly, then the clamping moving device drives the clamping structure to approach the materials, then the clamping structure is folded, and the clamping structure clamps the materials.

Further, one clamping device comprises a clamping connection piece and two clamping pieces; the two clamping pieces are connected through a clamping connecting piece; the first tightening drive rack is connected with one of the clamping members of one of the clamping devices, and the second tightening drive rack is connected with one of the clamping members 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 piece is located at one side of the clamping fixing piece, and the first clamping limiting piece and the second clamping limiting piece are oppositely arranged and located between the first clamping piece and the first clamping fixing piece.

One end of the clamping and 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 piece is connected with the clamping fixing piece, and the second clamping limiting piece is connected with the abutting end of the clamping piece; an accommodating groove is formed between the first clamping limiting piece and the second clamping limiting piece, a rotating shaft is arranged in the accommodating groove, and the clamping piece is rotationally connected with the clamping fixing piece through the rotating shaft; a torsion spring is arranged on the rotating shaft in a penetrating mode, one end of the torsion spring is abutted to the first clamping limiting piece, and the other end of the torsion spring is abutted to the first clamping limiting piece.

The two ends of the tightening bracket are provided with a resisting piece protruding out of the tightening bracket, and the resisting piece is positioned between the tightening bracket and the clamping device; the resisting piece is used for driving the contact end of the clamping piece to swing towards the direction close to the first clamping limiting piece when contacting with the abutting end of the clamping piece; the first clamping limiting piece is used for limiting the contact end of the clamping piece swinging in the direction away from the first clamping limiting piece under the action of the elastic force of the torsion spring when the abutting end of the clamping piece is separated from the resisting piece.

The two clamping pieces are connected through the clamping connecting piece, synchronous movement of the two clamping pieces is achieved, and the two clamping pieces are arranged to stably clamp materials; the clamping and clamping piece and the clamping and fixing piece are movably connected through the rotating shaft; the clamping piece can swing relative to the clamping fixing piece; meanwhile, as the first clamping limiting piece is connected with the clamping fixing piece, the second clamping limiting piece is connected with the clamping piece; when the clamping and taking piece is folded, the tightening and telescoping device is retracted; the tightening telescopic device drives the two clamping devices to approach the tightening bracket; when the abutting end of the clamping and clamping piece is contacted with the resisting piece on the tightening bracket, the contact end of the clamping and clamping 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 clamping piece is unfolded, the tightening telescopic device stretches out and drives the two clamping devices to be far away from the tightening bracket; when the abutting end of the clamping and clamping piece is connected and separated with the resisting piece on the tightening bracket, the contact end of the clamping and clamping piece swings in the direction away from the first clamping limiting piece under the action of the self elastic force of the torsion spring; the clamping and clamping piece can be unfolded. Simultaneously, in the unfolding process of the clamping and clamping piece, when the second clamping limiting piece is abutted with the first clamping limiting piece, the first clamping limiting piece limits the second clamping limiting piece, so that the second clamping limiting piece cannot swing continuously, and further the unfolding of the clamping piece is realized.

Simultaneously, the first clamping limiting piece and the second clamping limiting piece of the unfolded clamping piece are in abutting connection; the first clamping limiting piece supports the second clamping limiting piece; when clamping materials, the clamping moving device drives the clamping structure to extend out, so that the materials are positioned between the clamping device assemblies at the two ends of the tightening bracket; then the movable end of the tightening and telescoping device is retracted to drive the clamping piece to be folded, and the material is clamped by the contact end of the clamping piece; when the abutting end of the clamping piece is contacted with the resisting piece; at this time, under the supporting effect of the material on the contact end, the clamping and clamping piece cannot swing.

Meanwhile, the abutting piece contacting with the abutting end of the clamping and clamping piece can give a swinging force to the contact end of the clamping and clamping piece in a direction approaching to the first clamping and limiting piece; the clamping and clamping members which are opposite to each other at the two ends between the tightening parts can stably clamp the materials. Meanwhile, the folding and unfolding of the clamping piece are realized in the moving process of the clamping piece, and the structure is simple.

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

Further, the abutting end is obliquely extended to the direction of the far contact end, and an abutting part close to the resisting piece is arranged on the abutting end and used for being in contact with the resisting piece.

The arrangement is convenient for clamping the clamping piece to be matched with the resisting piece by arranging the inclined abutting part which is close to the resisting piece;

further, the clamping 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 is penetrated 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 a 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 to extend into the movable sliding support to be meshed with the movable driving rack.

The movable sliding support is provided with the fixed movable driving rack, and the movable sliding support is arranged in the movable fixed support in a sliding way; the movable driving rack is driven to move by the movable driving gear, and the movable sliding support is driven to move by the movable driving rack; the structure is simple; meanwhile, the driving gear is driven to penetrate through the moving groove to extend into the moving sliding support through movement, so that movement of the moving sliding support is limited; when the end of the moving groove contacts with the moving driving gear, the moving sliding bracket stops moving.

Further, the clamping lifting device comprises a clamping lifting driving device, a clamping lifting synchronizing shaft and two clamping lifting transmission devices; the clamping lifting synchronizing shaft is connected with two clamping lifting transmission devices, and the output end of the clamping lifting driving device is connected with the clamping lifting synchronizing 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 top end of the rack body can be rotatably arranged by clamping and lifting the first pulley; 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 pulley and the second pulley; the clamping synchronous belt fixing piece clamps the clamping lifting synchronous belt sleeve on the first clamping fixing frame.

The clamping lifting device drives the first clamping fixing frame to clamp and lift through the clamping synchronous belt fixing piece connected to the first clamping fixing frame and the clamping lifting synchronous belt sleeve, and meanwhile, the first clamping rotating frame is connected with the first clamping fixing frame, and the second clamping device is also connected with the first clamping fixing frame; thereby realizing synchronous clamping and lifting of the first clamping device and the second clamping device.

Drawings

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

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

Fig. 3 is a schematic perspective view of a clamping device according to 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 and fixing frame and a clamping and rotating device in the invention.

Fig. 6 is an exploded view of the first clamping holder and the clamping and rotating device according to the present invention.

Fig. 7 is a schematic perspective view of the first clamping turret and the clamping device of the present invention.

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

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

Fig. 10 is an exploded view of a second clamping device according to 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 being unfolded.

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

Fig. 14 is a schematic perspective view of a tightening bracket and a tightening transmission gear according to the present invention.

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

FIG. 16 is a schematic view of the present invention with the gripping and gripping members in a closed position.

FIG. 17 is a schematic view of the present invention after the clamping jaw is deployed.

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

Fig. 19 is a schematic view of a clamping lifting device in 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; the 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 clamping device 3f comprises a first clamping means 31f and a second clamping means 32f; the first clamping device 31f includes a first clamping fixture 311f, a first clamping turret 312f, a gripping device 313f, and a clamping rotation device 314f; the two clamping devices 313f are provided, and the first clamping rotating frame 312f is positioned between the two clamping devices 313f and connected with the two clamping devices 313 f; the first clamping rotating frame 312f is rotatably arranged on the first clamping fixing frame 311 f; the second clamping device 32f passes through the first clamping rotating frame 312f and is fixedly connected with the first clamping fixing frame 311 f; the second clamping device 32f has a gap with the first clamping turret 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, a gap is provided 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 32 f.

The clamping device 313f is fixedly connected with the first clamping rotating frame 312f, the second clamping device 32f is fixedly connected with the first clamping fixing frame 311f, and the first clamping rotating frame 312f is rotatably connected with the first clamping fixing frame 311f, so that the clamping device 313f rotates relative to the second clamping device 32 f; meanwhile, a rotation avoidance space is arranged to avoid the second clamping device 32f, and the second clamping device 32f cannot be affected when the clamping device 313f rotates. 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 90 degrees, the clamping device 313f is used for clamping the material for the third time; after clamping the material, 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 clamping device 313f clamps the material for the first time, and when the clamping device 313f clamps the material and then the clamping surface of the material needs to be changed; the material is clamped for the second time by the second clamping device 32 f; then the clamping device 313f is rotated to clamp the material for the third time; therefore, the clamping surface of the material is changed when the material is clamped, the downward clamping surface of the material can be changed, and the material can be contacted with other objects on different surfaces. When the clamping device 313f needs to be rotated, the clamping device 313f is adjusted in height by the clamping lifting device 2f, so that the clamping device 313f is prevented from colliding with the ground when rotating.

As shown in fig. 5 and 6; the grip rotation device 314f includes a grip rotation motor 3141f, a grip rotation drive gear 3142f, a grip rotation driven gear 3143f, a grip 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 the inner ring of the clamping rotary bearing 3144f, and the outer ring of the clamping rotary bearing 3144f is fixedly connected with the first clamping fixing frame 311 f; the clamping rotary motor 3141f is disposed on the first clamping holder 311f, an output end of the clamping rotary motor 3141f is connected to the clamping rotary drive gear 3142f, and the clamping rotary drive gear 3142f is meshed with the clamping rotary driven gear 3143 f.

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

In the present 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 hollow structures.

As shown in fig. 4 and 7; each gripping device 313f includes a first grip driving device 3131f and a first gripper 3132f, a fixed end of the first grip driving device 3131f is connected to the first grip turret 312f, a movable end of the first grip driving device 3131f is connected to the first gripper 3132f, and the first grip driving device 3131f drives the first gripper 3132f to approach and separate from the second gripper 32f; the two first clamps 3132f are close to each other for clamping the material.

As shown in fig. 7 and 8; in the present embodiment, the first grip driving device 3131f is a rodless cylinder; the first clamp driving device 3131f includes a first clamp bracket 3133f, a first clamp cylinder 3134f, a first clamp slider 3135f, and a connecting device 3130f; the first clamping bracket 3133f is connected with the first clamping turret 312f, and a first clamping cylinder 3134f is provided on the first clamping bracket 3133 f; the first clamping slider 3135f is slidably disposed on the first clamping cylinder 3134 f; one end of the connecting device 3130f is fixedly connected with the first clamping member 3132f, and the other end of the connecting device 3130f is fixedly connected with the first clamping slider 3135f and is slidably connected with the first clamping bracket 3133 f. The connecting device 3130f is fixedly connected with the first clamping slide block 3135f and is in sliding connection with the first clamping bracket 3133f, so that the first clamping slide block 3135f is prevented from rotating when sliding on the first clamping cylinder 3134f, and the first clamping slide block 3135f moves stably.

As shown in fig. 7 and 8; the connecting means 3130f includes a first connector 3136f, a second connector 3137f, a third connector 3138f, and a fourth connector 3139f; the third connecting member 3138f is provided on one side of the first and second connecting members 3136f and 3137 f; the fourth connecting member 3139f is provided on the other side of the first and second connecting members 3136f and 3137 f; the first clamp slider 3135f is located between the first connector 3136f and the second connector 3137 f.

The first connecting member 3136f is provided with a first penetration hole 31301f, and the pulley assembly 4f is provided in the first penetration hole 31301 f; the first clamping bracket 3133f is penetrated in the first through hole 31301f and is contacted with the sliding component; the first connector 3136f is slidably provided on the first grip bracket 3133 f.

The second connecting member 3137f is fixedly connected with the first holding slider 3135 f; one end of the third connecting member 3138f and one end of the fourth connecting member 3139f are fixedly connected to the first connecting member 3136f and the second connecting member 3137 f; the other end of the third connecting member 3138f and the other end of the fourth connecting member 3139f are fixedly connected to the first holding member 3132 f. Is slidingly connected with the first clamping bracket 3133f through a first connecting member 3136f, and is fixedly connected with the first clamping slide 3135f through a second connecting member 3137 f; is connected to the first gripper 3132f through a third connector 3138f and a fourth connector 3139f; while the third connecting member 3138f and the fourth connecting member 3139f are connected by the second connecting member 3137 f; when the first clamping slider 3135f moves, the first connector 3136f, the second connector 3137f, the third connector 3138f and the fourth connector 3139f are driven to synchronously move, 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, wherein 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 be close to or far from the first clamping fixing frame 311f; the clamping structure 321f is used for clamping materials, and a clamping avoidance space 323f for avoiding the first clamping member 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 far away from the first clamping fixing frame 311f, and the clamping structure 321f is far away from or close to the material clamped by the material clamping device 313 f; in the initial assembly state, the clamping structure 321f approaches the first clamping fixing frame 311f, so that interference between the material and the clamping structure 321f is avoided when the clamping device 313f clamps the material; 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 rotated clamping device 313f clamps the material, the clamping structure 321f is reset.

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 positioned at one side of the tightening bracket 3210 f; the clamping devices 3211f are provided with two clamping devices; the tightening device 3212f includes a first sliding device, a second sliding device, a tightening lifting transmission device 3213f, and a tightening telescopic device 3214f; a clamping device 3211f is slidably provided at one end of the tightening bracket 3210f by a first sliding device; the other clamping device 3211f is slidably provided 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 outer side rail of the second sliding device is connected with the tightening bracket 3210f, and the inner side rail of the second sliding device is connected with the other clamping device 3211 f.

As shown in fig. 11; the tightening lifting drive 3213f includes a tightening drive gear 32131f, a first tightening drive rack 32132f and a second tightening drive rack 32133f; the tightening transmission gear 32131f is rotatably arranged on the tightening bracket 3210f, the first tightening transmission rack 32132f is positioned on one side of the tightening transmission gear 32131f, and the first tightening transmission rack 32132f is fixedly connected with a clamping device 3211f and meshed with the tightening transmission gear 32131 f; the second tightening rotary rack is located at the other side of the tightening transmission gear 32131f, and the second tightening transmission rack 32133f is fixedly connected with the other clamping device 3211f and is meshed with the tightening transmission gear 32131 f.

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

The first tightening drive rack 32132f is arranged on one side of the tightening drive gear 32131f, the second tightening drive rack 32133f is arranged on the other side of the tightening drive gear 32131f, when the first tightening drive rack 32132f moves along one direction, the second tightening drive rack 32133f moves along the opposite direction of the movement of the first tightening drive rack 32132f, the second tightening drive gear 32131f is connected with one clamping device 3211f through the first tightening drive rack 32132f, the second tightening drive gear 32131f is connected with the other clamping device 3211f, when the movable end of the tightening telescopic device 3214f stretches out, the two clamping devices 3211f are mutually far away to realize the unfolding of the clamping structure 321f, and when the movable end of the tightening telescopic device 3214f stretches out, the two clamping devices 3211f are mutually close to realize the folding of the clamping structure 321 f; when the material is clamped, the clamping structure 321f is unfolded, then the clamping moving device 322f drives the clamping structure 321f to approach the material, then the clamping structure 321f is folded, and the clamping structure 321f clamps the material.

As shown in fig. 13 and 15; one clamping device 3211f includes a clamping link 3216f and two clamping members 3215f; the clamping avoidance space 323f is arranged between the two clamping pieces 3215f; the clamping avoidance space 323f is for accommodating the first clamping member 3132f. Two clamping members 3215f are connected by a clamping connection 3216 f; the first tightening drive rack 32132f is connected to one of the clamping members 3215f of one of the clamping devices 3211f, and the second tightening drive rack 32133f is connected to one of the clamping members 3215f of the other clamping device 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 fixture 32152f is located on one side of the clamping fixture 32151f, and the first clamping limiter 32153f and the second clamping limiter 32154f are disposed opposite and between the first clamping fixture 32152f and the first clamping fixture 32151 f.

As shown in fig. 15-16; one end of the clamping and clamping 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 materials; the first clamping limiter 32153f is connected with the clamping fixture 32151f, and the second clamping limiter 32154f is connected with the abutting end 32156f of the clamping clamp 32152 f; a receiving groove 32157f is formed between the first clamping limiter 32153f and the second clamping limiter 32154f, a rotating shaft (not shown in the figure) is arranged in the receiving groove 32157f, and the clamping member 32152f is rotatably connected with the clamping fixing member 32151f through the rotating shaft; a torsion spring 32158f is arranged on the rotating shaft in a penetrating manner, one end of the torsion spring 32158f is in contact with the first clamping limiting piece 32153f, and the other end of the torsion spring 32158f is in contact with the first clamping limiting piece 32153 f.

As shown in fig. 14, 16-18; the two ends of the tightening bracket 3210f are provided with a resisting piece 3217f protruding from the tightening bracket 3210f, and the resisting piece 3217f is positioned between the tightening bracket 3210f and the clamping device 3211 f; the resisting piece 3217f is configured to drive the contact end 32155f of the clamping piece 32152f to swing in a direction approaching the first clamping limiter 32153f when contacting the abutting end 32156f of the clamping piece 32152 f; the first clamping limiter 32153f is configured to limit the contact end 32155f of the clamping member 32152f that swings away from the first clamping limiter 32153f under the elastic force of the torsion spring 32158f when the abutting end 32156f of the clamping member 32152f is separated from the resisting member 3217 f.

The two clamping pieces 3215f are connected through the clamping connecting piece 3216f, so that synchronous movement of the two clamping pieces 3215f is realized, and the two clamping pieces 3215f are arranged to stably clamp materials; the clamping piece 32152f and the clamping fixing piece 32151f are movably connected through a rotating shaft; the clamping and clamping piece 32152f can swing relative to the clamping and fixing piece 32151f; meanwhile, as the first clamping limiting piece 32153f is connected with the clamping fixing piece 32151f, the second clamping limiting piece 32154f is connected with the clamping piece 32152 f; when the clamping and taking piece 32152f is folded, the tightening telescopic device 3214f is retracted; the tightening telescopic device 3214f drives the two clamping devices 313f to approach the tightening bracket 3210 f; when the abutting end 32156f of the clamping and gripping member 32152f contacts the resisting member 3217f on the tightening bracket 3210f, the contact end 32155f of the clamping and gripping member 32152f approaches the first clamping and limiting member 32153f against the elastic force of the torsion spring 32158f, so as to achieve the folding of the clamping member 3215 f; when the clamping and gripping member 32152f is unfolded, the tightening and telescoping device 3214f stretches out, and the tightening and telescoping device 3214f drives the two clamping and gripping devices 313f to move away from the tightening bracket 3210 f; when the abutting end 32156f of the clamping member 32152f is separated from the resisting member 3217f on the tightening bracket 3210f, under the action of the self elastic force of the torsion spring 32158f, the contact end 32155f of the clamping member 32152f swings in a direction away from the first clamping limiter 32153 f; deployment of the grip clamp 32152f is effected. Meanwhile, in the process of expanding the clamping and clamping piece 32152f, when the second clamping and limiting piece 32154f abuts against the first clamping and limiting piece 32153f, the first clamping and limiting piece 32153f limits the second clamping and limiting piece 32154f, so that the second clamping and limiting piece 32154f cannot swing continuously, and further the expansion of the clamping piece 3215f is achieved.

The first clamping limiter 32153f of the unfolded clamping piece 3215f is abutted with the second clamping limiter 32154 f; the first clamping limiter 32153f supports the second clamping limiter 32154 f; when clamping materials, the clamping moving device 322f drives the clamping structure 321f to extend out, so that the materials are positioned between the clamping devices 3211f at the two ends of the tensioning bracket 3210 f; then the movable end of the tightening and telescoping device 3214f is retracted, the clamping piece 3215f is driven to be folded, and the material is clamped by the contact end 32155f of the clamping piece 32152 f; when the interference end 32156f of the gripping clamp 32152f contacts the abutment 3217 f; at this time, the clamp 32152f does not swing under the supporting effect of the material on the contact end 32155 f.

The abutting end 32156f of the clamping jaw 32152f and the abutting member 3217f in contact simultaneously impart a force to the contact end 32155f of the clamping jaw 32152f in a direction toward the first clamping stop 32153 f; the opposite clamping and gripping members 32152f at the two ends between the tightening are used for stably clamping the material. Meanwhile, the folding and unfolding of the clamping piece 3215f are realized 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 far contact end 32155f to form an abutting portion 32159f approaching the abutment 3217f, and the abutting portion 32159f is configured to contact the abutment 3217 f. The clip 32152f is conveniently engaged with the abutment 3217f by providing an abutment 32159f that is inclined and adjacent to the abutment 3217 f.

As shown in fig. 9 and 10; the clamping moving device 322f includes a moving fixed bracket 3221f, a moving sliding bracket 3222f, and a moving driving device; the movable fixing support 3221f is connected with the first clamping fixing frame 311f, a second through hole 3223f is penetrated on the movable fixing support 3221f, and a pulley assembly 4f is arranged in the second through hole 3223 f; one end of the moving slide support 3222f is connected to the clamping structure 321f, and the other end of the moving slide support 3222f is inserted into 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 provided on the moving slide support 3222f, and a moving drive rack 3226f is fixed in the moving slide support 3222f and corresponds to the moving groove 3227 f; the moving driving motor 3224f is fixed on the moving fixed support 3221f, the output end of the moving driving motor 3224f is connected with the moving driving gear 3225f, and the moving driving gear 3225f passes through the moving slot 3227f and extends into the moving sliding support 3222f to be meshed with the moving driving rack 3226 f.

A fixed moving drive rack 3226f is provided in the moving slide support 3222f, and the moving slide support 3222f is slidably provided in the moving fixed support 3221 f; the movement driving rack 3226f is driven to move by the movement driving gear 3225f, and the movement driving rack 3226f drives the movement sliding support 3222f to move; the structure is simple; meanwhile, the driving gear 3225f is driven to penetrate through the moving groove 3227f and extend into the moving sliding support 3222f through movement, so that the movement of the moving sliding support 3222f is limited; when the end of the moving groove 3227f contacts the movement driving pinion 3225f, the movement of the moving slide bracket 3222f is stopped.

As shown in fig. 5 and 19; the clamping lifting device 2f comprises a clamping lifting driving device, a clamping lifting synchronizing 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 the 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 piece 26f; the top end of the rack body 1f can be rotatably arranged by clamping the lifting first pulley 23 f; the clamping lifting second pulley 24f is rotatably arranged at the bottom end of the frame body 1 f; the clamping lifting synchronous belt 25f is sleeved on the first pulley and the clamping lifting second pulley 24 f; referring to fig. 5; the clamping timing belt fixing member 26f clamps the clamping lifting timing belt 25f to the first clamping fixture 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 bracket; the clamping lifting driving bracket is connected with the frame body 1 f; the clamping lifting driving motor is fixed on the clamping lifting driving bracket; 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 way; 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 second transmission gear, and the clamping lifting synchronizing shaft 21f drives the clamping lifting transmission device 22f to act.

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

Referring to fig. 5 and 8, a third through hole 3110f is provided in the first clamping fixture 311f, and a pulley assembly 4f is provided in the third through hole 3110 f; the frame 1f is inserted into the third through hole 3110f and contacts the sliding component.

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 group of pulley assemblies 4f includes a first sliding shaft 41f and a first pulley 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 provided on the first slide shaft 41f and is for contact with the frame body 1f, the first clamp bracket 3133f, and the moving slide bracket 3222 f.

As shown in fig. 2; the bottom of the frame body 1f is also provided with a chassis, and a traveling device 5f is arranged on the chassis; the traveling device 5f is used for driving the frame body 1f to move. The walking device 5f drives the frame body 1f to move, so that the clamping equipment 3f approaches the material. The running gear 5f includes four sets of running wheels, each set of running 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 through the first clamping member 3132 f.

A3, judging whether the clamping surface of the current clamping material needs to be changed along the Y direction; if not, carrying out A10; if yes, proceed to A4.

A4, the clamping lifting device drives the clamping equipment to lift, 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 the clamping structure clamps the material.

A6, the first clamping member 3132f releases the clamping of the currently clamped material.

A7, the clamping rotating device 314f drives the first clamping rotating frame 312f to rotate 90 degrees clockwise; the first gripper 3132f then grips the currently gripped material again.

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

A9, the clamp rotating device 314f drives the first clamp turret 312f to rotate 90 ° counterclockwise.

A10, the carrying device moves to the stacking area, and when the carrying device reaches the stacking area, A11 is performed.

A11, the first clamping piece 3132f releases the clamping of the currently clamped material; the material is placed onto the stacking area; if the next material is to be clamped, A2 is then performed until the next material is placed on the material in the stacking area. If the next box material is not needed to be clamped, stopping working.

In the method, the first clamping part 3132f is used for clamping the material for the first time; when the clamping surface for clamping the material at present needs to be changed; the height of the first clamping member 3132f is adjusted by the clamping lifting device, so that the clamping device 313f is prevented from colliding with the ground when rotating; the first clamping turret 312f and the gripping device 313f are rotated with sufficient space between the first clamping member 3132f and the ground; then the currently clamped material is clamped for the second time through the clamping structure 321 f; after the clamping structure 321f clamps the material, the first clamping member 3132f releases the clamping of the currently clamped material; thus avoiding the falling of materials; then the clamping and rotating device 314f drives the first clamping rotating frame 312f to rotate; the first clamping member 3132f is made to correspond to the other clamping surface of the material; the currently clamped material is clamped for the third time through the first clamping member 3132 f; after the first clamping member 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; thus, the clamping surface of the material is changed while the material is clamped.

In the above-mentioned method, the method comprises,

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

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

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

a5.3, the movable end of the tightening and telescoping device 3214f is retracted, and the two clamping devices 3211f are close to each other and are contacted with the materials; after the two clamping devices 3211f clamp the material, A6 is then performed.

In A8, the clamping structure is loosened to clamp the materials; simultaneously, the clamping moving device drives the clamping structure to be far away from the material; specifically A8.1-A8.2.

A8.1, the movable end of the tightening and telescoping device 3214f extends out, and the two clamping devices 3211f are separated from each other and materials; after the clamp gripping member 32152f is separated from the material, a8.2 is performed.

A8.2, the clamping moving device 322f drives the two clamping devices 3211f to be far away from the materials; the movable end of the tightening telescoping device 3214f is then retracted; the two clamping devices 3211f are mutually close to realize the clamping of the clamping piece 32152 f; then A9 is performed.

In the method, when the tightening and telescoping device 3214f acts, the clamping devices 3211f at the two ends of the tightening bracket 3210f synchronously act to realize mutual approaching or mutual separating; in the process of separating the two clamping devices from each other, the clamping and clamping pieces are simultaneously unfolded; in the process that the two clamping devices are close to each other, the clamping and clamping pieces are folded at the same time; thus, the two clamping devices are fast in unfolding and folding, and the working effect is high when clamping materials.

In the above method;

in a5.1 and a 8.1; the movable end of the tightening and telescoping device 3214f extends out, and the two clamping devices 3211f are separated from each other; the method comprises the following steps: the movable end of the tightening telescoping device 3214f drives a clamping device 3211f away from the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate; the tightening drive gear 32131f drives the second tightening drive rack 32133f to move in the opposite direction of the movement of the first tightening drive 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, when the abutting end 32156f of the clamping member 32152f is separated from the resisting member 3217 f; under the action of the elasticity of the torsion spring, the contact end of the clamping and clamping piece 32152f swings in a direction away from the first clamping and limiting piece 32153 f; during the swinging process of the clamping and clamping piece 32152f, one end of the second clamping limiting piece 32154f approaches to the first clamping limiting piece 32153 f; when one end of the second clamping limiter 32154f abuts against the first clamping limiter 32153f, the first clamping limiter 32153f limits the second clamping limiter 32154f, so that the second clamping limiter 32154f cannot swing continuously, and the clamping clamp 32152f is unfolded.

In a5.3 and a 8.2; the movable end of the tightening telescoping device 3214f is retracted; the two clamping devices 3211f are close to each other; the method comprises the following steps:

the movable end of the tightening expansion device 3214f drives a clamping device 3211f to be close to the tightening bracket 3210f, and the first tightening transmission rack 32132f drives the tightening transmission gear 32131f to rotate; the tightening drive gear 32131f drives the second tightening drive rack 32133f to move in the opposite direction of the movement of the first tightening drive rack 32132 f; bringing the other clamping device 3211f also close to the tightening bracket 3210f; the two clamping devices 3211f are adjacent to each other.

In a 5.3; the contact ends 32155f of the clamping gripping members 32152f of the two clamping devices 3211f which are close to each other clamp the material; when the two clamping devices continue to approach each other; the abutting end 32156f of the gripping member 32152f contacts the abutment member 3217 f; at this time, under the supporting effect of the material on the contact end 32155f, the clamping and clamping member 32152f cannot swing; the abutting end 32156f of the clamping jaw 32152f and the abutting member 3217f in contact simultaneously impart a force to the contact end 32155f of the clamping jaw 32152f in a direction toward the first clamping stop 32153 f; the clamping and gripping members 32152f located opposite the ends of the tightening support are thus adapted to hold the material in a stable manner.

In a 8.2; when the interference end 32156f of the gripping clamp 32152f contacts the abutment 3217 f; the contact end 32155f of the clamping and gripping member 32152f approaches the first clamping and limiting member 32153f against the elastic force of the torsion spring 32158f, and the second clamping and limiting member 32154f is separated from the first clamping and limiting member 32153 f; the gripping and clamping member 32152f is gathered.

Referring to fig. 1; taking U1 and U2 surfaces for clamping materials as U5 and U6 surfaces for clamping materials; changing the clamping surface of the material along the Y direction;

a2; the carrying device clamps the U1 surface and the U2 surface of a material through the first clamping piece 3132 f.

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

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

A5.3; the movable end of the tightening and telescoping device 3214f is retracted, and the two clamping devices 3211f are close to each other and are contacted with the U5 surface and the U6 surface of the material; after the two clamping devices 3211f clamp the material, A6 is performed.

A6, in A6; the first gripper 3132f releases the grip on the U1 and U2 faces of the currently gripped material.

In A7; the clamping rotation device 314f drives the first clamping turret 312f to rotate 90 ° clockwise; then, the first gripper 3132f grips the U5 surface and the U6 surface of the currently gripped material again.

A8.1; the movable end of the tightening and telescoping device 3214f extends out, and the two clamping devices 3211f are separated from each other and from the U5 surface and the U6 surface of the material; simultaneously, the clamping piece 32152f is clamped and unfolded; after the clamp gripping member 32152f is separated from the material, a8.2 is performed.

Claims

1. A handling device, characterized in that: the clamping lifting device is arranged on the frame body and connected with the clamping device, and the clamping lifting device drives the clamping device 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 fixing frame, a first clamping rotating frame, a clamping device and a clamping rotating device; the clamping devices are two, and the first clamping rotating frame is positioned between the two clamping devices and connected with the two clamping devices; the first clamping rotating frame is rotatably arranged on the first clamping fixing frame; the second clamping device penetrates 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 rotating device is used for driving the two clamping devices to rotate relative to the first clamping 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 and far from the second clamping device; the two first clamping pieces are mutually close to each other and are used for clamping materials;

2. A handling device according to claim 1, wherein: the first clamping driving device comprises a first clamping bracket, a first clamping cylinder body, a first clamping sliding 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 sliding 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 sliding block and is in sliding connection with the first clamping support.

3. A handling device according to claim 2, wherein: 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 sliding block is positioned between the first connecting piece and the second connecting piece;

the first connecting piece is provided with a first perforation, and a pulley assembly is arranged in the first perforation; the first clamping bracket is arranged in the first through hole in a penetrating way and is contacted with the sliding component; the first connecting piece is arranged on the first clamping bracket in a sliding manner;

4. A handling device according to claim 1, wherein: the clamping structure comprises a tightening bracket, a clamping device and a tightening device; the clamping device is positioned at one side of the tightening bracket; the clamping devices are provided with two clamping devices; the tightening device comprises a first sliding device, a second sliding device, a tightening lifting transmission device and a tightening telescopic device; one clamping device is arranged at one end of the tightening bracket in a sliding way through the first sliding device; the other clamping device is arranged at the other end of the tightening bracket in a sliding way 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 on 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 rotary rack is positioned at the other side of the tightening transmission gear, is fixedly connected with the other clamping device and is meshed with the tightening transmission gear;

5. A handling device according to claim 4, wherein: one 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 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 piece is positioned at one side of the clamping fixing piece, and the first clamping limiting piece and the second clamping limiting piece are oppositely arranged and positioned between the first clamping piece and the first clamping fixing piece;

one end of the clamping and 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 piece is connected with the clamping fixing piece, and the second clamping limiting piece is connected with the abutting end of the clamping piece; an accommodating groove is formed between the first clamping limiting piece and the second clamping limiting piece, a rotating shaft is arranged in the accommodating groove, and the clamping piece is rotationally connected with the clamping fixing piece through the rotating shaft; a torsion spring is arranged on the rotating shaft in a penetrating way, one end of the torsion spring is abutted with the first clamping limiting piece, and the other end of the torsion spring is abutted with the first clamping limiting piece;

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

7. A handling device according to claim 5, wherein: the abutting end is obliquely extended to the direction of the far contact end and provided with an abutting part close to the resisting piece, and the abutting part is used for being in contact with the resisting piece.

8. A handling device according to claim 1, wherein: the clamping 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 is penetrated 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 way and is contacted with the sliding component;

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