CN115432050A

CN115432050A - Intelligent multifunctional flexible carrying robot and use method thereof

Info

Publication number: CN115432050A
Application number: CN202210951802.5A
Authority: CN
Inventors: 王帅; 游�明; 王爱勋; 李文祥; 陆通; 高蓉; 杨小龙; 王理; 王波; 奚邦凤; 武建辉
Original assignee: Wuhan Construction Engineering Co Ltd
Current assignee: Wuhan Construction Engineering Co Ltd
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2022-12-06
Anticipated expiration: 2042-08-09
Also published as: CN115432050B

Abstract

The invention discloses an intelligent multifunctional flexible carrying robot and a use method thereof, wherein the intelligent multifunctional flexible carrying robot comprises a bottom pushing and accommodating part, a middle unfolding and carrying part and a top rotating and hoisting part which are sequentially connected from bottom to top; the bottom pushing-in receiving part comprises a bottom opening unit, an inner receiving unit and a two-layer opening and closing unit which are sequentially connected from bottom to top; the bottom opening unit is used for pushing the materials into the special-shaped storage box from the bottom and transporting the materials up and down among the layers; the two-layer opening and closing unit is matched with the middle unfolding and carrying part, and the containing area for the two layers is changed into an open mode of the internal and external baffles from the original single closed box; the top rotating and hoisting part comprises a lower track unit, a rotating and hoisting unit and an upper track unit which are sequentially connected from bottom to top. According to the invention, different conveying materials are classified and conveyed through the three-layer conveying mechanism, the best use is made of the materials, each material uses the most suitable conveying mode, the conveying efficiency is effectively improved, and the energy consumption is saved.

Description

Intelligent multifunctional flexible carrying robot and use method thereof

Technical Field

The invention relates to the technical field of constructional engineering, in particular to an intelligent multifunctional flexible carrying robot and a using method thereof.

Background

At present the job site has various building construction materials, the instrument needs to be transported, the instrument of transport material need be used usually to the in-process, for example, the small handcart, instrument such as electric trailer carries, this kind of transport mode receives certain restriction usually, do not possess better categorised function to carrying article, blindly and single transport mode, often can lead to the transport distance and consume energy to increase, lead to handling efficiency not high, still can lead to the loss of material in the handling, material logistics distribution on the not conform to the building site, the energy-concerving and environment-protective theory of high-efficient transportation, indirect efficiency of construction that has influenced.

The patent with the application number of CN202210426242.1 discloses a flexible stepless self-adaptive switching carrying device of multiple vehicle types and a control method thereof, and provides a device with a special carrying gripping apparatus applied to the field of automobile welding and assembling; the patent with application number CN202120202642.5 discloses a flexible material grabbing and carrying robot applied to the field of logistics, both of which are improved in terms of flexible carrying, but are not suitable for flexible carrying in the field of construction due to different carrying materials, so that a multifunctional flexible carrying robot applicable to construction sites and a using method thereof are needed.

Disclosure of Invention

Based on the defects existing in the prior art, the technical problem to be solved by the invention is to provide an intelligent multifunctional flexible conveying robot, different conveying materials can be classified and conveyed through a three-layer conveying mechanism, the best use of the materials is realized, each material adopts the most suitable conveying mode, the conveying efficiency is effectively improved, and the energy consumption is saved.

The invention also provides a using method of the intelligent multifunctional flexible carrying robot, which can be directly applied to the material carrying process of the existing construction site, effectively improve the material carrying efficiency, save the energy consumption and ensure the material quality and performance.

In order to achieve the purpose, the invention adopts the following technical measures:

the intelligent multifunctional flexible carrying robot comprises a bottom push-in containing part, a middle unfolding carrying part and a top rotating hoisting part which are sequentially connected from bottom to top; the bottom pushing-in and containing part comprises a bottom opening unit, an inner containing unit and a two-layer opening and closing unit which are sequentially connected from bottom to top, wherein the left side and the right side of the inner containing unit are provided with a lifting moving unit, the front side and the rear side of the inner containing unit are respectively provided with a bottom pushing-in unit which is used for shoveling materials from the ground and sending the materials into a special-shaped storage box of the inner containing unit, and a back opening and closing unit which is used for changing the rear part of the special-shaped storage box into an opening state or a closing state so as to quickly take out the materials or store the materials; the bottom opening unit is used for pushing the materials into the special-shaped storage box from the bottom and transporting the materials up and down among the layers; the two-layer opening and closing unit is matched with the middle unfolding and carrying part, and the containing area for the two layers is changed into an open mode of the inner and outer baffles from the original inside of a single closed box; the top rotating and hoisting part comprises a lower track unit, a rotating and hoisting unit and an upper track unit which are sequentially connected from bottom to top, wherein the lower track unit consists of a lower single rectangular track and a rectangular support frame which are arranged above the two layers of top cover plates, and the upper track unit consists of a field-shaped expansion track frame arranged above the rectangular support frame and upper double rectangular tracks arranged on the inner side and the outer side of the track; the rotary hoisting unit is a main body formed by a triangular structure enclosed by a vertical support, a horizontal support and an oblique track support, the vertical support is respectively connected with a top inner mounting disc and a bottom mounting disc from top to bottom, a top outer mounting disc is arranged above one side where the horizontal support is connected with the oblique track support, a bottom electric trolley, a top inner electric trolley and a top outer electric trolley are respectively arranged on the bottom mounting disc, the top inner mounting disc and the top outer mounting disc, and the three groups of electric trolleys are respectively arranged in a lower single-rectangular track and an upper double-rectangular track; the inclined rail support is provided with an inclined electric trolley, and the inclined electric trolley is provided with a miniature electric hoist.

Preferably, the bottom opening unit comprises an L-shaped first push rod motor mounting plate arranged at the rear of the bottom of the special-shaped storage box, a first push rod motor arranged in the middle of the inner side of the L-shaped first push rod motor mounting plate, a first triangular support positioned on the outer edge of the L-shaped first push rod motor mounting plate, a bottom retraction plate and a second push rod motor arranged in the middle of the bottom of the special-shaped storage box, and a cylindrical support arranged below the bottom retraction plate; the installation position of the L-shaped first push rod motor installation plate is over against the lower part of the conveying opening at the bottom of the special-shaped storage box, the push rod of the first push rod motor on the L-shaped first push rod motor installation plate is connected with a push plate, and the size of the push plate is just matched with the size of the conveying opening penetrating through the inside of the special-shaped storage box.

Furthermore, the position of the bottom retraction plate corresponds to an openable cover plate inside the special-shaped storage box, an opening with a slightly smaller size is arranged below the openable cover plate, the second push rod motor is installed at the bottom of the special-shaped storage box and at two sides of the bottom retraction plate, a push rod of the second push rod motor is connected with the openable cover plate, the cover plate can be controlled to be opened and closed, the bottom retraction plate fixed at the bottom is matched with the openable cover plate installed on the bottom retraction plate, when materials need to be directly pushed into the bottom of the special-shaped storage box from the ground below, the second push rod motor is controlled to open the openable cover plate, and the materials are pushed into the inside of the special-shaped storage box by taking the slope-shaped bottom retraction plate in contact with the ground as a channel.

Furthermore, the lifting and moving unit comprises a main body consisting of a special-shaped mounting outer plate arranged at the bottoms of two sides of the special-shaped storage box and two third push rod motor mounting plates arranged at the middle part, a third push rod motor is arranged below the third push rod motor mounting plates, a push rod of the third push rod motor penetrates through rectangular openings arranged at the front and the back of the special-shaped mounting outer plate and is connected with universal wheels below the rectangular openings, the third push rod motor is controlled to push the universal wheels to move up and down in a track taking the rectangular openings as a channel, so that the distance between a chassis of which the bottom is pushed into the storage part and the ground is changed, the cylindrical support of the bottom opening unit is contacted with the ground, and the gravity support of the whole device is switched into the cylindrical support by the universal wheels.

Preferably, the internal storage unit is a main body formed by a special-shaped storage box, the internal part of the storage box can be divided into an upper storage space and a lower storage space, and the rear part of the storage box is provided with a conveying opening; in a channel formed by the corresponding conveying openings up and down, a first push rod motor can push a push plate on the channel to move the push plate up and down in the channel so as to drive materials to be conveyed among layers; the four outer sides of the space above the special-shaped storage box are provided with fourth push rod motors, push rods of the push rod motors penetrate through the box body to control a first inner push plate arranged on the inner side to move back and forth, so that materials in the storage space are pushed, the materials can be conveniently moved to a required place, and further the transportation between an upper layer and a lower layer is carried out; the top of heterotypic storage box is provided with four support slots that enclose into the rectangle, promotes fixed rectangle picture peg and inserts in this support slot through controlling ninth push rod motor, and then switches the gravity support that the middle part expandes the transport part, is convenient for push away inside putting in the material in outside extension space.

Furthermore, the back opening and closing unit is a main body formed by a layer of back openable and closable baffle, the baffle is arranged behind the special-shaped storage box, a second movable cover plate is arranged in the middle of the upper part of the back opening and closing unit, two first traction seats are arranged on two sides of the cover plate, the first traction seat can be used as the first layer of back openable and closable baffle of the back baffle of the special-shaped storage box, and a second stepping motor is controlled to rotate to drive a first traction rope to pull the first traction seat to move so as to enable the layer of back openable and closable baffle to be closed or opened, so that the back of the special-shaped storage box is changed into an opened state or a closed state, and materials can be taken out or stored quickly; the second movable cover plate can move back and forth on the back openable baffle plate of the first layer through the stepping motor arranged inside, the size of the second movable cover plate is slightly larger than the conveying opening, and when the back openable baffle plate of the first layer is in a vertical closed state, the second movable cover plate can be controlled to move inwards to cover the conveying opening.

Preferably, the bottom pushing unit comprises a main body formed by a layer of front fixed baffle, the layer of front fixed baffle is fixedly arranged on the front of the special-shaped storage box, the outer side of the layer of front fixed baffle is sequentially connected with a second layer of opening and closing cover plate, a second triangular bracket, a fifth push rod motor, a first movable cover plate and a first stepping motor from top to bottom, wherein the second layer of opening and closing cover plate is rotatably connected with the layer of front fixed baffle, namely the lower baffle is fixed, the upper cover plate can be connected with one side of the upper cover plate through a door shaft, so that the second layer of opening and closing cover plate can rotate up and down to switch vertical and horizontal forms or inclination angles; the second triangular bracket is arranged below the second-layer opening and closing cover plate and can support the second-layer opening and closing cover plate when the second-layer opening and closing cover plate is in a horizontal position; the actuator combined mechanism based on the fifth push rod motor is sequentially connected from front to back and from top to bottom: the special-shaped bucket is of a bucket-shaped structure, the width of the special-shaped bucket is slightly larger than that of the first movable cover plate, the first movable cover plate can just cover an opening formed in the front fixed baffle plate of one layer, a vertical first rack rail is arranged on one side of the first movable cover plate, the first stepping motor can be connected with the rack rail through meshing of gears to control lifting of the movable cover plate, opening and closing of the opening in the front fixed baffle plate of one layer are further controlled, the actuator combination mechanism is pushed outwards through the fifth push rod motor and then pushed downwards through the sixth push rod motor, the vertical position of the special-shaped bucket can be controlled to correspond to the first movable cover plate or the bottom retracting plate, the first movable cover plate is controlled to be opened through the first stepping motor, the bottom of the movable cover plate can be in contact with the ground, the seventh push rod motor is controlled to push the material between the bucket and the shovel and the storage box inwards through controlling the sixth push rod motor, the material in the special-shaped bucket can be pushed into the storage box after the special-shaped bucket is lifted to the top of the first movable cover plate.

Further, the two-layer opening and closing unit comprises three groups of rotatable cover plates, which are respectively: the special-shaped storage box comprises a first second-layer opening and closing cover plate, a second-layer opening and closing cover plate and a third second-layer opening and closing cover plate, wherein the first second-layer opening and closing cover plate is arranged above two sides of the special-shaped storage box, the second-layer opening and closing cover plate is arranged on a front fixed baffle of one layer, the third second-layer opening and closing cover plate is arranged above the two first second-layer opening and closing cover plates on the two sides, three groups of cover plates are in rotating connection, namely one side can rotate through a door shaft, and the first second-layer opening and closing cover plate and the second-layer opening and closing cover plate are connected through a basket bolt; the turnbuckle is used for carrying out gravity support on a third two-layer opening and closing cover plate which is turned over, two ends of the outer side of the three groups of two-layer opening and closing cover plates are respectively provided with a traction seat which has the same structure with the first traction seat, the traction seat is formed by connecting a second traction seat mounting column with a second traction seat mounting plate, the second traction seat mounting column can be pulled by a third stepping motor through a second traction rope to further drive the opening and closing cover plate to rotate so as to achieve the purpose of opening or closing, the second traction seat mounting plate can be inserted into a two-layer opening and closing cover plate fixing groove when the opening and closing cover plate rotates to a vertical state to further fix the opening and closing cover plate, and meanwhile, the bottom of the three groups of two-layer opening and closing cover plate is also provided with a second triangular support which is used as gravity support when the opening and closing cover plate rotates to a horizontal state; the second-layer opening and closing unit also comprises a second-layer rear fixed cover plate positioned at the rear part, the cover plate is fixedly connected with the special-shaped storage box, and a third movable cover plate groove is arranged above the second-layer opening and closing unit and can be used for inserting the third movable cover plate; the rear bottom of the two-layer rear fixing cover plate is provided with an eighth push rod motor, push rods of the eighth push rod motor penetrate through the cover plate and are connected with an inner second inner push plate, a second stepping motor is further arranged below the eighth push rod motor and is connected with a first traction rope, the traction rope can control rotation and opening and closing of a first layer back openable and closable baffle by pulling the first traction seat, the third traction rope is controlled to pull the second traction rope so as to pull a second traction seat mounting column to drive a first layer and a second layer openable and closable cover plate to be in a vertical or horizontal state, when the horizontal state is adjusted, at the moment, the three cover plates are supported by gravity of a second triangular support, at the moment, the second traction rope and the second traction seat mounting column can be detached and connected, a third layer openable and closable cover plate can be turned over conveniently, the first layer and second layer openable and closable cover plate can be fixedly connected with the second layer openable and closable cover plate through a turnbuckle, and the third layer openable and closable cover plate is controlled to rotate to the top of the turnbuckle, the turnbuckle is supported by the turnbuckle, and the outer part of the turnbuckle is opened and closed.

Preferably, the middle unfolding and carrying part comprises a main body consisting of two groups of push rod motors, wherein the main body is respectively provided with four ninth push rod motors with the outer part enclosing into a large rectangle and four ninth push rod motors with the inner part enclosing into a small rectangle, the ninth push rod motors are connected with the telescopic supporting rods, the outermost side of the middle unfolding and carrying part is provided with a fixed rectangular inserting plate which can be inserted into a slot arranged in advance for fixing; the bottom of a push rod motor group which is enclosed into a large rectangle is arranged at four corners above the special-shaped storage box, and the top of the push rod motor group can be inserted into slots prefabricated at the bottom of the two layers of top cover plates for fixation; the bottom of a push rod motor group which is enclosed into a small rectangle is arranged at the bottom of the top cover plate of the second layer, and the top of the push rod motor group can be inserted into the supporting slot for fixing; the top of the second-layer top cover plate is provided with a plurality of third stepping motors which control the opening and closing of the opening and closing cover plate in the second-layer opening and closing unit through a second traction rope; the four corners of the bottom of the second layer of top cover plate are also provided with a plurality of second layers of opening and closing cover plate fixing grooves which respectively correspond to the second traction seat mounting plates, and after the opening and closing cover plates of the second layer of opening and closing units are controlled to be vertically closed, the second traction seat mounting plates can be inserted into the second layers of opening and closing cover plate fixing grooves; the rear part of the second layer top cover plate is also provided with an opening, the size and the direction of the opening correspond to the conveying opening in the special-shaped storage box, the bottom of the second layer top cover plate is also provided with a third movable cover plate, one side of the third movable cover plate is provided with a second rack rail, a fourth stepping motor arranged on the second layer rear part fixed cover plate can drive a gear to rotate, the gear is meshed with the second rack rail, and the third movable cover plate is controlled to cover the opening or open the opening.

Correspondingly, the invention also provides a use method of the intelligent multifunctional flexible carrying robot, which comprises the following steps:

s1, when transported materials are located on the ground, are small in size and are relatively broken, a third push rod motor of a lifting moving unit can be controlled to control a universal wheel to lift, a cylindrical support becomes a gravity support of the whole device, an actuator combination mechanism can be pushed out outwards through a fifth push rod motor, then the actuator combination mechanism is pushed out downwards through a sixth push rod motor, the vertical position of a special-shaped bucket can be controlled to correspond to a first moving cover plate or a bottom receiving plate, the first moving cover plate is controlled to be opened through a first step motor, the bottom of the moving cover plate can be in contact with the ground, then the seventh push rod motor is controlled to push the actuator combination mechanism inwards, the materials located on the ground and between the special-shaped bucket and the cover plate are shoveled, then the sixth push rod motor is controlled to lift the actuator combination mechanism, and after the materials are lifted to the top of the first moving cover plate, the materials in the bucket are pushed into the special-shaped storage box;

s2, when the transported materials are also positioned on the ground, are slightly larger in size and are more orderly, when the materials need to be directly pushed into the bottom of the special-shaped storage box from the ground below, the second push rod motor is controlled to open the openable cover plate, and the materials are pushed into the special-shaped storage box by taking the slope-shaped bottom retraction plate in contact with the ground as a channel;

s3, when the position of the material is low and the material cannot be automatically pushed into the box conveniently, the layer of back openable baffle serving as the back baffle of the special-shaped storage box can pass through the first traction seat on the layer of back openable baffle, the second stepping motor is controlled to rotate to drive the first traction rope to pull the first traction seat to move, so that the layer of back openable baffle is closed or opened, the back of the special-shaped storage box can be changed into an open state or a closed state, and the material can be directly and quickly taken out and stored;

s4, when the material is longer or larger in length and proper in position, a third stepping motor is controlled to pull a second traction rope so as to pull a second traction seat mounting column to drive a first second layer opening and closing cover plate and a second layer opening and closing cover plate to be in a vertical or horizontal state, when the materials are all adjusted to be in a horizontal state, three cover plates are supported by the gravity of a second triangular support, the second traction rope can be detached from the second traction seat mounting column, the third second layer opening and closing cover plate can be turned over conveniently, the first second layer opening and closing cover plate and the second layer opening and closing cover plate can be fixedly connected through a basket bolt, the third second layer opening and closing cover plate is controlled to rotate above the first second layer opening and closing cover plate to be supported by the basket bolt through the gravity, and the second layer opening and closing cover plate is completely opened, the two-layer storage area is changed from the original single closed box interior to an open box interior and exterior baffle mode, which can be adjusted according to specific needs to specifically open a baffle to meet different needs, the top cover plate of the two layers can be supported by a push rod motor set, the pushing direction of a peripheral ninth push rod motor is upward, and the pushing direction of an inner ninth push rod motor is downward, so that when large materials such as steel pipes are rolled into the interior, the peripheral ninth push rod motor can be controlled to lower a push rod to open the push rod, a channel is made to enter, the channel is closed, the inner ninth push rod motor is lifted to further move the materials, and finally the inner ninth push rod motor is lowered to clamp the materials in the channel formed by the push rod motors, so that the storage mode is a storage mode and can be used for transporting the building materials with rolling and large volume; after the two layers of opening and closing cover plates are opened, the storage area can be enlarged in a large range, materials can be transported in the open air, and the materials are hoisted by matching with a subsequent top rotating hoisting part;

s5, when the position of the material is high or the shape is difficult to transport by pushing or manually placing, the material is directly transported to the inside of the box body from the outside of the box body through a multi-track mechanism arranged at the top and matched with a rotary hoisting unit driven by an electric trolley, when the two layers of opening and closing units are opened, the material placed on the opened and closing cover plates just covers the hoisting coverage range of the rotary hoisting part at the top, the hoisting object is pulled through the miniature electric hoist to change the position of the hoisting object, the hoisting object can be directly placed into a conveying opening on the inner side of the two layers of top cover plates, and then the material is moved and adjusted under the action of an internal actuator.

Therefore, the intelligent multifunctional flexible carrying robot and the use method thereof have the following beneficial effects:

1. compared with the carrying mode in the prior art, the materials are often carried directly by a trailer and a small cart, and more choices are not made for the carrying modes of different positions and different materials, so that the carrying efficiency can be reduced and the energy consumption can be increased by a single carrying mode, and if the materials at the bottom are required to be lifted in the prior art, the gravitational potential energy of the materials is increased and then the materials are placed into the small cart, so that the energy consumption is increased and more time is spent; the bottom pushing-in and containing part provided by the invention at least provides three different containing modes, and the transport and containing modes can be changed through the positions and materials of different materials, for example, when the materials are relatively fragmented and are positioned on the ground, the materials can be directly matched with the bottom pushing-in unit through the bottom opening unit to be scooped up from the ground and sent into the special-shaped storage box through the middle bottom receiving plate, or the materials are clamped and lifted through the matching of the special-shaped bucket and the first movable cover plate and directly sent into the box body through the opening on the front side of the special-shaped storage box, so that the two containing modes are provided; when materials higher than the ground or larger materials face, the second stepping motor can be used for controlling the layer of back openable baffle plate behind the special-shaped storage box to be directly opened to be horizontal, the materials are directly placed into the special-shaped storage box through the back part, the opposite pushing mechanism and the conveying mechanism are uniformly arranged in the special-shaped storage box, the fourth push rod motor is matched with the first inner push plate to push the materials back and forth in the box, and then the materials are conveyed among the layers through the conveying opening by the first push rod motor, so that the material storage mode is another storage mode; compared with the prior art, the invention effectively makes the best use of things by matching three different storage modes, and stores different materials by corresponding storage modes, thereby improving the storage efficiency, reducing the energy consumption and ensuring that the material performance is not abraded by a single transportation mode.

2. Compared with the single transportation in the prior art, the two-layer top cover plate can be supported by the push rod motor set, the pushing direction of the peripheral ninth push rod motor is upward, and the pushing direction of the inner ninth push rod motor is downward, so that when large materials such as steel pipes are rolled into the interior, the peripheral ninth push rod motor can be controlled to lower the push rod to open, the channel is made to enter, then the channel is closed, the inner ninth push rod motor is lifted to further move the materials, and finally the inner ninth push rod motor is lowered to clamp the materials in the channel formed by the push rod motors.

3. Compared with the prior material conveying technology, the multi-track mechanism arranged at the top is matched with the rotary hoisting unit driven by the electric trolley, so that the robot is integrated with a loop-shaped large-range conveying mechanism on the basis of various storage modes, when the two layers of opening and closing units are opened, materials placed on the opened and closed cover plates just fall within the hoisting coverage range of the rotary hoisting part at the top, the positions of the lifted materials can be changed by pulling the hoisted objects through the miniature electric hoist, the hoisted objects can be directly placed into the conveying openings on the inner sides of the two layers of top cover plates, the materials are directly conveyed into the box body from the outside of the box body, and then the materials are moved and adjusted under the action of the internal actuator.

4. Compared with the prior art that the direction of the material in the carrying mechanism is manually adjusted, the automatic conveying and moving of the material inside and outside the box body are realized through the push rod mechanism, the lifting mechanism and the lifting mechanism which are arranged inside the box body, and the conveying efficiency is effectively improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application.

Fig. 1 is a schematic view of the overall structure of an intelligent multifunctional flexible transfer robot of the present invention;

FIG. 2 is a schematic view of the overall structure of the bottom push-in receiver of the present invention;

FIG. 3 is a schematic structural view of the lifting unit and the internal storage unit of the present invention;

FIG. 4 is a schematic structural diagram of a bottom opening unit according to the present invention;

FIG. 5 is a schematic structural diagram of a back opening and closing unit according to the present invention;

FIG. 6 is a schematic view of the structure of the bottom pushing unit and the two-layer opening and closing unit of the present invention;

FIG. 7 is a side view of the bottom push-in unit and the two-layer opening and closing unit of the present invention;

FIG. 8 is a bottom rear view of the bottom push-in unit and the two-layer opening and closing unit of the present invention;

FIG. 9 is a schematic view showing the overall structure of the middle unfolded handling part of the present invention;

FIG. 10 is a schematic view of the overall structure of the top rotating and hoisting part of the present invention;

FIG. 11 is a schematic structural diagram of a lower track unit and an upper track unit according to the present invention;

fig. 12 is a schematic structural view of the rotating hoisting unit of the present invention.

Description of reference numerals:

1000-bottom push-in receiving section:

1100-bottom open cell; a 1101-L-shaped first push rod motor mounting plate; 1102-a first push rod motor; 1103 — first triangular bracket; 1104-bottom take-in plate; 1105-a cylindrical support; 1106-second push rod motor;

1200-a lift travel unit; 1201-special-shaped mounting outer plates; 1201 a-rectangular opening; 1202-a third pusher motor mounting plate; 1203-a third pusher motor; 1204-universal wheel;

1300-an internal storage unit; 1301-special-shaped storage boxes; 1301 a-a transfer opening; 1301 b-support slot; 1302-openable and closable cover plate; 1303 — first inner push plate; 1304-a fourth push rod motor;

1400-bottom push unit; 1401-one layer of front fixed baffle; 1402-a first moving cover plate; 1403-first step motor; 1404-a first rack track; 1405-fifth push rod motor; 1406-a sixth pusher motor mount; 1407-a sixth pusher motor; 1408-seventh pusher motor mount; 1409-a seventh push rod motor; 1410-special-shaped bucket;

1500-back opening and closing unit; 1501-one layer of back openable baffles; 1502-a first fifth wheel; 1503-second movable cover plate;

1600-two layers of opening and closing units; 1601-a second triangular support; 1602 a-a first two-layer retractable cover plate; 1602 b-a second layer of open-close cover plates; 1602 c-a third second layer of openable cover plates; 1603 a-second fifth wheel mount post; 1603 b-a second fifth wheel mounting plate; 1604-basket bolt; 1605-two layers of rear fixed cover plate; 1605 a-third mobile cover plate slot; 1606 a-an eighth pusher motor; 1606b — a second inner push plate; 1607-a second stepper motor; 1608-a first pull-cord;

2000-middle deployment handling section:

2001-a third stepper motor; 2002-a second pull-cord; 2003-two-layer top cover plate; 2004-two layers of opening and closing cover plate fixing grooves; 2005-ninth pusher motor; 2006-fixing a rectangular plug board; 2007-third moving cover plate; 2008 a-fourth stepper motor; 2008 b-gear; 2008-second rack track; 2009-telescoping support rods;

3000-top rotating hoisting part:

3100-a lower track unit; 3101-lower single rectangular track; 3102-a rectangular support frame;

3200-rotating hoisting units; 3201 a-bottom electric trolley; 3201 b-electric trolley inside the top; 3201 c-external electric trolley on top; 3202 a-bottom mounting plate; 3202 b-Top inner mounting plate; 3202 c-a top outer mounting plate; 3203-vertical support; 3204-horizontal rack; 3205-oblique rail support; 3206-oblique electric trolley; 3207-miniature electric hoist; 3208-pulling rope; 3209-flange plate;

3300-upper track unit; 3301-expanded track frame shaped like Chinese character 'tian'; 3302-double rectangular rail above.

Detailed Description

For the purpose of facilitating the understanding and practice of the present invention, as will be described in further detail below with reference to the accompanying drawings and examples, it is to be understood that the examples described herein are for purposes of illustration and explanation, and are not intended to limit the invention.

Hereinafter, an intelligent multifunctional flexible transfer robot and a method for using the same according to the present invention will be described in detail with reference to fig. 1 to 12.

As shown in fig. 1, the intelligent multifunctional flexible transfer robot of the present invention comprises a bottom pushing-in receiving part 1000, a middle unfolding transfer part 2000, and a top rotating hoisting part 3000, which are sequentially connected from bottom to top; wherein the bottom push-in containing part 1000 serves as a base for the entire robot, supporting the entire mechanism by directly contacting the ground. The most important of them are the bottom push-in receiving portion 1000 and the top rotating lifting portion 3000.

As shown in fig. 2, the bottom push-in receiving portion 1000 has a structure sequentially connected from bottom to top in the following order: the bottom opening unit 1100, the internal storage unit 1300, and the two-layer opening and closing unit 1600, wherein the lifting and moving unit 1200 is disposed on the left and right sides of the internal storage unit 1300, and the bottom pushing unit 1400 and the back opening and closing unit 1500 are disposed on the front and back sides of the internal storage unit 1300, respectively.

As shown in fig. 3 to 5, the bottom opening unit 1100 includes an L-shaped first push rod motor mounting plate 1101 mounted at the rear of the bottom of the special-shaped storage tank 1301, a first push rod motor 1102 mounted at the middle of the inner side of the plate, a first triangular bracket 1103 positioned at the outer edge of the L-shaped first push rod motor mounting plate 1101, a bottom receiving plate 1104 and a second push rod motor 1106 mounted at the middle of the bottom of the special-shaped storage tank 1301, and a cylindrical support 1105 mounted below the bottom receiving plate 1104. The mounting position of the L-shaped first push rod motor mounting plate 1101 is over against the lower part of the conveying opening 1301a at the bottom of the special-shaped storage box 1301, the push rod of the first push rod motor 1102 on the L-shaped first push rod motor mounting plate is connected with a push plate, and the size of the push plate is just matched with the size of the conveying opening 1301a penetrating through the inside of the special-shaped storage box 1301. The push rod motor is a universal part, and the function is that the component on its push rod is promoted to carry out the displacement, actuates, and the purpose of setting up this structure is, and the push pedal that drives it when starting first push rod motor 1102 shuttles back and forth from top to bottom between conveying opening 1301a, can make the material of placing on the push pedal transport from top to bottom between the whole robot each layer, and then carry to suitable number of piles fast.

First triangle-shaped support 1103 installs in the outside of the first push rod motor mounting panel 1101 of L type, and its other end extends the rear of inside storage unit 1300, and the purpose that sets up this structure is, and baffle 1501 can open and shut when opening rotatory to the horizontal direction on the control one deck back, can carry out a vertical braces to this baffle, and then can let first traction seat 1502 break off with the connection of second step motor 1607 for the one side at whole heterotypic storage box 1301 rear portion is opened completely, can take out fast or put into the material that needs carry.

The bottom receiving plate 1104 is positioned corresponding to an openable and closable cover plate 1302 inside the special-shaped storage box 1301, and an opening with a slightly smaller size is arranged below the openable and closable cover plate 1302. The second push rod motor 1106 is arranged at the bottom of the special-shaped storage box 1301 and at two sides of the bottom retraction plate 1104, a push rod of the second push rod motor 1106 is connected with the openable cover plate 1302 so as to control the cover plate to open and close, the structure is arranged to control the second push rod motor 1106 to open the openable cover plate 1302 when materials need to be directly pushed into the bottom of the special-shaped storage box 1301 from the ground below, and the materials are pushed into the special-shaped storage box 1301 by taking the slope-shaped bottom retraction plate 1104 in contact with the ground as a channel.

The lifting moving unit 1200 is composed of a special-shaped mounting outer plate 1201 mounted at the bottom of two sides of a special-shaped storage box 1301 and two third push rod motor mounting plates 1202 mounted at the middle part, a third push rod motor 1203 is mounted below the third push rod motor mounting plates 1202, a push rod of the third push rod motor 1203 penetrates through rectangular openings 1201a arranged at the front and the back of the special-shaped mounting outer plate 1201 and is connected with a universal wheel 1204 arranged below the third push rod motor mounting plate, the purpose of the structure is to control the third push rod motor 1203 to push the universal wheel 1204 to move up and down in a track taking the rectangular opening 1201a as a channel, so that the distance between a chassis of the bottom pushing-in containing part 1000 and the ground is changed, a cylindrical support 1105 of the bottom opening unit 1100 is further contacted with the ground, the gravity support of the whole device is changed from the universal wheel 1204 to the cylindrical support, the device can be fixed in place, and the operation of pushing in materials from the bottom or opening and closing a cover plate at the back can be facilitated at the moment.

The internal storage unit 1300 is a main body formed by a special-shaped storage box 1301, the inside of the storage box can be divided into an upper storage space and a lower storage space, and the rear parts of the storage box are provided with conveying openings 1301a; in the channel formed by the upper and lower corresponding conveying openings 1301a, the first push rod motor 1102 can push the push plate thereon to move up and down in the channel, thereby driving the material to be transported between the layers. The openable cover plate 1302 is arranged in the middle of the bottom of the lower space of the special-shaped storage box 1301, the bottom of the cover plate is provided with an opening slightly smaller than the size of the cover plate, the openable cover plate 1302 can be controlled to open and close by controlling the second push rod motor 1106, and the openable cover plate 1302 can completely close the bottom of the special-shaped storage box 1301 because the size of the openable cover plate is slightly larger than the size of the lower opening. The four sides of the space above the special-shaped storage box 1301 are provided with a fourth push rod motor 1304, the push rod of the push rod motor passes through the box body and is controlled to move back and forth in the first inner push plate 1303 arranged on the inner side, so that the materials in the storage space are pushed, the materials can be conveniently moved to a required place, and if the materials are moved to the conveying opening 1301a, the transportation between the upper layer and the lower layer is carried out. The top of the special-shaped storage box 1301 is provided with four supporting slots 1301b which are enclosed into a rectangle, and the structure is convenient for pushing the fixed rectangular inserting plate 2006 to be inserted into the supporting slots 1301b by controlling the ninth push rod motor 2005, so that the gravity support of the middle unfolding carrying part 2000 is switched, and materials placed in the external extension space are conveniently pushed into the inside.

The back opening and closing unit 1500 is a main body formed by a layer of back openable and closing baffle 1501, the baffle is installed behind a special-shaped storage box 1301, a second movable cover plate 1503 is arranged in the middle of the upper portion of the baffle, two first traction seats 1502 are arranged on two sides of the cover plate, the structure is arranged to enable the first traction seat 1502 on the layer of back openable and closing baffle 1501 serving as the back baffle of the special-shaped storage box 1301 to be capable of passing through, the first traction seat 1502 is driven to rotate by controlling a second stepping motor 1607 to drive a first traction rope 1608 to pull the first traction seat 1502 to move, and then the layer of back openable and closing baffle 1501 is closed or opened, so that the back of the special-shaped storage box 1301 can be opened or closed, and materials can be taken out or stored quickly.

The second movable cover 1503 can move back and forth on the back openable/closable flap 1501 on one layer by a stepping motor arranged inside, and it should be noted that the size of the second movable cover 1503 is slightly larger than the transfer opening 1301a, so when the back openable/closable flap 1501 on one layer is in a vertical closed state, the second movable cover 1503 can be controlled to move inwards to cover the transfer opening 1301a, and thus, when a transfer mechanism is not used, the problems of material falling between different layers and the like can be prevented. Note that this structure may be applied between the transfer openings 1301a of each layer (not shown in the drawings).

As shown in fig. 6 to 8, the bottom pushing unit 1400 is a main body formed by a layer of front fixed baffle 1401, which is fixedly installed on the front of the irregular storage box 1301, and a second layer of opening and closing cover 1602b, a second triangular bracket 1601, a fifth push rod motor 1405, a first movable cover 1402, and a first stepping motor 1403 are sequentially connected to the outer side of the layer of front fixed baffle 1401 from top to bottom, wherein the second layer of opening and closing cover 1602b is rotatably connected to the layer of front fixed baffle 1401, that is, the lower cover is fixed, and the upper cover can be connected to a single side thereof through a mechanism such as a door shaft, so that the second layer of opening and closing cover 1602b can rotate up and down to switch between a vertical state and a horizontal state or an inclination angle. The second triangular bracket 1601 is installed below the second layer open-close cover 1602b, and can support it when it is in a horizontal position.

The actuator combination mechanism based on the fifth push rod motor 1405 is sequentially connected from front to back and from top to bottom: a fifth push rod motor 1405, a sixth push rod motor mounting base 1406, a sixth push rod motor 1407, a seventh push rod motor mounting base 1408, a seventh push rod motor 1409 and a special-shaped bucket 1410, wherein the special-shaped bucket 1410 is a bucket-shaped structure, the width of the bucket 1410 is slightly larger than that of the first movable cover plate 1402, the first movable cover plate 1402 can just cover the opening on the front fixed baffle 1401, a vertical first rack rail 1404 is arranged on one side of the first movable cover plate 1402, the first stepping motor 1403 can be connected with the rack rail through the meshing of the gear and the rack rail to control the lifting of the movable cover plate, further control the opening and closing of the opening on the front fixed baffle 1401, the structure is arranged to push out the actuator assembly mechanism outwards through the fifth push rod motor 1405, the special-shaped bucket 1410 can be pushed out downwards by a sixth push rod motor 1407, the vertical position of the special-shaped bucket 1410 can be controlled to correspond to the first movable cover plate 1402 or the bottom receiving plate 1104, the first movable cover plate 1402 is controlled to be opened by a first stepping motor 1403, the bottom of the movable cover plate can be contacted with the ground, the special-shaped bucket can be pushed out inwards by controlling a seventh push rod motor 1409, materials on the ground and between the bucket and the cover plate can be scooped up, the sixth push rod motor 1407 can be controlled to lift the bucket, the materials in the bucket can be pushed into the box after the bucket is lifted to the top of the first movable cover plate 1402, the mode of transporting the materials is also provided, therefore, three special storage mechanisms and modes are arranged on the bottom pushing-in storage part 1000, and the special-shaped bucket can be respectively used in a combined mode to meet different material transportation requirements.

The two-layer opening and closing unit 1600 comprises three groups of rotatable cover plates, which are respectively: the cover plate 1602a opens and shuts on first two-layer, the cover plate 1602b opens and shuts on the second two-layer, the cover plate 1602c opens and shuts on the third two-layer, first two-layer opens and shuts the cover plate 1602a and installs in the both sides top of heterotypic storage box 1301, the cover plate 1602b that opens and shuts on the second two-layer is installed on positive fixed stop 1401 of one deck, the cover plate 1602c that opens and shuts on the third two-layer is installed in the top of two first two-layer open and shut cover plates 1602a of both sides, three group's cover plates are swivelling joint, one side can rotate through door-hinge isotructure promptly, first two-layer opens and shuts the cover plate 1602a and pass through basket of flowers bolt 1604 with the cover plate 1602b that opens and shuts on the second two-layer. The flower basket bolt 1604 is a universal piece, the extension and retraction can be realized through a rotary internal structure, and then the third two-layer opening and closing cover plate 1602c which is turned over is supported by gravity, the two ends of the outer side of the three-layer opening and closing cover plate are provided with traction seats with the same structure as the first traction seat 1502, the third two-layer opening and closing cover plate is formed by connecting a second traction seat mounting column 1603a with a second traction seat mounting plate 1603b, the second traction seat mounting column 1603a can be pulled by a third step motor 2001 through a second traction rope, and then the opening and closing cover plate is driven to rotate to achieve the purpose of opening or closing, the second traction seat mounting plate 1603b can be inserted into a two-layer opening and closing cover plate fixing groove 2004 when the opening and closing cover plate rotates to the vertical state, the opening and closing cover plate is further fixed, and a second triangular support 1601 is further arranged at the bottom of the three-layer opening and closing cover plate and closing plate and serving as a gravity support when the opening and closing cover plate rotates to the horizontal state.

The second layer opening and closing unit 1600 further includes a second layer rear fixed cover 1605 located at the rear, the cover is fixedly connected to the irregular storage box 1301, a third movable cover slot 1605a is provided above the cover, a third movable cover 2007 can be inserted into the third movable cover, and the principle is the same as that of the second movable cover 1503. The rear bottom of the rear fixed cover plate 1605 of the second layer is provided with an eighth push rod motor 1606a, the push rod of the eighth push rod motor passes through the cover plate and is connected with the second inner push plate 1606b at the inner side, the lower part of the eighth push rod motor 1607 is also provided with a second stepping motor 1608, the stepping motor is connected with a first traction rope 1608, the traction rope can control the rotation and the switch of the openable and closable baffle 1501 at the back of the first layer by pulling the first traction seat 1502, the structure is arranged for controlling the second traction rope 2002 by controlling the third stepping motor 2001 and further pulling the second traction seat mounting post 1603a to drive the first two-layer openable and closable cover plate 1602a and the second two-layer openable and closable cover plate 1602b to be in a vertical or horizontal state, when the two-layer openable and closable cover plates are all adjusted to be in a horizontal state, at the time, the three cover plates are all supported by the gravity of the second triangular support 1601, can lift off being connected of second haulage rope 2002 and second traction seat erection column 1603a this moment, be convenient for overturn third second layer cover plate 1602c that opens and shuts, can be earlier with first second layer cover plate 1602a and second layer cover plate 1602b fixed connection that opens and shuts through basket of flowers 1604, it is rotatory to basket of flowers 1604 top on first second layer cover plate 1602a to control third second layer cover plate 1602c that opens and shuts again, carry out gravity support by basket of flowers 1604 to it, to this, two layers of outside cover plate that opens and shuts are whole to be opened, and the storage area on second layer is by the inside box and the outside baffle mode that becomes the patency of single sealed box originally, can adjust specific which baffle of opening in order to deal with different needs according to concrete needs.

Compared with the carrying modes in the prior art, the carrying mode is usually carried directly through a trailer and a trolley, more choices are not made for the modes of carrying different materials at different positions, the carrying efficiency can be reduced by a single carrying mode, the energy consumption can be increased, if the materials at the bottom need to be lifted in the prior art, the materials are placed in the trolley after the gravitational potential energy is increased, and therefore the energy consumption is increased and more time is spent. The bottom pushing-in and containing part 1000 provided by the invention at least provides three different containing modes, and the transportation and containing modes can be changed through the positions and materials of different materials, for example, when the materials are relatively broken and are positioned on the ground, the materials can be directly matched with the bottom pushing-in unit 1400 through the bottom opening unit 1100, shoveled from the ground and sent into the special-shaped storage box 1301 through the middle bottom receiving plate 1104, or the materials are clamped and lifted through the matching of the special-shaped bucket 1410 and the first movable cover plate 1402 and directly sent into the box through the opening on the front surface of the special-shaped storage box 1301, which is two containing modes; when facing materials higher than the ground or larger materials, the second stepping motor 1607 can also control the layer of back openable baffle 1501 behind the special-shaped storage tank 1301 to be directly opened, the materials are directly put into the special-shaped storage tank 1301 through the back part, opposite pushing mechanisms and transmission mechanisms are uniformly arranged inside the special-shaped storage tank 1301, the materials can be pushed back and forth in the tank body through the cooperation of the fourth push rod motor 1304 and the first inner push plate 1303, and then the materials are transported among the layers through the transmission opening 1301a through the first push rod motor 1102, which is another storage mode; compared with the prior art, the invention effectively realizes the best use of things by matching three different storage modes, and stores different materials by corresponding storage modes, thereby improving the storage efficiency, reducing the energy consumption and ensuring that the material performance is not abraded by a single transportation mode.

As shown in fig. 9, the middle unfolding and carrying part 2000 includes two sets of push rod motors, which are respectively four ninth push rod motors 2005 surrounding a large rectangle on the outside, four ninth push rod motors 2005 surrounding a small rectangle inside, the ninth push rod motor 2005 connected to a telescopic support rod 2009, and a fixed rectangular insertion plate 2006 on the outermost side, which can be inserted into a slot provided in advance and fixed. The bottom of the push rod motor set which is enclosed into a large rectangle is arranged at four corners above the special-shaped storage box 1301, and the top of the push rod motor set can be inserted into a slot prefabricated at the bottom of the two-layer top cover plate 2003 to be fixed. The bottom of the push rod motor set which is enclosed into a small rectangle is arranged at the bottom of the two-layer top cover plate 2003, and the top of the push rod motor set can be inserted into the supporting slot 1301b for fixing. The top of the second layer top cover plate 2003 is provided with a plurality of third stepping motors 2001, which control the opening and closing of the opening and closing cover plate in the second layer opening and closing unit 1600 through the second pulling rope 2002.

The four corners of the bottom of the second-layer top cover plate 2003 are further provided with a plurality of second-layer opening and closing cover plate fixing grooves 2004 which correspond to the second traction base mounting plates 1603b respectively, and after the opening and closing cover plate of the second-layer opening and closing unit 1600 is controlled to be vertically closed, the second traction base mounting plates 1603b can be inserted into the second-layer opening and closing cover plate fixing grooves 2004, so that stability is effectively enhanced. The rear portion of the second-layer top cover plate 2003 is also provided with an opening, the size and the direction of the opening correspond to the conveying opening 1301a in the special-shaped storage box 1301, the bottom portion of the second-layer top cover plate 2003 is also provided with a third movable cover plate 2007, one side of the third movable cover plate 2007 is provided with a second rack rail 2008c, a fourth stepping motor 2008a mounted on the second-layer rear fixed cover plate 1605 can drive a gear 2008b to rotate, the gear 2008b is meshed with the second rack rail 2008c, and the third movable cover plate 2007 is controlled to cover the opening or open the opening. Compared with the single transportation in the prior art, the structure has the effects that the two-layer top cover plate 2003 can be supported by the push rod motor set, the pushing direction of the peripheral ninth push rod motor 2005 is upward, the pushing direction of the inner ninth push rod motor 2005 is downward, when large materials such as steel pipes roll into the interior, the peripheral ninth push rod motor 2005 can be controlled to descend and open the push rods to leave the channels to enter, then the channels are closed, the inner ninth push rod motor 2005 is lifted to further move the materials, finally the inner ninth push rod motor 2005 is descended to clamp the materials in the channels formed by the push rod motors, the storage mode is a storage mode, the building materials which can roll and have large volume can be transported, it needs to be carried out after the two-layer opening and closing unit 1600 is opened, the function of the middle unfolded transporting part 2000 before the opening is the same as that of the special-shaped storage box 1301, the storage area can be expanded after the storage mode is opened, the outdoor materials can be transported, and the subsequent top rotating part 3000 is hoisted in cooperation with the subsequent top rotating part.

As shown in fig. 10 to 12, the top rotary hoisting part 3000 is composed of a lower track unit 3100, a rotary hoisting unit 3200, and an upper track unit 3300 in sequence from bottom to top. The lower track unit 3100 is composed of a lower single rectangular track 3101 and a rectangular support frame 3102 mounted on the upper side of the two-layer top cover plate 2003, the upper track unit 3300 is composed of a field-shaped extension track frame 3301 mounted on the upper side of the rectangular support frame 3102 and upper double rectangular tracks 3302 mounted on the inner and outer sides of the track, and the track size and shape of the inner side of the upper double rectangular track 3302 are completely the same as those of the lower single rectangular track 3101, and only the mounting height is different. The rail outside the upper double rectangular rail 3302 is installed at the bottom of the outermost side of the field-shaped expansion rail frame 3301, and the structure is arranged to form a stable triangular three-dimensional rail by three rails, so that the rotary hoisting unit 3200 installed thereon can be hoisted stably.

The rotary hoisting unit 3200 is composed of a main body of a triangular structure surrounded by vertical supports 3203, horizontal supports 3204 and oblique rail supports 3205, the vertical supports 3203 are connected with a top inner mounting disc 3202b and a bottom mounting disc 3202a up and down respectively, a top outer mounting disc 3202c is arranged above one side where the horizontal supports 3204 and the oblique rail supports 3205 are connected, bottom electric trolleys 3201a, top inner electric trolleys 3201b and top outer electric trolleys 3201c are respectively arranged on the bottom mounting disc 3202a, the top inner mounting disc 3202b and the top outer mounting disc 3202c, and the three groups of electric trolleys are respectively arranged in the lower single rectangular rail 3101 and the upper double rectangular rail 3302. The inclined rail support 3205 is provided with an inclined electric trolley 3206, a miniature electric hoist 3207 is arranged on the electric trolley, the inclined electric trolley 3206 is a universal part, and the function of the inclined electric trolley 3206 is to drive a device on the inclined electric trolley to move on a rail. Miniature electric block 3207 is a general part, the function can be put down stay cord 3208 and lift by crane, here need explain, for improving hoist and mount stability, still can add horizontally slidable stay cord (not shown in the figure) between slant electric trolley 3206 and horizontal stand 3204, further improve hoist and mount reliability, the bottom of stay cord 3208 sets up to ring flange 3209, this ring flange 3209 is general part, can install various devices such as the lifting hook on it, push rod motor etc., in order to deal with different transportation needs, still can increase the efficiency of the figure in order to improve hoist and mount of rotatory hoist and mount unit 3200.

Compared with the prior art of material handling, the multi-track mechanism arranged at the top is matched with the rotary hoisting unit 3200 driven by the electric trolley, so that the robot is integrated with a loop type large-range handling mechanism on the basis of various storage modes, when the two layers of opening and closing units 1600 are opened, materials placed on the opened openable and closable cover plates are just in the hoisting coverage range of the top rotary hoisting part 3000, the positions of the materials can be changed by pulling the hoisted objects through the miniature electric hoist 3207, the materials can be directly placed into the conveying opening 1301a on the inner side of the two layers of top cover plates 2003, the materials are directly conveyed into the box from the outside of the box, and then are moved and adjusted under the action of the internal actuator.

Correspondingly, the use method of the intelligent multifunctional flexible transfer robot provided by the invention comprises the following steps:

s1, when the transported material is located on the ground, is small in size and is relatively small in size, the third push rod motor 1203 of the lifting moving unit 1200 can be controlled to control the universal wheel 1204 to lift, so that the cylindrical support 1105 becomes a gravity support of the whole device, the actuator combination mechanism can be pushed out outwards through the fifth push rod motor 1405, then the actuator combination mechanism can be pushed out downwards through the sixth push rod motor 1407, the vertical position of the special-shaped bucket 1410 can be controlled to correspond to the first moving cover plate 1402 or the bottom receiving plate 1104, the first moving cover plate 1402 is controlled to be opened through the first step motor 1403, the bottom of the moving cover plate can be contacted with the ground, the seventh push rod motor 1409 is controlled to push the moving cover plate inwards, the material located on the ground and between the special-shaped bucket and the cover plate is scooped up, then the sixth push rod motor 1407 is controlled to lift the actuator combination mechanism, and the material in the bucket is pushed into the box after the material is lifted to the top of the first moving cover plate 1402.

S2, when the transported materials are also located on the ground, are slightly larger in size and are tidier, when the materials need to be directly pushed into the bottom of the special-shaped storage box 1301 from the ground below, the second push rod motor 1106 is controlled to open the openable cover plate 1302, the materials are pushed into the special-shaped storage box 1301 by taking the slope-shaped bottom retraction plate 1104 in contact with the ground as a channel, and when the situation that the gravitational potential energy of the materials located on the ground and the like is smaller is met, the energy consumption can be effectively saved and the efficiency is improved through the two methods.

S3, when the material is low in position and cannot be automatically pushed into the box conveniently, the back openable baffle 1501 on the layer serving as the back baffle of the special-shaped storage box 1301 can pass through the first traction seat 1502 on the back openable baffle, the second stepping motor 1607 is controlled to rotate to drive the first traction rope 1608 to pull the first traction seat 1502 to move, the back openable baffle 1501 on the layer is closed or opened, the back of the special-shaped storage box 1301 can be opened or closed, and the special-shaped storage box can be directly used for quickly taking out and storing the material.

S4, when the material is long or large and has a moderate position, the third stepping motor 2001 is controlled to pull the second traction rope 2002 and further pull the second traction seat mounting post 1603a to drive the first second layer opening and closing cover plate 1602a and the second layer opening and closing cover plate 1602b to be in a vertical or horizontal state, when the materials are all adjusted to be in a horizontal state, the three cover plates are all supported by the gravity of the second triangular bracket 1601, the second traction rope 2002 and the second traction seat mounting post 1603a can be detached to be connected, the third second layer opening and closing cover plate 1602c is convenient to turn over, the first second layer opening and closing cover plate 1602a and the second layer opening and closing cover plate 1602b can be fixedly connected through the basket bolt 1604, then the third second layer opening and closing cover plate 1602c is controlled to rotate on the first second layer opening and closing cover plate 1602a to be above the basket bolt 1604, the basket bolt 1604 supports the materials by the gravity, and the outer opening and closing cover plates of the two layers are all opened, the storage area of the two layers is changed from the original single closed box interior into an open box interior and exterior baffle mode, which can be adjusted according to different needs to specifically open the baffles to meet different needs, the top cover plate 2003 of the two layers can be supported by the push rod motor set, the pushing direction of the peripheral ninth push rod motor 2005 is upward, and the pushing direction of the inner ninth push rod motor 2005 is downward, so when rolling large materials such as steel pipes into the interior, the peripheral ninth push rod motor 2005 can be controlled to lower the push rod to open, the channel is made to enter, then the channel is closed, the inner ninth push rod motor 2005 is lifted to further move the materials, and finally the inner ninth push rod motor 2005 is lowered to clamp the materials in the channel formed by the push rod motors, which is a storage mode and can be used for transporting building materials with rolling and large volume, which needs to be explained, this kind of storage mode needs to go on after opening the two-layer unit 1600 that opens and shuts, and the middle transport part 2000 function of expanding before opening is as good as abnormal shape storage box 1301 is as there is, can enlarge the storage area on a large scale after opening, can carry the material in the open air, and cooperate follow-up rotatory hoist and mount part 3000 in top to hoist.

S5, when the position of a material is high or the shape of the material is difficult to transport by pushing or manual putting, the material placed on the opened openable cover plate just fits the lifting coverage range of the top rotating lifting part 3000 through a multi-track mechanism arranged at the top and matched with the rotating lifting unit 3200 driven by the electric trolley, when the two-layer opening and closing unit 1600 is opened, the material can be directly transported to the inside of the box body from the outside of the box body under the action of an internal actuator by pulling the lifted object through the miniature electric hoist 3207, the position of the lifted object can be changed, the lifted object can also be directly placed into the conveying opening 1301a on the inner side of the two-layer top cover plate 2003, the material can be moved and adjusted under the action of the internal actuator, it needs to say that three layers of different accommodating and carrying mechanisms can respectively meet the transportation requirements of different heights and materials, when a transportation mode is selected, the transportation mode with the material at the low position accommodated at the low position is considered as much as possible, the middle part is supported and transported by the middle spreading mechanism, the lifting mechanism at the top can be lifted and transported by the lifting mechanism, similarly, when different materials such as small parts are handled, the parts can be rolled and the energy consumption of the parts can be greatly reduced, the transportation efficiency of the transportation mechanism is improved, and the lifted material can be changed, and the lifted material can be transported by the lifting mechanism, and the lifting efficiency of the lifting mechanism can be changed, and the lifting mechanism can be changed by the lifting mechanism.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can understand that the modifications or substitutions within the technical scope of the present invention should be included in the scope of the present invention.

Claims

1. An intelligent multifunctional flexible carrying robot is characterized by comprising a bottom pushing-in containing part (1000), a middle unfolding carrying part (2000) and a top rotating hoisting part (3000) which are sequentially connected from bottom to top;

the bottom pushing-in and containing part (1000) comprises a bottom opening unit (1100), an internal containing unit (1300) and a two-layer opening and closing unit (1600), which are sequentially connected from bottom to top, wherein lifting and moving units (1200) are arranged on the left side and the right side of the internal containing unit (1300), a bottom pushing-in unit (1400) used for shoveling materials from the ground and sending the materials into a special-shaped storage box (1301) of the internal containing unit (1300) and a back opening and closing unit (1500) used for changing the rear part of the special-shaped storage box (1301) into an open state or a closed state so as to quickly take out the materials or store the materials are respectively arranged on the front side and the back side of the internal containing unit (1300);

the bottom opening unit (1100) is used for pushing the materials into the special-shaped storage box (1301) from the bottom and transporting the materials up and down among the layers;

the two-layer opening and closing unit (1600) is matched with the middle unfolding and carrying part (2000), and a storage area for the two layers is changed into an open internal and external baffle mode from the inside of an original single closed box body;

the top rotating hoisting part (3000) comprises a lower track unit (3100), a rotating hoisting unit (3200) and an upper track unit (3300) which are sequentially connected from bottom to top, wherein the lower track unit (3100) consists of a lower single rectangular track (3101) and a rectangular support frame (3102) which are arranged above a two-layer top cover plate (2003), and the upper track unit (3300) consists of a Chinese character 'tian' -shaped expansion track frame (3301) arranged above the rectangular support frame (3102) and upper double rectangular tracks (3302) arranged on the inner side and the outer side of the track; the rotary hoisting unit (3200) is composed of a main body of a triangular structure surrounded by a vertical support (3203), a horizontal support (3204) and an oblique rail support (3205), the vertical support (3203) is connected with a top inner mounting disc (3202 b) and a bottom mounting disc (3202 a) up and down respectively, a top outer mounting disc (3202 c) is arranged above one side where the horizontal support (3204) and the oblique rail support (3205) are connected, the bottom mounting disc (3202 a), the top inner mounting disc (3202 b) and the top outer mounting disc (3202 c) are respectively provided with a bottom electric trolley (3201 a), a top inner electric trolley (3201 b) and a top outer electric trolley (3201 c), and the three groups of electric trolleys are respectively arranged in a lower single rectangular rail (3101) and an upper double rectangular rail (3302); an oblique electric trolley (3206) is arranged on the oblique track support (3205), and a miniature electric block (3207) is arranged on the oblique electric trolley (3206).

2. The intelligent multifunctional flexible handling robot according to claim 1, wherein the bottom opening unit (1100) comprises an L-shaped first push rod motor mounting plate (1101) installed at the rear of the bottom of the special-shaped storage box (1301), a first push rod motor (1102) installed at the middle of the inner side of the L-shaped first push rod motor mounting plate (1101), a first triangular bracket (1103) located at the outer side edge of the L-shaped first push rod motor mounting plate (1101), a bottom take-in plate (1104) and a second push rod motor (1106) installed at the middle of the bottom of the special-shaped storage box (1301), and a cylindrical support (1105) installed below the bottom take-in plate (1104);

the mounting position of the L-shaped first push rod motor mounting plate (1101) is over against the lower part of a conveying opening (1301 a) at the bottom of the special-shaped storage box (1301), a push rod of the first push rod motor (1102) on the L-shaped first push rod motor mounting plate is connected with a push plate, and the size of the push plate is just matched with the size of the conveying opening (1301 a) penetrating through the inside of the special-shaped storage box (1301).

3. The intelligent multifunctional flexible conveying robot as claimed in claim 2, wherein the position of the bottom retraction plate (1104) corresponds to the openable cover plate (1302) inside the special-shaped storage box (1301), an opening with a slightly smaller size is arranged below the openable cover plate (1302), the second push rod motor (1106) is installed at the bottom of the special-shaped storage box (1301) and on two sides of the bottom retraction plate (1104), the push rod of the second push rod motor is connected with the openable cover plate (1302) to control the cover plate to open and close, the openable cover plate (1302) is matched with the bottom retraction plate (1104) installed on the bottom retraction plate, when the material needs to be pushed into the bottom of the special-shaped storage box (1301) directly from the ground below, the second push rod motor (1106) is controlled to open the openable cover plate (1302), and the material is pushed into the special-shaped storage box (1301) by taking the slope-shaped bottom retraction plate (1104) in contact with the ground as a channel.

4. The intelligent multifunctional flexible transfer robot of claim 3, wherein the lifting and moving unit (1200) comprises a main body consisting of a special-shaped mounting outer plate (1201) mounted at the bottoms of the two sides of the special-shaped storage box (1301) and two third push rod motor mounting plates (1202) mounted in the middle, a third push rod motor (1203) is mounted below the third push rod motor mounting plates (1202), a push rod of the third push rod motor (1203) penetrates through rectangular openings (1201 a) arranged in the front and at the back of the special-shaped mounting outer plate (1201) to be connected with a universal wheel (1204) below, the universal wheel (1204) is pushed to move up and down in a track with the rectangular opening (1201 a) as a channel by controlling the third push rod motor (1203), and then the distance between a chassis of the bottom pushing and accommodating part (1000) and the ground is changed, so that a cylindrical support (1105) of the bottom opening unit (1100) is in contact with the ground, and the gravity support of the whole device is switched from the universal wheel (1204) to the cylindrical support (1105).

5. The intelligent multi-functional flexible transfer robot according to claim 4, wherein the internal storage unit (1300) is composed of a special-shaped storage box (1301) which is divided into an upper storage space and a lower storage space at the inside and is provided with a transfer opening (1301 a) at the rear; in a channel formed by the upper and lower corresponding conveying openings (1301 a), a first push rod motor (1102) can push a push plate on the channel to move up and down in the channel, so that materials are driven to be conveyed among layers;

the four outer sides of the space above the special-shaped storage box (1301) are provided with fourth push rod motors (1304), push rods of the push rod motors penetrate through the box body to control a first inner push plate (1303) arranged on the inner side to move back and forth, so that materials in the storage space are pushed, the materials can be conveniently moved to a required place, and then the materials are transported between an upper layer and a lower layer;

the top of abnormal shape storage box (1301) is provided with four and encloses into support slot (1301 b) of rectangle, promotes fixed rectangle picture peg (2006) through control ninth push rod motor (2005) and inserts in this support slot (1301 b), and then switches the gravity support that the middle part expanded transport part (2000), is convenient for push inside putting into the material in outside extension space.

6. The intelligent multifunctional flexible transfer robot as claimed in claim 5, wherein the back opening and closing unit (1500) comprises a main body consisting of a layer of back openable and closable barrier (1501) which is installed behind the special-shaped storage box (1301), the middle part above the back openable and closable barrier is provided with a second movable cover plate (1503), two sides of the cover plate are provided with two first traction seats (1502), the layer of back openable and closable barrier (1501) serving as the back barrier of the special-shaped storage box (1301) can pass through the first traction seats (1502) on the back openable and closable barrier, and the second stepping motor (1607) is controlled to rotate to drive the first traction rope (1608) to pull the first traction seats (1502) to move, so that the layer of back openable and closable barrier (1501) is closed or opened, the back of the special-shaped storage box (1301) is changed into an opened state or a closed state, and materials can be taken out or stored quickly;

the second movable cover plate (1503) can move back and forth on the back openable and closable baffle plate (1501) of the layer through a stepping motor arranged inside, the size of the second movable cover plate (1503) is slightly larger than the conveying opening (1301 a), and when the back openable and closable baffle plate (1501) of the layer is in a vertical closed state, the second movable cover plate (1503) can be controlled to move inwards to cover the conveying opening (1301 a).

7. The intelligent multifunctional flexible transfer robot as claimed in claim 6, wherein the bottom pushing unit (1400) comprises a main body formed by a layer of front fixed baffle (1401), the layer of front fixed baffle (1401) is fixedly installed on the front of the special-shaped storage box (1301), a second layer of opening and closing cover plate (1602 b), a second triangular bracket (1601), a fifth push rod motor (1405), a first movable cover plate (1402) and a first step motor (1403) are sequentially connected to the outer side of the layer of front fixed baffle (1401) from top to bottom, wherein the second layer of opening and closing cover plate (1602 b) is rotatably connected with the layer of front fixed baffle (1401), namely the lower baffle is fixed, the upper cover plate can be connected with one side of the upper cover plate through a door shaft, so that the second layer of opening and closing cover plate (1602 b) can rotate up and down to switch between a vertical state and a horizontal state or an inclination angle; the second triangular bracket (1601) is arranged below the second layer of opening and closing cover plate (1602 b) and can support the second layer of opening and closing cover plate when the second layer of opening and closing cover plate is in a horizontal position;

the actuator combination mechanism taking the fifth push rod motor (1405) as the base is sequentially connected from front to back and from top to bottom: a fifth push rod motor (1405), a sixth push rod motor mounting seat (1406), a sixth push rod motor (1407), a seventh push rod motor mounting seat (1408), a seventh push rod motor (1409) and a special-shaped bucket (1410), wherein the special-shaped bucket (1410) is a bucket-shaped structure, the width of the bucket-shaped structure is slightly larger than that of the first movable cover plate (1402), the first movable cover plate (1402) can just cover the opening on the front fixed baffle (1401) of one layer, a vertical first rack rail (1404) is arranged on one side of the first movable cover plate (1402), the first stepping motor (1403) can be connected with the rack rail through meshing of a gear to control the lifting of the movable cover plate, so as to control the opening and closing of the opening on the front fixed baffle (1402) of one layer, the actuator combination mechanism is pushed outwards through the fifth push rod motor (1405), then the sixth push rod motor (1407) pushes the special-shaped bucket downwards, the vertical position of the special-shaped bucket (1410) can be controlled to correspond to the first movable cover plate (1402) or the bottom retraction plate (1104), the first push rod motor (1407) is controlled to be opened, the movable cover plate (1403) is pushed upwards, the movable cover plate (1407) and then the material can be lifted, the material can be pushed upwards, the material can be pushed out, the material to be lifted up through the first push rod motor (1409), the material in the bucket is pushed into the interior of the profiled storage bin (1301).

8. The intelligent, multi-functional, flexible handling robot of claim 7, wherein the two-level opening and closing unit (1600) comprises three sets of rotatable cover plates, respectively: the special-shaped storage box comprises a first second-layer opening and closing cover plate (1602 a), a second-layer opening and closing cover plate (1602 b) and a third second-layer opening and closing cover plate (1602 c), wherein the first second-layer opening and closing cover plate (1602 a) is installed above two sides of the special-shaped storage box (1301), the second-layer opening and closing cover plate (1602 b) is installed on a front fixed baffle (1401), the third second-layer opening and closing cover plate (1602 c) is installed above two first second-layer opening and closing cover plates (1602 a) on two sides, three groups of cover plates are in rotary connection, namely one side can rotate through a door shaft, and the first second-layer opening and closing cover plate (1602 a) and the second-layer opening and closing cover plate (1602 b) are connected through a basket bolt (1604); the turnbuckle (1604) is used for carrying out gravity support on a third second-layer opening and closing cover plate (1602 c) which is turned over, two ends of the outer side of the three groups of second-layer opening and closing cover plates are respectively provided with a traction seat which has the same structure as the first traction seat (1502) and is formed by connecting a second traction seat mounting column (1603 a) with a second traction seat mounting plate (1603 b), the second traction seat mounting column (1603 a) can be pulled by a third stepping motor (2001) through a second traction rope to drive the opening and closing cover plate to rotate so as to achieve the purpose of opening or closing, the second traction seat mounting plate (1603 b) can be inserted into a second-layer opening and closing cover plate fixing groove (2004) when the opening and closing cover plate rotates to the vertical state, the opening and closing cover plate is further fixed, and a second triangular support (1601) is further arranged at the bottom of the three groups of second-layer opening and closing cover plates and serves as gravity support when the opening and closing cover plate rotates to the horizontal state;

the second-layer opening and closing unit (1600) further comprises a second-layer rear fixed cover plate (1605) positioned at the rear, the cover plate is fixedly connected with the special-shaped storage box (1301), a third movable cover plate groove (1605 a) is formed above the cover plate, and a third movable cover plate (2007) can be inserted into the third movable cover plate groove; an eighth push rod motor (1606 a) is arranged at the bottom of the rear part of the second layer of rear fixed cover plate (1605), a push rod of the eighth push rod motor (1606 a) penetrates through the cover plate and is connected with a second inner push plate (1606 b) on the inner side, a second stepping motor (1607) is arranged below the eighth push rod motor and is connected with a first traction rope (1608), the traction rope can control the rotation and the switch of the back openable baffle (1501) on one layer by pulling the first traction seat (1502), and the second traction rope (2002) is pulled by controlling the third stepping motor (2001) so as to pull the second traction seat mounting column (1603 a) to drive the first second layer openable cover plate (1602 a) and the second layer openable cover plate (1602 b) to be in a vertical or horizontal state, when all adjusting it to the horizontality, three apron all receive the gravity support of second triangle-shaped support (1601) this moment, can lift off the connection of second haulage rope (2002) and second traction seat erection column (1603 a) this moment, be convenient for overturn third two layers and open and shut apron (1602 c), can be earlier through basket of flowers bolt (1604) with first two layers cover plate (1602 a) and the second two layers cover plate (1602 b) fixed connection that opens and shuts, again control third two layers cover plate (1602 c) that opens and shuts and rotate to the top of basket of flowers bolt (1604) on first two layers cover plate (1602 a) that opens and shuts, carry out gravity support to it by basket of flowers bolt (1604), to this, two layers of outside cover plate that opens and shuts are all opened.

9. The intelligent multifunctional flexible handling robot according to claim 8, wherein the middle unfolded handling part (2000) is composed of two sets of push rod motors, which are respectively four ninth push rod motors (2005) with a large rectangle surrounded on the outside and four ninth push rod motors (2005) with a small rectangle inside, the ninth push rod motors (2005) are connected with the telescopic supporting rods (2009), and the outermost side is a fixed rectangular inserting plate (2006) which can be inserted into a slot arranged in advance for fixing; the bottom of a push rod motor group which is enclosed into a large rectangle is arranged at four corners above the special-shaped storage box (1301), and the top of the push rod motor group can be inserted into a slot prefabricated at the bottom of the two-layer top cover plate (2003) for fixing; the bottom of a push rod motor group which is enclosed into a small rectangle is arranged at the bottom of the top cover plate (2003) of the second layer, and the top of the push rod motor group can be inserted into the supporting slot (1301 b) for fixing; the top of the top cover plate (2003) of the second layer is provided with a plurality of third stepping motors (2001) which control the opening and closing of the opening and closing cover plate in the opening and closing unit (1600) of the second layer through a second traction rope (2002);

four corners of the bottom of the second-layer top cover plate (2003) are also provided with a plurality of second-layer opening and closing cover plate fixing grooves (2004) which respectively correspond to the second traction seat mounting plates (1603 b), and when the opening and closing cover plate of the second-layer opening and closing unit (1600) is controlled to be vertically closed, the second traction seat mounting plates (1603 b) can be inserted into the second-layer opening and closing cover plate fixing grooves (2004); the rear part of the top cover plate (2003) of the second layer is also provided with an opening, the size and the direction of the opening correspond to a conveying opening (1301 a) in the special-shaped storage box (1301), the bottom of the top cover plate is also provided with a third movable cover plate (2007), one side of the third movable cover plate (2007) is provided with a second rack rail (2008 c), a fourth stepping motor (2008 a) installed on the fixed cover plate (1605) of the rear part of the second layer can drive a gear (2008 b) to rotate, the gear (2008 b) is meshed with the second rack rail (2008 c), and the third movable cover plate (2007) is controlled to cover the opening or open the opening.

10. The use method of the intelligent multifunctional flexible handling robot according to claim 9, characterized by comprising the steps of:

s1, when the transported materials are located on the ground, small in size and are relatively broken, a third push rod motor (1203) of a lifting moving unit (1200) can be controlled to control a universal wheel (1204) to lift, so that a cylindrical support (1105) becomes a gravity support of the whole device, an actuator combination mechanism can be pushed out outwards through a fifth push rod motor (1405) and pushed out downwards through a sixth push rod motor (1407), the vertical position of a special-shaped bucket (1410) can be controlled to correspond to a first moving cover plate (1402) or a bottom receiving plate (1104), a first moving cover plate (1402) is controlled to be opened through a first stepping motor (1403), the bottom of the moving cover plate can be in contact with the ground, a seventh push rod motor (1409) is controlled to push out inwards, the materials located on the ground and between the special-shaped bucket and the cover plate are scooped, then the sixth push rod motor (1407) is controlled to lift the actuator combination mechanism, and the materials in a storage box (1301) are pushed into the top of the first moving cover plate (1402) after the bucket rises to the top of the first moving cover plate (1402);

s2, when the transported materials are also located on the ground, are slightly larger in size and are more orderly, when the materials need to be directly pushed into the bottom of the special-shaped storage box (1301) from the ground below, the second push rod motor (1106) is controlled to open the openable cover plate (1302), and the materials are pushed into the special-shaped storage box (1301) by taking the slope-shaped bottom retraction plate (1104) in contact with the ground as a channel;

s3, when the material is low in position and cannot be automatically pushed into the box conveniently, the back openable baffle (1501) on one layer serving as the back baffle of the special-shaped storage box (1301) can pass through the first traction seat (1502) on the back openable baffle, the second stepping motor (1607) is controlled to rotate to drive the first traction rope (1608) to pull the first traction seat (1502) to move, and then the back openable baffle (1501) on one layer is closed or opened, so that the back of the special-shaped storage box (1301) can be changed into an open state or a closed state, and the material can be directly and quickly taken out and stored;

s4, when the material is long or large and moderate in position, the third stepping motor (2001) is controlled to pull the second traction rope (2002) to further pull the second traction seat mounting column (1603 a) to drive the first second layer opening and closing cover plate (1602 a) and the second layer opening and closing cover plate (1602 b) to be in a vertical or horizontal state, when the materials are all adjusted to be in the horizontal state, the three cover plates are supported by the gravity of the second triangular support (1601), the second traction rope (2002) can be detached from the second traction seat mounting column (1603 a) to be connected with the second traction seat mounting column (1603 a), the third second layer opening and closing cover plate (1602 c) can be conveniently turned over, the first second layer opening and closing cover plate (1602 a) and the second layer opening and closing cover plate (1602 b) can be fixedly connected through a basket bolt (1604), then, the third second layer of opening and closing cover plate (1602 c) is controlled to rotate on the first second layer of opening and closing cover plate (1602 a) to be above the turn buckle (1604), the turn buckle (1604) supports the turn buckle, so that the outer opening and closing cover plate of the second layer is completely opened, the storage area of the second layer of opening and closing cover plate is changed into an open internal and external baffle mode from the original single closed box body, which baffle is specifically opened according to different requirements can be adjusted according to specific requirements, the top cover plate (2003) of the second layer of opening and closing cover plate can be supported by a push rod motor group, the pushing direction of a peripheral ninth push rod motor (2005) is upward, the pushing direction of an inner ninth push rod motor (2005) is downward, therefore, when large-sized steel pipes such as steel pipes are rolled into the inner part, the peripheral ninth push rod motor (2005) can be controlled to descend to open, the channel is made to enter, then the channel is closed, the ninth push rod motor (2005) on the inner side is lifted to further move the materials, and finally the ninth push rod motor (2005) on the inner side is lowered to clamp the materials in the channel formed by the push rod motors, so that the material storage mode is a storage mode and can be used for transporting building materials which can roll and have large volume; after the two layers of opening and closing cover plates are opened, the storage area can be enlarged in a large range, materials can be transported in the open air, and the materials are hoisted by matching with a subsequent top rotary hoisting part (3000);

s5, when the position of the material is high or the shape is difficult to transport by pushing or manually putting in, the material placed on the opened and closed cover plate is just in the lifting coverage range of the top rotating and lifting part (3000) through a multi-track mechanism arranged at the top and matched with a rotating and lifting unit (3200) driven by an electric trolley, when the two-layer opening and closing unit (1600) is opened, the position of the material can be changed by pulling a lifting object through a miniature electric hoist (3207), the material can also be directly placed into a conveying opening (1301 a) on the inner side of the two-layer top cover plate (2003), the material is directly transported to the interior of the box body from the exterior of the box body, and then the material is moved and adjusted under the action of an internal actuator.