Heavy-load type lifting carrying stacking robot

Abstract

The invention discloses a heavy load type lifting carrying stacking robot which comprises a guide rail plate, guide blocks are slidably mounted on the upper surface of the guide rail plate, a connecting cylinder is fixedly mounted between the two guide blocks, a transverse transmission mechanism is fixedly mounted in the connecting cylinder, a first U-shaped frame is fixedly mounted on the upper surface of the connecting cylinder, and an I-shaped frame is slidably mounted in the first U-shaped frame; a lifting mechanism is fixedly installed in the I-shaped frame and installed on the outer surface of a first threaded rod in a threaded mode, the first threaded rod is fixedly installed between the connecting cylinder and the first U-shaped frame, a guide rail frame is fixedly installed at one end of the I-shaped frame, and an extending mechanism is slidably installed in the guide rail frame. Through the design of the clamping mechanism and the extending mechanism, goods can be automatically stacked and placed in the goods shelf, the stacking and placing processes are both automatically operated, the manual carrying time is shortened, and the grabbing size can be automatically adjusted according to the size of the goods.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a heavy-load lifting, transporting and stacking robot. Background Art

[0002] At present, more and more service robots are entering our lives. Robots are machine devices that perform tasks automatically. They can accept human commands, run pre-programmed programs, or act according to principles formulated with artificial intelligence technology. Their task is to assist or replace human work, such as manufacturing, construction, or dangerous work. Handling robots are industrial robots that can perform automated handling operations. Handling robots can be equipped with different end effectors to complete the handling of workpieces of various shapes and states, greatly reducing the heavy physical labor of humans. They can be programmed to complete various expected tasks, and have the respective advantages of humans and machines in their own structure and performance, especially reflecting artificial intelligence and adaptability.

[0003] For example, a Chinese patent with authorization announcement number CN109533850B discloses a lifting and transporting robot, which can effectively improve its walking stability and smoothness. When lifting, the lifting and transporting platform of the transporting sub-robot to be lifted, the front transporting sub-robot in front of the transporting sub-robot to be lifted and the rear transporting sub-robot behind the transporting sub-robot to be lifted are vertically lifted and guided to improve the stability of the lifting and transporting platform during the lifting process. In this way, the smoothness of the operation of each transporting sub-robot can be guaranteed by cycling in sequence; the chassis of the robot can be set to a lighter structure, which effectively improves the flexibility of the robot and ensures the running speed of the transporting sub-robot; detection and positioning components are set in front and behind the walking component, and a buffer and anti-collision component is set in the front, which can effectively position the front and rear transporting sub-robots and improve the stability of mutual guidance. The use of a circular track seat can realize a circular cyclic transport action, which is suitable for batch transport of products or goods.

[0004] However, the above-mentioned lifting and transporting robot can only lift and transport the goods during the process of transporting the goods but cannot stack the goods. Since the goods cannot be stacked, there are limitations in space utilization, efficiency and flexibility of cargo placement. Other equipment or manpower is required to complete the stacking, which increases the complexity of the operation. Summary of the invention

[0005] The object of the present invention is to provide a heavy-load lifting, transporting and stacking robot to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A heavy-load lifting, handling and stacking robot comprises: a guide plate, a guide block is slidably installed on the upper surface of the guide plate, a connecting tube is fixedly installed between two groups of the guide blocks, a transverse transmission mechanism is fixedly installed in the connecting tube, the transmission end of the transverse transmission mechanism contacts and fits with the outer surface of the track of the guide plate, a first C-shaped frame is fixedly installed on the upper surface of the connecting tube, an I-shaped frame is slidably installed in the first C-shaped frame, a lifting mechanism is fixedly installed in the I-shaped frame, the lifting mechanism is threadedly installed on the outer surface of a first threaded rod, the first threaded rod is fixedly installed between the connecting tube and the first C-shaped frame, a guide frame is fixedly installed at one end of the I-shaped frame, an extension mechanism is slidably installed in the guide frame, and a clamping mechanism is fixedly installed at one end of the extension mechanism.

[0008] Preferably, first rollers are rotatably mounted on both sides of the I-shaped frame, and the I-shaped frame is rollingly mounted in a concave groove on the inner side of the first U-shaped frame via the first rollers.

[0009] Preferably, the transverse transmission mechanism includes a first motor, which is fixedly mounted at one end of the connecting tube, the output shaft of the first motor passes through the connecting tube and the end is rotatably mounted in the support plate, the support plate is fixedly mounted on the inner surface of the connecting tube, and a driving wheel is fixedly mounted on the middle part of the output shaft of the first motor, and the outer surface of the driving wheel is in contact with the outer surface of the track of the guide plate, so that it can drive the first U-shaped frame to move laterally on the upper surface of the guide plate.

[0010] Preferably, the lifting mechanism includes a second motor, which is fixedly mounted in an I-frame, a first gear is fixedly mounted on one end of an output shaft of the second motor, a chain is sleeved on the outer surface of the first gear, the other end of the chain is sleeved on the outer surface of the second gear, the second gear is fixedly mounted on the lower end of the outer surface of a transmission column, the transmission column is rotatably mounted in a mounting cylinder, the mounting cylinder is fixedly mounted in a fastening frame, the fastening frame is fixedly mounted in the I-frame, and the transmission column is transmission-mounted on the outer surface of the first threaded rod, so that it can drive the I-frame to perform vertical lifting operations in the concave groove on the inner side of the first C-frame through the first rollers on both sides.

[0011] Preferably, the extension mechanism includes a third motor, the third motor is fixedly mounted on the lower surface of the I-beam, a second threaded rod is fixedly mounted on one end of the output shaft of the third motor, the outer surface of the second threaded rod is threadedly mounted in a transmission disk, the transmission disk is fixedly mounted on the lower surface of the extension plate, a plurality of sets of second rollers are fixedly mounted on both sides of the extension plate, and the extension plate is rollingly mounted in a concave groove rotatably mounted on the inner side of the guide rail frame through the second rollers.

[0012] Preferably, the transmission disc, through the transmission of the second threaded rod, can enable the extension plate to drive the clamping mechanism fixedly installed at one end to slide outward and extend or to be retracted and slid inward.

[0013] Preferably, the clamping mechanism includes a first connecting plate and a second connecting plate, a fastening plate being fixedly mounted at one end of the first connecting plate, the fastening plate being rotatably mounted between two sets of docking plates, the docking plate being fixedly mounted on the lower surface of the second connecting plate, so that the first connecting plate can be flipped 90° through the fastening plate so that it can be flipped to be flush with the second connecting plate, and the second connecting plate being fixedly mounted on the lower surface of the extension plate.

[0014] Preferably, one end of the second connecting plate is fixedly installed with a second C-shaped frame, and the second C-shaped frame and one end of the second connecting plate are fixedly installed with two sets of sliding rails, and a guide rail block is slidably installed on the outer surface of the slide rail, and a third C-shaped frame is fixedly installed on one end of the guide rail block, and a sliding column is fixedly installed between the second C-shaped frame and the third C-shaped frame, and the upper and lower ends of the outer surface of the slide column are slidably installed with a first electric push rod, and the piston rods of each two groups of the first electric push rods are respectively fixedly installed on the upper and lower surfaces of the second C-shaped frame and the third C-shaped frame, and one end of the first electric push rod is fixedly installed with a clamping plate, and the first electric push rod can be driven to slide on the outer surface of the slide column by pushing the piston rods of the two groups of the first electric push rods, and in the process of sliding, the clamping plate fixedly installed at one end can be driven to synchronously move vertically toward the center to achieve the purpose of clamping the material.

[0015] Preferably, a second electric push rod is rotatably installed at one end of the second connecting plate, and the piston rod of the second electric push rod is rotatably installed in the pushing plate. The pushing plate is fixedly installed at one end of the first connecting plate. Through the pushing and pulling of the second electric push rod, the first connecting plate can be driven to flip 90°, and it can drive the clamping plate to flip to face downward and horizontally.

[0016] Preferably, a fourth motor is fixedly mounted on one end of the first connecting plate, a third threaded rod is fixedly mounted on one end of the output shaft of the fourth motor, a pulling block is threadedly mounted on the outer surface of the third threaded rod, and the pulling block is fixedly mounted on one end of the third U-shaped frame;

[0017] The fourth motor drives the third threaded rod to drive the third C-shaped frame to slide horizontally toward the second C-shaped frame on the outer surface of the slide rail through the guide rail block to achieve the clamping operation;

[0018] The horizontally clamped clamping plate can clamp and take out the goods at the high place of the shelf, and the goods in the clamping plate can be turned 90 degrees by pulling the second electric push rod, and the goods can be stacked in a certain area by lifting and moving horizontally;

[0019] The clamping plates that are vertically clamped toward the center can clamp irregular goods.

[0020] The present invention also provides a heavy-load lifting, handling and stacking robot, comprising a heavy-load lifting, handling and stacking device, the heavy-load lifting, handling and stacking device comprising a bottom support frame, a transverse horizontal guide rail is fixedly installed on the upper part of the bottom support frame, a bottom plate is slidably installed on the upper part of the transverse horizontal guide rail through a slider, and a transverse linear module for driving the bottom plate to move horizontally left and right is fixedly installed between the transverse horizontal guide rails, a moving block of the transverse linear module is fixedly connected to the bottom of the bottom plate, two symmetrically arranged vertical frames are fixedly installed on the upper part of the bottom plate, a connecting rod is fixed between the two vertical frames near the top thereof, and a group of vertical linear modules are fixedly installed in each of the vertical frames, vertical guide rails are fixedly installed on one side surface of the two vertical frames close to each other, a U-shaped load-bearing plate is fixedly installed between the moving blocks of the two vertical linear modules, and the outer walls on both sides of the U-shaped load-bearing plate are slidably connected to the vertical guide rails through sliders, so that the vertical linear module can drive the U-shaped load-bearing plate to move up and down stably along the vertical guide rails, wherein:

[0021] Two sets of telescopic components that can telescope forward and backward are fixedly installed on the inner side of the upper part of the U-shaped load-bearing plate, and a connecting seat is fixedly installed at the telescopic ends of the two sets of telescopic components, and a transport bearing plate is fixedly installed between the two sets of connecting seats;

[0022] Each group of the telescopic components includes an outer rail, a middle rail and an inner rail, the outer rail is fixedly mounted on the inner side of the upper portion of the U-shaped load-bearing plate, and the outer rail is arranged perpendicular to the transverse horizontal guide rail, the middle rail is slidably mounted inside the outer rail, and one end of the middle rail can slide to the outside of the outer rail, the inner rail is slidably mounted inside the middle rail, and one end of the inner rail can slide to the outside of the middle rail, and the transport bearing plate is fixedly mounted on the upper portion of one end of the inner rail that can slide to the outside of the middle rail;

[0023] A longitudinal linear module for driving the inner rail to move forward and backward is fixedly installed on the U-shaped load-bearing plate, and a moving block of the longitudinal linear module is fixedly connected to the inner rail;

[0024] Wheel frames are fixedly mounted on the inner side surfaces of both side walls of the U-shaped load-bearing plate, and guide wheels are rotatably mounted on the wheel frames via rotating shafts.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. Through the design of the guide plate, connecting tube, guide block, transverse transmission mechanism, lifting mechanism, extension mechanism and clamping mechanism, when the goods are moved out of the shelf and stacked, the transverse transmission mechanism and lifting mechanism can be started to drive the clamping mechanism fixed at one end of the I-frame to be lifted and lowered and moved laterally, so that the clamping mechanism can be driven to be lifted to the height position of the shelf for placing the goods. When the clamping mechanism is opposite to the slot where the goods are placed, the extension mechanism can be started, and the extension mechanism can push the clamping mechanism into the slot where the goods are placed and start the clamping mechanism to move toward the center in the slot, so that the clamping mechanism can be clamped on both sides of the goods. Then the extension mechanism can be started again to pull the clamping mechanism back, so as to achieve the purpose of pulling the goods out of the shelf. The clamping mechanism can then be started again to drive the clamped goods to flip 90 degrees, so that the lower surface of the goods is opposite to the ground. The clamping mechanism can then place the goods in the required area through the lateral transmission mechanism and the lifting mechanism. In the process of placing the goods, the goods can also be placed farther away by starting the extension mechanism. This reciprocating operation realizes the stacking and placement of goods in the process of transporting the goods, and the reverse operation can also be performed to place the stacked goods on the shelves. This versatility makes it suitable for various complex warehousing and logistics scenarios, enhancing the flexibility and adaptability of the operation, and the entire handling and stacking process is automated, reducing manual intervention, which not only improves efficiency, but also reduces errors and potential safety hazards in manual operations.

[0027] 2. Through the design of the first motor, the driving wheel and the support plate, when the first C-shaped frame is moved laterally, the first motor can be started to drive the driving wheel on the outer surface of the output shaft to touch the guide rail on the guide plate for transmission operation, thereby driving the first C-shaped frame to move laterally on the upper surface of the guide plate through the connecting tube and the guide block, and then the first C-shaped frame can drive the clamping mechanism to move laterally.

[0028] 3. Through the design of the second motor, the first gear, the fastening frame, the mounting tube and the transmission column, while driving the first U-shaped frame to move horizontally, the second motor can also be started at the same time to drive the first gear to drive the second gear on the outer surface of the transmission column to rotate, so that the second gear can drive the transmission column to rotate in the mounting tube, and the mounting tube is fixedly installed in the I-shaped frame through the fastening frame. As the transmission column rotates, it can be transmitted on the outer surface of the first threaded rod, so that the transmission column can drive the I-shaped frame to perform vertical lifting operations in the concave groove on the inner side of the first U-shaped frame through the first rollers on both sides, and then the I-shaped frame can drive the clamping mechanism at one end to perform vertical lifting operations. Through the mutual coordination of this vertical lifting and lateral movement, the clamping mechanism can handle goods in multiple layers with different heights.

[0029] 4. Through the design of the third motor, the second threaded rod, the transmission disk, the extension plate and the second roller, the clamping mechanism is driven to move through lifting and lateral movement until the goods are level, the second threaded rod can be driven to rotate by starting the third motor, and a transmission disk is installed on the outer surface of the second threaded rod, and the transmission disk is fixedly installed on the lower surface of the extension plate, and the extension plate is slidably installed in the guide rail frame through the second rollers on both sides, so that the second threaded rod can be driven to transmit in the transmission disk through the third motor, and the extension plate can be pushed by the transmission disk to extend and slide out in the guide rail frame, so that the extension plate can drive the clamping mechanism to insert into the shelf to clamp the goods through the clamping mechanism, and the design of the extension plate can adapt to shelves of different depths and heights, so that it can be used in various storage environments, whether it is a shallow shelf or a deep shelf, it can operate flexibly, which provides scalability for the application range of the system, and through the pushing of the extension plate, it can place the goods farther away during the stacking process, thereby increasing the stacking volume of goods in the area. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of the heavy-duty lifting, transporting and stacking robot in Example 1 of the present invention;

[0031] Figure 2 is a schematic structural diagram of the first threaded rod in Embodiment 1 of the present invention;

[0032] Figure 3 This is a schematic diagram of the I-shaped frame structure in Example 1 of the present invention;

[0033] Figure 4 is a schematic structural diagram of the transverse transmission mechanism in Example 1 of the present invention;

[0034] Figure 5 It is a structural schematic diagram of the lifting mechanism in Example 1 of the present invention;

[0035] Figure 6 This is a schematic structural diagram of the first gear, the second gear and the chain in Embodiment 1 of the present invention;

[0036] Figure 7 is a schematic structural diagram of an extension mechanism in Embodiment 1 of the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the extension plate and the second roller in Example 1 of the present invention;

[0038] Fig. 9 This is a schematic diagram of the structure of the clamping mechanism in Example 1 of the present invention;

[0039] Fig.10 This is a structural schematic diagram of the second electric push rod pushing the first connecting plate to flip in Embodiment 1 of the present invention;

[0040] Fig.11 This is a schematic diagram of the overall structure of the heavy-duty lifting, transporting and stacking robot in Example 2 of the present invention;

[0041] Fig.12 for Fig.11 A schematic diagram of the enlarged structure at A in the middle;

[0042] Fig.13 The overall structure of the heavy-duty lifting, transporting and stacking robot in Embodiment 2 of the present invention from another perspective Figure 1 ;

[0043] Fig.14 The overall structure of the heavy-duty lifting, transporting and stacking robot in Embodiment 2 of the present invention from another perspective Figure 2 ;

[0044] Fig.15 It is a schematic diagram of the partial structure of the heavy-load lifting, transporting and stacking robot in Example 2 of the present invention;

[0045] Fig.16 This is a schematic diagram of the application of the heavy-load lifting, transporting and stacking robot in Example 2 of the present invention.

[0046] In the figure: 1, guide plate; 101, connecting tube; 102, first U-shaped frame; 103, first threaded rod; 104, I-shaped frame; 105, guide frame; 106, guide block; 107, first roller; 2, lifting mechanism; 201, second motor; 202, first gear; 203, fastening frame; 204, mounting tube; 205, chain; 206, second gear; 207, transmission column; 3, extension mechanism; 301, third motor; 302, second threaded rod; 303, transmission plate; 304, extension plate; 305, second roller; 4, clamping mechanism; 401, first connecting plate; 402, second connecting plate; 403, second U-shaped frame; 404, guide block; 405, slide rail; 406, first electric push rod; 407, slide column; 408, clamping plate; 40 9. Fourth motor; 410. Third threaded rod; 411. Third U-shaped frame; 412. Pulling block; 413. Push plate; 414. Fastening plate; 415. Docking plate; 416. Second electric push rod; 5. Horizontal transmission mechanism; 501. First motor; 502. Driving wheel; 503. Support plate; 6. Heavy-duty lifting, transporting and stacking device; 601. Bottom support frame; 602. Horizontal horizontal guide rail; 603. Bottom plate; 604. Vertical frame; 605. Vertical linear module; 606. Connecting rod; 607. Vertical guide rail; 608. U-shaped load-bearing plate; 6081. Wheel frame; 6082. Guide wheel; 609. Telescopic assembly; 6091. Outer rail; 6092. Middle rail; 6093. Inner rail; 610. Connecting seat; 611. Transport bearing plate. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] See also Figure 1-Figure 16 , this embodiment provides the following technical solutions:

[0049] Example 1

[0050] like Figure 1-Figure 3 As shown, this embodiment provides a heavy-load lifting, handling and stacking robot, including: a guide plate 1, a guide block 106 is slidably installed on the upper surface of the guide plate 1, a connecting tube 101 is fixedly installed between two groups of guide blocks 106, a transverse transmission mechanism 5 is fixedly installed in the connecting tube 101, and the transmission end of the transverse transmission mechanism 5 is in contact with the outer surface of the track of the guide plate 1, a first C-shaped frame 102 is fixedly installed on the upper surface of the connecting tube 101, an I-shaped frame 104 is slidably installed in the first C-shaped frame 102, a lifting mechanism 2 is fixedly installed in the I-shaped frame 104, the lifting mechanism 2 is threadedly installed on the outer surface of the first threaded rod 103, the first threaded rod 103 is fixedly installed between the connecting tube 101 and the first C-shaped frame 102, a guide frame 105 is fixedly installed at one end of the I-shaped frame 104, an extension mechanism 3 is slidably installed in the guide frame 105, and a clamping mechanism 4 is fixedly installed at one end of the extension mechanism 3.

[0051] First rollers 107 are rotatably mounted on both sides of the I-shaped frame 104 , and the I-shaped frame 104 is rollingly mounted in the concave groove on the inner side of the first U-shaped frame 102 via the first rollers 107 .

[0052] Through the design of the guide rail plate 1, the connecting tube 101, the guide block 106, the transverse transmission mechanism 5, the lifting mechanism 2, the extension mechanism 3 and the clamping mechanism 4, when the goods are carried out from the shelf and stacked, the transverse transmission mechanism 5 and the lifting mechanism 2 can be started to drive the clamping mechanism 4 fixedly installed at one end of the I-frame 104 to be lifted and moved laterally, so that the clamping mechanism 4 can be driven to be lifted to the height position of the shelf for placing the goods, and when the clamping mechanism 4 is opposite to the slot where the goods are placed, the extension mechanism 3 can be started, and the extension mechanism 3 can push the clamping mechanism 4 into the placement slot of the shelf and start the clamping mechanism 4 to move toward the center synchronously in the placement slot, so that the clamping mechanism 4 can be clamped on both sides of the goods, and then the extension mechanism 3 can be started again to pull the clamping mechanism 4 back, so as to realize the goods. In order to pull the goods out from the shelf, the clamping mechanism 4 can be started again to drive the clamped goods to turn 90 degrees, so that the lower surface of the goods is opposite to the ground, and then the clamping mechanism 4 can be used to place the goods in the required area through the horizontal transmission mechanism 5 and the lifting mechanism 2. In the process of placing the goods, the goods can also be placed farther away by starting the extension mechanism 3. This reciprocating operation realizes the operation of stacking and placing the goods in the process of transporting the goods, and the reverse operation can also be performed to place the stacked goods on the shelf. This versatility makes it suitable for various complex warehousing and logistics scenarios, enhances the flexibility and adaptability of the operation, and the entire transportation and stacking process is automated, reducing manual intervention, which not only improves efficiency, but also reduces errors and potential safety hazards in manual operation.

[0053] like Figure 4 As shown, the transverse transmission mechanism 5 includes a first motor 501, which is fixedly mounted at one end of the connecting tube 101, the output shaft of the first motor 501 passes through the connecting tube 101 and the end is rotatably mounted in the support plate 503, the support plate 503 is fixedly mounted on the inner surface of the connecting tube 101, and a driving wheel 502 is fixedly mounted on the middle part of the output shaft of the first motor 501, and the outer surface of the driving wheel 502 is in contact with the outer surface of the track of the guide plate 1, so that it can drive the first U-shaped frame 102 to move laterally on the upper surface of the guide plate 1.

[0054] Through the design of the first motor 501, the driving wheel 502 and the support plate 503, when the first C-shaped frame 102 is moved laterally, the first motor 501 can be started to drive the driving wheel 502 on the outer surface of the output shaft to contact the guide rail on the guide plate 1 for transmission operation, thereby driving the first C-shaped frame 102 to move laterally on the upper surface of the guide plate 1 through the connecting tube 101 and the guide block 106, and then the first C-shaped frame 102 can drive the clamping mechanism 4 to move laterally.

[0055] like Figure 5-Figure 6As shown, the lifting mechanism 2 includes a second motor 201, which is fixedly installed in the I-shaped frame 104, and a first gear 202 is fixedly installed at one end of the output shaft of the second motor 201. A chain 205 is sleeved on the outer surface of the first gear 202, and the other end of the chain 205 is sleeved on the outer surface of the second gear 206. The second gear 206 is fixedly installed at the lower end of the outer surface of a transmission column 207, and the transmission column 207 is rotatably installed in the mounting cylinder 204, and the mounting cylinder 204 is fixedly installed in the fastening frame 203, and the fastening frame 203 is fixedly installed in the I-shaped frame 104. The transmission column 207 is transmission-installed on the outer surface of the first threaded rod 103, so that it can drive the I-shaped frame 104 to perform vertical lifting operations in the concave groove inside the first U-shaped frame 102 through the first rollers 107 on both sides.

[0056] By the design of the second motor 201, the first gear 202, the fastening frame 203, the mounting cylinder 204 and the transmission column 207, in the process of driving the first U-shaped frame 102 to move horizontally, the second motor 201 can also be started together to drive the first gear 202 to drive the second gear 206 on the outer surface of the transmission column 207 to rotate, so that the second gear 206 can drive the transmission column 207 to rotate in the mounting cylinder 204, and the mounting cylinder 204 is fixedly installed in the I-shaped frame 104 through the fastening frame 203. With the rotation of the transmission column 207, the transmission can be transmitted on the outer surface of the first threaded rod 103, so that the transmission column 207 can drive the I-shaped frame 104 to perform a vertical lifting operation in the concave groove inside the first U-shaped frame 102 through the first rollers 107 on both sides, so that the I-shaped frame 104 can drive the clamping mechanism 4 at one end to perform a vertical lifting operation. Through the mutual cooperation of this vertical lifting and lateral movement, the clamping mechanism 4 can handle goods in multiple layers with different heights.

[0057] like Figure 7 As shown, the extension mechanism 3 includes a third motor 301, which is fixedly mounted on the lower surface of the I-frame 104, and a second threaded rod 302 is fixedly mounted on one end of the output shaft of the third motor 301. The outer surface of the second threaded rod 302 is threadedly mounted in a transmission disk 303, and the transmission disk 303 is fixedly mounted on the lower surface of the extension plate 304. Multiple groups of second rollers 305 are fixedly mounted on both sides of the extension plate 304, and the extension plate 304 is rollingly mounted in a concave groove rotatably mounted on the inner side of the guide frame 105 through the second rollers 305.

[0058] The transmission disc 303 can drive the extension plate 304 to drive the material clamping mechanism 4 fixedly installed at one end to slide outward and extend or to be retracted and slid inward through the transmission of the second threaded rod 302 .

[0059] Through the design of the third motor 301, the second threaded rod 302, the transmission disc 303, the extension plate 304 and the second roller 305, the material clamping mechanism 4 is moved by lifting and lateral movement until the goods are flush, and the second threaded rod 302 can be driven to rotate by starting the third motor 301, and the transmission disc 303 is installed on the outer surface of the second threaded rod 302, and the transmission disc 303 is fixedly installed on the lower surface of the extension plate 304, and the extension plate 304 is slidably installed in the guide rail frame 105 through the second rollers 305 on both sides, so that the second threaded rod 302 can be driven by the third motor 301 to rotate on the transmission disc 3 03, can push the extension plate 304 through the transmission disc 303 to extend and slide out in the guide rail frame 105, so that the extension plate 304 can drive the clamping mechanism 4 to insert into the shelf to clamp the goods through the clamping mechanism 4, and the design of the extension plate 304 can adapt to shelves of different depths and heights, so that it can be used in various storage environments, whether it is a shallow shelf or a deep shelf, it can operate flexibly, which provides scalability for the application range of the system, and through the pushing of the extension plate 304, it can place the goods farther away during the stacking process, thereby increasing the stacking volume of goods in the area.

[0060] like Figure 8-Figure 10 As shown, the clamping mechanism 4 includes a first connecting plate 401 and a second connecting plate 402. A fastening plate 414 is fixedly installed at one end of the first connecting plate 401. The fastening plate 414 is rotatably installed between two sets of docking plates 415. The docking plate 415 is fixedly installed on the lower surface of the second connecting plate 402, so that the first connecting plate 401 can be flipped 90° through the fastening plate 414, so that it can be flipped to be flush with the second connecting plate 402. The second connecting plate 402 is fixedly installed on the lower surface of the extension plate 304.

[0061] A second C-shaped frame 403 is fixedly installed at one end of the second connecting plate 402. Two sets of slide rails 405 are fixedly installed at one end of the second C-shaped frame 403 and the second connecting plate 402. A guide rail block 404 is slidably installed on the outer surface of the slide rail 405. A third C-shaped frame 411 is fixedly installed at one end of the guide rail block 404. A slide column 407 is fixedly installed between the second C-shaped frame 403 and the third C-shaped frame 411. The upper and lower ends of the outer surface of the slide column 407 are slidably installed with a first electric push rod 406. The piston rods of the first electric push rods 406 are respectively fixedly installed on the upper and lower surfaces of the second C-shaped frame 403 and the third C-shaped frame 411. A clamping plate 408 is fixedly installed at one end of the first electric push rod 406. By pushing the piston rods of the two groups of first electric push rods 406, the first electric push rods 406 can be driven to slide on the outer surface of the sliding column 407. During the sliding process, the clamping plate 408 fixedly installed at one end can be driven to move vertically toward the center synchronously to achieve the purpose of clamping the material.

[0062] A second electric push rod 416 is rotatably installed at one end of the second connecting plate 402, and the piston rod of the second electric push rod 416 is rotatably installed in the pushing plate 413. The pushing plate 413 is fixedly installed at one end of the first connecting plate 401. Through the pushing and pulling of the second electric push rod 416, the first connecting plate 401 can be driven to flip 90°, which can drive the clamping plate 408 to flip to face downward and horizontally.

[0063] A fourth motor 409 is fixedly mounted on one end of the first connecting plate 401, a third threaded rod 410 is fixedly mounted on one end of the output shaft of the fourth motor 409, a pulling block 412 is threadedly mounted on the outer surface of the third threaded rod 410, and the pulling block 412 is fixedly mounted on one end of the third U-shaped frame 411;

[0064] The third threaded rod 410 is driven by the fourth motor 409 to drive the third U-shaped frame 411 to slide horizontally toward the second U-shaped frame 403 on the outer surface of the slide rail 405 through the guide rail block 404 to achieve the clamping operation;

[0065] The horizontally clamped clamping plate 408 can clamp and take out the goods at the high place of the shelf, and the goods in the clamping plate 408 can be turned 90 degrees by pulling the second electric push rod 416, and the goods can be stacked in a certain area through lifting and horizontal movement;

[0066] The vertical clamping plates 408 that are close to the center can clamp irregular goods.

[0067] Through the design of the first connecting plate 401, the second connecting plate 402, the second electric push rod 416, the second C-shaped frame 403, the third C-shaped frame 411, the first electric push rod 406, the clamping plate 408 and the guide rail block 404, when the extension plate 304 is pushed out, the first connecting plate 401 and the second connecting plate 402 fixedly installed on the lower surface can be driven to move, and the first connecting plate 401 can drive the second C-shaped frame 403 fixedly installed at one end and the third C-shaped frame 411 slidably installed on the outer surface of the slide rail 405 to extend into the inner shelf, so that the clamping plates 408 fixedly installed at one end of the two sets of first electric push rods 406 slidably installed in the second C-shaped frame 403 and the third C-shaped frame 411 can be inserted from both sides of the goods to surround the goods. Subsequently, the third threaded rod 410 can be driven to transmit by starting the fourth motor 409 The pulling block 412 on the outer surface of the movable frame 404 can drive the third U-shaped frame 411 to slide toward the center on the outer surface of the slide rail 405 through the guide rail block 404, so that the goods can be clamped between the clamping plates 408. The third U-shaped frame 411 that can be driven to slide can adapt to goods of different sizes and shapes, so that the clamping plate 408 can be adjusted according to the actual size of the goods through the third U-shaped frame 411 to meet the clamping requirements of various goods, thereby improving the applicability and flexibility of the system. Then, the third motor 301 can be started again to drive the second threaded rod 302 to reverse, so that the second threaded rod 302 can drive the transmission plate 303 to retract the extension plate 304 into the guide rail frame 105, so that the goods clamped by the clamping plate 408 can be pulled out of the shelf, and then the goods can be stacked and placed through lifting and lateral movement;

[0068] When it is necessary to clamp the goods and place them inside, the second electric push rod 416 can be started to rotate the first connecting plate 401 90 degrees through the piston rod to make it flush with the second connecting plate 402, so that the second connecting plate 402 can drive the second C-shaped frame 403 and the third C-shaped frame 411 to flip to a vertical state, and then the third motor 301 can be started according to the length of the clamped goods to pull the third C-shaped frame 411 closer to the second C-shaped frame 403, so as to achieve the function of reducing the distance between the clamping plates 408, so as to adapt to goods of different lengths and sizes. This flexibility enables the system to handle a variety of types of goods, and can easily clamp and carry small to large items, and adjust to be able to carry out After the clamping distance is reached, it can stop, and then the clamping plate 408 at one end of the first electric push rod 406 in the second U-shaped frame 403 and the third U-shaped frame 411 can be driven to be flush with the goods through lifting and lateral movement, and the first electric push rod 406 is started to slide on the outer surface of the sliding column 407 through the push of the piston rod, so that the two groups of first electric push rods 406 can drive the clamping plate 408 at one end to move toward the center synchronously to clamp the goods, and then the second electric push rod 416 can be started again to push the first connecting plate 401 90° to flip it open, so that the first connecting plate 401 can drive the clamped goods in the clamping plate 408 to be flush with the placement opening of the shelf, so that the extension plate 304 can be pushed in.

[0069] According to the above technical solution, the working steps of this solution are summarized and sorted out: when the goods are carried out from the shelf and stacked, the first motor 501 can be started to drive the driving wheel 502 on the outer surface of the output shaft to touch the guide rail on the guide plate 1 for transmission operation, thereby driving the first C-shaped frame 102 to move horizontally on the upper surface of the guide plate 1 through the connecting tube 101 and the guide block 106, so that the first C-shaped frame 102 can drive the clamping plate 408 to move horizontally. In the process of driving the first C-shaped frame 102 to move horizontally, the second motor 201 can also be started to drive the first gear 202 to drive the second gear 206 on the outer surface of the transmission column 207 to rotate, so that the second gear 206 can drive the transmission The column 207 rotates in the installation cylinder 204, and the installation cylinder 204 is fixedly installed in the I-shaped frame 104 through the fastening frame 203. As the transmission column 207 rotates, it can be transmitted on the outer surface of the first threaded rod 103, so that the transmission column 207 can drive the I-shaped frame 104 to perform vertical lifting operations in the concave grooves on the inner side of the first U-shaped frame 102 through the first rollers 107 on both sides, so that the I-shaped frame 104 can drive the clamping plate 408 at one end to perform vertical lifting operations. Through the mutual cooperation of this vertical lifting and lateral movement, the clamping plate 408 can be driven to move to be flush with the placement opening of the shelf, and then the second threaded rod 302 can be driven to rotate by the third motor 301, and the second threaded rod The outer surface of the extension plate 304 is provided with a transmission disk 303, and the transmission disk 303 is fixedly installed on the lower surface of the extension plate 304. The extension plate 304 is slidably installed in the guide rail frame 105 through the second rollers 305 on both sides, and then the third motor 301 can drive the second threaded rod 302 to transmit in the transmission disk 303, and the transmission disk 303 can push the extension plate 304 to extend outward in the guide rail frame 105, so that the extension plate 304 can drive the first connecting plate 401 and the second connecting plate 402 fixedly installed on the lower surface to move, and the first connecting plate 401 can drive the second U-shaped frame 403 fixedly installed at one end and the third U-shaped frame 411 slidably installed on the outer surface of the slide rail 405 to extend into the inner shelf, so as to enable The clamping plates 408 fixedly installed at one end of the two sets of first electric push rods 406 slidably installed in the second U-shaped frame 403 and the third U-shaped frame 411 can be inserted from both sides of the goods to surround the goods. Then, the fourth motor 409 can be started to drive the pulling block 412 on the outer surface of the third threaded rod 410 to drive the third U-shaped frame 411 to slide toward the center on the outer surface of the slide rail 405 through the guide rail block 404, so that the goods can be clamped between the clamping plates 408. Then, the third motor 301 can be started again to drive the second threaded rod 302 to reverse, so that the second threaded rod 302 can drive the transmission disk 303 to retract the extension plate 304 into the guide rail frame 105, so that the goods clamped by the clamping plates 408 can be pulled out of the shelf.Then, the goods can be stacked and placed by lifting and moving horizontally. When the goods need to be clamped and placed inside the goods, the second electric push rod 416 can be started to rotate the first connecting plate 401 90 degrees through the piston rod to make it flush with the second connecting plate 402, so that the second connecting plate 402 can drive the second C-shaped frame 403 and the third C-shaped frame 411 to flip to a vertical state. Then, according to the length of the clamped goods, the third motor 301 can be started to pull the third C-shaped frame 411 closer to the second C-shaped frame 403, so as to achieve the function of reducing the distance between the clamping plates 408. After adjusting to the distance that can clamp the goods, it can stop, and then it can be clamped. The lifting and lateral movement drives the clamping plate 408 at one end of the first electric push rod 406 in the second U-shaped frame 403 and the third U-shaped frame 411 to be flush with the goods, and the first electric push rod 406 is started to slide on the outer surface of the slide column 407 through the push of the piston rod, so that the two groups of first electric push rods 406 can drive the clamping plate 408 at one end to move synchronously to the center to clamp the goods, and then the second electric push rod 416 can be started again to push the first connecting plate 401 90° to flip it open, so that the first connecting plate 401 can drive the clamped goods in the clamping plate 408 to be flush with the placement opening of the shelf, so that the extension plate 304 can be pushed in.

[0070] In summary: this heavy-load lifting and stacking robot can automatically stack goods and place them on shelves, and the stacking and placing processes are automated, reducing the time of manual handling, especially when handling heavy or large goods, its speed and efficiency advantages are more obvious, and it can also automatically adjust the grab size according to the size of the goods, so that it can adapt to goods of different sizes and weights.

[0071] Example 2

[0072] like Figure 11-Figure 16As shown, different from the first embodiment, the present embodiment provides a new heavy-duty lifting, transporting and stacking robot, including a heavy-duty lifting, transporting and stacking device 6, the heavy-duty lifting, transporting and stacking device 6 includes a bottom support frame 601, a transverse horizontal guide rail 602 is fixedly installed on the upper part of the bottom support frame 601, a bottom plate 603 is slidably installed on the upper part of the transverse horizontal guide rail 602 through a slider, and a transverse linear module for driving the bottom plate 603 to move horizontally left and right is fixedly installed between the transverse horizontal guide rails 602, the moving block of the transverse linear module is fixedly connected to the bottom of the bottom plate 603, and the upper part of the bottom plate 603 Two symmetrically arranged vertical frames 604 are fixedly installed, a connecting rod 606 is fixed between the two vertical frames 604 near the top thereof, and a group of vertical linear modules 605 is fixedly installed in each vertical frame 604, a vertical guide rail 607 is fixedly installed on the side surfaces of the two vertical frames 604 close to each other, a U-shaped load-bearing plate 608 is fixedly installed between the moving blocks of the two vertical linear modules 605, and the outer walls on both sides of the U-shaped load-bearing plate 608 are slidably connected to the vertical guide rail 607 through sliders, so that the vertical linear module 605 can drive the U-shaped load-bearing plate 608 to move up and down stably along the vertical guide rail 607.

[0073] Among them, two sets of telescopic components 609 that can telescope forward and backward are fixedly installed on the inner side of the upper part of the U-shaped load-bearing plate 608, and a connecting seat 610 is fixedly installed at the telescopic end of the two sets of telescopic components 609. A transport bearing plate 611 is fixedly installed between the two sets of connecting seats 610, and the transport bearing plate 611 is used to carry heavy products;

[0074] Each telescopic assembly 609 includes an outer rail 6091, a middle rail 6092 and an inner rail 6093. The outer rail 6091 is fixedly mounted on the inner side of the upper portion of the U-shaped load-bearing plate 608, and the outer rail 6091 is arranged perpendicular to the transverse horizontal guide rail 602. The middle rail 6092 is slidably mounted inside the outer rail 6091, and one end of the middle rail 6092 can slide to the outside of the outer rail 6091. The inner rail 6093 is slidably mounted inside the middle rail 6092, and one end of the inner rail 6093 can slide to the outside of the middle rail 6092. The transport bearing plate 611 is fixedly mounted on the upper portion of one end of the inner rail 6093 that can slide to the outside of the middle rail 6092.

[0075] Among them, a longitudinal linear module for driving the inner rail 6093 to move forward and backward is fixedly installed on the U-shaped load-bearing plate 608, and the moving block of the longitudinal linear module is fixedly connected to the inner rail 6093;

[0076] Among them, wheel frames 6081 are fixedly installed on the inner side surfaces of the two side walls of the U-shaped load-bearing plate 608, and guide wheels 6082 are rotatably installed on the wheel frames 6081 through rotating shafts.

[0077] Working principle:

[0078] The working principle of the heavy-duty lifting, transporting and stacking robot provided in this embodiment is mainly developed around the coordinated operation of multiple components of the heavy-duty lifting, transporting and stacking device 6. The specific process is as follows:

[0079] Lateral movement: The lateral linear module drives the base plate 603 to move horizontally left and right on the lateral horizontal guide rail 602, thereby realizing the position adjustment of the robot in the horizontal direction.

[0080] Vertical lifting: The vertical linear modules 605 in the two vertical frames 604 drive the U-shaped load-bearing plate 608 to move up and down along the vertical guide rails 607, thereby achieving vertical lifting or lowering of the transport load plate 611 and the load thereon.

[0081] Telescopic movement: The inner rail 6093 in each telescopic assembly 609 slides inside the outer rail 6091 and the middle rail 6092. The inner rail 6093 is driven to move forward and backward by the longitudinal linear module, thereby driving the transport carrier plate 611 to telescope forward and backward to meet the needs of transporting heavy products at different locations.

[0082] Stable guidance: The guide wheels 6082 on both sides of the U-shaped load-bearing plate 608 roll on the vertical guide rails 607 to ensure the stability and smoothness of the U-shaped load-bearing plate 608 during the up and down movement.

[0083] Beneficial Effects

[0084] High load-bearing capacity: Through the design of the bottom support frame 601, the vertical frame 604, the U-shaped load-bearing plate 608 and other structures, the entire device has a strong load-bearing capacity and is suitable for carrying heavy goods.

[0085] Multi-degree-of-freedom adjustment: The robot has three degrees of freedom: horizontal movement, vertical lifting, and front and rear extension. It can flexibly respond to the needs of cargo handling at different locations and heights, improving operational efficiency and flexibility.

[0086] Stable structure: The use of precision mechanical structures such as guide rails, sliders, linear modules, etc. ensures the stability and accuracy of the robot during movement and reduces vibration and errors.

[0087] Easy to maintain: The modular design makes it easy to disassemble and replace each component, which facilitates maintenance and reduces maintenance costs.

[0088] Strong applicability: By adjusting the length and position of the telescopic component 609, it can adapt to the handling of goods in different positions, thereby improving the versatility and adaptability of the equipment.

[0089] Parts not involved in the present invention are the same as the prior art or can be implemented by the prior art. Although the embodiments of the present invention have been shown and described, it is understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A heavy-load lifting, transporting and stacking robot, characterized in that: include: A guide rail plate (1), wherein a guide block (106) is slidably mounted on the upper surface of the guide rail plate (1), a connecting tube (101) is fixedly mounted between two groups of the guide blocks (106), and a transverse transmission mechanism (5) is fixedly mounted inside the connecting tube (101); The transmission end of the transverse transmission mechanism (5) contacts and fits with the outer surface of the track of the guide rail plate (1); a first C-shaped frame (102) is fixedly installed on the upper surface of the connecting cylinder (101); an I-shaped frame (104) is slidably installed in the first C-shaped frame (102); and a lifting mechanism (2) is fixedly installed in the I-shaped frame (104); The lifting mechanism (2) is threadedly mounted on the outer surface of a first threaded rod (103); the first threaded rod (103) is fixedly mounted between a connecting tube (101) and a first U-shaped frame (102); a guide rail frame (105) is fixedly mounted on one end of the I-shaped frame (104); an extension mechanism (3) is slidably mounted in the guide rail frame (105); and a material clamping mechanism (4) is fixedly mounted on one end of the extension mechanism (3).

2. A heavy-load lifting, transporting and stacking robot according to claim 1, characterized in that: First rollers (107) are rotatably mounted on both sides of the I-shaped frame (104), and the I-shaped frame (104) is rollingly mounted in a concave groove on the inner side of the first U-shaped frame (102) via the first rollers (107).

3. The heavy-load lifting, transporting and stacking robot according to claim 1, characterized in that: The transverse transmission mechanism (5) comprises a first motor (501), the first motor (501) being fixedly mounted on one end of a connecting tube (101), the output shaft of the first motor (501) passing through the connecting tube (101) and the end thereof being rotatably mounted in a support plate (503), the support plate (503) being fixedly mounted on the inner surface of the connecting tube (101), a driving wheel (502) being fixedly mounted on the middle portion of the output shaft of the first motor (501), the outer surface of the driving wheel (502) being in contact with the outer surface of a track of the guide plate (1), so that the driving wheel (502) can drive the first U-shaped frame (102) to move transversely on the upper surface of the guide plate (1).

4. The heavy-load lifting, transporting and stacking robot according to claim 1, characterized in that: The lifting mechanism (2) comprises a second motor (201), the second motor (201) is fixedly mounted in an I-shaped frame (104), a first gear (202) is fixedly mounted on one end of an output shaft of the second motor (201), a chain (205) is sleeved on the outer surface of the first gear (202), the other end of the chain (205) is sleeved on the outer surface of a second gear (206), and the second gear (206) is fixedly mounted on the lower end of the outer surface of a transmission column (207). The transmission column (207) is rotatably mounted in the mounting tube (204), the mounting tube (204) is fixedly mounted in the fastening frame (203), the fastening frame (203) is fixedly mounted in the I-shaped frame (104), and the transmission column (207) is transmission-mounted on the outer surface of the first threaded rod (103) so as to drive the I-shaped frame (104) to perform vertical lifting operations in the concave grooves on the inner side of the first U-shaped frame (102) through the first rollers (107) on both sides.

5. The heavy-load lifting, transporting and stacking robot according to claim 1, characterized in that: The extension mechanism (3) comprises a third motor (301), the third motor (301) is fixedly mounted on the lower surface of the I-shaped frame (104), a second threaded rod (302) is fixedly mounted on one end of the output shaft of the third motor (301), the outer surface of the second threaded rod (302) is threadedly mounted in a transmission disk (303), the transmission disk (303) is fixedly mounted on the lower surface of the extension plate (304), a plurality of sets of second rollers (305) are fixedly mounted on both sides of the extension plate (304), the extension plate (304) is rollingly mounted in a concave groove rotatably mounted on the inner side of the guide rail frame (105) through the second rollers (305), and the transmission disk (303) can drive the extension plate (304) to drive the clamping mechanism (4) fixedly mounted at one end to slide outward and extend or to be retracted and slid inward through the transmission of the second threaded rod (302).

6. The heavy-load lifting, transporting and stacking robot according to claim 1, characterized in that: The clamping mechanism (4) comprises a first connecting plate (401) and a second connecting plate (402), wherein a fastening plate (414) is fixedly mounted on one end of the first connecting plate (401), wherein the fastening plate (414) is rotatably mounted between two sets of docking plates (415), wherein the docking plate (415) is fixedly mounted on the lower surface of the second connecting plate (402), so that the first connecting plate (401) can be flipped 90° through the fastening plate (414) so ​​that it can be flipped to be flush with the second connecting plate (402), and the second connecting plate (402) is fixedly mounted on the lower surface of the extension plate (304).

7. The heavy-load lifting, transporting and stacking robot according to claim 6, characterized in that: A second C-shaped frame (403) is fixedly mounted on one end of the second connecting plate (402), and two sets of slide rails (405) are fixedly mounted on one end of the second C-shaped frame (403). A guide rail block (404) is slidably mounted on the outer surface of the slide rail (405), and a third C-shaped frame (411) is fixedly mounted on one end of the guide rail block (404). A sliding column (407) is fixedly mounted between the second C-shaped frame (403) and the third C-shaped frame (411), and a first electric push rod is slidably mounted on the upper and lower ends of the outer surface of the sliding column (407). (406), the piston rods of each two groups of the first electric push rods (406) are respectively fixedly installed on the upper and lower surfaces of the second U-shaped frame (403) and the third U-shaped frame (411), and a clamping plate (408) is fixedly installed at one end of the first electric push rod (406). By pushing the piston rods of the two groups of the first electric push rods (406), the first electric push rod (406) can be driven to slide on the outer surface of the sliding column (407), and during the sliding process, the clamping plate (408) fixedly installed at one end can be driven to move vertically toward the center synchronously to achieve the purpose of clamping the material.

8. The heavy-load lifting, transporting and stacking robot according to claim 7, characterized in that: A second electric push rod (416) is rotatably mounted on one end of the second connecting plate (402); a piston rod of the second electric push rod (416) is rotatably mounted in a push plate (413); and the push plate (413) is fixedly mounted on one end of the first connecting plate (401). By pushing and pulling the second electric push rod (416), the first connecting plate (401) can be driven to flip 90 degrees, so that the clamping plate (408) can be flipped to face downward and horizontally.

9. The heavy-load lifting, transporting and stacking robot according to claim 8, characterized in that: A fourth motor (409) is fixedly mounted on one end of the first connecting plate (401), a third threaded rod (410) is fixedly mounted on one end of the output shaft of the fourth motor (409), a pulling block (412) is threadedly mounted on the outer surface of the third threaded rod (410), and the pulling block (412) is fixedly mounted on one end of the third U-shaped frame (411), wherein: The fourth motor (409) drives the third threaded rod (410) to drive the third C-shaped frame (411) to slide horizontally toward the second C-shaped frame (403) on the outer surface of the slide rail (405) through the guide rail block (404) to achieve a clamping operation; The clamping plate (408) held horizontally can clamp and take out goods located at a high position on the shelf, and the goods in the clamping plate (408) can be turned 90 degrees by pulling the second electric push rod (416) and can be stacked in a certain area through lifting and lateral movement; The clamping plates (408) that are vertically clamped toward the center can clamp irregular goods.

10. A heavy-load lifting, transporting and stacking robot, characterized in that: The heavy-load lifting, transporting and stacking device (6) comprises a bottom support frame (601), a transverse horizontal guide rail (602) is fixedly installed on the upper part of the bottom support frame (601), a bottom plate (603) is slidably installed on the upper part of the transverse horizontal guide rail (602) through a slider, and a transverse linear module for driving the bottom plate (603) to move horizontally left and right is fixedly installed between the transverse horizontal guide rails (602), and a moving block of the transverse linear module is fixedly connected to the bottom of the bottom plate (603); Two symmetrically arranged vertical frames (604) are fixedly installed on the upper part of the base plate (603), a connecting rod (606) is fixed between the two vertical frames (604) near the top thereof, and a group of vertical linear modules (605) is fixedly installed in each of the vertical frames (604), a vertical guide rail (607) is fixedly installed on the side surfaces of the two vertical frames (604) close to each other, and a U-shaped load-bearing plate (608) is fixedly installed between the moving blocks of the two vertical linear modules (605).

Images