Stacking robot with positioning and navigation functions

Abstract

The invention relates to the technical field of stacking robots, in particular to a stacking robot with positioning and navigation functions, which comprises a lower stacking cover frame, the top end of the lower stacking cover frame is movably connected with an upper stacking cover frame, the front surface of the lower stacking cover frame is fixedly connected with a lower contraction frame, and the front surface of the upper stacking cover frame is fixedly connected with an upper contraction frame. A first air control pump is arranged at one end of the lower telescopic frame and one end of the electric push rod, and the inner wall of the lower stacking cover frame and the inner wall of the upper stacking cover frame are fixedly connected with a push rod frame. Through the arrangement of the lower stacking cover frame, the upper stacking cover frame, the lower shrinkage frame, the upper shrinkage frame, a first air control pump, a push rod frame, an electric push rod, a frame-shaped frame, a scanning probe, an upper guide frame, a lower guide frame, a control frame and a second air control pump, the equipment can conduct more stable positioning stacking feeding and discharging operation on materials; in the actual using process, a worker controls the first air control pump machine on the lower telescopic frame to be started at first.

Description

Technical Field

[0001] The present invention relates to the technical field of stacking robots, in particular to a stacking robot with positioning and navigation functions. Background Art

[0002] Warehousing is the storage and preservation of goods and articles in warehouses. "Warehouse" is a general term for buildings and sites for storing, preserving and storing articles. It can be a house building, cave, large container or specific site, etc. It has the function of storing and protecting articles. "Chu" means storage and reserve, which means to collect and store for use. It has the meaning of collection, preservation and delivery for use. Stacking is one of the important technical means in warehousing. Stacking has various forms according to the basic performance and appearance of the goods. The basic forms include overlapping, criss-cross, supine and alternating, pressed seam, pagoda, ventilation, column, fish scale, cushion and rack. Pallet stacking is a stacking method that has developed rapidly in recent decades. Its characteristic is that the goods are stored directly on the pallet. , the goods never leave the pallet from loading and unloading, carrying into the warehouse, to outbound transportation, which can greatly improve the efficiency of mechanical operations and reduce the number of times of lifting. Pallets make the application range of stacking very wide. Flat pallets can be used for goods that are neatly packaged and not afraid of pressure, box pallets can be used for bulk or scattered goods, and column pallets can be used to increase the stacking height for goods that are afraid of pressure or have irregular shapes. When stacking, the four columns not only bear the upper weight, but also greatly increase the stability. With the improvement of the mechanization level of warehouse operations, pallet stacking will be more widely used. Pallets are not only widely used in warehouse stacking, but also gradually promoted in transportation. This has a significant effect on reducing the number of loading and unloading, reducing labor intensity, and speeding up the circulation and transit of goods.

[0003] For example, the patent document with the announcement number CN 118439381 B discloses a handling robot for stacking warehousing, which includes a robot body, a support plate, and a handling device. The support plate is arranged at the driving end of the robot body, and the handling device is arranged on the support plate. The two ends of the support plate in the length direction extend vertically downward. The handling device includes a clamping mechanism, a clamping component 1, and a clamping component 2. The clamping mechanism includes a motor, a screw, and a guide rod 1. The motor is installed at the end of the support plate in the length direction. The output shaft of the motor is arranged horizontally. When clamping the box cargo, it can drive the box cargo to move upward. When the box cargo is separated from the lifting block, the elastic force of the spring three pushes the lifting block to move toward the baffle away from the two ends of the guide column. The lifting block is at the bottom of the box, thereby supporting the box and improving the stability of clamping the box cargo.

[0004] However, when this structure is actually used for stacking storage materials, it is often only able to carry out stacking and loading and unloading operations by directly moving the materials and then lifting them. It is unable to fully limit the materials during stacking and unloading, resulting in the equipment being unable to achieve sufficient positioning and protection operations for the materials during actual stacking. It is very easy to have problems with tilting and instability after subsequent stacking. At the same time, when the equipment is carrying materials for stacking, it is unable to perform fast navigation and fixed-point operations. During actual stacking operations, the equipment as a whole often has shaking problems, and is unable to complete the stacking and loading and unloading operations of the materials more safely and reliably, and is unable to meet daily use needs. Therefore, it is urgent to design a stacking robot with positioning and navigation functions to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a stacking robot with positioning and navigation functions, so as to solve the problem that the existing structure proposed in the above background technology can only perform stacking and loading and unloading operations of the materials directly moved and lifted when being used for actual warehouse material stacking, and it is unable to perform sufficient limiting operations on the materials during stacking and unloading, resulting in that during actual stacking, the equipment cannot achieve sufficient positioning and protection operations for the materials, and is very likely to have problems of tilting and instability after subsequent stacking. At the same time, when the equipment is carrying materials for stacking, it is unable to perform fast navigation and fixed-point operations. During actual stacking operations, the equipment as a whole often has the problem of shaking, and cannot complete the stacking and loading and unloading operations of the materials more safely and reliably, and cannot meet the daily use needs.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical scheme: a stacking robot with positioning and navigation functions, comprising a lower stacking cover frame, the top end of the lower stacking cover frame is movably connected to an upper stacking cover frame, the front side of the lower stacking cover frame is fixedly connected to a lower retracting frame, the front side of the upper stacking cover frame is fixedly connected to an upper retracting frame, the lower retracting frame and one end of an electric push rod are provided with a first air control pump, the inner walls of the lower stacking cover frame and the upper stacking cover frame are fixedly connected to a push rod frame, electric push rods are provided at the four corners between the upper and lower push rod frames, the back edge of the upper stacking cover frame is fixedly connected to a frame frame, the back side of the frame frame is provided with a scanning probe, the back bottom end of the lower stacking cover frame is fixedly connected to an upper guide frame, and the back top end of the upper stacking cover frame is fixedly connected to the lower guide frame; A control frame, the bottom end of the lower stacking cover frame is fixedly connected to the control frame, the bottom end of the control frame is provided with a second air control pump, the inner center of the control frame is provided with a lifting airbag, the top of the lifting airbag is fixedly connected to the lifting frame, the inner part of the lifting frame is movably connected with a supporting plate, both sides of the control frame are fixedly connected to hydraulic seats, and hydraulic rods are fixedly provided at both ends of the surface of the hydraulic seats.

[0007] Preferably, the two ends of the bottom of the control frame are fixedly connected with a transverse moving frame, the two sides of the bottom of the control frame are fixedly connected with a vertical moving frame, the inner wall between the transverse moving frame and the vertical moving frame is fixedly connected with a reinforcement frame, the bottom of the transverse moving frame is provided with a transverse track, and the bottom of the vertical moving frame is provided with a vertical track.

[0008] Preferably, one end of the hydraulic rod is fixedly connected to a lifting top seat, the bottom end of the hydraulic seat is fixedly connected to a press-fit seat, the top of the lifting top seat is provided with a shrink ring cover, and the bottom of the lifting top seat is provided with a support ring airbag.

[0009] Preferably, a liquid control pump is provided on the front of the control frame, a liquid homogenizing pipeline is embedded in the side of the control frame, and liquid homogenizing valve seats are provided at the four corners on both sides of the liquid homogenizing pipeline.

[0010] Preferably, the surface of the supporting plate is provided with an anti-slip pad, both sides of the bottom of the supporting plate are fixedly connected with limiting slide bars, and the surface of the lifting frame is movably connected with a shrinkage groove.

[0011] Preferably, limiting slide grooves are arranged on both sides of the inner bottom wall of the contraction groove, contraction springs are arranged inside the limiting slide grooves, and the limiting slide grooves and the contraction springs are matched with the limiting slide strips.

[0012] Preferably, guide grooves are provided inside the upper guide frame and the lower guide frame, damping rubber pads are provided on both sides of the inner wall of the guide groove, and damping rollers are provided at both ends of the inner wall of the guide groove.

[0013] Preferably, a frame-shaped groove is provided on the surface of the frame frame, a driving unit is provided on the back of the scanning probe, and the frame-shaped groove and the driving unit are adapted to each other.

[0014] Preferably, cover connecting grooves are provided on both sides of the inner walls of the lower stacking cover frame and the upper stacking cover frame, the inner walls of the cover connecting grooves are provided with fitting side inclined pads, a pushing air bag is provided inside the lower shrinking frame, and a pushing plate is provided at one end of the pushing air bag.

[0015] Preferably, a first butt joint strip is provided at the top edge of the lower stacking cover frame, and a second butt joint strip is provided at the bottom edge of the upper stacking cover frame.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The stacking robot with positioning and navigation functions, through the lower stacking cover frame, upper stacking cover frame, lower retracting frame, upper retracting frame, first air control pump, push rod frame, electric push rod, frame frame, scanning probe, upper guide frame and lower guide frame, enables the equipment to perform more stable positioning, stacking and loading and unloading operations on materials. In actual use, the electric push rod between the second air control pump and the push rod frame at the bottom of the control frame is started synchronously, and the second air control pump controls the lifting and lowering frame, the supporting plate and the material as a whole to perform adaptive stacking and lifting operations through the lifting airbag inside the control frame. The electric push rods at the four corners of the push rod frame drive the upper stacking cover frame on the surface of the lower stacking cover frame to perform an advance positioning operation adapted to the stacking height of the shelf, and deliver the materials on the surface of the lifting and lowering frame and the supporting plate to The inside of the upper stacking cover frame, and then start the first control air pump machine on the front of the upper shrinking frame, which uniformly drives the pushing airbag and pushing plate inside the upper shrinking frame in the same way, to push the supporting plate and material inside the lifting frame out from the inside of the upper stacking cover frame, and quickly perform positioning, stacking and loading operations on the shelf. When the shelf needs to be unloaded, the lower stacking cover frame and the upper stacking cover frame can be operated in the opposite manner. In addition, the scanning probe on the surface of the frame frame can be moved in the frame slot of the frame frame through the driving unit, and a preliminary positioning scanning operation can be performed when the material is unloaded to avoid collision problems caused by inaccurate positioning, and to ensure that when the material is stacked on the shelf, stable positioning and protection operations can be performed throughout the process, which reflects the practicality of the equipment design.

[0017] The stacking robot with positioning and navigation functions further improves the overall use effect of the equipment through the lower stacking cover frame, upper stacking cover frame, control frame, hydraulic seat, hydraulic rod, horizontal moving frame, vertical moving frame, reinforcement frame, horizontal crawler, vertical crawler, lifting top seat, press-fit joint, shrink ring cover, support ring airbag, liquid control pump, liquid uniformity pipeline and liquid uniformity valve seat. In daily use, the staff can quickly navigate and move the equipment as a whole through the horizontal crawlers of the horizontal moving frames at both ends of the bottom of the control frame and the vertical crawlers of the vertical moving frames on both sides of the bottom. When the equipment moves to the stacking shelf position, it can quickly and comprehensively adjust its own position and quickly perform precise fixed-point docking operations with the stacking shelf. By connecting and reinforcing the reinforcement frame, the stability of the equipment during overall movement is improved. At the same time, the liquid control pump on the front of the control frame can be started to evenly distribute the hydraulic oil to the four hydraulic rods on the hydraulic seats on both sides through the liquid uniformity pipeline and the liquid uniformity valve seat on the side of the control frame. The hydraulic rods at the four corners can drive the lifting top seat at one end to be adaptively connected to the ground. The shrinking ring cover on the surface of the lifting top seat can evenly inflate the support ring airbag at the bottom to cushion the pressure, thereby ensuring a more stable fit and support between the lifting top seat and the ground. By quickly lifting the entire equipment on the four corners of the control frame, the equipment is more stable as a whole during the subsequent stacking process, avoiding technical problems such as abnormal shaking, which reflects the comprehensiveness of the equipment design. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the structure of the present invention; Figure 2 It is an overall schematic diagram of the lower stacking cover frame and the upper stacking cover frame structure of the present invention; Figure 3 It is an overall schematic diagram of the control frame structure of the present invention; Figure 4 It is an overall schematic diagram of the frame structure of the present invention; Figure 5 It is an overall schematic diagram of the lower shrinkage frame structure of the present invention; Figure 6 It is a schematic diagram of the structure of the upper guide frame and the lower guide frame of the present invention; Figure 7 It is an overall schematic diagram of the structure of the horizontal movable frame and the vertical movable frame of the present invention; Figure 8 It is an overall schematic diagram of the hydraulic seat structure of the present invention; Fig. 9 For the present invention Figure 1 A magnified schematic diagram of the structure at center A; Fig.10 For the present invention Figure 1 A magnified schematic diagram of the structure at B in the figure.

[0019] In the figure: 1, lower stacking cover frame; 2, upper stacking cover frame; 3, lower retracting frame; 4, upper retracting frame; 5, first air control pump; 6, push rod frame; 7, electric push rod; 8, frame frame; 9, scanning probe; 10, upper guide frame; 11, lower guide frame; 12, control frame; 13, second air control pump; 14, lifting airbag; 15, lifting frame; 16, supporting plate; 17, hydraulic seat; 18, hydraulic rod; 19, horizontal moving frame; 20, vertical moving frame; 21, reinforcement frame; 22, horizontal crawler; 23, vertical crawler; 2 4. Lifting top seat; 25. Press-fitting seat; 26. Shrinking ring cover; 27. Support ring airbag; 28. Liquid control pump; 29. ​​Liquid uniformity pipeline; 30. Liquid uniformity valve seat; 31. Anti-skid pad; 32. Limit slide; 33. Shrinkage groove; 34. Limit slide; 35. Shrinkage spring; 36. Guide groove; 37. Damping rubber pad; 38. Damping roller; 39. Frame groove; 40. Driving unit; 41. Cover joint groove; 42. Fitting side inclined pad; 43. Pushing airbag; 44. Pushing plate; 45. First docking strip; 46. Second docking strip. DETAILED DESCRIPTION

[0020] 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.

[0021] See also Figure 1-Figure 10 , an embodiment provided by the present invention: A stacking robot with positioning and navigation functions comprises a lower stacking cover frame 1, the top of the lower stacking cover frame 1 is movably connected to an upper stacking cover frame 2, the front of the lower stacking cover frame 1 is fixedly connected to a lower retracting frame 3, the front of the upper stacking cover frame 2 is fixedly connected to an upper retracting frame 4, one end of the lower retracting frame 3 and an electric push rod 7 is provided with a first air control pump 5, the inner walls of the lower stacking cover frame 1 and the upper stacking cover frame 2 are fixedly connected to push rod frames 6, the four corners between the upper and lower push rod frames 6 are provided with electric push rods 7, the back edge of the upper stacking cover frame 2 is fixedly connected to a frame frame 8, and the back of the frame frame 8 is provided with a A scanning probe 9 is arranged, an upper guide frame 10 is fixedly connected to the bottom end of the back of the lower stacking cover frame 1, and a lower guide frame 11 is fixedly connected to the top end of the back of the upper stacking cover frame 2. Guide grooves 36 are provided inside the upper guide frame 10 and the lower guide frame 11, and damping rubber pads 37 are provided on both sides of the inner wall of the guide groove 36. Damping rollers 38 are provided at both ends of the inner wall of the guide groove 36. A frame groove 39 is provided on the surface of the frame frame 8. A driving unit 40 is provided on the back of the scanning probe 9, and the frame groove 39 and the driving unit 40 are adapted to each other. The lower stacking cover frame 1 and the upper stacking cover frame 2 are provided on both sides of the inner wall. A cover connection groove 41 is provided, and a fitting side oblique pad 42 is provided on the inner wall of the cover connection groove 41. A material pushing airbag 43 is provided inside the lower shrinking frame 3, and a material pushing plate 44 is provided at one end of the material pushing airbag 43. A first docking strip 45 is provided at the top edge of the lower stacking cover frame 1, and a second docking strip 46 is provided at the bottom edge of the upper stacking cover frame 2. The electric push rod 7 between the second air control pump 13 at the bottom of the control frame 12 and the push rod frame 6 is synchronously started, and the second air control pump 13 stacks the lifting frame 15, the supporting plate 16 and the material as a whole through the lifting airbag 14 inside the control frame 12. During the lifting operation, the electric push rods 7 at the four corners of the push rod frame 6 drive the upper stacking cover frame 2 on the surface of the lower stacking cover frame 1 to perform an advance positioning operation adapted to the stacking height of the shelf, and deliver the materials on the surface of the lifting frame 15 and the supporting plate 16 into the interior of the upper stacking cover frame 2, and then start the first air control pump 5 on the front of the upper shrinking frame 4 to uniformly drive the pushing airbag 43 and the pushing plate 44 inside the upper shrinking frame 4 to eject the supporting plate 16 and the materials inside the lifting frame 15 from the interior of the upper stacking cover frame 2 in the same way, so as to quickly perform positioning, stacking and loading operations on the shelf.

[0022] The control frame 12 is fixedly connected to the bottom end of the lower stacking cover frame 1, and a second air control pump 13 is arranged at the bottom end of the control frame 12. A lifting airbag 14 is arranged at the inner center of the control frame 12, and a lifting frame 15 is fixedly connected to the top of the lifting airbag 14. A supporting plate 16 is movably connected to the inner part of the lifting frame 15. The two sides of the control frame 12 are fixedly connected to hydraulic seats 17, and hydraulic rods 18 are fixedly arranged at both ends of the surface of the hydraulic seats 17. The two ends of the bottom of the control frame 12 are fixedly connected to lateral moving frames 19, and the two sides of the bottom of the control frame 12 are fixedly connected to The vertical moving frame 20, the inner wall between the lateral moving frame 19 and the vertical moving frame 20 is fixedly connected with a reinforcement frame 21, the bottom of the lateral moving frame 19 is provided with a lateral crawler 22, the bottom of the vertical moving frame 20 is provided with a vertical crawler 23, one end of the hydraulic rod 18 is fixedly connected with a lifting top seat 24, the bottom end of the hydraulic seat 17 is fixedly connected with a press-fitting seat 25, the top of the lifting top seat 24 is provided with a shrink ring cover 26, the bottom of the lifting top seat 24 is provided with a support ring airbag 27, the front of the control frame 12 is provided with a control pump 28, and the side of the control frame 12 is provided with a hydraulic pump 28. A liquid-distributing pipeline 29 is embedded in the surface, and liquid-distributing valve seats 30 are arranged at the four corners of both sides of the liquid-distributing pipeline 29. An anti-skid pad 31 is arranged on the surface of the supporting plate 16. The two sides of the bottom of the supporting plate 16 are fixedly connected to the limiting slide bars 32. The surface of the lifting frame 15 is movably connected to the contraction groove 33. The two sides of the inner bottom wall of the contraction groove 33 are provided with limiting slide grooves 34. The inside of the limiting slide groove 34 is provided with a contraction spring 35. The limiting slide groove 34 and the contraction spring 35 are adapted to the limiting slide bar 32. The liquid control pump 28 on the front of the control frame 12 is started to pass through the control frame 12. The liquid uniformizing pipeline 29 and the liquid uniformizing valve seat 30 on the side evenly control the delivery of hydraulic oil to the four corner hydraulic rods 18 on the hydraulic seats 17 on both sides, so that the hydraulic rods 18 at the four corners can drive the lifting top seat 24 at one end to be adaptively connected to the ground, and the shrinking ring cover 26 on the surface of the lifting top seat 24 can evenly inflate and buffer the support ring airbag 27 at the bottom, thereby ensuring that the lifting top seat 24 and the ground are more stably fitted and supported, and the entire equipment can be quickly lifted up by the four corners of the control frame 12.

[0023] Working principle: When in use, the user first starts the first air control pump 5 on the lower shrinkage frame 3, so that it drives the pushing airbag 43 inside the lower shrinkage frame 3 to perform an inflatable and retractable operation, and the pushing plate 44 at one end of the pushing airbag 43 pushes the supporting plate 16 inside the lifting frame 15 to perform a telescopic ejection operation from the inside of the lower stacking cover frame 1, and then the material to be stacked is placed on the anti-slip pad 31 on the surface of the supporting plate 16, and then the pushing airbag 43 and the pushing plate 44 are retracted. At this time, the supporting plate 16 can be quickly pulled back to its original position through the limiting slide bar 32 at the bottom and the retraction spring 35 inside the limiting slide groove 34, and the material is quickly retracted inside the lower stacking cover frame 1. The top operation, and then the material moves along with the overall end of the equipment to the required position. The position for stacking can be determined, and then the electric push rod 7 between the second air control pump 13 at the bottom of the control frame 12 and the push rod frame 6 can be synchronously started. The second air control pump 13 controls the lifting airbag 14 inside the control frame 12 to make the lifting frame 15, the supporting plate 16 and the material as a whole to perform an adaptive stacking and lifting operation. The electric push rods 7 at the four corners of the push rod frame 6 drive the upper stacking cover frame 2 on the surface of the lower stacking cover frame 1 to perform an advance positioning operation adapted to the stacking height of the shelf, and send the materials on the surfaces of the lifting frame 15 and the supporting plate 16 into the interior of the upper stacking cover frame 2, and then start the first air control pump 5 on the front side of the upper shrinking frame 4 to uniformly drive the pushing airbag 43 and the pushing plate 44 inside the upper shrinking frame 4 to lift the supporting plate 16 and The materials are ejected from the upper stacking cover frame 2, and the positioning stacking and loading operations are quickly carried out on the shelf. When the shelf needs to be unloaded, the lower stacking cover frame 1 and the upper stacking cover frame 2 can be operated in the opposite manner, and the scanning probe 9 on the surface of the frame frame 8 can be driven by the unit 40 to perform a frame-shaped moving operation at the frame groove 39 of the frame frame 8, and a preliminary positioning scanning operation is performed when the materials are unloaded to avoid collision problems caused by inaccurate positioning. At the same time, when the lower stacking cover frame 1 and the upper stacking cover frame 2 are stacked, the upper guide frame 10 and the lower guide frame 11 designed above and below can perform a stable limit cover connection protection operation through the damping rubber pads 37 on both sides of the inner wall of the guide groove 36 and the damping rollers 38 at both ends to ensure that when the materials are stacked on the shelf , stable positioning and protection operations can be performed throughout the entire process. In daily use, the staff can quickly navigate and move the equipment as a whole through the horizontal tracks 22 of the horizontal moving frames 19 at both ends of the bottom of the control frame 12 and the vertical tracks 23 of the vertical moving frames 20 on both sides of the bottom. When the equipment moves to the stacking shelf position, it can quickly and comprehensively adjust its own position and quickly perform precise fixed-point docking operations with the stacking shelf. The horizontal moving frame 19 and the vertical moving frame 20 are connected and reinforced by a reinforcement frame 21 to improve the stability of the overall movement of the equipment. At the same time, the liquid control pump 28 on the front of the control frame 12 can be started to pass through the liquid homogenizing pipeline 29 and the liquid homogenizing valve seat 30 on the side of the control frame 12.The hydraulic oil is evenly controlled and delivered to the four corner hydraulic rods 18 on the hydraulic seats 17 on both sides, so that the hydraulic rods 18 at the four corners can drive the lifting top seat 24 at one end to be adaptively connected to the ground. The shrink ring cover 26 on the surface of the lifting top seat 24 can be evenly inflated and buffered to the support ring airbag 27 at the bottom, thereby ensuring that the lifting top seat 24 and the ground are more stably fitted and supported. By quickly lifting the equipment as a whole on the four corners of the control frame 12, the equipment is ensured to be more stable as a whole during the subsequent stacking process, avoiding technical problems such as abnormal shaking. The above is the entire working principle of the present invention.

[0024] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A stacking robot with positioning and navigation functions, comprising a lower stacking cover frame (1), characterized in that: The top of the lower stacking cover frame (1) is movably connected to the upper stacking cover frame (2), the front of the lower stacking cover frame (1) is fixedly connected to the lower retracting frame (3), the front of the upper stacking cover frame (2) is fixedly connected to the upper retracting frame (4), the lower retracting frame (3) and one end of the electric push rod (7) are provided with a first air control pump (5), the inner walls of the lower stacking cover frame (1) and the upper stacking cover frame (2) are fixedly connected to a push rod frame (6), the four corners between the upper and lower push rod frames (6) are provided with electric push rods (7), the back edge of the upper stacking cover frame (2) is fixedly connected to a frame frame (8), the back of the frame frame (8) is provided with a scanning probe (9), the bottom end of the back of the lower stacking cover frame (1) is fixedly connected to an upper guide frame (10), and the top end of the back of the upper stacking cover frame (2) is fixedly connected to a lower guide frame (11); A control frame (12), the bottom end of the lower stacking cover frame (1) is fixedly connected to the control frame (12), the bottom end of the control frame (12) is provided with a second air control pump (13), the inner center of the control frame (12) is provided with a lifting air bag (14), the top end of the lifting air bag (14) is fixedly connected to a lifting frame (15), the interior of the lifting frame (15) is movably connected to a supporting plate (16), both sides of the control frame (12) are fixedly connected to hydraulic seats (17), and hydraulic rods (18) are fixedly provided at both ends of the surface of the hydraulic seat (17).

2. A stacking robot with positioning and navigation functions according to claim 1, characterized in that: The two ends of the bottom of the control frame (12) are fixedly connected to a transverse moving frame (19), the two sides of the bottom of the control frame (12) are fixedly connected to a vertical moving frame (20), the inner wall between the transverse moving frame (19) and the vertical moving frame (20) is fixedly connected to a reinforcement frame (21), the bottom of the transverse moving frame (19) is provided with a transverse crawler (22), and the bottom of the vertical moving frame (20) is provided with a vertical crawler (23).

3. The stacking robot with positioning and navigation functions according to claim 1, characterized in that: One end of the hydraulic rod (18) is fixedly connected to a lifting top seat (24), the bottom end of the hydraulic seat (17) is fixedly connected to a press-fitting seat (25), a shrink ring cover (26) is arranged on the top of the lifting top seat (24), and a supporting ring airbag (27) is arranged on the bottom of the lifting top seat (24).

4. The stacking robot with positioning and navigation functions according to claim 1, characterized in that: A liquid control pump (28) is arranged on the front of the control frame (12), a liquid leveling pipeline (29) is embedded in the side of the control frame (12), and liquid leveling valve seats (30) are arranged at four corners on both sides of the liquid leveling pipeline (29).

5. The stacking robot with positioning and navigation functions according to claim 1, characterized in that: The surface of the support plate (16) is provided with an anti-slip pad (31), both sides of the bottom of the support plate (16) are fixedly connected to limit slide bars (32), and the surface of the lifting frame (15) is movably connected to a contraction groove (33).

6. The stacking robot with positioning and navigation functions according to claim 5, characterized in that: Limiting slide grooves (34) are arranged on both sides of the inner bottom wall of the contraction groove (33), and contraction springs (35) are arranged inside the limiting slide grooves (34). The limiting slide grooves (34) and the contraction springs (35) are adapted to the limiting slide strips (32).

7. The stacking robot with positioning and navigation functions according to claim 1, characterized in that: The upper guide frame (10) and the lower guide frame (11) are provided with guide grooves (36) inside, damping rubber pads (37) are provided on both sides of the inner wall of the guide groove (36), and damping rollers (38) are provided at both ends of the inner wall of the guide groove (36).

8. The stacking robot with positioning and navigation functions according to claim 1, characterized in that: A frame groove (39) is provided on the surface of the frame frame (8), a drive unit (40) is provided on the back of the scanning probe (9), and the frame groove (39) and the drive unit (40) are adapted to each other.

9. The stacking robot with positioning and navigation functions according to claim 1, characterized in that: Cover connection grooves (41) are provided on both sides of the inner walls of the lower stacking cover frame (1) and the upper stacking cover frame (2), and the inner walls of the cover connection grooves (41) are provided with fitting side inclined pads (42). A material pushing air bag (43) is provided inside the lower shrinking frame (3), and a material pushing plate (44) is provided at one end of the material pushing air bag (43).

10. The stacking robot with positioning and navigation functions according to claim 1, characterized in that: A first butt joint strip (45) is provided at the top edge of the lower stacking cover frame (1), and a second butt joint strip (46) is provided at the bottom edge of the upper stacking cover frame (2).

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