A stacking robot with positioning and navigation functions

Abstract

The present invention relates to the technical field of stacking robots, and specifically relates to a stacking robot with positioning and navigation functions, including a lower stacking cover frame. The top of the lower stacking cover frame is movably connected to an upper stacking cover frame. The front of the lower stacking cover frame is fixedly connected to a lower retractable frame. The front of the upper stacking cover frame is fixedly connected to an upper retractable frame. One end of the lower retractable frame and an electric push rod is 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. Through the provided lower stacking cover frame, upper stacking cover frame, lower retractable frame, upper retractable frame, first air control pump, push rod frame, electric push rod, frame-shaped frame, scanning probe, upper guiding frame, lower guiding frame, control frame and second air control pump, the device can perform more stable positioning stacking and loading / unloading operations on materials. During the actual use process, the staff first controls and starts the first air control pump on the lower retractable frame.

Description

Technical Field

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

[0002] Warehousing is the storage and custody of goods and items through warehouses. "Warehouse" refers to buildings and sites for storing, keeping, and storing items, which can be buildings, caves, large containers, or specific sites, etc., and has the function of storing and protecting items. "Storage" means storing and reserving for future use, with the meaning of storing, keeping, and delivering for use. Stacking is one of the important technical means in warehousing. According to the different basic properties, shapes, etc. of goods, there are various forms of stacking, and the basic forms include overlapping, vertical and horizontal interlacing, supine and prone alternating, seam pressing, pagoda type, ventilation type, column planting type, fish scale type, cushion type, and racking, etc. Pallet stacking is a stacking method that has developed rapidly in recent decades. Its feature is that goods are directly stored on pallets, and the goods never leave the pallets from loading, unloading, handling and warehousing until outbound transportation. This can greatly improve the efficiency of mechanical operations and reduce the number of handling times. Pallets have a wide range of applications in stacking. Flat pallets can be used for goods with neat packaging and not afraid of pressure, box pallets can be used for bulk or sporadic goods, and column pallets can be used for goods that are afraid of pressure or have irregular shapes in order to increase the stacking height. 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 applied. Pallets are not only widely used in warehouse stacking but also gradually actively promoted in transportation, which has a significant effect on reducing the number of loading and unloading operations, reducing labor intensity, and accelerating the circulation and transfer of goods.

[0003] For example, the patent document with the publication 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 first clamping component, and a second clamping component. The clamping mechanism includes a motor, a lead screw, and a first guide rod. The motor is installed at the end of the support plate in the length direction, and the output shaft of the motor is horizontally arranged. When clamping box-shaped goods, it can drive the box-shaped goods to move upward. When the box-shaped goods are separated from the lifting block, the elastic force of the third spring pushes the lifting block to move away from the baffle at the end of the second guide post. The lifting block is at the bottom of the box, so as to carry the box and improve the clamping stability of the box-shaped goods.

[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 solutions: 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;

[0007] 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.

[0008] Preferably, both ends of the bottom of the control frame are fixedly connected with a horizontal moving frame, both sides of the bottom of the control frame are fixedly connected with a vertical moving frame, a reinforcing frame is fixedly connected to the inner wall between the horizontal moving frame and the vertical moving frame, a horizontal crawler is arranged at the bottom of the horizontal moving frame, and a vertical crawler is arranged at the bottom of the vertical moving frame.

[0009] Preferably, one end of the hydraulic rod is fixedly connected with a lifting top seat, the bottom end of the hydraulic seat is fixedly connected with a pressing joint seat, a contraction ring cover is arranged at the top of the lifting top seat, and a supporting ring airbag is arranged at the bottom of the lifting top seat.

[0010] Preferably, a liquid control pump is arranged on the front surface of the control frame, a liquid distribution pipeline is embedded on the side surface of the control frame, and liquid distribution valve seats are arranged at the four corners on both sides of the liquid distribution pipeline.

[0011] Preferably, an anti-slip pad is arranged on the surface of the material supporting plate, limiting slide bars are fixedly connected to both sides of the bottom of the material supporting plate, and a contraction groove is movably connected to the surface of the lifting frame.

[0012] Preferably, limiting sliding grooves are arranged on both sides of the inner bottom wall of the contraction groove, contraction springs are arranged inside the limiting sliding grooves, and the limiting sliding grooves, the contraction springs and the limiting slide bars are adapted to each other.

[0013] Preferably, guide grooves are formed inside the upper guide frame and the lower guide frame, damping rubber pads are arranged on both sides of the inner wall of the guide groove, and damping rollers are arranged at both ends of the inner wall of the guide groove.

[0014] Preferably, a frame-shaped groove is formed on the surface of the frame-shaped frame, a driving unit is arranged on the back of the scanning probe, and the frame-shaped groove and the driving unit are adapted to each other.

[0015] Preferably, cover connection grooves are arranged on both sides of the inner wall of the lower stacking cover frame and the upper stacking cover frame, a fitting side inclined pad is arranged on the inner wall of the cover connection groove, a pushing airbag is arranged inside the lower contraction frame, and a pushing plate is arranged at one end of the pushing airbag.

[0016] Preferably, a first docking strip is arranged at the top edge of the lower stacking cover frame, and a second docking strip is arranged at the bottom edge of the upper stacking cover frame.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] The stacking robot with positioning and navigation functions, through the set lower stacking cover frame, upper stacking cover frame, lower contraction frame, upper contraction frame, first air control pump, push rod frame, electric push rod, frame-shaped frame, scanning probe, upper guide frame and lower guide frame, enables the equipment to perform more stable positioning stacking loading and unloading operations on materials. During actual use, the electric push rod between the second air control pump at the bottom of the control frame and the push rod frame is synchronously started. The second air control pump performs adaptive stacking lifting operations on the lifting frame, material support plate and materials as a whole through the lifting air bag 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 preliminary positioning operations adapted to the stacking height of the shelf, send the materials on the surface of the lifting frame and the material support plate into the interior of the upper stacking cover frame, and then start the first air control pump on the front of the upper contraction frame to uniformly drive the pushing air bag and the pushing plate inside the upper contraction frame in the same way to push out the material support plate and materials inside the lifting frame from the interior of the upper stacking cover frame, quickly performing positioning stacking loading operations on the shelf. When the shelf needs to unload materials, the opposite operation process of the lower stacking cover frame and the upper stacking cover frame can be adopted. Moreover, the scanning probe on the surface of the frame-shaped frame can perform frame-shaped movement operations at the frame-shaped groove of the frame-shaped frame through the driving unit, performing preliminary positioning scanning operations during material loading and unloading to avoid collision problems caused by inaccurate positioning, ensuring that stable positioning protection operations can be carried out throughout the process when the materials are stacked on the shelf, reflecting the practicality of the equipment design.

[0019] The stacking robot with positioning and navigation functions further improves the overall use effect of the equipment through the set 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, pressing joint seat, shrinkage ring cover, support ring airbag, liquid control pump, liquid equalizing pipeline and liquid equalizing valve seat. During daily use, the staff can move the entire equipment quickly 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, and when the equipment moves to the position of the stacking shelf, it can quickly adjust its own position in all directions and quickly perform accurate fixed-point docking operations with the stacking shelf. The horizontal moving frame and the vertical moving frame are connected and reinforced through the reinforcement frame to improve the stability of the entire equipment during movement. At the same time, the liquid control pump on the front of the control frame can be started, and through the liquid equalizing pipeline and liquid equalizing valve seat on the side of the control frame, it can evenly control and transport hydraulic oil to the four-corner hydraulic rods on both sides of the hydraulic seat, so that the four-corner hydraulic rods can drive the lifting top seat at one end to adaptively abut on the ground. The shrinkage ring cover on the surface of the lifting top seat can evenly inflate and buffer the support ring airbag at the bottom, so as to ensure more stable fitting and support operation between the lifting top seat and the ground. By quickly jacking up the entire equipment at the four corners of the control frame, it is ensured that the equipment is more stable during subsequent stacking processes and abnormal shaking is avoided, reflecting the comprehensiveness of the equipment design. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional schematic diagram of the structure of the present invention;

[0021] Figure 2 is an overall schematic diagram of the structures of the lower stacking cover frame and the upper stacking cover frame of the present invention;

[0022] Figure 3 is an overall schematic diagram of the structure of the control frame of the present invention;

[0023] Figure 4 is an overall schematic diagram of the structure of the frame-shaped frame of the present invention;

[0024] Figure 5 is an overall schematic diagram of the structure of the lower shrinkage frame of the present invention;

[0025] Figure 6 is a partial view schematic diagram of the structures of the upper guiding frame and the lower guiding frame of the present invention;

[0026] Figure 7 is an overall schematic diagram of the structures of the horizontal moving frame and the vertical moving frame of the present invention;

[0027] Figure 8It is the overall schematic diagram of the hydraulic seat structure of the present invention;

[0028] Figure 9 For the present invention Figure 1 The enlarged schematic diagram of the structure at position A in it;

[0029] Figure 10 For the present invention Figure 1 The enlarged schematic diagram of the structure at position B in it.

[0030] In the figure: 1. Lower stacking cover frame; 2. Upper stacking cover frame; 3. Lower shrinkage frame; 4. Upper shrinkage frame; 5. First air control pump; 6. Push rod frame; 7. Electric push rod; 8. Frame-shaped 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. Material supporting plate; 17. Hydraulic seat; 18. Hydraulic rod; 19. Transverse moving frame; 20. Vertical moving frame; 21. Reinforcing frame; 22. Transverse crawler; 23. Vertical crawler; 24. Lifting top seat; 25. Pressing joint seat; 26. Shrinkage ring cover; 27. Support ring airbag; 28. Liquid control pump; 29. Liquid equalizing pipeline; 30. Liquid equalizing valve seat; 31. Anti-slip pad; 32. Limit slide bar; 33. Shrinkage groove; 34. Limit sliding groove; 35. Shrinkage spring; 36. Guide groove; 37. Damping rubber pad; 38. Damping roller; 39. Frame-shaped 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 implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1 - 10 , an embodiment provided by the present invention:

[0033] A stacking robot with positioning and navigation functions, including 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 retractable frame 3. The front of the upper stacking cover frame 2 is fixedly connected to an upper retractable frame 4. One end of the lower retractable 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 with a push rod frame 6. Electric push rods 7 are arranged at the four corners between the upper and lower push rod frames 6. The back edge of the upper stacking cover frame 2 is fixedly connected with a frame-shaped frame 8. A scanning probe 9 is arranged on the back of the frame-shaped frame 8. The bottom end of the back of the lower stacking cover frame 1 is fixedly connected with an upper guide frame 10. The top end of the back of the upper stacking cover frame 2 is fixedly connected with a lower guide frame 11. Guide grooves 36 are formed inside the upper guide frame 10 and the lower guide frame 11. Damping rubber pads 37 are arranged on both sides of the inner wall of the guide groove 36. Damping rollers 38 are arranged at both ends of the inner wall of the guide groove 36. A frame-shaped groove 39 is formed on the surface of the frame-shaped frame 8. A driving unit 40 is arranged on the back of the scanning probe 9. The frame-shaped groove 39 and the driving unit 40 are adapted to each other. Cover connection grooves 41 are arranged on both sides of the inner walls of the lower stacking cover frame 1 and the upper stacking cover frame 2. A fitting side inclined pad 42 is arranged on the inner wall of the cover connection groove 41. A pushing air bag 43 is arranged inside the lower retractable frame 3. One end of the pushing air bag 43 is provided with a pushing plate 44. A first docking strip 45 is arranged at the top edge of the lower stacking cover frame 1. A second docking strip 46 is arranged at the bottom edge of the upper stacking cover frame 2. Simultaneously start the electric push rod 7 between the second air control pump 13 at the bottom of the synchronous start control frame 12 and the push rod frame 6. The second air control pump 13 performs a stacking lifting operation of adapting the lifting frame 15, the material supporting plate 16 and the material as a whole through the lifting air bag 14 inside the control frame 12. 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. The material on the lifting frame 15 and the material supporting plate 16 is sent into the upper stacking cover frame 2. Then, start the first air control pump 5 on the front of the upper retractable frame 4 to uniformly drive the pushing air bag 43 and the pushing plate 44 inside the upper retractable frame 4 in the same way to eject the material supporting plate 16 and the material inside the lifting frame 15 from the upper stacking cover frame 2, and quickly perform a positioning stacking and loading operation on the shelf.

[0034] Control frame 12. The bottom end of the lower stacking hood frame 1 is fixedly connected to the control frame 12. A second air control pump 13 is provided at the bottom end of the control frame 12. An elevating airbag 14 is provided at the center inside the control frame 12. The top end of the elevating airbag 14 is fixedly connected to an elevating frame 15. A material supporting plate 16 is movably connected inside the elevating frame 15. Hydraulic seats 17 are fixedly connected to both sides of the control frame 12. Hydraulic rods 18 are fixedly provided at both ends of the surface of the hydraulic seats 17. Transverse moving frames 19 are fixedly connected to both ends of the bottom of the control frame 12. Vertical moving frames 20 are fixedly connected to both sides of the bottom of the control frame 12. A reinforcing frame 21 is fixedly connected to the inner wall between the transverse moving frame 19 and the vertical moving frame 20. A transverse crawler 22 is provided at the bottom of the transverse moving frame 19. A vertical crawler 23 is provided at the bottom of the vertical moving frame 20. 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 pressing joint seat 25. A contraction ring cover 26 is provided at the top of the lifting top seat 24. A supporting ring airbag 27 is provided at the bottom of the lifting top seat 24. A liquid control pump 28 is provided on the front surface of the control frame 12. A liquid distribution pipeline 29 is embedded on the side surface of the control frame 12. Liquid distribution valve seats 30 are provided at the four corners on both sides of the liquid distribution pipeline 29. An anti-slip pad 31 is provided on the surface of the material supporting plate 16. Limiting slide bars 32 are fixedly connected to both sides of the bottom of the material supporting plate 16. A contraction groove 33 is movably connected to the surface of the elevating frame 15. Limiting sliding grooves 34 are provided on both sides of the inner bottom wall of the contraction groove 33. A contraction spring 35 is provided inside the limiting sliding grooves 34. The limiting sliding grooves 34, the contraction spring 35 and the limiting slide bars 32 are adapted to each other. Start the liquid control pump 28 on the front surface of the control frame 12, so that it can uniformly control and convey hydraulic oil to the four hydraulic rods 18 on both hydraulic seats 17 through the liquid distribution pipeline 29 and the liquid distribution valve seats 30 on the side surface of the control frame 12, so that the four hydraulic rods 18 can drive the lifting top seat 24 at one end to be adaptively abutted on the ground. The contraction ring cover 26 on the surface of the lifting top seat 24 can uniformly inflate and buffer the supporting ring airbag 27 at the bottom, so as to ensure a more stable fitting and supporting operation between the lifting top seat 24 and the ground, and quickly lift the whole device by the four corners of the control frame 12.

[0035] Working principle: When in use, the operator first controls and starts the first air control pump 5 on the lower shrinkage frame 3, which drives the material pushing airbag 43 inside the lower shrinkage frame 3 to inflate and contract. The material pushing plate 44 at one end of the material pushing airbag 43 abuts against the material supporting plate 16 inside the lifting frame 15, and performs the telescopic ejection operation from inside the lower stacking cover frame 1. Then, the material to be stacked is placed on the anti-slip pad 31 on the surface of the material supporting plate 16. Then, the material pushing airbag 43 and the material pushing plate 44 retract. At this time, the material supporting plate 16 can quickly retract to its original position through the limit slide bar 32 at the bottom inside the limit chute 34 by means of the compression spring 35, quickly performing the contraction top operation of the material inside the lower stacking cover frame 1. Then, the material moves to the position where stacking is required along with the whole device. After that, 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 started synchronously. The second air control pump 13 drives the lifting airbag 14 inside the control frame 12 to perform the stacking and lifting operation of the lifting frame 15, the material supporting plate 16 and the material as a whole. 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 the pre-positioning operation adapted to the stacking height of the shelf, and send the material on the surface of the lifting frame 15 and the material supporting plate 16 into the upper stacking cover frame 2. Then, start the first air control pump 5 on the front of the upper shrinkage frame 4, and uniformly drive the material pushing airbag 43 and the material pushing plate 44 inside the upper shrinkage frame 4 in the same way to perform the ejection operation of the material supporting plate 16 and the material inside the lifting frame 15 from inside the upper stacking cover frame 2, quickly performing the positioning stacking and loading operation on the shelf. When the shelf needs to unload materials, the opposite operation process of the lower stacking cover frame 1 and the upper stacking cover frame 2 can be carried out. And the scanning probe 9 on the surface of the frame-shaped frame 8 can perform the frame-shaped moving operation at the frame-shaped groove 39 of the frame-shaped frame 8 through the driving unit 40, and perform the preliminary positioning and scanning operation during the loading and unloading of materials to avoid the collision problem caused by inaccurate positioning. At the same time, when stacking at the lower stacking cover frame 1 and the upper stacking cover frame 2, the upper guiding frame 10 and the lower guiding frame 11 designed up and down can perform the stable limiting and covering protection operation through the damping rubber pads 37 on both sides of the inner wall of the guiding groove 36 and the damping rollers 38 at both ends, ensuring that the material can perform the stable positioning and protection operation throughout the process when stacking on the shelf. During the daily use process, the operator can move the whole device quickly through the transverse crawler 22 of the transverse moving frame 19 at both ends of the bottom of the control frame 12 and the vertical crawler 23 of the vertical moving frame 20 on both sides of the bottom, and when the device moves to the position of the stacking shelf, it can quickly adjust its own position in all directions, quickly perform the accurate fixed-point docking operation with the stacking shelf. The transverse moving frame 19 and the vertical moving frame 20 are connected and reinforced through the reinforcement frame 21 to improve the stability of the whole device during movement. At the same time, the liquid control pump 28 on the front of the control frame 12 can be started, which passes through the liquid equalizing pipeline 29 and the liquid equalizing valve seat 30 on the side of the control frame 12,Uniformly control and convey hydraulic oil to the four-corner hydraulic rods 18 on the two-side hydraulic seats 17, so that the four-corner hydraulic rods 18 can drive the lifting top seat 24 at one end to be adaptively abutted on the ground. The shrinkage ring cover 26 on the surface of the lifting top seat 24 can uniformly inflate and buffer the bottom support ring airbag 27, so as to ensure a more stable fitting and supporting operation between the lifting top seat 24 and the ground. By quickly lifting the whole equipment above the four corners of the control frame 12, the whole equipment is more stable during the subsequent stacking process, avoiding the technical problem of abnormal shaking. The above is the whole working principle of the present invention.

[0036] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

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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