Cube carrying and angle posture adjusting robot

Abstract

The invention relates to the field of robots, and discloses a cube carrying and angle and posture adjusting robot which comprises a movable chassis; the XZ-axis linear moving platform is arranged on the moving chassis so as to move in the X-axis direction and the Z-axis direction. The Y-axis linear moving assembly is arranged on the rear portion of the X-Z-axis linear moving platform and drives the cubic object to linearly move along the Y axis. The obtaining mechanisms are arranged on the two sides of the XZ-axis linear moving platform and used for obtaining the cubic objects and placing the cubic objects in the XZ-axis linear moving platform. The posture adjusting mechanisms are arranged on the two sides of the XZ-axis linear moving platform and used for adjusting the posture of an object entering the XZ-axis linear moving platform. And the placing mechanism is arranged on the Y-axis linear moving assembly and used for obtaining the articles subjected to posture adjustment through the posture adjusting mechanism, the Y-axis linear moving assembly drives the articles to move to the designated position, and the articles are released to the designated position through the placing mechanism. According to the invention, acquisition, angle and posture adjustment, transportation and stacking of the cube can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a robot for cube transport and angle posture adjustment. Background Art

[0002] At present, in manufacturing, most products need to be packaged and stored in finished product warehouses after production. In some cases, it is necessary to adjust the angle and posture of the items and arrange them on the shelves at a uniform angle and posture. The current mainstream method uses multi-axis robotic arms, which are relatively expensive. For small products, a solution with lower cost and easier control system implementation can be used. It is also easier to combine with a mobile robot platform to achieve efficient handling and posture adjustment. Summary of the invention

[0003] In view of the above problems, the object of the present invention is to provide a cube handling and angle posture adjustment robot, which can realize the functions of efficiently acquiring, angle posture adjustment, transporting and stacking small cube objects.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a robot for cube handling and angle posture adjustment, comprising: a mobile chassis, used to drive the entire robot to move in all directions to adapt to various complex terrains; an XZ-axis linear moving platform, arranged on the mobile chassis for X-axis and Z-axis movement; a Y-axis linear moving assembly, arranged at the rear of the XZ-axis linear moving platform, used to drive the cube object to move linearly along the Y-axis; an acquisition mechanism, arranged on both sides of the XZ-axis linear moving platform, used to acquire the cube object and place it in the XZ-axis linear moving platform; a posture adjustment mechanism, arranged on both sides of the XZ-axis linear moving platform, located on the inner side of the acquisition mechanism, used to adjust the posture of the object entering the XZ-axis linear moving platform; a placement mechanism, arranged on the Y-axis linear moving assembly, used to acquire the object after the posture adjustment mechanism has been adjusted, and driven by the Y-axis linear moving assembly to move to a specified position, and the placement mechanism releases the object to the specified position.

[0005] Further, the XZ-axis linear moving platform includes an XZ platform frame, which includes a bottom frame formed by an aluminum square tube, and a top plate for accommodating a cube formed by splicing an L-shaped adapter plate and a T-shaped adapter plate, the top plate is arranged on the bottom frame, and a mounting hole is arranged on both sides of the top plate; a vacuum pump is arranged at one end of the two mounting holes, and a main control board is arranged at the other end of one of the mounting holes, and a solenoid valve group is arranged at the other end of the other mounting hole;

[0006] X-axis racks are respectively arranged at the lower part of the aluminum square tubes on both sides of the front end of the XZ platform frame, and X-axis motors are arranged on the aluminum square tubes on both sides of the front end of the XZ platform frame above the X-axis racks;

[0007] The output end of the X-axis motor is coaxially connected to the X-axis gear, and the side of the X-axis gear is meshed with the X-axis rack. Driven by the X-axis motor, the X-axis gear moves along the X-axis rack.

[0008] Furthermore, the acquiring mechanism includes a friction wheel-grip composite picking mechanism and an acquiring extension mechanism; the friction wheel-grip composite picking mechanism is arranged on the XZ platform frame of the XZ-axis linear moving platform, and the acquiring extension mechanism is cooperatively connected with the friction wheel-grip composite picking mechanism, so that the acquiring extension mechanism can extend the friction wheel-grip composite picking mechanism out of the acquiring mechanism body to a farther distance, so as to acquire cubic objects deep in the table.

[0009] Furthermore, the friction wheel-grip composite picking mechanism includes an acquisition mechanism fixing frame, the middle part of which is fixedly connected to the bottom of the XZ platform frame; the two sides of the acquisition mechanism fixing frame are symmetrically arranged, and the rear end of the acquisition mechanism fixing frame on each side is provided with a friction wheel motor, and the friction wheel motor is far away from the X-axis motor of the XZ-axis linear moving platform; the output end of the friction wheel motor is coaxially connected to the first acquisition driving wheel, and the first acquisition driving wheel is connected to the first acquisition driven wheel through the acquisition of the first synchronous belt to form a long rocker arm; the first acquisition driven wheel is coaxially connected to the second acquisition driving wheel, and the second acquisition driving wheel is connected to the second acquisition driven wheel through the acquisition of the second synchronous belt to form a transmission arm; the second acquisition driven wheel is coaxially connected to the third acquisition driving wheel, and the third acquisition driving wheel is connected to the third acquisition driven wheel through the acquisition of the third synchronous belt to form a short rocker arm; the front end of the short rocker arm is provided with a friction wheel, close to the X-axis motor, and the friction wheel is coaxially connected to the third acquisition driven wheel, and the friction wheel is driven to rotate by the third acquisition driven wheel;

[0010] The acquisition extension mechanism includes an acquisition cylinder fixed on the acquisition mechanism fixing frame, the telescopic end of the acquisition cylinder is connected to the front end of the first-stage extension member through a connecting piece, the bottom of the rear end of the first-stage extension member is slidably arranged on the acquisition first linear guide rail through a slider, and the acquisition first linear guide rail is arranged on the top of the side of the acquisition mechanism fixing frame; the top of the first-stage extension member is provided with an acquisition second linear guide rail, the rear end of the second-stage extension member is slidably arranged on the acquisition second linear guide rail through a slider, and the side of the second-stage extension member is fixed to the bottom of the first acquisition active wheel and the first acquisition driven wheel of the long rocker arm; The extension piece is also provided with an acquisition extension synchronous belt, and the secondary extension piece is provided with a card slot, which has the same tooth shape as the acquisition extension synchronous belt and is used to fix the corresponding point on the synchronous belt; the acquisition extension synchronous belt is respectively clamped in the card slot position on the XZ platform frame and the secondary extension piece structure at any two points symmetrical to each other with the geometric center as the symmetry point in the annular synchronous belt, so that when the primary extension piece moves, the secondary extension piece can be extended together in linkage, so that the stroke of the friction wheel-grip composite picking mechanism extending out of the body is twice the stroke of the acquisition cylinder, forming a synchronous belt double stroke amplification mechanism.

[0011] Further, the attitude adjustment mechanism includes a synchronous belt rotating mechanism arranged on both sides of the XZ platform frame, which is used to adjust the yaw angle attitude of the picked cube; the synchronous belt rotating mechanism includes an adjustment synchronous belt assembly and an adjustment mechanism cylinder, and an adjustment synchronous belt assembly is respectively arranged above one side of the two mounting holes of the XZ platform frame, and the adjustment mechanism cylinder is arranged at the rear of the XZ platform frame, which is used to drive the two adjustment synchronous belt assemblies to move relative or reversely;

[0012] The adjustment timing belt assembly includes a driving gear, a driven gear, an adjustment timing belt, an adjustment timing belt assembly mounting plate, an adjustment drive motor and an adjustment mechanism linear guide rail; the adjustment mechanism linear guide rails are respectively arranged on both sides of the chassis at the rear of the XZ platform frame, each adjustment mechanism linear guide rail is movably provided with a slider, and the adjustment timing belt assembly mounting plate is fixedly arranged on the slider;

[0013] The adjustment drive motor is installed on the adjustment synchronous belt assembly mounting plate, and the output shaft of the adjustment drive motor is coaxially connected with the driving gear installed on the adjustment synchronous belt assembly mounting plate;

[0014] A plurality of driven gears are arranged at intervals on the mounting plate of the adjustment timing belt assembly, and the driving gear is connected to the plurality of driven gears through the adjustment timing belt to form a mechanical arm, and the direction of the adjustment timing belt is perpendicular to the linear guide rail of the adjustment mechanism;

[0015] The axis of the adjusting mechanism cylinder is parallel to the adjusting mechanism linear guide rail, and the telescopic movement of the adjusting mechanism cylinder drives the two adjusting synchronous belt assemblies to move.

[0016] Furthermore, the placement mechanism includes a decoupled flip mechanism and an infinite rolling assembly; the bottom of the decoupled flip mechanism can be arranged on a chassis at the rear of the XZ platform frame; the infinite rolling assembly is arranged on the decoupled flip mechanism, and the pitch angle of the infinite rolling assembly is controlled by the decoupled flip mechanism, and the infinite rolling assembly can move the cube and adjust the angle posture to achieve flipping and rotational movements;

[0017] The decoupled flipping mechanism includes a flip rack assembly, a flip linear guide rail, a flip motor and a flip gear; the flip rack assembly is arranged on a base frame at the rear of the XZ platform frame and is fixed to the base frame to form a component; the top right side of the flip rack assembly has a strip-shaped sawtooth structure, and the left side is an airfoil support structure;

[0018] The flip linear guide is arranged on the outer side of the right side of the flip rack assembly, and a motor mounting seat is slidably arranged on the flip linear guide;

[0019] The flip motor is mounted on the motor mounting seat, and the output shaft of the flip motor is coaxially connected with the flip gear, so that the flip motor drives the flip gear to rotate; the outer side surface of the flip gear is fixedly arranged on the infinite rolling assembly, and the infinite rolling assembly is driven by the flip motor to perform a flipping motion;

[0020] The decoupled flip mechanism controls the angle and length of the infinite rolling assembly to couple with the spatial position of the XZ platform frame structure;

[0021] The infinite roll assembly includes a roll assembly frame, a roll motor, a rotating disk, a roll driven gear, a roll driving gear, a roll bearing group, a vacuum suction cup and a single-way air slip ring; the bottom outer side surface of the roll assembly frame on the right side is fixedly connected to the outer side surface of the flip gear, the bottom of the roll assembly frame on the left side is connected to the airfoil support structure of the flip rack assembly through a rotating shaft, and a connecting rod is provided between the roll assembly frames on both sides;

[0022] A hollow bearing mounting platform is provided on the top of the rolling assembly frame on both sides, a plurality of rolling bearing groups are provided around the bearing mounting platform, and a protruding structure is provided on the left side of the bearing mounting platform;

[0023] The rolling motor is installed at the bottom of the protruding structure of the bearing mounting platform, and the output shaft of the rolling motor passes through the protruding structure and is coaxially connected to the rolling driving gear to drive the rolling driving gear to rotate synchronously;

[0024] The rotating disk adopts a circular ring structure, and its outer edge is movably arranged between multiple rolling bearing groups, and the rotating disk is supported and rotated by multiple rolling bearing groups; a rolling driven gear is fixedly arranged at the bottom of the rotating disk, and the rolling driven gear is meshed with the rolling driving gear, and then driven to rotate by the rolling driving gear; a single-way air slip ring is arranged at the bottom center of the rotating disk;

[0025] Two vacuum suction cups are arranged in parallel on the top of the rotating disk and are respectively connected to two vacuum pumps through a single-way air slip ring so that the vacuum suction cups have adsorption force.

[0026] Furthermore, a Y-axis moving assembly is arranged on the rear chassis of the XZ platform frame, and the movement direction of the Y-axis moving assembly is perpendicular to the direction of the adjustment synchronous belt and parallel to the axial direction of the adjustment mechanism cylinder, so as to drive the placement mechanism to perform bidirectional movement;

[0027] The Y-axis moving assembly is a three-fold travel moving mechanism, including a fixed end guide rail assembly, a movable end guide rail assembly, a middle slider assembly and an end slider assembly;

[0028] The fixed end guide rail assembly is fixedly arranged on the rear chassis of the XZ platform frame, and the movable end guide rail assembly is arranged on the rear chassis of the XZ platform frame in parallel with the fixed end guide rail assembly;

[0029] The middle slider assembly is located between the fixed end guide rail assembly and the movable end guide rail assembly, and is used to increase the moving stroke of the movable end guide rail assembly;

[0030] The end slider assembly is arranged on the movable end guide rail assembly, and the flip rack assembly is arranged on the end slider assembly. The end slider assembly drives the placement mechanism to move left and right along the movable end guide rail assembly.

[0031] Further, the fixed end guide rail assembly includes a fixed end assembly mounting frame, a fixed end linear guide rail, a fixed end synchronous belt, a fixed end rack, a moving mechanism motor, a fixed end active synchronous pulley, and a fixed end driven synchronous pulley;

[0032] The fixed end component mounting frame is fixedly arranged on the rear bottom frame of the XZ platform frame, and the fixed end linear guide rail is arranged on the inner side of the fixed end component mounting frame, close to the side of the movable end guide rail assembly;

[0033] The moving mechanism motor is arranged at the bottom of one end of the fixed end component mounting frame, and the output shaft of the moving mechanism motor passes through the end of the fixed end component mounting frame and is coaxially connected with the fixed end active synchronous belt wheel;

[0034] A fixed end driven synchronous belt pulley is arranged at the other end of the fixed end component mounting frame, and the fixed end driven synchronous belt pulley is connected to the fixed end driving synchronous belt pulley through the fixed end synchronous belt;

[0035] The fixed end rack is movably arranged on the fixed end assembly mounting frame below the fixed end synchronous belt, and meshes with the middle gear in the middle slider assembly, so that the middle slider assembly and the fixed end guide rail assembly generate relative movement during the movement of the mechanism;

[0036] The movable end guide rail assembly includes a movable end assembly mounting frame, a movable end linear guide rail A, a movable end linear guide rail B, a movable end rack, a movable end synchronous pulley and a movable end synchronous belt;

[0037] The movable end component mounting frame is fixedly arranged on the rear bottom frame of the XZ platform frame, and the movable end component mounting frame is equal in length to the fixed end component mounting frame; the movable end linear guide rail A is arranged on the inner side of the movable end component mounting frame, close to the side of the fixed end guide rail assembly; the movable end linear guide rail B is arranged on the outer side of the movable end component mounting frame, away from the side of the fixed end guide rail assembly;

[0038] Movable end synchronous belt wheels are respectively arranged at both ends of the movable end assembly mounting frame, and the two movable end synchronous belt wheels are connected through a movable end synchronous belt transmission;

[0039] The movable end rack is arranged on the movable end assembly mounting frame below the movable end synchronous belt and meshes with the middle gear. The movable end rack moves in opposite directions through the gear transmission, so that the movable end rack movement stroke is twice the length of the fixed end rack, so that the fixed end rack cooperates with the movable end rack to provide a first-level double stroke; the movement is transmitted to the movable end synchronous belt during the movement of the mechanism;

[0040] The setting directions of the movable end linear guide A and the movable end linear guide B are parallel to the movable end synchronous belt; and the sliding grooves of the movable end linear guide A and the movable end linear guide B are opposite to each other.

[0041] Further, the middle slider assembly includes a middle slider mounting plate, a fixed guide slider, a movable guide slider, a middle gear, a fixed end synchronous belt tooth plate and a movable end synchronous belt tooth plate A;

[0042] Fixed guide rail sliders are respectively arranged at both ends of the first side surface of the middle slider mounting plate, and the fixed guide rail sliders are slidably arranged on the fixed end linear guide rail and cooperate with the fixed end linear guide rail;

[0043] A fixed end synchronous belt tooth plate is arranged at the center of the first side surface of the middle layer slider mounting plate. The fixed end synchronous belt tooth plate has the same tooth shape as the fixed end synchronous belt, so as to clamp the fixed end synchronous belt; the fixed end synchronous belt tooth plate is installed at the bottom of the fixed end synchronous belt, and the middle layer slider assembly is fixed to the fixed end synchronous belt through the fixed end synchronous belt tooth plate, so that the movement of the fixed end synchronous belt is transmitted to the middle layer slider assembly;

[0044] The two ends of the second side surface of the middle slider mounting plate are respectively provided with movable guide rail sliders, which are slidably arranged on the movable end linear guide rail A and cooperate with the movable end linear guide rail A;

[0045] A movable end synchronous belt tooth plate A is arranged at the center position of the second side surface of the middle layer slider mounting plate. The movable end synchronous belt tooth plate A is clamped at the bottom of the movable end synchronous belt. The movable end synchronous belt is clamped by the movable end synchronous belt tooth plate A so that the middle layer slider assembly is fixed on the movable end synchronous belt, and the movement of the middle layer slider assembly is transmitted to the movable end guide rail assembly.

[0046] The middle gear is arranged at the geometric center of the top of the middle slider mounting plate, and meshes with the fixed end rack and the movable end rack respectively, and the tooth surfaces of the fixed end rack and the movable end rack are opposite; the middle gear makes the end slider assembly and the middle slider assembly produce relative motion by cooperating with the movable end rack, at this time, the synchronous belt and the middle gear drive the movement of the middle slider assembly to the movable end synchronous belt, and the middle gear realizes the transmission of the secondary double stroke.

[0047] Further, the end slider assembly includes an end slider mounting plate, an end slider and a movable end synchronous belt tooth plate B;

[0048] The inner sides of the end slider mounting plate are provided with end sliders respectively, and the end sliders are slidably arranged on the movable end linear guide rail B;

[0049] The movable end synchronous belt tooth plate B is arranged at the center line of the inner side surface of the end slider mounting plate, and the movable end synchronous belt tooth plate B is symmetrically arranged with the movable end synchronous belt tooth plate A; and the movable end synchronous belt tooth plate B is clamped at the bottom of the movable end synchronous belt to press the movable end synchronous belt onto the end slider mounting plate.

[0050] The present invention adopts the above technical solution, which has the following advantages:

[0051] The present invention can realize efficient acquisition and transportation of cubes, all-round adjustment of the angle and posture of the cubes, and efficient palletizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is an overall diagram of a robot for cube handling and angle posture adjustment in one embodiment of the present invention;

[0053] Figure 2 is a schematic diagram of a mobile chassis portion in one embodiment of the present invention;

[0054] Figure 3 It is a schematic diagram of a portion of an XZ-axis linear motion platform in an embodiment of the present invention and a schematic diagram of the positional relationship of a Y-axis linear motion component, an acquisition mechanism, a posture adjustment mechanism, and a placement mechanism mounted thereon;

[0055] Figure 4 is a schematic diagram of an acquisition mechanism in an embodiment of the present invention;

[0056] Figure 5 Schematic diagram of a posture adjustment mechanism in one embodiment of the present invention

[0057] Figure 6 is a schematic diagram of a Y-axis linear motion assembly in one embodiment of the present invention;

[0058] Figure 7 is a schematic diagram of a placement mechanism in one embodiment of the present invention;

[0059] Reference numerals:

[0060] 1-mobile chassis; 1-1-chassis frame; 1-2-wheel set; 1-3-suspension swing arm; 1-4-shock absorber; 1-5-Z-axis motor; 1-6-Z-axis driving sprocket; 1-7-Z-axis second sprocket; 1-8-Z-axis third sprocket; 1-9-Z-axis fourth sprocket; 1-10-chain; 1-11-Z-axis first linear guide; 1-12-Z-axis mobile frame; 1-13-Z-axis second linear guide; 1-14-battery; 1-15-high-pressure gas cylinder;

[0061] 2-XZ axis linear moving platform; 2-1-XZ platform frame; 2-2-X axis motor; 2-3-X axis gear; 2-4-X axis rack; 2-5-vacuum pump; 2-6-main control board; 2-7-solenoid valve group;

[0062] 3-Y-axis linear motion assembly; 3-1-fixed end guide rail assembly; 3-2-movable end guide rail assembly; 3-3-middle slider assembly; 3-4-end slider assembly; 3-1-1-fixed end assembly mounting frame; 3-1-2-fixed end linear guide rail; 3-1-3 fixed end synchronous belt; 3-1-4-fixed end rack; 3-1-5-moving mechanism motor; 3-1-6-fixed end active synchronous pulley; 3-1-7 fixed end driven synchronous pulley; 3-2-1-movable end assembly mounting frame; 3-2-2-movable end linear guide rail Guide rail A; 3-2-3- Linear guide rail B at the movable end; 3-2-4- Rack at the movable end; 3-2-5- Synchronous pulley at the movable end; 3-2-6- Synchronous belt at the movable end; 3-3-1- Middle slider mounting plate; 3-3-2- Fixed guide slider; 3-3-3- Movable guide slider; 3-3-4- Middle gear; 3-3-5- Fixed end synchronous belt tooth plate; 3-3-6- Movable end synchronous belt tooth plate A; 3-4-1- End slider mounting plate; 3-4-2- End slider; 3-4-3- Movable end synchronous belt tooth plate B;

[0063] 4-acquisition mechanism; 4-1-friction wheel-gripper composite picking mechanism; 4-2-acquisition extension mechanism; 4-1-1-acquisition mechanism fixing frame; 4-1-2-short rocker arm; 4-1-3-friction wheel; 4-1-4-gripper cylinder; 4-1-5 friction wheel motor; 4-1-6-acquisition of the first synchronous belt; 4-1-7-acquisition of the second synchronous belt; 4-1-8-acquisition of the third synchronous belt; 4-2-1-first extension assembly; 4-2-2-second extension assembly; 4-2-3-acquisition cylinder; 4-2-4-acquisition of extension synchronous belt; 4-2-5-acquisition of the first linear guide rail; 4-2-6-acquisition of the second linear guide rail;

[0064] 5-posture adjustment mechanism; 5-1-adjustment of synchronous belt assembly; 5-2-adjustment of mechanism cylinder; 5-1-1-adjustment of mechanism synchronous belt; 5-1-2-adjustment of synchronous belt assembly mounting plate; 5-1-3-adjustment of driving motor; 5-1-4-adjustment of mechanism linear guide;

[0065] 6-placing mechanism; 6-1-decoupled flipping mechanism; 6-2-infinite rolling assembly; 6-1-1-flip rack assembly; 6-1-2-flip linear guide; 6-1-3-flip motor; 6-1-4-flip gear; 6-2-1-rolling assembly frame; 6-2-2-rolling motor; 6-2-3-rolling driven gear; 6-2-4-rolling driving gear; 6-2-5-rolling bearing group; 6-2-6-vacuum suction cup; 6-2-7-single-way air slip ring. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0067] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0068] In one embodiment of the present invention, a cube handling and angle posture adjustment robot is provided, which can realize the functions of efficiently acquiring, angle posture adjustment, transportation, and stacking small cube objects. Figure 1As shown, in this embodiment, the robot includes: a mobile chassis 1, an XZ axis linear moving platform 2, a Y axis linear moving component 3, an acquisition mechanism 4, a posture adjustment mechanism 5 and a placement mechanism 6.

[0069] The mobile chassis 1 is used to drive the entire robot to move in all directions to adapt to various complex terrains;

[0070] An XZ axis linear moving platform 2 is arranged on the moving chassis 1 to move along the X axis and the Z axis;

[0071] The Y-axis linear motion component 3 is arranged at the rear of the XZ-axis linear motion platform 2 and is used to drive the cubic object to perform linear motion along the Y-axis;

[0072] The acquisition mechanism 4 is arranged on both sides of the XZ axis linear moving platform 2, and is used to acquire the cubic object and place it in the XZ axis linear moving platform 2;

[0073] The posture adjustment mechanism 5 is arranged on both sides of the XZ axis linear moving platform 2 and is located inside the acquisition mechanism 4, and is used to adjust the posture of the object entering the XZ axis linear moving platform 2;

[0074] The placement mechanism 6 is arranged on the Y-axis linear moving component 3, and is used to obtain the object after the posture adjustment mechanism 5 has been adjusted, and is driven by the Y-axis linear moving component 3 to move to the specified position, and the placement mechanism 6 releases the object to the specified position.

[0075] In a preferred embodiment, Figure 1 , Figure 2 As shown, the mobile chassis 1 adopts a four-wheel Mecanum wheeled chassis, which includes:

[0076] A chassis frame 1-1, two Mecanum wheels 1-2 are respectively arranged on both sides thereof, the four Mecanum wheels 1-2 are respectively mounted on the chassis frame 1-1 through longitudinal arm type independent suspension swing arms 1-3, and a shock absorber 1-4 is arranged between the suspension swing arms 1-3 and the chassis frame 1-1;

[0077] Rectangular mounting frames are fixedly arranged in the middle of both sides of the chassis frame 1-1, and the rectangular mounting frames are located between the two Mecanum wheels 1-2 on each side of the chassis frame 1-1. One end of the shock absorber 1-4 is connected to the suspension arm 1-3, and the other end of the shock absorber 1-4 is connected to the side of the rectangular mounting frame.

[0078] When in use, the mobile chassis 1 can achieve omnidirectional movement and has a certain passability through the Mecanum wheels 1-2, the suspension swing arms 1-3 and the shock absorbers 1-4, and can cope with complex terrain.

[0079] In this embodiment, Z-axis first linear guides 1-11 are respectively arranged on both sides of the rectangular mounting frame; the Z-axis moving frame 1-12 is slidably mounted on the rectangular mounting frame through the Z-axis first linear guides 1-11. A Z-axis motor 1-5 is mounted on the chassis frame 1-1 at the bottom of the rectangular mounting frame, and a Z-axis driving sprocket 1-6 is coaxially arranged at the output end of the Z-axis motor 1-5; a Z-axis second sprocket 1-7 is arranged on the top of the rectangular mounting frame, a Z-axis fourth sprocket 1-9 is arranged on the top of the Z-axis moving frame 1-12, and a Z-axis third sprocket 1-8 is fixedly arranged on the outer side wall of the X-axis rack 2-4 of the XZ-axis linear moving platform 2; a Z-axis second linear guide 1-13 is arranged on both sides of the Z-axis moving frame 1-12, and both sides of the X-axis rack 2-4 are slidably connected to the Z-axis second linear guide 1-13 through sliders. The Z-axis driving sprocket 1-6 is connected to the Z-axis fourth sprocket 1-9, the third sprocket 1-8 and the Z-axis second sprocket 1-7 in sequence through the chain 1-10 to drive the Z-axis moving frame 1-12 to rise and fall, and then drive the XZ-axis linear moving platform 2 to rise and fall along the Z-axis second linear guide 1-13.

[0080] Specifically, the Z-axis motor 1-5 is used as a power source to drive the XZ-axis linear moving platform 2 to move in the Z-axis. The main process of the Z-axis movement is: the Z-axis motor 1-5 controls and drives the Z-axis active sprocket 1-6 to rotate, and then drives the Z-axis second sprocket 1-7, the Z-axis third sprocket 1-8, and the Z-axis fourth sprocket 1-9 to rotate through the chain 1-10. Since the Z-axis second sprocket 1-7 is installed on the chassis frame 1-1, the Z-axis third sprocket 1-8 and the Z-axis fourth sprocket 1-9 are fixed on the Z-axis moving frame 1-12 and the XZ-axis linear moving platform 2, the Z-axis moving frame 1-12 is installed on the Z-axis first linear guide 1-11 on the rectangular mounting frame of the chassis frame 1-1 to limit the movement direction, and the Z-axis second linear guide 1-13 is installed on the Z-axis moving frame 1-12. The XZ-axis moving platform 2 is installed on the Z-axis second linear guide 1-13 through a slider, and is fixedly connected to the chain 1-10 through the Z-axis third sprocket 1-8. Therefore, under the transmission of chain 1-10, XZ axis moving platform 2 first reaches the limit position of Z axis second linear guide 1-13, and Z axis moving frame 1-12 does not move temporarily at this time due to gravity; after continued transmission, XZ axis moving platform 2 and Z axis moving frame 1-12 move upward together to reach the limit position of Z axis first linear guide 1-11. In this Z axis lifting scheme, before and after lifting, the highest lifting height is twice the initial size, forming a chain transmission double stroke mechanism.

[0081] In this embodiment, if Figure 2 As shown, a battery 1-14 and a high-pressure gas cylinder 1-15 are arranged in the middle of the mobile chassis 1. The battery 1-14 is used to supply power to the motor and other electrical components on the robot of the present invention, and the high-pressure gas cylinder 1-15 is used as an air source to supply air to the cylinder and other pneumatic components on the robot.

[0082] In a preferred embodiment, Figures 1 to 3 As shown, the Z-axis moving transmission system of the XZ-axis linear moving platform 2 is all in the moving chassis 1, and the power source is fixed on the chassis frame 1-1. The XZ-axis linear moving platform 2 includes an XZ platform frame 2-1, an X-axis motor 2-2, an X-axis gear 2-3, an X-axis rack 2-4 and a vacuum pump 2-5.

[0083] The X-axis movement of the XZ-axis mobile platform 2 is a gear rack transmission structure, and the X-axis movement process is: the X-axis motor 2-2 drives the X-axis gear 2-3, and the X-axis rack 2-4 is relatively stationary with the mobile chassis 1 during the X-axis movement.

[0084] In this embodiment, Figure 3 As shown, the XZ platform frame 2-1 includes a bottom frame made of aluminum square tubes, and a top plate for accommodating a cube, which is spliced ​​by an L-shaped adapter plate and a T-shaped adapter plate. The top plate is arranged on the bottom frame, and a mounting hole is arranged on both sides of the top plate, which is easy to assemble and maintain. A vacuum pump 2-5 is arranged at one end of each of the two mounting holes, and a main control board 2-6 is arranged at the other end of one of the mounting holes, and a solenoid valve group 2-7 is arranged at the other end of the other mounting hole.

[0085] X-axis racks 2-4 are respectively arranged at the lower part of the aluminum square tubes on both sides of the front end of the XZ platform frame 2-1, and X-axis motors 2-2 are arranged on the aluminum square tubes on both sides of the front end of the XZ platform frame 2-1 above the X-axis racks 2-4; the output end of the X-axis motor 2-2 is coaxially connected with the X-axis gear 2-3, driving the X-axis gear 2-3 to rotate synchronously, and the side of the X-axis gear 2-3 is meshed with the X-axis rack 2-4, and driven by the X-axis motor 2-2, the X-axis gear 2-3 moves along the X-axis rack 2-4.

[0086] In a preferred embodiment, Figure 4 As shown, the acquisition mechanism 4 includes a friction wheel-claw composite object-taking mechanism 4-1 and an acquisition extension mechanism 4-2. The friction wheel-claw composite object-taking mechanism 4-1 is arranged on the XZ platform frame 2-1 of the XZ axis linear moving platform 2, and the acquisition extension mechanism 4-2 is connected with the friction wheel-claw composite object-taking mechanism 4-1, so that the acquisition extension mechanism 4-2 extends the friction wheel-claw composite object-taking mechanism 4-1 out of the acquisition mechanism 4 body to a farther distance, so as to obtain the cubic object deep in the table.

[0087] In this embodiment, the friction wheel-grip composite picking mechanism 4-1 includes an acquisition mechanism fixed frame 4-1-1, and the middle part of the acquisition mechanism fixed frame 4-1-1 is fixedly connected to the bottom of the XZ platform frame 2-1; the two sides of the acquisition mechanism fixed frame 4-1-1 are symmetrically arranged, and the rear end of the acquisition mechanism fixed frame 4-1-1 on each side is provided with a friction wheel motor 4-1-5, and the friction wheel motor 4-1-5 is away from the X-axis motor 2-2 of the XZ-axis linear moving platform 2. The output end of the friction wheel motor 4-1-5 is coaxially connected to the first acquisition driving wheel, and the first acquisition driving wheel is connected to the first acquisition driven wheel through the acquisition first synchronous belt 4-1-6 to form a long rocker arm; the first acquisition driven wheel is coaxially connected to the second acquisition driving wheel, and the second acquisition driving wheel is connected to the second acquisition driven wheel through the acquisition second synchronous belt 4-1-7 to form a transmission arm; the second acquisition driven wheel is coaxially connected to the third acquisition driving wheel, and the third acquisition driving wheel is connected to the third acquisition driven wheel through the acquisition third synchronous belt 4-1-8 to form a short rocker arm 4-1-2. The front end of the short rocker arm 4-1-2 is provided with a friction wheel 4-1-3, close to the X-axis motor 2-2, and the friction wheel 4-1-3 is coaxially connected to the third acquisition driven wheel, and the friction wheel 4-1-3 is driven by the third acquisition driven wheel to rotate.

[0088] Among them, the first acquisition driving wheel, the first acquisition driven wheel and the third acquisition driving wheel are all installed on the first mounting plate, and the first mounting plate can adopt a hollow structure; the third acquisition driving wheel and the third acquisition driven wheel are movably installed with a second mounting plate, and the rear end of the second mounting plate is connected to the telescopic end of the clamping claw cylinder 4-1-4, and the cylinder of the clamping claw cylinder 4-1-4 is fixed on the side of the first mounting plate. The second acquisition driving wheel and the second acquisition driven wheel are installed on the acquisition mechanism fixing frame 4-1-1.

[0089] In this embodiment, the first synchronous belt 4-1-6, the second synchronous belt 4-1-7 and the third synchronous belt 4-1-8 are all sponge rubber-coated synchronous belts.

[0090] Specifically, the object-picking principle of the friction wheel-claw composite object-picking mechanism 4-1 is as follows: the friction wheel motor 4-1-5 drives the first synchronous belt 4-1-6, the second synchronous belt 4-1-7, and the third synchronous belt 4-1-8 to transmit, thereby driving the friction wheel 4-1-3 to rotate. This transmission system is symmetrically distributed on the left and right, and the third synchronous belt 4-1-8 swings synchronously with the short rocker arm 4-1-2, and the clamping claw cylinder 4-1-4 pushes the short rocker arm 4-1-2 to open and close to clamp the cube object. The friction wheel 4-1-3 is relied on to receive the cube object by the friction force provided by the first synchronous belt 4-1-6, the second synchronous belt 4-1-7, and the third synchronous belt 4-1-8 during rotation. In order to ensure that the short rocker arm 4-1-2 of the clamping claw structure rotates, and the synchronous belt transmission should be continuous, the second synchronous belt 4-1-7 is staggered, and the first synchronous belt 4-1-6 and the third synchronous belt 4-1-8 are located on the same horizontal plane and have equal widths.

[0091] In this embodiment, the acquisition extension mechanism 4-2 includes an acquisition cylinder 4-2-3 fixed on the acquisition mechanism fixing frame 4-1-1, the telescopic end of the acquisition cylinder 4-2-3 is connected to the front end of the primary extension member 4-2-1 through a connecting piece, the bottom of the rear end of the primary extension member 4-2-1 is slidably set on the acquisition first linear guide 4-2-5 through a slider, and the acquisition first linear guide 4-2-5 is set on the top of the side of the acquisition mechanism fixing frame 4-1-1. The top of the primary extension member 4-2-1 is provided with an acquisition second linear guide 4-2-6, the rear end of the secondary extension member 4-2-2 is slidably set on the acquisition second linear guide 4-2-6 through a slider, and the side of the secondary extension member 4-2-2 is fixed to the bottom of the first acquisition driving wheel and the first acquisition driven wheel of the long rocker arm. An acquisition extension synchronous belt 4-2-4 is also provided on the primary extension member 4-2-1, and a card slot is provided on the secondary extension member 4-2-2. The card slot has the same tooth shape as the acquisition extension synchronous belt 4-2-4 and is used to fix the corresponding point on the synchronous belt; the acquisition extension synchronous belt 4-2-4 is respectively clamped in the card slot position on the XZ platform frame 2-1 and the secondary extension member 4-2-2 structure at any two points symmetrical to each other with the geometric center as the symmetry point in the annular synchronous belt, so that when the primary extension member 4-2-1 moves, the secondary extension member 4-2-2 can be extended together in linkage, so that the stroke of the friction wheel-grip composite picking mechanism 4-1 extending out of the body is twice the stroke of the acquisition cylinder 4-2-3, forming a synchronous belt double stroke amplification mechanism.

[0092] When in use, the cylinder 4-2-3 pushes the primary extension member 4-2-1 to extend, the secondary extension member 4-2-2 is installed on the primary extension member 4-2-1 and is equipped with a friction wheel-grip composite picking mechanism 4-1, and the primary extension member 4-2-1 drives the secondary extension assembly 4-2-3 to extend together through the extension synchronous belt 4-2-4.

[0093] In a preferred embodiment, Figures 5 to 7 As shown, the posture adjustment mechanism 5 can realize the yaw angle posture adjustment of the cube, the placement mechanism 6 can simultaneously realize the roll angle posture adjustment of the cube and place it, and the Y-axis linear moving component 3 can assist the placement mechanism 6 to place the cube for stacking.

[0094] In a preferred embodiment, the attitude adjustment mechanism 5 can realize the adjustment of the yaw angle attitude of the cube. Figure 5 As shown, the attitude adjustment mechanism 5 includes a synchronous belt rotating mechanism arranged on both sides of the XZ platform frame 2-1, which is used to adjust the yaw angle attitude of the picked cube. The synchronous belt rotating mechanism includes an adjustment synchronous belt assembly 5-1 and an adjustment mechanism cylinder 5-2. An adjustment synchronous belt assembly 5-1 is respectively arranged above one side of the two mounting holes of the XZ platform frame 2-1, and the adjustment mechanism cylinder 5-2 is arranged at the rear of the XZ platform frame 2-1, which is used to drive the two adjustment synchronous belt assemblies 5-1 to move relative or reversely.

[0095] In this embodiment, specifically, the adjustment timing belt assembly 5-1 includes a driving gear, a driven gear, an adjustment timing belt 5-1-1, an adjustment timing belt assembly mounting plate 5-1-2, an adjustment drive motor 5-1-3 and an adjustment mechanism linear guide 5-1-4.

[0096] Adjustment mechanism linear guide rails 5-1-4 are respectively arranged on both sides of the chassis at the rear of the XZ platform frame 2-1, and a slider is movably arranged on each adjustment mechanism linear guide rail 5-1-4, and an adjustment synchronous belt assembly mounting plate 5-1-2 is fixedly arranged on the slider;

[0097] The adjustment drive motor 5-1-3 is installed on the adjustment synchronous belt assembly mounting plate 5-1-2, and the output shaft of the adjustment drive motor 5-1-3 is coaxially connected with the driving gear installed on the adjustment synchronous belt assembly mounting plate 5-1-2;

[0098] A plurality of driven gears are arranged at intervals on the upper adjustment timing belt assembly mounting plate 5-1-2, and the driving gear is connected to the plurality of driven gears through the adjustment timing belt 5-1-1 to form a mechanical arm, and the direction of the adjustment timing belt 5-1-1 is perpendicular to the adjustment mechanism linear guide rail 5-1-4.

[0099] The adjusting mechanism cylinder 5-2 is axially parallel to the adjusting mechanism linear guide 5-1-4, that is, one end of the adjusting mechanism cylinder 5-2 is connected to the inner end surface of the slider on one adjusting mechanism linear guide 5-1-4, and the other end of the adjusting mechanism cylinder 5-2 is connected to the inner end surface of the slider on another adjusting mechanism linear guide 5-1-4. The two adjusting synchronous belt assemblies 5-1 are driven to move through the telescopic movement of the adjusting mechanism cylinder 5-2.

[0100] In this embodiment, the adjustment timing belt 5-1-1 adopts a sponge rubber-coated timing belt.

[0101] When in use, the process of the synchronous belt rotating mechanism adjusting the yaw angle attitude of the cube is as follows: the adjustment mechanism cylinder 5-2 is first compressed back with the set low working air pressure, the distance between the two adjustment synchronous belt components 5-1 is controlled to be shortened to the shortest, and the adjustment mechanism linear guide 5-1-4 limits the activity path and range of the adjustment synchronous belt component 5-1, and the adjustment synchronous belt component 5-1 is symmetrically distributed. At this time, the two adjustment synchronous belts 5-1-1 are close to the cube; then the two adjustment drive motors 5-1-3 rotate in the same direction, and the two adjustment synchronous belts 5-1-1 are controlled to apply friction forces in opposite directions to the two sides of the cube, so that the cube has a yaw angle rotation trend. During the yaw angle rotation of the cube, the cube plane and the adjustment synchronous belt 5-1-1 are attached to the cube edge and the adjustment synchronous belt 5-1-1. Because the adjustment mechanism cylinder 5-2 is retracted with low working air pressure and small force, the adjustment synchronous belt component 5-1 can be squeezed open during the rotation of the cube, so that the distance between the two adjustment synchronous belt components 5-1 is passively increased, thereby controlling the cube to rotate at a yaw angle. After the yaw angle of the cube rotates to a preset angle, the adjustment mechanism cylinder 5-2 extends with normal working air pressure, driving the distance between the two adjustment timing belt assemblies 5-1 to move away, and then other subsequent operations can be performed on the cube.

[0102] In a preferred embodiment, Figure 7 As shown, the placement mechanism 6 can simultaneously adjust the roll angle and posture of the cube and place it. The placement mechanism 6 is set at the rear of the XZ platform frame 2-1 and is used to adjust the roll angle and posture of the cube.

[0103] like Figure 1 and Figure 6 As shown, the placement mechanism 6 includes a decoupled flipping mechanism 6-1 and an infinite rolling component 6-2.

[0104] The bottom of the decoupled flipping mechanism 6-1 may be arranged on a chassis at the rear of the XZ platform frame 2-1;

[0105] The infinite rolling component 6-2 is arranged on the decoupled flipping mechanism 6-1, and the pitch angle of the infinite rolling component 6-2 is controlled by the decoupled flipping mechanism 6-1. The infinite rolling component 6-2 can move the cube and adjust the angle posture to realize flipping and rotational movements.

[0106] In this embodiment, the decoupled flipping mechanism 6-1 includes a flip rack assembly 6-1-1, a flip linear guide 6-1-2, a flip motor 6-1-3 and a flip gear 6-1-4.

[0107] The flip rack assembly 6-1-1 can be set on the chassis at the rear of the XZ platform frame 2-1 and fixed to the chassis to form a component; the top right side of the flip rack assembly 6-1-1 has a strip-shaped sawtooth structure (such as Figure 7 As shown), the left side is the airfoil support structure;

[0108] The flip linear guide rail 6-1-2 is arranged on the outer side of the right side of the flip rack assembly 6-1-1, and a motor mounting seat is slidably arranged on the flip linear guide rail 6-1-2;

[0109] The flip motor 6-1-3 is installed on the motor mounting seat, and the output shaft of the flip motor 6-1-3 is coaxially connected with the flip gear 6-1-4, so that the flip motor 6-1-3 drives the flip gear 6-1-4 to rotate;

[0110] Among them, the outer side surface of the flip gear 6-1-4 is fixedly set on the infinite rolling component 6-2, and then the infinite rolling component 6-2 is driven by the flip motor 6-1-3 to perform flipping movement.

[0111] In this embodiment, the pitch angle flipping of the infinite roll assembly 6-2 needs to achieve a flipping of 0° to 270°. The size of the infinite roll assembly 6-2 is affected by the position of the cube after the synchronous belt rotating mechanism rotates. If the motor direct drive solution is selected to avoid interference with the XZ platform frame 2-1, the length of the infinite roll assembly 6-2 needs to be lengthened to ensure its distance when it is in the horizontal direction, which also affects its height in the vertical direction. When it is at 270°, that is, vertically downward, it will easily interfere with the XZ platform frame 2-1, which in turn affects the design of the XZ platform frame 2-1. Therefore, the decoupled flipping mechanism 6-1 controls the angle and length of the infinite roll assembly 6-2 to be coupled with the spatial position of the XZ platform frame 2-1 structure. Adding a gear rack can completely decouple the coupling relationship between the two. When the flip motor 6-1-3 rotates, it drives the motor itself and the flip rack assembly 6-1-1 and the infinite roll assembly 6-2 to flip together, avoiding the infinite roll assembly 6-2 being too long when horizontal and too high when vertical.

[0112] In this embodiment, the infinite roll assembly 6-2 includes a roll assembly frame 6-2-1, a roll motor 6-2-2, a rotating disk, a roll driven gear 6-2-3, a roll driving gear 6-2-4, a roll bearing group 6-2-5, a vacuum suction cup 6-2-6 and a single-way air slip ring 6-2-7.

[0113] The bottom outer side surface of the roll assembly frame 6-2-1 on the right side is fixedly connected to the outer side surface of the flip gear 6-1-4, and the bottom of the roll assembly frame 6-2-1 on the left side is connected to the airfoil support structure of the flip rack assembly 6-1-1 through a rotating shaft, and a connecting rod is provided between the roll assembly frames 6-2-1 on both sides to enhance the stability of the roll assembly frame 6-2-1;

[0114] A hollow bearing installation platform is provided on the top of the rolling assembly frame 6-2-1 on both sides, and a plurality of rolling bearing groups 6-2-5 are provided around the bearing installation platform, and the left side of the bearing installation platform has a protruding structure;

[0115] The rolling motor 6-2-2 is installed at the bottom of the protruding structure of the bearing mounting platform, and the output shaft of the rolling motor 6-2-2 passes through the protruding structure and is coaxially connected to the rolling driving gear 6-2-4 to drive the rolling driving gear 6-2-4 to rotate synchronously;

[0116] The rotating disk adopts a circular ring structure, and its outer edge is movably arranged between multiple rolling bearing groups 6-2-5, and the rotating disk is supported and rotated by multiple rolling bearing groups 6-2-5; a rolling driven gear 6-2-3 is fixedly arranged at the bottom of the rotating disk, and the rolling driven gear 6-2-3 is meshed with the rolling driving gear 6-2-4, and then driven to rotate by the rolling driving gear 6-2-4; a single-way air slip ring 6-2-7 is arranged at the bottom center of the rotating disk;

[0117] Two vacuum suction cups 6-2-6 are arranged in parallel on the top of the rotating disk and are respectively connected to two vacuum pumps 2-5 through a single-way air slip ring 6-2-7 so that the vacuum suction cups 6-2-6 have adsorption force.

[0118] In this embodiment, the two vacuum suction cups 6-2-6 are connected to the single-way air slip ring 6-2-7 through a three-way joint; the vacuum pump 2-5 is connected to the single-way air slip ring 6-2-7 through a spiral air pipe.

[0119] When in use, the process of the placement mechanism 6 adjusting the rolling angle posture of the cube is as follows: the adjustment mechanism cylinder 5-2 retracts to control the adjustment timing belt assembly 5-1 to clamp, and the two adjustment drive motors 5-1-3 rotate in the opposite direction and turn inward, driving the two adjustment timing belts 5-1-1 to give the cube the same friction force, the direction is toward the placement mechanism 6. At this time, the decoupled flip mechanism 6-1 controls the angle of the infinite rolling assembly 6-2 toward the cube. After the cube is driven by the adjustment timing belt 5-1-1 to contact the vacuum suction cup 6-2-6 on the infinite rolling assembly 6-2, the vacuum pump 2-5 starts to work, so that the vacuum suction cup 6-2-6 sucks the cube. The decoupled flipping mechanism 6-1 controls the infinite rolling assembly 6-2 to drive the cube to a vertical upward state, and the rolling motor 6-2-2 drives the rolling driving gear 6-2-4 to rotate, thereby driving the rolling driven gear 6-2-3 to rotate, and driving the two vacuum suction cups 6-2-6 installed on it and the cube adsorbed on it to rotate together with the assistance of the single-channel air slip ring 6-2-7; after the roll angle of the cube rotates to a preset angle, the decoupled flipping mechanism 6-1 controls the infinite rolling assembly 6-2 to turn the cube back to the synchronous belt rotation mechanism, and other operations can be performed on the cube, or the cube can be driven to a horizontal backward or vertical downward position for placement and stacking. After the cube reaches the required position, the vacuum pump 2-5 is turned off.

[0120] Among them, Figure 3 As shown, during the movement of the infinite rolling assembly 6-2 controlled by the decoupled flipping mechanism 6-1, the flipping motor 6-1-3 drives the flipping gear 6-1-4, the flipping gear 6-1-4 and the rolling assembly frame 6-2-1 are a component, and the angle of the flipping gear 6-1-4 is synchronized with the infinite rolling assembly 6-2; at the same time, due to the gear rack transmission, during the process of the flipping motor 6-1-3 driving the flipping gear 6-1-4, it will also move along the flipping linear guide rail 6-1-2. The flipping rack assembly 6-1-1 can be connected to the end slider assembly 3-4 to form a component.

[0121] In a preferred embodiment, a Y-axis moving assembly 3 can also be set on the rear chassis of the XZ platform frame 2-1. The movement direction of the Y-axis moving assembly 3 is perpendicular to the direction of the adjustment synchronous belt 5-1-1 and parallel to the axial direction of the adjustment mechanism cylinder 5-2, and can drive the placement mechanism 6 to perform bidirectional movement. The Y-axis moving assembly 3 is a three-stroke moving mechanism. Whether it is installed does not affect the two-degree-of-freedom posture adjustment of the cube. When the Y-axis moving assembly 3 is used, the flip rack assembly 6-1-1 is set on the Y-axis moving assembly 3. By installing the Y-axis moving assembly 3, the placement mechanism 6 can be cooperated to place or stack the cube adjusted to a preset angle posture out of the working area of ​​the device.

[0122] like Figure 6As shown, the Y-axis moving assembly 3 includes a fixed end guide rail assembly 3-1, a movable end guide rail assembly 3-2, a middle slider assembly 3-3 and an end slider assembly 3-4.

[0123] The fixed end guide rail assembly 3-1 is fixedly arranged on the rear chassis of the XZ platform frame 2-1, and the movable end guide rail assembly 3-2 is arranged on the rear chassis of the XZ platform frame 2-1 in parallel with the fixed end guide rail assembly 3-1;

[0124] The middle slider assembly 3-3 is located between the fixed end guide rail assembly 3-1 and the movable end guide rail assembly 3-2, and is used to increase the moving stroke of the movable end guide rail assembly 3-2;

[0125] The end slider assembly 3-4 is arranged on the movable end guide rail assembly 3-2, and the flip rack assembly 6-1-1 is arranged on the end slider assembly 3-4. The end slider assembly 3-4 drives the placement mechanism 6 to move left and right along the movable end guide rail assembly 3-2.

[0126] In this embodiment, the fixed end guide rail assembly 3-1 includes a fixed end assembly mounting frame 3-1-1, a fixed end linear guide rail 3-1-2, a fixed end synchronous belt 3-1-3, a fixed end rack 3-1-4, a moving mechanism motor 3-1-5, a fixed end active synchronous pulley 3-1-6 and a fixed end driven synchronous pulley 3-1-7.

[0127] The fixed end component mounting frame 3-1-1 is fixedly arranged on the rear bottom frame of the XZ platform frame 2-1, and the fixed end linear guide rail 3-1-2 is arranged on the inner side of the fixed end component mounting frame 3-1-1, close to the side of the movable end guide rail component 3-2;

[0128] The moving mechanism motor 3-1-5 is arranged at the bottom of one end of the fixed end component mounting frame 3-1-1, and the output shaft of the moving mechanism motor 3-1-5 passes through the end of the fixed end component mounting frame 3-1-1 and is coaxially connected to the fixed end active synchronous pulley 3-1-6;

[0129] A fixed end driven synchronous pulley 3-1-7 is arranged at the other end of the fixed end component mounting frame 3-1-1, and the fixed end driven synchronous pulley 3-1-7 is connected to the fixed end driving synchronous pulley 3-1-6 through the fixed end synchronous belt 3-1-3;

[0130] The fixed end rack 3-1-4 is movably arranged on the fixed end component mounting frame 3-1-1 below the fixed end synchronous belt 3-1-3, and meshes with the middle gear 3-3-4 in the middle slider component 3-3, so that the middle slider component 3-3 and the fixed end guide rail component 3-1 produce relative movement during the movement of the mechanism.

[0131] In this embodiment, the movable end guide rail assembly 3-2 includes a movable end assembly mounting frame 3-2-1, a movable end linear guide rail A3-2-2, a movable end linear guide rail B3-2-3, a movable end rack 3-2-4, a movable end synchronous pulley 3-2-5 and a movable end synchronous belt 3-2-6.

[0132] The movable end component mounting frame 3-2-1 is fixedly arranged on the rear bottom frame of the XZ platform frame 2-1, and the movable end component mounting frame 3-2-1 is of the same length as the fixed end component mounting frame 3-1-1; the movable end linear guide rail A 3-2-2 is arranged on the inner side of the movable end component mounting frame 3-2-1, close to the side of the fixed end guide rail assembly 3-1; the movable end linear guide rail B3-2-3 is arranged on the outer side of the movable end component mounting frame 3-2-1, away from the side of the fixed end guide rail assembly 3-1;

[0133] Movable end synchronous pulleys 3-2-5 are respectively arranged at both ends of the movable end assembly mounting frame 3-2-1, and the two movable end synchronous pulleys 3-2-5 are connected through a movable end synchronous belt 3-2-6 for transmission;

[0134] The movable end rack 3-2-4 is arranged on the movable end assembly mounting frame 3-2-1 below the movable end synchronous belt 3-2-6, and meshes with the middle gear 3-3-4. The movable end rack 3-2-4 moves in opposite directions through gear transmission, so that the movable end rack 3-2-4 moves twice as long as the fixed end rack 3-1-4, so that the fixed end rack 3-1-4 cooperates with the movable end rack 3-2-4 to provide a first-level double stroke; during the movement of the mechanism, the movement is transmitted to the movable end synchronous belt 3-2-6. Since the middle slider assembly 3-3 is fixed to the inner side of the movable end synchronous belt 3-2-6, the movable end rack 3-2-4 cooperates with the middle gear 3-3-4 located on the middle slider assembly 3-3 to make the movable end guide rail assembly 3-2 and the middle slider assembly 3-3 produce relative movement, driving the movable end synchronous belt 3-2-6 to rotate. The movable end rack 3-2-4 is used as a mounting frame for the second-level double stroke structure.

[0135] Among them, the setting direction of the movable end linear guide A 3-2-2 and the movable end linear guide B3-2-3 is parallel to the movable end synchronous belt 3-2-6; and the sliding grooves of the movable end linear guide A 3-2-2 and the movable end linear guide B3-2-3 are opposite to each other.

[0136] In this embodiment, the middle slider assembly 3-3 includes a middle slider mounting plate 3-3-1, a fixed guide slider 3-3-2, a movable guide slider 3-3-3, a middle gear 3-3-4, a fixed end synchronous belt tooth plate 3-3-5 and a movable end synchronous belt tooth plate A 3-3-6.

[0137] Fixed guide rail sliders 3-3-2 are respectively arranged at both ends of the first side surface of the middle slider mounting plate 3-3-1. The fixed guide rail sliders 3-3-2 are slidably arranged on the fixed end linear guide rail 3-1-2 and cooperate with the fixed end linear guide rail 3-1-2.

[0138] A fixed end synchronous belt tooth plate 3-3-5 is arranged at the center of the first side surface of the middle layer slider mounting plate 3-3-1. The fixed end synchronous belt tooth plate 3-3-5 has the same tooth shape as the fixed end synchronous belt 3-1-3, thereby clamping the fixed end synchronous belt 3-1-3. The fixed end synchronous belt tooth plate 3-3-5 is installed at the bottom of the fixed end synchronous belt 3-1-3, and the middle layer slider assembly 3-3 is fixed to the fixed end synchronous belt 3-1-3 through the fixed end synchronous belt tooth plate 3-3-5, and the movement of the fixed end synchronous belt 3-1-3 is transmitted to the middle layer slider assembly 3-3.

[0139] The movable guide rail sliders 3-3-3 are respectively arranged at both ends of the second side surface of the middle slider mounting plate 3-3-1. The movable guide rail sliders 3-3-3 are slidably arranged on the movable end linear guide rail A 3-2-2 and cooperate with the movable end linear guide rail A 3-2-2;

[0140] A movable end synchronous belt tooth plate A 3-3-6 is arranged at the center position of the second side surface of the middle layer slider mounting plate 3-3-1. The movable end synchronous belt tooth plate A 3-3-6 is clamped at the bottom of the movable end synchronous belt 3-2-6. The movable end synchronous belt 3-2-6 is clamped by the movable end synchronous belt tooth plate A 3-3-6 so that the middle layer slider assembly 3-3 is fixed on the movable end synchronous belt 3-2-6, and the movement of the middle layer slider assembly 3-3 is transmitted to the movable end guide rail assembly 3-2.

[0141] The middle gear 3-3-4 is set at the geometric center of the top of the middle slider mounting plate 3-3-1, and meshes with the fixed end rack 3-1-4 and the movable end rack 3-2-4 respectively, and the tooth surfaces of the fixed end rack 3-1-4 and the movable end rack 3-2-4 are opposite. The middle gear 3-3-4 makes the end slider assembly 3-4 and the middle slider assembly 3-3 move relative to each other through the cooperation with the movable end rack 3-2-4. At this time, the synchronous belt and the middle gear 3-3-4 drive the middle slider assembly 3-3 to move and transmit it to the movable end synchronous belt 3-2-6, and the middle gear 3-3-4 realizes the transmission of the second-stage double stroke.

[0142] The two fixed guide rail sliders 3-3-2 and the two movable guide rail sliders 3-3-3 have the same sliding direction and are arranged alternately.

[0143] In this embodiment, the end slider assembly 3-4 includes an end slider mounting plate 3-4-1, an end slider 3-4-2 and a movable end synchronous belt tooth plate B 3-4-3.

[0144] The inner sides of the end slider mounting plate 3-4-1 are respectively provided with end sliders 3-4-2, and the end sliders 3-4-2 are slidably arranged on the movable end linear guide rail B3-2-3;

[0145] The movable end synchronous belt tooth plate B 3-4-3 is arranged at the center line of the inner side surface of the end slider mounting plate 3-4-1, and the movable end synchronous belt tooth plate B 3-4-3 is symmetrically arranged with the movable end synchronous belt tooth plate A 3-3-6; and the movable end synchronous belt tooth plate B 3-4-3 is clamped at the bottom of the movable end synchronous belt 3-2-6, pressing the movable end synchronous belt 3-2-6 onto the end slider mounting plate 3-4-1.

[0146] In this embodiment, when the fixed end guide rail assembly 3-1 and the movable end guide rail assembly 3-2 are aligned head to tail, the middle gear 3-3-4, the fixed end synchronous belt tooth plate 3-3-5, the movable end synchronous belt tooth plate A 3-3-6 and the movable end synchronous belt tooth plate B 3-4-3 are all on the symmetrical center line of the entire mechanism, that is, the middle slider assembly 3-3 and the end slider assembly 3-4 are also symmetrical along this center line.

[0147] When in use, the triplicate movement mechanism of the Y-axis moving assembly 3 is formed as follows:

[0148] The fixed end guide rail assembly 3-1 and the XZ platform frame 2-1 are connected as a component and are fixed. The fixed end synchronous belt tooth plate 3-3-5 in the middle slider assembly 3-3 clamps the fixed end synchronous belt 3-1-3, so the moving mechanism motor 3-1-5 can drive the middle slider assembly 3-3 to move through the fixed end active synchronous belt pulley 3-1-6 and the fixed end driven synchronous belt pulley 3-1-7; the fixed guide rail slider 3-3-2 and the movable guide rail slider 3-3-3 in the middle slider assembly 3-3 cooperate with the fixed end linear guide 3-1-2 and the movable end linear guide A3-2-2 respectively, and the middle gear 3-3-4 is meshed with the fixed end rack 3-1-4 and the movable end rack 3-2-4; therefore, taking the fixed end guide rail assembly 3-1 as the reference, the moving stroke of the movable end guide rail assembly 3-2 is twice the moving stroke of the middle slider assembly.

[0149] The two movable end synchronous belt tooth plates AB, 3-3-6 and 3-4-3 matched on the movable end synchronous belt 3-2-6 are symmetrically distributed, the synchronous belt tooth plate A4-3-6 is in the middle slider assembly 3-3, the synchronous belt tooth plate B3-4-3 is in the end slider assembly, and the end slider 3-4-2 is matched with the movable end linear guide B3-2-3, so taking the middle slider assembly as the reference, the moving stroke of the end slider assembly 3-4 is twice that of the movable end guide assembly 3-2.

[0150] Therefore, taking the fixed end guide rail assembly 3-1 as a reference, the moving stroke of the end slider assembly 3-4 is three times the moving stroke of the middle slider assembly 3-3.

[0151] In the above-mentioned embodiments, the flip rack assembly 6-1-1 can be connected to the XZ platform frame 2-1 to form a component, and can also be connected to the end slider mounting plate 3-4-1 to form a component.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for cube handling and angle adjustment, characterized in that: include: A mobile chassis (1) is used to drive the entire robot to move in all directions to adapt to various complex terrains; An XZ-axis linear moving platform (2) is arranged on the moving chassis (1) to move along the X-axis and Z-axis; A Y-axis linear motion component (3), arranged at the rear of the XZ-axis linear motion platform (2), is used to drive the cubic object to perform linear motion along the Y-axis; An acquisition mechanism (4) is arranged on both sides of the XZ axis linear moving platform (2) and is used to acquire the cubic object and place it inside the XZ axis linear moving platform (2); A posture adjustment mechanism (5) is arranged on both sides of the XZ axis linear moving platform (2) and is located inside the acquisition mechanism (4), and is used to adjust the posture of an object entering the XZ axis linear moving platform (2); The placement mechanism (6) is arranged on the Y-axis linear motion component (3) and is used to obtain the object after the posture adjustment mechanism (5) has been adjusted, and is driven by the Y-axis linear motion component (3) to move to a specified position, and the placement mechanism (6) releases the object to the specified position.

2. The robot for cube handling and angle posture adjustment as claimed in claim 1, characterized in that: The XZ-axis linear moving platform (2) comprises an XZ platform frame (2-1), the XZ platform frame (2-1) comprising a base frame formed of an aluminum square tube, and a top plate formed by splicing an L-shaped adapter plate and a T-shaped adapter plate for accommodating a cube, the top plate being arranged on the base frame, and having a mounting hole on both sides of the top plate; a vacuum pump (2-5) is arranged at one end of each of the two mounting holes, a main control board (2-6) is arranged at the other end of one of the mounting holes, and a solenoid valve group (2-7) is arranged at the other end of the other mounting hole; X-axis racks (2-4) are respectively arranged at the lower part of the aluminum square tubes on both sides of the front end of the XZ platform frame (2-1), and X-axis motors (2-2) are arranged on the aluminum square tubes on both sides of the front end of the XZ platform frame (2-1) above the X-axis racks (2-4); The output end of the X-axis motor (2-2) is coaxially connected to the X-axis gear (2-3), and the side of the X-axis gear (2-3) is meshed with the X-axis rack (2-4). Driven by the X-axis motor (2-2), the X-axis gear (2-3) moves along the X-axis rack (2-4).

3. The robot for cube handling and angle posture adjustment as claimed in claim 1, characterized in that: The acquisition mechanism (4) comprises a friction wheel-claw composite object-taking mechanism (4-1) and an acquisition extension mechanism (4-2); the friction wheel-claw composite object-taking mechanism (4-1) is arranged on an XZ platform frame (2-1) of an XZ axis linear moving platform (2), and the acquisition extension mechanism (4-2) is cooperatively connected with the friction wheel-claw composite object-taking mechanism (4-1), so that the acquisition extension mechanism (4-2) can extend the friction wheel-claw composite object-taking mechanism (4-1) out of the acquisition mechanism (4) body to a farther distance, so as to acquire cubic objects deep in the table.

4. The robot for cube handling and angle posture adjustment as claimed in claim 3, characterized in that: The friction wheel-claw composite object-picking mechanism (4-1) comprises an acquisition mechanism fixing frame (4-1-1), the middle part of which is fixedly connected to the bottom of the XZ platform frame (2-1); the two sides of the acquisition mechanism fixing frame (4-1-1) are symmetrically arranged, and the rear end of the acquisition mechanism fixing frame (4-1-1) on each side is provided with a friction wheel motor (4-1-5), and the friction wheel motor (4-1-5) is far away from the X-axis motor (2-2) of the XZ axis linear moving platform (2); the output end of the friction wheel motor (4-1-5) is coaxially connected to the first acquisition driving wheel, and the first acquisition driving wheel is connected to the first acquisition driven wheel through the acquisition first synchronous belt (4-1-6). The first driven wheel is coaxially connected to the second driving wheel, and the second driving wheel is connected to the second driven wheel through a second synchronous belt (4-1-7) to form a transmission arm; the second driven wheel is coaxially connected to the third driving wheel, and the third driving wheel is connected to the third driven wheel through a third synchronous belt (4-1-8) to form a short rocker arm (4-1-2); a friction wheel (4-1-3) is provided at the front end of the short rocker arm (4-1-2), close to the X-axis motor (2-2), and the friction wheel (4-1-3) is coaxially connected to the third driven wheel, and the friction wheel (4-1-3) is driven to rotate by the third driven wheel; The acquisition extension mechanism (4-2) comprises an acquisition cylinder (4-2-3) fixed on the acquisition mechanism fixing frame (4-1-1); the telescopic end of the acquisition cylinder (4-2-3) is connected to the front end of the primary extension member (4-2-1) through a connecting piece; the bottom of the rear end of the primary extension member (4-2-1) is slidably arranged on the acquisition first linear guide rail (4-2-5) through a slider; the acquisition first linear guide rail (4-2-5) is arranged on the top of the side of the acquisition mechanism fixing frame (4-1-1); a second acquisition linear guide rail (4-2-6) is arranged on the top of the primary extension member (4-2-1); the rear end of the secondary extension member (4-2-2) is slidably arranged on the acquisition second linear guide rail (4-2-6) through a slider; and the side of the secondary extension member (4-2-2) is fixed to the first acquisition driving wheel and the first acquisition driving wheel of the long rocker arm. The bottom of the driven wheel is taken; an acquisition extension synchronous belt (4-2-4) is also arranged on the primary extension member (4-2-1), and a clamping groove is arranged on the secondary extension member (4-2-2), the clamping groove having the same tooth shape as the acquisition extension synchronous belt (4-2-4) and being used to fix the corresponding point on the synchronous belt; the acquisition extension synchronous belt (4-2-4) is clamped in the clamping groove position on the XZ platform frame (2-1) and the secondary extension member (4-2-2) structure at any two points symmetrical to each other with the geometric center as the symmetry point in the annular synchronous belt, so that when the primary extension member (4-2-1) moves, the secondary extension member (4-2-2) can be extended together in linkage, so that the stroke of the friction wheel-claw composite object taking mechanism (4-1) extending out of the body is twice the stroke of the acquisition cylinder (4-2-3), forming a synchronous belt double stroke amplification mechanism.

5. The robot for cube handling and angle posture adjustment as claimed in claim 1, characterized in that: The posture adjustment mechanism (5) comprises a synchronous belt rotating mechanism arranged on both sides of the XZ platform frame (2-1), and is used to adjust the yaw angle posture of the picked cube; the synchronous belt rotating mechanism comprises an adjustment synchronous belt assembly (5-1) and an adjustment mechanism cylinder (5-2), and an adjustment synchronous belt assembly (5-1) is respectively arranged above one side of two mounting holes of the XZ platform frame (2-1); the adjustment mechanism cylinder (5-2) is arranged at the rear of the XZ platform frame (2-1), and is used to drive the two adjustment synchronous belt assemblies (5-1) to perform relative or reverse movement; The adjustment synchronous belt assembly (5-1) comprises a driving gear, a driven gear, an adjustment synchronous belt (5-1-1), an adjustment synchronous belt assembly mounting plate (5-1-2), an adjustment drive motor (5-1-3) and an adjustment mechanism linear guide rail (5-1-4); the adjustment mechanism linear guide rails (5-1-4) are respectively arranged on both sides of the base frame at the rear of the XZ platform frame (2-1), each adjustment mechanism linear guide rail (5-1-4) is movably provided with a slider, and the adjustment synchronous belt assembly mounting plate (5-1-2) is fixedly arranged on the slider; The adjustment drive motor (5-1-3) is mounted on the adjustment synchronous belt assembly mounting plate (5-1-2), and the output shaft of the adjustment drive motor (5-1-3) is coaxially connected to the driving gear mounted on the adjustment synchronous belt assembly mounting plate (5-1-2); A plurality of driven gears are arranged at intervals on the upper mounting plate (5-1-2) of the adjusting synchronous belt assembly, and the driving gear is connected to the plurality of driven gears through the adjusting synchronous belt (5-1-1) to form a mechanical arm, and the direction of the adjusting synchronous belt (5-1-1) is perpendicular to the linear guide rail (5-1-4) of the adjusting mechanism; The adjustment mechanism cylinder (5-2) is axially parallel to the adjustment mechanism linear guide rail (5-1-4), and the two adjustment synchronous belt assemblies (5-1) are driven to move through the telescopic movement of the adjustment mechanism cylinder (5-2).

6. The robot for cube handling and angle posture adjustment as claimed in claim 1, characterized in that: The placement mechanism (6) includes a decoupled flipping mechanism (6-1) and an infinite rolling component (6-2); the bottom of the decoupled flipping mechanism (6-1) can be arranged on a bottom frame at the rear of the XZ platform frame (2-1); the infinite rolling component (6-2) is arranged on the decoupled flipping mechanism (6-1), and the pitch angle of the infinite rolling component (6-2) is controlled by the decoupled flipping mechanism (6-1), and the infinite rolling component (6-2) can move the cube and adjust the angle posture to achieve flipping and rotational movements; The decoupled flipping mechanism (6-1) comprises a flipping rack assembly (6-1-1), a flipping linear guide rail (6-1-2), a flipping motor (6-1-3) and a flipping gear (6-1-4); the flipping rack assembly (6-1-1) is arranged on a base frame at the rear of the XZ platform frame (2-1) and is fixed to the base frame to form a component; the top right side of the flipping rack assembly (6-1-1) has a strip-shaped sawtooth structure, and the left side is an airfoil support structure; The flip linear guide rail (6-1-2) is arranged on the outer side of the right side of the flip rack assembly (6-1-1), and a motor mounting seat is slidably arranged on the flip linear guide rail (6-1-2); The flip motor (6-1-3) is mounted on the motor mounting seat, and the output shaft of the flip motor (6-1-3) is coaxially connected with the flip gear (6-1-4), so that the flip motor (6-1-3) drives the flip gear (6-1-4) to rotate; the outer side surface of the flip gear (6-1-4) is fixedly arranged on the infinite rolling component (6-2), and the flip motor (6-1-3) drives the infinite rolling component (6-2) to perform flipping motion; The decoupled flipping mechanism (6-1) controls the angle and length of the infinite rolling component (6-2) to couple with the spatial position of the XZ platform frame (2-1) structure; The infinite rolling assembly (6-2) comprises a rolling assembly frame (6-2-1), a rolling motor (6-2-2), a rotating disk, a rolling driven gear (6-2-3), a rolling driving gear (6-2-4), a rolling bearing group (6-2-5), a vacuum suction cup (6-2-6) and a single-way air slip ring (6-2-7); the bottom outer side surface of the rolling assembly frame (6-2-1) located on the right side is fixedly connected to the outer side surface of the flip gear (6-1-4), the bottom of the rolling assembly frame (6-2-1) located on the left side is connected to the airfoil support structure of the flip rack assembly (6-1-1) through a rotating shaft, and a connecting rod is provided between the rolling assembly frames (6-2-1) on both sides; A hollow bearing installation platform is arranged on the top of the rolling assembly frames (6-2-1) on both sides, a plurality of rolling bearing groups (6-2-5) are arranged around the bearing installation platform, and a protruding structure is arranged on the left side of the bearing installation platform; The rolling motor (6-2-2) is installed at the bottom of the protruding structure of the bearing installation platform, and the output shaft of the rolling motor (6-2-2) passes through the protruding structure and is coaxially connected to the rolling driving gear (6-2-4) to drive the rolling driving gear (6-2-4) to rotate synchronously; The rotating disk adopts a circular ring structure, and its outer edge is movably arranged between a plurality of rolling bearing groups (6-2-5), and the rotating disk is supported and rotated by the plurality of rolling bearing groups (6-2-5); a rolling driven gear (6-2-3) is fixedly arranged at the bottom of the rotating disk, and the rolling driven gear (6-2-3) is meshed with the rolling driving gear (6-2-4), and then driven to rotate by the rolling driving gear (6-2-4); a single-path air slip ring (6-2-7) is arranged at the bottom center of the rotating disk; Two vacuum suction cups (6-2-6) are arranged in parallel on the top of the rotating disk and are respectively connected to two vacuum pumps (2-5) through a single-channel air slip ring (6-2-7) so that the vacuum suction cups (6-2-6) have adsorption force.

7. The robot for cube handling and angle posture adjustment as claimed in claim 1, characterized in that: A Y-axis moving assembly (3) is arranged on the rear chassis of the XZ platform frame (2-1), and the moving direction of the Y-axis moving assembly (3) is perpendicular to the direction of the adjusting synchronous belt (5-1-1) and parallel to the axial direction of the adjusting mechanism cylinder (5-2), thereby driving the placement mechanism (6) to perform bidirectional movement; The Y-axis moving assembly (3) is a triple stroke moving mechanism, comprising a fixed end guide rail assembly (3-1), a movable end guide rail assembly (3-2), a middle slider assembly (3-3) and an end slider assembly (3-4); The fixed end guide rail assembly (3-1) is fixedly arranged on the rear bottom frame of the XZ platform frame (2-1), and the movable end guide rail assembly (3-2) is arranged on the rear bottom frame of the XZ platform frame (2-1) in parallel with the fixed end guide rail assembly (3-1); The middle-layer slider assembly (3-3) is located between the fixed-end guide rail assembly (3-1) and the movable-end guide rail assembly (3-2) and is used to increase the moving stroke of the movable-end guide rail assembly (3-2); The end slider assembly (3-4) is arranged on the movable end guide rail assembly (3-2), and the flip rack assembly (6-1-1) is arranged on the end slider assembly (3-4). The end slider assembly (3-4) drives the placement mechanism (6) to move left and right along the movable end guide rail assembly (3-2).

8. The robot for cube handling and angle posture adjustment as claimed in claim 1, characterized in that: The fixed end guide rail assembly (3-1) comprises a fixed end assembly mounting frame (3-1-1), a fixed end linear guide rail (3-1-2), a fixed end synchronous belt (3-1-3), a fixed end rack (3-1-4), a moving mechanism motor (3-1-5), a fixed end driving synchronous pulley (3-1-6) and a fixed end driven synchronous pulley (3-1-7); The fixed end component mounting frame (3-1-1) is fixedly arranged on the rear bottom frame of the XZ platform frame (2-1), and the fixed end linear guide rail (3-1-2) is arranged on the inner side of the fixed end component mounting frame (3-1-1), close to the side of the movable end guide rail component (3-2); The moving mechanism motor (3-1-5) is arranged at the bottom of one end of the fixed end component mounting frame (3-1-1), and the output shaft of the moving mechanism motor (3-1-5) passes through the end of the fixed end component mounting frame (3-1-1) and is coaxially connected to the fixed end active synchronous pulley (3-1-6); A fixed-end driven synchronous belt pulley (3-1-7) is arranged at the other end of the fixed-end component mounting frame (3-1-1), and the fixed-end driven synchronous belt pulley (3-1-7) is transmission-connected to the fixed-end driving synchronous belt pulley (3-1-6) via a fixed-end synchronous belt (3-1-3); The fixed end rack (3-1-4) is movably arranged on the fixed end assembly mounting frame (3-1-1) below the fixed end synchronous belt (3-1-3) and meshes with the middle layer gear (3-3-4) in the middle layer slider assembly (3-3), so that the middle layer slider assembly (3-3) and the fixed end guide rail assembly (3-1) generate relative movement during the movement of the mechanism; The movable end guide rail assembly (3-2) comprises a movable end assembly mounting frame (3-2-1), a movable end linear guide rail A (3-2-2), a movable end linear guide rail B (3-2-3), a movable end rack (3-2-4), a movable end synchronous pulley (3-2-5) and a movable end synchronous belt (3-2-6); The movable end component mounting frame (3-2-1) is fixedly arranged on the rear bottom frame of the XZ platform frame (2-1), and the movable end component mounting frame (3-2-1) is of the same length as the fixed end component mounting frame (3-1-1); the movable end linear guide rail A (3-2-2) is arranged on the inner side of the movable end component mounting frame (3-2-1), close to the fixed end guide rail assembly (3-1); the movable end linear guide rail B (3-2-3) is arranged on the outer side of the movable end component mounting frame (3-2-1), away from the fixed end guide rail assembly (3-1); Movable end synchronous pulleys (3-2-5) are respectively arranged at both ends of the movable end component mounting frame (3-2-1), and the two movable end synchronous pulleys (3-2-5) are connected through a movable end synchronous belt (3-2-6); The movable end rack (3-2-4) is arranged on the movable end component mounting frame (3-2-1) below the movable end synchronous belt (3-2-6) and meshes with the middle gear (3-3-4). The movable end rack (3-2-4) moves in opposite directions through the gear transmission, so that the moving stroke of the movable end rack (3-2-4) is twice the length of the fixed end rack (3-1-4), so that the fixed end rack (3-1-4) cooperates with the movable end rack (3-2-4) to provide a first-level double stroke; during the movement of the mechanism, the movement is transmitted to the movable end synchronous belt (3-2-6); The setting directions of the movable end linear guide rail A (3-2-2) and the movable end linear guide rail B (3-2-3) are parallel to the movable end synchronous belt (3-2-6); and the sliding grooves of the movable end linear guide rail A (3-2-2) and the movable end linear guide rail B (3-2-3) are opposite to each other.

9. The robot for cube handling and angle posture adjustment as claimed in claim 1, characterized in that: The middle slider assembly (3-3) comprises a middle slider mounting plate (3-3-1), a fixed guide slider (3-3-2), a movable guide slider (3-3-3), a middle gear (3-3-4), a fixed end synchronous belt tooth plate (3-3-5) and a movable end synchronous belt tooth plate A (3-3-6); Fixed guide rail sliders (3-3-2) are respectively arranged at both ends of the first side surface of the middle slider mounting plate (3-3-1), and the fixed guide rail sliders (3-3-2) are slidably arranged on the fixed end linear guide rail (3-1-2) and cooperate with the fixed end linear guide rail (3-1-2); A fixed end synchronous belt tooth plate (3-3-5) is arranged at the center of the first side surface of the middle layer slider installation plate (3-3-1); the fixed end synchronous belt tooth plate (3-3-5) has the same tooth shape as the fixed end synchronous belt (3-1-3), thereby clamping the fixed end synchronous belt (3-1-3); the fixed end synchronous belt tooth plate (3-3-5) is installed at the bottom of the fixed end synchronous belt (3-1-3), and the middle layer slider assembly (3-3) is fixed to the fixed end synchronous belt (3-1-3) through the fixed end synchronous belt tooth plate (3-3-5), so that the movement of the fixed end synchronous belt (3-1-3) is transmitted to the middle layer slider assembly (3-3); Movable guide rail sliders (3-3-3) are respectively arranged at both ends of the second side surface of the middle slider mounting plate (3-3-1), and the movable guide rail sliders (3-3-3) are slidably arranged on the movable end linear guide rail A (3-2-2) and cooperate with the movable end linear guide rail A (3-2-2); A movable end synchronous belt tooth plate A (3-3-6) is arranged at the center position of the second side surface of the middle layer slider installation plate (3-3-1), and the movable end synchronous belt tooth plate A (3-3-6) is clamped at the bottom of the movable end synchronous belt (3-2-6). The movable end synchronous belt tooth plate A (3-3-6) clamps the movable end synchronous belt (3-2-6) so that the middle layer slider assembly (3-3) is fixed on the movable end synchronous belt (3-2-6), and the movement of the middle layer slider assembly (3-3) is transmitted to the movable end guide rail assembly (3-2); The middle gear (3-3-4) is arranged at the geometric center of the top of the middle slider mounting plate (3-3-1), and meshes with the fixed end rack (3-1-4) and the movable end rack (3-2-4) respectively, and the tooth surfaces of the fixed end rack (3-1-4) and the movable end rack (3-2-4) are opposite; the middle gear (3-3-4) makes the end slider assembly (3-4) and the middle slider assembly (3-3) produce relative motion by cooperating with the movable end rack (3-2-4), at which time the synchronous belt and the middle gear (3-3-4) drive the middle slider assembly (3-3) to move and transmit it to the movable end synchronous belt (3-2-6), and the middle gear (3-3-4) realizes the transmission of the secondary double stroke.

10. The robot for cube handling and angle posture adjustment as claimed in claim 1, characterized in that: The end slider assembly (3-4) comprises an end slider mounting plate (3-4-1), an end slider (3-4-2) and a movable end synchronous belt tooth plate B (3-4-3); End sliders (3-4-2) are respectively arranged at both ends of the inner side surface of the end slider mounting plate (3-4-1), and the end slider (3-4-2) is slidably arranged on the movable end linear guide rail B (3-2-3); The movable end synchronous belt tooth plate B (3-4-3) is arranged at the center line position of the inner side surface of the end slider mounting plate (3-4-1), and the movable end synchronous belt tooth plate B (3-4-3) and the movable end synchronous belt tooth plate A (3-3-6) are arranged symmetrically; and the movable end synchronous belt tooth plate B (3-4-3) is clamped at the bottom of the movable end synchronous belt (3-2-6) to press the movable end synchronous belt (3-2-6) onto the end slider mounting plate (3-4-1).

Images