A robot for carrying and adjusting the angle of a cube

Abstract

The application relates to the field of robots, and discloses a robot for carrying and adjusting the angle of a cube, which comprises a moving chassis, an XZ-axis linear moving platform arranged on the moving chassis and used for moving along the X-axis and the Z-axis, a Y-axis linear moving assembly arranged at the rear of the XZ-axis linear moving platform and used for driving the cube to move linearly along the Y-axis, an acquisition mechanism arranged on both sides of the XZ-axis linear moving platform and used for acquiring the cube and placing the cube in the XZ-axis linear moving platform, an attitude adjusting mechanism arranged on both sides of the XZ-axis linear moving platform and used for adjusting the attitude of the cube in the XZ-axis linear moving platform, and a placing mechanism arranged on the Y-axis linear moving assembly and used for acquiring the cube after the attitude adjusting mechanism adjusts the attitude of the cube, wherein the Y-axis linear moving assembly drives the cube to move to a specified position, and the placing mechanism releases the cube to the specified position. The application can realize the acquisition, angle attitude adjustment, transportation and stacking of the cube.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot for transporting cubes and adjusting their angles and postures. Background Technology

[0002] Currently, in manufacturing, most products require packaging and storage in finished goods warehouses after production. In some cases, it's necessary to adjust the angle and posture of items to arrange them on shelves at a uniform angle. The mainstream approach currently uses multi-axis robotic arms, which are costly. For smaller products, lower-cost solutions with easier-to-implement control systems can be used, and these are also easier to integrate with mobile robot platforms to achieve efficient handling and posture adjustment. Summary of the Invention

[0003] To address the aforementioned problems, the purpose of this invention is to provide a robot for handling and adjusting the angle and posture of cubes, which can efficiently acquire, adjust the angle and posture of small cube items, transport and palletize them.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a robot for handling cubes and adjusting their angle and posture, comprising: a mobile chassis for driving the entire robot to move omnidirectionally to adapt to various complex terrains; an XZ-axis linear motion platform disposed on the mobile chassis for moving along the X and Z axes; a Y-axis linear motion assembly disposed at the rear of the XZ-axis linear motion platform for driving the cube object to move linearly along the Y-axis; a pickup mechanism disposed on both sides of the XZ-axis linear motion platform for pickuping the cube object and placing it within the XZ-axis linear motion platform; a posture adjustment mechanism disposed on both sides of the XZ-axis linear motion platform, located inside the pickup mechanism, for adjusting the posture of the object entering the XZ-axis linear motion platform; and a placement mechanism disposed on the Y-axis linear motion assembly for pickuping the object after posture adjustment by the posture adjustment mechanism, moving it to a designated position by the Y-axis linear motion assembly, and releasing the object to the designated position by the placement mechanism.

[0005] Furthermore, the XZ-axis linear motion platform includes an XZ platform frame, which includes a base frame made of aluminum square tubing and a top plate for accommodating a cube, which is assembled from L-shaped and T-shaped adapter plates. The top plate is mounted on the base frame and has a mounting hole on each side. A vacuum pump is installed at one end of each of the two mounting holes, and a main control board is installed at the other end of one mounting hole, while a solenoid valve assembly is installed at the other end of the other mounting hole.

[0006] X-axis racks are respectively installed on 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 installed 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 meshes with the X-axis rack. Driven by the X-axis motor, the X-axis gear moves along the X-axis rack.

[0008] Furthermore, the acquisition mechanism includes a friction wheel-gripper composite acquisition mechanism and an acquisition extension mechanism. The friction wheel-gripper composite acquisition mechanism is set on the XZ platform frame of the XZ axis linear motion platform. The acquisition extension mechanism is connected to the friction wheel-gripper composite acquisition mechanism so that the acquisition extension mechanism can extend the friction wheel-gripper composite acquisition mechanism out of the acquisition mechanism body to a greater distance to retrieve the cubic item deep in the platform.

[0009] Furthermore, the friction wheel-gripper composite object retrieval mechanism includes an object retrieval mechanism mounting frame, the middle of which is fixedly connected to the bottom of the XZ platform frame; the two sides of the object retrieval mechanism mounting frame are symmetrically arranged, and a friction wheel motor is provided at the rear end of each side of the object retrieval mechanism mounting frame, the friction wheel motor being away from the X-axis motor of the XZ axis linear motion platform; the output end of the friction wheel motor is coaxially connected to the first object retrieval drive wheel, the first object retrieval drive wheel being driven by the first object retrieval driven wheel through the first acquisition synchronous belt, forming a long rocker arm; the first object retrieval driven wheel is coaxially connected to the second object retrieval drive wheel, the second object retrieval drive wheel being driven by the second acquisition synchronous belt, forming a transmission arm; the second object retrieval driven wheel is coaxially connected to the third object retrieval drive wheel, the third object retrieval drive wheel being driven by the third acquisition synchronous belt, forming a short rocker arm; a friction wheel is provided at the front end of the short rocker arm, close to the X-axis motor, and the friction wheel is coaxially connected to the third object retrieval driven wheel, the third object retrieval driven wheel driving the friction wheel to rotate;

[0010] The acquisition extension mechanism includes an acquisition cylinder fixed to the acquisition mechanism mounting frame. The telescopic end of the acquisition cylinder is connected to the front end of the first-stage extension via a connector. The rear bottom of the first-stage extension is slidably mounted on the first linear guide rail via a slider. The first linear guide rail is located on the top of the side of the acquisition mechanism mounting frame. A second linear guide rail is located on the top of the first-stage extension. The rear end of the second-stage extension is slidably mounted on the second linear guide rail via a slider, and the side of the second-stage extension is fixed to the bottom of the first acquisition drive wheel and the first acquisition driven wheel of the long rocker arm. The extension component is also equipped with a timing belt for acquisition and extension, and the secondary extension component is equipped with a slot. The slot has the same tooth shape as the timing belt for acquisition and extension, and is used to fix the corresponding point on the timing belt. The timing belt for acquisition and extension is symmetrical to any two points on the annular timing belt with the geometric center as the symmetrical point, respectively, and is locked in the slot position on the XZ platform frame and the secondary extension component structure. This is to realize that when the primary extension component moves, the secondary extension component can extend together, so that the stroke of the friction wheel-gripper composite picking mechanism extending out of the machine body is twice the stroke of the acquisition cylinder, thus forming a timing belt double stroke amplification mechanism.

[0011] Furthermore, the attitude adjustment mechanism includes a synchronous belt rotation mechanism disposed on both sides of the XZ platform frame, used to adjust the yaw angle attitude of the picked-up cube; the synchronous belt rotation mechanism includes an adjusting synchronous belt assembly and an adjusting mechanism cylinder, with an adjusting synchronous belt assembly disposed above one side of each of the two mounting holes of the XZ platform frame, and the adjusting mechanism cylinder disposed at the rear of the XZ platform frame, used to drive the two adjusting synchronous belt assemblies to move relative to or in opposite directions.

[0012] The timing belt adjustment assembly includes a drive gear, a driven gear, a timing belt adjustment, a timing belt adjustment assembly mounting plate, a drive motor adjustment, and a linear guide rail for the adjustment mechanism. The linear guide rails for the adjustment mechanism are respectively set on both sides of the base frame at the rear of the XZ platform frame. Each linear guide rail for the adjustment mechanism has a slider that is movably set on it. The timing belt adjustment assembly mounting plate is fixedly set on the slider.

[0013] The adjustment drive motor is mounted on the adjustment timing belt assembly mounting plate, and the output shaft of the adjustment drive motor is coaxially connected to the drive gear mounted on the adjustment timing belt assembly mounting plate;

[0014] Multiple driven gears are spaced apart on the mounting plate of the timing belt assembly. The driving gear is connected to the multiple driven gears through the timing belt to form a mechanical arm, and the direction of the timing belt is perpendicular to the linear guide rail of the adjustment mechanism.

[0015] The cylinder of the adjustment mechanism is axially parallel to the linear guide rail of the adjustment mechanism. The extension and retraction of the cylinder of the adjustment mechanism drives the two adjustment timing belt assemblies to move.

[0016] Furthermore, the placement mechanism includes a decoupled flipping mechanism and an infinite roll assembly; the bottom of the decoupled flipping mechanism can be set on the base frame at the rear of the XZ platform frame; the infinite roll assembly is set on the decoupled flipping mechanism, and the pitch angle of the infinite roll assembly is controlled by the decoupled flipping mechanism. The infinite roll assembly can move the cube and adjust its angle and attitude to achieve flipping and rotational movements.

[0017] The decoupled tilting mechanism includes a tilting rack assembly, a tilting linear guide, a tilting motor, and a tilting gear; the tilting rack assembly is mounted on the base frame at the rear of the XZ platform frame and is fixed to the base frame as a single component; the top right side of the tilting rack assembly has a strip-shaped serrated structure, and the left side has an airfoil support structure;

[0018] A flipping linear guide is located on the outer side of the right side of the flipping rack assembly, and a motor mounting bracket is slidably mounted on the flipping linear guide.

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

[0020] The decoupled flipping mechanism controls the coupling of the angle and length dimensions of the infinite rolling component with the spatial position of the XZ platform frame structure;

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

[0022] The top of the rolling component frame on both sides is provided with a hollow bearing mounting platform, and multiple rolling bearing assemblies are provided around the bearing mounting platform. The left side of the bearing mounting platform has a protruding structure.

[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 drive gear to drive the rolling drive gear to rotate synchronously.

[0024] The rotating disk adopts a ring structure, with its outer edge movably positioned between multiple rolling bearing assemblies. The rotating disk is supported and rotated by the multiple rolling bearing assemblies. A rolling driven gear is fixedly installed at the bottom of the rotating disk. The rolling driven gear meshes with the rolling driving gear, and is then driven to rotate by the rolling driving gear. A single-path air slip ring is installed at the center of the bottom of the rotating disk.

[0025] Two vacuum suction cups are arranged side by side on the top of the rotating disk and connected to two vacuum pumps respectively through a single-channel air slip ring to enable the vacuum suction cups to have suction force.

[0026] Furthermore, a Y-axis moving component is installed on the rear base frame of the XZ platform. The movement direction of the Y-axis moving component is perpendicular to the direction of adjusting the timing belt and parallel to the axis of the adjusting mechanism cylinder, thereby driving the placement mechanism to move in both directions.

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

[0028] The fixed-end guide rail assembly is fixedly mounted on the rear base frame of the XZ platform frame, and the movable-end guide rail assembly is mounted parallel to the fixed-end guide rail assembly on the rear base frame of the XZ platform frame.

[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 travel of the movable end guide rail assembly;

[0030] The end slider assembly is mounted on the movable end guide rail assembly, and the flip rack assembly is mounted 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] Furthermore, the fixed-end guide rail assembly includes a fixed-end assembly mounting bracket, a fixed-end linear guide rail, a fixed-end timing belt, a fixed-end rack, a moving mechanism motor, a fixed-end driving timing pulley, and a fixed-end driven timing pulley;

[0032] The fixed end component mounting bracket is fixedly mounted on the rear base frame of the XZ platform frame, and the fixed end linear guide rail is located inside the fixed end component mounting bracket, on the side close to the movable end guide rail component.

[0033] The moving mechanism motor is located at the bottom of one end of the fixed end component mounting bracket, and the output shaft of the moving mechanism motor passes through the end of the fixed end component mounting bracket and is coaxially connected to the fixed end active synchronous belt pulley.

[0034] A driven synchronous pulley is provided at the other end of the fixed end component mounting bracket. The driven synchronous pulley is connected to the driving synchronous pulley at the fixed end via a fixed end synchronous belt.

[0035] The fixed-end rack is movably mounted on the fixed-end assembly mounting bracket below the fixed-end timing belt, and meshes with the middle gear in the middle slider assembly, causing relative movement between the middle slider assembly and the fixed-end guide rail assembly during the movement of the mechanism.

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

[0037] The movable end component mounting bracket is fixedly mounted on the rear base frame of the XZ platform frame, and the movable end component mounting bracket is the same length as the fixed end component mounting bracket; the movable end linear guide rail A is located on the inner side of the movable end component mounting bracket, close to the fixed end guide rail assembly; the movable end linear guide rail B is located on the outer side of the movable end component mounting bracket, away from the fixed end guide rail assembly.

[0038] Movable end synchronous pulleys are provided at both ends of the movable end component mounting bracket, and the two movable end synchronous pulleys are connected by a movable end synchronous belt drive.

[0039] The movable end rack is mounted on the movable end component mounting bracket below the movable end timing belt and meshes with the middle gear. The movable end rack moves in opposite directions through gear transmission, so that the travel of the movable end rack is twice the length of the fixed end rack, realizing that the fixed end rack cooperates with the movable end rack to provide a first-stage double travel; during the movement of the mechanism, the motion is transmitted to the movable end timing belt.

[0040] Among them, the moving end linear guide rail A and the moving end linear guide rail B are set in a direction parallel to the moving end synchronous belt; and the sliding grooves of the moving end linear guide rail A and the moving end linear guide rail B are opposite to each other.

[0041] Furthermore, the middle layer slider assembly includes a middle layer slider mounting plate, a fixed guide rail slider, a movable guide rail slider, a middle layer gear, a fixed end synchronous toothed belt plate, and a movable end synchronous toothed belt plate A;

[0042] Fixed guide rail sliders are respectively provided at both ends of the first side of the middle layer slider mounting plate. The fixed guide rail sliders are slidably mounted on the fixed end linear guide rail and cooperate with the fixed end linear guide rail.

[0043] A fixed-end timing belt toothed plate is provided at the center of the first side of the middle layer slider mounting plate. The tooth shape of the fixed-end timing belt toothed plate is the same as that of the fixed-end timing belt, so as to hold the fixed-end timing belt in place. The fixed-end timing belt toothed plate is installed at the bottom of the fixed-end timing belt. The middle layer slider assembly is fixed on the fixed-end timing belt through the fixed-end timing belt toothed plate, and the movement of the fixed-end timing belt is transmitted to the middle layer slider assembly.

[0044] Movable guide rail sliders are respectively provided at both ends of the second side of the middle layer slider mounting plate. The movable guide rail sliders are slidably mounted on the movable end linear guide rail A and cooperate with the movable end linear guide rail A.

[0045] A movable end timing belt toothed plate A is provided at the center of the second side of the middle layer slider mounting plate. The movable end timing belt toothed plate A is locked at the bottom of the movable end timing belt. By locking the movable end timing belt with the movable end timing belt toothed plate A, the middle layer slider assembly is fixed on the movable end timing belt, and the movement of the middle layer slider assembly is transmitted to the movable end guide rail assembly.

[0046] The middle gear is located 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. The tooth surfaces of the fixed-end rack and the movable-end rack are opposite each other. The middle gear, through its engagement with the movable-end rack, causes relative movement between the end slider assembly and the middle slider assembly. At this time, the timing belt and the middle gear drive the movement of the middle slider assembly to the movable-end timing belt, thus achieving the transmission of the second-stage double-stroke stroke by the middle gear.

[0047] Furthermore, the end slider assembly includes an end slider mounting plate, an end slider, and a moving end synchronous toothed plate B;

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

[0049] The movable end timing belt toothed plate B is located at the center line of the inner side of the end slider mounting plate. The movable end timing belt toothed plate B is symmetrically arranged with the movable end timing belt toothed plate A. The movable end timing belt toothed plate B is clamped at the bottom of the movable end timing belt, pressing the movable end timing belt tightly onto the end slider mounting plate.

[0050] The present invention has the following advantages due to the adoption of the above technical solutions:

[0051] This invention enables efficient acquisition and handling of cubes, omnidirectional adjustment of cube angles and orientations, and efficient stacking. Attached Figure Description

[0052] Figure 1 This is an overall diagram of a robot for cube transport and angle / attitude adjustment according to an embodiment of the present invention;

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

[0054] Figure 3 This is a schematic diagram of the XZ-axis linear motion platform in one embodiment of the present invention, and a schematic diagram of the positional relationship between the Y-axis linear motion component, the acquisition mechanism, the attitude adjustment mechanism, and the placement mechanism mounted on it.

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

[0056] Figure 5 This is a schematic diagram of the attitude adjustment mechanism in one embodiment of the present invention.

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

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

[0059] Figure label:

[0060] 1-Mobile chassis; 1-1-Chassis frame; 1-2-Wheelset; 1-3-Suspension swing arm; 1-4-Shock absorber; 1-5-Z-axis motor; 1-6-Z-axis drive 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 moving frame; 1-13-Z-axis second linear guide; 1-14-Battery; 1-15-High-pressure gas cylinder;

[0061] 2-XZ axis linear motion 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 assembly;

[0062] 3-Y-axis linear motion assembly; 3-1-Fixed end guide rail assembly; 3-2-Moving end guide rail assembly; 3-3-Middle layer slider assembly; 3-4-End slider assembly; 3-1-1-Fixed end assembly mounting bracket; 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 driving synchronous belt pulley; 3-1-7-Fixed end driven synchronous belt pulley; 3-2-1-Moving end assembly mounting bracket; 3-2-2-Moving end linear guide rail... Guide rail A; 3-2-3-Moving end linear guide rail B; 3-2-4-Moving end rack; 3-2-5-Moving end synchronous belt pulley; 3-2-6-Moving end synchronous belt; 3-3-1-Middle layer slider mounting plate; 3-3-2-Fixed guide rail slider; 3-3-3-Moving guide rail slider; 3-3-4-Middle layer gear; 3-3-5-Fixed end synchronous belt toothed plate; 3-3-6-Moving end synchronous belt toothed plate A; 3-4-1-End slider mounting plate; 3-4-2-End slider; 3-4-3-Moving end synchronous belt toothed plate B;

[0063] 4-Acquiring mechanism; 4-1-Friction wheel-gripper composite picking mechanism; 4-2-Acquiring extension mechanism; 4-1-1-Acquiring 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-First timing belt for acquisition; 4-1-7-Second timing belt for acquisition; 4-1-8-Third timing belt for acquisition; 4-2-1-First-stage extension assembly; 4-2-2-Second-stage extension assembly; 4-2-3-Acquiring cylinder; 4-2-4-Acquiring extension timing belt; 4-2-5-First linear guide rail for acquisition; 4-2-6-Second linear guide rail for acquisition;

[0064] 5-Attitude adjustment mechanism; 5-1-Adjusting timing belt assembly; 5-2-Adjusting mechanism cylinder; 5-1-1-Adjusting mechanism timing belt; 5-1-2-Adjusting timing belt assembly mounting plate; 5-1-3-Adjusting drive motor; 5-1-4-Adjusting mechanism linear guide rail;

[0065] 6-Placement mechanism; 6-1-Decoupled flipping mechanism; 6-2-Infinite rolling assembly; 6-1-1-Flipping rack assembly; 6-1-2-Flipping linear guide; 6-1-3-Flipping motor; 6-1-4-Flipping 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 assembly; 6-2-6-Vacuum chuck; 6-2-7-Single-path air slip ring. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

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

[0068] In one embodiment of the present invention, a robot for handling and adjusting the angle and posture of cubes is provided, which can efficiently acquire, adjust the angle and posture of, transport, and palletize small cubical items. Figure 1As shown, in this embodiment, the robot includes: a mobile chassis 1, an XZ-axis linear motion platform 2, a Y-axis linear motion component 3, an acquisition mechanism 4, an attitude adjustment mechanism 5, and a placement mechanism 6.

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

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

[0071] The Y-axis linear motion component 3 is located at the rear of the XZ-axis linear motion platform 2 and is used to drive the cubic object to move linearly along the Y-axis.

[0072] Acquisition mechanism 4 is set on both sides of XZ axis linear motion platform 2, and is used to acquire cube items and place them inside XZ axis linear motion platform 2;

[0073] The attitude adjustment mechanism 5 is set on both sides of the XZ axis linear motion platform 2, located inside the acquisition mechanism 4, and is used to adjust the attitude of the items entering the XZ axis linear motion platform 2.

[0074] The placement mechanism 6 is mounted on the Y-axis linear motion component 3. It is used to acquire the item after the attitude adjustment mechanism 5 has adjusted its attitude, and to move it to the designated position by the Y-axis linear motion component 3. The placement mechanism 6 then releases the item to the designated position.

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

[0076] The chassis frame 1-1 has two Mecanum wheels 1-2 on each side. The four Mecanum wheels 1-2 are mounted on the chassis frame 1-1 via independent trailing arm suspension arms 1-3. A shock absorber 1-4 is installed between the suspension arms 1-3 and the chassis frame 1-1.

[0077] Rectangular mounting brackets are fixedly installed on the middle of both sides of the chassis frame 1-1. The rectangular mounting brackets 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 swing arm 1-3, and the other end of the shock absorber 1-4 is connected to the side of the rectangular mounting bracket.

[0078] In use, the mobile chassis 1 can move in all directions and has a certain degree of passability through the Mecanum wheels 1-2, the suspension arms 1-3 and the shock absorbers 1-4, and can cope with complex terrain.

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

[0080] Specifically, the Z-axis motor 1-5 serves as the power source, driving the XZ-axis linear motion platform 2 to move along the Z-axis. The main process of Z-axis movement is as follows: the Z-axis motor 1-5 controls and drives the Z-axis drive sprocket 1-6 to rotate, which in turn drives the Z-axis second sprocket 1-7, Z-axis third sprocket 1-8, and Z-axis fourth sprocket 1-9 to rotate via the chain 1-10. The Z-axis second sprocket 1-7 is mounted on the chassis frame 1-1, while the Z-axis third sprocket 1-8 and Z-axis fourth sprocket 1-9 are fixed on the Z-axis moving frame 1-12 and the XZ-axis linear motion platform 2. The Z-axis moving frame 1-12 is mounted on the Z-axis first linear guide rail 1-11 on the rectangular mounting bracket of the chassis frame 1-1, limiting the direction of movement. The Z-axis moving frame 1-12 is equipped with the Z-axis second linear guide rail 1-13. The XZ-axis moving platform 2 is mounted on the Z-axis second linear guide rail 1-13 via a slider and is fixedly connected to the chain 1-10 via the Z-axis third sprocket 1-8. Therefore, under the transmission of chain 1-10, the XZ-axis moving platform 2 first moves upward to the limit position of the second linear guide rail 1-13 of the Z-axis. Due to gravity, the Z-axis moving frame 1-12 does not move temporarily at this time. After the transmission continues, the XZ-axis moving platform 2 and the Z-axis moving frame 1-12 move upward together to the limit position of the first linear guide rail 1-11 of the Z-axis. In this Z-axis lifting scheme, the maximum height raised before and after lifting is twice the initial size, constituting a chain-driven double-stroke mechanism.

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

[0082] In a preferred embodiment, such as Figures 1 to 3 As shown, the Z-axis movement transmission system of the XZ-axis linear moving platform 2 is all located 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 moving platform 2 is a gear and rack transmission structure. The X-axis movement process is as follows: the X-axis motor 2-2 drives the X-axis gear 2-3, and the X-axis rack 2-4 remains relatively stationary with respect to the moving chassis 1 during the X-axis movement.

[0084] In this embodiment, as Figure 3 As shown, the XZ platform frame 2-1 includes a base frame made of aluminum square tubing and a top plate for accommodating a cube, which is assembled from L-shaped and T-shaped adapter plates. The top plate is mounted on the base frame and has a mounting hole on each side for easy assembly and maintenance. A vacuum pump 2-5 is installed at one end of each of the two mounting holes, and a main control board 2-6 is installed at the other end of one mounting hole, while a solenoid valve assembly 2-7 is installed at the other end of the other mounting hole.

[0085] X-axis racks 2-4 are respectively installed on 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 installed 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, which drives the X-axis gear 2-3 to rotate synchronously. The side of the X-axis gear 2-3 meshes with the X-axis rack 2-4. Under the drive of 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, such as Figure 4 As shown, the acquisition mechanism 4 includes a friction wheel-gripper composite acquisition mechanism 4-1 and an acquisition extension mechanism 4-2. The friction wheel-gripper composite acquisition mechanism 4-1 is mounted on the XZ platform frame 2-1 of the XZ axis linear motion platform 2. The acquisition extension mechanism 4-2 is connected to the friction wheel-gripper composite acquisition mechanism 4-1 so that the acquisition extension mechanism 4-2 can extend the friction wheel-gripper composite acquisition mechanism 4-1 out of the acquisition mechanism 4 body to a greater distance, and retrieve the cubical object deep in the platform.

[0087] In this embodiment, the friction wheel-gripper composite object retrieval mechanism 4-1 includes 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 a friction wheel motor 4-1-5 is provided at the rear end of the acquisition mechanism fixing frame 4-1-1 on each side, 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 drive wheel. The first acquisition drive wheel is connected to the first acquisition driven wheel via the first synchronous belt 4-1-6, forming a long rocker arm. The first acquisition driven wheel is coaxially connected to the second acquisition drive wheel, which is connected to the second acquisition driven wheel via the second synchronous belt 4-1-7, forming a transmission arm. The second acquisition driven wheel is coaxially connected to the third acquisition drive wheel, which is connected to the third acquisition driven wheel via the third synchronous belt 4-1-8, forming 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 acquisition driven wheel, which drives the friction wheel 4-1-3 to rotate.

[0088] The first acquisition drive wheel, the first acquisition driven wheel, and the third acquisition drive wheel are all mounted on a first mounting plate, which may have a hollow structure. A second mounting plate is movably mounted on the third acquisition drive wheel and the third acquisition driven wheel. The rear end of the second mounting plate is connected to the telescopic end of the gripper cylinder 4-1-4, and the cylinder of the gripper cylinder 4-1-4 is fixed to the side of the first mounting plate. The second acquisition drive wheel and the second acquisition driven wheel are mounted 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 synchronous belts wrapped with sponge adhesive.

[0090] Specifically, the object-grabbing principle of the friction wheel-gripper composite object-grabbing 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 for transmission, which in turn drives the friction wheel 4-1-3 to rotate. This transmission system is symmetrically distributed left and right. The third synchronous belt 4-1-8 swings synchronously with the short rocker arm 4-1-2, and the gripper cylinder 4-1-4 pushes the short rocker arm 4-1-2 to open and close to clamp the cubic object. The friction provided by the friction wheel 4-1-3 during rotation by the first synchronous belt 4-1-6, the second synchronous belt 4-1-7, and the third synchronous belt 4-1-8 pulls the cubic object into the machine body. To ensure the rotation of the short rocker arm 4-1-2 in the gripper structure and that 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 the same width.

[0091] In this embodiment, the acquisition extension mechanism 4-2 includes an acquisition cylinder 4-2-3 fixed on the acquisition mechanism mounting frame 4-1-1. The telescopic end of the acquisition cylinder 4-2-3 is connected to the front end of the primary extension 4-2-1 via a connector. The rear end bottom of the primary extension 4-2-1 is slidably mounted on the first linear guide rail 4-2-5 via a slider. The first linear guide rail 4-2-5 is located on the top of the side of the acquisition mechanism mounting frame 4-1-1. A second linear guide rail 4-2-6 is located on the top of the primary extension 4-2-1. The rear end of the secondary extension 4-2-2 is slidably mounted on the second linear guide rail 4-2-6 via a slider, and the side of the secondary extension 4-2-2 is fixed to the bottom of the first acquisition drive wheel and the first acquisition driven wheel of the long rocker arm. A timing belt 4-2-4 for acquisition and extension is also provided on the primary extension 4-2-1, and a slot is provided on the secondary extension 4-2-2. The slot has the same tooth shape as the timing belt 4-2-4 for fixing corresponding points on the timing belt. The timing belt 4-2-4 is respectively locked at any two points symmetrical about the geometric center in the annular timing belt and locked at the slot positions on the XZ platform frame 2-1 and the secondary extension 4-2-2 structure. This allows the secondary extension 4-2-2 to extend in conjunction with the primary extension 4-2-1 when it moves, so that the stroke of the friction wheel-gripper composite picking mechanism 4-1 extending out of the machine body is twice the stroke of the picking cylinder 4-2-3, thus forming a timing belt double stroke amplification mechanism.

[0092] In use, the cylinder 4-2-3 pushes the first-level extension 4-2-1 to extend. The second-level extension 4-2-2 is mounted on the first-level extension 4-2-1 and is equipped with a friction wheel-gripper composite picking mechanism 4-1. The first-level extension 4-2-1 drives the second-level extension assembly 4-2-3 to extend together through the extension timing belt 4-2-4.

[0093] In a preferred embodiment, such as Figures 5 to 7 As shown, the attitude adjustment mechanism 5 can adjust the yaw angle of the cube, the placement mechanism 6 can simultaneously adjust the roll angle of the cube and place it, and the Y-axis linear movement component 3 can assist the placement mechanism 6 in placing the cube for stacking.

[0094] In a preferred embodiment, the attitude adjustment mechanism 5 can achieve cubic yaw angle attitude adjustment. For example... Figure 5 As shown, the attitude adjustment mechanism 5 includes a synchronous belt rotation mechanism disposed on both sides of the XZ platform frame 2-1, used to adjust the yaw angle attitude of the picked-up cube. The synchronous belt rotation mechanism includes an adjusting synchronous belt assembly 5-1 and an adjusting mechanism cylinder 5-2. An adjusting synchronous belt assembly 5-1 is respectively disposed above one side of the two mounting holes of the XZ platform frame 2-1, and the adjusting mechanism cylinder 5-2 is disposed at the rear of the XZ platform frame 2-1, used to drive the two adjusting synchronous belt assemblies 5-1 to move relative to or in opposite directions.

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

[0096] On both sides of the base frame at the rear of the XZ platform frame 2-1, there are linear guide rails 5-1-4 for adjustment mechanisms. Each linear guide rail 5-1-4 for adjustment mechanisms is movably mounted with a slider. The mounting plate 5-1-2 for adjusting the timing belt assembly is fixedly mounted on the slider.

[0097] The adjustment drive motor 5-1-3 is mounted on the adjustment timing belt assembly mounting plate 5-1-2, and the output shaft of the adjustment drive motor 5-1-3 is coaxially connected to the drive gear mounted on the adjustment timing belt assembly mounting plate 5-1-2.

[0098] Multiple driven gears are spaced apart on the mounting plate 5-1-2 of the timing belt assembly. The driving gear is connected to the multiple driven gears through the timing belt 5-1-1 to form a mechanical arm. The direction of the timing belt 5-1-1 is perpendicular to the linear guide rail 5-1-4 of the adjustment mechanism.

[0099] The adjusting mechanism cylinder 5-2 is axially parallel to the adjusting mechanism linear guide rail 5-1-4. That is, one end of the adjusting mechanism cylinder 5-2 is connected to the inner end face of the slider on one adjusting mechanism linear guide rail 5-1-4, and the other end of the adjusting mechanism cylinder 5-2 is connected to the inner end face of the slider on another adjusting mechanism linear guide rail 5-1-4. The extension and retraction movement of the adjusting mechanism cylinder 5-2 drives the two adjusting synchronous belt assemblies 5-1 to move.

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

[0101] In use, the process of adjusting the yaw angle attitude of the cube by the synchronous belt rotation mechanism is as follows: The adjusting mechanism cylinder 5-2 first retracts with a set low working air pressure, controlling the distance between the two adjusting synchronous belt assemblies 5-1 to its shortest possible position. The linear guide rail 5-1-4 of the adjusting mechanism restricts the movement path and range of the adjusting synchronous belt assemblies 5-1, ensuring a symmetrical distribution. At this point, the two adjusting synchronous belts 5-1-1 are in close contact with the cube. Subsequently, the two adjusting drive motors 5-1-3 rotate in the same direction, controlling the two adjusting synchronous belts 5-1-1 to apply opposite frictional forces to both sides of the cube, thus causing the cube to exhibit a yaw angle rotation tendency. During the cube's yaw angle rotation, the contact between the cube's plane and the adjusting synchronous belts 5-1-1 changes towards the cube's edges and the adjusting synchronous belts 5-1-1. Because the retraction working air pressure of the adjusting mechanism cylinder 5-2 is low and the force is small, the adjusting synchronous belt assemblies 5-1 can be squeezed apart during the cube's rotation, passively increasing the distance between the two adjusting synchronous belt assemblies 5-1, thereby controlling the cube to rotate at a yaw angle. After the cube's yaw angle has rotated to the preset angle, the adjusting mechanism cylinder 5-2 extends at normal working air pressure, causing the distance between the two adjusting timing belt components 5-1 to move away, allowing for subsequent operations on the cube.

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

[0104] The bottom of the decoupled flipping mechanism 6-1 can be set on the base frame at the rear of the XZ platform frame 2-1;

[0105] The infinite roll component 6-2 is mounted on the decoupled flipping mechanism 6-1. The pitch angle of the infinite roll component 6-2 is controlled by the decoupled flipping mechanism 6-1. The infinite roll component 6-2 can move the cube and adjust its angle and attitude to achieve flipping and rotational movements.

[0106] In this embodiment, the decoupled flipping mechanism 6-1 includes 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.

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

[0108] The flipping linear guide 6-1-2 is located on the outer side of the right side of the flipping rack assembly 6-1-1, and a motor mounting bracket is slidably mounted on the flipping linear guide 6-1-2;

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

[0110] The outer side of the flipping gear 6-1-4 is fixedly mounted on the infinite rolling assembly 6-2, and the infinite rolling assembly 6-2 is driven by the flipping motor 6-1-3 to perform a flipping motion.

[0111] In this embodiment, the pitch angle rotation of the infinite roll component 6-2 needs to achieve a rotation range of 0° to 270°. The size of the infinite roll component 6-2 is affected by the position of the cube after the synchronous belt rotating mechanism rotates. If a direct-drive motor solution is used, to avoid interference with the XZ platform frame 2-1, the length of the infinite roll component 6-2 needs to be increased to ensure its distance in the horizontal direction, which also affects its height in the vertical direction. When it is at 270°, i.e., vertically downward, it is easy to interfere with the XZ platform frame 2-1, which in turn affects the design of the XZ platform frame 2-1. Therefore, the decoupled rotation mechanism 6-1 controls the coupling between the angle and length of the infinite roll component 6-2 and the spatial position of the XZ platform frame 2-1. Adding a gear rack can completely decouple the two coupling relationships. When the rotation motor 6-1-3 rotates, it drives the motor itself and the rotation rack component 6-1-1 and the infinite roll component 6-2 to rotate together, avoiding the infinite roll component 6-2 being too long in the horizontal direction and too tall in the vertical direction.

[0112] In this embodiment, the infinite rolling assembly 6-2 includes 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 assembly 6-2-5, a vacuum suction cup 6-2-6, and a single-path air slip ring 6-2-7.

[0113] The bottom outer side of the rolling component frame 6-2-1 on the right is fixedly connected to the outer side of the flip gear 6-1-4. The bottom of the rolling component frame 6-2-1 on the left is connected to the airfoil support structure of the flip rack assembly 6-1-1 through a rotating shaft. A connecting rod is provided between the two rolling component frames 6-2-1 to enhance the stability of the rolling component frame 6-2-1.

[0114] The top of the rolling assembly frame 6-2-1 on both sides is provided with a hollow bearing mounting platform, and multiple rolling bearing assemblies 6-2-5 are provided around the bearing mounting platform. The left side of the bearing mounting 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 drive gear 6-2-4 to drive the rolling drive gear 6-2-4 to rotate synchronously.

[0116] The rotating disk adopts a ring structure, with its outer edge movably positioned between multiple rolling bearing assemblies 6-2-5. The multiple rolling bearing assemblies 6-2-5 support the rotating disk and enable it to rotate. A rolling driven gear 6-2-3 is fixedly installed at the bottom of the rotating disk. The rolling driven gear 6-2-3 meshes with the rolling driving gear 6-2-4, and is driven to rotate by the rolling driving gear 6-2-4. A single-path air slip ring 6-2-7 is installed at the center of the bottom of the rotating disk.

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

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

[0119] In use, the process of adjusting the roll angle and posture of the cube by the placement mechanism 6 is as follows: the cylinder 5-2 of the adjustment mechanism retracts to control the clamping of the timing belt assembly 5-1, and the two adjustment drive motors 5-1-3 rotate in opposite directions, turning inward, driving the two timing belts 5-1-1 to provide friction force to the cube in the same direction, towards the placement mechanism 6. At this time, the decoupled flipping mechanism 6-1 controls the angle of the infinite roll assembly 6-2 towards the cube. After the cube is driven by the timing belt 5-1-1 to contact the vacuum suction cup 6-2-6 on the infinite roll assembly 6-2, the vacuum pump 2-5 starts to work, so that the vacuum suction cup 6-2-6 picks up the cube. The decoupled flipping mechanism 6-1 controls the infinite rolling assembly 6-2 to move the cube to a vertically upward position. The rolling motor 6-2-2 drives the rolling drive gear 6-2-4 to rotate, which in turn drives the rolling driven gear 6-2-3 to rotate. This causes the two vacuum suction cups 6-2-6 mounted on top and the cube being suctioned to rotate together with the assistance of a single-path air slip ring 6-2-7. Once the cube's roll angle reaches the preset angle, the decoupled flipping mechanism 6-1 controls the infinite rolling assembly 6-2 to flip the cube back into the synchronous belt rotating mechanism. This allows for other operations on the cube, or it can be moved horizontally backward or vertically downward for placement and stacking. The vacuum pump 2-5 is turned off after the cube reaches the desired position.

[0120] Among them, such as Figure 3 As shown, during the movement of the infinitely 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 single component, and the angle of the flipping gear 6-1-4 is synchronized with that of the infinitely rolling assembly 6-2. Simultaneously, due to the gear and rack transmission, as the flipping motor 6-1-3 drives the flipping gear 6-1-4, it also moves along the flipping linear guide rail 6-1-2. The flipping gear and rack assembly 6-1-1 can be connected to the end slider assembly 3-4 to form a single component.

[0121] In a preferred embodiment, a Y-axis moving component 3 can also be installed on the rear base frame of the XZ platform frame 2-1. The movement direction of the Y-axis moving component 3 is perpendicular to the direction of the adjusting synchronous belt 5-1-1 and parallel to the axis of the adjusting mechanism cylinder 5-2, which can drive the placement mechanism 6 to move in both directions. The Y-axis moving component 3 is a three-times stroke moving mechanism, and its installation or not does not affect the two-degree-of-freedom attitude adjustment of the cube. When the Y-axis moving component 3 is used, the flipping rack component 6-1-1 is installed on the Y-axis moving component 3. By installing the Y-axis moving component 3, it can cooperate with the placement mechanism 6 to place or stack the cube adjusted to the preset angle attitude out of the working area of ​​the device.

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

[0123] The fixed end guide rail assembly 3-1 is fixedly mounted on the rear base frame of the XZ platform frame 2-1, and the movable end guide rail assembly 3-2 is mounted parallel to the fixed end guide rail assembly 3-1 on the rear base frame of the XZ platform frame 2-1.

[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 travel of the movable end guide rail assembly 3-2;

[0125] The end slider assembly 3-4 is mounted on the movable end guide rail assembly 3-2, and the flip rack assembly 6-1-1 is mounted 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 bracket 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 bracket 3-1-1 is fixedly mounted on the rear base frame of the XZ platform frame 2-1, and the fixed end linear guide rail 3-1-2 is located inside the fixed end component mounting bracket 3-1-1, on the side close to the movable end guide rail component 3-2.

[0128] The moving mechanism motor 3-1-5 is located at the bottom of one end of the fixed end component mounting bracket 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 bracket 3-1-1 and is coaxially connected to the fixed end active synchronous pulley 3-1-6.

[0129] A driven synchronous pulley 3-1-7 is provided at the other end of the fixed end component mounting bracket 3-1-1. The driven synchronous pulley 3-1-7 is connected to the driven synchronous pulley 3-1-6 via the fixed end synchronous belt 3-1-3.

[0130] The fixed-end rack 3-1-4 is movably mounted on the fixed-end component mounting bracket 3-1-1 below the fixed-end timing belt 3-1-3, and meshes with the middle-layer gear 3-3-4 in the middle-layer slider assembly 3-3, causing relative movement between the middle-layer slider assembly 3-3 and the fixed-end guide rail assembly 3-1 during the movement of the mechanism.

[0131] In this embodiment, the movable end guide rail assembly 3-2 includes a movable end assembly mounting bracket 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.

[0132] The movable end component mounting bracket 3-2-1 is fixedly mounted on the rear base frame of the XZ platform frame 2-1, and the movable end component mounting bracket 3-2-1 is the same length as the fixed end component mounting bracket 3-1-1; the movable end linear guide rail A 3-2-2 is located inside the movable end component mounting bracket 3-2-1, on the side closer to the fixed end guide rail assembly 3-1; the movable end linear guide rail B 3-2-3 is located outside the movable end component mounting bracket 3-2-1, on the side away from the fixed end guide rail assembly 3-1.

[0133] Movable end synchronous pulleys 3-2-5 are respectively provided at both ends of the movable end component mounting bracket 3-2-1, and the two movable end synchronous pulleys 3-2-5 are connected by a movable end synchronous belt 3-2-6.

[0134] The movable rack 3-2-4, mounted on the movable component mounting bracket 3-2-1 below the movable synchronous belt 3-2-6, meshes with the middle gear 3-3-4. Through the opposing movement of the gear transmission, the movable rack 3-2-4's travel is twice the length of the fixed rack 3-1-4, thus providing a first-stage double-stroke structure. During the mechanism's movement, this motion is transmitted to the movable synchronous belt 3-2-6. Since the middle slider assembly 3-3 is fixed to the inside of the movable synchronous belt 3-2-6, the movable rack 3-2-4, in conjunction with the middle gear 3-3-4 located on the middle slider assembly 3-3, causes relative movement between the movable guide rail assembly 3-2 and the middle slider assembly 3-3, driving the movable synchronous belt 3-2-6 to rotate. The movable rack 3-2-4 also serves as the mounting bracket for the second-stage double-stroke structure.

[0135] The movable end linear guide rails A 3-2-2 and B 3-2-3 are set in a direction parallel to the movable end synchronous belt 3-2-6; and the sliding grooves of the movable end linear guide rails A 3-2-2 and B 3-2-3 are opposite to each other.

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

[0137] Fixed guide rail sliders 3-3-2 are respectively provided at both ends of the first side of the middle layer slider mounting plate 3-3-1. The fixed guide rail sliders 3-3-2 are slidably mounted 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 timing belt toothed plate 3-3-5 is provided at the center of the first side of the middle-layer slider mounting plate 3-3-1. The toothed plate 3-3-5 has the same tooth profile as the fixed-end timing belt 3-1-3, thereby securing the fixed-end timing belt 3-1-3. The fixed-end timing belt toothed plate 3-3-5 is installed at the bottom of the fixed-end timing belt 3-1-3, and the middle-layer slider assembly 3-3 is fixed to the fixed-end timing belt 3-1-3 through the fixed-end timing belt toothed plate 3-3-5, thus transmitting the movement of the fixed-end timing belt 3-1-3 to the middle-layer slider assembly 3-3.

[0139] Movable guide rail sliders 3-3-3 are respectively provided at both ends of the second side of the middle layer slider mounting plate 3-3-1. The movable guide rail sliders 3-3-3 are slidably mounted 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 timing belt toothed plate A 3-3-6 is provided at the center of the second side of the middle layer slider mounting plate 3-3-1. The movable end timing belt toothed plate A 3-3-6 is engaged at the bottom of the movable end timing belt 3-2-6. By engaging the movable end timing belt 3-2-6, the middle layer slider assembly 3-3 is fixed on the movable end timing 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 intermediate gear 3-3-4 is located at the geometric center of the top of the intermediate slider mounting plate 3-3-1, and meshes with both the fixed-end rack 3-1-4 and the movable-end rack 3-2-4, with the tooth surfaces of the fixed-end rack 3-1-4 and the movable-end rack 3-2-4 facing each other. The intermediate gear 3-3-4, through its engagement with the movable-end rack 3-2-4, causes relative movement between the end slider assembly 3-4 and the intermediate slider assembly 3-3. At this time, the timing belt and the intermediate gear 3-3-4 drive the movement of the intermediate slider assembly 3-3, which is then transmitted to the movable-end timing belt 3-2-6. The intermediate gear 3-3-4 thus achieves the transmission of a two-stage, double-stroke stroke.

[0142] Among them, the two fixed guide rail sliders 3-3-2 and the two movable guide rail sliders 3-3-3 slide in the same 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 toothed 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 mounted on the movable end linear guide rail B3-2-3;

[0145] The movable end synchronous belt toothed plate B 3-4-3 is located at the center line of the inner side of the end slider mounting plate 3-4-1. The movable end synchronous belt toothed plate B 3-4-3 is symmetrically arranged with the movable end synchronous belt toothed plate A 3-3-6. The movable end synchronous belt toothed plate B 3-4-3 is engaged at the bottom of the movable end synchronous belt 3-2-6, pressing the movable end synchronous belt 3-2-6 tightly 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 toothed plate 3-3-5, the movable end synchronous belt toothed plate A 3-3-6, and the movable end synchronous belt toothed 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] In use, the principle of the triple-forming moving mechanism of the Y-axis moving component 3 is as follows:

[0148] The fixed-end guide rail assembly 3-1 and the XZ platform frame 2-1 are connected as a single component and remain stationary. The fixed-end synchronous belt toothed plate 3-3-5 in the middle-layer slider assembly 3-3 engages the fixed-end synchronous belt 3-1-3. Therefore, the moving mechanism motor 3-1-5, through the fixed-end active synchronous belt pulley 3-1-6 and the fixed-end driven synchronous belt pulley 3-1-7, can drive the middle-layer slider assembly 3-3 to move. The fixed-end guide rail slider 3-3-2 and the movable-end guide rail slider 3-3-3 in the middle-layer slider assembly 3-3 respectively engage with the fixed-end linear guide rail 3-1-2 and the movable-end linear guide rail A3-2-2. Simultaneously, the middle-layer gear 3-3-4 meshes with the fixed-end rack 3-1-4 and the movable-end rack 3-2-4. Therefore, with the fixed-end guide rail assembly 3-1 as a reference, the travel distance of the movable-end guide rail assembly 3-2 is twice the travel distance of the middle-layer slider assembly.

[0149] Two movable end timing belt toothed plates AB, 3-3-6, and 3-4-3 are symmetrically distributed on the movable end timing belt 3-2-6. The timing belt toothed plate A4-3-6 is in the middle layer slider assembly 3-3, and the timing belt toothed plate B3-4-3 is in the end slider assembly. The end slider 3-4-2 is in mate with the movable end linear guide rail B3-2-3. Therefore, with the middle layer slider assembly as the reference, the travel of the end slider assembly 3-4 is twice that of the movable end guide rail assembly 3-2.

[0150] Therefore, taking the fixed end guide rail assembly 3-1 as a reference, the travel distance of the end slider assembly 3-4 is 3 times that of the middle layer slider assembly 3-3.

[0151] In the above embodiments, the flip rack assembly 6-1-1 can be connected to the XZ platform frame 2-1 to form a component, or it can 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate 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 pose adjustment, characterized by, The utility model relates to a kind of robot for picking up and placing cubic article, including: Mobile chassis (1) for driving the whole robot to move omnidirectionally to adapt to various complex terrains; XZ-axis linear moving platform (2) is arranged on mobile chassis (1) to move along X-axis and Z-axis; Y-axis linear moving assembly (3) is arranged at the rear of XZ-axis linear moving platform (2), for driving cubic article to move linearly along Y-axis; Acquisition mechanism (4) is arranged on both sides of XZ-axis linear moving platform (2), for picking up cubic article and placing it in XZ-axis linear moving platform (2); Posture adjustment mechanism (5) is arranged on both sides of XZ-axis linear moving platform (2), inside acquisition mechanism (4), for adjusting the posture of the article entering XZ-axis linear moving platform (2); Placement mechanism (6) is arranged on Y-axis linear moving assembly (3), for picking up the article whose posture has been adjusted by posture adjustment mechanism (5), and moving it to a designated position by Y-axis linear moving assembly (3), and releasing the article to the designated position by placement mechanism (6); Placement mechanism (6) includes decoupling type turnover mechanism (6-1) and infinite rolling assembly (6-2);The bottom of decoupling type turnover mechanism (6-1) can be arranged on the chassis at the rear of XZ platform frame (2-1);Infinite rolling assembly (6-2) is arranged on decoupling type turnover mechanism (6-1), and the pitch angle of infinite rolling assembly (6-2) is controlled by decoupling type turnover mechanism (6-1), and infinite rolling assembly (6-2) can move cubic and adjust the angle posture to realize turnover and rotation movement; Decoupling type turnover mechanism (6-1) includes turnover rack assembly (6-1-1), turnover linear guide (6-1-2), turnover motor (6-1-3) and turnover gear (6-1-4);Turnover rack assembly (6-1-1) is arranged on the chassis at the rear of XZ platform frame (2-1), and is fixed as a component with the chassis;The right top of turnover rack assembly (6-1-1) has a strip sawtooth structure, and the left side is a wing-shaped support structure; Turnover linear guide (6-1-2) is arranged outside the right side of turnover rack assembly (6-1-1), and motor mounting seat is arranged on turnover linear guide (6-1-2); Turnover motor (6-1-3) is installed on the motor mounting seat, and the output shaft of turnover motor (6-1-3) is coaxially connected with turnover gear (6-1-4), so that turnover motor (6-1-3) drives turnover gear (6-1-4) to rotate;The outer side of turnover gear (6-1-4) is fixed on infinite rolling assembly (6-2), and infinite rolling assembly (6-2) is driven to turn over by turnover motor (6-1-3); The angle and length size of decoupling type turnover mechanism (6-1) control infinite rolling assembly (6-2) are coupled with the spatial position of XZ platform frame (2-1) structure. The endless rolling assembly (6-2) comprises a rolling assembly frame (6-2-1), a rolling motor (6-2-2), a rotating disc, a rolling driven gear (6-2-3), a rolling driving gear (6-2-4), a rolling bearing set (6-2-5), a vacuum chuck (6-2-6) and a single-path air slip ring (6-2-7); the bottom outer side of the rolling assembly frame (6-2-1) on the right side is fixedly connected with the outer side of the turnover gear (6-1-4), the bottom of the rolling assembly frame (6-2-1) on the left side is connected with the airfoil support structure of the turnover rack assembly (6-1-1) through a rotating shaft, and connecting rods are arranged between the rolling assembly frames (6-2-1) on the two sides; The top of the rolling assembly frame (6-2-1) on the two sides is provided with a hollow bearing mounting platform, a plurality of rolling bearing sets (6-2-5) are arranged at the periphery of the bearing mounting platform, and the left side of the bearing mounting platform has a protruding structure; The rolling motor (6-2-2) is mounted at the bottom of the protruding structure of the bearing mounting platform, and the output shaft of the rolling motor (6-2-2) is coaxially connected with the rolling driving gear (6-2-4) through the protruding structure to drive the rolling driving gear (6-2-4) to rotate synchronously; The rotating disc adopts a circular ring structure, the outer edge of the rotating disc is movably arranged between the plurality of rolling bearing sets (6-2-5), the rotating disc is supported by the plurality of rolling bearing sets (6-2-5) and rotates, the bottom of the rotating disc is fixedly provided with the rolling driven gear (6-2-3), the rolling driven gear (6-2-3) is engaged with the rolling driving gear (6-2-4), and the rotating disc is driven to rotate by the rolling driving gear (6-2-4); and the single-path air slip ring (6-2-7) is arranged at the center of the bottom of the rotating disc; The two vacuum chucks (6-2-6) are arranged side by side on the top of the rotating disc and are connected with the two vacuum pumps (2-5) through a single-path air slip ring (6-2-7), so that the vacuum chucks (6-2-6) have adsorption force; The Y-axis moving assembly (3) is arranged 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 adjusting synchronous belt (5-1-1) and parallel to the axial direction of the adjusting mechanism air cylinder (5-2), and the Y-axis moving assembly (3) drives the placing mechanism (6) to move bidirectionally; The Y-axis moving assembly (3) is a three-stroke moving mechanism, comprising a fixed-end guide rail assembly (3-1), a movable-end guide rail assembly (3-2), a middle-layer sliding block assembly (3-3) and a terminal sliding block assembly (3-4); 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); The middle-layer sliding block 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 for increasing the moving stroke of the movable-end guide rail assembly (3-2); and The terminal sliding block assembly (3-4) is arranged on 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 turnover rack assembly (6-1-1) is arranged on the end slider assembly (3-4) and drives the placing mechanism (6) to move left and right along the movable end guide rail assembly (3-2).

2. The robot for cube handling and angle pose adjustment as claimed in claim 1, wherein, The XZ-axis linear moving platform (2) comprises an XZ-platform frame (2-1), the XZ-platform frame (2-1) comprises a chassis composed of aluminum square tubes and a top plate for accommodating a cube spliced by an L-shaped adapter plate and a T-shaped adapter plate, the top plate is arranged on the chassis, and one installation hole is arranged on each side of the top plate; a vacuum pump (2-5) is arranged at one end in each installation hole, a main control board (2-6) is arranged at the other end in one installation hole, and an electromagnetic valve group (2-7) is arranged at the other end in the other installation hole; X-axis racks (2-4) are arranged at the lower parts of the aluminum square tubes on the two sides of the front end of the XZ-platform frame (2-1), and X-axis motors (2-2) are arranged above the X-axis racks (2-4) on the aluminum square tubes on the two sides of the front end of the XZ-platform frame (2-1); The output end of the X-axis motor (2-2) is coaxially connected with an X-axis gear (2-3), the side of the X-axis gear (2-3) is engaged with the X-axis rack (2-4), and the X-axis gear (2-3) is driven by the X-axis motor (2-2) to move along the X-axis rack (2-4).

3. The robot for cube handling and angle pose adjustment as claimed in claim 1, wherein, The acquisition mechanism (4) comprises a friction wheel-claw combined taking mechanism (4-1) and an acquisition extension mechanism (4-2); the friction wheel-claw combined 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 combined taking mechanism (4-1) in a matching mode, so that the friction wheel-claw combined taking mechanism (4-1) is extended to a farther distance from the body of the acquisition mechanism (4) by the acquisition extension mechanism (4-2), and a cube in the deep part of the table top is taken.

4. The robot for cube handling and angle pose adjustment as claimed in claim 3, wherein, The friction wheel-jaw composite type taking mechanism (4-1) comprises an acquisition mechanism fixed frame (4-1-1), the middle part of the acquisition mechanism fixed frame (4-1-1) is fixedly connected with 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), the friction wheel motor (4-1-5) is away from the X-axis motor (2-2) of the XZ axial linear motion platform (2); the output end of the friction wheel motor (4-1-5) is coaxially connected with a first acquisition driving wheel, the first acquisition driving wheel is transmissionally connected with a first acquisition driven wheel through a first acquisition synchronous belt (4-1-6), and a long swing arm is formed; the first acquisition driven wheel is coaxially connected with a second acquisition driving wheel, the second acquisition driving wheel is transmissionally connected with a second acquisition driven wheel through a second acquisition synchronous belt (4-1-7), and a transmission arm is formed; the second acquisition driven wheel is coaxially connected with a third acquisition driving wheel, the third acquisition driving wheel is transmissionally connected with a third acquisition driven wheel through a third acquisition synchronous belt (4-1-8), and a short swing arm (4-1-2) is formed; the front end of the short swing arm (4-1-2) is provided with a friction wheel (4-1-3), which is close to the X-axis motor (2-2), and the friction wheel (4-1-3) is coaxially connected with the third acquisition driven wheel and driven to rotate by the third acquisition 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 with the front end of a first extension piece (4-2-1) through a connecting piece, the rear end of the first extension piece (4-2-1) is slidably arranged on an acquisition first linear guide rail (4-2-5) through a sliding block, and 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); an acquisition second linear guide rail (4-2-6) is arranged on the top of the first extension piece (4-2-1), the rear end of a second extension piece (4-2-2) is slidably arranged on the acquisition second linear guide rail (4-2-6) through a sliding block, and the side of the second extension piece (4-2-2) is fixed on 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 further arranged on the first extension piece (4-2-1), and a clamping groove is arranged on the second extension piece (4-2-2), the clamping groove and the acquisition extension synchronous belt (4-2-4) are of the same tooth shape and are used for fixing corresponding points on the synchronous belt; the acquisition extension synchronous belt (4-2-4) is clamped in the clamping grooves on the XZ platform frame (2-1) and the second extension piece (4-2-2) at any two symmetrical points in the annular synchronous belt, so that the second extension piece (4-2-2) can be extended together with the first extension piece (4-2-1) when the first extension piece (4-2-1) moves, and the stroke of the friction wheel-claw composite type acquisition mechanism (4-1) extending out of the machine body is twice the stroke of the acquisition cylinder (4-2-3), thereby forming a synchronous belt double-stroke amplification mechanism.

5. The robot for cube handling and angle pose adjustment as claimed in claim 1, wherein, The attitude adjustment mechanism (5) comprises synchronous belt rotating mechanisms arranged on the two sides of the XZ platform frame (2-1) and used for adjusting the yaw angle attitude of the picked cube; the synchronous belt rotating mechanism comprises an adjustment synchronous belt assembly (5-1) and an adjustment mechanism cylinder (5-2), one adjustment synchronous belt assembly (5-1) is 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) and used for driving the two adjustment synchronous belt assemblies (5-1) to move relatively or reversely; 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 driving motor (5-1-3) and an adjustment mechanism linear guide rail (5-1-4); the adjustment mechanism linear guide rails (5-1-4) are arranged on the two sides of the chassis at the rear of the XZ platform frame (2-1), and the sliding blocks are movably arranged on each adjustment mechanism linear guide rail (5-1-4); the adjustment synchronous belt assembly mounting plate (5-1-2) is fixedly arranged on the sliding block; The adjustment driving motor (5-1-3) is mounted on the adjustment synchronous belt assembly mounting plate (5-1-2), and the output shaft of the adjustment driving motor (5-1-3) is coaxially connected with the driving gear mounted on the adjustment synchronous belt assembly mounting plate (5-1-2). A plurality of driven gears are arranged on the upper interval of the adjusting synchronous belt assembly mounting plate (5-1-2), the driving gear is connected with 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 adjusting mechanism linear guide rail (5-1-4); The adjusting mechanism air cylinder (5-2) is axially parallel to the adjusting mechanism linear guide rail (5-1-4), and the extension and contraction of the adjusting mechanism air cylinder (5-2) drives the two adjusting synchronous belt assemblies (5-1) to move.

6. The robot for cube handling and angle pose adjustment as claimed in claim 1, wherein, The fixed end guide rail assembly (3-1) comprises a fixed end assembly mounting rack (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 assembly mounting rack (3-1-1) is fixedly arranged on the rear bottom frame of the XZ platform frame (2-1), the fixed end linear guide rail (3-1-2) is arranged on the inner side of the fixed end assembly mounting rack (3-1-1), and is close to the side of the movable end guide rail assembly (3-2); The moving mechanism motor (3-1-5) is arranged at the bottom of one end of the fixed end assembly mounting rack (3-1-1), and the output shaft of the moving mechanism motor (3-1-5) is coaxially connected with the fixed end driving synchronous pulley (3-1-6) through the end of the fixed end assembly mounting rack (3-1-1); The fixed end driven synchronous pulley (3-1-7) is arranged at the other end of the fixed end assembly mounting rack (3-1-1), and the fixed end driven synchronous pulley (3-1-7) is in transmission connection with the fixed end driving synchronous pulley (3-1-6) through the fixed end synchronous belt (3-1-3); The fixed end rack (3-1-4) is movably arranged on the fixed end assembly mounting rack (3-1-1) below the fixed end synchronous belt (3-1-3), and is in meshing connection 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) are relatively moved during the movement of the mechanism; The movable end guide rail assembly (3-2) comprises a movable end assembly mounting rack (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 assembly mounting rack (3-2-1) is fixedly arranged on the rear bottom frame of the XZ platform frame (2-1), and the movable end assembly mounting rack (3-2-1) is equal in length to the fixed end assembly mounting rack (3-1-1); the movable end linear guide rail A (3-2-2) is arranged on the inner side of the movable end assembly mounting rack (3-2-1), close to the side of the fixed end guide rail assembly (3-1); and the movable end linear guide rail B (3-2-3) is arranged on the outer side of the movable end assembly mounting rack (3-2-1), away from the side of the fixed end guide rail assembly (3-1). The movable end synchronous pulley (3-2-5) is arranged at two ends of the movable end assembly mounting frame (3-2-1), and the two movable end synchronous pulleys (3-2-5) are drivingly connected through the movable end synchronous belt (3-2-6); 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 is engaged with the middle layer gear (3-3-4), the opposite movement of the movable end rack (3-2-4) is realized through gear transmission, so that the movement stroke of the movable end rack (3-2-4) is 2 times the length of the fixed end rack (3-1-4), and the first two times stroke is realized by the fixed end rack (3-1-4) cooperating with the movable end rack (3-2-4); the movement is transmitted to the movable end synchronous belt (3-2-6) in the process of mechanism movement; 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.

7. The robot for cube handling and angle pose adjustment as claimed in claim 1, wherein, The middle layer slider assembly (3-3) comprises a middle layer slider mounting plate (3-3-1), a fixed guide rail slider (3-3-2), a movable guide rail slider (3-3-3), a middle layer gear (3-3-4), a fixed end synchronous belt toothed plate (3-3-5) and a movable end synchronous belt toothed plate A (3-3-6); The fixed guide rail sliders (3-3-2) are slidingly arranged on the fixed end linear guide rail (3-1-2) and cooperate with the fixed end linear guide rail (3-1-2); The fixed end synchronous belt toothed 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 toothed plate (3-3-5) has the same tooth shape as the fixed end synchronous belt (3-1-3), so as to clamp the fixed end synchronous belt (3-1-3); the fixed end synchronous belt toothed plate (3-3-5) is arranged at the bottom of the fixed end synchronous belt (3-1-3), the middle layer slider assembly (3-3) is fixed on the fixed end synchronous belt (3-1-3) through the fixed end synchronous belt toothed 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); The movable guide rail sliders (3-3-3) are slidingly 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). The movable end synchronous belt tooth plate A (3-3-6) is arranged at the center of the second side of the middle layer slider mounting plate (3-3-1), and 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) to fix the middle layer slider assembly (3-3) on the movable end synchronous belt (3-2-6), and transmit the movement of the middle layer slider assembly (3-3) to the movable end guide rail assembly (3-2); The middle layer gear (3-3-4) is arranged at the geometric center of the top of the middle layer slider mounting plate (3-3-1), and is engaged with the fixed end rack (3-1-4) and the movable end rack (3-2-4) respectively. The fixed end rack (3-1-4) and the movable end rack (3-2-4) are opposite in tooth surface. The middle layer gear (3-3-4) drives the end slider assembly (3-4) to move relative to the middle layer slider assembly (3-3) through cooperation with the movable end rack (3-2-4). At this time, the synchronous belt drives the middle layer slider assembly (3-3) to move and transmit to the movable end synchronous belt (3-2-6), and the middle layer gear (3-3-4) realizes the transmission of two times of stroke.

8. The robot for cube handling and angle pose adjustment as claimed in claim 1, wherein, 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); The inner side of the end slider mounting plate (3-4-1) is provided with an end slider (3-4-2) at each end, 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 middle line position of the inner side of the end slider mounting plate (3-4-1), and is symmetrically arranged with the movable end synchronous belt tooth plate A (3-3-6). 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), and the movable end synchronous belt (3-2-6) is pressed on the end slider mounting plate (3-4-1).

Images