Stacking robot

Abstract

The invention relates to the technical field of intelligent manufacturing, and discloses a palletizing robot which comprises a base frame. The first driving mechanism is arranged on the base frame; the second driving mechanism is arranged at the power output end of the first driving mechanism, and the first driving mechanism can drive the second driving mechanism to move in the horizontal plane; the lifting mechanism is arranged at the power output end of the second driving mechanism, the second driving mechanism can drive the lifting mechanism to move in the horizontal plane, and an included angle is formed between the driving direction of the first driving mechanism and the driving direction of the second driving mechanism; the obtaining mechanism is arranged on the lifting mechanism; the collecting module is used for obtaining position information of goods to be carried. According to the stacking robot, the grabbing strategy can be adjusted according to the positions of the cargoes and the stacking state, it is guaranteed that the stacking robot can accurately grab and place the cargoes, the stacking precision is improved, the stacking robot can be suitable for complex and changeable use scenes, and the intelligent degree of the stacking robot can be improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to a palletizing robot. Background Art

[0002] With the advancement and development of science and technology, palletizing robots are widely used in fields such as automation, logistics and manufacturing. They can replace manual labor to grab and stack goods, reduce the labor intensity of operators, and help improve production efficiency and reduce operating costs.

[0003] In the related technology, palletizing robots have the defects of being unable to accurately grasp and place goods when the placement of items changes, having poor palletizing accuracy, and being unable to cope with complex and changing work scenarios. Summary of the invention

[0004] In view of this, the present invention provides a palletizing robot to solve the problem that the palletizing robot in the related art cannot accurately grasp and place goods when the placement of the items changes, the palletizing accuracy is poor, and it is difficult to cope with complex and changeable working scenarios.

[0005] The present invention provides a palletizing robot, comprising:

[0006] Scaffolding;

[0007] A first driving mechanism is disposed on the base frame;

[0008] The second driving mechanism is arranged on the power output end of the first driving mechanism, and the first driving mechanism can drive the second driving mechanism to move in a horizontal plane;

[0009] A lifting mechanism is arranged on the power output end of the second driving mechanism, the second driving mechanism can drive the lifting mechanism to move in a horizontal plane, and the driving direction of the first driving mechanism is arranged at an angle to the driving direction of the second driving mechanism;

[0010] An acquisition mechanism is arranged on the lifting mechanism;

[0011] The acquisition module is used to obtain the location information of the goods to be transported.

[0012] Beneficial effect: During the use of the palletizing robot of the embodiment of the present invention, the acquisition module can obtain the position information of the goods to be transported. The first driving mechanism and the second driving mechanism can cooperate with each other and drive the mechanism to move in the horizontal plane, so as to move above the goods to be acquired. Then the lifting mechanism can lower the acquisition mechanism so that the acquisition mechanism can pick up the goods.

[0013] After the goods are picked up, the lifting mechanism rises, the first drive mechanism and the second drive mechanism can cooperate with each other to transport the goods to the target workstation, and the lifting structure lowers the acquisition mechanism to stack the goods at the target workstation according to specific rules.

[0014] And because the acquisition module can be used to obtain the position and stacking status of the goods to be transported, the palletizing robot can adjust the grasping strategy according to the position and stacking status of the goods, ensuring that the palletizing robot can accurately grasp and place the goods, improving the accuracy of palletizing, being suitable for complex and changeable usage scenarios, and improving the intelligence level of the palletizing robot.

[0015] The palletizing robot of the embodiment of the present application can identify the corresponding position of the goods through the acquisition module, and use encoders and linear displacement sensors to perform negative feedback adjustment of the whole machine, thereby achieving precise stacking.

[0016] In an optional embodiment, the base frame includes a pair of support beams arranged opposite to each other, the first driving mechanism is arranged on the support beams and can drive the second driving mechanism to move along the length direction of the support beams, and the lifting mechanism and the acquisition mechanism are arranged between the two support beams.

[0017] Beneficial effect: Through such an arrangement, the goods to be transported can be placed between a pair of support beams, and the first driving mechanism and the second driving mechanism can drive the goods to move between the pair of support beams, thereby realizing flexible movement of the goods in a small space.

[0018] In an optional embodiment, the first driving mechanism includes:

[0019] A rack is provided on the support beam and extends along the length direction of the support beam;

[0020] A base, which is arranged on the base frame;

[0021] A first rotation source is disposed on the base;

[0022] The gear is arranged on the power output end of the first rotation source and meshes with the rack.

[0023] Beneficial effects: The transmission is carried out through the coordination of gears and racks, and has the characteristics of high-speed operation, large bearing capacity, stable long-distance operation, and high transmission accuracy, which is particularly suitable for the working requirements of stacking robots.

[0024] In an optional embodiment, racks are respectively provided on the two support beams, and both ends of the base are respectively provided on one support beam.

[0025] Beneficial effect: Through such an arrangement, the goods to be transported can be placed between a pair of support beams, and the first driving mechanism and the second driving mechanism can drive the goods to move between the pair of support beams, thereby realizing flexible movement of the goods in a small space.

[0026] In an optional embodiment, the base includes a base body, a first mounting portion and a second mounting portion, the base body is formed with a avoidance opening extending along the length direction of the base body, the first mounting portion and the second mounting portion are respectively arranged at two ends of the base body, and the second driving mechanism further includes:

[0027] A screw rod passes through the first mounting portion and the second mounting portion, and the lifting mechanism passes through the avoidance opening and is connected to a nut of the screw rod;

[0028] The second rotation source is arranged on the base and is used for driving the screw to rotate.

[0029] Beneficial effect: Through such an arrangement, the base of the first drive mechanism can also be used to install the second drive mechanism, and the lifting mechanism is located between a pair of support beams. The base has various functions, which helps to reduce the number of parts of the palletizing robot, so that the structure of the palletizing robot is simpler and more compact.

[0030] In addition, when any of the first driving mechanism, the second driving mechanism, the lifting mechanism and the acquiring mechanism fails, the operator can directly remove the base from the base frame to replace the failed device, which can facilitate the inspection and replacement of the palletizing robot.

[0031] In an optional embodiment, the transmission part of the screw rod is located at the center of the palletizing robot in the transmission direction of the second drive mechanism.

[0032] Beneficial effect: Through such an arrangement, when the goods enter the working range of the palletizing robot, the center line of the palletizing robot can be used as a reference, which is more intuitive to use.

[0033] In an optional embodiment, the palletizing robot further comprises:

[0034] The first slide rail is arranged on the support beam and extends along the length direction of the support beam. The base is slidably arranged on the first slide rail.

[0035] Beneficial effect: The first slide rail can reduce the friction and noise between the base and the base frame, and avoid vibration during the transmission process.

[0036] In an optional embodiment, the palletizing robot further includes a second slide rail, which is disposed on the base and extends along the length direction of the base, and the lifting mechanism is slidably connected to the second slide rail.

[0037] Beneficial effect: The second slide rail can reduce the friction and noise between the lifting mechanism and the base, and avoid vibration during the transmission process.

[0038] In an optional embodiment, the lifting mechanism includes:

[0039] A telescopic assembly, comprising a plurality of telescopic units, each of which comprises a first plate body and a second plate body, the middle of the first plate body is hinged to the middle of the second plate body, the ends of the first plate bodies in two adjacent telescopic units are hinged to the ends of the second plate bodies, and the bottom telescopic unit is connected to the acquisition mechanism;

[0040] The opening and closing mechanism is connected to the power output end of the second driving mechanism, and the telescopic assembly is connected to the power output end of the opening and closing mechanism. The opening and closing mechanism can drive the first plate body and the second plate body of the telescopic unit on the top to perform opening and closing movements.

[0041] Beneficial effect: Through such an arrangement, when the acquisition mechanism needs to be lowered, the opening and closing mechanism can drive the ends of the first plate body and the second plate body to move toward each other, and the telescopic component extends, thereby carrying the acquisition mechanism down.

[0042] When the acquisition mechanism needs to be raised, the opening and closing mechanism can drive the ends of the first plate body and the second plate body to move away from each other, and the telescopic assembly retracts, thereby carrying the acquisition mechanism to rise.

[0043] In addition, the telescopic assembly of the present application has good stability and load-bearing capacity, quick response, long telescopic distance, and low cost.

[0044] In an optional embodiment, the base frame includes a plurality of aluminum profiles, and a connecting angle piece is provided at the connection of two mutually perpendicular aluminum profiles.

[0045] Beneficial effect: When using common steel materials, if you want to improve their carrying capacity, you will inevitably increase the density or thickness of the material, which will inevitably increase its weight. The base frame of the palletizing robot in the embodiment of the present application is made of aluminum profiles, and uses heavy 90° connecting angle pieces as strength support between two mutually perpendicular components, thereby effectively dispersing the load through a triangular structure, providing stability and carrying capacity, thereby ensuring the carrying capacity of the base frame while reducing the overall weight of the base frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 A three-dimensional diagram of a palletizing robot according to an embodiment of the present invention;

[0048] Figure 2 A front view of a palletizing robot according to an embodiment of the present invention;

[0049] Figure 3 A top view of a palletizing robot according to an embodiment of the present invention;

[0050] Figure 4 A side view of a palletizing robot according to an embodiment of the present invention;

[0051] Figure 5 This is a three-dimensional diagram of a palletizing robot according to an embodiment of the present invention, wherein the lifting mechanism thereof is hidden in order to facilitate display of the first driving mechanism and the second driving mechanism;

[0052] Figure 6 for Figure 5 A front view of the palletizing robot shown;

[0053] Figure 7 for Figure 5 A top view of the palletizing robot is shown;

[0054] Figure 8 for Figure 5 A side view of the palletizing robot is shown;

[0055] Fig. 9 A three-dimensional diagram of a first driving mechanism, a second driving mechanism and a lifting mechanism of a palletizing robot according to an embodiment of the present invention;

[0056] Fig.10 for Fig. 9 A front view of the first driving mechanism, the second driving mechanism and the lifting mechanism shown;

[0057] Fig.11 for Fig. 9 A top view of the first driving mechanism, the second driving mechanism and the lifting mechanism shown;

[0058] Fig.12 for Fig. 9 A side view of the first driving mechanism, the second driving mechanism and the lifting mechanism;

[0059] Fig.13 A three-dimensional diagram of a first driving mechanism and a second driving mechanism of a palletizing robot according to an embodiment of the present invention;

[0060] Fig.14 for Fig.13 A front view of the first drive mechanism and the second drive mechanism shown;

[0061] Fig.15 for Fig.13 A side view of the first drive mechanism and the second drive mechanism is shown.

[0062] Description of reference numerals:

[0063] 1. Base frame; 101. Support beam;

[0064] 2. first driving mechanism; 201. rack; 202. base; 2021. base body; 2022. first mounting portion; 2023. second mounting portion; 2024. avoidance opening;

[0065] 203. A first rotation source; 204. A gear;

[0066] 3. Second driving mechanism; 301. Screw rod; 302. Second rotation source;

[0067] 4. lifting mechanism; 401. telescopic assembly; 4011. telescopic unit; 40111. first plate body; 40112. second plate body;

[0068] 402. Opening and closing mechanism;

[0069] 5. The first slide rail;

[0070] 6. Second slide rail. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0072] Combine the following Figures 1 to 15 , describing an embodiment of the present invention.

[0073] According to an embodiment of the present invention, a palletizing robot is provided, comprising a base frame 1, a first driving mechanism 2, a second driving mechanism 3, a lifting mechanism 4, an acquisition mechanism and a collection module. The first driving mechanism 2 is arranged on the base frame 1. The second driving mechanism 3 is arranged on the power output end of the first driving mechanism 2, and the first driving mechanism 2 can drive the second driving mechanism 3 to move in a horizontal plane. The lifting mechanism 4 is arranged on the power output end of the second driving mechanism 3. The second driving mechanism 3 can drive the lifting mechanism 4 to move in a horizontal plane, and the driving direction of the first driving mechanism 2 is set at an angle to the driving direction of the second driving mechanism 3. The acquisition mechanism is arranged on the lifting mechanism 4. The collection module is used to obtain the position information of the goods to be transported.

[0074] During use of the palletizing robot of the embodiment of the present invention, the acquisition module can acquire the position information of the goods to be transported. The first drive mechanism 2 and the second drive mechanism 3 can cooperate with each other and drive the mechanism to move in a horizontal plane, so as to move above the goods to be acquired. Then the lifting mechanism 4 can lower the acquisition mechanism so that the acquisition mechanism can pick up the goods.

[0075] After the goods are picked up, the lifting mechanism 4 rises, the first drive mechanism 2 and the second drive mechanism 3 can cooperate with each other and transport the goods to the target workstation, and the lifting structure lowers the acquisition mechanism to stack the goods at the target workstation according to specific rules.

[0076] And because the acquisition module can be used to obtain the position and stacking status of the goods to be transported, the palletizing robot can adjust the grasping strategy according to the position and stacking status of the goods, ensuring that the palletizing robot can accurately grasp and place the goods, improving the accuracy of palletizing, being suitable for complex and changeable usage scenarios, and improving the intelligence level of the palletizing robot.

[0077] The acquisition module is preferably, but not limited to, a camera. For example, a camera (such as OpenMV, K230, etc.) is used as a cargo reading sensor.

[0078] In one embodiment, the palletizing robot also includes a control module, which is communicatively connected with the acquisition module, the first drive mechanism 2, the second drive mechanism 3, the lifting mechanism 4 and the acquisition mechanism, and can control the movement of the first drive mechanism 2, the second drive mechanism 3, the lifting mechanism 4 and the acquisition mechanism according to the cargo position and stacking state acquired by the camera.

[0079] Among them, the control module may include a programmable logic control component (such as a PLC or a CPU), a memory, and electronic components connected to the programmable logic control component, etc., which are well known to those skilled in the art and will not be described in detail here.

[0080] The translation distances of the first driving mechanism 2 and the second driving mechanism 3 may be optionally monitored in real time by a linear displacement sensor.

[0081] As a convertible implementation, both the first drive mechanism 2 and the second drive mechanism 3 are provided with motors, and the linear displacement of the first drive mechanism 2 and the second drive mechanism 3 can be optionally obtained by encoders of the motors.

[0082] Through such an arrangement, the palletizing robot of the embodiment of the present application can identify the corresponding position of the goods through the acquisition module, and use encoders and linear displacement sensors to perform negative feedback adjustment of the whole machine, thereby achieving precise stacking.

[0083] The acquisition mechanism may be a clamp.

[0084] As an alternative implementation, in some embodiments not shown in the drawings, the acquisition mechanism may also optionally include a suction cup.

[0085] In one embodiment, Figure 3 and Figure 5 As shown, the base frame 1 includes a pair of supporting beams 101 arranged opposite to each other, the first driving mechanism 2 is arranged on the supporting beams 101 and can drive the second driving mechanism 3 to move along the length direction of the supporting beams 101, and the lifting mechanism 4 and the acquisition mechanism are arranged between the two supporting beams 101.

[0086] By such arrangement, the goods to be transported can be placed between a pair of support beams 101, and the first driving mechanism 2 and the second driving mechanism 3 can drive the goods to move between the pair of support beams 101, thereby realizing flexible movement of the goods in a small space.

[0087] In one embodiment, a pair of support beams 101 are connected to connecting beams at both ends thereof, and support columns are disposed at the bottoms of the support beams 101 and the connecting beams.

[0088] In one embodiment, Figure 5 and Fig. 9 As shown, the first driving mechanism 2 includes a rack 201 , a base 202 , a first rotation source 203 and a gear 204 .

[0089] The rack 201 is disposed on the support beam 101 and extends along the length direction of the support beam 101. The base 202 is disposed on the base frame 1. The first rotation source 203 is disposed on the base 202. The gear 204 is disposed on the power output end of the first rotation source 203 and meshes with the rack 201.

[0090] The transmission is carried out through the cooperation of the gear 204 and the rack 201, and has the characteristics of high-speed operation, large bearing capacity, stable long-distance operation, high transmission accuracy, etc., and is particularly suitable for the working requirements of the stacking robot.

[0091] The first rotation source 203 may be a device capable of outputting rotation, such as a motor, an engine, a hydraulic motor, or a combination of one of them and a reducer.

[0092] Exemplarily, in an optional embodiment, the driving distance of the first driving mechanism 2 is 0.9 meters.

[0093] In one embodiment, racks 201 are respectively disposed on the two support beams 101 , and two ends of the base 202 are respectively disposed on one support beam 101 .

[0094] By such arrangement, the gear 204 and the rack 201 driven on both sides can not only enhance the load-bearing capacity of the rack 201 , but also make the movement of the second driving mechanism 3 more stable.

[0095] In one embodiment, Fig.13 and Fig.14 As shown, the base 202 includes a base body 2021, a first mounting portion 2022 and a second mounting portion 2023. The base body 2021 is formed with an avoidance opening 2024 extending along the length direction of the base body 2021. The first mounting portion 2022 and the second mounting portion 2023 are respectively arranged at both ends of the base body 2021. The second driving mechanism 3 also includes a screw 301 and a second rotation source 302.

[0096] The screw rod 301 passes through the first mounting portion 2022 and the second mounting portion 2023, and the lifting mechanism 4 passes through the avoidance opening 2024 and is connected to the nut of the screw rod 301. The second rotation source 302 is disposed on the base 202, and is used to drive the screw rod 301 to rotate.

[0097] By such an arrangement, the base 202 of the first driving mechanism 2 can also be used to install the second driving mechanism 3, and the lifting mechanism 4 is located between a pair of support beams 101. The base 202 has various functions, which helps to reduce the number of parts of the palletizing robot, so that the structure of the palletizing robot is simpler and more compact.

[0098] In addition, when any of the first driving mechanism 2, the second driving mechanism 3, the lifting mechanism 4 and the acquiring mechanism fails, the operator can directly remove the base 202 from the base frame 1 to replace the failed device, which can facilitate the inspection and replacement of the palletizing robot.

[0099] The second rotation source 302 can be selected as a device capable of outputting rotation, such as a motor, an engine, a hydraulic motor, or a combination of one of them and a reducer.

[0100] In one embodiment, the transmission part of the screw rod 301 is located at the center of the palletizing robot in the transmission direction of the second driving mechanism 3 .

[0101] Through such a setting, when the goods enter the working range of the palletizing robot, the center line of the palletizing robot can be used as a reference, which is more intuitive to use.

[0102] In one embodiment, the palletizing robot further includes a first slide rail 5 .

[0103] The first slide rail 5 is disposed on the support beam 101 and extends along the length direction of the support beam 101 . The base 202 is slidably disposed on the first slide rail 5 .

[0104] The first slide rail 5 can reduce the friction and noise between the base 202 and the base frame 1 and avoid vibration during the transmission process.

[0105] In one embodiment, a guide slot is provided at the bottom of the base 202 , and the guide slot is sleeved on the base 202 .

[0106] In one embodiment, Fig. 9 As shown, the palletizing robot further includes a second slide rail 6. The second slide rail 6 is disposed on the base 202 and extends along the length direction of the base 202, and the lifting mechanism 4 is slidably connected to the second slide rail 6.

[0107] The second slide rail 6 can reduce the friction and noise between the lifting mechanism 4 and the base 202 and avoid vibration during the transmission process.

[0108] In one embodiment, the lifting mechanism 4 includes a telescopic component 401 and an opening and closing mechanism 402 .

[0109] The telescopic assembly 401 includes a plurality of telescopic units 4011, each of which includes a first plate 40111 and a second plate 40112. The middle of the first plate 40111 is hinged to the middle of the second plate 40112, the ends of the first plate 40111 in two adjacent telescopic units 4011 are hinged to the ends of the second plate 40112, and the bottom telescopic unit 4011 is connected to the acquisition mechanism. The opening and closing mechanism 402 is connected to the power output end of the second driving mechanism 3, and the telescopic assembly 401 is connected to the power output end of the opening and closing mechanism 402. The opening and closing mechanism 402 can drive the first plate 40111 and the second plate 40112 of the top telescopic unit 4011 to perform opening and closing movements.

[0110] By such arrangement, when the acquisition mechanism needs to be lowered, the opening and closing mechanism 402 can drive the ends of the first plate body 40111 and the second plate body 40112 to move toward each other, and the telescopic component 401 extends, thereby carrying the acquisition mechanism down.

[0111] When the acquisition mechanism needs to be raised, the opening and closing mechanism 402 can drive the ends of the first plate body 40111 and the second plate body 40112 to move away from each other, and the telescopic component 401 retracts, thereby carrying the acquisition mechanism up.

[0112] In addition, the telescopic component 401 of the present application has good stability and load-bearing capacity, quick response, long telescopic distance, and low cost.

[0113] The opening and closing mechanism 402 is preferably, but not limited to, a positive and negative threaded screw 301 or the like.

[0114] In one embodiment, the base frame 1 includes a plurality of aluminum profiles, and a connecting angle piece is provided at the connection of two mutually perpendicular aluminum profiles.

[0115] When using common steel materials, if you want to improve their carrying capacity, you will inevitably increase the density or thickness of the material, which will inevitably increase its weight. The base frame 1 of the palletizing robot in the embodiment of the present application is made of aluminum profiles, and uses heavy 90° connecting angle pieces as strength support between two mutually perpendicular components, thereby effectively dispersing the load through a triangular structure, providing stability and carrying capacity, thereby ensuring the carrying capacity of the base frame 1 while reducing the overall weight of the base frame 1.

[0116] In a preferred embodiment, in order to ensure the overall strength of the base frame 1, no holes are punched on the aluminum profile, and the base frame 1 and other components are connected to each other by threaded connections, thereby ensuring the connection strength between the base frame 1 and other components without destroying the structural strength of the aluminum profile.

[0117] Specifically, when no holes are punched on the aluminum profile, threaded connection can be achieved through angle piece connection, connection plate connection, angle groove connection, etc., or threaded connection can be achieved using special bolts and nuts.

[0118] In summary, the palletizing robot according to the embodiment of the present invention effectively solves multiple technical problems and brings significant beneficial effects.

[0119] First of all, the palletizing robot's base frame 1 uses industrial aluminum profiles as the main frame of the fuselage. The choice of materials has certain lightweight characteristics. This structural feature has a high radial load capacity and is suitable for the transportation of various items. Autonomous navigation and path planning are achieved through integrated sensors, solving the positioning problem in complex environments. In addition, the omnidirectional design enables the platform to move flexibly in a small space, overcoming the limitations of traditional mobile methods. The use of Internet of Things technology ensures real-time data exchange with other devices to avoid information island problems. These technological innovations improve work efficiency, reduce labor costs and transportation time, and enhance operational safety. The flexible adaptability of the platform enables it to operate efficiently in different environments and meet diverse work needs.

[0120] The palletizing robot according to the embodiment of the present invention has important application value in modern industry and service fields, and promotes the automation process.

[0121] The structural design of this platform solves the problem of high cost under existing technology, and comprehensively considers lightweight and load capacity, making it suitable for various transportation needs.

[0122] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope of protection claimed by the present invention.

Claims

1. A palletizing robot, characterized in that: include: Base frame (1); A first driving mechanism (2) is arranged on the base frame (1); A second driving mechanism (3) is arranged on the power output end of the first driving mechanism (2), and the first driving mechanism (2) is capable of driving the second driving mechanism (3) to move in a horizontal plane; A lifting mechanism (4) is arranged on the power output end of the second driving mechanism (3), the second driving mechanism (3) is capable of driving the lifting mechanism (4) to move in a horizontal plane, and the driving direction of the first driving mechanism (2) and the driving direction of the second driving mechanism (3) are arranged at an angle; An acquisition mechanism, arranged on the lifting mechanism (4); The acquisition module is used to obtain the location information of the goods to be transported.

2. The palletizing robot according to claim 1, characterized in that: The base frame (1) comprises a pair of supporting beams (101) arranged opposite to each other, the first driving mechanism (2) is arranged on the supporting beams (101) and is capable of driving the second driving mechanism (3) to move along the length direction of the supporting beams (101), and the lifting mechanism (4) and the acquiring mechanism are arranged between the two supporting beams (101).

3. The palletizing robot according to claim 2, characterized in that: The first driving mechanism (2) comprises: A rack (201) is provided on the support beam (101) and extends along the length direction of the support beam (101); A base (202) is arranged on the base frame (1); A first rotation source (203) is disposed on the base (202); The gear (204) is disposed on the power output end of the first rotation source (203) and meshes with the rack (201).

4. The palletizing robot according to claim 3, characterized in that: The racks (201) are respectively provided on the two support beams (101), and the two ends of the base (202) are respectively provided on one of the support beams (101).

5. The palletizing robot according to claim 4, characterized in that: The base (202) comprises a base body (2021), a first mounting portion (2022) and a second mounting portion (2023); the base body (2021) is formed with an escape opening (2024) extending along the length direction of the base body (2021); the first mounting portion (2022) and the second mounting portion (2023) are respectively arranged at two ends of the base body (2021); and the second driving mechanism (3) further comprises: A screw rod (301) passes through the first mounting portion (2022) and the second mounting portion (2023); the lifting mechanism (4) passes through the avoidance opening (2024) and is connected to a nut of the screw rod (301); The second rotation source (302) is disposed on the base (202) and is used to drive the screw rod (301) to rotate.

6. The palletizing robot according to claim 5, characterized in that: The transmission part of the screw rod (301) is located at the center of the palletizing robot in the transmission direction of the second driving mechanism (3).

7. The palletizing robot according to any one of claims 3 to 6, characterized in that: Also includes: The first slide rail (5) is arranged on the support beam (101) and extends along the length direction of the support beam (101), and the base (202) is slidably arranged on the first slide rail (5).

8. The palletizing robot according to any one of claims 3 to 6, characterized in that: It also includes a second slide rail (6) which is arranged on the base (202) and extends along the length direction of the base (202), and the lifting mechanism (4) is slidably connected to the second slide rail (6).

9. The palletizing robot according to any one of claims 1 to 6, characterized in that: The lifting mechanism (4) comprises: A telescopic assembly (401), comprising a plurality of telescopic units (4011), each of the telescopic units (4011) comprising a first plate body (40111) and a second plate body (40112), the middle portion of the first plate body (40111) being hinged to the middle portion of the second plate body (40112), the ends of the first plate bodies (40111) in two adjacent telescopic units (4011) being hinged to the ends of the second plate bodies (40112), and the telescopic unit (4011) at the bottom being connected to the acquisition mechanism; The opening and closing mechanism (402) is connected to the power output end of the second driving mechanism (3), and the telescopic assembly (401) is connected to the power output end of the opening and closing mechanism (402). The opening and closing mechanism (402) can drive the first plate body (40111) and the second plate body (40112) of the telescopic unit (4011) at the top to perform opening and closing movements.

10. The palletizing robot according to any one of claims 1 to 6, characterized in that: The base frame (1) comprises a plurality of aluminum profiles, and a connecting angle piece is provided at the connection point of two mutually perpendicular aluminum profiles.

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