Cloth warehouse stacking robot

Abstract

This invention provides a fabric warehouse stacking robot, belonging to the field of stacking robot technology. The fabric warehouse stacking robot includes a three-axis truss, a base, a sponge suction cup, a saw wheel, a sleeve, a shovel block, a lifting plate, and an air extraction mechanism. The base is located on the bottom end of the three-axis truss lifting module. The sponge suction cup and the saw wheel are located at the bottom end of the base. Two sleeves are located on both sides of the saw wheel. The shovel block is located at the lower end of the sleeve. The air extraction mechanism is used to extract air from the sponge suction cup and the sleeve. When negative pressure is generated inside the sleeve, it drives the shovel block to move relative to the opposite side. When the shovel block moves to a preset position, it drives the internal lifting plate to move vertically upward. This invention uses air extraction to drive the shovel block to move to a preset position to scoop up the packing strap and place it on the upper part of the lifting plate. At the same time, the lifting plate moves upward to lift the packing strap so that it is cut by the saw wheel. This eliminates the need for multiple steps of cutting the strap and then driving the sponge suction cup to adjust its position for cap removal. The scooping, cutting, and cap removal actions are automatically completed solely through negative pressure, improving work efficiency.

Description

Technical Field

[0001] This invention relates to the field of stacking robot technology, and more specifically, to a fabric warehouse stacking robot. Background Technology

[0002] Fabric warehouse stacking robots are automated devices designed for the textile, printing and dyeing industries to efficiently handle, stack, and palletize fabrics, rolls, and other textile products in warehouses.

[0003] Before picking up fabric, the fabric warehouse stacking robot needs to open the box. Before opening the box, the packing strap needs to be cut. The steps involved are: the Z-axis moves to the hook position, the hook cylinder extends, the Z-axis moves laterally to scoop the strap into the hook, the small cylinders on both sides press down, the motor cylinder drives the motor to come over, the roller cylinder presses down, the scissors cut, the Z-axis lifts up to pull out the strap, the small cylinders retract, the motor rolls a distance, the scissors cut again (repeated action), and all components return to their original positions.

[0004] The aforementioned tape-cutting process requires multiple power devices working together in a multi-step process. After tape cutting, the sponge suction cup needs to be driven to adjust its position to remove the cap, resulting in relatively low efficiency. Summary of the Invention

[0005] To address the above problems, this invention provides a fabric warehouse stacking robot.

[0006] This invention provides a fabric warehouse stacking robot, including a three-axis truss, a base, sponge suction cups, a saw wheel, sleeves, shovel blocks, a lifting plate, and an air extraction mechanism. The base is located on the bottom end of the three-axis truss lifting module. Multiple sponge suction cups are evenly arranged at the bottom corners of the base. The saw wheel is rotatably located in the middle of the bottom end of the base. Two sleeves are symmetrically arranged on both sides of the saw wheel. The shovel blocks are located at the lower ends of their corresponding sleeves. The air extraction mechanism is located at the upper end of the base and is used to simultaneously extract air from the sponge suction cups and sleeves. When negative pressure is generated inside the sleeves, the shovel blocks are driven to move horizontally away from each other. When the shovel blocks move away from each other to a preset position, the lifting plate inside is driven to move vertically upward.

[0007] Optionally, the suction mechanism includes a vacuum pump, a main pipe, a connecting pipe, and a branch pipe. The vacuum pump is fixed to the upper end of the base. The two main pipes are symmetrically fixed to both sides of the bottom end of the base. The two main pipes are connected to each other through the branch pipes. The negative pressure chamber inside the sponge suction cup is connected to the corresponding connecting pipe through the connecting pipe. The input end of the vacuum pump is connected to the branch pipe through the pipe. The sleeve is set at the lower end of the corresponding main pipe. A vision camera is fixed at the edge of the base.

[0008] Optionally, a U-shaped plate is fixedly provided at the center of the bottom end of the base, a servo motor is fixedly provided on the outside of the U-shaped plate, the saw wheel is provided on the inside of the U-shaped plate, and the saw wheel is fixedly installed on the output shaft of the servo motor.

[0009] Optionally, an air extraction pipe is fixedly provided in the middle of the upper end of the sleeve, and the upper end of the air extraction pipe is fixedly connected to the bottom end of the corresponding main pipe. A first negative pressure pipe is provided in the inner side wall of the upper end of the sleeve. The two ends of the first negative pressure pipe are respectively connected to the inside of the air extraction pipe and the inner cavity of the sleeve. A first piston plate is slidably connected to the inner cavity of the sleeve. A first L-shaped tube is fixedly provided in the middle of the first piston plate. The first L-shaped tube is slidably connected to the middle of the side wall of the sleeve. A shovel block is fixedly provided at the end of the first L-shaped tube away from the first piston plate. A first spring is fastened between the side of the first piston plate and the inner side wall of the sleeve.

[0010] Optionally, a second L-shaped tube is fixedly connected to one end of the first L-shaped tube near the first piston plate. A baffle is fixedly provided at one end of the second L-shaped tube away from the first L-shaped tube. A first hole is provided inside the baffle, which is connected to the second L-shaped tube. The outer periphery of the baffle slides against the inner wall of the sleeve. A second negative pressure pipe is provided inside the upper side wall of the sleeve. The two ends of the second negative pressure pipe are respectively connected to the inside of the suction pipe and the inner cavity of the sleeve. When the first L-shaped tube is used to suction air, it is used to drive the lifting plate to move vertically upward relative to the shovel block.

[0011] Optionally, a rectangular groove is provided at the upper end of the shovel block, the lifting plate is slidably connected to the inner side of the rectangular groove, a third limiting plate is fixedly provided on the inner side of the rectangular groove, a second spring is fixedly provided between the bottom end of the lifting plate and the bottom surface of the rectangular groove, a first inclined block is fixedly provided at the middle of the bottom end of the lifting plate, a second inclined block is slidably connected to the bottom surface of the rectangular groove, the inclined surfaces of the second inclined block and the inclined surfaces of the first inclined block are in contact connection, a telescopic rod is fixedly provided on the side of the second inclined block, a second piston plate is fixedly provided at the end of the telescopic rod, a third spring is sleeved on the outside of the telescopic rod, the third spring is fixed between the side of the second inclined block and the inner side of the rectangular groove, a third negative pressure pipeline is provided in the side wall of the shovel block, the two ends of the third negative pressure pipeline are connected to the rectangular groove and the first L-shaped pipe, and the second piston plate is slidably connected to the inner side of the third negative pressure pipeline.

[0012] Optionally, a first limiting plate is fixedly provided on the inner side wall of the sleeve.

[0013] Optionally, a second limiting plate is fixed to the inner wall of the third negative pressure pipeline.

[0014] Optionally, a second hole is provided on the outer side of the sleeve, and a third hole is provided on the outer side of the shovel block.

[0015] Optionally, a robotic arm is also provided at the bottom of the three-axis truss lifting module. The robotic arm includes a clamping servo, grippers, position photoelectric sensors, guide rails, sliders, cameras, limit photoelectric sensors, a hollow rotating platform, and a motor. The clamping servo is located near the grippers, the grippers are installed at the end of the robotic arm, the position photoelectric sensors are integrated at the gripper joints, the sliders cooperate with the guide rails, the camera is installed at the front end of the robotic arm, the limit photoelectric sensors are fixed at the limit positions of the guide rails, the hollow rotating platform is located between the robotic arm and the grippers, and the motor is fixed at the upper end of the guide rails.

[0016] The beneficial effects of the fabric warehouse stacking robot of this invention are as follows: Multiple sponge suction cups and the sleeve are simultaneously evacuated by an air extraction mechanism. The negative pressure created inside the sponge suction cups firmly adheres to the top of the box lid. The negative pressure inside the sleeve drives the shovel block to move horizontally in a relatively opposite direction to a preset position, scooping up the packing strap and placing it on the upper part of the lifting plate. Simultaneously, the lifting plate moves upward, lifting the packing strap so it is cut by the saw wheel. Then, the sponge suction cups remove the box lid, facilitating subsequent material retrieval. This eliminates the need for multiple power devices and multi-step tape cutting, improving tape cutting efficiency. Furthermore, the box lid can be directly removed by the sponge suction cups after tape cutting, eliminating the need to drive the sponge suction cups to adjust their position for lid retrieval, thus improving lid retrieval efficiency. The shoveling, cutting, and lid retrieval actions are automatically completed solely through negative pressure, improving work efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the fabric warehouse stacking robot according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the robotic arm structure in the fabric warehouse stacking robot according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the bottom structure of the base in the fabric warehouse stacking robot according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the external structure of the shovel block in the fabric warehouse stacking robot according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of the shovel block and the internal structure of the sleeve in the fabric warehouse stacking robot according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of the state where the shovel block hooks the packing strap in the fabric warehouse stacking robot according to an embodiment of the present invention;

[0023] Figure 7 This is a schematic diagram illustrating the lifting and packing strapping state of the lifting plate in the fabric warehouse stacking robot according to an embodiment of the present invention;

[0024] Figure 8This is a schematic diagram of the internal structure of the sleeve in the fabric warehouse stacking robot according to an embodiment of the present invention;

[0025] Figure 9 This is a schematic diagram of the internal structure of the shovel block in the fabric warehouse stacking robot according to an embodiment of the present invention;

[0026] Figure 10 for Figure 7 Enlarged view of the structure at point A in the image.

[0027] Explanation of reference numerals in the attached drawings: 100, three-axis truss; 200, robotic arm; 300, base; 301, vacuum pump; 302, main pipe; 303, connecting pipe; 304, sponge suction cup; 305, branch pipe; 400, vision camera; 500, U-shaped plate; 501, servo motor; 502, saw wheel; 600, sleeve; 601, extraction pipe; 602, first negative pressure pipe; 603, second negative pressure pipe; 604, first piston plate; 605, first spring; 606, the... 607. First L-shaped tube; 608. Shovel block; 700. Second L-shaped tube; 701. Baffle; 702. First hole; 703. Second hole; 704. Third negative pressure pipeline; 705. Second limit plate; 800. Rectangular groove; 801. Lifting plate; 802. Third limit plate; 803. Second spring; 804. First inclined block; 805. Second inclined block; 806. Telescopic rod; 807. Second piston plate; 808. Third spring; 809. Third hole. Detailed Implementation

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0030] In the description of this specification, the references to terms such as "embodiment," "one embodiment," "some implementations," "exemplary," and "one implementation," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0031] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0032] like Figure 1-10 As shown, this embodiment of the invention provides a fabric warehouse stacking robot, including a three-axis truss 100, a base 300, sponge suction cups 304, a saw wheel 502, a sleeve 600, a shovel block 608, a lifting plate 801, and an air extraction mechanism. The base 300 is disposed on the bottom end of the lifting module of the three-axis truss 100. Multiple sponge suction cups 304 are evenly disposed at the bottom corners of the base 300. The saw wheel 502 is rotatably disposed in the middle of the bottom end of the base 300. Two sleeves 600 are symmetrically disposed on both sides of the saw wheel 502. The shovel block 608 is disposed at the lower end of the corresponding sleeve 600. The air extraction mechanism is disposed at the upper end of the base 300 and is used to simultaneously extract air from the sponge suction cups 304 and the sleeves 600. When a negative pressure is generated inside the sleeve 600, the shovel block 608 is driven to move horizontally away from each other. When the shovel block 608 moves away from each other to a preset position, the lifting plate 801 disposed inside is driven to move vertically upward.

[0033] In this embodiment, the packing strap needs to be cut before the fabric is taken out. The horizontal position of the base 300 is adjusted by moving it via the three-axis truss 100, and then the base 300 is moved vertically downwards via the lifting module, so that the bottom ends of the multiple sponge suction cups 304 on the bottom of the base 300 are placed on the top of the box lid. At this time, the saw wheel 502 is directly above the packing strap to be cut, and the shovels 608 on both sides of the saw wheel 502 are located on one side of the packing strap (as shown in the attached diagram). Figure 5 As shown in the figure, at this time, the bottom end of the shovel block 608 contacts the top end of the box lid. Then, the suction mechanism simultaneously suctions air from the multiple sponge suction cups 304 and the sleeve 600. Due to the negative pressure formed inside the multiple sponge suction cups 304, they firmly adhere to the top end of the box lid. Due to the negative pressure formed inside the sleeve 600, the shovel block 608 moves horizontally away from each other. When the shovel block 608 moves away from each other, it moves towards the packing strap, shoveling up the packing strap through the inclined surface. The packing strap moves relative to the inclined surface of the shovel block 608 towards the top. When the shovel block 608 moves away from each other to the preset position, the packing strap moves relative to the shovel block 608 to the upper position of the lifting plate 801 (as shown in the figure). Figure 6 As shown in the attached diagram), at the same time, the lifting plate 801 inside the shovel block 608 moves vertically upward, lifting the packing strap at the upper end of the lifting plate 801 upward, thus creating the phenomenon that the lifting plates 801 on both sides lift the packing strap upward (as shown in the attached diagram). Figure 7As shown), during the lifting process, the packing strap is cut by the saw wheel 502 set directly above. After the packing strap is cut, the base 300 is driven to move vertically upward through the lifting module, and the box cover is removed by the sponge suction cup 304 to facilitate the subsequent removal of the fabric.

[0034] The suction mechanism simultaneously draws air from multiple sponge suction cups 304 and the sleeve 600. The resulting negative pressure firmly adheres the top of the lid to the sponge suction cups 304. The negative pressure within the sleeve 600 drives the shovel block 608 to move horizontally away from each other to a preset position, lifting the strapping and placing it above the lifting plate 801. Simultaneously, the lifting plate 801 moves upward, raising the strapping to be cut by the saw wheel 502. The sponge suction cups 304 then remove the lid, facilitating subsequent material removal. This eliminates the need for multiple power units and multi-step strap cutting, improving cutting efficiency. Furthermore, the lid can be directly removed by the sponge suction cups 304 after cutting, eliminating the need to adjust their position for further removal, thus improving removal efficiency. The entire process of shoveling, cutting, and removing the lid is completed automatically using only negative pressure, enhancing overall work efficiency.

[0035] like Figure 1 and Figure 3 As shown, optionally, the air extraction mechanism includes a vacuum pump 301, a main pipe 302, a connecting pipe 303, and a branch pipe 305. The vacuum pump 301 is fixed to the upper end of the base 300. The two main pipes 302 are symmetrically fixed to both sides of the bottom end of the base 300. The two main pipes 302 are connected to each other through the branch pipe 305. The negative pressure chamber inside the sponge suction cup 304 is connected to the corresponding connecting pipe 303 through the connecting pipe 303. The input end of the vacuum pump 301 is connected to the branch pipe 305 through a pipe. The sleeve 600 is set at the lower end of the corresponding main pipe 302. A vision camera 400 is fixed at the edge of the base 300.

[0036] In this embodiment, since the base 300 is located on the bottom of the lifting module of the three-axis truss 100, the product posture is captured and recorded by the vision camera 400. The three-axis truss 100 then moves the base 300 to the picking position. This is existing technology and will not be described in detail here. When the vacuum pump 301 starts, it evacuates air from the branch pipe 305, which in turn evacuates air from the main pipes 302 on both sides. This allows air to be evacuated from the negative pressure chamber inside the sponge suction cup 304 through the connecting pipe 303. The sponge suction cup 304 then adsorbs the lid through the negative pressure. At the same time, air can also be evacuated from the sleeve 600.

[0037] like Figure 3 As shown, optionally, a U-shaped plate 500 is fixedly provided at the middle of the bottom end of the base 300, a servo motor 501 is fixedly provided on the outside of the U-shaped plate 500, and a saw wheel 502 is provided on the inside of the U-shaped plate 500. The saw wheel 502 is fixedly installed on the output shaft of the servo motor 501.

[0038] In this embodiment, the servo motor 501 drives the saw wheel 502 to rotate, which can cut the upward-lifting packing strap.

[0039] like Figure 3 , Figure 5 , Figure 6 and Figure 8 As shown, optionally, an air extraction pipe 601 is fixedly provided in the middle of the upper end of the sleeve 600. The upper end of the air extraction pipe 601 is fixedly connected to the bottom end of the corresponding main pipe 302. A first negative pressure pipe 602 is provided in the inner side wall of the upper end of the sleeve 600. The two ends of the first negative pressure pipe 602 are respectively connected to the inside of the air extraction pipe 601 and the inner cavity of the sleeve 600. A first piston plate 604 is slidably connected to the inner cavity of the sleeve 600. A first L-shaped tube 607 is fixedly provided in the middle of the first piston plate 604. The first L-shaped tube 607 is slidably connected to the middle of the side wall of the sleeve 600. A shovel block 608 is fixedly provided at the end of the first L-shaped tube 607 away from the first piston plate 604. A first spring 605 is fastened between the side of the first piston plate 604 and the inner side wall of the sleeve 600.

[0040] In this embodiment, air is drawn from the main pipe 302 into the extraction pipe 601, which in turn draws air from the first negative pressure pipe 602. This draws air from the sealed space formed by the first piston plate 604 and the inner wall of the sleeve 600 connected to the first negative pressure pipe 602. The air in the sealed space is drawn away, creating a negative pressure that drives the first piston plate 604 to move in the direction of compressing the first spring 605. This, in turn, drives the shovel block 608 to move horizontally synchronously through the first L-shaped pipe 607, shoveling up the packing strap (as shown in the attached diagram). Figure 5 and appendix Figure 6 (as shown), Appendix Figure 6 The arrow in the image indicates the airflow direction, and at this time the packing strap is located at the upper end of the lifting plate 801.

[0041] like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, optionally, a second L-shaped tube 700 is fixedly connected to one end of the first L-shaped tube 607 near the first piston plate 604. A baffle 701 is fixedly provided at one end of the second L-shaped tube 700 away from the first L-shaped tube 607. A first hole 702 is provided inside the baffle 701, which is connected to the second L-shaped tube 700. The outer periphery of the baffle 701 slides against the inner wall of the sleeve 600. A second negative pressure pipe 603 is provided inside the upper side wall of the sleeve 600. The two ends of the second negative pressure pipe 603 are respectively connected to the inside of the suction pipe 601 and the inner cavity of the sleeve 600. When the first L-shaped tube 607 is suctioned, it is used to drive the lifting plate 801 to move vertically upward relative to the shovel block 608.

[0042] In this embodiment, when the first negative pressure pipeline 602 is evacuated through the evacuation pipe 601, the first piston plate 604 is driven to move the shovel block 608 away from it. The movement of the first piston plate 604 also drives the second L-shaped pipe 700 to move synchronously, thereby driving the baffle 701 to move synchronously. The baffle 701 seals the second negative pressure pipeline 603 in its initial position. During movement, the baffle 701 remains sealed to the second negative pressure pipeline 603. Only when the first piston plate 604 reaches a preset position, the packing strap is lifted by the shovel block 608 and positioned above the lifting plate 801. At this time, the first hole 702 in the baffle 701 connects to the second negative pressure pipeline 603. The evacuation pipe 601 then evacuates air from the second negative pressure pipeline 603, and subsequently evacuates air from the first L-shaped pipe 607 through the second L-shaped pipe 700, thereby driving the lifting plate 801 to move vertically upward relative to the shovel block 608, lifting the packing strap (as shown in the attached figure). Figure 5 Appendix Figure 6 and appendix Figure 7 (as shown), Appendix Figure 6 and appendix Figure 7 The direction of the middle arrow indicates the airflow direction.

[0043] like Figure 7 and Figure 9 As shown, optionally, a rectangular groove 800 is formed at the upper end of the shovel block 608, a lifting plate 801 is slidably connected to the inner side of the rectangular groove 800, a third limiting plate 802 is fixedly provided on the inner side of the rectangular groove 800, a second spring 803 is fixedly provided between the bottom end of the lifting plate 801 and the inner bottom surface of the rectangular groove 800, a first inclined block 804 is fixedly provided at the middle of the bottom end of the lifting plate 801, a second inclined block 805 is slidably connected to the inner bottom surface of the rectangular groove 800, and the inclined surface of the second inclined block 805 and the inclined surface of the first inclined block 804 are in contact connection. A telescopic rod 806 is fixedly mounted on the side of the second inclined block 805. A second piston plate 807 is fixedly mounted at the end of the telescopic rod 806. A third spring 808 is sleeved on the outside of the telescopic rod 806. The third spring 808 is fixed between the side of the second inclined block 805 and the inside of the rectangular groove 800. A third negative pressure pipe 704 is opened in the side wall of the shovel block 608. The two ends of the third negative pressure pipe 704 are connected to the rectangular groove 800 and the first L-shaped pipe 607. The second piston plate 807 is slidably connected to the inside of the third negative pressure pipe 704.

[0044] In this embodiment, when the first L-shaped tube 607 draws air outward, the second piston plate 807 moves due to the negative pressure generated in the third negative pressure pipe 704. The telescopic rod 806 drives the second inclined block 805 to move synchronously. Since the inclined surface of the second inclined block 805 is in contact with the inclined surface of the first inclined block 804, the first inclined block 804 is driven to move vertically upward, thereby pushing the lifting plate 801 to move vertically upward, lifting the packing strap to facilitate cutting.

[0045] like Figure 5 and Figure 6 As shown, optionally, a first limiting plate 606 is fixed on the inner wall of the sleeve 600.

[0046] In this embodiment, when the first piston plate 604 moves to be blocked by the first limiting plate 606, the positions of the first piston plate 604 and the shovel block 608 are fixed, that is, the shovel block 608 reaches the preset position. At this time, the packing strap is shoveled up and is completely located at the upper end of the lifting plate 801, and at this time the first hole 702 is completely connected to the second negative pressure pipeline 603.

[0047] like Figure 7 and Figure 10 As shown, optionally, a second limiting plate 705 is fixedly provided on the inner wall of the third negative pressure pipeline 704.

[0048] In this embodiment, the second piston plate 807 moves until it is blocked by the second limiting plate 705. At this time, the positions of the second piston plate 807 and the second inclined block 805 are fixed, that is, the position of the lifting plate 801 is fixed, and the packing strap is cut during the lifting process.

[0049] like Figure 4 and Figure 5 As shown, optionally, a second hole 703 is provided on the outer side of the sleeve 600, and a third hole 809 is provided on the outer side of the shovel block 608.

[0050] In this embodiment, the second hole 703 is connected to the inner cavity of the sleeve 600, and the third hole 809 is connected to the inside of the rectangular groove 800. This ensures that the lifting plate 801 and the second piston plate 807 can move normally. When the suction pipe 601 stops suctioning, the first piston plate 604 is reset under the push of the first spring 605 to restore its deformation, which drives the baffle 701 to reset. At this time, the first hole 702 is connected to the second hole 703, and external air enters into the second L-shaped pipe 700 to ensure air pressure balance. At this time, the second inclined block 805 is reset under the push of the third spring 808 to restore its deformation, and the lifting plate 801 moves to the upper end of the third limiting plate 802 and is limited under the pull of the second spring 803 to restore its deformation. At this time, the lifting plate 801 is stored in the rectangular groove 800.

[0051] like Figure 1 and Figure 2 As shown, optionally, a robot arm 200 is also provided at the bottom of the three-axis truss 100 lifting module. The robot arm 200 includes a clamping servo, grippers, position photoelectric sensors, guide rails, sliders, cameras, limit photoelectric sensors, a hollow rotating platform, and a motor. The clamping servo is located near the grippers, the grippers are installed at the end of the robot arm 200, the position photoelectric sensors are integrated at the gripper joints, the sliders cooperate with the guide rails, the camera is installed at the front end of the robot arm 200, the limit photoelectric sensors are fixed at the limit positions of the guide rails, the hollow rotating platform is located between the robot arm 200 and the grippers, and the motor is fixed at the upper end of the guide rails.

[0052] In this embodiment, the three-axis gantry 100 drives the actuators to move and perform operations such as tape cutting, box opening, box closing, and visual inspection. The vision camera 400 locates the initial position of the tape and initiates the next tape cutting and box opening cycle. The three-axis gantry 100 and the robot arm 200 perform operations such as fixed-point handling, palletizing, clamping, rotation, visual inspection, and product detection. The three-axis gantry 100 is linked to the product coordinate point, the camera captures and records the product's posture, the three-axis gantry 100 links the gripper to the pick-up position, the gripper opens, picks up the product, and places it on the production line. The three-axis gantry 100 is linked, the gripper places the hollow shaft into the bottom box through visual positioning, the sponge suction cup 304 sucks the box lid to the bottom box, and then closes the lid. Since the internal structure, connection relationship, and working principle of the three-axis gantry 100 and the robot arm 200 are all existing technologies, they will not be described in detail here.

[0053] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A cloth warehouse stacking robot characterized by, The system includes a three-axis truss (100), a base (300), sponge suction cups (304), a saw wheel (502), sleeves (600), a shovel block (608), a lifting plate (801), and an air extraction mechanism. The base (300) is located on the bottom end of the lifting module of the three-axis truss (100). Multiple sponge suction cups (304) are evenly distributed at the bottom corners of the base (300). The saw wheel (502) is rotatably located at the middle of the bottom end of the base (300). Two sleeves (600, 608, 609, 600, 600, 601, 602, 600, 600, 608, 801, and an air extraction mechanism. 0) Symmetrically arranged on both sides of the saw wheel (502), the shovel block (608) is set at the lower end of the corresponding sleeve (600), and the air extraction mechanism is set at the upper end of the base (300) for simultaneously extracting air from the sponge suction cup (304) and the sleeve (600). When negative pressure is generated inside the sleeve (600), the shovel block (608) is driven to move horizontally away from each other. When the shovel block (608) moves away from each other to the preset position, the lifting plate (801) set inside is driven to move vertically upward. The air extraction mechanism includes a vacuum pump (301), a main pipe (302), a connecting pipe (303), and a branch pipe (305). The negative pressure chamber inside the sponge suction cup (304) is connected to the corresponding main pipe (302) through the connecting pipe (303). The sleeve (600) is located at the lower end of the corresponding main pipe (302). A vision camera (400) is fixed at the edge of the base (300). A U-shaped plate (500) is fixedly provided at the middle of the bottom end of the base (300), a servo motor (501) is fixedly provided on the outside of the U-shaped plate (500), and a saw wheel (502) is provided on the inside of the U-shaped plate (500). The saw wheel (502) is fixedly installed on the output shaft of the servo motor (501). A suction pipe (601) is fixedly provided in the middle of the upper end of the sleeve (600). The upper end of the suction pipe (601) is fixedly connected to the bottom end of the corresponding main pipe (302). A first negative pressure pipe (602) is provided in the inner side wall of the upper end of the sleeve (600). The two ends of the first negative pressure pipe (602) are respectively connected to the inside of the suction pipe (601) and the inner cavity of the sleeve (600). A first piston plate (604) is slidably connected to the inner cavity of the sleeve (600). A first L-shaped tube (607) is fixedly provided in the middle of the first piston plate (604). The first L-shaped tube (607) is slidably connected to the middle of the side wall of the sleeve (600). A shovel block (608) is fixedly provided at the end of the first L-shaped tube (607) away from the first piston plate (604). A first spring (605) is fastened between the side of the first piston plate (604) and the inner side wall of the sleeve (600). The first L-shaped tube (607) is fixedly connected to a second L-shaped tube (700) at one end near the first piston plate (604). A baffle (701) is fixedly provided at the end of the second L-shaped tube (700) away from the first L-shaped tube (607). A first hole (702) is provided inside the baffle (701), and the first hole (702) is connected to the second L-shaped tube (700). The outer periphery of the baffle (701) slides against the inner wall of the sleeve (600). A second negative pressure pipe (603) is provided inside the upper side wall of the sleeve (600). The two ends of the second negative pressure pipe (603) are respectively connected to the inside of the suction pipe (601) and the inner cavity of the sleeve (600). When the first L-shaped tube (607) is suctioned, it is used to drive the lifting plate (801) to move vertically upward relative to the shovel block (608). The upper end of the shovel block (608) is provided with a rectangular groove (800). The lifting plate (801) is slidably connected to the inner side of the rectangular groove (800). A third limiting plate (802) is fixedly provided inside the rectangular groove (800). A second spring (803) is fixed between the bottom end of the lifting plate (801) and the inner bottom surface of the rectangular groove (800). A first inclined block (804) is fixedly provided in the middle of the bottom end of the lifting plate (801). A second inclined block (805) is slidably connected to the inner bottom surface of the rectangular groove (800). The inclined surfaces of the second inclined block (805) and the inclined surfaces of the first inclined block (804) are in contact. A telescopic rod (806) is fixedly provided on the side of the inclined block (805). A second piston plate (807) is fixedly provided at the end of the telescopic rod (806). A third spring (808) is sleeved on the outside of the telescopic rod (806). The third spring (808) is fixed between the side of the second inclined block (805) and the inside of the rectangular groove (800). A third negative pressure pipeline (704) is opened in the side wall of the shovel block (608). The two ends of the third negative pressure pipeline (704) are connected to the rectangular groove (800) and the first L-shaped pipe (607). The second piston plate (807) is slidably connected to the inside of the third negative pressure pipeline (704).

2. The cloth warehouse stacking robot according to claim 1, wherein, The vacuum pump (301) is fixed at the upper end of the base (300), and the two main pipes (302) are symmetrically fixed on both sides of the bottom end of the base (300). The two main pipes (302) are connected to each other through the branch pipe (305). The input end of the vacuum pump (301) is connected to the branch pipe (305) through the pipe.

3. The cloth warehouse stacking robot according to claim 1, wherein, The inner wall of the sleeve (600) is fixed with a first limiting plate (606).

4. The cloth warehouse stacking robot according to claim 1, wherein, The inner wall of the third negative pressure pipeline (704) is fixed with a second limiting plate (705).

5. The cloth warehouse stacking robot according to claim 1, wherein, The sleeve (600) has a second hole (703) on its outer side, and the shovel block (608) has a third hole (809) on its outer side.

6. The cloth warehouse stacking robot according to claim 1, wherein, The bottom of the three-axis truss (100) lifting module is also equipped with a robot (200). The robot (200) includes a clamping servo, a gripper, a position photoelectric sensor, a guide rail, a slider, a camera, a limit photoelectric sensor, a hollow rotating platform, and a motor. The clamping servo is located near the gripper. The gripper is installed at the end of the robot (200). The position photoelectric sensor is integrated at the joint of the gripper. The slider cooperates with the guide rail. The camera is installed at the front end of the robot (200). The limit photoelectric sensor is fixed at the limit position of the guide rail. The hollow rotating platform is located between the robot (200) and the gripper. The motor is fixed at the upper end of the guide rail.

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