Efficient automatic stacking truss robot

Abstract

The utility model discloses an efficient automatic stacking truss robot which comprises a first truss, a first moving mechanism, a first conveying belt, a first tail end clamp, a second moving mechanism, a second tail end clamp, a first stacking bin position, a second stacking bin position, a first limiting and aligning mechanism and the like. The device is reasonable and simple in structure, low in production cost and convenient to install, and the X-axis motor, the Y-axis motor, the Z-axis motor and the R-axis motor in the first moving mechanism or the second moving mechanism are started, so that XYZR four-axis linkage can be achieved, and the working efficiency is improved. In this way, the products can be grabbed through the first tail end clamp or the second tail end clamp and then placed in the first stacking bin position or the second stacking bin position correspondingly; the second limiting and aligning mechanism and the first limiting and aligning mechanism are arranged, so that a product can be pushed to abut against the first baffle, meanwhile, the product can abut against the second baffle through conveying of the first conveying belt and the second conveying belt, and therefore it is guaranteed that the first tail end clamp and the second tail end clamp can accurately grab the product; and the quality after stacking is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a high-efficiency automatic stacking truss robot. Background Art

[0002] Palletizing robots are the product of the organic combination of machinery and computer programs. They provide higher production efficiency for modern production. Palletizing machines are widely used in the palletizing industry. Palletizing robots greatly save labor and space. Palletizing robots are flexible and precise, fast and efficient, highly stable and efficient. Nowadays, there are many types of manufacturing products. With the advent of Industry 4.0, the high flexibility and full automation of palletizing technology are crucial. The existing palletizing industry robots generally use single-arm multi-joint robots. The arm span range of joint robots is limited, normally within 2 meters, and the load is low, generally around 100kg, which cannot meet the handling and assembly of products with a larger range and larger load. The use of an efficient automatic palletizing truss robot is born. Utility Model Content

[0003] The purpose of the utility model is to provide an efficient automatic palletizing truss robot in order to solve the above-mentioned problems, which solves the problem that the existing palletizing industry robots generally use single-arm multi-joint robots, the arm span range of the joint robots is limited, normally within the range of 2 meters, and the load is relatively low, generally around 100kg, and cannot meet the handling and assembly problems of products with a larger range and larger load.

[0004] In order to solve the above problems, the utility model provides a technical solution: an efficient automatic stacking truss robot, comprising a truss one, a moving mechanism one, a conveyor belt one, an end clamp one, a conveyor belt two, a truss two, a limit alignment mechanism two, a moving mechanism two, an end clamp two, a stacking bin one, a stacking bin two and a limit alignment mechanism one; the truss one is provided with a moving mechanism one, and an end clamp one is provided on a lower side of the moving mechanism; the conveyor belt one is located at the rear side of the interior of the truss one, and a limit alignment mechanism one is provided on the right side of the conveyor belt one; the stacking bin one is located at the front side of the interior of the truss one; the truss two is located at the rear side of the truss one, the truss two is provided with a moving mechanism two, and an end clamp two is provided on the lower side of the moving mechanism two; the conveyor belt two is located at the left side of the interior of the truss two, and a limit alignment mechanism two is provided on the right side of the conveyor belt two; the stacking bin two is located at the right side of the interior of the truss two.

[0005] Preferably, the structure of the position limiting alignment mechanism 1 is consistent with that of the position limiting alignment mechanism 2, and the specific structure of the position limiting alignment mechanism 2 includes a fixed seat, a guide sleeve 1, a guide column, a buffer plate, a buffer spring, a push plate, a baffle 1, a connecting seat 1, a connecting seat 2, a baffle 2, a guide sleeve 2, a connecting shaft, a connecting seat 3, a scanner bracket and a cylinder; the fixed seat is located on one side of the second end of the conveyor belt, and the left and right sides of the fixed seat are fixedly connected to the guide sleeve 1, and the guide sleeve 1 is movably connected to the guide column, and the end of the guide column is fixedly connected to the buffer plate, and the center of the fixed seat is fixed A cylinder is fixedly connected, and the end of the cylinder piston rod is fixedly connected to the center of the buffer plate; guide sleeves are fixedly connected to the inside of both sides of the buffer plate, and a connecting shaft is movably connected to the inside of the guide sleeves, and a push plate is fixedly connected to the end of the connecting shaft, and a plurality of buffer springs are arranged between the push plate and the buffer plate, and the inner sides of the buffer springs are respectively connected to the corresponding outer sides of the connecting shafts; the baffle plate 1 is located opposite the push plate, and the baffle plate 1 is fixedly connected to the side of the conveyor belt 2 through a plurality of connecting seats 1; the connecting seat 2 is located on the right side of the conveyor belt 2, and a scanner bracket is fixedly connected to the connecting seat 2.

[0006] Preferably, the baffle plate 1 is parallel to the push plate.

[0007] Preferably, the structure of the mobile mechanism 1 is consistent with that of the mobile mechanism 2, and the specific structure of the mobile mechanism 2 includes an X-axis guide rail, an X-axis rack, a connecting seat 4, a Z-axis arm, a Y-axis motor, a connecting seat 5, a Y-axis rack, a Y-axis guide rail, an X-axis motor, a Y-axis transmission shaft, a Y-axis crossbeam, a Z-axis motor, an outer shell, an R-axis motor, an RV reducer, a connecting plate and a Z-axis rack; there are two X-axis guide rails, and the two X-axis guide rails are respectively fixedly connected to the top of the corresponding truss 2, and the two X-axis guide rails are movably connected with a connecting seat 4, and the connecting seat 4 is fixedly connected between them; there are two X-axis racks, and the two X-axis racks are respectively fixedly connected to the inner side of the corresponding truss 2; the Y-axis crossbeam is fixedly connected with the Y-axis guide rail, and the Y-axis guide rail is movably connected with a connecting seat 5, and the side of the connecting seat 5 is movably connected to the vertical Z-axis arm, and the side of the Z-axis arm is fixedly connected with the vertical Z-axis rack; the Y-axis rack is fixedly connected to the Y-axis crossbeam, and the Y-axis guide rail is movably connected with the connecting seat 5, and the side of the connecting seat 5 is movably connected to the vertical Z-axis arm, and the side of the Z-axis arm is fixedly connected with the vertical Z-axis rack; The Y-axis motor is fixedly connected to the side of the Y-axis beam; the Y-axis motor is fixedly connected to the side of the connecting seat five, and the transmission gear arranged on the output shaft of the Y-axis motor is connected to the Y-axis rack; the X-axis motor is fixedly connected to the center of the Y-axis beam, and the output shafts on both sides of the X-axis motor are fixedly connected with the Y-axis transmission shaft, and the transmission gear arranged on the shaft end of the Y-axis transmission shaft is connected to the corresponding X-axis rack; the Z-axis motor is fixedly connected to the left side of the connecting seat five, and the transmission gear arranged on the output shaft of the Z-axis motor is connected to the Z-axis rack; the outer shell is fixedly connected to the bottom of the Z-axis arm, the R-axis motor is fixedly connected to the upper side of the inner part of the outer shell, and the RV reducer is fixedly connected to the lower side of the inner part of the outer shell, and the upper input end of the RV reducer is fixedly connected to the lower output shaft of the R-axis motor; the upper side of the connecting plate is movably connected to the lower side of the outer shell, the center of the connecting plate is fixedly connected to the lower output shaft of the RV reducer, and the bottom of the connecting plate is fixedly connected to the end clamp one.

[0008] Preferably, the X-axis motor, Y-axis motor, Z-axis motor and R-axis motor are all servo motors.

[0009] Preferably, the structure of the stacking position one is consistent with that of the stacking position two, and the specific structure of the stacking position two includes a stacking guardrail, a stacking station and a limit slot block; a plurality of stacking stations are arranged on the inner side of the stacking guardrail, and the bottom surface of each stacking station is fixedly connected with a limit slot block.

[0010] Preferably, a guiding slope is provided at the outer opening of the limit slot block.

[0011] Preferably, the first end clamp and the second end clamp are both suction cups.

[0012] Beneficial effects of the utility model:

[0013] (1) The utility model has a reasonable and simple structure, low production cost and convenient installation. Here, the X-axis motor, Y-axis motor, Z-axis motor and R-axis motor in the moving mechanism 1 or the moving mechanism 2 are started, so that the XYZR four-axis linkage can be realized, and the product can be grasped by the end clamp 1 or the end clamp 2 and placed in the corresponding stacking bin 1 or the stacking bin 2.

[0014] (2) The position limiting alignment mechanism 2 and the position limiting alignment mechanism 1 provided in the present invention can push the product to lean against the baffle 1. Meanwhile, the conveying of the conveyor belts 1 and 2 can also make the product lean against the baffle 2, thereby ensuring that the end clamps 1 and 2 can accurately grasp the product, thus ensuring the quality after palletizing.

[0015] (3) The scanner bracket provided in the position limiting alignment mechanism 2 and the position limiting alignment mechanism 1 of the utility model facilitates the installation of the scanner in the conveying direction of the conveyor belt 1 and the conveyor belt 2, thereby facilitating the scanning of the product category, and thus facilitating the conveying of the corresponding product to the corresponding stacking bin 1 or stacking bin 2.

[0016] (4) The limiting slot blocks provided in the first and second palletizing bins of the utility model facilitate positioning and clamping of the pallet, thereby ensuring that the product can be accurately placed on the pallet after being grabbed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the utility model.

[0018] Figure 2 It is a top view of the utility model.

[0019] Figure 3 It is a structural schematic diagram of the limit alignment mechanism.

[0020] Figure 4 It is a structural diagram of the mobile mechanism.

[0021] Figure 5 This is a schematic diagram of the structure of the palletizing warehouse.

[0022] 1-truss one; 2-moving mechanism one; 3-conveyor belt one; 4-end clamp one; 5-conveyor belt two; 6-truss two; 7-limiting alignment mechanism two; 8-moving mechanism two; 9-end clamp two; 10-stacking bin one; 11-stacking bin two; 12-limiting alignment mechanism one; 71-fixed seat; 72-guide sleeve one; 73-guide column; 74-buffer plate; 75-buffer spring; 76-push plate; 77-baffle one; 78-connecting seat one; 79-connecting seat two; 710-baffle two; 711-guide sleeve two; 712-connecting shaft; 713-connecting seat three; 714-scanner bracket; 715-cylinder; 81- X-axis guide rail; 82-X-axis rack; 83-connecting seat four; 84-Z-axis arm; 85-Y-axis motor; 86-connecting seat five; 87-Y-axis rack; 88-Y-axis guide rail; 89-X-axis motor; 810-Y-axis transmission shaft; 811-Y-axis crossbeam; 812-Z-axis motor; 813-outer shell; 814-R-axis motor; 815-RV reducer; 816-connecting plate; 817-Z-axis rack; 111-stacking guardrail; 112-stacking station; 113-limiting card slot block. DETAILED DESCRIPTION

[0023] like Figure 1 and Figure 2 As shown, this specific embodiment adopts the following technical scheme: an efficient automatic palletizing truss robot, including a truss 1, a moving mechanism 2, a conveyor belt 3, an end fixture 4, a conveyor belt 5, a truss 6, a limit alignment mechanism 7, a moving mechanism 8, an end fixture 9, a palletizing bin 10, a palletizing bin 11 and a limit alignment mechanism 12; the truss 1 is provided with a moving mechanism 2 on the top, and the end fixture 4 is provided on the bottom of the moving mechanism 2; the conveyor belt 1 3 is located at the rear side of the interior of the truss 1, and a limiting alignment mechanism 12 is provided on the right side of the conveyor belt 3; the stacking position 10 is located at the front side of the interior of the truss 1; the truss 2 6 is located at the rear side of the truss 1, and a moving mechanism 2 8 is provided on the truss 2 6, and an end clamp 2 9 is provided on the lower side of the moving mechanism 2 8; the conveyor belt 2 5 is located on the left side of the interior of the truss 2 6, and a limiting alignment mechanism 2 7 is provided on the right side of the conveyor belt 2 5; the stacking position 2 11 is located on the right side of the interior of the truss 2 6.

[0024] like Figure 3As shown, the structure of the position limiting alignment mechanism 12 is consistent with that of the position limiting alignment mechanism 2 7. The specific structure of the position limiting alignment mechanism 2 7 includes a fixed seat 71, a guide sleeve 1 72, a guide column 73, a buffer plate 74, a buffer spring 75, a push plate 76, a baffle 1 77, a connecting seat 1 78, a connecting seat 2 79, a baffle 2 710, a guide sleeve 2 711, a connecting shaft 712, a connecting seat 3 713, a scanner bracket 714 and a cylinder 715; the fixed seat 71 is located at one end of the conveyor belt 2 5, and the left and right sides of the fixed seat 71 are fixedly connected to the guide sleeve 1 72, and the guide sleeve 1 72 is movably connected to the guide column 73, and the end of the guide column 73 is fixedly connected to the buffer plate 74, and the fixed seat 71 is located at the middle of the fixed seat 71. A cylinder 715 is fixedly connected to the center, and the end of the piston rod of the cylinder 715 is fixedly connected to the center of the buffer plate 74; guide sleeves 711 are fixedly connected to the inside of both sides of the buffer plate 74, and the inside of the guide sleeves 711 is movably connected with a connecting shaft 712, and a push plate 76 is fixedly connected to the end of the connecting shaft 712, and a plurality of buffer springs 75 are provided between the push plate 76 and the buffer plate 74, and the inner sides of the buffer springs 75 are respectively connected to the corresponding outer sides of the connecting shaft 712; the baffle plate 77 is located opposite to the push plate 76, and the baffle plate 77 is fixedly connected to the side of the conveyor belt 25 through a plurality of connecting seats 78; the connecting seat 2 79 is located on the right side of the conveyor belt 25, and a scanner bracket 714 is fixedly connected to the connecting seat 2 79.

[0025] The baffle plate 1 77 and the push plate 76 are parallel to each other.

[0026] like Figure 4As shown, the structure of the moving mechanism 1 2 is consistent with that of the moving mechanism 2 8. The specific structure of the moving mechanism 2 8 includes an X-axis guide rail 81, an X-axis rack 82, a connecting seat 4 83, a Z-axis arm 84, a Y-axis motor 85, a connecting seat 5 86, a Y-axis rack 87, a Y-axis guide rail 88, an X-axis motor 89, a Y-axis transmission shaft 810, a Y-axis crossbeam 811, a Z-axis motor 812, an outer shell 813, an R-axis motor 814, an RV reducer 815, a connecting plate 816 and a Z-axis rack 817; there are two X-axis guide rails 81, and the two X-axis guide rails 81 are respectively fixedly connected to At the top of the corresponding truss 2 6, the two X-axis guide rails 81 are movably connected with connecting seats 4 83, and a Y-axis crossbeam 811 is fixedly connected between the connecting seats 4 83; there are two X-axis racks 82, and the two X-axis racks 82 are respectively fixedly connected to the inner side of the corresponding truss 2 6; the Y-axis crossbeam 811 is fixedly connected with a Y-axis guide rail 88, and the Y-axis guide rail 88 is movably connected with a connecting seat 5 86, and the side of the connecting seat 5 86 is movably connected to a vertical Z-axis arm 84, and the side of the Z-axis arm 84 is fixedly connected with a vertical Z-axis rack 817; the Y-axis rack 87 is fixedly connected to the side of the Y-axis crossbeam 811; the Y-axis motor 85 is fixedly connected to the side of the connecting seat 5 86, and the transmission gear set on the output shaft of the Y-axis motor 85 is connected to the Y-axis rack 87; the X-axis motor 89 is fixedly connected to the center of the Y-axis crossbeam 811, and the output shafts on both sides of the X-axis motor 89 are fixedly connected to the Y-axis transmission shaft 810, and the transmission gear set on the shaft end of the Y-axis transmission shaft 810 is connected to the corresponding X-axis rack 82; the Z-axis motor 812 is fixedly connected to the left side of the connecting seat 5 86, and the output shaft of the Z-axis motor 812 is set The transmission gear is connected to the Z-axis rack 817; the outer shell 813 is fixedly connected to the bottom of the Z-axis arm 84, the upper side of the inner shell 813 is fixedly connected to the R-axis motor 814, the lower side of the inner shell 813 is fixedly connected to the RV reducer 815, and the upper input end of the RV reducer 815 is fixedly connected to the lower output shaft of the R-axis motor 814; the upper side of the connecting plate 816 is movably connected to the lower side of the outer shell 813, the center of the connecting plate 816 is fixedly connected to the lower output shaft of the RV reducer 815, and the bottom of the connecting plate 816 is fixedly connected to the end clamp 4.

[0027] Among them, the X-axis motor 89, Y-axis motor 85, Z-axis motor 812 and R-axis motor 814 are all servo motors, so it is convenient to control the X-axis motor 89, Y-axis motor 85, Z-axis motor 812 and R-axis motor 814 through existing automation technology.

[0028] like Figure 5As shown, the structure of the stacking position 10 is consistent with that of the stacking position 2 11. The specific structure of the stacking position 2 11 includes a stacking guardrail 111, a stacking station 112 and a limiting slot block 113. A plurality of stacking stations 112 are arranged on the inner side of the stacking guardrail 111, and the bottom surface of each stacking station 112 is fixedly connected with a limiting slot block 113.

[0029] Among them, a guiding inclined surface is provided at the outer opening of the limiting slot block 113; and the end clamp 1 4 and the end clamp 2 9 are both suction cups.

[0030] The use state of the utility model is as follows: the utility model has a reasonable and simple structure, low production cost and convenient installation. When in use, first start the X-axis motor 89, Y-axis motor 85, Z-axis motor 812 and R-axis motor 814 in the mobile mechanism 1 2 or the mobile mechanism 2 8, so that the XYZR four-axis linkage can be realized, and the product can be grabbed by the end clamp 1 4 or the end clamp 2 9 and placed in the corresponding stacking bin 10 or the stacking bin 2 11, and the limit alignment mechanism 2 7 and the limit alignment mechanism 1 12 are set, so that the product can be pushed to lean against the baffle 1 77, and the conveying of the conveyor belt 1 3 and the conveyor belt 2 5 can also make the product lean against the baffle. The end clamps 14 and 15 are arranged on the plate 2 710, thereby ensuring that the end clamps 14 and 15 can accurately grasp the products, thus ensuring the quality after palletizing. The scanner bracket 714 arranged in the limit alignment mechanism 2 7 and the limit alignment mechanism 1 12 facilitates the installation of the scanner in the conveying direction of the conveyor belt 1 3 and the conveyor belt 2 5, thereby facilitating the scanning of the product category, and thus helps to convey the corresponding products to the corresponding palletizing position 10 or the palletizing position 2 11. In addition, the limit slot blocks 113 arranged in the palletizing position 10 and the palletizing position 2 11 facilitate the positioning and clamping of the pallet, thereby ensuring that the product can be accurately placed on the pallet after grasping.

[0031] The control method in the present invention is to start manually or control by existing automation technology. The wiring diagram of the power element and the provision of power supply belong to the common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0032] In the description of the utility model, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0033] In the utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0034] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Technical personnel in this industry should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be defined by the attached claims and their equivalents.

Claims

1. A highly efficient automatic palletizing truss robot, characterized by: It comprises a truss frame (1), a moving mechanism (2), a conveyor belt (3), an end fixture (4), a conveyor belt (5), a truss frame (6), a limit alignment mechanism (7), a moving mechanism (8), an end fixture (9), a stacking bin (10), a stacking bin (11) and a limit alignment mechanism (12); The truss (1) is provided with a moving mechanism (2) on the top, and an end clamp (4) is provided on the bottom of the moving mechanism (2); The conveyor belt 1 (3) is located at the rear side of the interior of the truss 1 (1), and a limit alignment mechanism 1 (12) is provided on the right side of the conveyor belt 1 (3); The stacking bin one (10) is located at the front side of the interior of the truss one (1); The second truss (6) is located at the rear side of the first truss (1), a second moving mechanism (8) is provided on the second truss (6), and an end clamp (9) is provided on the lower side of the second moving mechanism (8); The second conveyor belt (5) is located on the left side inside the second truss (6), and a second limiting alignment mechanism (7) is provided on the right side of the second conveyor belt (5); The second stacking bin (11) is located on the right side inside the second truss (6).

2. The high-efficiency automatic palletizing truss robot according to claim 1, characterized in that: The structure of the position limiting alignment mechanism 1 (12) is consistent with that of the position limiting alignment mechanism 2 (7), and the specific structure of the position limiting alignment mechanism 2 (7) includes a fixed seat (71), a guide sleeve 1 (72), a guide column (73), a buffer plate (74), a buffer spring (75), a push plate (76), a baffle 1 (77), a connecting seat 1 (78), a connecting seat 2 (79), a baffle 2 (710), a guide sleeve 2 (711), a connecting shaft (712), a connecting seat 3 (713), a scanner bracket (714) and a cylinder (715); The fixed seat (71) is located at one side of the end of the second conveyor belt (5), and the left and right sides of the fixed seat (71) are fixedly connected to the inside of the guide sleeve (72), and the inside of the guide sleeve (72) is movably connected to the guide column (73), and the end of the guide column (73) is fixedly connected to the buffer plate (74), and the center of the fixed seat (71) is fixedly connected to the cylinder (715), and the end of the piston rod of the cylinder (715) is fixedly connected to the center of the buffer plate (74); The inside of both sides of the buffer plate (74) is fixedly connected to the second guide sleeve (711), and the inside of the second guide sleeve (711) is movably connected to the connecting shaft (712), and the end of the connecting shaft (712) is fixedly connected to the push plate (76), and a plurality of buffer springs (75) are provided between the push plate (76) and the buffer plate (74), and the inner sides of the buffer springs (75) are respectively connected to the outer sides of the corresponding connecting shafts (712); The baffle plate 1 (77) is located opposite to the push plate (76), and the baffle plate 1 (77) is fixedly connected to the side of the conveyor belt 2 (5) through a plurality of connecting seats 1 (78); The second connecting seat (79) is located on the right side of the second conveyor belt (5), and a scanner bracket (714) is fixedly connected to the second connecting seat (79).

3. The high-efficiency automatic palletizing truss robot according to claim 2 is characterized in that: The baffle plate 1 (77) and the push plate (76) are parallel to each other.

4. The high-efficiency automatic palletizing truss robot according to claim 1, characterized in that: The structure of the mobile mechanism 1 (2) is consistent with that of the mobile mechanism 2 (8), and the specific structure of the mobile mechanism 2 (8) includes an X-axis guide rail (81), an X-axis rack (82), a connecting seat 4 (83), a Z-axis arm (84), a Y-axis motor (85), a connecting seat 5 (86), a Y-axis rack (87), a Y-axis guide rail (88), an X-axis motor (89), a Y-axis transmission shaft (810), a Y-axis crossbeam (811), a Z-axis motor (812), an outer shell (813), an R-axis motor (814), an RV reducer (815), a connecting plate (816) and a Z-axis rack (817); There are two X-axis guide rails (81), and the two X-axis guide rails (81) are respectively fixedly connected to the top of the corresponding truss two (6), and the two X-axis guide rails (81) are movably connected to the connection seat four (83), and the Y-axis crossbeam (811) is fixedly connected between the connection seats four (83); There are two X-axis racks (82), and the two X-axis racks (82) are respectively fixedly connected to the inner side of the corresponding truss two (6); The Y-axis crossbeam (811) is fixedly connected to a Y-axis guide rail (88), and the Y-axis guide rail (88) is movably connected to a connecting seat five (86), and the side of the connecting seat five (86) is movably connected to a vertical Z-axis arm (84), and the side of the Z-axis arm (84) is fixedly connected to a vertical Z-axis rack (817); The Y-axis rack (87) is fixedly connected to the side of the Y-axis crossbeam (811); The Y-axis motor (85) is fixedly connected to the side surface of the connecting seat (86), and the transmission gear arranged on the output shaft of the Y-axis motor (85) is connected to the Y-axis rack (87); The X-axis motor (89) is fixedly connected to the center of the Y-axis crossbeam (811), the output shafts on both sides of the X-axis motor (89) are fixedly connected to the Y-axis transmission shaft (810), and the transmission gears arranged on the shaft ends of the Y-axis transmission shaft (810) are connected to the corresponding X-axis racks (82); The Z-axis motor (812) is fixedly connected to the left side surface of the connecting seat 5 (86), and the transmission gear arranged on the output shaft of the Z-axis motor (812) is connected to the Z-axis rack (817); The outer shell (813) is fixedly connected to the bottom of the Z-axis arm (84); the upper side of the inner shell (813) is fixedly connected to the R-axis motor (814); the lower side of the inner shell (813) is fixedly connected to the RV reducer (815); and the upper input end of the RV reducer (815) is fixedly connected to the lower output shaft of the R-axis motor (814); The upper side of the connecting plate (816) is movably connected to the lower side of the outer shell (813), the center of the connecting plate (816) is fixedly connected to the lower output shaft of the RV reducer (815), and the bottom of the connecting plate (816) is fixedly connected to an end clamp 1 (4).

5. The high-efficiency automatic palletizing truss robot according to claim 4, characterized in that: The X-axis motor (89), the Y-axis motor (85), the Z-axis motor (812) and the R-axis motor (814) are all servo motors.

6. The high-efficiency automatic palletizing truss robot according to claim 1, characterized in that: The structure of the stacking bin one (10) is consistent with that of the stacking bin two (11), and the specific structure of the stacking bin two (11) includes a stacking guardrail (111), a stacking station (112) and a limit slot block (113); A plurality of stacking stations (112) are arranged inside the stacking guardrail (111), and the bottom surfaces of the stacking stations (112) are all fixedly connected to limit slot blocks (113).

7. The high-efficiency automatic palletizing truss robot according to claim 6, characterized in that: A guiding inclined surface is provided at the outer opening of the limiting slot block (113).

8. The high-efficiency automatic palletizing truss robot according to claim 1, characterized in that: The end clamp 1 (4) and the end clamp 2 (9) are both suction cups.

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