Cargo moving mechanism and stacking robot

Abstract

The embodiment of the utility model provides a cargo moving mechanism and a stacking robot. The cargo moving mechanism comprises a mounting base, a fixing assembly and a bearing assembly. Wherein the fixing assembly is used for fixing goods and is connected with the mounting seat; the bearing assembly and the mounting base are movably connected together, and the bearing assembly selectively moves to the position below the fixing assembly, so that the goods fixed by the fixing assembly are borne, and the goods are prevented from falling off.

Description

Technical Field

[0001] The present application relates to the technical field of logistics equipment, and in particular to a cargo moving mechanism and a palletizing robot. Background Art

[0002] With the development of science and technology, the work of manual handling, stacking and destacking of goods has been gradually replaced by cargo moving equipment, such as gantry robots. This type of cargo moving equipment operates flexibly, accurately, quickly and efficiently, greatly saving labor while significantly improving the efficiency of cargo moving and stacking.

[0003] However, in the process of transferring goods, the current truss robots are prone to the problem of goods falling due to the goods not being firmly fixed. Utility Model Content

[0004] The embodiments of the present application provide a cargo moving mechanism and a palletizing robot, which are used to solve the problem of cargo falling due to loose fixation during cargo moving in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a cargo moving mechanism, comprising:

[0006] Mounting seat;

[0007] A fixing component connected to the mounting base, the fixing component is used to fix the cargo;

[0008] The supporting component is movably connected to the mounting seat, and the supporting component selectively moves under the cargo to support the cargo.

[0009] In a feasible implementation, the fixing assembly includes an adsorption member, and the adsorption member is fixedly connected to the mounting seat.

[0010] In a feasible implementation, there are multiple adsorption members, and the multiple adsorption members are evenly distributed on the mounting seat.

[0011] In a feasible implementation, the supporting component includes:

[0012] A horizontal driving assembly fixedly connected to the mounting base;

[0013] A first guide component is fixedly connected to the mounting seat, and at least one end of the first guide component protrudes from the mounting seat;

[0014] A first fixed seat is connected with the first guide assembly, a horizontal driving assembly is connected with the first fixed seat, and the horizontal driving assembly drives the first fixed seat to selectively move along the first guide assembly;

[0015] A stopper is connected to the first fixing seat to stop the goods.

[0016] In a feasible implementation, the supporting component further includes:

[0017] A vertical drive assembly, fixedly connected to the first fixing seat;

[0018] The stopper is connected to the vertical drive assembly, and the vertical drive assembly drives the stopper to selectively move in the vertical direction.

[0019] In a feasible implementation, the first guide assembly includes a second fixed seat and a horizontal guide rail, the second fixed seat is fixedly connected to the mounting seat, and one end of the second fixed seat protrudes from the mounting seat, the horizontal guide rail is fixedly connected to the second fixed seat along the extension direction of the second fixed seat, and the first fixed seat is cooperatively connected to the horizontal guide rail.

[0020] In a feasible implementation, the vertical drive assembly includes a linear drive member, the linear drive member is fixedly connected to the first fixed seat, and the output end of the linear drive member is connected to the stop member.

[0021] In a feasible implementation, the vertical drive assembly further includes a limiting member, which is arranged along the vertical direction and is cooperatively connected with the first fixing seat, and the stopper is connected to the limiting member.

[0022] In one possible implementation, the horizontal drive assembly is configured as a cylinder;

[0023] and / or, the linear drive member is configured as a cylinder;

[0024] And / or, the stopper is configured as a stop plate.

[0025] In a feasible implementation, the cargo moving mechanism further includes a buffer component;

[0026] The buffer assembly includes a connecting piece, a limiting column and an elastic piece;

[0027] The end of the limiting column is fixedly connected to the side of the mounting seat facing away from the fixed assembly, the connecting piece is cooperatively connected to the limiting column, the elastic piece is sleeved on the limiting column, and the two ends of the elastic piece are respectively abutted against the connecting piece and the mounting seat.

[0028] In a second aspect, an embodiment of the present application provides a palletizing robot, comprising:

[0029] Fixed frame;

[0030] A first direction moving component connected to the fixed frame;

[0031] A second direction moving component is connected to the first direction moving component, and the first direction moving component selectively drives the second direction moving component to move along the first direction;

[0032] The cargo moving mechanism of the first aspect is connected to the second direction moving assembly, and the second direction moving assembly selectively drives the cargo moving mechanism to move along the second direction.

[0033] In a feasible implementation, the first direction moving assembly includes a horizontal beam, a first driving assembly, and a second guiding assembly;

[0034] The horizontal beam is connected to the fixed frame;

[0035] The second direction moving component is connected to the horizontal beam through the first driving component and the second guiding component, and the first driving component selectively drives the second direction moving component to move in the horizontal direction.

[0036] In a feasible implementation, the second direction moving assembly includes a vertical beam, a second driving assembly and a third guiding assembly;

[0037] The cargo moving mechanism is connected to the vertical beam, and the vertical beam is connected to the horizontal beam through the second driving assembly and the third guiding assembly. The second driving assembly selectively drives the cargo moving mechanism to move in the second direction.

[0038] In a feasible implementation, the palletizing robot further includes an image acquisition component, which is disposed on one side of the fixed frame to collect information of the goods to be palletized.

[0039] The embodiment of the present application provides a cargo moving mechanism, including a mounting seat, a fixing assembly and a supporting assembly. The fixing assembly is used to fix the cargo, and is connected to the mounting seat; the supporting assembly is movably connected to the mounting seat, and the supporting assembly selectively moves under the fixing assembly, thereby supporting the cargo fixed by the fixing assembly to prevent the cargo from falling.

[0040] The embodiment of the present application also provides a palletizing robot, comprising the cargo moving mechanism of any of the technical solutions in the above-mentioned schemes, and thus having all the beneficial effects of the cargo moving mechanism of any of the technical solutions in the above-mentioned schemes, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute improper limitations on the present invention.

[0042] In the attached picture:

[0043] Figure 1 It is a structural schematic diagram of a palletizing robot provided in one embodiment of the present application;

[0044] Figure 2 yes Figure 1 A schematic diagram of the structure of the fixed frame of the palletizing robot;

[0045] Figure 3 yes Figure 1 A partial structural schematic diagram of a first direction moving component of a palletizing robot;

[0046] Figure 4 yes Figure 1 A first schematic diagram of a second direction moving component of the palletizing robot;

[0047] Figure 5 yes Figure 1 A second schematic diagram of a second direction moving component of the palletizing robot;

[0048] Figure 6 yes Figure 1 A third schematic diagram of a second direction moving component of the palletizing robot;

[0049] Figure 7 yes Figure 1 Schematic diagram of the structure of the cargo moving mechanism of the palletizing robot.

[0050] Description of reference numerals:

[0051] 100-fixed frame; 200-first direction moving assembly; 300-second direction moving assembly; 400-cargo moving mechanism; 500-mounting bracket; 600-visual camera; 700-cargo;

[0052] 110-column; 120-connecting beam; 210-horizontal beam; 220-first driving assembly; 230-second guiding assembly; 310-vertical beam; 320-second driving assembly; 330-third guiding assembly; 410-mounting seat; 420-fixing assembly; 430-supporting assembly; 440-buffering assembly;

[0053] 221-first rack; 222-first drive gear; 223-first drive motor; 231-first linear guide; 232-first slider; 321-second rack; 322-second drive gear; 323-mounting plate; 324-second drive motor; 331-second linear guide; 332-second slider; 421-adsorbent; 431-horizontal drive assembly; 432-first guide assembly; 433-first fixed seat; 434-stopper; 435-vertical drive assembly; 441-connector; 442-limiting column; 443-elastic member;

[0054] 4321 - second fixed seat; 4322 - horizontal guide rail; 4351 - linear driving member; 4352 - limiting member. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0056] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0057] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0059] With the development of science and technology, the work of manual handling, stacking and destacking of goods has been gradually replaced by cargo moving equipment, such as gantry robots. This type of cargo moving equipment operates flexibly, accurately, quickly and efficiently, greatly saving labor while significantly improving the efficiency of cargo moving and stacking.

[0060] However, in the process of transferring goods, the current truss robots are prone to the problem of goods falling due to the goods not being firmly fixed.

[0061] In order to solve the problem of goods falling due to loose fixation during the movement of goods in the prior art, the embodiment of the present application provides a cargo moving mechanism and a palletizing robot. The solution provided by the embodiment of the present application will be described in detail below in conjunction with the drawings in the specification.

[0062] Figure 1 It is a structural schematic diagram of a palletizing robot provided in one embodiment of the present application; Figure 2 yes Figure 1 A schematic structural diagram of a fixed frame 100 of a palletizing robot; Figure 3 yes Figure 1 A partial structural schematic diagram of a first direction moving component 200 of the palletizing robot; Figure 4 yes Figure 1 FIG. 1 is a first schematic diagram of a second direction moving component 300 of the palletizing robot.

[0063] Reference Figure 1 As shown, an embodiment of the present application provides a palletizing robot, including a fixed frame 100 , a first direction moving component 200 , a second direction moving component 300 and a cargo moving mechanism 400 .

[0064] Reference Figure 2 As shown, the fixing frame 100 is a truss structure welded from steel. For example, the fixing frame 100 includes a plurality of columns 110 and a plurality of connecting beams 120. Each column 110 can be fixed to the ground using fixing bolts, and the two ends of each connecting beam 120 are respectively connected to two adjacent columns 110, thereby forming a truss structure. In addition, it should be noted that the length direction of the fixing frame 100 is the first direction, which can be referred to as Figure 1 As shown in the x direction, the height direction of the fixing frame 100 is the second direction, which can be referred to Figure 1 The z direction is shown in FIG.

[0065] Reference Figure 1 , Figure 3 and Figure 4 As shown, the first direction moving assembly 200 includes a horizontal beam 210, a first driving assembly 220 and a second guiding assembly 230. The length direction of the horizontal beam 210 is arranged on the fixed frame 100 along the first direction. In some examples, the horizontal beam 210 can be fixedly welded to the connecting beam 120 of the fixed frame 100. In other examples, the horizontal beam 210 is arranged on the connecting beam 120, and the horizontal beam 210 can move along the first direction (such as Figure 1 Specifically, a movable slide rail can be fixedly provided on the connecting beam 120, and the horizontal beam 210 is matched on the movable slide rail. The horizontal beam 210 moves along the first direction using the movable slide rail.

[0066] In addition, the first drive assembly 220 can be a belt drive assembly, a chain drive assembly, or a rack and pinion drive assembly, as long as it can drive the second direction moving assembly 300 to move. In the embodiment of the present application, the first drive assembly 220 is configured as a rack and pinion drive assembly. Exemplarily, the first drive assembly 220 includes a first rack 221, a first driving gear 222, and a first driving motor 223. Among them, the first rack 221 is fixedly arranged on the surface of the horizontal beam 210 along the length direction of the horizontal beam 210. The first driving motor 223 is fixedly connected to the second direction moving assembly 300, and the first driving gear 222 is connected to the output end of the first driving motor 223 through a connecting key. In addition, the first driving gear 222 is meshed with the first rack 221. During the rotation of the first driving motor 223, the second direction moving assembly 300 moves along the second direction (i.e., the length direction of the horizontal beam 210) under the action of the first driving gear 222 and the first rack 221.

[0067] The first guide assembly 432 can be a slide rail assembly, a slide rod assembly or a guide rod assembly. In the embodiment of the present application, the first guide assembly 432 is configured as a linear slide rail assembly, specifically including a first linear guide rail 231 and a first slider 232. Exemplarily, the first linear guide rail 231 is fixedly connected to the horizontal beam 210, and the first linear guide rail 231 is arranged in the same direction and parallel to the first rack 221. The first slider 232 is fixedly connected to the second direction moving assembly 300, and the first slider 232 is slidably fitted on the first linear guide rail. It can be understood that the first slider 232 and the first linear guide rail 231 play a role of limiting and guiding the movement of the second direction moving assembly 300, ensuring that the second direction moving assembly 300 can move smoothly along the horizontal beam 210.

[0068] It can be understood that, since the first rack 221 is meshed with the first driving gear 222, when the first driving motor 223 drives the first driving gear 222 to rotate, the second direction moving component 300 will move along the length direction of the horizontal beam 210 (see Figure 1 x direction in the image.

[0069] In order to ensure that the second direction moving assembly 300 moves accurately, the first driving motor 223 may be a servo motor.

[0070] Figure 5 yes Figure 1 A second schematic diagram of the second direction moving component 300 of the palletizing robot; Figure 6 yes Figure 1 FIG. 3 is a third schematic diagram of the second direction moving component 300 of the palletizing robot.

[0071] Reference Figure 1 , Figure 4 , Figure 5 and Figure 6 The second direction moving assembly 300 includes a vertical beam 310 , a second driving assembly 320 and a third guiding assembly 330 .

[0072] Similarly, the second driving assembly 320 can be a belt transmission assembly, a chain transmission assembly, or a rack and pinion transmission assembly; the third guiding assembly 330 can be a slide rail assembly, a slide rod assembly, or a guide rod assembly.

[0073] Continue to refer to Figure 5 and Figure 6 As shown, illustratively, in the embodiment of the present application, the second drive assembly 320 is configured as a gear rack transmission assembly, specifically including a second rack 321, a second drive gear 322, a mounting plate 323, and a second drive motor 324. The third guide assembly 330 is configured as a linear guide rail assembly, specifically including a second linear guide rail 331 and a second slider 332.

[0074] The first drive motor 223 in the first drive assembly 220 is fixedly mounted on the second side of the mounting plate 323, the output end of the first drive motor 223 extends through the mounting plate 323 to the first side, and the first slider 232 is horizontally fixedly mounted on the first side of the mounting plate 323. The second drive motor 324 is fixedly mounted on the first side of the mounting plate 323, and the output end of the second drive motor 324 extends through the mounting plate 323 to the second side of the mounting plate 323, and the second drive gear 322 is fixedly mounted on the output end of the second drive motor 324 through a connecting key. The second slider 332 is vertically fixedly mounted on the second side of the mounting plate 323. It should be noted that the first side and the second side are two opposite sides of the mounting plate 323.

[0075] Among them, the vertical beam 310 is made of steel. Along the extension direction of the vertical beam 310, the second rack 321 is fixedly mounted on the surface of the vertical beam 310, and the second linear guide 331 is also fixedly mounted on the surface of the vertical beam 310. The second linear guide 331 and the second rack 321 are arranged in the same direction and in parallel. The second driving gear 322 is meshed with the second rack 321. The cargo moving mechanism 400 is fixedly mounted on the lower end of the vertical beam 310, and the second driving motor 324 selectively drives the vertical beam 310 to move in the vertical direction through the second rack 321 and the second driving gear 322, thereby driving the cargo moving mechanism 400 to move in the vertical direction. Specifically, the second driving motor 324 drives the second driving gear 322 to rotate, and during the rotation of the second driving gear 322, the second rack 321 is driven to move in the vertical direction (i.e., the second direction), thereby driving the vertical beam 310 and the cargo moving mechanism 400 to move in the vertical direction.

[0076] Figure 7 yes Figure 1Schematic diagram of the structure of the cargo moving mechanism 400 of the palletizing robot.

[0077] Reference Figure 7 As shown, in some examples, the cargo moving mechanism 400 includes a mounting seat 410, a fixing assembly 420 and a supporting assembly 430. One side of the mounting seat 410 is used to connect with the end of the vertical beam 310 of the second direction moving assembly 300, and the other side is used to connect with the fixing assembly 420. The fixing assembly 420 is used to fix the cargo 700, and can be a clamping mechanism or an adsorption mechanism, that is, the cargo 700 is fixed by clamping or adsorption.

[0078] In the embodiment of the present application, the fixing component 420 is an adsorption mechanism, which fixes the cargo 700 by adsorption. Exemplarily, the fixing component 420 includes an adsorption member 421, which is fixedly connected to the mounting seat 410, and the adsorption member 421 can adsorb and fix the cargo 700 by generating negative pressure inside. In order to ensure that the cargo 700 is stably adsorbed and fixed, a plurality of adsorption members 421 can be evenly arranged on the surface of the mounting seat 410. In addition, it can be understood that in order to ensure the adsorption and fixing effect of the adsorption member 421 on the cargo 700, the type and specification of the adsorption member 421 can be selected according to the material, volume and weight of the cargo 700. Exemplarily, the adsorption member 421 can be a negative pressure suction cup or an electromagnetic suction cup.

[0079] In addition, the supporting assembly 430 is movably connected to the mounting seat 410 , and the supporting assembly 430 selectively moves under the fixing assembly 420 to support the goods 700 , thereby preventing the goods 700 on the fixing assembly 420 from falling.

[0080] Reference Figure 7 As shown, the supporting assembly 430 includes a horizontal driving assembly 431, a first guide assembly 432, a first fixing seat 433 and a stopper 434. The horizontal driving assembly 431 can be fixedly mounted horizontally on the mounting seat 410 by bolts. Similarly, the first guide assembly 432 can be fixedly mounted horizontally on the mounting seat 410 by bolts, and at least one end of the first guide assembly 432 protrudes from the mounting seat 410.

[0081] The first fixed seat 433 is connected with the first guide assembly 432, and the first fixed seat 433 is vertically arranged. The lower end of the first fixed seat 433 extends out of the mounting seat 410, and the stopper 434 is fixedly installed at the lower end of the first fixed seat 433. The driving end of the horizontal driving assembly 431 is connected to the first fixed seat 433, and the horizontal driving assembly 431 can drive the first fixed seat 433 to move horizontally under the limiting guidance of the first guide assembly 432. Since at least one end of the first guide assembly 432 protrudes from the mounting seat 410, the first fixed seat 433 can move outside the mounting seat 410 along the first guide assembly 432 to avoid collision and interference with the goods 700 under the mounting seat 410.

[0082] In addition, the stopper 434 is installed at the lower end of the first fixing seat 433, and a certain distance is provided between the upper surface of the stopper 434 and the mounting seat 410, so that the horizontal driving assembly 431 can selectively move the stopper 434 to the bottom of the cargo 700 through the first fixing seat 433 and the first guide assembly 432 and stop the cargo 700 to prevent the cargo 700 from falling. Exemplarily, the stopper 434 can be a stopper plate, which is horizontally arranged on the first fixing seat 433.

[0083] The horizontal drive assembly 431 is a assembly that can provide horizontal power, for example, it can be a pneumatic cylinder, an electric cylinder or an oil cylinder, or it can be a screw nut assembly or a motor drive assembly. As long as it can drive the first fixed seat 433 to move horizontally, the specific structure is not limited.

[0084] In the embodiment of the present application, the horizontal driving component 431 is configured as a first cylinder. The cylinder body of the first cylinder is horizontally fixedly mounted on the mounting seat 410, and the moving end of the first cylinder is fixedly connected to the first fixed seat 433. The moving end of the first cylinder drives the first fixed seat 433 to move in the horizontal direction during the extension or retraction process.

[0085] Exemplarily, the first guide assembly 432 may be a rail assembly, a slide bar assembly or a guide bar assembly, which is used to limit the first fixed seat 433 and guide its moving trajectory. In the embodiment of the present application, the first guide assembly 432 is configured as a rail assembly, which specifically includes a second fixed seat 4321 and a horizontal guide rail 4322. Among them, the second fixed seat 4321 can be fixedly installed on the side of the mounting seat 410 facing away from the fixed assembly 420 using bolts, and the horizontal guide rail 4322 is fixedly installed on the second fixed seat 4321 along the extension direction of the second fixed seat 4321, and the first fixed seat 433 is connected with the horizontal guide rail 4322.

[0086] Continue to refer to Figure 7As shown, in some examples, the supporting assembly 430 further includes a vertical driving assembly 435. The vertical driving assembly 435 is vertically mounted on the first fixed seat 433; the stopper 434 is fixedly mounted at the lower end of the vertical driving assembly 435, and the vertical driving assembly 435 drives the stopper 434 to selectively move in the vertical direction. It is understandable that when the vertical driving assembly 435 drives the stopper 434 to move in the vertical direction, the distance between the stopper 434 and the mounting seat 410 can be changed, thereby adapting to different volumes of goods 700 and conveniently stopping them.

[0087] Specifically, the vertical drive assembly 435 includes a linear drive member 4351. The linear drive member 4351 is vertically mounted on the first fixed seat 433, with its output end facing downward, and the stopper 434 is fixedly mounted on the output end of the linear drive member 4351. The linear drive member 4351 is a component capable of providing linear power, such as a cylinder, an electric cylinder or an oil cylinder, or a screw nut assembly or a motor drive assembly, as long as it can drive the second fixed seat 4321 to move in the vertical direction.

[0088] Continue to refer to Figure 7 As shown, in the embodiment of the present application, the linear drive member 4351 is configured as a second cylinder, the cylinder body of the second cylinder is fixed on the second fixed seat 4321, the output end of the second cylinder is passed through the second fixed seat 4321 and extends downward, and the stop member 434 is fixedly installed at the bottom of the output end.

[0089] In addition, in some examples, the vertical drive assembly 435 also includes a limiter 4352, which is vertically inserted into the first fixed seat 433, and can move up and down in the vertical direction. The stopper 434 is connected to the limiter 4352. Under the limiting action of the limiter 4352, the stopper 434 can be prevented from shaking, so that the stopper 434 can move stably in the vertical direction. Exemplarily, the limiter 4352 can be a limiter rod, and the first fixed seat 433 is provided with a vertical limiter hole smaller than the limiter rod. The limiter rod is arranged in the limiter hole, and the limiter rod can slide in the limiter hole. The lower end of the limiter rod is fixedly connected to the stopper 434.

[0090] Continue to refer to Figure 7 As shown, in some examples, the cargo moving mechanism 400 further includes a buffer assembly 440 , which is disposed between the mounting seat 410 and the vertical beam 310 to prevent the impact force generated during the process of fixing the cargo 700 by the fixing assembly 420 from impacting the vertical beam 310 .

[0091] Specifically, the buffer assembly 440 includes a connecting member 441, a limiting column 442 and an elastic member 443. The end of the limiting column 442 is fixedly connected to the side of the mounting seat 410 facing away from the fixing assembly 420, the connecting member 441 is cooperatively connected to the limiting column 442, and the lower end of the vertical beam 310 is fixedly connected to the connecting member 441. The elastic member 443 is sleeved on the limiting column 442, and the two ends of the elastic member 443 are respectively abutted on the connecting member 441 and the mounting seat 410. Exemplarily, the connecting member 441 can be a connecting plate, there are a plurality of limiting columns 442, there are also a plurality of elastic members 443, and the elastic members 443 and the limiting columns 442 are arranged one by one. It is understandable that when the second drive motor 324 drives the vertical beam 310 to move downward close to the cargo 700, after the adsorption member 421 contacts the cargo 700, the elastic member 443 will be compressed to absorb the impact force generated by the cargo 700 on the adsorption member 421, thereby avoiding impact on the vertical beam 310 and the device as a whole.

[0092] Continue to refer to Figure 1 As shown, the palletizing robot also includes an image acquisition component, which is fixedly arranged on one side of the fixed frame 100 through a mounting bracket 500 to collect information of the goods 700 to be palletized, so as to facilitate the control device to drive the first drive motor 223 and the second drive motor 324 to move the goods moving mechanism 400 to a specified position to carry out the work of picking up and placing the goods 700. Exemplarily, the mounting bracket 500 can be fixed on the ground or on the fixed frame 100. The image acquisition component can be a visual camera 600, which is connected to the control device through a transmission line.

[0093] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0094] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A cargo moving mechanism, characterized in that: include: Mounting seat (410); A fixing assembly (420) connected to the mounting seat (410), the fixing assembly (420) being used to fix the cargo (700); A supporting component (430) is movably connected to the mounting seat (410), and the supporting component (430) selectively moves under the cargo (700) to support the cargo (700).

2. The cargo moving mechanism according to claim 1, characterized in that: The fixing assembly (420) comprises a suction piece (421), and the suction piece (421) is fixedly connected to the mounting seat (410).

3. The cargo moving mechanism according to claim 2, characterized in that: There are a plurality of the adsorption members (421), and the plurality of the adsorption members (421) are evenly distributed on the mounting seat (410).

4. The cargo moving mechanism according to claim 1, characterized in that: The supporting assembly (430) comprises: A horizontal driving assembly (431) fixedly connected to the mounting seat (410); A first guide component (432) is fixedly connected to the mounting seat (410), and at least one end of the first guide component (432) protrudes from the mounting seat (410); A first fixed seat (433) is connected to the first guide assembly (432), the horizontal driving assembly (431) is connected to the first fixed seat (433), and the horizontal driving assembly (431) drives the first fixed seat (433) to selectively move along the first guide assembly (432); A stopper (434) is connected to the first fixing seat (433) to stop the cargo (700).

5. The cargo moving mechanism according to claim 4, characterized in that: The supporting assembly (430) further includes: A vertical driving assembly (435) fixedly connected to the first fixing seat (433); The stopper (434) is connected to the vertical drive assembly (435), and the vertical drive assembly (435) drives the stopper (434) to selectively move in the vertical direction.

6. The cargo moving mechanism according to claim 4, characterized in that: The first guide assembly (432) includes a second fixed seat (4321) and a horizontal guide rail (4322), the second fixed seat (4321) is fixedly connected to the mounting seat (410), and one end of the second fixed seat (4321) protrudes from the mounting seat (410), the horizontal guide rail (4322) is fixedly connected to the second fixed seat (4321) along the extension direction of the second fixed seat (4321), and the first fixed seat (433) is cooperatively connected to the horizontal guide rail (4322).

7. The cargo moving mechanism according to claim 5, characterized in that: The vertical drive assembly (435) comprises a linear drive member (4351), the linear drive member (4351) is fixedly connected to the first fixed seat (433), and the output end of the linear drive member (4351) is connected to the stop member (434).

8. The cargo moving mechanism according to claim 7, characterized in that: The vertical drive assembly (435) further comprises a limiting member (4352), wherein the limiting member (4352) is arranged in a vertical direction and is cooperatively connected with the first fixing seat (433), and the stopping member (434) is connected with the limiting member (4352).

9. The cargo moving mechanism according to claim 7, characterized in that: The horizontal driving assembly (431) is configured as a cylinder; And / or, the linear drive member (4351) is configured as a cylinder; And / or, the stopper (434) is configured as a stop plate.

10. The cargo moving mechanism according to claim 1, characterized in that: The cargo moving mechanism also includes a buffer assembly (440); The buffer assembly (440) comprises a connecting member (441), a limiting column (442) and an elastic member (443); The end of the limiting column (442) is fixedly connected to the side of the mounting seat (410) facing away from the fixing assembly (420), the connecting member (441) is cooperatively connected to the limiting column (442), the elastic member (443) is sleeved on the limiting column (442), and the two ends of the elastic member (443) are respectively abutted against the connecting member (441) and the mounting seat (410).

11. A palletizing robot, characterized in that: include: Fixed frame (100); A first direction moving component (200) connected to the fixing frame (100); A second direction moving component (300) connected to the first direction moving component (200), wherein the first direction moving component (200) selectively drives the second direction moving component (300) to move along a first direction; The cargo moving mechanism according to any one of claims 1 to 9 is connected to the second direction moving component (300), and the second direction moving component (300) selectively drives the cargo moving mechanism to move along the second direction.

12. The palletizing robot according to claim 11, characterized in that: The first direction moving assembly (200) comprises a horizontal beam (210), a first driving assembly (220) and a second guiding assembly (230); The horizontal beam (210) is connected to the fixing frame (100); The second direction moving component (300) is connected to the horizontal beam (210) via the first driving component (220) and the second guiding component (230), and the first driving component (220) selectively drives the second direction moving component (300) to move in a horizontal direction.

13. The palletizing robot according to claim 12, characterized in that: The second direction moving assembly (300) comprises a vertical beam (310), a second driving assembly (320) and a third guiding assembly (330); The cargo moving mechanism is connected to the vertical beam (310), and the vertical beam (310) is connected to the horizontal beam (210) through the second driving component (320) and the third guiding component (330), and the second driving component (320) selectively drives the cargo moving mechanism to move along a second direction.

14. The palletizing robot according to claim 12 or 13, characterized in that: The palletizing robot further comprises an image acquisition component, which is arranged on one side of the fixing frame (100) to acquire information of the goods (700) to be palletized.

Images