Logistics stacking device

Abstract

The utility model relates to a logistics stacking device which comprises a conveying mechanism, a fixed rack, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a clamping mechanism and a controller, the X-axis moving mechanism is erected on the fixed rack in the X-axis direction, the Y-axis moving mechanism is erected on the X-axis moving mechanism in the Y-axis direction, and the Z-axis moving mechanism is erected on the Z-axis moving mechanism in the Z-axis direction. The X-axis moving mechanism is arranged on the fixed rack, the Y-axis moving mechanism is arranged on the fixed rack, the Z-axis moving mechanism is arranged on the Y-axis moving mechanism in the Z-axis direction, the clamping mechanism is arranged at the lower end of the Z-axis moving mechanism, the conveying mechanism is arranged below the fixed rack, the clamping mechanism is located above the conveying mechanism, and the X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism and the clamping mechanism are all electrically connected with the controller. The intelligent logistics stacking device has the advantages of being stable and safe in movement and simple and compact in structure, can replace manual work to conduct sorting and stacking, greatly saves labor cost, guarantees safety of the intelligent logistics stacking device, and further can maximize storage space and achieve accurate conveying.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent logistics, and particularly relates to a logistics stacking device. Background Art

[0002] With the continuous improvement of productivity, the modern logistics industry is developing more and more rapidly. In the rapidly developing logistics industry, stackers are widely used. With the rapid development of modern logistics, the application of automated stereoscopic warehouses has been rapidly promoted.

[0003] Therefore, as the main execution device for storing and retrieving goods in a stereoscopic warehouse, the operation efficiency of the intelligent logistics stacker directly affects the economic benefits of the warehouse. How to improve the performance of the stacker has become an important research direction, and its performance depends to a large extent on the control system of the device, mainly reflected in aspects such as the running speed, positioning accuracy, safety and stability of the stacker. However, currently, the stackers used in China are all purchased externally, with relatively high prices and large occupied spaces, and they are not suitable for small goods in China. Summary of the Invention

[0004] In order to overcome the disadvantages and deficiencies existing in the prior art, the purpose of the utility model is to provide a logistics stacking device. The intelligent logistics stacking device has the characteristics of stable and safe movement and relatively simple and compact structure. It can replace manual sorting and stacking, greatly saving labor costs and ensuring safety. It can also maximize the storage space and achieve accurate transmission.

[0005] Another purpose of the utility model is to provide a control method for a logistics stacking device. The control method is simple, uses a controllable frequency modulation controller to better control the speed of the conveyor belt and the robotic arm and detect their working states, realizing intelligence.

[0006] The purpose of the utility model is achieved through the following technical solutions: A logistics stacking device includes a conveying mechanism, a fixed frame, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a clamping mechanism, a controller and a tray. The X-axis moving mechanism is installed on the fixed frame along the X-axis. The Y-axis moving mechanism is installed on the X-axis moving mechanism along the Y-axis. The Z-axis moving mechanism is arranged on the Y-axis moving mechanism along the Z-axis. The clamping mechanism is arranged at the lower end of the Z-axis moving mechanism. The conveying mechanism is arranged below the fixed frame, and the clamping mechanism is located above the conveying mechanism. The X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism and the clamping mechanism are all electrically connected to the controller. The tray is arranged below the fixed frame and on one side of the conveying mechanism.

[0007] Further, the clamping mechanism includes a robotic arm cylinder, a lifting frame, a fixing plate, and a robotic arm. A first slide rail is provided on one side of the lifting frame, and a first slider is provided on the side wall of the fixing plate. The first slide rail is sleeved on the first slider to slidably arrange the lifting frame vertically on one side of the fixing plate. The other side of the fixing plate is slidably sleeved on the Y-axis moving mechanism. The robotic arm cylinder is fixed to the lower end of the lifting frame, and the power output end of the robotic arm cylinder is arranged downward. The Z-axis moving mechanism is arranged on the fixing plate to drive the lifting frame to move upward or downward along the Z-axis. The robotic arm is fixed to the power output end of the robotic arm cylinder.

[0008] Further, the robotic arm includes a first clamping piston cylinder, a second clamping piston cylinder, a first single-sided gripper, a second single-sided gripper, a set of linkage members, a set of rotating shafts, and a rotating mounting seat. The first single-sided gripper and the second single-sided gripper are respectively installed at both ends of the rotating mounting seat through the rotating shafts, and the first single-sided gripper and the second single-sided gripper are arranged oppositely. The first clamping piston cylinder is arranged at one end of the rotating mounting seat close to the first single-sided gripper. One end of the linkage member is sleeved on the rotating shaft, and the other end of the linkage member is hinged to the power output end of the first clamping piston cylinder. The second clamping piston cylinder is arranged at one end of the rotating mounting seat close to the second single-sided gripper. One end of the other linkage member is sleeved on the rotating shaft, and the other end of the linkage member is hinged to the power output end of the second clamping piston cylinder. The power output end of the robotic arm cylinder is fixed to the upper end of the rotating mounting seat.

[0009] Further, the Z-axis moving mechanism includes a Z-axis motor and a first gear rack. A rotating gear is provided at the power output end of the Z-axis motor. The Z-axis motor is fixed to the fixing plate. The first gear rack is arranged on one side of the first slide rail, and the rotating gear meshes with the first gear rack.

[0010] Further, the X-axis moving mechanism includes an X-axis motor, a gear shaft, a set of second slide rails, a set of second sliders, and a set of second gear racks. The second slide rails are respectively arranged at both ends of the upper end surface of the fixed frame. The second sliders are respectively sleeved on the second slide rails. Both ends of the Y-axis moving mechanism are slidably arranged on the second slide rails through the second sliders. The second gear racks are respectively fixed to the opposite sides of the second slide rails. The X-axis motor is fixed to one side of the Y-axis moving mechanism. The gear shaft is fixed to one side of the Y-axis moving mechanism through a fixing member and is located below the X-axis motor. Both ends of the gear shaft respectively extend to the corresponding second gear racks and mesh with the second gear racks. The power output end of the X-axis motor is connected to the gear shaft through a belt, and the X-axis motor can drive the gear shaft to rotate.

[0011] Further, the Y-axis moving mechanism includes a Y-axis cross frame, a Y-axis motor, a third rack, a set of third slide rails and several third sliders. The two ends of the Y-axis cross frame are respectively slidably arranged on the second slide rails through the second sliders. The third slide rails are arranged along the Y-axis on one side wall of the Y-axis cross frame. The other side of the fixed plate is slidably sleeved on the third slide rails through the third sliders. The third rack is arranged on the Y-axis cross frame and located between the third slide rails. The Y-axis motor is fixed on the fixed plate, and the power output end of the Y-axis motor penetrates through the fixed plate and is engaged with the third rack through a rotating gear.

[0012] Further, the conveying mechanism includes a belt bracket, a conveyor belt and a conveying motor. The bottom of the belt bracket is equipped with universal wheels and fixed feet. The conveyor belt is sleeved on the belt bracket. The conveying motor is fixed at one end of the conveyor belt and is used to drive the conveyor belt to rotate.

[0013] Further, the stacking device is also provided with a liquid crystal display and a tray. The liquid crystal display is arranged on the fixed rack and is electrically connected to the controller.

[0014] Further, the stacking device further includes a positioning system and a motor encoder. The positioning system includes a plurality of sensors, and the plurality of sensors are respectively arranged on both sides, the front end of the conveying mechanism and the front and rear strokes of the fixed rack. The sensors and the motor encoder are both electrically connected to the controller.

[0015] The beneficial effects of the present invention are as follows: The intelligent logistics stacking device of the present invention has the characteristics of stable and safe movement and relatively simple and compact structure. It can replace manual sorting and stacking, greatly saving labor costs and ensuring safety. It can also maximize the storage space and achieve accurate transmission. By using a controllable frequency modulation controller, it can better control the speed of the conveyor belt and the robotic arm and detect their working states, realizing intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional view of the present invention;

[0017] Figure 2 is a three-dimensional view of another perspective of the present invention;

[0018] Figure 3 is a partial three-dimensional view of the present invention;

[0019] Figure 4 is a schematic structural diagram when the X / Y / Z-axis moving mechanisms of the present invention are combined;

[0020] Figure 5 is a schematic structural diagram of the Z-axis moving mechanism of the present invention;

[0021] Figure 6 It is a schematic structural diagram of the Y-axis moving mechanism of the present utility model;

[0022] Figure 7 It is a schematic structural diagram of another perspective of the Y-axis moving mechanism of the present utility model;

[0023] Figure 8 It is a schematic structural diagram of yet another perspective of the Y-axis moving mechanism of the present utility model;

[0024] Figure 9 It is a three-dimensional view of the robotic arm of the present utility model;

[0025] Figure 10 It is a three-dimensional view of another perspective of the robotic arm of the present utility model;

[0026] Figure 11 It is a schematic structural diagram of the conveying mechanism of the present utility model.

[0027] Reference numerals are: 1 - conveying mechanism, 11 - belt bracket, 12 - conveyor belt, 13 - conveying motor, 14 - universal wheel, 15 - fixed foot, 2 - fixed frame, 3 - X-axis moving mechanism, 31 - X-axis motor, 32 - gear shaft, 33 - second slide rail, 34 - second slider, 35 - second gear rack, 4 - Y-axis moving mechanism, 41 - Y-axis cross frame, 42 - Y-axis motor, 43 - third gear rack, 44 - third slide rail, 45 - third slider, 5 - Z-axis moving mechanism, 51 - Z-axis motor, 52 - first gear rack, 53 - rotating gear, 6 - clamping mechanism, 61 - robotic arm cylinder, 62 - lifting frame, 63 - fixing plate, 64 - robotic arm, 641 - first clamping piston cylinder, 642 - second clamping piston cylinder, 643 - first single-sided gripper, 644 - second single-sided gripper, 645 - linkage member, 646 - rotating shaft, 647 - rotating mounting seat, 65 - first slide rail, 66 - first slider, 7 - sensor and 8 - tray. Detailed implementation manners

[0028] For the convenience of understanding by those skilled in the art, the present utility model will be further described below in conjunction with embodiments and attached Figures 1-11 drawings. The content mentioned in the implementation manners does not limit the present utility model.

[0029] See Figures 1-11, a logistics stacking device, comprising a conveying mechanism 1, a fixed frame 2, an X-axis moving mechanism 3, a Y-axis moving mechanism 4, a Z-axis moving mechanism 4, a clamping mechanism 6 and a controller (not shown). The X-axis moving mechanism 3 is mounted on the fixed frame 2 along the X-axis. The Y-axis moving mechanism 4 is mounted on the X-axis moving mechanism 3 along the Y-axis. The Z-axis moving mechanism 4 is arranged on the Y-axis moving mechanism 4 along the Z-axis. The clamping mechanism 6 is arranged at the lower end of the Z-axis moving mechanism 4. The conveying mechanism 1 is arranged below the fixed frame 2, and the clamping mechanism 6 is located above the conveying mechanism 1. The X-axis moving mechanism 3, the Y-axis moving mechanism 4, the Z-axis moving mechanism 4 and the clamping mechanism 6 are all electrically connected to the controller.

[0030] The intelligent logistics stacking device in this embodiment has the characteristics of stable and safe movement and relatively simple and compact structure. It can replace manual sorting and stacking, greatly saving labor costs and ensuring safety. It can also maximize the storage space and achieve precise transmission. By using a controllable frequency modulation controller, it can better control the speed of the conveyor belt 12 and the robotic arm 64 and detect their working states to achieve intelligence. Among them, after the adopted controller is matched with the corresponding sensors 7 and protection devices, it realizes the automatic and manual control of the conveying mechanism 1 and the robotic arm 64. The main control board of the controller uses STM32F107VCT6 as the main MCU. Through the data acquisition and analysis of the optical sensor 7 and the motor encoder, it can detect and identify external signals, and execute corresponding control logics according to the collected device states to control each mechanism to perform corresponding actions. During operation, start the stacking device. Transfer the materials to be stacked on the transport vehicle to the feeding of the conveying mechanism 1 through the automatic loading machine. Use the conveying mechanism 1 to send the materials below the clamping mechanism 6. Use the clamping mechanism 6 to grab the materials and transfer them to the pallet 8 for stacking. When stacking, the X-axis moving mechanism 3, the Y-axis moving mechanism 4, and the Z-axis moving mechanism 4 can be used to correct the position of the clamping mechanism 6 to finally accurately stack the materials on the pallet 8. After the stacking is completed, remove the pallet 8 and replace it with a new pallet 8 to continue stacking, which greatly saves labor costs and ensures safety, improves work efficiency, and realizes intelligence.

[0031] In this embodiment, the clamping mechanism 6 includes a robotic arm cylinder 61, a lifting frame 62, a fixing plate 63, and a robotic arm 64. A first slide rail 65 is provided on one side of the lifting frame 62, and a first slider 66 is provided on the side wall of the fixing plate 63. The first slide rail 65 is sleeved on the first slider 66 to slidably arrange the lifting frame 62 vertically on one side of the fixing plate 63. The other side of the fixing plate 63 is slidably sleeved on the Y-axis moving mechanism 4. The robotic arm cylinder 61 is fixed to the lower end of the lifting frame 62, and the power output end of the robotic arm cylinder 61 is arranged downward. The Z-axis moving mechanism 4 is arranged on the fixing plate 63 to drive the lifting frame 62 to move upward or downward along the Z-axis. The robotic arm 64 is fixed to the power output end of the robotic arm cylinder 61.

[0032] The clamping mechanism 6 of this embodiment adopts the above structure. When clamping materials, the robotic arm cylinder 61 is used to drive the robotic arm 64 to move vertically to grab the materials conveyed by the conveying mechanism 1 to the lower part of the robotic arm 64 (according to the identified materials of different sizes, the robotic arm cylinder 61 can drive the robotic arm 64 to make fine adjustments in the vertical direction to adapt to the clamping of products of different sizes). When picking up materials, the Z-axis moving mechanism 4 can drive the robotic arm cylinder 61, the lifting frame 62, and the robotic arm 64 to move downward together. After descending a certain distance, the robotic arm cylinder 61 drives the robotic arm 64 to continue to extend downward to the materials to clamp the materials with the robotic arm 64. After the materials are clamped, the Z-axis moving mechanism 4 resets to drive the robotic arm cylinder 61, the lifting frame 62, and the robotic arm 64 to move upward and reset together. Then, the X-axis moving mechanism 3 is used to drive the robotic arm 64 to move in the X-axis direction. After transferring the materials above the tray 8, the clamping mechanism 6 repeats the above actions. The robotic arm 64 first descends to the tray 8 (the Y-axis moving mechanism 4 can be used to change the position where the materials are placed to accurately fill the entire tray 8). After putting down the materials and resetting, it moves along the X-axis moving mechanism 3 to the conveying mechanism 1 to continue clamping materials to achieve continuous stacking.

[0033] In this embodiment, the robotic arm 64 includes a first clamping piston cylinder 641, a second clamping piston cylinder 642, a first single-sided gripper 643, a second single-sided gripper 644, a set of linkage members 645, a set of rotating shafts 646, and a rotating mounting base 647. The first single-sided gripper 643 and the second single-sided gripper 644 are respectively installed at both ends of the rotating mounting base 647 through the rotating shafts 646, and the first single-sided gripper 643 and the second single-sided gripper 644 are arranged oppositely. The first clamping piston cylinder 641 is arranged at one end of the rotating mounting base 647 close to the first single-sided gripper 643. One end of the linkage member 645 is sleeved on the rotating shaft 646, and the other end of the linkage member 645 is hinged to the power output end of the first clamping piston cylinder 641. The second clamping piston cylinder 642 is arranged at one end of the rotating mounting base 647 close to the second single-sided gripper 644. One end of the other linkage member 645 is sleeved on the rotating shaft 646, and the other end of the linkage member 645 is hinged to the power output end of the second clamping piston cylinder 642. The power output end of the robotic arm cylinder 61 is fixed to the upper end of the rotating mounting base 647 (under the coordination of the rotating mounting base 647, the robotic arm 64 can be reversed to achieve the process of precisely grasping the goods. After the goods are fully loaded).

[0034] With the above structure adopted by the robotic arm 64 in this embodiment, when clamping the material, the first clamping piston cylinder 641 and the second clamping piston cylinder 642 synchronously drive the corresponding first single-sided gripper 643 and the second single-sided gripper 644 to open relatively. When clamping the material, the first clamping piston cylinder 641 and the second clamping piston cylinder 642 synchronously drive the corresponding first single-sided gripper 643 and the second single-sided gripper 644 to reset to clamp the material. Specifically, when the first clamping piston cylinder 641 drives the linkage member 645 to drive the rotating shaft 646 to rotate, the first single-sided gripper 643 can be synchronously driven to open. After clamping the material, the first clamping piston cylinder 641 resets to drive the first single-sided gripper 643 to reset to clamp the material. The operating principle of the second single-sided gripper 644 is the same as that of the first single-sided gripper 643. The first single-sided gripper 643 and the second single-sided gripper 644 can be opened and closed synchronously to effectively clamp and hold the material, facilitating the robotic arm 64 to move together with the Z-axis moving mechanism 4, the X-axis moving mechanism 3, and the Y-axis moving mechanism 4, and finally transfer and stack the material on the conveyor 1 onto the pallet 8.

[0035] In this embodiment, the Z-axis moving mechanism 4 includes a Z-axis motor 51 and a first rack 52. A rotating gear 53 is provided at the power output end of the Z-axis motor 51. The Z-axis motor 51 is fixed to the fixing plate 63. The first rack 52 is arranged on one side of the first slide rail 65, and the rotating gear 53 meshes with the first rack 52.

[0036] In this embodiment, the rotation of the Z-axis motor 51 can drive the rotating gear 53 to move upward or downward along the first gear rack 52 in the Z-axis direction, thereby driving the fixed plate 63 and the robotic arm 64 to move synchronously, realizing the lifting of the robotic arm 64.

[0037] In this embodiment, the X-axis moving mechanism 3 includes an X-axis motor 31, a gear shaft 32, a set of second slide rails 33, a set of second sliders 34, and a set of second gear racks 35. The second slide rails 33 are respectively arranged at both ends of the upper end surface of the fixed frame 2 (the second slide rails 33 in the X-axis direction are mainly subject to the radial force caused by friction, so symmetric V-shaped guide rails are selected, which can compensate for wear and the speed can be adjusted high or low). The second sliders 34 are respectively sleeved on the second slide rails 33. Both ends of the Y-axis moving mechanism 4 are slidably arranged on the second slide rails 33 through the second sliders 34. The second gear racks 35 are respectively fixed on the opposite sides of the second slide rails 33. The X-axis motor 31 is fixed on one side of the Y-axis moving mechanism 4. The gear shaft 32 is fixed on one side of the Y-axis moving mechanism 4 by a fixing member and is located below the X-axis motor 31. Both ends of the gear shaft 32 respectively extend to the corresponding second gear racks 35 and mesh with the second gear racks 35. The power output end of the X-axis motor 31 is connected to the gear shaft 32 through a belt. The X-axis motor 31 can drive the gear shaft 32 to rotate.

[0038] In this embodiment, when the clamping mechanism 6 moves in the X-axis direction, the X-axis motor 31 can drive the gear shaft 32 to rotate. By using the gear at the end of the gear shaft 32 to mesh with the second gear rack 35, the Y-axis moving mechanism 4 can move in the X-axis direction along the second gear rack 35, thereby realizing the movement of the robotic arm 64 in the X-axis direction.

[0039] In this embodiment, the Y-axis moving mechanism 4 includes a Y-axis cross frame 41, a Y-axis motor 42, a third gear rack 43, a set of third slide rails 44, and several third sliders 45. Both ends of the Y-axis cross frame 41 are slidably arranged on the second slide rails 33 through the second sliders 34. The third slide rails 44 are arranged along the Y-axis on one side wall of the Y-axis cross frame 41. The other side of the fixed plate 63 is slidably sleeved on the third slide rails 44 through the third sliders 45. The third gear rack 43 is arranged on the Y-axis cross frame 41 and is located between the third slide rails 44. The Y-axis motor 42 is fixed on the fixed plate 63, and the power output end of the Y-axis motor 42 penetrates through the fixed plate 63 and meshes with the third gear rack 43 through the rotating gear 53.

[0040] In this embodiment, when the clamping mechanism 6 moves in the Y-axis direction, the Y-axis motor 42 rotates to drive the rotating gear 53 to move in the Y-axis direction along the third rack 43, thereby driving the fixed plate 63 and the robotic arm 64 to move synchronously in the Y-axis direction; the X-axis motor 31, the Y-axis motor 42, and the Z-axis motor 51 all adopt three-phase asynchronous motors, which are reliable in starting and running. Compared with single-phase motors, three-phase asynchronous motors are more stable and reliable in starting and running.

[0041] In this embodiment, the conveying mechanism 1 includes a belt bracket 11, a conveyor belt 12, and a conveying motor 13. The bottom of the belt bracket 11 is equipped with universal wheels 14 and fixed feet 15. The conveyor belt 12 is sleeved on the belt bracket 11. The conveying motor 13 is fixed to one end of the conveyor belt 12 and is used to drive the conveyor belt 12 to rotate (using the conveying motor 13 to drive the conveyor belt 12 to transmit has the function of buffering and shock absorption. The conveyor belt 12 can absorb impacts, reduce the impact on the machinery, effectively protect the robotic arm 64, is simple to maintain, has a low cost, is relatively convenient to maintain, and using a belt as the conveyor belt 12 has a longer service life).

[0042] In this embodiment, when the material is conveyed by the conveying mechanism 1, the conveying motor 13 rotates to drive the conveyor belt 12 to rotate relative to the belt bracket 11, thereby realizing the rotation of the material on the conveyor belt 12; the conveying mechanism 1 with the above structure has a high transmission efficiency, can apply a relatively high power, has a long service life, and due to its structure, the internal shaft body has a large rigidity and has good stability, and has the characteristics of being simple and convenient to repair.

[0043] In this embodiment, the stacking device is further provided with a liquid crystal display (not shown) and a tray 8. The liquid crystal display is arranged on the fixed frame 2. The liquid crystal display is electrically connected to the controller. The tray 8 is located on one side of the conveying mechanism 1.

[0044] In this embodiment, the controller is connected to the liquid crystal display through a 485 interface to realize the human-machine interaction function. Among them, the controller serves as a Modbus slave station, and the liquid crystal display serves as a Modbus master station. The liquid crystal display screen displays various information of the entire system and can realize the operation and control of various external devices and functions.

[0045] In this embodiment, the stacking device further includes a positioning system and a motor encoder. The positioning system includes a plurality of sensors 7 (after the goods are fully loaded and the infrared rays of the sensors 7 are conducted, it can be instantly transmitted to each motor to make it stop, so as to realize the process cycle of goods stacking and transportation). The plurality of sensors 7 are respectively arranged on both sides, the front end of the conveying mechanism 1, and the front and rear strokes of the fixed frame 2. The sensors 7 and the motor encoder are both electrically connected to the controller.

[0046] The above embodiments are preferred implementation solutions of the present utility model. In addition, the present utility model can also be implemented in other ways. Any obvious substitution without departing from the concept of the present utility model is within the protection scope of the present utility model.

Claims

1. A logistics stacking device, comprising a tray, characterized in that: It further includes a conveying mechanism, a fixed frame, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and a clamping mechanism. The X-axis moving mechanism is mounted on the fixed frame along the X-axis. The Y-axis moving mechanism is mounted on the X-axis moving mechanism along the Y-axis. The Z-axis moving mechanism is arranged on the Y-axis moving mechanism along the Z-axis. The clamping mechanism is arranged at the lower end of the Z-axis moving mechanism. The conveying mechanism is arranged below the fixed frame, and the clamping mechanism is located above the conveying mechanism. The tray is arranged below the fixed frame and on one side of the conveying mechanism.

2. The logistics stacking device according to claim 1, characterized in that: The clamping mechanism includes a robotic arm cylinder, a lifting frame, a fixing plate, and a robotic arm. A first slide rail is provided on one side of the lifting frame. A first slider is provided on the side wall of the fixing plate. The first slide rail is sleeved on the first slider to slidably mount the lifting frame vertically on one side of the fixing plate. The other side of the fixing plate is slidably sleeved on the Y-axis moving mechanism. The robotic arm cylinder is fixed to the lower end of the lifting frame, and the power output end of the robotic arm cylinder is arranged downward. The Z-axis moving mechanism is arranged on the fixing plate to drive the lifting frame to move upward or downward along the Z-axis. The robotic arm is fixed to the power output end of the robotic arm cylinder.

3. The logistics stacking device according to claim 2, characterized in that: The robotic arm includes a first clamping piston cylinder, a second clamping piston cylinder, a first single-sided gripper, a second single-sided gripper, a set of linkage members, a set of rotating shafts, and a rotating mounting seat. The first single-sided gripper and the second single-sided gripper are respectively mounted at both ends of the rotating mounting seat through the rotating shafts, and the first single-sided gripper and the second single-sided gripper are arranged oppositely. The first clamping piston cylinder is arranged at one end of the rotating mounting seat close to the first single-sided gripper. One end of the linkage member is sleeved on the rotating shaft, and the other end of the linkage member is hinged to the power output end of the first clamping piston cylinder. The second clamping piston cylinder is arranged at one end of the rotating mounting seat close to the second single-sided gripper. One end of the other linkage member is sleeved on the rotating shaft, and the other end of the linkage member is hinged to the power output end of the second clamping piston cylinder. The power output end of the robotic arm cylinder is fixed to the upper end of the rotating mounting seat.

4. The logistics stacking device according to claim 2, wherein: The Z-axis moving mechanism includes a Z-axis motor and a first gear rack. A rotating gear is provided at the power output end of the Z-axis motor. The Z-axis motor is fixed to the fixing plate. The first gear rack is arranged on one side of the first slide rail, and the rotating gear meshes with the first gear rack.

5. A logistics stacking device according to claim 2, characterized in that: The X-axis moving mechanism includes an X-axis motor, a gear shaft, a set of second slide rails, a set of second sliders, and a set of second gear racks. The second slide rails are respectively arranged at both ends of the upper end surface of the fixed frame. The second sliders are respectively sleeved on the second slide rails. Both ends of the Y-axis moving mechanism are slidably arranged on the second slide rails through the second sliders. The second gear racks are respectively fixed on the opposite sides of the second slide rails. The X-axis motor is fixed on one side of the Y-axis moving mechanism. The gear shaft is fixed on one side of the Y-axis moving mechanism by a fixing member and is located below the X-axis motor. Both ends of the gear shaft respectively extend to the corresponding second gear racks and are engaged with the second gear racks. The power output end of the X-axis motor is connected to the gear shaft through a belt, and the X-axis motor can drive the gear shaft to rotate.

6. The logistics stacking device according to claim 5, characterized in that: The Y-axis moving mechanism includes a Y-axis cross frame, a Y-axis motor, a third gear rack, a set of third slide rails, and several third sliders. Both ends of the Y-axis cross frame are slidably arranged on the second slide rails through the second sliders. The third slide rails are arranged along the Y-axis on one side wall of the Y-axis cross frame. The other side of the fixing plate is slidably sleeved on the third slide rails through the third sliders. The third gear rack is arranged on the Y-axis cross frame and is located between the third slide rails. The Y-axis motor is fixed on the fixing plate, and the power output end of the Y-axis motor penetrates through the fixing plate and is engaged with the third gear rack through a rotating gear.

7. A logistics stacking device according to claim 1, characterized in that: The conveying mechanism includes a belt bracket, a conveyor belt, and a conveying motor. Universal wheels and fixed feet are installed at the bottom of the belt bracket. The conveyor belt is sleeved on the belt bracket. The conveying motor is fixed at one end of the conveyor belt and is used to drive the conveyor belt to rotate.

8. A logistics stacking device according to claim 1, characterized in that: The logistics stacking device is also provided with a controller. The X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, and the clamping mechanism are all electrically connected to the controller.

9. A logistics stacking device according to claim 8, characterized in that: The stacking device is also provided with a liquid crystal display. The liquid crystal display is arranged on the fixed frame, and the liquid crystal display is electrically connected to the controller.

10. A logistics stacking device according to any one of claims 1-9, characterized in that: The stacking device also includes a positioning system and a motor encoder. The positioning system includes multiple sensors. The multiple sensors are respectively arranged on both sides, the front end of the conveying mechanism, and the front and rear strokes of the fixed frame. The sensors and the motor encoder are both electrically connected to the controller.

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