Feeding robot

Abstract

The utility model relates to a machine tool logistics conveying device, in particular to a feeding robot which comprises a supporting frame, a moving device and a storage platform. The supporting frame comprises a first supporting plate and a second supporting plate, the moving device comprises a first X-axis assembly, a second X-axis assembly, a Y-axis assembly and a Z-axis assembly, the first X-axis assembly and the second X-axis assembly are used for driving the storage platform to move in the front-back direction of the horizontal plane, and the Y-axis assembly is used for driving the storage platform to move in the left-right direction of the horizontal plane; the Z-axis assembly is used for driving the storage platform to move in the vertical direction; the radar module protrudes out of the Y-axis cross beam and is used for detecting the position coordinates of the to-be-transported materials. The moving device is arranged to drive the storage platform to move in the X-axis direction, the Y-axis direction and the Z-axis direction, the radar module is arranged to detect the position coordinates of the to-be-conveyed materials, the moving path of the storage platform is accurately controlled, and the problem that the feeding robot cannot automatically adjust the feeding and discharging positions according to the material positions is solved.

Description

TECHNICAL FIELD

[0001] The application relates to a machine tool logistics conveying device, in particular to a feeding robot. BACKGROUND

[0002] In modern industry, as an important part of automation technology, the application of the truss robot has penetrated into various fields of industrial production. For example, the gantry truss structure of the truss robot provides high stability and positioning accuracy, making it an ideal choice for machine tool feeding and discharging. It can cooperate with one or more numerical control machine tools to carry out feeding and discharging operations, thereby improving production efficiency and enhancing the standardization level of products. The truss robot is widely used in the field of palletizing and can perform linear transportation, rotation or overturning in a rectangular coordinate system to transport or palletize products to a specified position, such as line transfer, warehouse entry palletizing and automatic loading.

[0003] However, compared with the six-axis robot, the truss robot may be slightly insufficient in flexibility. Although the truss robot can realize linear transportation and rotary transportation, when the position of the material to be transported is complex, the truss robot cannot flexibly change the feeding and discharging position and needs to be manually adjusted. CONTENT OF THE UTILITY MODEL

[0004] The application provides a feeding robot to solve the problem that the feeding robot cannot automatically adjust the feeding and discharging position according to the position of the material.

[0005] The application provides a feeding robot, which comprises a support frame, a moving device and a material placing platform.

[0006] The moving device is arranged at the top end of the support frame and connected with the material placing platform.

[0007] The support frame comprises a first support plate and a second support plate, the first support plate and the second support plate are arranged in parallel, and the first support plate and the second support plate are both perpendicular to the horizontal plane.

[0008] The moving device comprises a first X-axis assembly, a second X-axis assembly, a Y-axis assembly and a Z-axis assembly. The first X-axis assembly and the second X-axis assembly are used to drive the material placing platform to move in the front-rear direction of the horizontal plane, i.e. in the X-axis direction. The Y-axis assembly is used to drive the material placing platform to move in the left-right direction of the horizontal plane, i.e. in the Y-axis direction. The Z-axis assembly is used to drive the material placing platform to move in the vertical direction, i.e. in the Z-axis direction.

[0009] The first X-axis assembly is connected with the first support plate, and the second X-axis assembly is connected with the second support plate; the Y-axis assembly is perpendicular to the first X-axis assembly, one end of the Y-axis assembly is connected with the first X-axis assembly, and the other end of the Y-axis assembly is connected with the second X-axis assembly; the Z-axis assembly is perpendicular to the Y-axis assembly, the Z-axis assembly is connected with the Y-axis assembly, and one end of the Z-axis assembly close to the support frame is connected with the object placing platform;

[0010] The first X-axis assembly and the second X-axis assembly each comprise an X-axis cross beam, an X-axis motor, an X-axis I-shaped guide rail, an X-axis rack, and an X-axis gear;

[0011] The Y-axis assembly comprises a Y-axis cross beam, a Y-axis motor, a Y-axis I-shaped guide rail, a Y-axis gear, and a Y-axis rack;

[0012] The Z-axis assembly comprises a Z-axis vertical beam, a Z-axis motor, a first Z-axis I-shaped guide rail, a Z-axis gear, a Z-axis rack, and a sliding plate;

[0013] The X-axis I-shaped guide rail and the X-axis rack are arranged in parallel along the length direction of the X-axis cross beam;

[0014] The Y-axis I-shaped guide rail and the Y-axis rack are arranged in parallel along the length direction of the Y-axis cross beam;

[0015] The first Z-axis I-shaped guide rail and the Z-axis rack are arranged in parallel along the length direction of the Z-axis vertical beam;

[0016] Both ends of the Y-axis cross beam are provided with a connecting seat, the connecting seat is provided with a first sliding block and a first mounting hole, the connecting seat is slidably connected with the X-axis I-shaped guide rail through the first sliding block, the X-axis motor is fixedly connected with the connecting seat through the first mounting hole, the output end of the X-axis motor is connected with the X-axis gear, and the X-axis gear is engaged with the X-axis rack;

[0017] The sliding plate is of a T-shaped structure, the sliding plate comprises a first connecting plate and a second connecting plate, the first connecting plate is provided with a second sliding block and a second mounting hole, the second sliding block is slidably connected with the Y-axis I-shaped guide rail, the Y-axis motor is arranged in the second mounting hole, the output end of the Y-axis motor is connected with the Y-axis gear, and the Y-axis gear is engaged with the Y-axis rack;

[0018] The second connecting plate is provided with a third sliding block, and the third sliding block is slidably connected with the first Z-axis I-shaped guide rail;

[0019] A third connecting plate is perpendicular to the second connecting plate, and the third connecting plate is connected with the second connecting plate; the third connecting plate is provided with a third mounting hole; the Z-axis motor is arranged in the third mounting hole, and an output point of the Z-axis motor is connected with the Z-axis gear, and the Z-axis gear is engaged with the Z-axis rack;

[0020] A radar module is connected with the first connecting plate, the radar module protrudes from the Y-axis cross beam, and the radar module is used for detecting position coordinates of the material to be transported.

[0021] Optionally, a rotating shaft fixing seat is further included, one end of the rotating shaft fixing seat is hinged with the Z-axis vertical beam, and the other end of the rotating shaft fixing seat is fixedly connected with the object placing platform.

[0022] Optionally, a first connecting rod, a second connecting rod and a second Z-axis I-shaped guide rail are further included, the Z-axis vertical beam is provided with a connecting portion on a side away from the Y-axis cross beam, the connecting portion is slidably connected with the second Z-axis I-shaped guide rail; one end of the first connecting rod is hinged with the object placing platform, and the other end of the first connecting rod is hinged with the connecting portion; one end of the second connecting rod is hinged with the connecting portion, and the other end of the second connecting rod is connected with a pneumatic cylinder.

[0023] Optionally, a plurality of dustproof boxes are further included, the dustproof boxes are respectively connected with the X-axis cross beam and the Y-axis cross beam, and the X-axis gear and the Y-axis gear are arranged in the dustproof boxes.

[0024] Optionally, a plurality of X-axis bases, X-axis sub-gears, Y-axis bases, Y-axis sub-gears, Z-axis bases and Z-axis sub-gears are further included.

[0025] The X-axis base is connected with the connecting seat, and when the X-axis sub-gear is connected with the X-axis base, the X-axis sub-gear is engaged with the X-axis rack;

[0026] The Y-axis base is connected with the first connecting plate, and when the Y-axis sub-gear is connected with the Y-axis base, the Y-axis sub-gear is engaged with the Y-axis rack;

[0027] The Z-axis base is connected with the second connecting plate, and when the Z-axis sub-gear is connected with the Z-axis base, the Z-axis sub-gear is engaged with the Z-axis rack.

[0028] From the above technical scheme, the application provides a feeding robot, which comprises a support frame, a moving device and a placing platform. The support frame comprises a first support plate and a second support plate. The moving device comprises a first X-axis assembly, a second X-axis assembly, a Y-axis assembly and a Z-axis assembly. The first X-axis assembly and the second X-axis assembly are used to drive the placing platform to move in the front-back direction of the horizontal plane. The Y-axis assembly is used to drive the placing platform to move in the left-right direction of the horizontal plane. The Z-axis assembly is used to drive the placing platform to move in the vertical direction. A radar module protrudes from the Y-axis cross beam, and the radar module is used to detect the position coordinates of the material to be transported. The moving device is arranged to drive the placing platform to move in the X-axis, Y-axis and Z-axis directions. The radar module is arranged to detect the position coordinates of the material to be transported. The moving path of the placing platform is accurately controlled, so as to solve the problem that the feeding robot cannot automatically adjust the feeding and discharging positions according to the positions of the materials. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the application, the drawings required in the embodiments will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0030] Figure 1 A feeding robot structure schematic diagram provided for the embodiments of the application;

[0031] Figure 2 A moving device structure schematic diagram provided for the embodiments of the application;

[0032] Figure 3 A radar module structure schematic diagram provided for the embodiments of the application; Figure 1 An enlarged view of structure A in the middle;

[0033] Figure 4 A structure schematic diagram provided for the embodiments of the application; Figure 2 An enlarged view of structure B in the middle;

[0034] Figure 5 A structure schematic diagram provided for the embodiments of the application; Figure 2 An enlarged view of structure C in the middle;

[0035] Figure 6 A Z-axis structure schematic diagram provided for the embodiments of the application.

[0036] Reference signs:

[0037] In the drawings, 1 represents a support frame; 11 represents a first support plate; and 12 represents a second support plate.

[0038] 2 - moving device; 21 - first X-axis assembly; 22 - second X-axis assembly; 211 - X-axis crossbeam; 212 - X-axis motor, 213 - X-axis I-shaped guide rail; 214 - X-axis rack; 215 - X-axis gear; 216 - X-axis base; 217 - X-axis pinion;

[0039] 23 - Y-axis assembly; 231 - Y-axis crossbeam; 2311 - connecting seat; 2312 - first slider; 2313 - first mounting hole; 232 - Y-axis motor; 233 - Y-axis I-shaped guide rail; 234 - Y-axis gear; 235 - Y-axis rack; 236 - Y-axis base; 237 - Y-axis pinion;

[0040] 24 - Z-axis assembly; 241 - Z-axis vertical beam; 2411 - connecting part; 242 - Z-axis motor; 243 - first Z-axis I-shaped guide rail; 244 - Z-axis gear; 245 - Z-axis rack; 246 - sliding plate; 2461 - first connecting plate; 2462 - second connecting plate; 24611 - second slider; 24612 - second mounting hole; 24621 - third slider; 2463 - third connecting plate; 24631 - third mounting hole; 247 - Z-axis base; 248 - Z-axis pinion; 249 - second Z-axis I-shaped guide rail;

[0041] 3 - storage platform; 4 - radar module; 5 - rotating shaft fixing seat; 6 - first connecting rod; 7 - second connecting rod; 8 - air cylinder; 9 - dustproof box. DETAILED DESCRIPTION

[0042] The embodiments will be described in detail below with reference to examples thereof as illustrated in the accompanying drawings. In the following description, same numbers refer to same or similar elements throughout the drawings. The embodiments described in the following examples do not represent all the implementations consistent with the present application. They are merely examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0043] In modern industry, truss robots, as an important part of automation technology, have been widely used in various fields of industrial production. For example, the gantry truss structure of the truss robot provides high stability and positioning accuracy, making it an ideal choice for machine tool feeding and discharging. It can cooperate with one or more numerical control machine tools to carry out feeding and discharging operations, not only improving production efficiency, but also improving the standardization level of products. Truss robots are widely used in the field of handling and stacking. They can perform linear handling, rotation or overturning in a rectangular coordinate system, and transport or stack products to a designated position, such as transfer handling, warehouse stacking, and automatic loading.

[0044] However, compared with the six-axis robot, the truss robot may be slightly insufficient in flexibility. Although the truss robot can realize linear carrying, rotary carrying and other actions, when the position of the material to be carried is complex, the truss robot cannot flexibly change the feeding and discharging position and needs manual adjustment of the moving position.

[0045] To solve the problem that the feeding robot cannot automatically adjust the feeding and discharging position according to the position of the material, referring to Figure 1 and Figure 2 The application provides a feeding robot, which comprises a support frame 1, a moving device 2 and a material placing platform 3.

[0046] The support frame 1, the moving device 2 and the material placing platform 3 are arranged in sequence.

[0047] The moving device 2 is arranged at the top end of the support frame 1 and is connected with the material placing platform 3.

[0048] The support frame 1 comprises a first support plate 11 and a second support plate 12, and the first support plate 11 and the second support plate 12 are arranged in parallel and are both perpendicular to the horizontal plane.

[0049] The moving device 2 comprises a first X-axis assembly 21, a second X-axis assembly 22, a Y-axis assembly 23 and a Z-axis assembly 24. The first X-axis assembly 21 and the second X-axis assembly 22 are used to drive the material placing platform 3 to move along the front-back direction of the horizontal plane, i.e. the X-axis direction. The Y-axis assembly 23 is used to drive the material placing platform 3 to move along the left-right direction of the horizontal plane, i.e. the Y-axis direction. The Z-axis assembly 24 is used to drive the material placing platform 3 to move along the vertical direction, i.e. the Z-axis direction.

[0050] The first X-axis assembly 21 is connected with the first support plate 11, and the second X-axis assembly 22 is connected with the second support plate 12. The Y-axis assembly 23 is perpendicular to the first X-axis assembly 21, one end of the Y-axis assembly 23 is connected with the first X-axis assembly 21, and the other end of the Y-axis assembly 23 is connected with the second X-axis assembly 22. The Z-axis assembly 24 is perpendicular to the Y-axis assembly 23, the Z-axis assembly 24 is connected with the Y-axis assembly 23, and one end of the Z-axis assembly 24 close to the support frame 1 is connected with the material placing platform 3.

[0051] As shown in Figure 4 The first X-axis assembly 21 and the second X-axis assembly 22 each comprise an X-axis cross beam, an X-axis motor 212, an X-axis I-shaped guide rail 213, an X-axis rack 214 and an X-axis gear 215.

[0052] As shown in Figure 3 The Y-axis assembly 23 comprises a Y-axis cross beam 231, a Y-axis motor 232, a Y-axis I-shaped guide rail 233, a Y-axis gear 234 and a Y-axis rack 235.

[0053] As shown in Figure 5As shown, the Z-axis assembly 24 comprises a Z-axis vertical beam 241, a Z-axis motor 242, a first Z-axis profile rail 243, a Z-axis gear 244, a Z-axis rack 245, and a sliding plate 246;

[0054] The X-axis profile rail 213 and the X-axis rack 214 are arranged in parallel along the length direction of the X-axis cross beam;

[0055] The Y-axis profile rail 233 and the Y-axis rack 235 are arranged in parallel along the length direction of the Y-axis cross beam 231;

[0056] The first Z-axis profile rail 243 and the Z-axis rack 245 are arranged in parallel along the length direction of the Z-axis vertical beam 241;

[0057] The Y-axis cross beam 231 is provided with a connecting seat 2311 at both ends, the connecting seat 2311 is provided with a first sliding block 2312 and a first mounting hole 2313, the connecting seat 2311 is connected with the X-axis profile rail 213 through the first sliding block 2312, the X-axis motor 212 is fixedly connected with the connecting seat 2311 at the first mounting hole 2313, the output end of the X-axis motor 212 is connected with the X-axis gear 215, and the X-axis gear 215 is engaged with the X-axis rack 214;

[0058] The sliding plate 246 is of a T-shaped structure, and comprises a first connecting plate 2461 and a second connecting plate 2462, the first connecting plate 2461 is provided with a second sliding block 24611 and a second mounting hole 24612, the second sliding block 24611 is connected with the Y-axis profile rail 233, the Y-axis motor 232 is arranged at the second mounting hole 24612, the output end of the Y-axis motor 232 is connected with the Y-axis gear 234, and the Y-axis gear 234 is engaged with the Y-axis rack 235;

[0059] The second connecting plate 2462 is provided with a third sliding block 24621, and the third sliding block 24621 is connected with the first Z-axis profile rail 243;

[0060] The third connecting plate 2463 is perpendicular to the second connecting plate 2462, and the third connecting plate 2463 is connected with the second connecting plate 2462; the third connecting plate 2463 is provided with a third mounting hole 24631; the Z-axis motor 242 is arranged at the third mounting hole 24631, the output end of the Z-axis motor 242 is connected with the Z-axis gear 244, and the Z-axis gear 244 is engaged with the Z-axis rack 245;

[0061] The radar module 4 is connected with the first connecting plate 2461, the radar module 4 protrudes from the Y-axis cross beam 231, and the radar module 4 is used for detecting the position coordinates of the material to be transported.

[0062] When the materials to be transported are irregularly placed inside the support frame 1, the radar module 4 can obtain the specific coordinates of the materials to be transported. Then, based on the specific coordinates of the placement platform 3, the movement amount in the X-axis direction, the movement amount in the Y-axis direction, and the movement amount in the Z-axis direction can be calculated, so that the placement platform 3 can be moved to the correct position accurately.

[0063] During the movement, when it is necessary to move along the X-axis, the X-axis motor 212 can be driven to rotate, which in turn drives the X-axis gear 215 to rotate. The X-axis gear 215 meshes with the X-axis rack 214. When the X-axis gear 215 rotates, the Y-axis assembly 23 can move along the X-axis rack 214, thus enabling the storage platform 3 to move along the X-direction.

[0064] When movement along the Y-axis is required, the Y-axis motor 232 can be driven to rotate, which in turn drives the Y-axis gear 234 to rotate. The Y-axis gear 234 meshes with the Y-axis rack 235. When the Y-axis gear 234 rotates, the Z-axis assembly 24 can move along the Y-axis rack 235, thus enabling the storage platform 3 to move along the Y-direction.

[0065] When it is necessary to move along the Z-axis, the Z-axis motor 242 can be driven to rotate, which in turn drives the Z-axis gear 244 to rotate. The Z-axis gear 244 meshes with the Z-axis rack 245. When the Z-axis gear 244 rotates, the storage platform 3 can move along the Z-axis rack 245, thus enabling the storage platform 3 to move along the Z-axis.

[0066] like Figure 6 As shown, in some embodiments, a pivot fixing seat 5 is also included. One end of the pivot fixing seat 5 is hinged to the Z-axis vertical beam 241, and the other end of the pivot fixing seat 5 is fixedly connected to the platform 3. By setting the pivot fixing seat 5, it is easier to prevent the platform 3 from breaking due to excessive stress at the connection between the platform 3 and the Z-axis vertical beam 241 when transporting heavy objects.

[0067] like Figure 6 As shown, in some embodiments, the system further includes a first connecting rod 6, a second connecting rod 7, and a second Z-axis I-shaped guide rail 249. A connecting portion 2411 is provided on the side of the Z-axis vertical beam 241 away from the Y-axis horizontal beam 231, and the connecting portion 2411 is slidably connected to the second Z-axis I-shaped guide rail 249. One end of the first connecting rod 6 is hinged to the platform 3, and the other end of the first connecting rod 6 is hinged to the connecting portion 2411. One end of the second connecting rod 7 is hinged to the connecting portion 2411, and the other end of the second connecting rod 7 is connected to a cylinder 8. By connecting one end of the second connecting rod 7 to the cylinder 8, when a heavy material is placed inside the platform 3, the cylinder 8 can provide a buffering effect. For example, during the upward movement of the Z-axis assembly 24, if the material inside the platform 3 is heavy, the second connecting rod 7, connected to the cylinder 8, can slowly extend during the upward movement of the platform 3 to release stress.

[0068] In some embodiments, a plurality of dustproof boxes 9 are further included, the dustproof boxes 9 are respectively connected with the X-axis cross beam and the Y-axis cross beam 231, and the X-axis gear 215 and the Y-axis gear 234 are arranged in the dustproof boxes 9. By arranging the dustproof boxes 9, dust and other impurities can be effectively prevented from entering the gear system, so as to protect the normal operation of the gears and prolong the service life of the gears. In addition, the dustproof boxes 9 can also reduce the generation of noise. When the gears are in operation, a certain noise will be generated due to friction. By arranging the gears in the dustproof boxes 9, the noise can be effectively isolated, so that the noise will not affect the surrounding environment.

[0069] In some embodiments, a plurality of X-axis bases 216, X-axis sub-gears 217, Y-axis bases 236, Y-axis sub-gears 237, Z-axis bases 247 and Z-axis sub-gears 248 are further included;

[0070] The X-axis base 216 is connected with the connecting seat 2311, and when the X-axis sub-gear 217 is connected with the X-axis base 216, the X-axis sub-gear 217 is engaged with the X-axis rack 214;

[0071] The Y-axis base 236 is connected with the first connecting plate 2461, and when the Y-axis sub-gear 237 is connected with the Y-axis base 236, the Y-axis sub-gear 237 is engaged with the Y-axis rack 235;

[0072] The Z-axis base 247 is connected with the second connecting plate 2462, and when the Z-axis sub-gear 248 is connected with the Z-axis base 247, the Z-axis sub-gear 248 is engaged with the Z-axis rack 245.

[0073] By arranging the bases and the sub-gears, the pressure of the X-axis gear, the Y-axis gear 234 and the Z-axis gear 244 on the racks during rotation can be dispersed, and at the same time, the sub-gears are arranged to increase the stress points, so as to facilitate the stable movement of the object placing platform 3.

[0074] According to the technical scheme, the application provides a feeding robot, which comprises a support frame 1, a moving device 2 and a storage platform 3. The support frame 1 comprises a first support plate 11 and a second support plate 12. The moving device 2 comprises a first X-axis assembly 21, a second X-axis assembly 22, a Y-axis assembly 23 and a Z-axis assembly 24. The first X-axis assembly 21 and the second X-axis assembly 22 are used to drive the storage platform 3 to move in the front-back direction of the horizontal plane. The Y-axis assembly 23 is used to drive the storage platform 3 to move in the left-right direction of the horizontal plane. The Z-axis assembly 24 is used to drive the storage platform 3 to move in the vertical direction. A radar module 4 protrudes from a Y-axis cross beam 231. The radar module 4 is used to detect the position coordinates of the material to be transported. The moving device 2 is arranged to drive the storage platform 3 to move in the X-axis, Y-axis and Z-axis directions. The radar module 4 is arranged to detect the position coordinates of the material to be transported. The moving path of the storage platform 3 is accurately controlled, so that the feeding robot cannot automatically adjust the feeding and discharging positions according to the position of the material.

[0075] The similar parts among the embodiments provided by the application can be referred to each other. The specific embodiments provided above are only some examples of the general concept of the application and do not limit the protection scope of the application. Any other embodiments extended according to the application scheme without creative labor are within the protection scope of the application.

Claims

1. A loading robot, characterized by, The utility model relates to a kind of movable platform, including: Support frame (1), mobile device (2), article platform (3); The mobile device (2) is provided with the support frame (1) top, and the mobile device (2) is connected with the article platform (3); The support frame (1) includes first support plate (11) and second support plate (12), the first support plate (11) is parallelly arranged with the second support plate (12), and the first support plate (11) and the second support plate (12) are both perpendicular to horizontal plane; The mobile device (2) includes first X-axis component (21), second X-axis component (22), Y-axis component (23) and Z-axis component (24), the first X-axis component (21) and the second X-axis component (22) are used to drive article platform (3) to move along horizontal plane front-back direction, i. e. X-axis direction, the Y-axis component (23) is used to drive article platform (3) to move along horizontal plane left-right direction, i. e. Y-axis direction, and the Z-axis component (24) is used to drive article platform (3) to move along vertical direction, i. e. Z-axis direction; The first X-axis component (21) is connected with the first support plate (11), and the second X-axis component (22) is connected with the second support plate (12);The Y-axis component (23) is perpendicular to the first X-axis component (21), one end of the Y-axis component (23) is connected with the first X-axis component (21), and the other end of the Y-axis component (23) is connected with the second X-axis component (22);The Z-axis component (24) is perpendicular to the Y-axis component (23), and the Z-axis component (24) is connected with the Y-axis component (23), and one end of the Z-axis component (24) close to the support frame (1) is connected with the article platform (3); The first X-axis component (21) and the second X-axis component (22) all include X-axis crossbeam (211), X-axis motor (212), X-axis I-shaped guide rail (213), X-axis rack (214), X-axis gear (215); The Y-axis component (23) includes Y-axis crossbeam (231), Y-axis motor (232), Y-axis I-shaped guide rail (233), Y-axis gear (234), Y-axis rack (235); The Z-axis component (24) includes Z-axis vertical beam (241), Z-axis motor (242), first Z-axis I-shaped guide rail (243), Z-axis gear (244), Z-axis rack (245), sliding plate (246); The X-axis I-shaped guide rail (213) and the X-axis rack (214) are parallelly arranged along the length direction of the X-axis crossbeam (211); The Y-axis I-shaped guide rail (233) and the Y-axis rack (235) are parallelly arranged along the length direction of the Y-axis crossbeam (231); The first Z-axis I-shaped guide rail (243) and the Z-axis rack (245) are parallelly arranged along the length direction of the Z-axis vertical beam (241); Both ends of the Y-axis cross beam (231) are provided with connecting seats (2311), the connecting seats (2311) are provided with first sliding blocks (2312) and first mounting holes (2313), the connecting seats (2311) are connected with the X-axis channel guide (213) through the first sliding blocks (2312), the X-axis motor (212) is fixedly connected with the connecting seat (2311) through the first mounting hole (2313), and the output end of the X-axis motor (212) is connected with the X-axis gear (215). The sliding plate (246) is T-shaped, and the sliding plate (246) comprises a first connecting plate (2461) and a second connecting plate (2462), the first connecting plate (2461) is provided with a second sliding block (24611) and a second mounting hole (24612), the second sliding block (24611) is connected with the Y-axis channel guide (233) in a sliding mode, the Y-axis motor (232) is arranged in the second mounting hole (24612), the output end of the Y-axis motor (232) is connected with the Y-axis gear (234), and the Y-axis gear (234) is engaged with the Y-axis rack (235). The second connecting plate (2462) is provided with a third sliding block (24621), and the third sliding block (24621) is connected with the first Z-axis channel guide (243) in a sliding mode. A third connecting plate (2463) is perpendicular to the second connecting plate (2462), and the third connecting plate (2463) is connected with the second connecting plate (2462); the third connecting plate (2463) is provided with a third mounting hole (24631); the Z-axis motor (242) is arranged in the third mounting hole (24631), the output end of the Z-axis motor (242) is connected with the Z-axis gear (244), and the Z-axis gear (244) is engaged with the Z-axis rack (245). A radar module (4) is connected with the first connecting plate (2461), the radar module (4) protrudes from the Y-axis cross beam (231), and the radar module (4) is used for detecting the position coordinates of the material to be transported.

2. The loading robot according to claim 1, characterized in that, A rotating shaft fixing seat (5) is further included, one end of the rotating shaft fixing seat (5) is hingedly connected with the Z-axis vertical beam (241), and the other end of the rotating shaft fixing seat (5) is fixedly connected with the object placing platform (3).

3. The loading robot according to claim 1, wherein Further include a first connecting rod (6), a second connecting rod (7) and a second Z-axis I-shaped guide rail (249), the Z-axis vertical beam (241) is provided with a connecting portion (2411) away from one side of the Y-axis cross beam (231), the connecting portion (2411) and the second Z-axis I-shaped guide rail (249) are connected in sliding mode;One end of the first connecting rod (6) is hinged to the storage platform (3), the other end of the first connecting rod (6) is hinged to the connecting portion (2411), one end of the second connecting rod (7) is hinged to the connecting portion (2411), the other end of the second connecting rod (7) is connected with the air cylinder (8).

4. The loading robot according to claim 1, wherein Further include several dustproof boxes (9), the dustproof boxes (9) are connected with the X-axis cross beam (211) and the Y-axis cross beam (231) respectively, the X-axis gear (215) and the Y-axis gear (234) are arranged in the dustproof box (9).

5. The loading robot according to claim 1, wherein Further include several X-axis bases (216), X-axis sub-gears (217), Y-axis bases (236), Y-axis sub-gears (237), Z-axis bases (247) and Z-axis sub-gears (248); The X-axis base (216) is connected with the connecting seat (2311), when the X-axis sub-gear (217) is connected with the X-axis base (216), the X-axis sub-gear (217) is engaged with the X-axis rack (214); The Y-axis base (236) is connected with the first connecting plate (2461), when the Y-axis sub-gear (237) is connected with the Y-axis base (236), the Y-axis sub-gear (237) is engaged with the Y-axis rack (235); The Z-axis base (247) is connected with the second connecting plate (2462), when the Z-axis sub-gear (248) is connected with the Z-axis base (247), the Z-axis sub-gear (248) is engaged with the Z-axis rack (245).

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