A long-span low-type palletizing robot

Abstract

The utility model discloses a kind of large-span low-type stacking robots, solve the problem that existing technology in stacking robot exists and grabs slow, low working efficiency.The utility model large-span low-type stacking robot includes stand column frame, X-axis long rail is equipped on stand column frame, Y-axis moving frame that can move along X direction is equipped on X-axis long rail, Z-axis moving frame that can move along Y axis is equipped on Y-axis moving frame, double clutch is equipped on Z-axis moving frame, which can move along Z axis, multiple arms are equipped on Z-axis moving frame, double clutch is connected with multiple arms by rotating mechanism;Double clutch includes sliding mechanical paw and vacuum chuck.The utility model stacking robot X, Y, Z three-axis movement provides flexible positioning ability in three-dimensional space, can accurately reach target position;Low-type design not only adapts to height limited environment, also makes robot occupy less vertical space when deploying, conducive to space optimization layout.

Description

Technical Field

[0001] This utility model relates to the field of mechanized production and manufacturing technology, and in particular to a palletizing robot. Background Technology

[0002] Palletizing robots are mechanical devices that perform handling and palletizing tasks according to a predetermined program, significantly improving work efficiency, reducing labor costs, and ensuring human safety while operating in hazardous environments. Therefore, they are widely used in manufacturing, warehousing, and logistics. However, existing palletizing robots suffer from slow gripping speeds and low work efficiency when palletizing large spans and heavy loads. Furthermore, in applications where the overall height of the palletizing robot is limited, its height is insufficient, greatly impacting work efficiency.

[0003] In recent years, with the development of technology, palletizing robots have gradually emerged in research. For example, Chinese Patent Application No. 202420141832.4 discloses a gantry handling mechanism for handling heavy products, aiming to reduce the burden of manual handling. However, it has the following problems: First, this utility model can only grasp one target object at a time, which is not efficient; second, the use of a vacuum suction cup gripping mechanism limits the types of target objects that can be grasped, and problems such as unreliable gripping are prone to occur when grasping bag-shaped target objects; finally, its Z-axis only uses a single telescopic arm, which is not suitable for some scenarios with height requirements. Therefore, it is necessary to design a palletizing robot that is efficient, has a large span, a large load capacity, is low-profile, and is suitable for multiple scenarios. Utility Model Content

[0004] To address the shortcomings in the aforementioned background technology, this utility model proposes a large-span, low-profile palletizing robot, which solves the problems of slow grasping speed and low work efficiency of existing palletizing robots when palletizing large-span, heavy objects.

[0005] The technical solution of this utility model is implemented as follows: A large-span, low-profile palletizing robot includes a column frame, an X-axis long rail on the column frame, a Y-axis moving frame that can move along the X direction on the X-axis long rail, a Z-axis moving frame that can move along the Y-axis on the Y-axis moving frame, a double gripper that can move along the Z-axis on the Z-axis moving frame, and a multi-section arm on the Z-axis moving frame. The double gripper is connected to the multi-section arm via a rotary mechanism. The double gripper includes a sliding mechanical claw and a vacuum suction cup. The column frame, Y-axis moving frame, and Z-axis moving frame of this utility model can all withstand large loads. The multi-section arm on the Z-axis moving frame adopts a multi-stage design, which can significantly reduce the height of the palletizing robot. The double gripper can grasp two target objects at a time, resulting in higher palletizing efficiency. This palletizing robot has advantages such as large span, high load capacity, high efficiency, and low profile. It can significantly solve the problems of existing palletizing robots that cannot firmly grasp the target object and have low palletizing efficiency when palletizing large-span and heavy target objects. At the same time, the low profile design can adapt to many height-restricted site conditions, and this palletizing robot can adapt to both framed and frameless palletizing racks, making its application scenarios wider.

[0006] In a further preferred embodiment, the dual-gripper device also includes a frame, with a sliding mechanical claw and a vacuum suction cup both mounted on the frame. The sliding mechanical claw includes a guide rail and a sliding cylinder located at the bottom of the frame. The mechanical claw slides along the guide rail and is connected to the sliding cylinder. The sliding cylinder drives the movement of the mechanical claw to support and grasp the target object. After the mechanical claw slides out, the load is transmitted linearly to the frame through the guide rail, without lever arms. The suction cup and the mechanical claw can be subjected to force simultaneously, improving the stable grasping of the target object.

[0007] Further optimized, the vacuum suction cup is located at the bottom of the frame and above the mechanical gripper, for vacuum adsorption of the target object; the rotation mechanism is a rotary bearing located on the upper part of the frame, and the rotary bearing is connected to the Z-axis moving frame. The suction cup is hidden inside the bottom plate of the frame, the mechanical gripper is located below the suction cup, and the rotation center is attached to the top plate of the frame, achieving fast and stable gripping at the lowest possible height.

[0008] Further preferably, the column frame is a gantry frame composed of several column legs and crossbeams; a support is provided between two adjacent column legs on the same side, and an X-axis long rail and a platform are provided on the top of the column legs on the same side, with the platform located on one side of the X-axis long rail. The gantry frame design increases the span, allowing even low-ceilinged warehouses to operate high-speed, high-precision, and scalable palletizing lines.

[0009] Further optimized, the X-axis long rail includes an X-axis long beam mounted on the top of the column support leg, with an X-axis slide rail rack along its length. The Y-axis moving frame includes a double-beam moving frame, with ventilation and protective covers at both ends. A first motor is housed within the ventilation and protective covers, and a first gear is mounted on the output shaft of the first motor, meshing with the X-axis slide rail rack. The Z-axis moving frame is mounted on the double-beam moving frame. The first motor drives the first gear to rotate, thereby achieving stable movement of the Y-axis moving frame along the X-axis direction of the X-axis slide rail rack. The Y-axis moving frame, including the double-beam moving frame, significantly improves load-bearing capacity.

[0010] Further preferably, the Z-axis moving frame includes a Y-axis slide mounted on the Y-axis moving frame. The Y-axis slide has multiple arm sections, and the double gripper is mounted below these sections via a rotary mechanism. The Y-axis slide moves relative to the Y-axis moving frame via a moving component. The movement of the Y-axis slide on the Y-axis moving frame changes the Y-axis position of the double gripper while ensuring the stability of its Y-axis movement.

[0011] In a further preferred embodiment, the moving component includes a Y-axis motor mounted on the Y-axis slide, a second gear on the output shaft of the Y-axis motor meshing with a Y-axis slide rail rack mounted on the Y-axis moving frame; a slider is mounted on the Y-axis slide, and the slider slides in cooperation with the Y-axis moving frame. The Y-axis motor drives the second gear to rotate, thereby achieving stable movement of the Y-axis slide along the Y-axis slide rail rack.

[0012] Further optimization reveals that the multi-section arm is a two-stage telescopic column, comprising a primary Z-axis and a secondary Z-axis arranged in series. The primary Z-axis includes a primary Z-axis carriage slidably mounted on a Y-axis slide, with a Z-axis slide rail rack I mounted on the primary Z-axis carriage. A Z-axis motor is mounted on the Y-axis slide, and a third gear is mounted on the output shaft of the Z-axis motor, meshing with the Z-axis slide rail rack I. The two-stage design of the multi-section arm of the Z-axis moving frame significantly reduces the height of the palletizing robot, making it suitable for palletizing operations in low-ceilinged spaces.

[0013] Further optimization includes a secondary Z-axis slide housed within the primary Z-axis slide. The secondary Z-axis slide is equipped with a Z-axis slide rail rack II. A fourth motor is mounted on the primary Z-axis slide, and a fourth gear is mounted on the output shaft of the fourth motor. This fourth gear meshes with the Z-axis slide rail rack II. The double-grip gripper is connected to the bottom of the secondary Z-axis slide. The two-stage telescopic columns work together to increase the Z-axis travel of the double-grip gripper, expanding the working area and improving flexibility.

[0014] The beneficial effects of this utility model are as follows: The column frame, Y-axis moving frame, and Z-axis moving frame used in this palletizing robot can all withstand large loads. The multi-section arm on the Z-axis moving frame adopts a multi-stage design, which can significantly reduce the height of the palletizing robot. The dual grippers can grasp two target objects at a time, resulting in higher palletizing efficiency. This palletizing robot has the advantages of large span, high load, high efficiency, and low profile. It can significantly solve the problems of weak gripping and low palletizing efficiency of existing palletizing robots when palletizing large-span, heavy target objects. At the same time, the low profile design can adapt to many height-restricted site conditions, and this palletizing robot can adapt to both framed and frameless palletizing racks, making its application scenarios wider.

[0015] This novel palletizing robot's X, Y, and Z-axis movement provides flexible positioning capabilities in three-dimensional space, enabling precise arrival at target locations and adapting to palletizing needs at different heights and positions. The combination of multi-axis linkage and a double-gripper mechanism allows the robot to quickly and accurately complete gripping, handling, and palletizing actions, significantly improving production efficiency. Its low-profile design not only adapts to height-constrained environments but also reduces the vertical space required for deployment, facilitating optimized space layout. This large-span, low-profile palletizing robot, through the coordinated design of multi-axis linkage, multi-segment arms, double-gripper mechanisms, and a rotary mechanism, achieves highly flexible, adaptable, and efficient palletizing operations, solving the problems of slow gripping speed and low work efficiency inherent in existing palletizing robots when palletizing large-span, heavy objects. Attached Figure Description

[0016] To more clearly illustrate the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the column structure of this utility model; Figure 3 This is a schematic diagram of the Y-axis moving frame structure of this utility model; Figure 4 This is a schematic diagram of the Z-axis moving frame structure of this utility model; Figure 5 This is a schematic diagram of the two-stage telescopic column structure on the Z-axis moving frame of this utility model; Figure 6 This is a schematic diagram of the first-stage Z-axis structure of this utility model; Figure 7 This is a schematic diagram of the two-stage Z-axis structure of this utility model; Figure 8 This is a schematic diagram of the double-grip structure of this utility model; Figure 9 This is a schematic diagram of the conveying device structure of this utility model. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Example 1, such as Figure 1 As shown, a large-span, low-profile palletizing robot includes a column frame 1. An X-axis long rail 7 is mounted on the column frame 1, designed along the X-axis to provide guidance and support for a Y-axis moving frame 2. The X-axis long rail 7 houses the Y-axis moving frame 2, which can move along the X-direction. The Y-axis moving frame 2 also houses a Z-axis moving frame 3, which can move along the Y-axis. The Y-axis moving frame 2 provides guidance and support for the Z-axis moving frame in the Y-direction. The Z-axis moving frame 3 is equipped with a double gripper 4, which can move along the Z-axis and is used to grasp target objects. The Z-axis moving frame 3 also has a multi-section arm. The multi-section arm provides movement of the double gripper 4 in the Z-axis direction, and the double gripper 4 is connected to the multi-section arm via a rotary mechanism. Under the action of the rotary mechanism, the double gripper 4 can rotate in the horizontal plane to change its grasping direction. The dual gripper 4 includes a sliding mechanical claw 47 and a vacuum suction cup 43; the sliding mechanical claw 47 and the vacuum suction cup 43 work together to make the target object gripping more reliable, and the gripping device can grip two target objects at the same time, resulting in high work efficiency.

[0020] In actual use, such as Figure 9 As shown, the upright frame 1 spans above the palletizing frame 5, and the conveying device 6 is located on one side of the upright frame 1. The palletizing frame 5 is used to place the target object, and the conveying device 6 transports the target object to the palletizing robot. The conveying device 6 includes a conveyor belt 61, rollers 62, a motor 63, and a sensor 64. The conveyor belt 61 is used to transport the target object, and the motor 63 drives the rollers 62 to rotate, moving the target object to the designated position. The sensor 64 is used to detect the target object. When the target object reaches the designated position, the motor 63 stops rotating. In this way, after the sensor 64 detects that two target objects have been transported, the double gripper 4 starts to grab them, completing the subsequent palletizing process.

[0021] This utility model's palletizing robot, Y-axis moving frame, and Z-axis moving frame can all withstand large loads, featuring a large span and heavy load capacity. The Z-axis moving frame employs a multi-segment arm design, reducing the robot's height and expanding its application scenarios. X, Y, and Z-axis movement provides flexible positioning capabilities in three-dimensional space, allowing for precise target location and adapting to palletizing needs at different heights and positions. The combination of multi-axis linkage and dual grippers enables the robot to quickly and accurately complete grasping, handling, and palletizing actions, significantly improving production efficiency. The low-profile design not only adapts to height-constrained environments but also reduces the vertical space occupied during deployment, facilitating optimized space layout. This large-span, low-profile palletizing robot, through the collaborative design of multi-axis linkage, multi-segment arms, dual grippers, and a rotating mechanism, achieves highly flexible, adaptable, and efficient palletizing operations. It is particularly suitable for industrial scenarios with limited space, large operating ranges, and diverse product types, solving the problems of slow grasping speed and low work efficiency in existing palletizing robots when palletizing large-span, heavy-weight targets.

[0022] Example 2, as Figure 8 As shown, a large-span, low-profile palletizing robot is further optimized based on Embodiment 1. In this embodiment, the dual gripper 4 also includes a frame 41, with a sliding mechanical claw 47 and a vacuum suction cup 43 both mounted on the frame 41. Together, they can quickly and stably grip and palletize target objects. The sliding mechanical claw 47 includes a guide rail 48 and a sliding cylinder 44 located at the bottom of the frame 41. A mechanical claw 42 slides on the guide rail 48 and is connected to the sliding cylinder 44, performing gripping and placement actions. The mechanical claw 42 is an L-shaped gripper, providing support and clamping for the target object. Combined with the vacuum suction cup 43, it is suitable for both framed and frameless palletizing racks, adapting to various application scenarios. It should be noted that electric push rods, hydraulic rods, etc., can be used instead of the sliding cylinder in the dual gripper.

[0023] In this embodiment, the vacuum suction cup 43 is located at the bottom of the frame 41 and above the gripping part of the mechanical claw 42. The vacuum suction cup 43 and the mechanical claw 42 are stacked vertically to reduce the overall height of the clamp and adapt to low-space operations. The slewing mechanism is a slewing bearing 45 located on the upper part of the frame 41, which is connected to the Z-axis moving frame 3. The slewing bearing simultaneously bears large axial and radial loads and overturning moments; at the same time, it drives the rotation of the double gripper under the action of the power component. The power component can be a slewing motor 322 located at the bottom of the two-stage telescopic column; the slewing motor 322 drives the double gripper to rotate through the slewing mechanism.

[0024] In this embodiment, when using a framed palletizing rack, when the palletizing reaches the boundary position, the mechanical gripper will interfere with the frame of the palletizing rack when placing the target object. To solve this problem, the palletizing process is divided into the following two types: one is when the palletizing point is at a non-boundary position of the palletizing rack 5. The palletizing process at this position is as follows: first, the conveying device 6 delivers the target object 46 to the palletizing robot, then the double gripper 4 moves to a fixed point. When the sensor 64 detects two target objects, the double gripper 4 starts to grip and moves to above the palletizing point. The vacuum suction cup 43 picks up the target object 46, then the mechanical gripper 42 detaches from the target object 46, and finally the vacuum suction cup 43 stops working, and the target object 46 falls naturally onto the palletizing rack 5, completing the palletizing. Secondly, the palletizing point is located at the outermost boundary of the palletizing rack 5. The palletizing process at this location is as follows: First, the conveying device 6 transports the target object 46 to the palletizing robot. Then, the double gripper 4 moves to a fixed point. When the sensor detects two target objects, the double gripper 4 begins to grasp them. During its movement above the palletizing point, the rotary motor 322 operates, causing the double gripper to rotate 180°, rotating the mechanical claw to the opposite side of the palletizing rack frame. Then, the vacuum suction cup 43 picks up the target object 46, the sliding cylinder 44 extends, causing the mechanical claw 42 to detach from the target object 46, and finally, the vacuum suction cup 43 stops working, allowing the target object 46 to fall naturally onto the palletizing rack 5, completing the palletizing process. When using a frameless palletizing rack, there are no frame restrictions, so the double gripper rotation is not required, and the process is the same as the first palletizing method described above.

[0025] Example 3, as Figure 2 As shown, a large-span, low-profile palletizing robot is further optimized based on embodiment 1 or 2. In this embodiment, the column frame 1 is a gantry frame composed of several column legs 11 and crossbeams 12. A support member is provided between two adjacent column legs 11 on the same side. The support member can be a horizontal support 13 and a diagonal brace 14 to stably connect two adjacent column legs. An X-axis long rail 7 and a platform 17 are provided on the top of the column legs 11 on the same side. The platform 17 is located on one side of the X-axis long rail 7 and is used for robot inspection and maintenance.

[0026] like Figure 3As shown, the X-axis long rail 7 provides guidance and support for the Y-axis moving frame 2. Two X-axis long rails 7 are symmetrically arranged on the gantry frame. Specifically, the X-axis long rail 7 includes an X-axis long beam 15 set on the top of the column support leg 11, and an X-direction slide rail rack 16 is provided on the X-axis long beam 15 along its length. The Y-axis moving frame 2 includes a double beam moving frame 21. The double beam moving frame 21 is a double beam design, which greatly improves the load capacity and has the characteristics of large span and large load. Ventilation protective covers 22 are provided at both ends of the double beam moving frame 21. The ventilation protective covers 22 are used to protect the first motor 23. The first motor 23 is located inside the ventilation protective cover 22. The output shaft of the first motor 23 is provided with a first gear. The first gear meshes with the X-direction slide rail rack 16. The rotation of the first gear realizes the movement of the Y-axis moving frame 2 along the X-axis long rail in the X direction. The Z-axis moving frame 3 is set on the double beam moving frame 21 and realizes synchronous movement with the Y-axis moving frame 2.

[0027] In this embodiment, as a preferred option, such as Figure 4 As shown, the Z-axis moving frame 3 includes a Y-axis slide 33 mounted on the Y-axis moving frame 2. The Y-axis slide 33 has a multi-section arm, and the double gripper 4 is mounted on the lower part of the multi-section arm via a rotary mechanism. The multi-section arm provides multi-stage movement of the double gripper 4 in the Z-axis direction, which can reduce the height of the palletizing robot and expand its application scenarios. The Y-axis slide 33 moves relative to the Y-axis moving frame 2 via a moving component. Under the action of the moving component, the Y-axis slide drives the multi-section arm and the double gripper to move along the Y-axis moving frame in the Y-direction. The moving component can adopt a gear and rack mechanism, a cylinder, or a hydraulic cylinder structure.

[0028] Example 4 presents a large-span, low-profile palletizing robot, further optimized from Example 3. In this example, the moving component employs a rack and pinion mechanism. Specifically, the moving component includes a Y-axis motor 334 mounted on a Y-axis slide 33. A second gear is mounted on the output shaft of the Y-axis motor 334, meshing with a Y-axis slide rail rack 24 mounted on the Y-axis moving frame 2. The Y-axis motor drives the second gear to rotate, achieving Y-axis movement along the Y-axis slide rail rack. A slider 332 is mounted on the Y-axis slide 33, slidingly engaging with the Y-axis moving frame 2. This engagement improves the stability of the Y-axis slide's movement along the Y-axis moving frame.

[0029] In this embodiment, as a preferred option, such as Figure 5 , 6As shown, the multi-section arm is a two-stage telescopic column, and the double-section arm has an inner sleeve structure. Specifically, the two-stage telescopic column includes a primary Z-axis 31 and a secondary Z-axis 32 arranged in series. The primary Z-axis 31 includes a primary Z-axis carriage 311 slidably mounted on a Y-axis slide table 33. The primary Z-axis carriage 311 is equipped with a Z-axis slide rail rack I 313. The Y-axis slide table 33 is equipped with a Z-axis motor 333, and the output shaft of the Z-axis motor 333 is equipped with a third gear, which meshes with the Z-axis slide rail rack I 313. The third gear rotates under the action of the Z-axis motor 333, driving the primary Z-axis carriage 311 to move up and down through the Z-axis slide rail rack I.

[0030] Similarly, as Figure 7 As shown, the secondary Z-axis 32 includes a secondary Z-axis slide 321 housed within the primary Z-axis slide 311. The secondary Z-axis slide 321 is equipped with a Z-axis slide rail rack II 323. A fourth motor 312 is mounted on the primary Z-axis slide 311. A fourth gear is mounted on the output shaft of the fourth motor 312, meshing with the Z-axis slide rail rack II 323. The double gripper 4 is connected to the bottom of the secondary Z-axis slide 321 via a flange plate 324. The fourth gear rotates under the action of the fourth motor, driving the secondary Z-axis slide 321 up and down via the Z-axis slide rail rack II; thus achieving adjustment of the double gripper's vertical (Z-axis direction) position.

[0031] In the palletizing robot of this invention, the palletizing process using a framed palletizing rack is as follows: First, the conveying device transports the target object to the palletizing robot. Then, through program settings, the double gripper moves to a fixed point. When the sensor detects that the conveying device is transporting two target objects, the double gripper begins to grasp them. The cylinder retracts, driving the mechanical claw through the bottom of the target object and then lifting it up. The motor drives the double gripper to move quickly above the palletizing point, where the vacuum suction cup starts working to pick up the target object. Then, the cylinder extends, driving the mechanical claw to detach from the target object. Finally, the vacuum suction cup stops working, and the target object falls naturally onto the palletizing rack, completing the palletizing process. When the palletizing reaches the outermost layer, the extension of the cylinder driving the mechanical claw to move will interfere with the frame of the palletizing rack. Therefore, during the process of the double gripper moving towards the boundary palletizing point, the motor on the secondary Z-axis drives the gripper to rotate, causing the mechanical claw to rotate to the opposite side of the palletizing rack frame, thereby completing the placement of the target object. When using a frameless palletizing rack, there are no frame restrictions, so there is no need for double gripper rotation. Otherwise, the palletizing process is the same as described above.

[0032] In summary, the large-span, low-profile palletizing robot proposed in this utility model can solve the problems of slow grasping speed and low work efficiency of existing palletizing robots when palletizing large-span, heavy-weight target objects. At the same time, the low-profile design can adapt to many height-restricted site conditions, and the palletizing robot can adapt to both framed and frameless palletizing racks, making its application scenarios wider.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A long-span, low-profile palletizing robot, comprising a column frame (1), characterized in that: The column frame (1) is provided with an X-axis long rail (7), the X-axis long rail (7) is provided with a Y-axis moving frame (2) that can move along the X direction, the Y-axis moving frame (2) is provided with a Z-axis moving frame (3) that can move along the Y axis, the Z-axis moving frame (3) is provided with a double gripper (4) that can move along the Z axis, the Z-axis moving frame (3) is provided with a multi-section arm, and the double gripper (4) is connected to the multi-section arm through a rotary mechanism; the double gripper (4) includes a sliding mechanical claw (47) and a vacuum suction cup (43).

2. The large-span, low-profile palletizing robot according to claim 1, characterized in that: The dual gripper (4) also includes a frame (41), a sliding mechanical claw (47) and a vacuum suction cup (43) are both mounted on the frame (41). The sliding mechanical claw (47) includes a guide rail (48) and a sliding cylinder (44) mounted on the bottom of the frame (41). The mechanical claw (42) is slidably mounted on the guide rail (48) and is connected to the sliding cylinder (44).

3. The large-span, low-profile palletizing robot according to claim 2, characterized in that: The vacuum suction cup (43) is located at the bottom of the frame (41) and above the gripping part of the mechanical claw (42); the rotary mechanism is a rotary bearing (45) located on the upper part of the frame (41), and the rotary bearing (45) is connected to the Z-axis moving frame (3).

4. The large-span, low-profile palletizing robot according to any one of claims 1 to 3, characterized in that: The column frame (1) is a gantry frame composed of several column legs (11) and crossbeams (12); a support is provided between two adjacent column legs (11) on the same side, and an X-axis long rail (7) and a platform (17) are provided on the top of the column legs (11) on the same side, with the platform (17) located on one side of the X-axis long rail (7).

5. The large-span, low-profile palletizing robot according to claim 4, characterized in that: The X-axis long rail (7) includes an X-axis long beam (15) set on the top of the column support leg (11), and an X-axis slide rail rack (16) is provided on the X-axis long beam (15) along its length direction.

6. The large-span, low-profile palletizing robot according to claim 5, characterized in that: The Y-axis moving frame (2) includes a double beam moving frame (21), with ventilation protective covers (22) at both ends of the double beam moving frame (21). A first motor (23) is provided inside the ventilation protective cover (22), and a first gear is provided on the output shaft of the first motor (23). The first gear meshes with the X-axis slide rail rack (16). The Z-axis moving frame (3) is set on the double beam moving frame (21).

7. The large-span, low-profile palletizing robot according to any one of claims 1 to 3 and 6, characterized in that: The Z-axis moving frame (3) includes a Y-axis slide (33) mounted on the Y-axis moving frame (2). The Y-axis slide (33) is equipped with a multi-section arm, and the double gripper (4) is mounted on the lower part of the multi-section arm via a rotary mechanism. The Y-axis slide (33) moves relative to the Y-axis moving frame (2) via a moving component.

8. The large-span, low-profile palletizing robot according to claim 7, characterized in that: The moving component includes a Y-axis motor (334) mounted on a Y-axis slide (33), a second gear on the output shaft of the Y-axis motor (334), and the second gear meshing with a Y-axis slide rail rack (24) mounted on the Y-axis moving frame (2); a slider (332) is mounted on the Y-axis slide (33), and the slider (332) slides in cooperation with the Y-axis moving frame (2).

9. The large-span, low-profile palletizing robot according to claim 8, characterized in that: The multi-section arm is a two-stage telescopic column, which includes a first-stage Z-axis (31) and a second-stage Z-axis (32) connected in series. The first-stage Z-axis (31) includes a first-stage Z-axis slide (311) that is slidably mounted on a Y-axis slide (33). The first-stage Z-axis slide (311) is provided with a Z-axis slide rail rack I (313). The Y-axis slide (33) is provided with a Z-axis motor (333). The output shaft of the Z-axis motor (333) is provided with a third gear, which meshes with the Z-axis slide rail rack I (313).

10. The large-span, low-profile palletizing robot according to claim 9, characterized in that: The secondary Z-axis (32) includes a secondary Z-axis slide (321) set inside the primary Z-axis slide (311). The secondary Z-axis slide (321) is provided with a Z-direction slide rail rack II (323). The primary Z-axis slide (311) is provided with a fourth motor (312). The output shaft of the fourth motor (312) is provided with a fourth gear. The fourth gear meshes with the Z-direction slide rail rack II (323). The double gripper (4) is connected to the bottom of the secondary Z-axis slide (321).

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