CN213445154U

CN213445154U - Visual guide four-degree-of-freedom pile-up removing robot

Info

Publication number: CN213445154U
Application number: CN202021746004.1U
Authority: CN
Inventors: 杨远才; 李宏亮
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-20
Filing date: 2020-08-20
Publication date: 2021-06-15
Anticipated expiration: 2030-08-20

Abstract

The utility model discloses a pile up neatly machine people is torn open to four degrees of freedom of vision guide relates to industrial robot technical field. The utility model comprises a movable carrying platform, a three-coordinate machine arranged on the carrying platform and an image acquisition mechanism arranged on the three-coordinate machine; the three-coordinate machine comprises a coordinate frame, a displacement mechanism for controlling the coordinate frame to move on the object carrying platform, and a grabbing mechanism arranged on the frame; and the rack is provided with a driving system for controlling the grabbing mechanism to move. The utility model discloses simple structure promotes easily, and the assembly tolerance of equipment is big, low in manufacturing cost, the deployment space is little, and can realize the arbitrary change of operation position.

Description

Visual guide four-degree-of-freedom pile-up removing robot

Technical Field

The utility model relates to an industrial robot technical field, concretely relates to pile up neatly machine people is torn open to four degrees of freedom of vision guide.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. The pile removing robot is a branch of an industrial robot, can be deployed in places such as production workshops, large warehouses, railway freight stations and the like, and replaces people to finish the carrying work of goods. In the fields of factories, logistics, warehousing and the like, the palletizing robot is used as a transportation means of goods or products.

In the prior art, the unstacking and stacking robot cannot be completely suitable for various unstacking and stacking sites due to the limitation of site conditions. For example, chinese patent (publication number: CN202897557U) discloses a three-coordinate robot, including: snatch the product through the manipulator device, positioner and rotary device carry out the product location, finally realize three-dimensional coordinate and carry out the pile up neatly product. However, the unstacker can only realize point-to-point unstacking and stacking of goods, has large deployment space and lacks adaptability to goods types, shapes, postures and environmental changes. Further alternatively, chinese patent (publication No. CN109279373A) discloses a flexible unstacking and palletizing robot system and method based on machine vision, which uses a multi-axis industrial robot to unstack and palletize goods. However, the robot is high in deployment cost and fixed in operation position, so that the robot for disassembling and stacking is difficult to widely apply.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pile up neatly machine people is torn open to vision guide four degrees of freedom, simple structure promotes easily, and the assembly tolerance of equipment is big, low in manufacturing cost, the deployment space is little, and can realize the arbitrary change of operation position.

In order to realize the purpose, the utility model discloses a technical scheme be:

a visual guide four-degree-of-freedom pile removing robot comprises a movable carrying platform, a three-coordinate machine arranged on the carrying platform and an image acquisition mechanism arranged on the three-coordinate machine; the three-coordinate machine comprises a coordinate frame, a displacement mechanism for controlling the coordinate frame to move on the object carrying platform, and a grabbing mechanism arranged on the frame; and the rack is provided with a driving system for controlling the grabbing mechanism to move.

Furthermore, the driving system comprises a lifting mechanism for controlling the height position of the grabbing mechanism, a translation mechanism for controlling the grabbing mechanism to move transversely, and a rotating mechanism for controlling the grabbing mechanism to rotate; the translation mechanism is connected to the lifting mechanism, and the rotation mechanism is connected to the translation mechanism.

The driving system controls the height position through the lifting mechanism, the transverse position is controlled through the translation mechanism, and the direction position of the grabbed goods is controlled through the rotation mechanism, so that the goods can be finally conveyed to any range in the operation space range of the robot.

Further, the lifting mechanism comprises a lifting motor, a speed reducer connected with the lifting motor, a driving shaft connected with the speed reducer and a mounting bearing seat of the driving shaft; the mounting bearing seats are arranged on two sides of the top of the coordinate frame, and the driving shaft extends out of the mounting bearing seats and is connected with first belt transmission structures at two ends of the driving shaft.

The reducer acts the output power of the motor on the driving shaft, and the driving shaft drives the belt transmission structure to move, so that the belt transmission structure is driven to control the lifting.

Further, the first belt transmission structure comprises a first synchronous belt wheel and a second synchronous belt wheel, the first synchronous belt wheel is connected to two ends of the driving shaft, the second synchronous belt wheel is fixed on the coordinate machine frame, and a first synchronous belt is connected between the first synchronous belt wheel and the second synchronous belt wheel. Two synchronous pulleys mutually support, and the transmission is stable.

Further, the translation mechanism comprises a cross beam, a translation motor arranged on the cross beam and a second belt transmission structure; first toothed belts are arranged on two sides of the cross beam and meshed with the first synchronous belt; and the two ends of the cross beam are connected with lifting guide sliding blocks, and the lifting guide sliding blocks are matched with lifting guide rails arranged on the inner side of the coordinate frame to form a lifting guide sliding pair.

The first toothed belt is meshed with the first synchronous belt, the first belt transmission structure drives the beam to integrally move upwards or downwards when belt transmission is carried out, and the lifting guide moving pair is used for lifting guide, so that the lifting process is more stable and reliable.

Further, the second belt transmission structure comprises a third synchronous belt pulley and a fourth synchronous belt pulley, and a second synchronous belt is connected between the third synchronous belt pulley and the fourth synchronous belt pulley; the third synchronous pulley or the fourth synchronous pulley is connected to an output shaft of the translation motor, and the other synchronous pulley is fixed on the cross beam.

The second belt transmission mechanism forms a reciprocating translational movement mode under the action of the translation motor, and can drive the rotating mechanism connected to the translation mechanism to perform transverse displacement.

Furthermore, the rotating mechanism comprises a rotating platform, a connecting bracket arranged on the rotating platform and a rotating motor arranged on one side of the rotating platform, and the bottom of the rotating platform is connected with a grabbing mechanism; a second toothed belt is arranged on the top of the connecting support and meshed to a second synchronous belt; the bottom of the connecting support is provided with a translation guide sliding block, and the translation guide sliding block is matched with a translation guide rail arranged on the cross beam to form a translation guide sliding pair.

The second toothed belt enables the rotary platform to be fixed on the second belt transmission structure, and the translation guide moving pair plays a role in guiding orientation. And the second synchronous belt moves and drives the rotating platform to a specified position.

Further, a rotating shaft is arranged in the rotating platform and connected to a rotating motor; the grabbing mechanism comprises a plurality of vacuum suckers which are uniformly distributed at the bottom of the rotating platform and rotate around the rotating shaft.

The vacuum chuck is used for sucking the goods and can rotate around the rotating shaft to adjust the sucking position of the goods.

Further, the movable carrier platform comprises a movable trolley; the movable trolley comprises a chassis, a plurality of universal wheels arranged at the bottom of the chassis and displacement guide rails arranged at two sides of the chassis, wherein a displacement slider group is connected in the displacement guide rails and is fixed at the bottom of the coordinate support; the chassis is internally provided with a plurality of roller assemblies for carrying and transferring goods and a roller motor for controlling the driving of the roller assemblies.

The movable trolley can flexibly position the whole robot for disassembling the pallets to any position, the roller motor drives the roller assembly to carry and transmit goods to a designated position, and the whole structure is flexible and changeable.

Further, the displacement mechanism comprises a displacement motor, a gear connected to the output end of the displacement motor, and a rack matched with the gear; the rack is arranged on the movable carrying platform.

Through the drive of the displacement motor, the gear and the rack are meshed to provide moving power for the three-coordinate measuring machine, so that the three-coordinate measuring machine can be fixed at any position of the trolley and is more flexible.

Further, the image acquisition mechanism comprises a camera and a camera mounting bracket, and the camera mounting bracket is fixed on the top of the coordinate frame.

The camera is used for collecting and processing visual information and outputting position and posture information of the material tray and the goods.

Compared with the prior art, the utility model has the advantages of:

first, the utility model discloses at first adopted movable cargo platform, will tear pile up neatly machine people integral erection open on movable cargo platform, realized that the flexibility of the deployment position of the hacking and stacking machine people is variable. The unstacking and stacking robot can be pushed to a designated position as required.

Secondly, the utility model discloses a three machines have realized that four dimensions of freedom are variable, and in comparison with prior art, the utility model provides a displacement mechanism can drive and control three-coordinate machine and carry out the displacement. The goods to be unstacked are carried and moved by the roller assembly, and the displacement mechanism displaces the three-coordinate machine to a required position according to on-site requirements, wherein the required position is a first free dimension. A driving system on the three-coordinate machine frame provides a lifting direction free dimension, a transverse translation free dimension and a rotation free dimension. Thereby make the utility model discloses can realize the arbitrary change of operation position, the degree of freedom is high, uses in a flexible way.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to these drawings without inventive efforts.

Fig. 1 is a schematic view of an overall structure of a vision-guided four-degree-of-freedom palletizing robot according to the present invention;

fig. 2 is a schematic structural view of a movable object-carrying platform of the vision-guided four-degree-of-freedom palletizing robot provided by the utility model;

fig. 3 is a schematic structural view of a three-coordinate machine of the vision-guided four-degree-of-freedom palletizing robot provided by the utility model;

FIG. 4 is a partial enlarged view of the first embodiment of FIG. 3;

FIG. 5 is a second enlarged partial schematic view of FIG. 3;

fig. 6 is a schematic view of the overall structure of the vision-guided four-degree-of-freedom palletizing robot according to the present invention;

reference numerals: 1-movable carrying platform, 1-1-chassis, 1-2-displacement guide rail, 1-3-displacement sliding block set, 1-4-rack, 1-5-universal wheel, 1-6-roller component, 1-7-roller motor, 1-8-material code disc, 2-three-coordinate machine, 2-1-coordinate machine frame, 2-2-displacement motor, 2-3-gear, 2-4-speed reducer, 2-5-lifting motor, 2-6-driving shaft, 2-7-mounting bearing seat, 2-8-height regulating block, 2-9-first synchronous pulley, 2-10-second synchronous pulley, 2-11-lifting guide rail, 2-12-lifting guide sliding block, 2-13-first synchronous belt, 2-14-first toothed belt, 2-15-cross beam, 2-16-cushion block, 2-17-translation guide rail, 2-18-motor mounting plate, 2-19-third synchronous pulley, 2-20-translation guide sliding block, 2-21-translation motor, 2-22-fourth synchronous pulley, 2-23-second synchronous belt, 2-24-second toothed belt, 2-25-connecting bracket, 3-camera mounting bracket, 4-camera, 5-rotating mechanism, 6-rotating motor and 7-vacuum chuck.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, the description is only for convenience of description and simplification, but the indication or suggestion that the device or element to be referred must have a specific position, be constructed and operated in a specific position, and thus, cannot be understood as a limitation of the present invention.

Furthermore, the appearances of the terms "first," "second," "third," and the like, if any, are only used to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

As shown in fig. 1, a visual guidance four-degree-of-freedom palletizing robot comprises a movable object carrying platform 1, a three-coordinate machine 2 arranged on the object carrying platform, and an image acquisition mechanism arranged on the three-coordinate machine 2; the three-coordinate machine 2 comprises a coordinate frame 2-1, a displacement mechanism for controlling the coordinate frame 2-1 to move on the carrying platform, and a grabbing mechanism arranged on the frame; the frame is provided with a driving system for controlling the grabbing mechanism to move.

The utility model provides a pile up neatly machine people is torn open to four degrees of freedom of vision guide can move or propelling movement to arbitrary work scene through portable cargo platform 1, wholly compare with prior art, and is more nimble variable, and the scene that can be suitable for is more extensive. And, the utility model discloses the three-coordinate machine 2 that the kind was realized snatching, the function of breaking a yard buttress is on the portable cargo platform of swing joint 1, in other words, this three-coordinate machine 2 can change the operation position, and the drive system that the mechanism activity was snatched in the control of deuterogamying to realized the arbitrary change of operation position, in order to overcome prior art's not enough.

As shown in fig. 1-6, the driving system includes a lifting mechanism for controlling the height position of the grabbing mechanism, a translation mechanism for controlling the grabbing mechanism to move transversely, and a rotation mechanism 5 for controlling the grabbing mechanism to rotate; the translation mechanism is connected to the lifting mechanism and the rotation mechanism 5 is connected to the translation mechanism.

The driving system controls the height position through the lifting mechanism, the horizontal position is controlled through the translation mechanism, and the direction position of the grabbed goods is controlled through the rotating mechanism 5, so that the goods can be finally conveyed to any range in the operation space range of the robot.

The lifting mechanism comprises a lifting motor 2-5, a speed reducer 2-4 connected with the lifting motor 2-5, a driving shaft connected with the speed reducer 2-4 and a mounting bearing seat 2-7 of the driving shaft. Specifically, the mounting bearing blocks 2-7 are mounted on height adjusting blocks 2-8 on two sides of the top of the coordinate frame 2-1, the driving shaft extends out of the mounting bearing blocks 2-7, and two ends of the driving shaft are connected with first belt transmission structures. The first belt transmission structure comprises a first synchronous belt wheel 2-9 and a second synchronous belt wheel 2-10, the first synchronous belt wheel 2-9 is connected to two ends of a driving shaft, the second synchronous belt wheel 2-10 is fixed on a frame of a coordinate machine, and a first synchronous belt 2-13 is connected between the first synchronous belt wheel 2-9 and the second synchronous belt wheel 2-10. The reducer 2-4 applies the output power of the motor to the driving shaft, and the driving shaft drives the belt transmission structure to move, so that the belt transmission structure is driven to control lifting.

The translation mechanism comprises a cross beam 2-15, a translation motor 2-21 arranged on the cross beam 2-15 and a second belt transmission structure; the outer sides of the cross beams 2-15 are connected with motor mounting plates 2-18 for mounting translation motors 2-21, and translation guide rails 2-17 are arranged on the same side. Two sides of the beam 2-15 are provided with first toothed belts 2-14, and the first toothed belts 2-14 are meshed with the first synchronous belts 2-13; the two ends of the cross beam 2-15 are connected with lifting guide sliding blocks 2-12, specifically, the lifting guide sliding blocks 2-12 are connected to the cushion blocks 2-16 at the two ends of the cross beam 2-15 through mechanical methods such as screws, and the lifting guide sliding blocks 2-12 are matched with lifting guide rails 2-11 arranged on the inner side of the coordinate frame 2-1 and form a lifting guide sliding pair.

The second belt transmission structure comprises a third synchronous belt wheel 2-19 and a fourth synchronous belt wheel 2-22, and a second synchronous belt 2-23 is connected between the third synchronous belt wheel 2-19 and the fourth synchronous belt wheel 2-22; a third synchronous pulley 2-19 or a fourth synchronous pulley is connected to the output shaft of the translation motor 2-21 and the other synchronous pulley is fixed on the cross beam 2-15.

The first toothed belts 2-14 are meshed with the first synchronous belts 2-13, so that the cross beams 2-15 are driven to move upwards or downwards integrally when the first belt transmission structure performs belt transmission, and the lifting guide is performed through the lifting guide sliding pair, so that the lifting process is more stable and reliable. The second belt transmission mechanism forms a reciprocating translation moving mode under the action of the translation motors 2-21, and can drive the rotating mechanism 5 connected to the translation mechanism to perform transverse displacement.

The rotating mechanism 5 comprises a rotating platform, connecting supports 2-25 arranged on the rotating platform and a rotating motor 6 arranged on one side of the rotating platform, and the bottom of the rotating platform is connected with a grabbing mechanism; a second toothed belt 2-24 is arranged on the top of the connecting bracket 2-25, and the second toothed belt 2-24 is meshed to a second synchronous belt 2-23; the bottom of the connecting support 2-25 is provided with a translation guide slide block 2-20, and the translation guide slide block 2-20 is matched with a translation guide rail 2-17 arranged on the cross beam 2-15 to form a translation guide sliding pair. A rotating shaft is arranged in the rotating platform and is connected to a rotating motor 6; the grabbing mechanism comprises a plurality of vacuum chucks 7, and the vacuum chucks 7 are uniformly distributed at the bottom of the rotating platform and rotate around the rotating shaft.

The second toothed belt 2-24 fixes the rotary platform to the second belt transmission structure, and the translational guide moving pair plays a role in guiding orientation. And the second synchronous belts 2-23 move and simultaneously drive the rotating platform to a specified position. The vacuum chuck 7 is used for sucking the goods and can rotate around the rotating shaft to adjust the sucking position of the goods.

The movable carrying platform 1 comprises a movable trolley; the movable trolley comprises a chassis 1-1, a plurality of universal wheels 1-5 arranged at the bottom of the chassis 1-1 and displacement guide rails 1-2 arranged at two sides of the chassis 1-1, wherein displacement slide block groups 1-3 are connected in the displacement guide rails 1-2, and the displacement slide block groups 1-3 are fixed at the bottom of a coordinate support; a plurality of roller assemblies 1-6 for carrying and transferring goods and roller motors 1-7 for controlling the driving of the roller assemblies 1-6 are arranged in the chassis 1-1.

The whole pile removing robot can be flexibly positioned to any position by the movable trolley, the roller motor 1-7 drives the roller component 1-6 to carry and transmit goods to a designated position, and the whole structure is flexible and changeable.

The displacement mechanism comprises a displacement motor 2-2, a gear 2-3 connected to the output end of the displacement motor 2-2 and a rack 1-4 matched with the gear 2-3; the racks 1-4 are arranged on the movable carrier platform 1.

The three-coordinate machine is driven by a displacement motor 2-2, a gear 2-3 is meshed with a rack 1-4 to provide moving power for the three-coordinate machine 2, and a moving pair formed by a displacement guide rail 1-2 and a displacement sliding block group 1-3 is used as a driven part to drive the whole three-coordinate machine to move. The three-coordinate machine 2 can be fixed at any position of the trolley, and is more flexible.

The image acquisition mechanism comprises a camera 4 and a camera mounting bracket 3, and the camera mounting bracket 3 is fixed at the top of the coordinate frame 2-1. The camera 4 is used for collecting and processing visual information and outputting position and posture information of the material tray and the goods.

In concrete use, at first, will the utility model provides a four degree of freedom of vision guide pile up neatly machine people tears through travelling car propelling movement to needs position.

Then, the feeding direction of the goods to be unstacked is taken as the X axial direction, and the feeding direction is the same as the displacement direction of the three-coordinate machine 2, so that the X axial direction of the three-coordinate machine 2 is established. And then, a Y-axis direction and a Z-axis direction are established according to the working direction of the translation mechanism, so that three working axial directions of the three-coordinate machine 2 are formed together.

Secondly, according to the requirement of unstacking, the X-axis position of the three-coordinate machine 2 is adjusted, a displacement motor 2-2 arranged at the bottom of the three-coordinate support is used as an X-axis motor, the output end of the displacement motor is connected with a gear 2-3, the gear 2-3 is meshed with a rack 1-4, and the three-coordinate machine 2 can translate on a chassis 1-1 along the X-axis direction under the drive of the X-axis motor.

And secondly, after the three-coordinate machine 2 finishes the X-axis adjustment, the goods to be unstacked are placed on the material code discs 1-8 and are fed through the roller assemblies 1-6. At the moment, a camera 4 at the top of a rack of the three-coordinate machine 2 acquires specific image data of the goods to be unstacked, outputs position and posture information of the goods to a control background, and controls a translation motor 2-21 in the Y-axis direction and a lifting motor 2-5 in the Z-axis direction to adjust. The translation motors 2-21 control the movement in the Y-axis direction, the grabbing mechanism is adjusted to be right above the goods to be unstacked, the lifting motors 2-5 control the movement in the Z-axis direction, and the height of the cross beams 2-15 is adjusted. How to process the image data and feedback control the motor motion is well-established in the prior art, and will not be explained in more detail here.

The lifting motors 2-5 are controlled repeatedly to adjust the heights of the cross beams 2-15, and the vacuum chucks 7 of the grabbing mechanisms on the cross beams 2-15 are used for adsorbing and grabbing the goods. And finally, a rotating motor 6 of the rotating mechanism 5 is used for driving the vacuum chuck 7 to rotate around a rotating shaft of the rotating platform, so that the posture of the goods is adjusted.

The whole process is simple to operate, and the operation position can be changed randomly. The applicable scenes are wider.

The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. The utility model provides a pile up neatly machine people is torn open to vision guide four degrees of freedom which characterized in that: the three-dimensional coordinate system comprises a movable carrying platform (1), a three-dimensional coordinate machine (2) arranged on the carrying platform and an image acquisition mechanism arranged on the three-dimensional coordinate machine (2); the three-coordinate machine (2) comprises a coordinate frame (2-1), a displacement mechanism for controlling the coordinate frame (2-1) to move on the carrying platform, and a grabbing mechanism arranged on the frame; and the rack is provided with a driving system for controlling the grabbing mechanism to move.

2. The vision-guided four-degree-of-freedom palletizing robot as claimed in claim 1, wherein: the driving system comprises a lifting mechanism for controlling the height position of the grabbing mechanism, a translation mechanism for controlling the grabbing mechanism to move transversely, and a rotating mechanism (5) for controlling the grabbing mechanism to rotate; the translation mechanism is connected to a lifting mechanism, and the rotation mechanism (5) is connected to the translation mechanism.

3. The vision-guided four-degree-of-freedom palletizing robot as claimed in claim 2, wherein: the lifting mechanism comprises a lifting motor (2-5), a speed reducer (2-4) connected with the lifting motor (2-5), a driving shaft (2-6) connected with the speed reducer (2-4) and a mounting bearing seat (2-7) of the driving shaft (2-6); the mounting bearing seats (2-7) are arranged on two sides of the top of the coordinate frame (2-1), the driving shafts (2-6) extend out of the mounting bearing seats (2-7) and two ends of each driving shaft (2-6) are connected with first belt transmission structures.

4. The vision-guided four-degree-of-freedom palletizing robot as claimed in claim 3, wherein: the first belt transmission structure comprises a first synchronous belt wheel (2-9) and a second synchronous belt wheel (2-10), the first synchronous belt wheel (2-9) is connected to two ends of a driving shaft (2-6), the second synchronous belt wheel (2-10) is fixed on a coordinate frame, and a first synchronous belt (2-13) is connected between the first synchronous belt wheel (2-9) and the second synchronous belt wheel (2-10).

5. The vision-guided four-degree-of-freedom palletizing robot as claimed in claim 2, wherein: the translation mechanism comprises a cross beam (2-15), a translation motor (2-21) arranged on the cross beam (2-15) and a second belt transmission structure; first toothed belts (2-14) are arranged on two sides of the cross beam (2-15), and the first toothed belts (2-14) are meshed with first synchronous belts (2-13); the two ends of the cross beam (2-15) are connected with lifting guide sliding blocks (2-12), and the lifting guide sliding blocks (2-12) are matched with lifting guide rails (2-11) arranged on the inner side of the coordinate frame (2-1) to form a lifting guide moving pair.

6. The vision-guided four-degree-of-freedom palletizing robot as claimed in claim 5, wherein: the second belt transmission structure comprises third synchronous belt wheels (2-19) and fourth synchronous belt wheels (2-22), and second synchronous belts (2-23) are connected between the third synchronous belt wheels (2-19) and the fourth synchronous belt wheels (2-22); the third synchronous pulley (2-19) or the fourth synchronous pulley (2-22) is connected to the output shaft of the translation motor (2-21), and the other synchronous pulley is fixed on the cross beam (2-15).

7. The vision-guided four-degree-of-freedom palletizing robot as claimed in claim 2, wherein: the rotating mechanism (5) comprises a rotating platform, connecting supports (2-25) arranged on the rotating platform and a rotating motor (6) arranged on one side of the rotating platform, and the bottom of the rotating platform is connected with a grabbing mechanism; a second toothed belt (2-24) is arranged on the top of the connecting bracket (2-25), and the second toothed belt (2-24) is meshed to a second synchronous belt (2-23); the bottom of the connecting support (2-25) is provided with a translation guide sliding block (2-20), and the translation guide sliding block (2-20) is matched with a translation guide rail (2-17) arranged on the cross beam (2-15) to form a translation guide sliding pair.

8. The vision-guided four-degree-of-freedom palletizing robot as recited in claim 7, wherein: a rotating shaft is arranged in the rotating platform and is connected to a rotating motor (6); the grabbing mechanism comprises a plurality of vacuum suckers (7), and the vacuum suckers (7) are uniformly distributed at the bottom of the rotating platform and rotate around the rotating shaft.

9. The vision-guided four-degree-of-freedom palletizing robot as claimed in claim 1, wherein: the movable carrying platform (1) comprises a movable trolley; the moving trolley comprises a chassis (1-1), a plurality of universal wheels (1-5) arranged at the bottom of the chassis (1-1) and displacement guide rails (1-2) arranged at two sides of the chassis (1-1), wherein displacement slider groups (1-3) are connected in the displacement guide rails (1-2), and the displacement slider groups (1-3) are fixed at the bottom of a coordinate support; a plurality of roller assemblies (1-6) for carrying and transferring goods and roller motors (1-7) for controlling the driving of the roller assemblies (1-6) are arranged in the chassis (1-1).

10. The vision-guided four-degree-of-freedom palletizing robot as claimed in claim 1, wherein: the displacement mechanism comprises a displacement motor (2-2), a gear (2-3) connected to the output end of the displacement motor (2-2), and a rack (1-4) matched with the gear (2-3); the racks (1-4) are arranged on the movable carrying platform (1).