CN215286989U - Three-axis moving clamping device suitable for small and medium-sized goods - Google Patents

Abstract

The utility model provides a device is got to triaxial removal clamp suitable for middle-size and small-size goods, it includes: the upper part of the base is connected to the horizontal fixing frame through four vertical upright posts; the Z-axis lifting mechanism comprises a lifting driving device arranged on the base and a moving frame connected to the output end of the lifting driving device, and the moving frame is connected with the four vertical stand columns in a sliding manner; the Y-axis forward pushing mechanism comprises a forward pushing driving device arranged on the moving frame and a first horizontal supporting frame connected to the forward pushing driving device; the X-axis transverse moving mechanism comprises a transverse moving driving device fixed on the first horizontal supporting frame and a second horizontal supporting frame connected to the transverse moving driving device; a gripping mechanism. The three-axis moving clamping device suitable for small and medium-sized goods is provided with the synchronous belt and the air cylinder, so that the moving stability is guaranteed, the moving speed is high, the clamping precision is high, the problem of low manual carrying efficiency is solved, and the three-axis moving clamping device has important significance for improving the intelligent clamping technology of small and medium-sized goods.

Description

Three-axis moving clamping device suitable for small and medium-sized goods

Technical Field

The utility model belongs to the field is got to the goods clamp, especially involves a device is got to triaxial removal clamp suitable for middle-size and small-size goods.

Background

For the transport of middle-size and small-size goods, such as express delivery case, usually by manual handling, a large amount of manpower and time have been wasted, efficiency is very low to and it is possible to cause the damage of box.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a device is got to triaxial removal clamp suitable for middle-size and small-size goods to the advantage that will explain at least later is provided.

Another object of the utility model is to provide a device is got to triaxial removal clamp suitable for middle-size and small-size goods through setting up hold-in range and cylinder, not only guarantees the stability of removal, still makes the translation rate fast, and the clamp is got the precision height, has solved the problem that artifical handling efficiency is low, carries out the intelligence clamp to improve middle-size and small-size goods and gets the technique and have the significance.

The technical scheme of the utility model as follows:

device is got to triaxial removal clamp suitable for middle-size and small-size goods, it includes:

the upper part of the base is connected to a horizontal fixing frame through four vertical upright posts;

the Z-axis lifting mechanism comprises a lifting driving device arranged on the base and a moving frame connected to the output end of the lifting driving device, and four supporting rods are arranged below the moving frame and are respectively in sliding connection with the four vertical stand columns;

The Y-axis forward pushing mechanism comprises a forward pushing driving device arranged on the moving frame and a first horizontal supporting frame connected to the forward pushing driving device;

the X-axis transverse moving mechanism comprises a transverse moving driving device fixed on the first horizontal supporting frame and a second horizontal supporting frame connected to the transverse moving driving device, and the driving directions of the transverse moving driving device and the forward pushing driving device are horizontal and vertical to each other;

the clamping mechanism is fixed on the second horizontal support frame;

wherein,

the lift drive includes:

two lifting motors fixed on the base;

the two transmission shafts are fixed on the base and are respectively arranged between the two vertical upright posts, each transmission shaft is connected to the output end of the lifting motor through a transmission mechanism, lower lifting belt wheels are respectively fixed at two ends of each transmission shaft, and four upper lifting belt wheels are arranged on the lower surface of the horizontal fixing frame and the lower lifting belt wheels in a one-to-one correspondence manner;

four first synchronous belts respectively disposed between the lower lifting belt pulley and the upper lifting belt pulley;

and the first fixing piece is arranged in the middle of the first synchronous belt and fixes one side of the first synchronous belt on the supporting rod, so that the first synchronous belt drives the movable frame to move up and down.

Preferably, in the three-axis movable clamping device suitable for small and medium-sized cargos,

a sliding block is fixed on each supporting rod and sleeved on the vertical upright post, and the interference magnitude between the inner wall of the middle part of the sliding block and the outer side surface of the vertical upright post is 0.2 mm;

the inner side surfaces of the upper end and the lower end of the sliding block are respectively provided with a plurality of sliding rollers to be attached to the vertical stand columns.

Preferably, in the three-axis moving clamping device suitable for small and medium-sized goods, the vertical column is further provided with at least one synchronous belt tensioning member, which includes a horizontal fixing member connected to the vertical column by a pin shaft and a tensioning wheel arranged on the fixing member, and the tensioning wheel is located on the side surface of the first synchronous belt to tension the first synchronous belt.

Preferably, in the three-axis movable clamping device suitable for small and medium-sized goods, the clamping mechanism includes:

two turnover motors which are oppositely arranged on the second horizontal support frame in a straight line;

the two ends of the overturning square shaft are respectively connected to the output ends of the two overturning motors;

the overturning part is fixed on the overturning square shaft and overturns under the driving of the overturning motor;

The movable clamping part is arranged at the head end of the turnover part in a sliding way;

the fixed clamping part is fixed at the head end of the turnover part and is parallel to the movable clamping part;

the driving cylinder is arranged at the root of the fixed clamping part, and the output end of the driving cylinder is connected to the movable clamping part and drives the movable clamping part to be far away from or close to the fixed clamping part.

Preferably, in the three-axis movable clamping device suitable for small and medium-sized cargos,

the forward pushing driving device is composed of two forward pushing cylinders which are fixed on the moving frame, and the output ends of the forward pushing cylinders are connected to the first horizontal supporting frame;

two first linear guide rails are arranged at the upper end of the moving frame along the driving direction of the cylinder;

and the first horizontal supporting frame is in sliding connection with the first linear guide rail through a first sliding block.

Preferably, in the three-axis movable clamping device suitable for small and medium-sized cargos,

the transverse moving driving device is a transverse moving motor and is arranged on the first horizontal supporting frame, and the output end of the transverse moving driving device is vertically upward;

two synchronous belt wheels which are respectively fixed at two ends of the first horizontal supporting frame, wherein one synchronous belt wheel is connected to the output end of the traverse motor;

A second timing belt provided between the two timing pulleys;

and the second fixing piece is arranged in the middle of the second synchronous belt and fixes the second synchronous belt on one side on the second horizontal support frame, so that the second synchronous belt drives the second horizontal support frame to move leftwards and rightwards.

Preferably, in the three-axis movable clamping device suitable for small and medium-sized cargos,

two second linear guide rails are arranged on the first horizontal supporting frame and positioned on two sides of the second synchronous belt in parallel;

and the second horizontal support frame is connected with the two second linear guide rails in a sliding manner through a second sliding block.

Preferably, in the three-axis movable clamping device suitable for small and medium-sized cargos,

four omnidirectional wheel sets are arranged below the base;

and a storage bin with an upward opening is arranged between the four vertical upright posts above the base.

The utility model discloses following beneficial effect has:

1. through design self-control slider, design lifting power device for Z axle lifting process is more stable, and the atress condition is better, has alleviateed the weight of whole car moreover greatly, has reduced manufacturing cost, and lifting power device's design makes it can the great goods of lifting load.

2. The phenomenon that the synchronous belt is lengthened along with the extension of the operation time so as to cause delay and asynchronization of lifting action is perfectly solved by designing the synchronous belt tensioning piece.

3. The rotary plate, the torsion spring and the limiting device are designed, so that the clamping device can clamp normal goods, and the goods placed in the platform with the same height and the groove can be obtained under the condition that the goods are not lifted for the second time.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic structural view of an embodiment of a three-axis movable clamping device suitable for middle and small goods provided by the present invention;

fig. 2 is a schematic structural diagram of a Z-axis lifting mechanism in an embodiment of the three-axis moving clamping device for small and medium-sized goods provided by the present invention;

fig. 3 is a schematic structural diagram of a sliding block in an embodiment of the three-axis movable clamping device suitable for small and medium-sized goods according to the present invention;

fig. 4 is a schematic structural diagram of a synchronous belt tensioning member in an embodiment of the three-axis movable clamping device for small and medium-sized goods according to the present invention;

Fig. 5 is a schematic structural diagram of a gripping mechanism in an embodiment of the three-axis movable gripping device suitable for small and medium-sized goods according to the present invention;

fig. 6 is a schematic structural diagram of an X-axis traversing mechanism in an embodiment of the three-axis moving clamping device for small and medium-sized goods according to the present invention;

fig. 7 is a diagram of a position relationship between the gripping mechanism and the goods in an embodiment of the three-axis movable gripping device for small and medium-sized goods provided by the present invention;

fig. 8 is a function curve diagram of an embodiment of the three-axis movable clamping device suitable for middle and small-sized goods according to the present invention;

fig. 9 is a position relationship diagram of the gripping mechanism and the goods in another embodiment of the three-axis movable gripping device suitable for middle and small goods according to the present invention;

fig. 10 is a function graph of a three-axis movable gripping device suitable for small and medium-sized goods according to still another embodiment of the present invention;

fig. 11 is a schematic structural diagram of a spring in an embodiment of the three-axis movable clamping device suitable for small and medium-sized goods according to the present invention;

fig. 12 is a schematic structural diagram of a limiting device in an embodiment of the three-axis movable clamping device suitable for small and medium-sized goods.

Detailed Description

The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

As shown in fig. 1, the utility model provides a device is got to triaxial removal clamp suitable for middle-size and small-size goods, it includes:

the upper part of the base 1 is connected to a horizontal fixed frame 3 through four vertical upright posts 2;

the Z-axis lifting mechanism comprises a lifting driving device 401 arranged on the base 1 and a moving frame 402 connected to the output end of the lifting driving device 401, wherein four supporting rods are arranged below the moving frame 402 and are respectively in sliding connection with the four vertical columns 2;

a Y-axis forward-pushing mechanism including a forward-pushing driving device provided on the moving frame 402 and a first horizontal supporting frame 5 connected to the forward-pushing driving device;

the X-axis transverse moving mechanism comprises a transverse moving driving device 601 fixed on the first horizontal supporting frame 5 and a second horizontal supporting frame 602 connected to the transverse moving driving device 601, wherein the driving directions of the transverse moving driving device 601 and the forward moving driving device are horizontal and vertical to each other;

The clamping mechanism 7 is fixed on the second horizontal support frame 602;

wherein,

as shown in fig. 2, the lift driving means 401 includes:

two lifting motors 4011 fixed on the base 1;

two transmission shafts 4012 fixed on the base 1 and respectively arranged between the two vertical columns 2, each transmission shaft 4012 is connected to an output end of the lifting motor 3011 through a transmission mechanism, two ends of the transmission shaft 2012 are respectively fixed with a lower lifting belt wheel 4013, and four upper lifting belt wheels 4014 are arranged on the lower surface of the horizontal fixing frame 3 and the lower lifting belt wheels 4013 in a one-to-one correspondence manner;

four first synchronizing belts 4015 provided between the lower lifting pulleys 4013 and the upper lifting pulleys 4014, respectively;

a first fixing part 4016 that is provided in the middle of the first timing belt 4015 and fixes one side of the first timing belt 4015 to the support rod, so that the first timing belt 4015 drives the moving frame 402 to move up and down.

In one embodiment of the three-axis movable clamping device suitable for middle and small-sized goods provided by the utility model,

a sliding block 8 is fixed on each supporting rod and sleeved on the vertical upright post 2, and the interference magnitude between the inner wall of the middle part of the sliding block 8 and the outer side surface of the vertical upright post 2 is 0.2 mm;

As shown in fig. 3, a plurality of sliding rollers 801 are respectively disposed on the inner side surfaces of the upper and lower ends of the sliding block 8 to be attached to the vertical column 2.

Through the sliding between the supporting rod and the vertical upright post, the stability of linear motion can be ensured.

As shown in fig. 4, in an embodiment of the device is got to triaxial removal clamp suitable for middle-size and small-size goods, still be provided with at least one hold-in range tensioning member 9 on the vertical column 2, it include with the horizontal fixing spare of vertical column 2 round pin hub connection with set up the take-up pulley on the horizontal fixing spare, the take-up pulley is located the side of first hold-in range is with the tensioning first hold-in range.

The synchronous belt tensioning piece perfectly solves the problems that the synchronous belt is elongated along with the extension of the operation time, so that the lifting action is delayed and asynchronous.

As shown in fig. 5, in an embodiment of the three-axis movable clamping device suitable for small and medium-sized goods provided by the present invention, the clamping mechanism 7 includes:

two turnover motors 701 which are oppositely arranged on the second horizontal support frame 602 in a straight line;

two ends of the turning square shaft 702 are respectively connected to the output ends of the two turning motors 701;

A turnover part 703 fixed on the turnover square shaft 702 and turned over by the driving of the turnover motor 701;

a movable gripping part 704 slidably disposed at a head end of the turning part 703;

a fixed gripping part 705 fixed to the head end of the turning part 703 and parallel to the moving gripping part 704;

a driving cylinder 706 provided at the root of the fixed gripping section 705, an output end of the driving cylinder 706 being connected to the movable gripping section 704 and driving the movable gripping section 704 to move away from or close to the fixed gripping section 705.

The movable clamping part and the fixed clamping part are respectively provided with a clamping rotating plate at the head ends, the clamping rotating plate is provided with a spring and a limiting device, so that the clamping device can clamp normal goods, the goods placed in the platform with the same height and the groove can be obtained under the condition that the secondary lifting is not needed, the action of lifting the goods out of the groove by the secondary lifting after the goods are clamped is omitted, and the working efficiency is improved.

In one embodiment of the three-axis movable clamping device suitable for middle and small-sized goods provided by the utility model,

the forward pushing driving device is composed of two forward pushing cylinders which are fixed on the moving frame, and the output ends of the forward pushing cylinders are connected to the first horizontal supporting frame;

Two first linear guide rails are arranged at the upper end of the moving frame along the driving direction of the cylinder;

and the first horizontal supporting frame is in sliding connection with the first linear guide rail through a first sliding block.

As shown in fig. 6, in an embodiment of the three-axis movable clamping device suitable for small and medium-sized goods provided by the present invention,

the transverse moving driving device 601 is a transverse moving motor, and is arranged on the first horizontal supporting frame 5, and the output end of the transverse moving motor is vertically upward;

two synchronous belt wheels which are respectively fixed at two ends of the first horizontal supporting frame 5, wherein one synchronous belt wheel is connected with the output end of the traverse motor;

a second timing belt 603 provided between the two timing pulleys;

and a second fixing member 604 disposed in the middle of the second timing belt 603, and fixing the second timing belt 603 on one side to the second horizontal support frame 5, so that the second timing belt 603 drives the second horizontal support frame 602 to move left and right.

In one embodiment of the three-axis movable clamping device suitable for middle and small-sized goods provided by the utility model,

two second linear guide rails 605 are arranged on the first horizontal support frame 5 and positioned at two sides of the second synchronous belt 603 in parallel;

The second horizontal support frame 602 is connected to the two second linear guide rails 605 in a sliding manner through a second sliding block 606.

In one embodiment of the three-axis movable clamping device suitable for middle and small-sized goods provided by the utility model,

four omnidirectional wheel sets are arranged below the base 1;

a storage bin with an upward opening is arranged between the four vertical upright posts above the base 1.

Technical personnel in the field can be as required with the utility model provides a device is got to triaxial removal clamp suitable for middle-size and small-size goods changes in order to become smart machine, if with the lifting motor, drive actuating cylinder, the sideslip motor, upset motor and forward push cylinder all set up to automatically controlled, and the bracing piece in removal frame below, first horizontal support frame, second horizontal support frame and removal clamp are got and are set up displacement sensor in the portion, the epaxial angle sensor that sets up in upset side, the detection numerical value that the controller sent out according to each sensor, control opening and closing of each drive arrangement, these are technical personnel's in the field conventional means, therefore need not to describe here repeatedly.

The utility model provides a triaxial remove clamp suitable for middle-size and small-size goods get device's working process as follows:

When the movable frame is moved to a platform containing goods, the movable frame is driven by a Z-axis lifting mechanism to lift along the Z-axis direction to be flush with the topmost goods, a turning motor is started, a clamping mechanism turns over forwards, a driving cylinder drives a movable clamping part to move to enable the movable clamping part to be far away from a fixed clamping part in the turning process, the movable clamping part is driven to turn to an appointed position, namely, the movable clamping part is positioned at two sides of the goods, the driving cylinder drives the movable clamping part to enable the movable clamping part to be close to the fixed clamping part to clamp the goods, a turning motor is started, the clamping mechanism turns backwards, meanwhile, the driving cylinder drives the movable clamping part to move to enable the movable clamping part to be far away from the fixed clamping part to loosen the goods, the goods fall into a lower storage bin, after one-time goods clamping is completed, a transverse moving motor drives a synchronous belt to move to drive a second horizontal support frame to move leftwards and rightwards in the X-axis direction, and the clamping is carried out after the goods are moved to the appointed position, after the clamping of the front row of goods is finished, the forward pushing cylinder drives the first horizontal supporting frame to move in the Y-axis direction, and the back row of goods are clamped after the first horizontal supporting frame moves to the designated position.

The utility model provides a device is got to triaxial removal clamp suitable for middle-size and small-size goods, including the omnidirectional movement chassis, Z axle lifting mechanism, X axle sideslip mechanism, Y axle push away the mechanism and press from both sides the mechanism of getting before the axle. The omnidirectional movement chassis comprises four wheel sets, a carrying platform, a bottom plate and two power lifting devices, wherein the carrying platform is provided with round holes for fixing the four wheel sets, the bottom plate is provided with the round holes and fixed on the carrying platform, the two power lifting devices are fixed on the bottom plate through the round holes, the power lifting devices comprise two belt seat bearings, a lifting motor, two lifting belt wheels, an output belt wheel, a middle driving belt wheel, a lifting motor seat and a synchronous belt transmission shaft. The lifting motor base is provided with a round hole and fixed on the bottom plate, the lifting motor is fixed on the lifting motor base, the output belt wheel is fixed with the lifting motor, the belt seat bearing is provided with a round hole and fixed on the bottom plate, the transmission shaft is fixed on the belt seat bearing, and the lifting belt wheel and the middle transmission belt wheel are fixed on the transmission shaft through jackscrews; the Z-axis lifting mechanism comprises four synchronous belts, four self-made sliders, four lifting belt wheels, four synchronous belt tensioning pieces and a lifting frame, wherein the synchronous belt tensioning pieces are provided with grooves and round holes on the same side, the synchronous belt tensioning pieces are fixed on the peripheral frame through the groove and round holes, the grooves below the synchronous belt tensioning pieces are used for fixing the lifting belt wheels, and the synchronous belts are respectively meshed with the lifting frame and lifting belt wheels 18 in a power lifting device on the chassis and then fixed with the lifting frame through pressing plates; the X-axis transverse moving mechanism consists of a transverse moving motor, a transverse moving aluminum frame, a synchronous belt, a pressing plate, four linear sliding blocks and two linear guide rails, wherein the transverse moving aluminum frame is provided with a circular hole, the four sliding blocks are fixed through the circular hole, the front pushing aluminum frame is provided with the two linear guide rails, the transverse moving aluminum frame is fixed on the front pushing aluminum frame through the connection of the sliding blocks and the guide rails, the transverse moving motor is fixed on the front pushing aluminum frame through a motor fixing piece, a transverse moving belt wheel is fixed on a synchronous belt fixing piece, the synchronous belt fixing piece is fixed on the front pushing aluminum frame through the circular hole, and the synchronous belt is fixed on the transverse moving aluminum frame through the pressing plate after being meshed with the belt wheel; the Y-axis forward pushing mechanism comprises a forward pushing aluminum frame, two forward pushing cylinders, four linear sliding blocks, two linear guide rails, two forward pushing connecting pieces and two cylinder fixing pieces, wherein the forward pushing aluminum frame is provided with a round hole, the four sliding blocks are fixed through the round hole, the lifting frame is provided with the two linear guide rails, the forward pushing aluminum frame is fixed on the lifting frame through the connection of the sliding blocks and the guide rails, the cylinder fixing pieces are provided with grooves and the round hole and fixed on the forward pushing aluminum frame through the grooves, the round hole is used for fixing the forward pushing cylinders, and the forward pushing connecting pieces are provided with the grooves and fixed on the forward pushing aluminum frame through the grooves and connected with the cylinders; the clamping mechanism comprises two rotating plates, two overturning motors, four rotating plate fixing parts, an MAL16 air cylinder and two connecting flange shafts, wherein the overturning motors are fixed on a transverse moving aluminum frame, a round hole is formed in the middle of each connecting flange shaft to lock the motor shaft, the other end of each connecting flange shaft is connected with an aluminum pipe, two grooves are formed in two ends of each rotating plate to respectively clamp two aluminum pipes, round holes are formed in the two aluminum pipes, the rotating plate fixing parts tightly fix the rotating plates on the two aluminum pipes through the round holes, two short aluminum pipes are fixed on the aluminum pipes in front of the rotating plate through glass fiber plates, round holes are formed in the two short aluminum pipes and used for fixing the rotating plates, and round holes are formed in the glass fiber plates and used for fixing the MAL16 air cylinder.

The assumed study object is a small and medium sized square cargo with 200mm, which is located in a trough with a depth of 100mm and a distance of 10mm from the cargo all around, and in order to enable the clamping mechanism to directly clamp and turn the cargo out of the trough, the assumed cargo turning track radius is R (R belongs to (0, 400)), and when the cargo moves 100mm in the vertical direction, the maximum offset in the horizontal direction is y. In order to keep the goods from jamming, y should be less than 10 mm.

As shown in fig. 7, when the clip initial position is horizontal, the function y = R- √ y of y with respect to R is solved (R-100), and the function curve drawn in Matlab is as shown in fig. 8.

As can be seen from FIG. 8, R is in the interval (0, 400), y is always greater than 10, so this case does not apply.

When the initial position of the gripper is at an angle to the horizontal, the relationship between the initial angular turning radius and the amount of traverse of the gripper mechanism is shown in fig. 9.

In this case the clamp is at an angle α to the horizontal, the system of equations can be set forth:

R − Rcosβ = y

R − Rcosα = 0.5y

Rsinα + Rsinβ = 100

obtaining a functional relation between y and R:

Rsinarccos[（R-Y）/R]+ Rsinarccos [（R-0.5Y）/R] = 100

the function is plotted as shown in fig. 10.

The rotatable angle of the hinge is calculated to be 17 degrees through matlab, the rotation radius is determined to be 400mm, the size of the transverse moving aluminum frame is determined according to the rotation radius, and goods can fall into the storage bin from the upper side of the aluminum frame.

After the clamping action is finished, the clamping mechanism stops right above the storage bin, the goods are overturned by 180 degrees, the distance between the goods and the front and rear aluminum tubes of the transverse moving aluminum frame is respectively 200mm and 180mm, the distance between the goods and the left and right aluminum tubes is 200mm and 200mmm, enough space is available for the goods to fall into the storage bin from the upper part of the transverse moving aluminum tube, and the storage bin can change the size according to specific requirements to accommodate the goods with different quantities.

As shown in fig. 11, press from both sides and get and be provided with the spring between the portion head end at the commentaries on classics board and the clamp, during initial position, the spring is in unstretched state, when getting the mechanism and cliied the goods and upwards overturn, the goods touch the groove back wall and begin to rotate, changes the board and rotates anticlockwise down together with the goods, and the spring begins to be stretched, when the case overturns out from the groove, and the spring begins to reset, pulls back the normal position with the goods.

In addition, as shown in fig. 12, the rotating plate is provided with a limiting hole, when goods are turned out from the groove, the rotating plate just rotates 17 degrees, the limiting hole on the rotating plate just rotates to the lower limit position from the upper limit position, the head of the bolt is clamped with the lower end of the limiting hole, and the rotating plate can not rotate any more.

The utility model provides a device is got to triaxial removal clamp suitable for middle-size and small-size goods can carry out goods acquisition, transport on a large scale, and is small, with low costs, efficient, capacious, fast, and the precision is high and can full automatic work, is applicable to middle-size and small-size goods and acquires, carries the field.

While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.

Claims (8)

1. Device is got to triaxial removal clamp suitable for middle-size and small-size goods, its characterized in that includes:

the upper part of the base is connected to a horizontal fixing frame through four vertical upright posts;

the Z-axis lifting mechanism comprises a lifting driving device arranged on the base and a moving frame connected to the output end of the lifting driving device, and four supporting rods are arranged below the moving frame and are respectively in sliding connection with the four vertical stand columns;

the Y-axis forward pushing mechanism comprises a forward pushing driving device arranged on the moving frame and a first horizontal supporting frame connected to the forward pushing driving device;

the X-axis transverse moving mechanism comprises a transverse moving driving device fixed on the first horizontal supporting frame and a second horizontal supporting frame connected to the transverse moving driving device, and the driving directions of the transverse moving driving device and the forward pushing driving device are horizontal and vertical to each other;

The clamping mechanism is fixed on the second horizontal support frame;

wherein,

the lift drive includes:

two lifting motors fixed on the base;

the two transmission shafts are fixed on the base and are respectively arranged between the two vertical upright posts, each transmission shaft is connected to the output end of the lifting motor through a transmission mechanism, lower lifting belt wheels are respectively fixed at two ends of each transmission shaft, and four upper lifting belt wheels are arranged on the lower surface of the horizontal fixing frame and the lower lifting belt wheels in a one-to-one correspondence manner;

four first synchronous belts respectively disposed between the lower lifting belt pulley and the upper lifting belt pulley;

and the first fixing piece is arranged in the middle of the first synchronous belt and fixes one side of the first synchronous belt on the supporting rod, so that the first synchronous belt drives the movable frame to move up and down.

2. The three-axis movable clamping device suitable for small and medium-sized cargos as claimed in claim 1,

a sliding block is fixed on each supporting rod and sleeved on the vertical upright post, and the interference magnitude between the inner wall of the middle part of the sliding block and the outer side surface of the vertical upright post is 0.2 mm;

The inner side surfaces of the upper end and the lower end of the sliding block are respectively provided with a plurality of sliding rollers to be attached to the vertical stand columns.

3. The three-axis movable clamping device suitable for small and medium-sized cargos according to claim 2, wherein at least one synchronous belt tensioning member is arranged on the vertical upright column, and comprises a horizontal fixing member connected with the vertical upright column through a pin shaft and a tensioning wheel arranged on the fixing member, and the tensioning wheel is arranged on the side surface of the first synchronous belt to tension the first synchronous belt.

4. The three-axis mobile clamping device suitable for small and medium-sized cargos as claimed in claim 3, wherein the clamping mechanism comprises:

two turnover motors which are oppositely arranged on the second horizontal support frame in a straight line;

the two ends of the overturning square shaft are respectively connected to the output ends of the two overturning motors;

the overturning part is fixed on the overturning square shaft and overturns under the driving of the overturning motor;

the movable clamping part is arranged at the head end of the turnover part in a sliding way;

the fixed clamping part is fixed at the head end of the turnover part and is parallel to the movable clamping part;

the driving cylinder is arranged at the root of the fixed clamping part, and the output end of the driving cylinder is connected to the movable clamping part and drives the movable clamping part to be far away from or close to the fixed clamping part.

5. The three-axis movable clamping device suitable for small and medium-sized cargos as claimed in claim 4,

the forward pushing driving device is composed of two forward pushing cylinders which are fixed on the moving frame, and the output ends of the forward pushing cylinders are connected to the first horizontal supporting frame;

two first linear guide rails are arranged at the upper end of the moving frame along the driving direction of the cylinder;

and the first horizontal supporting frame is in sliding connection with the first linear guide rail through a first sliding block.

6. The three-axis movable clamping device suitable for small and medium-sized cargos as claimed in claim 5,

the transverse moving driving device is a transverse moving motor and is arranged on the first horizontal supporting frame, and the output end of the transverse moving driving device is vertically upward;

two synchronous belt wheels which are respectively fixed at two ends of the first horizontal supporting frame, wherein one synchronous belt wheel is connected to the output end of the traverse motor;

a second timing belt provided between the two timing pulleys;

and the second fixing piece is arranged in the middle of the second synchronous belt and fixes the second synchronous belt on one side on the second horizontal support frame, so that the second synchronous belt drives the second horizontal support frame to move leftwards and rightwards.

7. The three-axis movable clamping device suitable for small and medium-sized cargos as claimed in claim 6,

two second linear guide rails are arranged on the first horizontal supporting frame and positioned on two sides of the second synchronous belt in parallel;

and the second horizontal support frame is connected with the two second linear guide rails in a sliding manner through a second sliding block.

8. The three-axis movable clamping device suitable for small and medium-sized cargos as claimed in claim 7,

four omnidirectional wheel sets are arranged below the base;

and a storage bin with an upward opening is arranged between the four vertical upright posts above the base.

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