Method for identifying multiple sensors at tail end of stacking robot and mounting mechanism of multiple sensors at tail end of stacking robot

Abstract

The invention discloses a method for identifying multiple sensors at the tail end of a stacking robot and a mounting mechanism thereof, and relates to the field of robot sensors, the identification method comprises the following steps: identifying the surrounding environment, controlling the operation mode of the stacking robot according to the environment, and processing and identifying data of multiple sensors through a sensor chip module; the sensor chip module comprises a data acquisition module, a data processing module, an identification algorithm module, a data fusion module and a feedback and control module. According to the invention, data collected by a plurality of sensors are fused together through the data fusion module, by fusing data from different sensors, the fused data can help to optimize path planning, avoid obstacles and realize more accurate positioning, and meanwhile, the problem of time difference between operation steps and actual conditions is solved, so that the accuracy of path planning is improved. Therefore, normal and effective stacking operation cannot be carried out, and collision between the robot and an obstacle due to time difference is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robot sensors, and in particular to a multi-sensor identification method at the end of a stacking robot and an installation mechanism thereof. Background Art

[0002] A stacking robot is an automated device that is used to stack or arrange items (such as boxes, bags, pallets, etc.) in a specific way during production and logistics. They are often used in manufacturing, warehousing, and distribution centers to improve efficiency and reduce labor costs. Stacking robots mainly use sensors to identify the surrounding environment.

[0003] For example, the “Depalletizing Method and System Based on Multi-Sensor Fusion Robot” with publication number CN115790604A includes the following steps: S1. Fusion of the image captured by the camera and the point cloud scanned by the laser radar to obtain the position coordinates of the stack; S2. Planning the robot based on the ant colony algorithm to obtain the grasping path from the robot's current position to the stack; S3. The mobile robot grasps the stack based on the grasping path.

[0004] However, in the prior art, when multiple sensors are used in coordination, a relatively large amount of data will be collected. In a high-concurrency environment, multiple requests to operate data at the same time will lead to data inconsistency or conflict, which will affect the subsequent operation of the stacking robot. There will be a time difference between the operation steps and the actual situation, resulting in the inability to perform normal and effective stacking operations. In addition, during the actual stacking process, the robot may easily collide with obstacles due to the time difference, which will directly affect the normal stacking. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-sensor identification method for the end of a stacking robot and its installation mechanism, so as to solve the problem that multiple requests for simultaneous data operation proposed in the above-mentioned background technology will lead to data inconsistency or conflict, which will affect the subsequent operation of the stacking robot, and there will be a time difference between the operation steps and the actual situation, resulting in the inability to perform normal and effective stacking operations.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a multi-sensor identification method for a stacking robot terminal, which identifies the surrounding environment and controls the operation mode of the stacking robot according to the environment. The sensor chip module processes and identifies the data of multiple sensors. The sensor chip module includes a data acquisition module, a data processing module, a recognition algorithm module, a data fusion module and a feedback and control module;

[0007] The data acquisition module is used to collect information about the surrounding environment during the operation of the stacking robot, and collects environmental data in real time through hardware devices, including distance, image and temperature information, while ensuring that data from different sensors are synchronized in time;

[0008] The data processing module is used to process the data of the data acquisition module, filter the sensor data, remove noise, extract feature points from the image, and extract the outline information of the obstacle from the data;

[0009] The recognition algorithm module is used to identify objects and obstacles according to the processing results of the data processing module, use convolutional neural networks for image classification and object recognition, combine deep learning models for real-time object detection, and use the data collected by the data acquisition module to identify the distance and shape of obstacles and confirm close-range obstacles;

[0010] The data fusion module is used to fuse the data identified by the recognition algorithm module;

[0011] The feedback and control module is used to identify the environment according to the data after the data fusion module, adjust the movement path of the robot in real time, set a safe distance, and avoid collision with obstacles.

[0012] Preferably, the data acquisition module includes a laser radar unit, a camera unit, an ultrasonic sensor unit and an infrared sensor unit;

[0013] The laser radar unit is used for environment modeling and obstacle detection;

[0014] The camera unit is used for object recognition and classification, in combination with computer vision technology;

[0015] The ultrasonic sensor unit is used for close-range obstacle detection, especially in confined spaces;

[0016] The infrared sensor unit is used for safety monitoring.

[0017] Preferably, the data fusion module comprises the following steps:

[0018] S1. Input data: remove outliers from data from different sensors, align timestamps, handle delays, and extract useful features from each sensor data.

[0019] S2, Deep learning fusion: Use deep learning models to fuse multi-source data;

[0020] S3, model training: use labeled data to train the model and optimize model parameters through cross-validation;

[0021] S4. Output results: Output the fused data and decision results to the execution layer to control the behavior of the robot or system.

[0022] A mounting mechanism for multiple sensors at the end of a stacking machine comprises a protective shell, a carrying plate is inserted into the interior of the protective shell, the sensor chip module is bonded to the central part of the carrying plate, a docking rod is fixedly installed at one end of the protective shell, a positioning assembly is fixedly connected to the interior of the docking rod, and a filling assembly is fixedly connected to the other end of the protective shell, the positioning assembly comprises a center rod, a threaded rod and a bonding plate, one end of the threaded rod is fixedly connected to one end of the center rod, the other end of the center rod is fixedly connected to a connecting rod, the other end of the connecting rod is fixedly connected to the inside of the docking rod, the bonding plate surrounds the center rod, one side of the bonding plate is rotatably connected to a push rod, the other end of the push rod is rotatably connected to a movable ring, one side of the movable ring is rotatably connected to a threaded ring, the threaded ring is threadedly connected to the outer wall of the threaded rod, and the movable ring is sleeved on the outer wall of the threaded rod.

[0023] Preferably, one end of the laminating plate is rotatably connected to a second driven rotating rod, the other end of the second driven rotating rod is rotatably connected to a second fixing ring, and the second fixing ring is fixedly installed on one end of the center rod.

[0024] Preferably, one side of the laminating plate is rotatably connected to a first driven rotating rod, the first driven rotating rod is parallel to the second driven rotating rod, and the angle between the first driven rotating rod and the push rod is between zero and one hundred and eighty degrees.

[0025] Preferably, a first fixing ring is fixedly mounted on the outer wall of the center rod, and bumps are fixedly mounted at the intersection of the first fixing ring and the first driven rotating rod, at the intersection of the second fixing ring and the second driven rotating rod, and at the intersection of the movable ring and the push rod.

[0026] Preferably, grooves are provided at the intersections of the laminating plate and the push rod, the first driven rotating rod and the second driven rotating rod, and the first fixing ring is located at the intersection of the center rod and the threaded rod.

[0027] Preferably, a wire barrel is fixedly installed inside the protective shell, and a connecting piece is fixedly installed at the junction of the carrier plate and the sensor chip module, and the connecting piece is located between the wire barrel and the sensor chip module.

[0028] Preferably, the filling assembly includes a filling block, a hollow guide tube and a filling rod, one end of the filling block is fixedly connected to one end of the protective shell, one end of the hollow guide tube is fixedly connected to the inside of the filling block, and one end of the filling rod is fixedly connected to the inside of the hollow guide tube through a tension spring.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. In the present invention, data collected by multiple sensors are fused together through a data fusion module. By fusing data from different sensors, the error of a single sensor can be reduced and the accuracy of the overall data can be improved. The multi-perspective information provided by different sensors can more comprehensively describe the environment, reduce blind spots and misjudgments, and when some sensors fail or are interfered with, other sensors can still provide effective information. The fused data can provide more timely and accurate information, support real-time decision-making, and is more suitable for use in dynamic environments. In addition, the fused data can help optimize path planning, avoid obstacles, and achieve more accurate positioning. At the same time, it can solve the problem of time difference between the operation steps and the actual situation, which makes it impossible to perform normal and effective stacking operations, and the problem of collision between the robot and obstacles due to the time difference.

[0031] 2. In the present invention, the sensor chip module is built into a protective shell and protected by the protective shell. While improving the stability of the sensor chip module, it does not affect the normal installation of the sensor chip module. The filling component is used to fill the gap between the protective shell and the stacking robot, and the positioning component is used to completely fix the protective shell in the stacking robot. When in use, the filling component first enters the stacking robot, and then the size of the positioning component is expanded. While reducing the difficulty of installation, it can also adapt to different types of stacking robots and expand the application scope of the sensor chip module. The coordinated use of the positioning component and the filling component can avoid the problem of loosening of the sensor chip module during the operation of the stacking robot.

[0032] 3. In the present invention, the positioning assembly includes a push rod, a first driven rotating rod and a second driven rotating rod. When the size is expanded, the movable ring is pushed by rotating the threaded ring, and the movable ring is used to change the angle of the first driven rotating rod, and the second driven rotating rod is prompted to rotate synchronously. The coordinated use of the first driven rotating rod and the second driven rotating rod can improve the stability of the bonding plate, and the existence of the threaded ring can avoid the problem of shaking of the movable ring during subsequent use. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the structure of a multi-sensor installation mechanism at the end of a stacking robot according to the present invention;

[0034] Figure 2 It is a front view of a multi-sensor installation mechanism at the end of a stacking robot according to the present invention;

[0035] Figure 3 It is a side view of a positioning component of a multi-sensor mounting mechanism at the end of a stacking robot according to the present invention;

[0036] Figure 4 For the present invention Figure 1 A schematic diagram of the structure of part A in the middle;

[0037] Figure 5 This is a schematic diagram of the internal planar structure of a protective shell of a multi-sensor installation mechanism at the end of a stacking robot according to the present invention;

[0038] Figure 6 This is a system block diagram of a multi-sensor identification method for a stacking robot terminal according to the present invention;

[0039] Figure 7 This is a system block diagram of a data acquisition module of a multi-sensor identification method at the end of a stacking robot according to the present invention.

[0040] In the figure: 1. protective shell; 2. positioning component; 3. filling component; 4. docking rod; 5. wire tube; 6. bearing plate; 7. sensor chip module; 8. connecting piece; 9. data acquisition module; 10. data processing module; 11. recognition algorithm module; 12. data fusion module; 13. feedback and control module; 14. laser radar unit; 15. camera unit; 16. ultrasonic sensor unit; 17. infrared sensor unit; 21. center rod; 22. threaded rod; 23. bonding plate; 24. threaded ring; 25. push rod; 26. movable ring; 27. first driven rotating rod; 28. first fixed ring; 29. ​​second driven rotating rod; 210. second fixed ring; 211. connecting rod; 212. protrusion; 213. groove; 31. filling block; 32. hollow guide tube; 33. filling rod. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example 1: Reference Figure 6 and Figure 7 As shown: a multi-sensor identification method for the terminal of a stacking robot, firstly, multiple sensors are used to obtain information about the surrounding environment in all directions, and feature identification is performed after the information is processed, and then the information obtained by the multiple sensors is fused, and the environment around the robot is identified based on the fused data to achieve the purpose of controlling the operation mode of the robot. The method uses a sensor chip module 7, and the sensor chip module 7 includes a data acquisition module 9, a data processing module 10, a recognition algorithm module 11, a data fusion module 12 and a feedback and control module 13;

[0043] The data acquisition module 9 is used to collect information about the surrounding environment during the operation of the stacking robot, and collects environmental data in real time through hardware devices, including distance, image and temperature information, while ensuring that the data of different sensors are synchronized in time;

[0044] The data processing module 10 is used to process the data of the data acquisition module 9, filter the sensor data, remove noise, extract feature points from the image, and extract the outline information of the obstacle from the data;

[0045] The recognition algorithm module 11 is used to identify objects and obstacles according to the processing results of the data processing module 10, use the convolutional neural network CNN to perform image classification and object recognition, combine the deep learning model to perform real-time object detection, and use the data collected by the data acquisition module 9 to identify the distance and shape of obstacles and confirm close-range obstacles;

[0046] The data fusion module 12 is used to fuse the data identified by the recognition algorithm module 11;

[0047] The feedback and control module 13 is used to identify the environment according to the data after the data fusion module 12, adjust the movement path of the robot in real time, set a safe distance, and avoid collision with obstacles;

[0048] The data acquisition module 9 includes a laser radar unit 14, a camera unit 15, an ultrasonic sensor unit 16 and an infrared sensor unit 17;

[0049] The laser radar unit 14 is used for environment modeling and obstacle detection;

[0050] The camera unit 15 is used for object recognition and classification, in combination with computer vision technology;

[0051] The ultrasonic sensor unit 16 is used for close-range obstacle detection, especially in confined spaces;

[0052] The infrared sensor unit 17 is used for safety monitoring and collision prevention;

[0053] The data fusion module 12 includes the following steps:

[0054] Step 1: Input data: Remove outliers from data from different sensors, align timestamps, handle delays, and extract useful features from each sensor data.

[0055] Step 2: Deep learning fusion: Use deep learning models to fuse multi-source data;

[0056] Step 3: Model training: Use labeled data to train the model and optimize model parameters through cross-validation;

[0057] Step 4: Output results: Output the fused data and decision results to the execution layer to control the behavior of the robot or system.

[0058] In this embodiment, the data acquisition module 9 collects multi-channel input data in real time, reliably and efficiently through the laser radar unit 14, the camera unit 15, the ultrasonic sensor unit 16 and the infrared sensor unit 17, and converts the sensor information into standardized data after processing. The data processing module 10 is responsible for data cleaning, integration, statistical analysis and mining, providing visualization results, and supporting big data analysis and application. The recognition algorithm module 11 uses specific algorithms to perform pattern recognition and classification on the data to improve the accuracy and efficiency of data analysis. The data fusion module 12 integrates data from different sources to form a unified data set to enhance the integrity and availability of the data. The feedback and control module 13 realizes real-time feedback and intelligent control based on the data analysis results, and optimizes system performance and decision-making process.

[0059] Embodiment 2: According to Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, a mounting mechanism for multiple sensors at the end of a stacking robot comprises a protective shell 1, a carrying plate 6 is inserted into the interior of the protective shell 1, a sensor chip module 7 is bonded to the center of the carrying plate 6, a docking rod 4 is fixedly installed at one end of the protective shell 1, a positioning assembly 2 is fixedly connected to the interior of the docking rod 4, a filling assembly 3 is fixedly connected to the other end of the protective shell 1, the positioning assembly 2 comprises a center rod 21, a threaded rod 22 and a bonding plate 23, one end of the threaded rod 22 is fixedly connected to one end of the center rod 21, the other end of the center rod 21 is fixedly connected to a connecting rod 211, the other end of the connecting rod 211 is fixedly connected to the interior of the docking rod 4, the bonding plate 23 surrounds the center rod 21, one side of the bonding plate 23 is rotatably connected to a push rod 25, the other end of the push rod 25 is rotatably connected to a movable ring 26, one side of the movable ring 26 is rotatably connected to a threaded ring 24, the threaded ring 24 is threadedly connected to the outer wall of the threaded rod 22, and the movable ring 26 is rotatably connected to the outer wall of the threaded rod 22. The second driven rotating rod 29 is rotatably connected to one end of the laminating plate 23, and the second driven rotating rod 29 is rotatably connected to the other end of the second driven rotating rod 29. The second fixed ring 210 is fixedly installed on one end of the center rod 21. The first driven rotating rod 27 is rotatably connected to one side of the laminating plate 23. The first driven rotating rod 27 is parallel to the second driven rotating rod 29. The angle between the first driven rotating rod 27 and the push rod 25 is between zero and one hundred and eighty degrees. A first fixing ring 28 is fixedly installed on the outer wall of the core rod 21, and a protrusion 212 is fixedly installed at the intersection of the first fixing ring 28 and the first driven rotating rod 27, the intersection of the second fixing ring 210 and the second driven rotating rod 29, and the intersection of the movable ring 26 and the push rod 25. Grooves 213 are provided at the intersections of the fitting plate 23 and the push rod 25, the first driven rotating rod 27 and the second driven rotating rod 29. The first fixing ring 28 is located at the intersection of the center rod 21 and the threaded rod 22.

[0060] In this embodiment, the sensor chip module 7 is bonded to the central area of ​​the carrier plate 6 by silicone, and the carrier plate 6 is inserted into the protective housing 1. When in use, the protective housing 1 can prevent the sensor chip module 7 from being affected by the outside world. The protective housing 1 is connected to the positioning component 2 by the docking rod 4, and the filling component 3 is installed at the other end of the protective housing 1;

[0061] When installing the protective shell 1, the protective shell 1 is inserted into the stacking robot. The filling component 3 will first enter the stacking robot to initially fix the protective shell 1 until the positioning component 2 is also completely entered into the stacking robot. After the positioning component 2 enters the robot, the threaded ring 24 is rotated. Since the threaded ring 24 is rotatably connected to the threaded rod 22, during the rotation of the threaded ring 24, it will move along the direction of the threaded rod 22 and simultaneously push the movable ring 26. By changing the position of the movable ring 26, the push rod 25 is adjusted, and the push rod 25 is used to push the bonding plate 23 to move outward;

[0062] During the movement of the bonding plate 23, the first driven rotating rod 27 and the second driven rotating rod 29 are also synchronously driven. The first driven rotating rod 27 and the second driven rotating rod 29 are respectively located at two ends of the bonding plate 23, and are respectively rotatably connected to the first fixing ring 28 and the second fixing ring 210 fixed on the center rod 21. After the first driven rotating rod 27 and the second driven rotating rod 29 rotate, they can stably support the bonding plate 23.

[0063] The presence of the protrusion 212 and the groove 213 provides sufficient space for the rotation of the first driven rotating rod 27 and the second driven rotating rod 29. The axis of the center rod 21 coincides with the axis of the protective shell 1, ensuring that the entire device will not be offset from the center.

[0064] Embodiment 3: According to Figure 1 and Figure 5 As shown, a wire tube 5 is fixedly installed inside the protective shell 1, a connecting piece 8 is fixedly installed at the junction of the carrier plate 6 and the sensor chip module 7, and the connecting piece 8 is located between the wire tube 5 and the sensor chip module 7. The filling assembly 3 includes a filling block 31, a hollow guide tube 32 and a filling rod 33. As shown, one end of the filling block 31 is fixedly connected to one end of the protective shell 1, one end of the hollow guide tube 32 is fixedly connected to the inside of the filling block 31, and one end of the filling rod 33 is fixedly connected to the inside of the hollow guide tube 32 through a tension spring.

[0065] In this embodiment, the wire barrel 5 is used to accommodate the circuit, so that the wiring terminal of the sensor chip module 7 is connected to the wiring terminal of the stacking robot. When in use, the connecting piece 8 is used to connect the sensor chip module 7 so that the sensor chip module 7 can control the stacking robot;

[0066] The filling assembly 3 is mainly used to fill the gap between the protective shell 1 and the stacking robot, wherein the filling rod 33 can move along the direction of the hollow guide tube 32. The presence of the tension spring can push the filling rod 33 against the inner wall of the stacking robot, and the filling block 31 can prevent the protective shell 1 from directly contacting the stacking robot.

[0067] The use method and working principle of the device: the carrying plate 6 is inserted into the protective shell 1. When the protective shell 1 is installed, the protective shell 1 is inserted into the stacking robot. The filling component 3 first enters the stacking robot, and the filling rod 33 is pressed against the inner wall of the stacking robot under the action of the tension spring, which plays a role in preliminarily fixing the protective shell 1.

[0068] Until the positioning assembly 2 is completely inserted into the stacking robot, after the positioning assembly 2 is inserted into the robot, the threaded ring 24 is rotated to push the movable ring 26, and the push rod 25 at the edge of the movable ring 26 is changed to push the bonding plate 23 to move outward. During the movement of the bonding plate 23, the first driven rotating rod 27 and the second driven rotating rod 29 are also synchronously driven;

[0069] The first driven rotating rod 27 and the second driven rotating rod 29 are respectively located at the two ends of the bonding plate 23, and are rotatably connected to the first fixed ring 28 and the second fixed ring 210 fixed on the center rod 21. After the first driven rotating rod 27 and the second driven rotating rod 29 are rotated, they can stably support the bonding plate 23. The sensor can be installed by pressing the bonding plate 23 against the inner wall of the stacking robot. The existence of the protrusion 212 and the groove 213 provides sufficient space for the rotation of the first driven rotating rod 27 and the second driven rotating rod 29.

[0070] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-sensor identification method for a stacking robot end, characterized in that: The identification method identifies the surrounding environment and controls the operation mode of the stacking robot according to the environment. The sensor chip module (7) processes the data of multiple sensors and identifies them. The sensor chip module (7) includes a data acquisition module (9), a data processing module (10), a recognition algorithm module (11), a data fusion module (12) and a feedback and control module (13); The data acquisition module (9) is used to collect information about the surrounding environment during the operation of the stacking robot, and collects environmental data in real time through hardware devices, including distance, image and temperature information, while ensuring that data from different sensors are synchronized in time; The data processing module (10) is used to process the data of the data acquisition module (9), filter the sensor data, remove noise, extract feature points from the image, and extract the contour information of the obstacle from the data; The recognition algorithm module (11) is used to identify objects and obstacles based on the processing results of the data processing module (10), use a convolutional neural network to perform image classification and object recognition, combine a deep learning model to perform real-time object detection, and use the data collected by the data collection module (9) to identify the distance and shape of obstacles and confirm close-range obstacles; The data fusion module (12) is used to fuse the data identified by the identification algorithm module (11); The feedback and control module (13) is used to identify the environment according to the data after the data fusion module (12), adjust the movement path of the robot in real time, set a safe distance, and avoid collision with obstacles.

2. The multi-sensor identification method at the end of a stacking robot according to claim 1, characterized in that: The data acquisition module (9) comprises a laser radar unit (14), a camera unit (15), an ultrasonic sensor unit (16) and an infrared sensor unit (17); The laser radar unit (14) is used for environment modeling and obstacle detection; The camera unit (15) is used for object recognition and classification, in combination with computer vision technology; The ultrasonic sensor unit (16) is used for close-range obstacle detection, especially in a narrow space; The infrared sensor unit (17) is used for safety monitoring.

3. The multi-sensor identification method at the end of a stacking robot according to claim 2, characterized in that: The data fusion module (12) comprises the following steps: S1. Input data: remove outliers from different sensor data, align timestamps, process delays, and extract useful features from each sensor data; S2, Deep learning fusion: Use deep learning models to fuse multi-source data; S3, model training: use labeled data to train the model and optimize model parameters through cross-validation; S4. Output results: Output the fused data and decision results to the execution layer to control the behavior of the robot or system.

4. A multi-sensor installation mechanism at the end of a stacking robot, characterized in that: The sensor chip module (7) described in claim 1 is used, comprising a protective shell (1), a carrier board (6) is inserted into the interior of the protective shell (1), the sensor chip module (7) is bonded to the center of the carrier board (6), a docking rod (4) is fixedly installed at one end of the protective shell (1), a positioning assembly (2) is fixedly connected to the interior of the docking rod (4), and a filling assembly (3) is fixedly connected to the other end of the protective shell (1), the positioning assembly (2) comprises a center rod (21), a threaded rod (22) and a bonding plate (23), one end of the threaded rod (22) is connected to the center rod (21) One end of the central rod (21) is fixedly connected with a connecting rod (211), and the other end of the connecting rod (211) is fixedly connected to the inside of the docking rod (4). The bonding plate (23) surrounds the central rod (21). One side of the bonding plate (23) is rotatably connected with a push rod (25), and the other end of the push rod (25) is rotatably connected with a movable ring (26). One side of the movable ring (26) is rotatably connected with a threaded ring (24), and the threaded ring (24) is threadedly connected to the outer wall of the threaded rod (22), and the movable ring (26) is sleeved on the outer wall of the threaded rod (22).

5. The installation mechanism of a multi-sensor at the end of a stacking robot according to claim 4, characterized in that: One end of the bonding plate (23) is rotatably connected to a second driven rotating rod (29), and the other end of the second driven rotating rod (29) is rotatably connected to a second fixing ring (210), and the second fixing ring (210) is fixedly mounted on one end of the center rod (21).

6. The installation mechanism of a multi-sensor at the end of a stacking robot according to claim 5, characterized in that: One side of the laminating plate (23) is rotatably connected to a first driven rotating rod (27), the first driven rotating rod (27) is parallel to a second driven rotating rod (29), and the angle between the first driven rotating rod (27) and the push rod (25) is between zero and one hundred and eighty degrees.

7. The installation mechanism of a multi-sensor at the end of a stacking robot according to claim 6, characterized in that: A first fixing ring (28) is fixedly mounted on the outer wall of the center rod (21), and a protrusion (212) is fixedly mounted at the intersection of the first fixing ring (28) and the first driven rotating rod (27), at the intersection of the second fixing ring (210) and the second driven rotating rod (29), and at the intersection of the movable ring (26) and the push rod (25).

8. The installation mechanism of a multi-sensor at the end of a stacking robot according to claim 7, characterized in that: A groove (213) is provided at the intersection of the bonding plate (23) and the push rod (25), the first driven rotating rod (27) and the second driven rotating rod (29), and the first fixing ring (28) is located at the intersection of the center rod (21) and the threaded rod (22).

9. The installation mechanism of a multi-sensor at the end of a stacking robot according to claim 8, characterized in that: A wire barrel (5) is fixedly installed inside the protective shell (1), and a connecting piece (8) is fixedly installed at the intersection of the carrier plate (6) and the sensor chip module (7), and the connecting piece (8) is located between the wire barrel (5) and the sensor chip module (7).

10. The installation mechanism of a multi-sensor at the end of a stacking robot according to claim 9, characterized in that: The filling assembly (3) comprises a filling block (31), a hollow guide tube (32) and a filling rod (33); one end of the filling block (31) is fixedly connected to one end of the protective shell (1); one end of the hollow guide tube (32) is fixedly connected to the inside of the filling block (31); and one end of the filling rod (33) is fixedly connected to the inside of the hollow guide tube (32) via a tension spring.

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