Superfine powder single-side heavy stacking manipulator

Abstract

The invention relates to the technical field of stacking, in particular to an ultrafine powder single-side heavy stacking manipulator which solves the problems that when ultrafine powder packaging bags are manually stacked in the prior art, the stacking risk is high, the stacking efficiency is low, and the stability of materials is inconvenient to keep when the materials are forked and transferred through a stacking robot. A driving device is installed on one side of the middle of the base device, a transmission device is installed at one end of the driving device, a baffle device is installed at the bottom end of the base device, a bag pressing device is installed on one side of the baffle device, a mechanical arm assembly is installed at one end of the base device, and the base device comprises a wire coil. A connecting flange is fixedly installed in the middle of the lower end face of the wire coil. Materials are grabbed, carried and placed through the single-side heavy mechanical arm, the working space is greatly saved, the single-side heavy mechanical arm is particularly suitable for being used under the narrow or limited site condition, shaping of the materials is facilitated, and the stability of the material stacking process is kept.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing, in particular to a single-sided heavy-duty palletizing robot for ultrafine powders. Background Art

[0002] In the packaging field, industrial robots are favored by more and more users because they can greatly reduce labor, have high production efficiency, strong stability, high safety performance, and can greatly improve the automation level of the workshop. At the same time, with the continuous increase in market demand, the in-depth advancement of industrialization and the advancement of industrial automation, the requirements for automation, variety, miniaturization, and high efficiency are becoming more and more obvious, and higher and higher requirements are also put forward for the application of industrial robots. At present, the application of robots is developing towards multi-purpose, lightweight, and high-speed.

[0003] The existing manual palletizing of ultra-fine powder packaging bags has high risks and low efficiency, and it is not convenient to maintain the stability of materials when forking and transporting by palletizing robots; therefore, it does not meet the existing needs. In this regard, we propose a single-sided heavy-duty ultra-fine powder palletizing robot. Summary of the invention

[0004] The purpose of the present invention is to provide a single-sided heavy-duty palletizing robot for ultrafine powders to solve the problems raised in the above background technology that the existing manual palletizing of ultrafine powder packaging bags has high palletizing risks and low efficiency, and it is inconvenient to maintain the stability of materials when forking and transporting by palletizing robots.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a superfine powder single-sided heavy-duty palletizing robot, comprising a base device, a driving device is installed on one side of the middle part of the base device, a transmission device is installed on one end of the driving device, a baffle device is installed on the bottom end of the base device, a bag pressing device is installed on one side of the baffle device, a robot assembly is installed on one end of the base device, the base device comprises a wire drum, a connecting flange is fixedly installed on the middle part of the lower end surface of the wire drum, a connecting plate is fixedly installed on the bottom end of the connecting flange, two bearing seats are fixedly installed on the lower end surface of the connecting plate, and a rotating shaft is slidably connected to the inner side of the bearing seat; The baffle device comprises two right-angle brackets, one side of which is fixedly mounted with a photovoltaic installation aluminum profile, the inner side of which is rotatably connected with a second T-nut, and the bottom end of one side of the two photovoltaic installation aluminum profiles is slidably connected with a baffle; The manipulator assembly comprises a grabbing tooth mounting seat assembly, the upper end of the grabbing tooth mounting seat assembly is fixedly connected to two rotating shafts, and the bottom end of the grabbing tooth mounting seat assembly is equipped with a plurality of right-angle grabbing teeth.

[0006] Preferably, the base device also includes a cross beam fixedly connected to one end of the two rotating shafts, a detection head is fixedly provided at one end of the cross beam, a pressure regulating valve is fixedly installed in the middle of the lower end surface of the cross beam, a solenoid valve is installed on one side of the connecting flange, a proximity switch is installed on one side of the solenoid valve, and a junction box is installed on the other side of the connecting flange, and the junction box, the solenoid valve and the proximity switch are all fixedly installed on the upper end surface of the connecting plate.

[0007] Preferably, the driving device comprises a reducer, a servo motor is fixedly mounted on the input end of the reducer, a synchronous pulley is fixedly mounted on the output end of the reducer, and an open synchronous belt is mounted on the outer side of the synchronous pulley.

[0008] Preferably, the transmission device includes two idler wheel fixing assemblies, and two roller assemblies are rotatably connected between the two idler wheel fixing assemblies. The roller assembly consists of a transmission roller and a roller shaft. The roller shaft passes through the idler wheel fixing assembly and is rotatably connected to the transmission roller. A first T-nut is installed at one end of the idler wheel fixing assembly.

[0009] Preferably, the bag pressing device includes two bag pressing power assemblies, which are composed of a pressing cylinder and a cylinder bracket. A bag pressing plate is installed at the output end of the two pressing cylinders, and a plurality of toothed belts are installed on the lower end surface of the bag pressing plate.

[0010] Preferably, the reducer and the servo motor are both fixed on the upper end surface of the connecting plate, the middle part of the open synchronous belt is inserted between the two roller assemblies and fits on the outer side of the synchronous pulley, the lower surface of the open synchronous belt is provided with a plurality of transmission teeth, the synchronous pulley and the transmission teeth are connected by tooth meshing, and the solenoid valve is electrically connected to the servo motor.

[0011] Preferably, the connecting plate is fixedly connected to the two idler wheel fixing assemblies, one end of the two first T-nuts passes through the idler wheel fixing assembly and is in close contact with the two ends of one of the roller shafts, the first T-nut is connected to the idler wheel fixing assembly by a threaded connection, a waist-shaped hole is provided on one side of the idler wheel fixing assembly, one of the roller shafts is arranged on the inner side of the waist-shaped hole and is slidably connected to the idler wheel fixing assembly.

[0012] Preferably, the proximity switch coincides with the axis of the detection head, the two ends of the open synchronous belt are respectively fixedly connected to the middle of the beam and the upper end of the grabbing tooth mounting seat assembly, the detection head, the beam and the manipulator assembly slide linearly back and forth along the axis of the rotating shaft, and the axes of the two rotating shafts are parallel.

[0013] Preferably, the upper end of the optoelectronic mounting aluminum profile is fixedly connected to the connecting plate through a right-angle bracket, the bottom ends of the two second T-nuts penetrate the optoelectronic mounting aluminum profile and are inserted into the inner sides of both ends of the baffle, the two ends of the baffle are threadedly connected to the two second T-nuts, the baffle slides linearly back and forth along the axis of the second T-nut, the side surface of the baffle is perpendicular to the upper surface of the right-angle grabbing teeth, and the right-angle grabbing teeth are made of lightweight and high-strength material.

[0014] Preferably, the upper ends of the two clamping cylinders are fixedly connected to the connecting plate via a cylinder bracket, the two ends of the bag pressing plate are fixedly connected to the output ends of the two clamping cylinders, and an air supply pipe is provided at the upper end of the clamping cylinder, which is connected to the pressure regulating valve.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention drives the synchronous pulley to rotate through a servo motor, and the open synchronous belt is driven by the synchronous pulley under the guidance of two roller assemblies to drive the grabbing tooth mounting seat assembly to move horizontally. The palletizing robot drives the manipulator assembly through the base device to fork the material packaging bag and supports it through multiple right-angle grabbing teeth. At the same time, the baffle can limit the material packaging bag, and the second T-nut drives the baffle to slide vertically relative to the optoelectronic mounting aluminum profile, so that the baffle can meet the requirements of limiting the material packaging bags of different sizes when adjusting the height; 2. The present invention drives the bag pressing plate and multiple toothed belts to move downward through the compression cylinder, and then the bag pressing plate can press down and shape the material packaging bags through multiple toothed belts, so that the materials can be compacted and clamped. The toothed belts can effectively prevent the materials from slipping, and the right-angle grabbing teeth can maintain stable support for the materials. By adopting a single-sided heavy-duty manipulator to grab, transport and place the materials, the working space is greatly saved. It is especially suitable for use in narrow or limited site conditions, and is convenient for shaping the materials and maintaining the stability of the material stacking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 A front view of the present invention as a whole; Figure 3 It is a front view of the base device of the present invention; Figure 4 is a side view of the base device of the present invention; Figure 5 is a top view of the base device of the present invention; Figure 6 It is a structural schematic diagram of the transmission device of the present invention; Figure 7It is a schematic structural diagram of the open synchronous belt of the present invention; Figure 8 It is a structural schematic diagram of the driving device of the present invention; Fig. 9 For the present invention Figure 2 Schematic diagram of the enlarged structure of the A area in the middle; Fig.10 It is a structural schematic diagram of the baffle device of the present invention; Fig.11 is a side view of the baffle device of the present invention; Fig.12 It is a structural schematic diagram of the robot assembly of the present invention; Fig.13 is a side view of the robot assembly of the present invention; Fig.14 It is a structural schematic diagram of the bag pressing device of the present invention; Fig.15 It is a side view of the bag pressing device of the present invention; Fig.16 It is a schematic diagram of the downward pressing state of the bag pressing plate of the present invention; Fig.17 It is a schematic diagram of bagging of the present invention as a whole; Fig.18 It is a schematic diagram of the initial state of the whole invention.

[0017] In the figure: 1. base device; 101. rotating shaft; 102. connecting flange; 103. wire drum; 104. junction box; 105. solenoid valve; 106. proximity switch; 107. pressure regulating valve; 108. bearing seat; 109. detection head; 110. crossbeam; 111. connecting plate; 2. transmission device; 201. roller assembly; 202. idler wheel fixing assembly; 203. transmission roller; 204. roller shaft; 205. first T-nut; 3. baffle device; 30 1. Baffle; 302. Right-angle bracket; 303. Photoelectric mounting aluminum profile; 304. Second T-nut; 4. Manipulator assembly; 401. Grabbing tooth mounting seat assembly; 402. Right-angle grabbing tooth; 5. Driving device; 501. Reducer; 502. Servo motor; 503. Synchronous pulley; 504. Open synchronous belt; 6. Bag pressing device; 601. Bag pressing power assembly; 602. Bag pressing plate; 603. Toothed belt; 604. Pressing cylinder; 605. Cylinder bracket. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] The servo motor 502 (model GV50-3.7KW-60-S) and the clamping cylinder 604 (model MDBB40-150Z) mentioned in the present invention can be purchased from the market or obtained through private customization.

[0020] See also Figures 1 to 5 , an embodiment provided by the present invention: a superfine powder single-sided heavy-duty palletizing robot, comprising a base device 1, the base device 1 comprising a wire drum 103, a connecting flange 102 is fixedly installed in the middle of the lower end surface of the wire drum 103, a connecting plate 111 is fixedly installed at the bottom end of the connecting flange 102, two bearing seats 108 are fixedly installed on the lower end surface of the connecting plate 111, a rotating shaft 101 is slidably connected to the inner side of the bearing seat 108, the axes of the two rotating shafts 101 are parallel, a crossbeam 110 is fixedly installed at one end of the two rotating shafts 101, a detection head 109 is fixedly provided at one end of the crossbeam 110, a solenoid valve 105 is installed at one side of the connecting flange 102, a proximity switch 106 is installed at one side of the solenoid valve 105, the axes of the proximity switch 106 and the detection head 109 coincide, when the crossbeam 110 is guided and slid by the rotating shaft 101, the overall action can be controlled by monitoring the distance between the proximity switch 106 and the detection head 109; A pressure regulating valve 107 is fixedly installed in the middle of the lower end surface of the beam 110, and a junction box 104 is installed on the other side of the connecting flange 102. The junction box 104, the solenoid valve 105 and the proximity switch 106 are all fixedly installed on the upper end surface of the connecting plate 111. The cable reel 103 and the junction box 104 facilitate hidden storage of the cables.

[0021] See also Figures 7 to 9 A driving device 5 is installed on one side of the middle part of the base device 1, and the driving device 5 includes a reducer 501. A servo motor 502 is fixedly installed on the input end of the reducer 501. The solenoid valve 105 is electrically connected to the servo motor 502. A synchronous pulley 503 is fixedly installed on the output end of the reducer 501. An open synchronous belt 504 is installed on the outer side of the synchronous pulley 503. The reducer 501 and the servo motor 502 are both fixed on the upper end surface of the connecting plate 111. The middle part of the open synchronous belt 504 is inserted between the two roller assemblies 201 and fits on the outer side of the synchronous pulley 503. A plurality of transmission teeth are provided on the lower surface of the open synchronous belt 504. The synchronous pulley 503 is connected to the transmission teeth through tooth meshing, so that the servo motor 502 drives the synchronous pulley 503 to rotate through the reducer 501, and the open synchronous belt 504 is driven by the synchronous pulley 503 to reciprocate.

[0022] See also Figure 6 and Fig. 9A transmission device 2 is installed at one end of the driving device 5, and the transmission device 2 includes two idler wheel fixing assemblies 202. The connecting plate 111 is fixedly connected to the two idler wheel fixing assemblies 202. Two roller assemblies 201 are rotatably connected between the two idler wheel fixing assemblies 202. The roller assembly 201 consists of a transmission roller 203 and a roller shaft 204. The roller shaft 204 penetrates the idler wheel fixing assembly 202 and is rotatably connected to the transmission roller 203. A first T-nut 205 is installed at one end of the idler wheel fixing assembly 202. The two first T-nuts One end of 205 passes through the idler wheel fixing component 202 and is in contact with both ends of one of the roller shafts 204. The first T-nut 205 is connected to the idler wheel fixing component 202 by a thread. A waist-shaped hole is provided on one side of the idler wheel fixing component 202. One of the roller shafts 204 is arranged on the inner side of the waist-shaped hole and is slidably connected to the idler wheel fixing component 202. When the first T-nut 205 is rotated, the spacing between the two roller assemblies 201 can be adjusted, so that the two roller assemblies 201 can adjust the tightness of the open synchronous belt 504.

[0023] See also Figure 1 , Fig.10 and Fig.11 A baffle device 3 is installed at the bottom end of the base device 1, and the baffle device 3 includes two right-angle brackets 302. A photovoltaic installation aluminum profile 303 is fixedly installed on one side of the right-angle bracket 302. The inner side of the photovoltaic installation aluminum profile 303 is rotatably connected with a second T-nut 304. A baffle 301 is slidably connected to the bottom end of one side of the two photovoltaic installation aluminum profiles 303. The upper end of the photovoltaic installation aluminum profile 303 is fixedly connected to the connecting plate 111 through the right-angle bracket 302. The bottom ends of the two second T-nuts 304 penetrate the photovoltaic installation aluminum profile 303 and Inserted to the inner side of both ends of the baffle 301, both ends of the baffle 301 are connected with two second T-nuts 304 by threads, and the baffle 301 slides linearly back and forth along the axis of the second T-nut 304. The baffle 301 can limit the material packaging bag under the support of the optoelectronic installation aluminum profile 303. The rotation of the second T-nut 304 can drive the baffle 301 to slide vertically relative to the optoelectronic installation aluminum profile 303, so that the baffle 301 can meet the requirements of limiting the material packaging bags of different sizes when adjusting the height; See also Figure 1 , Fig.12 and Fig.13A manipulator assembly 4 is installed at one end of the base device 1, and the manipulator assembly 4 includes a grabbing tooth mounting seat assembly 401. The two ends of the open synchronous belt 504 are fixedly connected to the middle part of the beam 110 and the upper end of the grabbing tooth mounting seat assembly 401 respectively. The detection head 109, the beam 110 and the manipulator assembly 4 reciprocate linearly along the axis of the rotating shaft 101. The upper end of the grabbing tooth mounting seat assembly 401 is fixedly connected to the two rotating shafts 101. A plurality of right-angle grabbing teeth 402 are installed at the bottom end of the grabbing tooth mounting seat assembly 401. The side surface of the baffle 301 is perpendicular to the upper surface of the right-angle grabbing teeth 402. The right-angle grabbing teeth 402 are made of lightweight and high-strength material. The material packaging bag can be forked through the manipulator assembly 4 and supported by a plurality of right-angle grabbing teeth 402.

[0024] See also Fig.14 and Fig.16 A bag pressing device 6 is installed on one side of the baffle device 3, and the bag pressing device 6 includes two bag pressing power components 601. The bag pressing power components 601 are composed of a pressing cylinder 604 and a cylinder bracket 605. A bag pressing plate 602 is installed at the output end of the two pressing cylinders 604, and a plurality of toothed belts 603 are installed on the lower end surface of the bag pressing plate 602. The upper ends of the two pressing cylinders 604 are fixedly connected to the connecting plate 111 through the cylinder bracket 605, and the two ends of the bag pressing plate 602 are fixedly connected to the output ends of the two pressing cylinders 604. An air supply pipe is provided at the upper end of the pressing cylinder 604, and the air supply pipe is connected with the pressure regulating valve 107, so that the pressing cylinder 604 drives the bag pressing plate 602 and the plurality of toothed belts 603 to move downward, and can press down and shape the material packaging bag, and the toothed belt 603 can effectively prevent the material from slipping.

[0025] In summary, according to the attached Figure 1 , Fig.17 and Fig.18 When the material packaging bag is clamped and transported, the connection flange 102 is fixedly assembled with the palletizing robot and the entire cable is stored through the cable drum 103. The power is turned on, and the servo motor 502 is started through the solenoid valve 105, so that the servo motor 502 drives the synchronous pulley 503 to rotate through the reducer 501, and the middle part of the open synchronous belt 504 is inserted between the two roller assemblies 201 and fits on the outside of the synchronous pulley 503, and the synchronous pulley 503 and the open synchronous belt 504 are connected through inter-tooth meshing, and then the open synchronous belt 504 is driven by the synchronous pulley 503 under the guidance of the two roller assemblies 201 to drive the grabbing tooth mounting seat assembly 401 to move horizontally; The upper end of the grabbing tooth mounting seat assembly 401 is fixedly connected to the crossbeam 110 through two mutually parallel rotating shafts 101, and then the grabbing tooth mounting seat assembly 401 and the crossbeam 110 can be driven to perform linear reciprocating sliding along the axis of the rotating shaft 101 through the open synchronous belt 504, wherein one end of the first T-nut 205 passes through the idler wheel fixing assembly 202 and is in close contact with one of the roller shafts 204, and then when the first T-nut 205 rotates, the spacing between the two roller assemblies 201 can be adjusted, so that the two roller assemblies 201 can adjust the tightness of the open synchronous belt 504.

[0026] When the open synchronous belt 504 drives the grabbing tooth mounting seat assembly 401 to move to the right until the proximity switch 106 and the detection head 109 are at the maximum distance, the palletizing robot drives the manipulator assembly 4 through the base device 1 to fork the material packaging bag and supports it through multiple right-angle grabbing teeth 402. At the same time, the baffle 301 can limit the material packaging bag under the support of the optoelectronic installation aluminum profile 303, wherein the bottom end of the second T-nut 304 passes through the optoelectronic installation aluminum profile 303 and is connected to the baffle 301 by a thread. By rotating the second T-nut 304, the second T-nut 304 drives the baffle 301 to slide vertically relative to the optoelectronic installation aluminum profile 303, so that the baffle 301 can meet the requirements of limiting material packaging bags of different sizes when adjusting the height; The pressing cylinder 604 is started by the pressure regulating valve 107, so that the pressing cylinder 604 drives the bag pressing plate 602 and the multiple toothed belts 603 to move downward under the support of the cylinder bracket 605, and then the bag pressing plate 602 can press down and shape the material packaging bag through the multiple toothed belts 603, so that the material can be compacted and clamped, and the toothed belts 603 can effectively prevent the material from slipping, and the right-angle grabbing teeth 402 can keep the material stably supported; After the material is clamped, it is transferred by a palletizing robot, and then the grabbing tooth mounting seat assembly 401 is moved in the opposite direction through the open synchronous belt 504. At this time, the distance between the proximity switch 106 and the detection head 109 is the minimum, and then the grabbing tooth mounting seat assembly 401 drives the right-angle grabbing tooth 402 to separate from the baffle 301. At this time, the material can be smoothly separated from the right-angle grabbing tooth 402 under the limiting action of the baffle 301, so as to facilitate repeated forking operations on the material.

[0027] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A superfine powder single-sided heavy-duty palletizing robot, comprising a base device (1), characterized in that: A driving device (5) is installed on one side of the middle of the base device (1), a transmission device (2) is installed on one end of the driving device (5), a baffle device (3) is installed on the bottom end of the base device (1), a bag pressing device (6) is installed on one side of the baffle device (3), a manipulator assembly (4) is installed on one end of the base device (1), the base device (1) comprises a wire drum (103), a connecting flange (102) is fixedly installed on the middle of the lower end surface of the wire drum (103), a connecting plate (111) is fixedly installed on the bottom end of the connecting flange (102), two bearing seats (108) are fixedly installed on the lower end surface of the connecting plate (111), and a rotating shaft (101) is slidably connected to the inner side of the bearing seat (108); The baffle device (3) comprises two right-angle brackets (302), a photovoltaic installation aluminum profile (303) is fixedly mounted on one side of the right-angle bracket (302), a second T-shaped nut (304) is rotatably connected to the inner side of the photovoltaic installation aluminum profile (303), and a baffle (301) is slidably connected to the bottom end of one side of the two photovoltaic installation aluminum profiles (303); The manipulator assembly (4) comprises a grabbing tooth mounting seat assembly (401), the upper end of the grabbing tooth mounting seat assembly (401) is fixedly connected to two rotating shafts (101), and the bottom end of the grabbing tooth mounting seat assembly (401) is provided with a plurality of right-angle grabbing teeth (402).

2. The ultrafine powder single-sided heavy-duty palletizing robot according to claim 1, characterized in that: The base device (1) further comprises a crossbeam (110) fixedly connected to one end of the two rotating shafts (101); a detection head (109) is fixedly provided at one end of the crossbeam (110); a pressure regulating valve (107) is fixedly installed in the middle of the lower end surface of the crossbeam (110); a solenoid valve (105) is installed on one side of the connecting flange (102); a proximity switch (106) is installed on one side of the solenoid valve (105); a junction box (104) is installed on the other side of the connecting flange (102); and the junction box (104), the solenoid valve (105) and the proximity switch (106) are all fixedly installed on the upper end surface of the connecting plate (111).

3. The ultrafine powder single-sided heavy-duty palletizing robot according to claim 2, characterized in that: The driving device (5) comprises a reducer (501), a servo motor (502) being fixedly mounted on the input end of the reducer (501), a synchronous pulley (503) being fixedly mounted on the output end of the reducer (501), and an open synchronous belt (504) being mounted on the outer side of the synchronous pulley (503).

4. The ultrafine powder single-sided heavy-duty palletizing robot according to claim 3, characterized in that: The transmission device (2) comprises two idler wheel fixing assemblies (202), two roller assemblies (201) are rotatably connected between the two idler wheel fixing assemblies (202), the roller assembly (201) is composed of a transmission roller (203) and a roller shaft (204), the roller shaft (204) passes through the idler wheel fixing assembly (202) and is rotatably connected to the transmission roller (203), and a first T-shaped nut (205) is installed at one end of the idler wheel fixing assembly (202).

5. The ultra-fine powder single-sided heavy-duty palletizing robot according to claim 4, characterized in that: The bag pressing device (6) comprises two bag pressing power assemblies (601), wherein the bag pressing power assemblies (601) are composed of a pressing cylinder (604) and a cylinder bracket (605), and a bag pressing plate (602) is installed at the output end of the two pressing cylinders (604), and a plurality of toothed belts (603) are installed on the lower end surface of the bag pressing plate (602).

6. The ultrafine powder single-sided heavy-duty palletizing robot according to claim 5, characterized in that: The reducer (501) and the servo motor (502) are both fixed to the upper end surface of the connecting plate (111); the middle portion of the open synchronous belt (504) is inserted between the two roller assemblies (201) and is sleeved on the outer side of the synchronous belt pulley (503); a plurality of transmission teeth are provided on the lower surface of the open synchronous belt (504); the synchronous belt pulley (503) and the transmission teeth are meshed with each other; and the solenoid valve (105) and the servo motor (502) are electrically connected.

7. The ultrafine powder single-sided heavy-duty palletizing robot according to claim 6, characterized in that: The connecting plate (111) is fixedly connected to the two idler wheel fixing assemblies (202); one end of the two first T-nuts (205) penetrates the idler wheel fixing assemblies (202) and is in close contact with both ends of one of the roller shafts (204); the first T-nut (205) is connected to the idler wheel fixing assemblies (202) via threads; a waist-shaped hole is provided on one side of the idler wheel fixing assemblies (202); one of the roller shafts (204) is arranged on the inner side of the waist-shaped hole and is slidably connected to the idler wheel fixing assemblies (202).

8. The ultrafine powder single-sided heavy-duty palletizing robot according to claim 7, characterized in that: The axes of the proximity switch (106) and the detection head (109) coincide with each other, and the two ends of the open synchronous belt (504) are respectively fixedly connected to the middle of the crossbeam (110) and the upper end of the grabbing tooth mounting seat assembly (401); the detection head (109), the crossbeam (110) and the manipulator assembly (4) slide linearly back and forth along the axis of the rotating shaft (101), and the axes of the two rotating shafts (101) are parallel.

9. The ultrafine powder single-sided heavy-duty palletizing robot according to claim 8, characterized in that: The upper end of the photovoltaic installation aluminum profile (303) is fixedly connected to the connecting plate (111) via a right-angle bracket (302); the bottom ends of the two second T-shaped nuts (304) penetrate the photovoltaic installation aluminum profile (303) and are plugged into the inner sides of the two ends of the baffle (301); the two ends of the baffle (301) are connected to the two second T-shaped nuts (304) via threads; the baffle (301) slides linearly back and forth along the axis of the second T-shaped nuts (304); the side surface of the baffle (301) is perpendicular to the upper surface of the right-angle grabbing teeth (402); and the right-angle grabbing teeth (402) are made of lightweight and high-strength material.

10. The ultra-fine powder single-sided heavy-duty palletizing robot according to claim 9, characterized in that: The upper ends of the two pressing cylinders (604) are fixedly connected to the connecting plate (111) via a cylinder bracket (605), and both ends of the bag pressing plate (602) are fixedly connected to the output ends of the two pressing cylinders (604). An air supply pipe is provided at the upper end of the pressing cylinder (604), and the air supply pipe is connected to the pressure regulating valve (107).

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