Manipulator of stacking robot for logistics storage

Abstract

The invention belongs to the field of manipulators, and particularly relates to a manipulator of a stacking robot for logistics warehousing, which comprises a machine head, the top of the machine head is fixedly connected with a mounting screw head, the bottom of the machine head is slidably connected with two symmetrically distributed sliding columns, the sliding columns penetrate through the machine head, and the middle sections of column bodies of the sliding columns are fixedly connected with two limiting rings. The two limiting rings are slidably connected with the inner surface and the outer surface of the machine head correspondingly, a connecting column is inserted into the bottom of the sliding column, a quick release mechanism is jointly arranged between the connecting column and the sliding column, and a clamping jaw shell is fixedly connected to the bottom of the connecting column. An original clamping jaw is arranged to be a hollow clamping jaw shell, then an anti-falling protection mechanism is arranged in the clamping jaw shell, when a clamping plate is pressed to retract inwards, a waist wheel rotates to drive a shovel plate to horizontally stretch out, bottom support of goods is formed, sliding caused by insufficient clamping force is prevented, meanwhile, a fourth spring exerts reset force on the waist wheel through a cushion block, and the clamping jaw is prevented from falling off. And the shovel plate can be automatically withdrawn after being unloaded.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator of a palletizing robot for logistics warehousing. Background Art

[0002] In logistics warehousing and automated production lines, palletizing robots are widely used for handling, stacking, and sorting goods. As a key actuator of the palletizing robot, the performance of the manipulator directly affects the efficiency, stability, and safety of palletizing.

[0003] After searching, an invention patent with application publication number CN116620874A discloses a manipulator for a palletizing robot, which relates to the field of palletizing technology. The manipulator includes: a mounting base for connecting to the manipulator arm of the palletizing robot; two clamping heads arranged opposite to each other at the bottom of the mounting base, with clamping surfaces provided on the opposite surfaces of the two clamping heads, and cavities provided inside the two clamping heads; two belts, both of which are annular, with parts of the two belts respectively attached to the two clamping surfaces, and the other parts of the two belts respectively arranged in the two cavities.

[0004] Traditional manipulators typically use gripping or suction to grasp cargo, but the following technical issues persist in practical applications: 1. Traditional grippers rely solely on friction or air pressure to secure cargo, making them prone to slippage during high-speed handling or in vibrating environments. This is especially true for cargo with smooth surfaces or irregular shapes, which poses a risk of falling and compromises operational safety. 2. The gripper of the manipulator requires frequent replacement depending on the type of cargo, but existing structures often use bolts or complex locking mechanisms, making assembly and disassembly time-consuming and labor-intensive, impacting efficiency. Therefore, improvements are needed. Summary of the Invention

[0005] The present invention provides a manipulator for a palletizing robot for logistics warehousing, which solves the problems of falling risk and inconvenience in disassembly and replacement of traditional manipulators.

[0006] In order to solve the above technical problems, the present invention provides a manipulator for a palletizing robot for logistics warehousing, comprising a machine head, the top of the machine head is fixedly connected to a mounting screw head, the bottom of the machine head is slidably connected to two symmetrically distributed sliding columns, and the sliding columns are arranged to pass through the machine head, the middle section of the column body of the sliding column is fixedly connected to two limiting rings, the two limiting rings are slidably connected to the inner and outer surfaces of the machine head respectively, the bottom of the sliding column is plugged with a connecting column, a quick-release mechanism is jointly provided between the connecting column and the sliding column, the bottom of the connecting column is fixedly connected to a clamping claw shell, and the interior of the clamping claw shell is provided with an anti-fall protection mechanism; An electric motor is fixedly installed on the inner top of the machine head, and the end of the output shaft of the motor is fixedly connected to a connecting shaft, and the end of the connecting shaft is fixedly connected to a turntable, and the turntable is rotatably connected to the inside of the machine head. An arc groove is opened inside the turntable, and the arc groove is set to pass through the turntable. The upper end of the sliding column is located in the arc groove, and the number and position of the arc grooves correspond to the sliding column. A ball bearing is provided on the side of the turntable, and the ball bearing is slidably connected to the inner wall of the machine head.

[0007] Preferably, a positioning block is fixedly connected to the top of the connecting post, and the positioning block is engaged with the sliding post. The positioning block has a positioning effect on the position where the connecting post is inserted into the bottom of the sliding post.

[0008] Preferably, the inner bottom of the head is fixedly connected to a support seat, the top of the support seat is provided with a second ball, and the second ball contacts the bottom of the turntable, the left and right sides of the support seat are respectively fixedly connected with guide rods, the guide rods pass through the slide column and are slidably connected to the slide column, the end of the guide rod is fixedly connected to a limit block, the outer side of the rod body of the guide rod is slidably sleeved with a retaining ring, the retaining ring contacts the slide column, the outer side of the rod body of the guide rod is sleeved with a spring 1, one end of the spring 1 is fixedly connected to the retaining ring, and the other end of the spring 1 is fixedly connected to the support seat. The support seat and the second ball have an auxiliary support function for the turntable, thereby reducing the load on the motor. In addition, the guide rod, the limit block, the retaining ring and the first spring and other components have a mobile guiding and auxiliary reset function for the slide column.

[0009] Preferably, the quick release mechanism includes an inner conical sleeve connected to the lower section of the sliding column body by a thread, the lower end of the sliding column is slidably connected to a locking pin, the locking pin is horizontally arranged, and the locking pin is arranged to pass through the sliding column, one end of the locking pin is plugged into the connecting column, and the other end of the locking pin is in conflict with the inner conical portion of the inner conical sleeve, the pin body of the locking pin is fixedly connected to a fixing ring, and the outer sleeve of the pin body of the locking pin is provided with a spring 2, one end of the spring 2 is fixedly connected to the fixing ring, and the other end of the spring 2 is fixedly connected to the outer ring wall of the sliding column. By screwing the inner conical sleeve, the inner conical portion of the inner conical sleeve can apply a radial thrust of the connecting column to the locking pin, so that the locking pin is laterally inserted into the connecting column, and the spring 2 is in a compressed state. When the inner conical sleeve is reversed, the locking pin will be reset under the action of the spring 2 and detached from the connecting column, thereby achieving rapid disassembly and assembly of the connecting column and the clamping claw shell at the bottom of the connecting column.

[0010] Preferably, a latch is slidably connected to the interior of the inner conical sleeve, the upper end of which is plugged into the lower retaining ring, and a shift ring is fixedly connected to the pin body of the latch. A third spring is provided inside the inner conical sleeve, one end of which is fixedly connected to the latch, and the other end of which is fixedly connected to the inner surface of the inner conical sleeve. The elastic force of the third spring causes the latch to be inserted into the retaining ring from the bottom, thereby preventing the inner conical sleeve from loosening after it is rotated into place.

[0011] Preferably, the anti-fall protection mechanism includes a fixed shaft fixedly connected to the inside of the clamping shell, the shaft body of the fixed shaft is rotatably connected to a waist wheel on the outside, the lower end of the waist wheel is hinged with a connecting arm, the end of the connecting arm is hinged with a hinge seat, the hinge seat passes through the clamping shell and is slidably connected to the clamping shell, the bottom of the hinge seat is fixedly connected with a shovel plate, the shovel plate contacts the bottom of the clamping shell, the side wall of the clamping shell is slidably connected with a sliding pin, and the sliding pin is arranged to pass through the clamping shell, one end of the sliding pin is fixedly connected to a splint, and the other end of the sliding pin is in contact with the waist wheel, and a magnetic ring is fixedly connected to the pin body of the sliding pin, and the magnetic ring is attracted to the inner wall of the clamping shell. The reaction force from the goods causes the clamping plate to retract the sliding pin, which in turn pushes the upper part of the waist wheel, causing the waist wheel to rotate through the fixed axis. At the same time, the waist wheel pushes the shovel plate to move through the connecting arm, so that the shovel plate can shovel into the bottom of the goods, which has a bottom support effect on the clamped goods, thereby preventing them from falling into the air during transportation.

[0012] Preferably, a connecting block is fixedly connected to the upper end of the shovel plate, the connecting block extending through the jaw housing and slidably connected thereto, and a baffle is fixedly connected to the top of the connecting block, which is slidably connected to the inner bottom of the jaw housing. The arrangement of the connecting block and baffle provides guidance for the lateral displacement of the shovel plate under load and provides vertical limiting.

[0013] Preferably, a guide sleeve is fixedly connected to the inner wall of the clamping jaw housing, a guide pin is slidably connected to the interior of the guide sleeve, a pad is fixedly connected to the end of the guide pin, and the pad abuts against the waist wheel, and a spring 4 is disposed within the guide sleeve, one end of the spring 4 is fixedly connected to the guide pin, and the other end of the spring 4 is fixedly connected to the inner surface of the guide sleeve. The arrangement of the guide sleeve, guide pin, pad, and spring 4 assists in resetting the upper half of the waist wheel after being pushed by the sliding pin.

[0014] Compared with related technologies, the manipulator of a palletizing robot for logistics warehousing provided by the present invention has the following beneficial effects: The present invention provides a manipulator for a palletizing robot for logistics warehousing. The original clamping claw is configured as a hollow clamping claw shell, and an anti-fall protection mechanism is then provided in the clamping claw shell. When the clamping plate is compressed and retracted, the waist wheel rotates to drive the shovel plate to extend horizontally, forming a bottom support for the goods to prevent slipping caused by insufficient clamping force. At the same time, spring four applies a reset force to the waist wheel through a pad to ensure that the shovel plate is automatically retracted after unloading.

[0015] The present invention provides a manipulator for a palletizing robot for logistics warehousing, wherein a quick-release mechanism is provided at a connecting column for connecting a gripper shell and a sliding column, wherein a rotating inner conical sleeve can drive a locking pin to be laterally inserted into the connecting column, and the pre-tightening force of a second spring ensures locking stability, while the cooperation between the latch and the limit ring further prevents loosening, thereby realizing tool-free disassembly and assembly. This structure is particularly suitable for rapid switching of multiple types of grippers, meeting the diversified cargo handling needs in logistics warehousing, reducing downtime, and improving equipment utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The overall structure of the present invention is three-dimensional Figure 1 ; Figure 2 The overall structure of the present invention is three-dimensional Figure 2 ; Figure 3 For the present invention Figure 1 Front cross-sectional view of Figure 4 For the present invention Figure 3 A magnified view of point A; Figure 5 For the present invention Figure 3 A magnified view of the anti-fall protection mechanism; Figure 6 For the present invention Figure 3 Schematic diagram of the turntable structure; Figure 7 For the present invention Figure 3 Schematic diagram of the gripper shell structure; Figure 8 For the present invention Figure 3 Schematic diagram of the sliding column structure.

[0017] Figure: 1, machine head; 2, slide column; 201, limit ring; 3, connecting column; 4, clamping jaw housing; 5, positioning block; 6, quick release mechanism; 7, anti-fall protection mechanism; 8, motor; 9, connecting shaft; 10, turntable; 11, ball bearing 1; 12, support seat; 13, ball bearing 2; 14, guide rod; 15, limit block; 16, retaining ring; 17, spring 1; 18, mounting screw head; 61, inner cone Sleeve; 62, locking pin; 63, fixing ring; 64, spring two; 65, latch; 66, spring three; 67, dial ring; 71, fixed shaft; 72, waist pulley; 73, connecting arm; 74, articulated seat; 75, shovel plate; 76, sliding pin; 77, splint; 78, magnetic ring; 79, connecting block; 710, baffle; 711, guide sleeve; 712, guide pin; 713, pad; 714, spring four. DETAILED DESCRIPTION

[0018] See also Figures 1-8 A manipulator for a palletizing robot used in logistics warehousing includes a head 1, a mounting screw 18 fixedly connected to the top of the head 1, two symmetrically distributed slide posts 2 slidably connected to the bottom of the head 1, and the slide posts 2 are arranged to penetrate the head 1. Two limiting rings 201 are fixedly connected to the middle section of the column body of the slide post 2, and the two limiting rings 201 are slidably connected to the inner and outer surfaces of the head 1 respectively. A connecting post 3 is inserted into the bottom of the slide post 2, and a positioning block 5 is fixedly connected to the top of the connecting post 3. The positioning block 5 is clamped to the slide post 2. The positioning block 5 has a positioning effect on the position where the connecting post 3 is inserted into the bottom of the slide post 2. The bottom of the connecting post 3 is fixedly connected to a clamping claw shell 4. An electric motor 8 is fixedly installed on the inner top of the machine head 1, and the end of the output shaft of the electric motor 8 is fixedly connected to a connecting shaft 9, and the end of the connecting shaft 9 is fixedly connected to a turntable 10, and the turntable 10 is rotatably connected to the inside of the machine head 1. An arc groove is opened inside the turntable 10, and the arc groove is set to pass through the turntable 10. The upper end of the slide column 2 is located in the arc groove, and the number and position of the arc groove correspond to the slide column 2. A ball 11 is set on the side of the turntable 10, and the ball 11 is slidably connected to the inner wall of the machine head 1.

[0019] See also Figure 3The inner bottom of the machine head 1 is fixedly connected to a support seat 12. A second ball bearing 13 is provided on the top of the support seat 12, and the second ball bearing 13 contacts the bottom of the turntable 10. The left and right sides of the support seat 12 are respectively fixedly connected to a guide rod 14. The guide rod 14 passes through the slide post 2 and is slidably connected to the slide post 2. The end of the guide rod 14 is fixedly connected to a limit block 15. The outer side of the rod body of the guide rod 14 is slidably sleeved with a retaining ring 16, which contacts the slide post 2. The outer side of the rod body of the guide rod 14 is sleeved with a spring 17. One end of the spring 17 is fixedly connected to the retaining ring 16, and the other end of the spring 17 is fixedly connected to the support seat 12. The support seat 12 and the second ball bearing 13 play an auxiliary supporting role for the turntable 10, thereby reducing the load on the motor 8. In addition, the guide rod 14, the limit block 15, the retaining ring 16 and the spring 17 play a role in guiding the movement of the slide post 2 and assisting in its reset.

[0020] See also Figure 3 、 Figure 4 A quick release mechanism 6 is provided between the connecting column 3 and the sliding column 2. By screwing the inner conical sleeve 61, the inner conical surface of the inner conical sleeve 61 can apply a radial thrust to the locking pin 62 of the connecting column 3, so that the locking pin 62 is laterally inserted into the connecting column 3, and the spring 2 64 is in a compressed state. When the inner conical sleeve 61 is reversed, the locking pin 62 will be reset under the action of the spring 2 64 and disengaged from the connecting column 3, thereby achieving rapid disassembly of the connecting column 3 and the clamping claw shell 4 at the bottom of the connecting column 3. The quick release mechanism 6 includes a screw thread connected to the sliding column 3. The inner conical sleeve 61 of the lower section of the column 2, the lower end of the sliding column 2 is slidably connected with a locking pin 62, the locking pin 62 is set horizontally, and the locking pin 62 is set to pass through the sliding column 2, one end of the locking pin 62 is plugged into the connecting column 3, and the other end of the locking pin 62 is in conflict with the inner conical portion of the inner conical sleeve 61, and a fixing ring 63 is fixedly connected to the pin body of the locking pin 62. A spring 2 64 is provided on the outer side of the pin body of the locking pin 62, one end of the spring 2 64 is fixedly connected to the fixing ring 63, and the other end of the spring 2 64 is fixedly connected to the outer ring wall of the sliding column 2. A latch 65 is slidably connected to the interior of the inner conical sleeve 61. The upper end of the latch 65 engages with the lower retaining ring 201. A shift ring 67 is fixedly connected to the pin body of the latch 65. A spring 3 66 is provided inside the inner conical sleeve 61. One end of the spring 3 66 is fixedly connected to the latch 65, and the other end of the spring 3 66 is fixedly connected to the inner surface of the inner conical sleeve 61. The elastic force of the spring 3 66 forces the latch 65 to be inserted into the retaining ring 201 from the bottom, thus preventing the inner conical sleeve 61 from loosening after it has been rotated into place.

[0021] See also Figure 3 、 Figure 5The interior of the clamping shell 4 is provided with an anti-fall protection mechanism 7. The clamping plate 77 is subjected to the reaction force from the goods and drives the sliding pin 76 to retract. The sliding pin 76 pushes the upper half of the waist wheel 72, so that the waist wheel 72 rotates through the fixed shaft 71. At the same time, the waist wheel 72 pushes the shovel plate 75 to move through the connecting arm 73. In this way, the shovel plate 75 can shovel into the bottom of the goods, which has a bottom support effect for the clamped goods, thereby preventing them from falling into the air during transportation. The anti-fall protection mechanism 7 includes a fixed shaft 71 fixedly connected to the interior of the clamping shell 4, and the shaft body of the fixed shaft 71 rotates outside. The shovel plate 75 is fixedly connected to the bottom of the shovel plate 75, and the shovel plate 75 contacts the bottom of the shovel plate 4. The side wall of the shovel plate 4 is slidably connected to a sliding pin 76, which is set to pass through the shovel plate 4. One end of the sliding pin 76 is fixedly connected to a clamping plate 77, and the other end of the sliding pin 76 contacts the shovel plate 72. The pin body of the sliding pin 76 is fixedly connected to a magnetic ring 78, and the magnetic ring 78 is attracted to the inner wall of the shovel plate 4. The upper end of the shovel plate 75 is fixedly connected to a connecting block 79, which passes through the shovel plate 4 and is slidably connected to the shovel plate 75. The connection block 79 and baffle 710 provide guidance and vertical limiting for the lateral displacement of the shovel plate 75. A guide sleeve 711 is fixedly connected to the inner wall of the clamp housing 4. A guide pin 712 is slidably connected to the interior of the guide sleeve 711. A pad 713 is fixedly connected to the end of the guide pin 712, and the pad 713 contacts the waist wheel 72. A spring 714 is provided within the guide sleeve 711. One end of the spring 714 is fixedly connected to the guide pin 712, and the other end of the spring 714 is fixedly connected to the inner surface of the guide sleeve 711. The arrangement of the guide sleeve 711, guide pin 712, pad 713, and spring 714 assists in resetting the upper half of the waist wheel 72 after it is pushed by the sliding pin 76.

[0022] Working principle: When in use, first install the whole on the mechanical arm of the stacking robot through the mounting screw head 18, and then the motor 8 can be used to drive the connecting shaft 9 to rotate, so that the turntable 10 can be rotated, and the arc groove on the turntable 10 and the guide of the guide rod 14 can drive the two sliding columns 2 to move toward each other, and then the two sliding columns 2 respectively drive the clamping shell 4 to move through their respective connecting columns 3, and make the two clamping shells 4 move toward each other, and then the splint 77 on the clamping shell 4 contacts the goods and is compressed and retracted. At this time, the splint 77 pushes the waist wheel 72 to rotate through the sliding pin 76. While the waist wheel 72 rotates, it drives the shovel plate 75 to extend horizontally to form a bottom support for the goods to prevent slipping caused by insufficient clamping force. At the same time, when the motor 8 drives the turntable 10 to reverse, the clamping shell 4 can release the goods, and the spring four 714 applies a reset force to the waist wheel 72 through the pad 713 to ensure that the shovel plate 75 is automatically retracted after unloading; In addition, if a different clamping jaw shell 4 needs to be replaced later, it is only necessary to push the pin 65 downward through the dial ring 67 to disengage the pin 65 from the limit ring 201, thereby releasing the restriction on the inner conical sleeve 61, and then rotate the inner conical sleeve 61 in the opposite direction. The locking pin 62 will be reset under the action of the spring 2 64 and disengage from the connecting column 3, thereby releasing the restriction on the connecting column 3, and then the clamping jaw shell 4 can be removed. Similarly, the above steps can be operated in the same direction to complete the replacement of the clamping jaw shell 4 and the locking after installation.

Claims

1. A manipulator for a palletizing robot for logistics warehousing, characterized by: The invention comprises a machine head (1), wherein the top of the machine head (1) is fixedly connected with a mounting screw (18), the bottom of the machine head (1) is slidably connected with two symmetrically distributed sliding columns (2), and the sliding columns (2) are arranged to pass through the machine head (1), the middle section of the column body of the sliding column (2) is fixedly connected with two limiting rings (201), and the two limiting rings (201) are slidably connected with the inner and outer surfaces of the machine head (1) respectively, the bottom of the sliding column (2) is plugged with a connecting column (3), a quick release mechanism (6) is commonly provided between the connecting column (3) and the sliding column (2), the bottom of the connecting column (3) is fixedly connected with a clamping claw shell (4), and the interior of the clamping claw shell (4) is provided with an anti-lock mechanism. A fall protection mechanism (7); a motor (8) is fixedly mounted on the inner top of the machine head (1); the end of the output shaft of the motor (8) is fixedly connected to a connecting shaft (9); the end of the connecting shaft (9) is fixedly connected to a turntable (10), and the turntable (10) is rotatably connected to the inside of the machine head (1); an arc groove is provided inside the turntable (10), and the arc groove is provided to pass through the turntable (10); the upper end of the slide column (2) is located in the arc groove, and the number and position of the arc grooves correspond to the slide column (2); a ball bearing (11) is provided on the side of the turntable (10), and the ball bearing (11) is slidably connected to the inner wall of the machine head (1).

2. The manipulator of a palletizing robot for logistics warehousing according to claim 1, characterized in that: A positioning block (5) is fixedly connected to the top of the connecting column (3), and the positioning block (5) is clamped with the sliding column (2).

3. The manipulator of a palletizing robot for logistics warehousing according to claim 1, characterized in that: The inner bottom of the machine head (1) is fixedly connected to a support seat (12), the top of the support seat (12) is provided with a second ball (13), and the second ball (13) contacts the bottom of the turntable (10), and the left and right sides of the support seat (12) are respectively fixedly connected with a guide rod (14), the guide rod (14) passes through the slide column (2) and is slidably connected to the slide column (2), the end of the guide rod (14) is fixedly connected to the limit block (15), the outer side of the rod body of the guide rod (14) is slidably sleeved with a retaining ring (16), the retaining ring (16) contacts the slide column (2), and the outer side of the rod body of the guide rod (14) is sleeved with a spring (17), one end of the spring (17) is fixedly connected to the retaining ring (16), and the other end of the spring (17) is fixedly connected to the support seat (12).

4. The manipulator of a palletizing robot for logistics warehousing according to claim 1, characterized in that: The quick-release mechanism (6) includes an inner conical sleeve (61) connected to the lower section of the column of the sliding column (2) by a thread, and the lower end of the sliding column (2) is slidably connected to a locking pin (62), the locking pin (62) is horizontally arranged, and the locking pin (62) is arranged to pass through the sliding column (2), one end of the locking pin (62) is plugged into the connecting column (3), and the other end of the locking pin (62) is in contact with the inner conical portion of the inner conical sleeve (61), and the pin body of the locking pin (62) is fixedly connected to a fixing ring (63), and the outer side of the pin body of the locking pin (62) is provided with a spring 2 (64), one end of the spring 2 (64) is fixedly connected to the fixing ring (63), and the other end of the spring 2 (64) is fixedly connected to the outer ring wall of the sliding column (2).

5. The manipulator of a palletizing robot for logistics warehousing according to claim 4, characterized in that: The inner conical sleeve (61) is slidably connected to a latch (65), the upper end of the latch (65) is plugged into the lower limiting ring (201), the pin body of the latch (65) is fixedly connected to a shift ring (67), and a spring three (66) is provided inside the inner conical sleeve (61), one end of the spring three (66) is fixedly connected to the latch (65), and the other end of the spring three (66) is fixedly connected to the inner surface of the inner conical sleeve (61).

6. The manipulator of a palletizing robot for logistics warehousing according to claim 1, characterized in that: The anti-fall protection mechanism (7) includes a fixed shaft (71) fixedly connected to the inside of the clamping claw shell (4), the shaft body of the fixed shaft (71) is rotatably connected to a waist wheel (72) on the outside, the lower end of the waist wheel (72) is hinged to a connecting arm (73), the end of the connecting arm (73) is hinged to an articulated seat (74), the articulated seat (74) passes through the clamping claw shell (4) and is slidably connected to the clamping claw shell (4), and the bottom of the articulated seat (74) is fixedly connected to a shovel plate. (75), the shovel plate (75) contacts the bottom of the clamping jaw shell (4), the side wall of the clamping jaw shell (4) is slidably connected to a sliding pin (76), and the sliding pin (76) is set to pass through the clamping jaw shell (4), one end of the sliding pin (76) is fixedly connected to a clamping plate (77), the other end of the sliding pin (76) is in contact with the waist wheel (72), and the pin body of the sliding pin (76) is fixedly connected to a magnetic ring (78), and the magnetic ring (78) is attracted to the inner wall of the clamping jaw shell (4).

7. The manipulator of a palletizing robot for logistics warehousing according to claim 6, characterized in that: The upper end of the shovel plate (75) is fixedly connected to a connecting block (79), the connecting block (79) passes through the clamping jaw shell (4) and is slidably connected to the clamping jaw shell (4), the top of the connecting block (79) is fixedly connected to a baffle (710), and the baffle (710) is slidably connected to the inner bottom of the clamping jaw shell (4).

8. The manipulator of a palletizing robot for logistics warehousing according to claim 6, characterized in that: The inner wall of the clamping jaw shell (4) is fixedly connected to a guide sleeve (711), the interior of the guide sleeve (711) is slidably connected to a guide pin (712), the end of the guide pin (712) is fixedly connected to a cushion block (713), and the cushion block (713) is in contact with the waist wheel (72), and a spring four (714) is provided inside the guide sleeve (711), one end of the spring four (714) is fixedly connected to the guide pin (712), and the other end of the spring four (714) is fixedly connected to the inner surface of the guide sleeve (711).

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