A robot intelligent palletizing system

Abstract

A kind of robot intelligence palletizing system effectively reaches the purpose of being able to automatically detect fire alarm and carry out automatic fire extinguishing, including support rod, the upper side of the support rod has crossbeam, the outside of support rod has fire-fighting cylinder, the outside of fire-fighting cylinder has fire-fighting mechanism, the lower side of support rod has base, the lower side of crossbeam has sliding block, the lower side of sliding block is equipped with two connecting rod mechanisms, the lower side of the sliding block is equipped with a lifting palletizing plate, the lower side of the palletizing plate is equipped with two left and right movable grab plates, the present application is novel in structure, ingenious in design, effectively increases the function of changing fire-fighting supplies according to different storage goods by the design, reaches the purpose of being able to more conveniently adjust the grabbing position, realizes the purpose of being able to make the goods grabbed more stable, increases the function of being able to carry different size goods, realizes the purpose of being able to place different size goods in partition, reduces the loss when fire alarm occurs in storage.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot stacking equipment, and particularly relates to a robot intelligent stacking system. BACKGROUND

[0002] The stacking robot is a product of the organic combination of machinery and computer programs. It provides higher production efficiency for modern production. The stacking robot has quite wide application in the stacking industry. The stacking robot greatly saves labor and space. The stacking robot is flexible, accurate, fast, efficient, stable and high in work efficiency. However, due to the large number of stored goods in the warehouse, once a fire occurs, great loss will be caused, and even the life safety of the staff will be endangered. Various robots and electronic systems in the warehouse system will generate a large amount of heat, and sometimes even become a fire source due to the aging of the circuit. Therefore, it is necessary to set a fire extinguishing system at the warehouse transportation terminal of the stacking robot, which can greatly suppress the alarm at the initial stage of the fire. Therefore, a robot intelligent stacking system capable of automatically detecting a fire alarm and performing preliminary fire extinguishing is needed to solve the above problems. SUMMARY

[0003] In view of the above situation, in order to overcome the defects of the prior art, the present application provides a robot intelligent stacking system, which effectively achieves the purpose of automatically detecting a fire alarm and automatically extinguishing a fire, increases the function of replacing fire-fighting supplies according to different warehouse goods, achieves the purpose of being able to more conveniently adjust the grabbing position, realizes the purpose of being able to make the grabbed goods more stable, increases the function of being able to carry goods of different sizes, realizes the purpose of being able to zone the goods of different sizes, and reduces the loss when a warehouse fire alarm occurs.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme: a support rod is provided, a fire-fighting mechanism capable of sliding up and down is arranged on the outer side of the fire cylinder, the fire-fighting mechanism and the fire cylinder are mutually matched to form a fire-fighting protection structure, a base is rotatably connected to the lower side of the support rod, a sliding block capable of sliding left and right is arranged on the lower side of the cross beam, two connecting rod mechanisms are arranged on the lower side of the sliding block, a stacking plate capable of ascending and descending is arranged on the lower side of the sliding block, two grabbing plates capable of moving left and right are arranged on the lower side of the stacking plate, and the grabbing plates, the stacking plate and the connecting rod mechanisms are mutually matched to form a goods grabbing structure.

[0005] Preferably, the fire-fighting mechanism comprises a fire-fighting ring in sliding connection with the fire cylinder, a temperature sensor is fixedly connected to the rear side of the fire-fighting ring, a rotatable electric powder sprayer is arranged on the front side of the fire-fighting ring, and a powder storage cavity is fixedly connected to the lower side of the fire-fighting ring and in communication with the electric powder sprayer.

[0006] Preferably, the middle part of the support rod is rotatably connected with a first bevel gear, the outer side of the first bevel gear is fixedly connected with the fire-fighting cylinder, the upper side of the first bevel gear is engaged with a first bevel gear wheel, the right side of the first bevel gear wheel is fixedly connected with a first motor, the first motor, the first bevel gear wheel and the first bevel gear form a structure for rotating the fire-fighting cylinder, the middle part of the support rod is provided with a reciprocating screw groove, the inside of the reciprocating screw groove is slidably connected with a reciprocating sliding block, the right side of the reciprocating sliding block is rotatably connected with the fire-fighting ring, and the reciprocating screw groove and the reciprocating sliding block form a structure for lifting the fire-fighting ring while rotating the fire-fighting cylinder.

[0007] Preferably, the upper part of the support rod is provided with a rotatable second bevel gear, the lower side of the second bevel gear is engaged with a second bevel gear wheel, the right side of the second bevel gear wheel is fixedly connected with an adjusting handle, the upper side of the second bevel gear is engaged with a third bevel gear wheel, the left side of the third bevel gear wheel is fixedly connected with a threaded screw rod, the middle part of the threaded screw rod is threadedly connected with the sliding block, and the adjusting handle, the second bevel gear, the third bevel gear and the threaded screw rod form a structure for sliding the sliding block left and right.

[0008] Preferably, the inside of the support rod is provided with a rotatable first rotating rod, the lower side of the first rotating rod is fixedly connected with a second motor, the upper side of the first rotating rod is fixedly connected with a first transmission gear, the upper side of the first transmission gear is engaged with a second transmission gear, the left side of the second transmission gear is fixedly connected with a second rotating rod, the middle part of the second rotating rod is slidably connected with a large turntable through a sliding key, the lower side of the large turntable is provided with a small turntable, the outer side of the large turntable is matched with a transmission belt, the lower part of the transmission belt is matched with the small turntable, the middle part of the small turntable is fixedly connected with a bidirectional threaded rod, and the left and right sides of the small turntable are each provided with a lifting control block which is threadedly connected with the bidirectional threaded rod.

[0009] Preferably, the linkage mechanism comprises a plurality of first linkages and a plurality of second linkages, and the middle part of each first linkage is rotatably connected with a corresponding second linkage.

[0010] Preferably, the upper part of the stacking plate is provided with two left and right movable connecting plates, the lower side of each linkage mechanism is rotatably connected with a corresponding connecting plate, the inside of the stacking plate is fixedly connected with two electric telescopic rods, each grabbing plate is fixedly connected with a corresponding electric telescopic rod, and the lower side of the sliding block is provided with a plurality of folding sleeves, and the sliding block and the stacking plate are fixedly connected with corresponding folding sleeves.

[0011] Preferably, the upper side of the base is fixedly connected with a third motor, the left side of the third motor is fixedly connected with a fourth bevel gear, the lower side of the fourth bevel gear is engaged with a third bevel gear ring, the upper side of the third bevel gear ring is fixedly connected with the supporting rod, each electric telescopic rod is matched with the third motor, and a plurality of fixing holes are formed in the base.

[0012] Compared with the prior art, the application has the following beneficial effects:

[0013] 1. The device has a rotatable fire-fighting barrel, a temperature sensor and a fire-fighting mechanism, and when a fire alarm occurs, the fire-fighting mechanism can be started to extinguish fire around the device by rotating the fire-fighting barrel, thereby increasing the prevention ability of the warehouse against fire.

[0014] 2. The device has a reciprocating screw slot and a reciprocating sliding block, which can drive the fire-fighting mechanism to move up and down while the fire-fighting barrel is rotating, so as to further increase the coverage area of the fire-fighting mechanism.

[0015] 3. The device has a sliding block that can slide left and right, which can fix the position of the device and facilitate the adjustment of the grabbing position of the device, thereby reducing the adjustment pressure of the installer.

[0016] 4. The device has a folding sleeve and a connecting rod mechanism, which can prevent dust from entering the connecting rod mechanism when the device is in use, and can also make the transportation process of the device more stable. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, which together with the embodiments of the application, serve to explain the application, and do not constitute a limitation on the application. In the drawings:

[0018] Figure 1 It is a schematic diagram of the overall structure of the application.

[0019] Figure 2 It is a schematic diagram of the internal structure of the application.

[0020] Figure 3 It is a schematic diagram of the position of the second bevel gear in the application.

[0021] Figure 4 It is a schematic diagram of the internal structure of the sliding block in the application.

[0022] Figure 5 It is a schematic diagram of the internal structure of the stacking plate in the application.

[0023] Figure 6 It is a schematic diagram of the internal structure of the fire-fighting barrel in the application.

[0024] Figure 7 It is a schematic diagram of the internal structure of the fire-fighting barrel in the application. Figure 6A local enlarged view of the middle A region.

[0025] In the figure: 1-supporting rod, 2-cross beam, 3-fire-fighting cylinder, 4-fire-fighting mechanism, 5-base, 6-sliding block, 7-linkage mechanism, 8-palletizing plate, 9-first bevel gear, 10-first bevel gear, 11-first motor, 12-reciprocating screw groove, 13-reciprocating sliding block, 14-second bevel gear, 15-second bevel gear, 16-adjusting handle, 17-third bevel gear, 18-threaded screw, 19-first rotating rod, 20-second motor, 21-first transmission gear, 22-second transmission gear, 23-second rotating rod, 24-large turntable, 25-small turntable, 26-transmission belt, 27-two-way threaded rod, 28-connection plate, 29-electric telescopic rod, 30-folding sleeve, 31-third motor, 32-fourth bevel gear, 33-third bevel gear, 34-fixing hole, 401-fire-fighting ring, 402-temperature sensor, 403-electric powder sprayer, 404-powder storage cavity, 701-first linkage, 702-second linkage, 35-grabbing plate. DETAILED DESCRIPTION

[0026] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings Figures 1-7 The specific embodiments of the present application are described in detail below with reference to the accompanying drawings

[0027] Embodiment one, by Figures 1-7 The present application includes a supporting rod 1, in order to achieve the purpose of automatic detection of fire alarm and automatic fire extinguishing, the upper side of the supporting rod 1 is fixedly connected with a cross beam 2, the outer side of the supporting rod 1 is provided with a rotatable fire-fighting cylinder 3, the outer side of the fire-fighting cylinder 3 is provided with a fire-fighting mechanism 4 which can slide up and down, the fire-fighting mechanism 4 and the fire-fighting cylinder 3 form a fire-fighting protection structure in cooperation, the lower side of the supporting rod 1 is rotatably connected with a base 5, the lower side of the cross beam 2 is provided with a sliding block 6 which can slide left and right, the lower side of the sliding block 6 is provided with two linkage mechanisms 7, the lower side of the sliding block 6 is provided with a palletizing plate 8 which can be lifted, the lower side of the palletizing plate 8 is provided with two grabbing plates 35 which can move left and right, the grabbing plates 35, the palletizing plate 8 and the linkage mechanisms 7 form a structure for grabbing goods in cooperation;

[0028] In use, the device can be fixed in place through the base 5, after starting the device, the stacking plate 8 is lowered under the action of the connecting rod mechanism 7, and the goods are fixed through the grabbing plate 35, then the stacking plate 8 is raised, the support rod 1 drives the cross beam 2 to rotate clockwise by ninety degrees and lower the stacking plate 8, and the goods are put down, when the grabbing plate 35 grabs larger goods, the position of the grabbing plate 35 cannot move to the position, so that the support rod 1 drives the cross beam 2 to rotate counterclockwise by ninety degrees, and different sizes of goods are placed differently, when the position of the device is on fire, the fire-fighting cylinder 3 rotates after the temperature sensor 402 alarms, so as to drive the fire-fighting mechanism 4 to rotate with the fire-fighting cylinder 3 and move up and down at the same time, to preliminarily suppress the fire and reduce the damage of personnel and goods.

[0029] In example two, on the basis of example one, the fire-fighting mechanism 4 comprises a fire-fighting ring 401 in sliding connection with the fire-fighting cylinder 3, a temperature sensor 402 is fixedly connected to the rear side of the fire-fighting ring 401, a rotatable electric powder sprayer 403 is arranged on the front side of the fire-fighting ring 401, and a powder storage cavity 404 is fixedly connected to the lower side of the fire-fighting ring 401, and the front side of the powder storage cavity 404 is in communication with the electric powder sprayer 403. Figures 1-7 In use, the appropriate fire extinguishing agent (such as dry powder, carbon dioxide, etc.) can be filled in the powder storage cavity 404 according to the need, when the fire-fighting cylinder 3 rotates, the electric powder sprayer 403 starts and sprays the fire-fighting agent in the powder storage cavity 404 to extinguish the fire and reduce the storage loss.

[0030] In example three, on the basis of example two, the support rod 1 is rotatably connected with a first bevel gear 9 in the middle, the outer side of the first bevel gear 9 is fixedly connected with the fire-fighting cylinder 3, the upper side of the first bevel gear 9 is engaged with a first bevel gear 10, the right side of the first bevel gear 10 is fixedly connected with a first motor 11, and the first motor 11, the first bevel gear 10 and the first bevel gear 9 cooperatively form a structure for rotating the fire-fighting cylinder 3, a reciprocating screw groove 12 is arranged in the middle of the support rod 1, a reciprocating sliding block 13 is slidably connected in the reciprocating screw groove 12, the right side of the reciprocating sliding block 13 is rotatably connected with the fire-fighting ring 401, and the reciprocating screw groove 12 and the reciprocating sliding block 13 cooperatively form a structure for lifting the fire-fighting ring 401 while rotating the fire-fighting cylinder 3.

[0031] Figures 1-7 In use, the appropriate fire extinguishing agent (such as dry powder, carbon dioxide, etc.) can be filled in the powder storage cavity 404 according to the need, when the fire-fighting cylinder 3 rotates, the electric powder sprayer 403 starts and sprays the fire-fighting agent in the powder storage cavity 404 to extinguish the fire and reduce the storage loss.

[0032] ​When in use, when the first motor 11 starts, it drives the first bevel gear 9 to rotate through the first bevel gear 10, thereby driving the fire cylinder 3 to rotate. A vertical groove is provided on the fire cylinder 3. Under the action of the groove, the fire ring 401 can only move up and down relative to the fire cylinder 3. Then, under the action of the reciprocating screw groove 12, the reciprocating slider 13 drives the fire ring 401 to move up and down while rotating with the fire cylinder 3, so that the electric powder sprayer 403 moves up and down while rotating, increasing the fire protection area.

[0033] Example 4, based on Example 3, by Figures 1-7 To facilitate easier adjustment of the gripping position, the upper part of the support rod 1 is provided with a rotatable second bevel gear ring 14. A second bevel gear 15 meshes with the lower side of the second bevel gear ring 14. Both the upper and lower sides of the second bevel gear ring 14 are bevel gear rings, which mesh with the third bevel gear 17 and the second bevel gear 15 respectively. An adjustment handle 16 is fixedly connected to the right side of the second bevel gear 15. A third bevel gear 17 meshes with the upper side of the second bevel gear ring 14. A threaded screw 18 is fixedly connected to the left side of the third bevel gear 17. The middle part of the threaded screw 18 is threadedly connected to the sliding block 6. The adjustment handle 16, the second bevel gear ring 14, the third bevel gear 17, and the threaded screw 18 cooperate with each other to form a structure in which the sliding block 6 slides left and right.

[0034] In use, the adjustment handle 16 can be rotated. The adjustment handle 16 drives the third bevel gear 17 to rotate through the second bevel gear 15 and the second bevel gear ring 14, thereby driving the sliding block 6 to move left and right through the threaded screw 18, so as to adjust the position of the sliding block 6 and adjust the gripping position.

[0035] Example 5, based on Example 4, by Figures 1-7 To achieve greater stability in the grasped goods, the support rod 1 has a rotatable first rotating rod 19 inside. A second motor 20 is fixedly connected to the lower side of the first rotating rod 19. A first transmission gear 21 is fixedly connected to the upper side of the first rotating rod 19. A second transmission gear 22 meshes with the upper side of the first transmission gear 21. A second rotating rod 23 is fixedly connected to the left side of the second transmission gear 22. A large turntable 24 is slidably connected to the middle of the second rotating rod 23 via a sliding key. A small turntable 25 is provided on the lower side of the large turntable 24. A transmission belt 26 is fitted to the outer side of the large turntable 24. The lower part of the transmission belt 26 is fitted to the small turntable 25. A bidirectional threaded rod 27 is fixedly connected to the middle of the small turntable 25. A lifting control block is provided on each of the left and right sides of the small turntable 25 and is threadedly connected to the bidirectional threaded rod 27. The threads on the bidirectional threaded rod 27 are symmetrical, and the two lifting control blocks move in opposite directions when it rotates.

[0036] In use, the second motor 20 is started to drive the second rotating rod 23 through the first rotating rod 19, the first transmission gear 21 and the second transmission gear 22, thereby driving the bidirectional threaded rod 27 through the large turntable 24, the transmission belt 26 and the small turntable 25, and then driving each lifting control block to move.

[0037] In the embodiment six, on the basis of the embodiment five, the first motor 10 is further provided with a second motor 20, the first rotating rod 19 is further provided with a second rotating rod 23, the first transmission gear 21 is further provided with a second transmission gear 22, the large turntable 24 is further provided with a small turntable 25, and the bidirectional threaded rod 27 is further provided with a lifting control block. Figures 1-7 It is given that, in order to realize the purpose of controllable stacking height, the connecting rod mechanism 7 comprises a plurality of first connecting rods 701 and a plurality of second connecting rods 702, the first connecting rod 701 and the second connecting rod 702 correspond to each other, the middle part of each first connecting rod 701 is rotationally connected with the corresponding second connecting rod 702, so that each pair of first connecting rod 701 and second connecting rod 702 crosses to form an X shape, and the first connecting rod 701 and the second connecting rod 702 at the top are rotationally connected with the lifting control block, and the first connecting rod 701 and the second connecting rod 702 at the bottom are rotationally connected with the corresponding connecting plate 28.

[0038] In the embodiment seven, on the basis of the embodiment six, the first motor 10 is further provided with a third motor 31, the first rotating rod 19 is further provided with a third rotating rod 24, the first transmission gear 21 is further provided with a third transmission gear 22, the large turntable 24 is further provided with a small turntable 25, the bidirectional threaded rod 27 is further provided with a lifting control block, the connecting rod mechanism 7 is further provided with a connecting plate 28, the connecting plate 28 is further provided with a folding sleeve 30, and the folding sleeve 30 is further provided with a folding sleeve 30. Figures 1-7 It is given that, in order to realize the purpose of carrying different sizes of goods, the upper part of the stacking plate 8 is provided with two left and right movable connecting plates 28, the lower side of each connecting rod mechanism 7 is rotationally connected with the corresponding connecting plate 28, the inside of the stacking plate 8 is fixedly connected with two electric telescopic rods 29, the two electric telescopic rods 29 are electrically connected, so that they can be telescoped together, each grabbing plate 35 is fixedly connected with the corresponding electric telescopic rod 29, the lower side of the sliding block 6 is provided with a plurality of folding sleeves 30, each folding sleeve 30 cooperates with each other to form a multi-stage telescopic sleeve structure, which can be telescoped together with the up and down movement of the stacking plate 8, and can prevent dust, and the sliding block 6 and the stacking plate 8 are fixedly connected with the corresponding folding sleeve 30.

[0039] In use, the electric telescopic rod 29 drives the grabbing plate 35 to move, so as to grab and carry the goods.

[0040] In the embodiment eight, on the basis of the embodiment seven, the first motor 10 is further provided with a third motor 31, the first rotating rod 19 is further provided with a third rotating rod 24, the first transmission gear 21 is further provided with a third transmission gear 22, the large turntable 24 is further provided with a small turntable 25, the bidirectional threaded rod 27 is further provided with a lifting control block, the connecting rod mechanism 7 is further provided with a connecting plate 28, the connecting plate 28 is further provided with a folding sleeve 30, and the folding sleeve 30 is further provided with a folding sleeve 30. Figures 1-7 It is given that, in order to realize the purpose of being able to distinguish and place different sizes of goods, the upper side of the base 5 is fixedly connected with a third motor 31, the left side of the third motor 31 is fixedly connected with a fourth bevel gear 32, the lower side of the fourth bevel gear 32 is engaged with a third bevel gear 33, the upper side of the third bevel gear 33 is fixedly connected with the supporting rod 1, each electric telescopic rod 29 is matched with the third motor 31, and a plurality of fixed holes 34 are formed in the base 5.

[0041] In use, the third motor 31 is started to drive the support rod 1 to rotate relative to the base 5 through the fourth bevel gear 32 and the third bevel gear 33, so as to drive the cross beam 2, the sliding block 6 and the stacking plate 8 to rotate and drive the goods to rotate.

[0042] It should be further explained that the first motor 11, the second motor 20 and the third motor 31 are all servo motors, which can accurately control the rotating speed and the rotating angle, and the device is internally provided with a PLC controller (such as a PLC controller with a model of s7-200), the two clamping plates 35 are provided with an ultrasonic distance measuring sensor, and the inner side of each clamping plate 35 is provided with a pressure sensor, and the electronic components (including the first motor 11, the second motor 20, the third motor 31, the temperature sensor 402, the electric powder sprayer 403 and the electric telescopic rod 29, the ultrasonic distance measuring sensor, etc.) in the device are electrically connected with the PLC controller, when the device is debugged, the second motor 20 is started to drive the stacking plate 8 to descend to a suitable position, and then the electric telescopic rod 29 is retracted when the electric telescopic rod 29 is started, and the clamping plate 35 is driven to move towards the goods, when the pressure sensor detects that the pressure of the clamping plate 35 on the goods reaches a preset value, the ultrasonic distance measuring sensor detects the relative distance between the two clamping plates 35 to judge the size and type of the goods, the second motor is reversely rotated to drive the stacking plate 8 to lift the goods, and the third motor 31 is rotated by different numbers of turns according to the distance between the two clamping plates 35, that is, the support rod 1 is rotated by different angles, then the second motor 20 is started to extend the electric telescopic rod 29, and the goods are placed down, then the second motor 20 and the third motor 31 are reset, and the next cycle is entered; when the temperature sensor 402 detects that the preset temperature is reached (that is, when the temperature is too high and a fire alarm is detected), the first motor 11 is started to drive the fire-fighting cylinder 3 to rotate, and the electric powder sprayer 403 is started to automatically fight the fire.

[0043] The working principle of the present application is as follows:

[0044] In use, the device can be first fixed at a suitable position through the base 5, after the device is started, the stacking plate 8 is lowered under the action of the connecting rod mechanism 7 and fixes the goods through the clamping plate 35, then the stacking plate 8 is lifted, the support rod 1 drives the cross beam 2 to rotate clockwise by ninety degrees and then lowers the stacking plate 8 to place the goods down, when the clamping plate 35 grabs a large goods, the relative distance between the two clamping plates 35 is large, so that the support rod 1 drives the cross beam 2 to rotate counterclockwise by ninety degrees to place different sizes of goods, when a fire occurs at the position of the device, the fire-fighting cylinder 3 is rotated after the temperature sensor 402 alarms, so as to drive the fire-fighting mechanism 4 to move up and down while rotating with the fire-fighting cylinder 3, to preliminarily suppress the fire and reduce the damage to personnel and goods.

[0045] The application has the advantages of novel structure, ingenious design, simple and convenient operation, automatic fire alarm detection and automatic fire extinguishing, replacement of fire-fighting supplies according to different storage goods, convenient adjustment of the grabbing position, stable grabbing of goods, carrying of goods of different sizes, zoning of goods of different sizes, and reduction of loss in case of warehouse fire.

[0046] Finally, it should be noted that the above description is only a preferred embodiment of the application and is not intended to limit the application. Although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements of some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A robotic intelligent palletizing system, comprising a support rod, characterized in that: A crossbeam is fixedly connected to the upper side of the support rod. A rotatable fire cylinder is provided on the outer side of the support rod. A fire-fighting mechanism that can slide up and down is provided on the outer side of the fire cylinder. The fire-fighting mechanism and the fire cylinder cooperate with each other to form a fire protection structure. A base is rotatably connected to the lower side of the support rod. A sliding block that can slide left and right is provided on the lower side of the crossbeam. Two linkage mechanisms are provided on the lower side of the sliding block. A lifting pallet is provided on the lower side of the sliding block. Two grab plates that can move left and right are provided on the lower side of the pallet. The grab plates, the pallet, and the linkage mechanisms cooperate with each other to form a cargo grabbing structure. The fire-fighting mechanism includes a fire ring that is slidably connected to the fire cylinder, a temperature sensor that is fixedly connected to the rear side of the fire ring, a rotatable electric powder sprayer that is provided on the front side of the fire ring, and a powder storage chamber that is fixedly connected to the lower side of the fire ring. The front side of the powder storage chamber is connected to the electric powder sprayer. A first bevel gear ring is rotatably connected to the middle of the support rod. The outer side of the first bevel gear ring is fixedly connected to the fire cylinder. A first bevel gear meshes with the upper side of the first bevel gear ring. A first motor is fixedly connected to the right side of the first bevel gear. The first motor, the first bevel gear, and the first bevel gear ring cooperate to form a structure for the fire cylinder to rotate. A reciprocating screw groove is opened in the middle of the support rod. A reciprocating slider is slidably connected inside the reciprocating screw groove. The right side of the reciprocating slider is rotatably connected to the fire ring. The reciprocating screw groove and the reciprocating slider cooperate to form a structure for the fire ring to rise and fall simultaneously with the rotation of the fire cylinder.

2. The robotic intelligent palletizing system according to claim 1, characterized in that: The upper part of the support rod is provided with a rotatable second bevel gear ring. A second bevel gear meshes with the lower side of the second bevel gear ring. An adjusting handle is fixedly connected to the right side of the second bevel gear. A third bevel gear meshes with the upper side of the second bevel gear ring. A threaded screw is fixedly connected to the left side of the third bevel gear ring. The middle part of the threaded screw is threadedly connected to the sliding block. The adjusting handle, the second bevel gear ring, the third bevel gear, and the threaded screw cooperate with each other to form a structure in which the sliding block slides left and right.

3. The robotic intelligent palletizing system according to claim 2, characterized in that: The support rod has a rotatable first rotating rod inside. A second motor is fixedly connected to the lower side of the first rotating rod. A first transmission gear is fixedly connected to the upper side of the first rotating rod. A second transmission gear meshes with the upper side of the first transmission gear. A second rotating rod is fixedly connected to the left side of the second transmission gear. A large turntable is slidably connected to the middle of the second rotating rod via a sliding key. A small turntable is located below the large turntable. A transmission belt is fitted to the outer side of the large turntable. The lower part of the transmission belt engages with the small turntable. A bidirectional threaded rod is fixedly connected to the middle of the small turntable. A lifting control block is threadedly connected to the bidirectional threaded rod on each of the left and right sides of the small turntable.

4. The robotic intelligent palletizing system according to claim 3, characterized in that: The linkage mechanism includes multiple first links and multiple second links, with the middle of each first link being rotatably connected to a corresponding second link.

5. The robotic intelligent palletizing system according to claim 4, characterized in that: The upper part of the palletizing plate is provided with two connecting plates that can move left and right. The lower side of each linkage mechanism is rotatably connected to the corresponding connecting plate. The inside of the palletizing plate is fixedly connected with two electric telescopic rods. Each gripper plate is fixedly connected to the corresponding electric telescopic rod. The lower side of the sliding block is provided with multiple folding sleeves. The sliding block and the palletizing plate are both fixedly connected to the corresponding folding sleeves.

6. The robotic intelligent palletizing system according to claim 5, characterized in that: A third motor is fixedly connected to the upper side of the base, a fourth bevel gear is fixedly connected to the left side of the third motor, a third bevel gear ring meshes with the lower side of the fourth bevel gear, and the upper side of the third bevel gear ring is fixedly connected to the support rod. Each of the electric telescopic rods is adapted to the third motor, and multiple fixing holes are provided on the base.

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