A positioning auxiliary device for a robot palletizer

Abstract

The present invention belongs to the technical field of loading and unloading auxiliary positioning, and discloses a positioning auxiliary device for a robot palletizer, including a transport platform, a motor is installed on the front of the transport platform, a plurality of transport rollers are rotatably installed inside the transport platform, a limit plate is installed on the right side of the top of the transport platform, and a bottom plate is fixedly installed at the bottom of the transport platform. The device is provided with abutment cylinder three, abutment cylinder two and abutment cylinder one to abut against the outer surface of the tire and form a rolling limit, and then drives the abutment cylinder three and the connecting frame as a whole to rotate around the axis of the rotating shaft one toward one side of the installation frame, drives the connecting rod and the clamping column to rotate, makes the clamping block move upward along the inner wall of the vertical groove, and stretches the spring one to generate a reaction force on the tire, and the tire will drive the support plate to move horizontally. At this time, the ball bearings roll and support the support plate, reducing the friction of the tire during movement, and greatly improving the positioning efficiency of the device.

Description

Technical Field

[0001] The invention belongs to the technical field of loading and unloading auxiliary positioning, and in particular relates to a positioning auxiliary device for a robot palletizer. Background Art

[0002] On the tire production line, the tires assembled on the assembly line need to be stacked for easy transportation and storage. The robot palletizer grabs the tires on the transport line and loads and unloads them to the stacking area. In order to improve the accuracy and efficiency of the palletizer grabbing the tires, a positioning auxiliary device is generally set at the grabbing area at the end of the transport line to assist the palletizer in loading and unloading the tires, so that the palletizer grabbing parts can grab the tires more accurately; the positioning auxiliary device used for the robot palletizer in the prior art uses various limiting mechanisms to abut against the tires that deviate from the direction of movement, and cooperates with the friction force of the transmission roller on the transport line on the tire to control the movement direction and position of the tire. Synchronous deviation correction is performed, but this design has the following defects: the limiting mechanism adopts a limiting rod or other columnar components in a fixed position, and the outer edge of the tire is made of rubber material. The contact between the two will produce a large friction force, so that the tire cannot quickly respond to the change in the resistance force, and thus cannot make a more accurate motion correction operation after being subjected to force. Therefore, in the actual working process, the function of the positioning auxiliary device is often not ideal. In the process of continuous transportation, the tires moving back and forth will be squeezed, which will cause the position of the subsequent tires to deviate further. Therefore, the present invention is committed to overcoming the above-mentioned potential defects and designing a new positioning auxiliary device for a robot palletizer. Summary of the invention

[0003] The object of the present invention is to provide a positioning auxiliary device for a robot palletizer to solve the problems raised in the above background technology.

[0004] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a positioning auxiliary device for a robot palletizer, comprising a transport platform, a motor is installed on the front of the transport platform, a plurality of transport rollers are rotatably installed inside the transport platform, a limit plate is installed on the right side of the top of the transport platform, a bottom plate is fixedly installed at the bottom of the transport platform, a telescopic rod and a plurality of reset columns are installed on the top of the bottom plate, a moving disk is fixedly installed at the telescopic end of the telescopic rod, a support disk is placed on the top of the moving disk, a plurality of balls are rotatably installed on the bottom of the support disk, the balls roll and abut against the top of the moving disk, a tire is placed on the top of the transport roller, a mounting ring is fixedly installed on the top of the transport platform, and a plurality of positioning mechanisms with equidistant circumferences are fixedly installed on the inner ring surface of the mounting ring;

[0005] The outer surfaces of the two groups of transport rollers in the middle are provided with placement grooves, the moving plates and the support plates are located in the placement grooves, and the support plates are lower than the top of the outer surfaces of the transport rollers;

[0006] The positioning mechanism includes an installation frame, two groups of fixing frames are fixedly installed on the side of the installation frame, a vertical slot is opened on one side of the fixing frame, a rotating shaft 1 and an abutment cylinder 1 are rotatably installed on the bottom of the two groups of the fixing frames, the front and rear sides of the outer surface of the rotating shaft 1 are rotatably installed with connecting frames, abutment cylinder 2 and rotating shaft 2 are rotatably installed inside the two groups of the connecting frames, abutment cylinder 3 is rotatably installed on the outer surface of the rotating shaft 2, connecting rods are rotatably installed on both ends of the rotating shaft 2, the inner side surface of the connecting rod is fixedly connected with a clamping column, the outer surface of the clamping column is movably sleeved with a clamping block located in the vertical slot, and a spring 1 is elastically connected between the clamping block and the bottom of the vertical slot.

[0007] As a preferred solution of the present invention, a reset ring is fixedly installed on the outer surface of the support plate, and four groups of circumferentially equidistantly distributed limiting rings are fixedly installed on the outer edge of the bottom of the inner cavity of the movable plate, and the outer surface of the limiting ring is movably sleeved with a movable column that penetrates downward through the bottom of the movable plate, and the top of the movable column is fixedly connected with a positioning block, and the outer surface of the movable column is movably sleeved with a spring 2 located below the movable plate, and the two ends of the spring 2 are elastically connected to the movable plate and the movable column respectively, and the top of the reset column abuts against the movable column.

[0008] As a preferred solution of the present invention, the top of the positioning block is spherical in design, the outer surface of the positioning block abuts against the outer ring surface of the reset ring, and the outer ring surface of the reset ring is inclined in design.

[0009] As a preferred solution of the present invention, the bottom of the support plate is provided with a plurality of groups of support grooves equidistantly distributed around the circumference, in which the balls are rotatably installed, and the bottom of the outer floating portion of the support plate abuts against the top outer edge of the movable plate.

[0010] As a preferred solution of the present invention, a clearance groove is formed on a side of the fixing frame facing away from the installation frame, and the end of the second outer surface of the rotating shaft is matched with the clearance groove.

[0011] As a preferred solution of the present invention, the clamping block is slidably mounted on the inner wall of the vertical slot, and moves up and down along the inner wall of the vertical slot driven by the abutment tube three, the connecting rod and the clamping column.

[0012] As a preferred solution of the present invention, the cross-sectional shape of the limiting plate is "L"-shaped, and the right side of the tire abuts against the limiting plate.

[0013] As a preferred solution of the present invention, a limit frame is fixedly installed on the left side of the movable plate, the movable plate is hollow in design, and the movable plate is made of rubber.

[0014] The beneficial effects of the present invention are as follows:

[0015] 1. The device has been redesigned, and a moving plate and a supporting plate are added to the transport end area of ​​the transport platform. The tire is driven upward by the telescopic rod and enters the auxiliary positioning area of ​​the positioning mechanism. The tire is supported by the supporting plate and the ball rolling. When the telescopic rod drives the moving plate, the supporting plate and the tire to move upward, the abutment cylinder three, the abutment cylinder two and the abutment cylinder one abut against the outer surface of the tire and form a rolling limit, and then the abutment cylinder three and the connecting frame are driven to rotate toward one side of the mounting frame as a whole around the axis of the rotating shaft one, and the connecting rod and the clamping column are driven to rotate, so that the clamping block moves upward along the inner wall of the vertical groove, and the spring one is stretched to generate a reaction force on the tire, and the tire will drive the supporting plate to move horizontally. At this time, the ball rolling supports the supporting plate, which reduces the friction of the tire during movement and greatly improves the positioning efficiency of the device.

[0016] 2. The device is also provided with a reset column abutting against the moving column, which helps to push the supporting plate to automatically reset when the moving plate moves downward to reset. By providing a second spring to apply pressure to the moving column downward, the moving plate is driven upward by the telescopic rod, driving the moving column to break away from the abutment of the reset column, thereby driving the positioning block to move downward and releasing the limiting abutment on the reset ring, so that the supporting plate can move freely under the limit of the positioning mechanism. When the moving plate is reset downward, the moving column is limited by the reset column, and the moving column is pushed upward to compress the second spring, thereby driving the positioning block to abut the inclined surface of the outer ring surface of the reset ring, and pushing the supporting plate back to its original position.

[0017] 3. The device is provided with a connecting frame to drive the abutment cylinder three and the abutment cylinder two to rotate around the axis of the rotating shaft one, so as to give way when the tire contacts it, and drive the connecting rod and the clamping column to rotate, drive the clamping block to move upward, and stretch the spring one, so that the rebound force generated acts on the surface of the tire, and then presses the tire to position it until the clamping block moves upward to the highest point and can no longer move. At this time, the position of the abutment cylinder three remains stationary, but still maintains rolling contact with the tire, avoiding the additional influence of sliding friction, and achieving higher positioning accuracy for the tire. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a top view schematic diagram of the overall structure of the present invention;

[0020] Figure 3 It is a front cutaway schematic diagram of the overall structure of the present invention;

[0021] Figure 4 For the present invention Figure 3 A magnified schematic diagram of the structure at center A;

[0022] Figure 5For the present invention Figure 3 A magnified schematic diagram of the structure at B in the middle;

[0023] Figure 6 It is a front schematic diagram of the transport platform of the present invention;

[0024] Figure 7 It is a schematic diagram of the separation of the bottom plate, the reset column, the telescopic rod, the movable plate, the limit frame, the support plate, the ball bearing, the reset ring, the movable column and the positioning block of the present invention;

[0025] Figure 8 For the present invention Figure 7 A magnified schematic diagram of the structure at C in the middle;

[0026] Fig. 9 It is a schematic diagram of the separation of the positioning mechanism of the present invention.

[0027] In the figure: 1. transport platform; 2. transport roller; 21. placement groove; 3. limit plate; 4. tire; 5. mounting ring; 6. positioning mechanism; 61. mounting frame; 62. fixing frame; 63. vertical groove; 64. clearance groove; 65. rotating shaft one; 66. abutment cylinder one; 67. connecting frame; 68. abutment cylinder two; 69. rotating shaft two; 610. abutment cylinder three; 611. connecting rod; 612. clamping column; 613. clamping block; 614. spring one; 7. bottom plate; 8. reset column; 9. telescopic rod; 10. moving plate; 11. limit frame; 12. support plate; 13. support groove; 14. ball; 15. reset ring; 16. moving column; 17. positioning block; 18. spring two; 19. limit ring. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figures 1 to 9As shown, an embodiment of the present invention provides a positioning auxiliary device for a robot palletizer, comprising a transport platform 1, a motor is installed on the front of the transport platform 1, a plurality of transport rollers 2 are rotatably installed inside the transport platform 1, a limit plate 3 is installed on the right side of the top of the transport platform 1, a bottom plate 7 is fixedly installed at the bottom of the transport platform 1, a telescopic rod 9 and a plurality of reset columns 8 are installed on the top of the bottom plate 7, a moving disk 10 is fixedly installed at the telescopic end of the telescopic rod 9, a support disk 12 is placed on the top of the moving disk 10, a plurality of balls 14 are rotatably installed on the bottom of the support disk 12, the balls 14 roll and abut against the top of the moving disk 10, a tire 4 is placed on the top of the transport roller 2, a mounting ring 5 is fixedly installed on the top of the transport platform 1, and a plurality of positioning mechanisms 6 with equidistant circumferences are fixedly installed on the inner ring surface of the mounting ring 5;

[0030] The outer surfaces of the two groups of transport rollers 2 in the middle are provided with placement grooves 21, the moving plate 10 and the support plate 12 are located in the placement grooves 21, and the support plate 12 is lower than the top of the outer surface of the transport roller 2; during the horizontal transportation of the tire 4, the support plate 12 lower than the top of the outer surface of the transport roller 2 will not generate friction resistance to the tire 4;

[0031] The positioning mechanism 6 comprises a mounting frame 61, two sets of fixing frames 62 are fixedly mounted on the side of the mounting frame 61, a vertical slot 63 is provided on one side of the fixing frames 62, a rotating shaft 1 65 and an abutting cylinder 1 66 are rotatably mounted on the bottom of the two sets of fixing frames 62, a connecting frame 67 is rotatably mounted on both the front and rear sides of the outer surface of the rotating shaft 1 65, an abutting cylinder 2 68 and a rotating shaft 2 69 are rotatably mounted inside the two sets of connecting frames 67, an abutting cylinder 3 610 is rotatably mounted on the outer surface of the rotating shaft 2 69, connecting rods 611 are rotatably mounted on both ends of the rotating shaft 2 69, a clamping column 612 is fixedly connected to the inner side of the connecting rod 611, a clamping block 613 located in the vertical slot 63 is movably sleeved on the outer surface of the clamping column 612, and a spring 1 614 is elastically connected between the clamping block 613 and the bottom of the vertical slot 63;

[0032] The present device has been redesigned, and a movable plate 10 and a support plate 12 are added to the transport end area of ​​the transport platform 1. The tire 4 is driven upward by the telescopic rod 9 and enters the auxiliary positioning area of ​​the positioning mechanism 6. The tire 4 is rollingly supported by the support plate 12 and the ball bearings 14. When the telescopic rod 9 drives the movable plate 10, the support plate 12 and the tire 4 to move upward, the abutment cylinder three 610, the abutment cylinder two 68 and the abutment cylinder one 66 are provided to abut against the outer surface of the tire 4 and form a rolling limit, and then drive the abutment cylinder three 610 and the connecting frame 67 to rotate toward one side of the mounting frame 61 around the axis of the rotating shaft one 65 as a whole, drive the connecting rod 611 and the clamping column 612 to rotate, make the clamping block 613 move upward along the inner wall of the vertical groove 63, and stretch the spring one 614 to generate a reaction force on the tire 4, and the tire 4 will drive the support plate 12 to move horizontally. At this time, the ball bearings 14 roll and support the support plate 12, reduce the friction of the tire 4 during the movement, and greatly improve the positioning efficiency of the device.

[0033] Among them, a reset ring 15 is fixedly installed on the outer surface of the support plate 12, and four groups of circumferentially equidistantly distributed limiting rings 19 are fixedly installed on the outer edge of the bottom of the inner cavity of the moving plate 10. The outer surface of the limiting ring 19 is movably sleeved with a moving column 16 that penetrates downwardly through the bottom of the moving plate 10. The top of the moving column 16 is fixedly connected with a positioning block 17. The outer surface of the moving column 16 is movably sleeved with a spring 2 18 located below the moving plate 10. The two ends of the spring 2 18 are elastically connected to the moving plate 10 and the moving column 16 respectively, and the top of the reset column 8 abuts against the moving column 16.

[0034] The device is also provided with a reset column 8 abutting against the movable column 16, which helps to push the support plate 12 to automatically reset when the movable plate 10 moves downward to reset. By providing a second spring 18 to apply downward pressure to the movable column 16, the movable plate 10 is driven by the telescopic rod 9 to move upward, driving the movable column 16 to break away from the abutment of the reset column 8, thereby driving the positioning block 17 to move downward, and releasing the limiting abutment on the reset ring 15, so that the support plate 12 can move freely under the limitation of the positioning mechanism 6. When the movable plate 10 is reset downward, the movable column 16 is limited by the reset column 8, and the movable column 16 is pushed upward, compressing the second spring 18, thereby driving the positioning block 17 to abut against the inclined surface of the outer ring surface of the reset ring 15, and pushing the support plate 12 back to its original position.

[0035] The top of the positioning block 17 is spherical in design, and the outer surface of the positioning block 17 abuts against the outer surface of the reset ring 15, and the outer surface of the reset ring 15 is inclined in design;

[0036] The spherical design of the positioning block 17 can prevent the positioning block 17 from getting stuck with the outer ring surface of the reset ring 15 due to its arc surface design when it contacts the reset ring 15 .

[0037] The bottom of the support plate 12 is provided with a plurality of support grooves 13 equidistantly distributed around the circumference, in which the balls 14 are rotatably installed, and the bottom of the outer floating part of the support plate 12 abuts against the top outer edge of the moving plate 10;

[0038] The bottom of the outer floating part of the support plate 12 abuts against the top of the outer edge of the support plate 12, but the support plate 12 as a whole has balls 14 to provide rolling support. Therefore, the support plate 12 is subjected to rolling friction when moving. Therefore, when the support plate 12 moves with the tire 4, its final positioning accuracy will not be affected by excessive friction.

[0039] A clearance groove 64 is formed on the side of the fixing frame 62 facing away from the mounting frame 61, and the end of the outer surface of the second rotating shaft 69 is adapted to the clearance groove 64;

[0040] The clearance groove 64 is used to allow the outer surface of the second rotating shaft 69 to make way when the second rotating shaft 69 rotates close to the side of the fixing bracket 62 .

[0041] The clamping block 613 is slidably mounted on the inner wall of the vertical slot 63, and moves up and down along the inner wall of the vertical slot 63 driven by the abutment tube 3 610, the connecting rod 611 and the clamping column 612;

[0042] The device is provided with a connecting frame 67 to drive the abutment cylinder three 610 and the abutment cylinder two 68 to rotate around the axis of the rotating shaft one 65, so as to make way when the tire 4 contacts it, and drive the connecting rod 611 and the clamping column 612 to rotate, drive the clamping block 613 to move upward, and stretch the spring one 614, so that the rebound force generated acts on the surface of the tire 4, thereby pressurizing and positioning the tire 4 until the clamping block 613 moves upward to the highest point and can no longer move. At this time, the abutment cylinder three 610 remains in a fixed position, but still maintains rolling contact with the tire 4, avoiding the additional influence of sliding friction, and achieving higher positioning accuracy for the tire 4.

[0043] The cross-sectional shape of the limiting plate 3 is an "L" shape, and the right side of the tire 4 abuts against the limiting plate 3;

[0044] The limiting plate 3 is used to intercept the tire 4 and make it pause at a specified position, which is located directly above the support plate 12 and has a gap with the top of the support plate 12 to facilitate the movement of the tire 4.

[0045] The left side of the movable plate 10 is fixedly installed with a limited position frame 11, the movable plate 10 is hollow in design, and the movable plate 10 is made of rubber;

[0046] The limit frame 11 is used to limit and intercept the next group of moving tires 4 to prevent the tires 4 from continuing to be pressed when the current tires 4 are being positioned, thereby affecting the subsequent auxiliary positioning work.

[0047] Working principle:

[0048] When the device is working, the tire 4 is placed on the transport roller 2, the motor is started and the transport roller 2 is driven to rotate, driving the tire 4 to move to the right and abut against the limit plate 3, at which time the tire 4 stops moving;

[0049] Then, the telescopic rod 9 is started and the movable plate 10 and the supporting plate 12 are driven upward, and the tire 4 is dropped on the supporting plate 12. At this time, the limit frame 11 moves upward with the movable plate 10 and blocks the subsequent tire 4. The movable plate 10 and the supporting plate 12 drive the tire 4 to move upward continuously until the tire 4 contacts the positioning mechanism 6, and is ready to perform the positioning and deviation correction operation;

[0050] Then, the tire 4 moves upward, and its outer surface facing upward contacts with the abutment tube three 610, and drives the abutment tube three 610 to roll. At the same time, by applying pressure to the abutment tube three 610, the rotating shaft two 69 and the connecting frame 67 are driven to rotate around the axis of the rotating shaft one 65, and the direction is toward the side close to the mounting frame 61. At the same time, the connecting rod 611 rotates, and the connecting rod 611 drives the clamping column 612 and the clamping block 613 to move upward along the inner wall of the vertical groove 63, and stretches the spring one 614. When the clamping block 613 moves upward to abut against the top of the inner wall of the vertical groove 63 and cannot move, the abutment tube three 610 no longer revolves around the rotating shaft one 65. At this time, the abutment tube three 610 generates a rigid thrust on the tire 4, and drives the support plate 12 to move, so that the tire 4 is located at the positioning center. When the support plate 12 moves, it drives the ball 14 to roll synchronously.

[0051] Finally, the tire 4 is positioned, and the gripping mechanism of the robot palletizer enters a fixed position according to a pre-designed program, and clamps and grips the outer surface of the tire 4. Subsequently, the telescopic rod 9 drives the movable plate 10 and the support plate 12 to move downward. When the movable plate 10 drives the movable column 16 to move downward until it abuts against the reset column 8, the movable column 16 drives the positioning block 17 to be held upward by the reset column 8 and continues to move upward, thereby abutting against the outer surface of the reset ring 15 through the top of the positioning block 17, driving the support plate 12 to reset.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A positioning auxiliary device for a robot palletizer, comprising a transport platform (1), a motor is installed on the front of the transport platform (1), a plurality of transport rollers (2) are rotatably installed inside the transport platform (1), and a limit plate (3) is installed on the right side of the top of the transport platform (1), characterized in that: A bottom plate (7) is fixedly mounted on the bottom of the transport platform (1), a telescopic rod (9) and a plurality of reset columns (8) are mounted on the top of the bottom plate (7), a movable plate (10) is fixedly mounted on the telescopic end of the telescopic rod (9), a support plate (12) is placed on the top of the movable plate (10), a plurality of groups of balls (14) are rotatably mounted on the bottom of the support plate (12), the balls (14) roll against the top of the movable plate (10), a tire (4) is placed on the top of the transport roller (2), a mounting ring (5) is fixedly mounted on the top of the transport platform (1), and a plurality of groups of circumferentially equidistantly distributed positioning mechanisms (6) are fixedly mounted on the inner ring surface of the mounting ring (5); The positioning mechanism (6) comprises a mounting frame (61), two groups of fixing frames (62) are fixedly mounted on the side of the mounting frame (61), one side of the fixing frames (62) is provided with a vertical slot (63), a rotating shaft (65) and an abutting tube (66) are rotatably mounted on the bottom of the two groups of fixing frames (62), a connecting frame (67) is rotatably mounted on the front and rear sides of the outer surface of the rotating shaft (65), and abutting tubes (68) are rotatably mounted inside the two groups of connecting frames (67). ) and a second rotating shaft (69), an abutment cylinder (610) is rotatably mounted on the outer surface of the second rotating shaft (69), connecting rods (611) are rotatably mounted on both ends of the second rotating shaft (69), a clamping column (612) is fixedly connected to the inner side of the connecting rod (611), a clamping block (613) located in the vertical groove (63) is movably sleeved on the outer surface of the clamping column (612), and a spring (614) is elastically connected between the clamping block (613) and the bottom of the vertical groove (63); A reset ring (15) is fixedly mounted on the outer surface of the support plate (12); four groups of circumferentially equidistantly distributed limiting rings (19) are fixedly mounted on the outer edge of the bottom of the inner cavity of the movable plate (10); a movable column (16) penetrating downwardly through the bottom of the movable plate (10) is movably sleeved on the outer surface of the limiting ring (19); a positioning block (17) is fixedly connected to the top of the movable column (16); a second spring (18) located below the movable plate (10) is movably sleeved on the outer surface of the movable column (16); two ends of the second spring (18) are elastically connected to the movable plate (10) and the movable column (16) respectively; the top of the reset column (8) abuts against the movable column (16); placement grooves (21) are provided on the outer surfaces of the two groups of transport rollers (2) located in the middle; the movable plate (10) and the support plate (12) are located in the placement grooves (21); and the support plate (12) is lower than the top of the outer surface of the transport roller (2).

2. A positioning auxiliary device for a robotic palletizer according to claim 1, characterized in that: The top of the positioning block (17) is spherical in design, the outer surface of the positioning block (17) abuts against the outer ring surface of the reset ring (15), and the outer ring surface of the reset ring (15) is inclined in design.

3. A positioning auxiliary device for a robotic palletizer according to claim 2, characterized in that: The bottom of the support plate (12) is provided with a plurality of groups of support grooves (13) equidistantly distributed around the circumference, in which the balls (14) are rotatably mounted, and the bottom of the outer floating portion of the support plate (12) abuts against the top outer edge of the movable plate (10).

4. A positioning auxiliary device for a robotic palletizer according to claim 3, characterized in that: A clearance groove (64) is provided on a side of the fixing frame (62) facing away from the installation frame (61), and an end of the outer surface of the second rotating shaft (69) is adapted to the clearance groove (64).

5. A positioning auxiliary device for a robotic palletizer according to claim 4, characterized in that: The clamping block (613) is slidably mounted on the inner wall of the vertical slot (63), and moves up and down along the inner wall of the vertical slot (63) driven by the abutting tube (610), the connecting rod (611) and the clamping column (612).

6. A positioning auxiliary device for a robotic palletizer according to claim 5, characterized in that: The cross-sectional shape of the limiting plate (3) is an "L" shape, and the right side of the tire (4) abuts against the limiting plate (3).

7. A positioning auxiliary device for a robotic palletizer according to claim 6, characterized in that: A limit frame (11) is fixedly installed on the left side of the movable plate (10); the movable plate (10) is hollow in design and is made of rubber.

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