An industrial palletizing robot mechanical arm

Abstract

The present invention provides an industrial palletizing robot mechanical arm, belonging to the technical field of palletizers, comprising a palletizer body, a palletizing gripper mechanism, a negative pressure auxiliary mechanism, a flipping support mechanism and a mechanical arm, wherein the front end of the palletizer body is provided with a mechanical arm, the end of the mechanical arm away from the palletizer body is provided with a palletizing gripper mechanism, one side of the palletizing gripper mechanism is provided with a negative pressure auxiliary mechanism, and the middle part of the palletizing gripper mechanism is provided with a flipping support mechanism. In the present invention, by opening the flipping support mechanism to cooperate with the palletizing gripper mechanism, when the objects are clamped and transported, the rear support tail plate supports the clamped objects, and the first servo motor is cooperated to complete the flipping of the negative pressure auxiliary mechanism and the flipping support mechanism, so that the center of gravity of the stacked objects can be transferred from the bottom to the surface of the support tail plate, thereby avoiding the scattering of the objects during transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizers, and in particular to an industrial palletizing robot mechanical arm. Background Art

[0002] A palletizer is an automated device used to stack products (usually boxes, bags or other packaged goods) into one or more layers and then place them on a pallet or board. Its main function is to stack the packaged products in a predetermined manner at the end of the production line or during the packaging process for easy transportation, storage or distribution. The palletizer can be adjusted and optimized according to different products and stacking requirements, greatly improving packaging efficiency and consistency;

[0003] The existing ones still have the following shortcomings during use. Since palletizers are often used for package handling, due to the different items being handled and the different packaging methods, many items are not completely packaged, especially glass products containing liquids. During handling, the items are often scattered. If the items are scattered, they will be damaged, which will lead to certain economic losses. In addition, conventional mechanical arms grasp and transport at the top or bottom of the box. When grasping the top, it will cause the top of the box to deform and produce deformation, causing the items inside the box to scatter. When grasping the bottom, it may cause direct damage to the items. Therefore, an industrial palletizing robot mechanical arm is needed to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide an industrial palletizing robot arm to solve the problems raised in the above background technology.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] An industrial palletizing robot mechanical arm comprises a palletizer body, a palletizing gripper mechanism, a negative pressure auxiliary mechanism, a flipping support mechanism and a mechanical arm, wherein the front end of the palletizer body is provided with the mechanical arm, an end of the mechanical arm away from the palletizer body is provided with the palletizing gripper mechanism, one side of the palletizing gripper mechanism is provided with the negative pressure auxiliary mechanism, and the middle part of the palletizing gripper mechanism is provided with the flipping support mechanism.

[0007] The clamping and stacking assembly includes a fixed clamping member, a movable member guide groove, a movable clamping member, a movable member guide block, a first positioning member, a first sliding guide rod, a first electric telescopic pump, an avoidance groove and a sliding groove. The bottom surface of the rotating sleeve is fixedly connected with a fixed clamping member, the top surface of the fixed clamping member is symmetrically provided with a movable member guide groove, the bottom surface of the fixed clamping member is slidably connected with a movable clamping member, and the top surface of the movable clamping member is symmetrically fixedly connected with a movable member guide block.

[0008] As a preferred technical solution of the present application, the stacking clamp mechanism includes a first servo motor, a first transmission shaft, a clamp flipping member, a horizontal rotation assembly and a clamping stacking assembly. A first servo motor is fixedly connected to one side of the front end of the robotic arm, and the transmission end of the first servo motor is rotatably connected to the first transmission shaft. The first transmission shaft is rotatably connected to the middle part of the robotic arm, and a clamp flipping member is fixedly connected to the surface of the first transmission shaft.

[0009] As a preferred technical solution of the present application, the horizontal rotation assembly includes a sleeve tube, a second servo motor, a second transmission shaft and a rotating sleeve. The bottom surface of the clamp flip member is fixedly connected to the sleeve tube, the middle part of the sleeve tube is fixedly connected to the second servo motor, the transmission end at the bottom of the second servo motor is rotatably connected to the second transmission shaft, the end of the second transmission shaft away from the second servo motor is fixedly connected to the rotating sleeve, and the rotating sleeve is rotatably connected to the middle part of the sleeve tube.

[0010] As a preferred technical solution of the present application, the movable part guide block is slidably connected to the inner wall of the movable part guide groove, the two ends of the movable part guide groove on one side of the top surface of the fixed clamping part are fixedly connected to the first sliding guide rod, the movable part guide block on one side is slidably connected to the surface of the first sliding guide rod, the top surface of the fixed clamping part is fixedly connected to the first electric telescopic pump, the output end of the first electric telescopic pump is fixedly connected to another movable part guide block, the surfaces of the fixed clamping part and the movable clamping part are symmetrically provided with two avoidance grooves, and a sliding groove is provided in the middle of the two avoidance grooves on the surface of the fixed clamping part.

[0011] As a preferred technical solution of the present application, the negative pressure auxiliary mechanism includes a trachea protection frame, a shunt air pipe, a negative pressure suction head, a gas collecting pipe, a negative pressure opening and closing component and a negative pressure delivery component. The movable clamping part is fixedly connected to the trachea protection frame on a side away from the fixed clamping part, and the middle part of the fixed clamping part is fixedly connected to a plurality of shunt air pipes in a linear array, the end of the shunt air pipe close to the fixed clamping part is fixedly connected to the negative pressure suction head, and the end of the shunt air pipe away from the negative pressure suction head is fixedly connected to the gas collecting pipe.

[0012] As a preferred technical solution of the present application, the negative pressure opening and closing assembly includes a gas guide member, a gas opening and closing valve and a corrugated rubber airbag. The top surface of the fixed clamp is fixedly connected to the gas guide member, one end of the gas guide member is plugged into and connected to the gas opening and closing valve, the gas opening and closing valve is fixedly connected to the movable member guide block close to the side of the first sliding guide rod, and the gas guide member and the middle part of the gas opening and closing valve are fixedly connected to the corrugated rubber airbag.

[0013] As a preferred technical solution of the present application, the negative pressure delivery assembly includes a first air supply pipe, a negative pressure air pump and a second air supply pipe, one end of the first air supply pipe is fixedly connected to the output end of the gas collecting pipe, the end of the first air supply pipe away from the gas collecting pipe is fixedly connected to the gas opening and closing valve, one side of the robotic arm is fixedly connected to the negative pressure air pump, the input end of the negative pressure air pump is fixedly connected to the second air supply pipe, and the end of the second air supply pipe away from the negative pressure air pump is fixedly connected to the surface of the gas guide.

[0014] As a preferred technical solution of the present application, the flip support mechanism includes a second positioning member, a second sliding guide rod, a distance adjustment component and an automatic adjustment component. The fixed clamping member is away from the movable clamping member and is fixedly connected to the second positioning member at both ends of the avoidance groove. The middle part of the second positioning member is fixedly connected to the second sliding guide rod.

[0015] As a preferred technical solution of the present application, the distance adjustment component includes a second electric telescopic pump, a movable support rod and a supporting tail plate, the fixed clamping member is fixedly connected to the second electric telescopic pump on one side close to the second positioning member, the middle parts of the avoidance grooves on both sides are slidably connected to movable support rods, the movable support rod on one side is slidably connected to the surface of the second sliding guide rod, the output end of the second electric telescopic pump is fixedly connected to the movable support rod, and two supporting tail plates are connected to the surfaces of the two movable support rods, and the two supporting tail plates are respectively fixedly and movably connected. After the pushing member is squeezed, the movable rod is pushed to drive the sliding block 37 and the supporting tail plate to move simultaneously, so that the supporting position of the supporting tail plate can be automatically adjusted.

[0016] As a preferred technical solution of the present application, the automatic adjustment component includes a sliding block, a pushing member, a movable rod, a pulley and a spring. The surface of the supporting tail plate movably connected to the surface of the movable support rod is fixedly connected with the sliding block, the inner wall of the sliding groove is slidably connected with the pulley, the inner wall of the pulley is slidably connected with the movable rod, the end of the movable rod away from the pulley is fixedly connected with the pushing member, and the surface of the movable rod is sleeved with a spring.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] In the scheme of this application:

[0019] 1. The device is provided with a stacking claw mechanism, and the movable clamping member cooperates with the first electric telescopic pump to move to one side of the fixed clamping member, so as to clamp the items. At the same time, the fixed clamping member and the outer side of the movable clamping member can be blocked to achieve the purpose of protecting the conveyed items;

[0020] 2. By setting up a negative pressure auxiliary mechanism, when the movable clamping part is used, it drives the gas opening and closing valve to move when it approaches the fixed clamping part, thereby realizing the opening of the negative pressure gas, and at the same time cooperating with the negative pressure suction head to clamp the object, the stability of the object clamping can be further increased, and the automatic opening and closing of the negative pressure component can be realized;

[0021] 3. By opening the flipping support mechanism and cooperating with the stacking claw mechanism, when the objects are clamped and transported, the rear support tail plate supports the clamped objects, and the first servo motor cooperates to complete the flipping of the negative pressure auxiliary mechanism and the flipping support mechanism, so that the center of gravity of the stacked objects can be transferred from the bottom to the surface of the support tail plate, thereby avoiding the scattering of objects during transportation. At the same time, it protects glass products containing liquids from being damaged during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 One of the overall structural schematic diagrams of the industrial palletizing robot mechanical arm provided in this application;

[0023] Figure 2 A schematic diagram of the connection structure between the mechanical arm and the palletizing gripper mechanism of the industrial palletizing robot mechanical arm provided in this application;

[0024] Figure 3 A schematic diagram of the disassembled structure of the palletizing gripper mechanism of the industrial palletizing robot mechanical arm provided in this application;

[0025] Figure 4 A schematic diagram of the structure of the negative pressure auxiliary mechanism of the industrial palletizing robot mechanical arm provided in this application;

[0026] Figure 5 A schematic diagram of the structure of the right side of the negative pressure auxiliary mechanism of the industrial palletizing robot mechanical arm provided in this application;

[0027] Figure 6 A schematic diagram of the structure of the negative pressure opening and closing component in the negative pressure auxiliary mechanism of the industrial palletizing robot mechanical arm provided in this application;

[0028] Figure 7 A schematic diagram of the connection structure between the palletizing gripper mechanism and the flipping support mechanism of the industrial palletizing robot mechanical arm provided in this application;

[0029] Figure 8 A schematic diagram of the structure of the flip support mechanism of the industrial palletizing robot arm provided in this application.

[0030] Indicated in the figure:

[0031] 1. Palletizer body; 2. Palletizing gripper mechanism; 3. Negative pressure auxiliary mechanism; 4. Turning support mechanism; 5. Robotic arm; 6. First servo motor; 7. First transmission shaft; 8. Gripper turning member; 9. Sleeve sleeve; 10. Second servo motor; 11. Second transmission shaft; 12. Rotating sleeve; 13. Fixed gripper; 14. Movable member guide groove; 15. Movable gripper; 16. Movable member guide block; 17. First positioning member; 18. First sliding guide rod; 19. First electric telescopic pump; 20. Avoidance groove; 21. Sliding groove; 22. Air pipe protection frame; 23. Diverter air pipe; 24. Negative pressure suction head; 25. Gas collecting pipe; 26. Gas guide member; 27. Gas opening and closing valve; 28. Corrugated rubber airbag; 29. ​​First air supply pipe; 30. Negative pressure air pump; 31. Second air supply pipe; 32. Second positioning member; 33. Second sliding guide rod; 34. Second electric telescopic pump; 35. Movable support rod; 36. Support tail plate; 37. Sliding block; 38. Pushing member; 39. Movable rod; 40. Pulley; 41. Spring. DETAILED DESCRIPTION

[0032] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0033] like Figure 1-2 As shown, the industrial palletizing robot mechanical arm proposed in this embodiment includes a palletizer body 1, a palletizing gripper mechanism 2, a negative pressure auxiliary mechanism 3, a flip support mechanism 4, a mechanical arm 5 and a rotating sleeve 12. The front end of the palletizer body 1 is provided with the mechanical arm 5, the end of the mechanical arm 5 away from the palletizer body 1 is provided with the palletizing gripper mechanism 2, the negative pressure auxiliary mechanism 3 is provided on one side of the palletizing gripper mechanism 2, and the middle part of the palletizing gripper mechanism 2 is provided with the flip support mechanism 4.

[0034] Furthermore, the clamping and stacking assembly includes a fixed clamping member 13, a movable member guide groove 14, a movable clamping member 15, a movable member guide block 16, a first positioning member 17, a first sliding guide rod 18, a first electric telescopic pump 19, an avoidance groove 20 and a sliding groove 21. The bottom surface of the rotating sleeve 12 is fixedly connected with the fixed clamping member 13, and the top surface of the fixed clamping member 13 is symmetrically provided with the movable member guide groove 14. The bottom surface of the fixed clamping member 13 is slidably connected with the movable clamping member 15, and the top surface of the movable clamping member 15 is symmetrically fixedly connected with the movable member guide block 16. The movable member guide block 16 is slidably connected to the inner wall of the movable member guide groove 14, and the two ends of the movable member guide groove 14 on one side of the top surface of the fixed clamping member 13 are fixedly connected with the first sliding A movable guide rod 18 and a movable guide block 16 on one side are slidably connected to the surface of the first sliding guide rod 18. A first electric telescopic pump 19 is fixedly connected to the top surface of the fixed clamping member 13. The output end of the first electric telescopic pump 19 is fixedly connected to another movable member guide block 16. Two avoidance grooves 20 are symmetrically provided on the surfaces of the fixed clamping member 13 and the movable clamping member 15. A sliding groove 21 is provided in the middle of the two avoidance grooves 20 on the surface of the fixed clamping member 13. The setting of the avoidance groove 20 can facilitate the placement of the second electric telescopic pump 34 and the movable support rod 35 assembly. The output end of the second electric telescopic pump 34 contracts to drive the movable support rod 35 to slide on the surface of the avoidance groove 20, and the avoidance groove 20 slides and is in close contact with the surface of the clamped object.

[0035] like Figure 1-8 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the stacking jaw mechanism 2 includes a first servo motor 6, a first transmission shaft 7, a jaw flipping member 8, a horizontal rotation component and a clamping and stacking component. One side of the front end of the mechanical arm 5 is fixedly connected to the first servo motor 6, and the transmission end of the first servo motor 6 is rotatably connected to the first transmission shaft 7. The first transmission shaft 7 is rotatably connected to the middle part of the mechanical arm 5. The surface of the first transmission shaft 7 is fixedly connected to the jaw flipping member 8. The mechanical arm 5 drives the jaw flipping member 8 and the fixed clamping member 13 at the bottom to rotate ninety degrees, thereby completing the clamping and carrying of the objects. The above-mentioned components play the purpose of driving and transmission, driving the jaw flipping member 8 to rotate according to user needs to facilitate clamping of objects.

[0036] Furthermore, the horizontal rotation assembly includes a sleeve tube 9, a second servo motor 10, a second transmission shaft 11 and a rotating sleeve 12. The bottom surface of the clamping jaw flip member 8 is fixedly connected to the sleeve tube 9, the middle part of the sleeve tube 9 is fixedly connected to the second servo motor 10, the transmission end at the bottom of the second servo motor 10 is rotatably connected to the second transmission shaft 11, and the end of the second transmission shaft 11 away from the second servo motor 10 is fixedly connected to the rotating sleeve 12. The rotating sleeve 12 is rotatably connected to the middle part of the sleeve tube 9, and the rotating sleeve 12 slides on the surface of the sleeve tube 9, and the two are connected in a limiting manner, which can facilitate the rotation and adjustment of the position of the clamping assembly and limit it.

[0037] Furthermore, the negative pressure auxiliary mechanism 3 includes a trachea protection frame 22, a shunt air pipe 23, a negative pressure suction head 24, a gas collecting pipe 25, a negative pressure opening and closing component and a negative pressure delivery component. The movable clamping member 15 is fixedly connected to the trachea protection frame 22 on one side away from the fixed clamping member 13, and the middle part of the fixed clamping member 13 is fixedly connected to multiple shunt air pipes 23 in a linear array. The end of the shunt air pipe 23 close to the fixed clamping member 13 is fixedly connected to the negative pressure suction head 24, and the end of the shunt air pipe 23 away from the negative pressure suction head 24 is fixedly connected to the gas collecting pipe 25.

[0038] Furthermore, the negative pressure opening and closing component includes a gas guide member 26, a gas opening and closing valve 27 and a corrugated rubber airbag 28. The top surface of the fixed clamping member 13 is fixedly connected to the gas guide member 26, one end of the gas guide member 26 is plugged and connected to the gas opening and closing valve 27, the gas opening and closing valve 27 is fixedly connected to the movable member guide block 16 close to the side of the first sliding guide rod 18, and the middle part of the gas guide member 26 and the gas opening and closing valve 27 is fixedly connected to the corrugated rubber airbag 28. During the movement of the movable clamping member 15, the gas opening and closing valve 27 moves away from the gas guide member 26 to open the corrugated rubber airbag 28, which facilitates the negative pressure adsorption of the component to be clamped, increases the clamping strength, and uses adsorption for preliminary positioning, thereby increasing the clamping adaptability.

[0039] Furthermore, the negative pressure delivery component includes a first air supply pipe 29, a negative pressure air pump 30 and a second air supply pipe 31, one end of the first air supply pipe 29 is fixedly connected to the output end of the gas collecting pipe 25, the end of the first air supply pipe 29 away from the gas collecting pipe 25 is fixedly connected to the gas opening and closing valve 27, one side of the robotic arm 5 is fixedly connected to the negative pressure air pump 30, the input end of the negative pressure air pump 30 is fixedly connected to the second air supply pipe 31, and the end of the second air supply pipe 31 away from the negative pressure air pump 30 is fixedly connected to the surface of the gas guide 26.

[0040] Furthermore, the flip support mechanism 4 includes a second positioning member 32, a second sliding guide rod 33, a distance adjustment component and an automatic adjustment component. The fixed clamping member 13 is away from the side of the movable clamping member 15, and the second positioning members 32 are fixedly connected at both ends of the avoidance groove 20, and the middle part of the second positioning member 32 is fixedly connected to the second sliding guide rod 33.

[0041] Furthermore, the distance adjustment component includes a second electric telescopic pump 34, a movable support rod 35 and a support tail plate 36. The second electric telescopic pump 34 is fixedly connected to one side of the fixed clamp 13 close to the second positioning member 32. The middle parts of the avoidance grooves 20 on both sides are slidably connected to the movable support rod 35. The movable support rod 35 on one side is slidably connected to the surface of the second sliding guide rod 33. The output end of the second electric telescopic pump 34 is fixedly connected to the movable support rod 35. Two support tail plates 36 are connected to the surfaces of the two movable support rods 35. The two support tail plates 36 are respectively fixedly and movably connected.

[0042] Furthermore, the automatic adjustment component includes a sliding block 37, a pushing member 38, a movable rod 39, a pulley 40 and a spring 41. The surface of the support tail plate 36 movably connected to the surface of the movable support rod 35 is fixedly connected with the sliding block 37, the inner wall of the sliding groove 21 is slidably connected with the pulley 40, the inner wall of the pulley 40 is slidably connected with the movable rod 39, the end of the movable rod 39 away from the pulley 40 is fixedly connected with the pushing member 38, and the surface of the movable rod 39 is sleeved with a spring 41, which is arranged on the side of the sliding block 37 to buffer the sliding of the sliding block 37 to avoid damage to the clamped part due to excessive sliding speed during clamping.

[0043] Specifically, when the industrial palletizing robot mechanical arm is in use: first, when the palletizer body 1 is turned on, the fixed clamping member 13 and the movable clamping member 15 are moved to the top of the transported item. After completion, the output end of the first electric telescopic pump 19 is turned on to contract, and the movable clamping member 15 slides toward the fixed clamping member 13 on the surface of the first sliding guide rod 18 through the movable member guide block 16. During the movement of the movable clamping member 15, the gas opening and closing valve 27 moves away from the gas guide member 26 to open the corrugated rubber airbag 28. At the same time, the gas guide member 26 is separated from the gas opening and closing valve 27 to connect the negative pressure air pump 30, the second air supply pipe 31 and the first air supply pipe 29. The negative pressure air pump 30 uses negative pressure suction to make the negative pressure suction head 24 contact the fixed clamping member 13 and the movable clamping member 15. The items in the middle are adsorbed, and after completion, the second electric telescopic pump 34 is turned on. The output end of the second electric telescopic pump 34 contracts and drives the movable support rod 35 to slide on the surface of the avoidance groove 20. The avoidance groove 20 slides and is in close contact with the surface of the clamped items. The movable clamping member 15 approaches the fixed clamping member 13 and squeezes the pushing member 38. After the pushing member 38 is squeezed, it pushes the movable rod 39 to drive the sliding block 37 and the supporting tail plate 36 to move at the same time, so that the supporting position of the supporting tail plate 36 can be automatically adjusted. After completion, the stacker body 1 drives the items to be lifted, and at the same time, the first servo motor 6 is turned on to drive the mechanical arm 5 to rotate. The mechanical arm 5 drives the clamping claw flipping member 8 and the fixed clamping member 13 at the bottom to rotate ninety degrees, so that the clamping and transportation of the items can be completed.

[0044] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. An industrial palletizing robot mechanical arm, comprising a palletizing machine body (1), a palletizing gripper mechanism (2), a negative pressure auxiliary mechanism (3), a flip support mechanism (4), a mechanical arm (5) and a rotating sleeve (12), characterized in that: A mechanical arm (5) is provided at the front end of the palletizer body (1); a palletizing gripper mechanism (2) is provided at one end of the mechanical arm (5) away from the palletizer body (1); a negative pressure auxiliary mechanism (3) is provided on one side of the palletizing gripper mechanism (2); and a flip support mechanism (4) is provided in the middle of the palletizing gripper mechanism (2); The stacking gripper mechanism (2) comprises a first servo motor (6), a first transmission shaft (7), a gripper flipping member (8), a horizontal rotation assembly and a gripping and stacking assembly; one side of the front end of the mechanical arm (5) is fixedly connected to the first servo motor (6); the transmission end of the first servo motor (6) is rotatably connected to the first transmission shaft (7); the first transmission shaft (7) is rotatably connected to the middle of the mechanical arm (5); and the surface of the first transmission shaft (7) is fixedly connected to the gripper flipping member (8); The clamping and stacking assembly comprises a fixed clamping member (13), a movable member guide groove (14), a movable clamping member (15), a movable member guide block (16), a first positioning member (17), a first sliding guide rod (18), a first electric telescopic pump (19), an avoidance groove (20) and a sliding groove (21); the bottom surface of the rotating sleeve (12) is fixedly connected to the fixed clamping member (13); the top surface of the fixed clamping member (13) is symmetrically provided with a movable member guide groove (14); the bottom surface of the fixed clamping member (13) is slidably connected to the movable clamping member (15); the top surface of the movable clamping member (15) is symmetrically fixedly connected to the movable member guide block (16); The tilting support mechanism (4) comprises a second positioning member (32), a second sliding guide rod (33), a distance adjustment component and an automatic adjustment component. The fixed clamping member (13) is fixedly connected to the second positioning member (32) at both ends of the side away from the movable clamping member (15) and located in the avoidance groove (20). The middle of the second positioning member (32) is fixedly connected to the second sliding guide rod (33). The distance adjustment component comprises a second electric telescopic pump (34), a movable support rod (35) and a supporting tail plate (36). The fixed clamping member (13) is fixedly connected to the second sliding guide rod (33). 13) A second electric telescopic pump (34) is fixedly connected to one side close to the second positioning member (32), and movable support rods (35) are slidably connected to the middle parts of the avoidance grooves (20) on both sides. The movable support rod (35) on one side is slidably connected to the surface of the second sliding guide rod (33), and the output end of the second electric telescopic pump (34) is fixedly connected to the movable support rod (35). Two support tail plates (36) are connected to the surfaces of the two movable support rods (35), and the two support tail plates (36) are respectively fixedly connected and movably connected.

2. The industrial palletizing robot arm according to claim 1, characterized in that: The horizontal rotation assembly comprises a sleeve (9), a second servo motor (10), a second transmission shaft (11) and a rotating sleeve (12); the bottom surface of the clamping jaw flip member (8) is fixedly connected to the sleeve (9); the middle part of the sleeve (9) is fixedly connected to the second servo motor (10); the transmission end at the bottom of the second servo motor (10) is rotatably connected to the second transmission shaft (11); one end of the second transmission shaft (11) away from the second servo motor (10) is fixedly connected to the rotating sleeve (12); and the rotating sleeve (12) is rotatably connected to the middle part of the sleeve (9).

3. The industrial palletizing robot arm according to claim 2, characterized in that: The movable member guide block (16) is slidably connected to the inner wall of the movable member guide groove (14); the two ends of the movable member guide groove (14) on one side of the top surface of the fixed clamping member (13) are fixedly connected to a first sliding guide rod (18); the movable member guide block (16) on one side is slidably connected to the surface of the first sliding guide rod (18); the top surface of the fixed clamping member (13) is fixedly connected to a first electric telescopic pump (19); the output end of the first electric telescopic pump (19) is fixedly connected to another movable member guide block (16); two avoidance grooves (20) are symmetrically provided on the surfaces of the fixed clamping member (13) and the movable clamping member (15); a sliding groove (21) is provided in the middle of the two avoidance grooves (20) on the surface of the fixed clamping member (13).

4. The industrial palletizing robot arm according to claim 3, characterized in that: The negative pressure auxiliary mechanism (3) comprises a trachea protection frame (22), a shunt air pipe (23), a negative pressure suction head (24), a gas collecting pipe (25), a negative pressure opening and closing component and a negative pressure delivery component; the movable clamp (15) is fixedly connected to the trachea protection frame (22) on a side away from the fixed clamp (13); a plurality of shunt air pipes (23) are fixedly connected in a linear array in the middle of the fixed clamp (13); one end of the shunt air pipe (23) close to the fixed clamp (13) is fixedly connected to the negative pressure suction head (24); and one end of the shunt air pipe (23) away from the negative pressure suction head (24) is fixedly connected to the gas collecting pipe (25).

5. The industrial palletizing robot arm according to claim 4, characterized in that: The negative pressure opening and closing assembly comprises a gas guide member (26), a gas opening and closing valve (27) and a corrugated rubber airbag (28); the top surface of the fixed clamping member (13) is fixedly connected to the gas guide member (26); one end of the gas guide member (26) is plug-connected to the gas opening and closing valve (27); the gas opening and closing valve (27) is fixedly connected to a movable member guide block (16) on one side close to the first sliding guide rod (18); and the corrugated rubber airbag (28) is fixedly connected between the gas guide member (26) and the middle part of the gas opening and closing valve (27).

6. The industrial palletizing robot arm according to claim 5, characterized in that: The negative pressure delivery assembly comprises a first air supply pipe (29), a negative pressure air pump (30) and a second air supply pipe (31); one end of the first air supply pipe (29) is fixedly connected to the output end of the gas manifold (25); one end of the first air supply pipe (29) away from the gas manifold (25) is fixedly connected to the gas opening and closing valve (27); one side of the mechanical arm (5) is fixedly connected to the negative pressure air pump (30); the input end of the negative pressure air pump (30) is fixedly connected to the second air supply pipe (31); and one end of the second air supply pipe (31) away from the negative pressure air pump (30) is fixedly connected to the surface of the gas guide member (26).

7. The industrial palletizing robot arm according to claim 1, characterized in that: The automatic adjustment component comprises a sliding block (37), a pushing member (38), a movable rod (39), a pulley (40) and a spring (41); the sliding block (37) is fixedly connected to the surface of the supporting tail plate (36) movably connected to the surface of the movable supporting rod (35); the inner wall of the sliding groove (21) is slidably connected to the pulley (40); the inner wall of the pulley (40) is slidably connected to the movable rod (39); one end of the movable rod (39) away from the pulley (40) is fixedly connected to the pushing member (38); and the surface of the movable rod (39) is sleeved with a spring (41).

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