Multi-shaft stacking industrial robot and working method thereof

Abstract

The invention relates to the technical field of stacking industrial robots, and discloses a multi-axis stacking industrial robot and a working method thereof.The multi-axis stacking industrial robot comprises a control cabinet, a base, a mechanical arm and an end effector, and the control cabinet is arranged on one side of the base and electrically connected with the base through a wire; the mechanical arm is arranged at the upper end of the base and electrically connected with the control cabinet through a wire, position information of a target object is captured through the high-definition camera, and accurate target recognition and position adjustment can be achieved in combination with an image processing algorithm in the control cabinet; the clamping point position base is accurately adjusted through the position adjusting set, it is guaranteed that each clamping point can accurately make contact with different parts of a carrying box, the universality and flexibility of the palletizing robot are improved, the same end effector treats cargoes of various specifications, the economic practicability of the equipment is improved, and the working efficiency is improved. The invention has the characteristics of strong practicability and high operation stability.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing industrial robots, in particular to a multi-axis palletizing industrial robot and a working method thereof. Background Art

[0002] The palletizing workstation is the product of the deep integration of machinery and computer programs, which greatly improves the efficiency of modern production. This type of automation equipment is widely used in the palletizing industry, especially those coordinate robots that use patented technology. These robots are compact in design and can achieve efficient full-automatic operation in a small space, thus turning the envisioned efficient and energy-saving production line into reality. With the continuous development of the economy and the acceleration of scientific and technological progress, the application scope of the palletizing workstation has expanded to multiple fields, including but not limited to gluing, spot welding, arc welding, spraying, material handling and precision measurement. This versatility and flexibility make it an indispensable part of modern industrial automation.

[0003] In the field of industrial automation, palletizing robots are widely used equipment for moving products from the end of the production line to the pallet to form neat stacks. Current palletizing robots often rely solely on palletizing arms to hold the goods when working. Palletizing arms are generally configured as grippers or suction cups. Traditional grippers or suction cups are usually designed for cargo boxes of specific sizes and shapes. If cargo boxes of different sizes or shapes need to be processed, different end effectors may need to be replaced. In addition, there is a lack of real-time weight detection and overload protection functions. Once the goods fall off the palletizing arms, it is easy to cause damage to the goods. The safety and stability are low. Therefore, it is necessary to design a multi-axis palletizing industrial robot and a working method thereof with strong practicality and high operating stability. Summary of the invention

[0004] The object of the present invention is to provide a multi-axis palletizing industrial robot and a working method thereof to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a multi-axis palletizing industrial robot and a working method thereof, comprising a control cabinet, a base, a mechanical arm and an end effector, wherein the control cabinet is arranged on one side of the base and is electrically connected through a wire, the mechanical arm is arranged on the upper end of the base and the mechanical arm and the control cabinet are electrically connected through a wire, the end effector is arranged at the end of the mechanical arm, the end effector comprises a clamping frame, a roller clamping group and a position adjustment group, the clamping frame comprises a top plate, a clamping plate, a high-definition camera and an adjustment member, the top plate is fixed The robot is fixedly installed at the end of the robotic arm, the clamping plate is symmetrically arranged at the lower end of the top plate through an adjusting piece, the high-definition camera is embedded and installed at the lower end of the top plate for visual positioning, the high-definition camera and the control cabinet are electrically connected through a wire, a placement area is opened through the clamping plate, the roller clamping group is movably arranged in the placement area through the position adjustment group, the roller clamping group includes four clamping point seats with the same structure, the clamping point seats are respectively arranged corresponding to the four corners of the transport target, and the clamping point seats are position-adjusted through the position adjustment group.

[0006] According to the above technical solution, the clamping point seat includes a fixed seat, a docking seat and a fine-tuning seat, the fixed seat and the docking seat are fixedly connected by fastening bolts, the docking seat is hollow and a fine-tuning area is formed between the fixed seat and the docking seat, the fine-tuning seat is movably installed in the fine-tuning area through a movable component, a strain gauge type weighing sensor is embedded in the inner bottom wall of the docking seat, the upper end face of the strain gauge type weighing sensor is in contact with the lower end face of the fine-tuning seat, an optical encoder is provided in the fine-tuning seat, and the strain gauge type weighing sensor and the optical encoder are respectively electrically connected to the control cabinet through wires.

[0007] According to the above technical scheme, the fine-tuning seat includes a clamping wheel, a servo motor 1, an electromagnetic clutch, a magnetorheological fluid damper and a torque sensor. An open cavity 1 and an open cavity 2 are respectively opened in the fine-tuning seat. The clamping wheel is movably installed in the open cavity 1. One end of the clamping wheel extends out of the open cavity 1. The outer wall surface of the clamping wheel is provided with anti-slip grooves. The servo motor 1 is fixedly installed in the open cavity 2. The output shaft of the servo motor 1 is connected to the clamping wheel drive shaft through an electromagnetic clutch. The magnetorheological fluid damper and the torque sensor are respectively integrated on the clamping wheel drive shaft and the output shaft of the servo motor 1. The servo motor 1, the electromagnetic clutch, the magnetorheological fluid damper and the torque sensor are respectively electrically connected to the control cabinet through wires.

[0008] According to the above technical solution, the adjusting member 1 includes a servo motor 2, a slide groove 1, a sliding rod, a slider 1, a slide groove 2, a threaded rod and a slider 2. The slide groove 1 and the slide groove 2 are respectively opened at the lower end of the top plate, and the slide groove 2 is symmetrically arranged on both sides of the slide groove 1. The threaded rod and the sliding rod are fixedly installed in the slide groove 1 and the slide groove 2 respectively. The slider 1 and the slider 2 are respectively arranged on the upper end of the clamping plate, and the slider 2 is symmetrically arranged on both sides of the slider 1. The slider 2 and the slider 1 are respectively located in the slide groove 2 and the slide groove 1. The slider 1 is threadedly connected to the threaded rod, and the slider 2 is movably installed on the sliding rod. The output shaft of the servo motor 2 is fixedly connected to the threaded rod, and the servo motor 2 and the control cabinet are electrically connected through wires.

[0009] According to the above technical solution, the position adjustment group includes an adjustment member 2 and an adjustment member 3, the adjustment member 2 and the adjustment member 3 have the same structure and similar functions, and the adjustment member 2 and the adjustment member 3 adaptively adjust the position of the fixing seat.

[0010] According to the above technical scheme, the second adjusting member includes a transverse groove, a guide rod 1, a moving block 1, a bidirectional threaded rod 1, a servo motor 3 and a longitudinal rod, the transverse groove being symmetrically arranged at the upper and lower ends of the placement area, the moving block 1 being symmetrically arranged in the transverse groove, the guide rod 1 being fixedly installed in the transverse groove at the upper end, the moving block 1 at the upper end being symmetrically and movably installed on the guide rod 1, the bidirectional threaded rod 1 being movably installed in the transverse groove at the lower end, the moving block 1 at the lower end being symmetrically threadedly installed on the bidirectional threaded rod 1, the thread directions of the two ends of the bidirectional threaded rod 1 being opposite, the servo motor 3 being embedded in the clamping plate and the output shaft of the servo motor 3 being fixedly connected to one end of the bidirectional threaded rod 1, the moving blocks 1 at the upper and lower ends being fixedly connected via the longitudinal rod, the longitudinal rod being movably installed through the corresponding fixed seat, and the servo motor 3 and the control cabinet being electrically connected via a wire.

[0011] According to the above technical scheme, the adjusting member three includes a longitudinal groove, a guide rod two, a moving block two, a two-way threaded rod two, a servo motor four and a cross bar, the longitudinal grooves are symmetrically opened at the left and right ends of the placement area, the moving blocks two are symmetrically arranged in the longitudinal grooves, the guide rod two is fixedly installed in the longitudinal groove at the left end, the moving block two at the left end is symmetrically and movably installed on the guide rod two, the two-way threaded rod two is movably installed in the longitudinal groove at the right end, the moving block two at the right end is symmetrically threadedly installed on the two-way threaded rod two, the two ends of the two-way threaded rod two have opposite thread directions, the servo motor four is embedded in the clamping plate and the output shaft of the servo motor four is fixedly connected to the two-way threaded rod two, the moving blocks two at the left and right ends are fixedly connected through the cross bar, the cross bar is movably installed through the corresponding fixed seat, the cross bar and the longitudinal bar are cross-staggered, and the servo motor four and the control cabinet are electrically connected through wires.

[0012] According to the above technical solution, the movable component includes a movable block and a movable groove. The movable block is symmetrically fixed on the side wall of the fine-tuning seat, the movable groove is symmetrically opened on the inner wall of the docking seat, and the movable block is movably installed in the corresponding movable groove.

[0013] According to the above technical solution, a stepped groove is provided at the second opening of the open cavity and a protective plate is fixedly installed in the stepped groove by fastening bolts, and heat dissipation ports are evenly distributed on the protective plate.

[0014] According to the above technical solution, the following steps are included: S1, visual positioning: The position information of the target object is captured by a high-definition camera and the data is transmitted to the control cabinet, which determines the position coordinates of the target object based on the image processing algorithm; S2, position adjustment: the control cabinet adjusts the position through the base, the robot arm and the end effector according to the position coordinates of the target object. The adjusting member 1 drives the threaded rod through the servo motor 2 to move the slider 1 along the slide slot 1, thereby adjusting the position of the clamping plate. The adjusting members 2 and 3 drive the bidirectional threaded rod 1 and the bidirectional threaded rod 2 through the servo motor 3 and servo motor 4 to move the moving block 1 and the moving block 2 along the horizontal slot and the vertical slot respectively, thereby accurately adjusting the position of the clamping point seat. The optical encoder continuously provides the control cabinet with the precise position information of the clamping point seat, which enables the control system to understand the actual position of each clamping point in real time to ensure that they are in the best working position. S3, pre-clamping: When the clamping point seat reaches the correct position, the control cabinet drives the clamping wheel to rotate through the servo motor, and the electromagnetic clutch engages, so that the clamping wheel starts to rotate and clamps the target goods. The torque sensor monitors the output torque in real time to ensure that the clamping force is moderate. The magnetorheological fluid damper adjusts the damping force as needed to ensure a smooth and powerful clamping. S4, pressure feedback: strain gauge weighing sensor monitors the pressure generated during the clamping process in real time. Each clamping point seat is equipped with a fine-tuning area, which contains servo motor 1, electromagnetic clutch, magnetorheological fluid damper and torque sensor to ensure precise control during the clamping process to avoid damage to goods or safety hazards. If the pressure exceeds the set value, the control system will automatically trigger the following steps: electromagnetic clutch disconnection: electromagnetic clutch disconnection, servo motor 1 no longer drives the clamping wheel drive shaft; magnetorheological fluid damper increases damping: magnetorheological fluid damper increases the damping of the clamping wheel drive shaft, so that the clamping wheel rotation resistance increases; stable placement: due to the increase in the clamping wheel rotation resistance, the goods can be placed stably to avoid sudden falling or damage; S5, dynamic adjustment: During the whole process, the control cabinet continuously receives data from various sensors and adjusts the working status of each component according to the actual situation; S6, cargo placement: Once the target cargo is successfully clamped, the robotic arm moves the target cargo to the designated position, and the control cabinet drives the clamping wheel in reverse through the servo motor to release the cargo. After release, the control system resets and prepares for the next operation.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are: (1) The position information of the target object is captured by a high-definition camera, and combined with the image processing algorithm in the control cabinet, accurate target recognition and position adjustment can be achieved. The clamping point seat is precisely adjusted through the position adjustment group to ensure that each clamping point can accurately contact different parts of the transport box, thereby improving the versatility and flexibility of the palletizing robot. The same set of end effectors can handle goods of various specifications, increasing the economic practicality of the equipment. The roller clamping group can automatically adjust its position according to the different sizes of the transport box to ensure a stable clamping effect. (2) The strain gauge load cell monitors the pressure generated during the clamping process in real time. If the detected pressure exceeds the preset value, the control system will automatically trigger a series of protective measures, such as disconnecting the electromagnetic clutch and increasing the damping of the magnetorheological fluid damper, to prevent the goods from being damaged or accidentally falling, greatly improving the safety of the operation and reducing potential risks. (3) The design of the roller clamping group allows the end effector to easily roll along the surface of the target cargo during the clamping process, achieving fast and smooth clamping and releasing actions, improving work efficiency. In addition, high-quality roller materials (such as polyurethane) are not only wear-resistant but also corrosion-resistant, reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 is a first stereoscopic schematic diagram of the present invention; Figure 2 is a second stereoscopic schematic diagram of the present invention; Figure 3 is a third stereoscopic schematic diagram of the present invention; Figure 4 is a first stereoscopic schematic diagram of the clamping frame of the present invention; Figure 5 is a second stereoscopic schematic diagram of the clamping frame of the present invention; Figure 6 is a first partial stereoscopic schematic diagram of the clamping frame of the present invention; Figure 7 is a second partial three-dimensional schematic diagram of the clamping frame of the present invention; Figure 8 The present invention Figure 2 The enlarged schematic diagram of point A in the middle; Fig. 9 The present invention Figure 4 The enlarged schematic diagram of point B in the middle; Fig.10 The present invention Figure 6 The enlarged schematic diagram of the center C; Fig.11 The present invention Figure 7 The enlarged schematic diagram of point D in the middle; In the figure: 1-control cabinet, 2-base, 3-mechanical arm, 4-clamping frame, 41-top plate, 42-clamping plate, 43-high-definition camera, 44-adjusting part 1, 441-servo motor 2, 442-slideway 1, 443-slide bar, 444-slider 1, 445-slideway 2, 446-threaded rod, 447-slider 2, 5-clamping point seat, 51-fixed seat, 52-docking seat, 53-fine-tuning seat, 531-clamping wheel, 532-servo motor 1, 533-electromagnetic clutch, 534-magnetorheological fluid damper, 535- Torque sensor, 6-movable component, 61-movable block, 62-movable slot, 7-strain gauge weighing sensor, 8-adjusting piece 2, 81-transverse slot, 82-guide rod 1, 83-moving block 1, 84-bidirectional threaded rod 1, 85-servo motor 3, 86-longitudinal rod, 9-adjusting piece 3, 91-longitudinal slot, 92-guide rod 2, 93-moving block 2, 94-bidirectional threaded rod 2, 95-servo motor 4, 96-transverse rod, 10-open cavity 1, 11-open cavity 2, 12-protective plate, 13-heat dissipation port, 14-optical encoder. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-11 The present invention provides a technical solution: a multi-axis palletizing industrial robot and a working method thereof, comprising a control cabinet 1, a base 2, a mechanical arm 3 and an end effector, wherein the control cabinet 1 is arranged on one side of the base 2 and is electrically connected through a wire, the mechanical arm 3 is arranged on the upper end of the base 2 and the mechanical arm 3 and the control cabinet 1 are electrically connected through a wire, the end effector is arranged at the end of the mechanical arm 3, the end effector comprises a clamping frame 4 and a roller clamping group and a position adjustment group, the clamping frame 4 comprises a top plate 41, a clamping plate 42, a high-definition camera 43 and an adjusting member 44, the top plate 41 is fixedly mounted on the At the end of the robotic arm 3, the clamping plate 42 is symmetrically arranged at the lower end of the top plate 41 through an adjusting member 44, the high-definition camera 43 is embedded and installed at the lower end of the top plate 41 for visual positioning, the high-definition camera 43 and the control cabinet 1 are electrically connected through a wire, a placement area is opened through the clamping plate 42, the roller clamping group is movably arranged in the placement area through the position adjustment group, the roller clamping group includes four clamping point seats 5 with the same structure, the clamping point seats 5 are respectively arranged corresponding to the four corners of the transport target, and the clamping point seats 5 are position-adjusted through the position adjustment group; When in use, the present application includes a control cabinet 1, a base 2, a robotic arm 3 and an end effector, wherein the control cabinet 1, the base 2 and the robotic arm 3 can all be made of existing technologies. The control cabinet 1 is the control center of the entire system, responsible for processing signals, performing calculations and controlling various components. The base 2 adopts a stable platform in the prior art to ensure sufficient stability and load-bearing capacity, and is usually made of solid metal materials such as steel or cast iron to support the robotic arm and load above, and ensure the stability of the palletizing robot during work. The robotic arm 3 also uses the existing multi-degree-of-freedom robotic arm design, and each joint of the robotic arm is driven by a high-precision servo motor, and the torque output is increased by a planetary gear reducer to ensure precise position control and high load capacity. The end effector includes a clamping frame 4, a roller clamping group and a position adjustment group, which are used to actually grab and place the target goods. The target goods are stably clamped by the roller clamping group. The roller design allows the end effector to easily roll along the surface of the transport box during the clamping process, thereby achieving fast and smooth clamping and releasing actions, improving work efficiency, and increasing the flexibility of use, making it convenient to frequently replace transport boxes of different sizes or shapes without replacing the end effector. The same set of end effectors can handle goods of various specifications, increasing the versatility and economic practicality of the equipment. At the same time, because the rollers can rotate freely on the surface of the transport box, the end effector can be easily clamped and released. Rotation, thus can greatly reduce the friction between the two, thereby reducing the wear degree of the surface of the transport box, which helps to protect the appearance quality of the transport box. A total of eight clamping point seats 5 with the same structure are arranged on both sides of the transported goods, and four are arranged on one side and correspond to the four corners of the transported goods, which helps to disperse the pressure and keep the balance of the transport box during the clamping process. The position adjustment group is used to adjust the position. The roller clamping group can automatically adjust the position according to the different sizes of the transport box to ensure a stable clamping effect. High-quality roller materials (such as polyurethane) are not only wear-resistant but also corrosion-resistant, which prolongs the service life and also reduces the maintenance cost. Specifically, the clamping point seat 5 includes a fixed seat 51, a docking seat 52 and a fine-tuning seat 53. The fixed seat 51 and the docking seat 52 are fixedly connected by fastening bolts. The docking seat 52 is hollow and a fine-tuning area is formed between the fixed seat 51 and the docking seat 52. The fine-tuning seat 53 is movably installed in the fine-tuning area through a movable component 6. A strain gauge weighing sensor 7 is embedded and installed on the inner bottom wall of the docking seat 52. The upper end surface of the strain gauge weighing sensor 7 is in contact with the lower end surface of the fine-tuning seat 53. An optical encoder 14 is arranged in the fine-tuning seat 53. The strain gauge weighing sensor 7 and the optical encoder 14 are respectively electrically connected to the control cabinet 1 through wires. The fixed seat 51 serves as the basic part of the clamping point seat 5, and is fixedly connected to the docking seat 52 by fastening bolts to ensure the stability of the entire structure. The docking seat 52 is hollow, and a fine-tuning area is formed between the docking seat 52 and the fixed seat 51, providing a placement space for the fine-tuning seat 53, allowing the fine-tuning seat 53 to have a certain displacement range to ensure the accuracy of the reading of the strain gauge type weighing sensor 7. The strain gauge type weighing sensor 7 is embedded and installed on the inner bottom wall of the docking seat 52, and the upper end face contacts the lower end face of the fine-tuning seat 53, which is used to detect the weight of the clamped goods in real time and transmit the data to the control cabinet 1 for analysis and processing. The fine-tuning seat 53 is provided with an optical encoder 14. The optical encoder 14 is provided inside the fine-tuning seat 53. The encoder 14 continuously feeds back the information of the overall position of the clamping point seat to the control cabinet 1. This information is used to accurately adjust the position of the roller to ensure that each clamping point can accurately contact different parts of the transport box. Since the position of the roller can be accurately adjusted, the system can adapt to transport boxes of different shapes and sizes, improving the versatility and flexibility of the palletizing robot. By monitoring the overall position of the clamping point seat 5, it is ensured that each clamping point is in the best working position, thereby improving the stability and reliability of the clamping. Combined with the data of multiple sensors, the control system can intelligently adjust the operating parameters according to the actual situation to achieve more flexible and efficient palletizing operations. Specifically, the fine-tuning seat 53 includes a clamping wheel 531, a servo motor 532, an electromagnetic clutch 533, a magnetorheological fluid damper 534 and a torque sensor 535. The fine-tuning seat 53 is provided with an open cavity 10 and an open cavity 2 11, respectively. The clamping wheel 531 is movably installed in the open cavity 10, one end of the clamping wheel 531 extends out of the open cavity 10, the outer wall of the clamping wheel 531 is provided with anti-slip grooves, and the servo motor 532 is fixedly installed in the open cavity 10. In the open cavity 2 11, the output shaft of the servo motor 1 532 is connected to the driving shaft of the clamping wheel 531 through the electromagnetic clutch 533, the magnetorheological fluid damper 534 and the torque sensor 535 are respectively integrated on the driving shaft of the clamping wheel 531 and the output shaft of the servo motor 1 532, and the servo motor 1 532, the electromagnetic clutch 533, the magnetorheological fluid damper 534 and the torque sensor 535 are respectively electrically connected to the control cabinet 1 through wires; The clamping wheel 531 is movably installed in the open cavity 10 in the fine-tuning seat 53, and one end extends out of the open cavity 10. The outer wall surface is provided with anti-slip grooves to enhance the friction with the surface of the transport box to ensure stable clamping. The servo motor 1 532 is fixedly installed in the open cavity 2 11 in the fine-tuning seat 53, and is responsible for driving the clamping wheel 531 to rotate. The electromagnetic clutch 533 connects the output shaft of the servo motor 1 532 and the drive shaft of the clamping wheel 531 to control the start and stop of the clamping wheel 531. When the electromagnetic clutch 533 is engaged, the rotation of the servo motor 1 532 is transmitted to the clamping wheel 531. When disconnected, the output shaft of the servo motor 1 532 and the drive shaft of the clamping wheel 531 can rotate relative to each other. The magnetorheological fluid damper 534 is integrated on the drive shaft of the clamping wheel 531 to adjust the damping force of the roller drive shaft. When the resistance needs to be increased, the magnetorheological fluid damper 534 can increase the damping by changing the magnetic field strength, thereby controlling the clamping wheel The torque sensor 535 is integrated on the output shaft of the servo motor 532, which is used to monitor the output torque of the clamping wheel 531 in real time to ensure that the clamping force is moderate. When the pressure detected by the strain gauge weighing sensor 7 exceeds the preset value, the control system will automatically trigger the following steps: the electromagnetic clutch 533 is disconnected: the electromagnetic clutch 533 is disconnected, and the servo motor 532 no longer drives the driving shaft of the clamping wheel 531; the magnetorheological fluid damper 534 increases the damping: the magnetorheological fluid damper 534 increases the damping of the driving shaft of the clamping wheel 531, so that the rotation resistance of the clamping wheel 531 increases; stable placement: due to the increased rotation resistance of the clamping wheel 531, the goods can be placed stably to avoid sudden falling or damage. By timely disconnecting the electromagnetic clutch 533 and increasing the damping, the wear of mechanical parts is reduced, the service life of the equipment is extended, and the goods are protected from accidental damage, thereby improving the operating safety of the multi-axis palletizing industrial robot; Specifically, the adjusting member 1 44 includes a servo motor 2 441, a slide 1 442, a slide rod 443, a slider 1 444, a slide 2 445, a threaded rod 446 and a slider 2 447. The slide 1 442 and the slide 2 445 are respectively opened at the lower end of the top plate 41, and the slide 2 445 is symmetrically arranged on both sides of the slide 1 442. The threaded rod 446 and the slide rod 443 are fixedly installed in the slide 1 442 and the slide 2 445, respectively. 7 are respectively arranged at the upper end of the clamping plate 42, the second slider 447 is symmetrically arranged on both sides of the first slider 444, the second slider 447 and the first slider 444 are respectively located in the second slide groove 445 and the first slide groove 442, the first slider 444 is threadedly connected to the threaded rod 446, the second slider 447 is movably installed on the slide rod 443, the output shaft of the second servo motor 441 is fixedly connected to the threaded rod 446, and the second servo motor 441 and the control cabinet 1 are electrically connected through a wire; The servo motor 2 441, the slide 1 442, the slide rod 443, the slider 1 444, the slide 2 445, the threaded rod 446 and the slider 2 447 can be selected according to the requirements, and are all common technical means in the technical field, and will not be described in detail here. The spacing of the clamping plate 42 can be adjusted by driving the threaded rod 446 through the servo motor 2 441; Specifically, the position adjustment group includes an adjustment member 2 8 and an adjustment member 3 9, the adjustment member 2 8 and the adjustment member 3 9 have the same structure and similar functions, and the adjustment member 2 8 and the adjustment member 3 9 adaptively adjust the position of the fixing seat 51; The second adjusting member 8 and the third adjusting member 9 have the same structure and similar functions, and are both used to adaptively adjust the position of the fixed seat 51. The second adjusting member 8 is mainly responsible for the adjustment in the horizontal direction (lateral direction), and the third adjusting member 9 is mainly responsible for the adjustment in the vertical direction (longitudinal direction). The horizontal rod 96 and the longitudinal rod 86 are cross-staggered to ensure that the fixed seat 51 can be independently adjusted in two mutually perpendicular directions. The control cabinet 1 receives data from a high-definition camera or other positioning equipment to determine the target position. According to the position adjusted as needed, the control cabinet 1 controls the servo motor three 85 and the servo motor four 95 to start respectively. The servo motor three 85 drives the bidirectional threaded rod one 84 to rotate, so that the two moving blocks one 83 move toward or away from each other, and then the lateral position of the fixed seat 51 is adjusted through the longitudinal rod 86. Similarly , the servo motor 4 95 drives the two-way threaded rod 2 94 to rotate, so that the two moving blocks 2 93 move toward or away from each other, and then adjust the longitudinal position of the fixed seat 51 through the cross bar 96. Since the two ends of the two-way threaded rod 1 84 and the two-way threaded rod 2 94 have opposite thread directions, when they rotate, the relative movement distance of the moving block 1 83 and the moving block 2 93 can be accurately controlled, thereby achieving high-precision position adjustment, which can adapt to transport boxes of different shapes and sizes, and improves its versatility and flexibility. Through precise position adjustment, it is ensured that the clamping point seat is always in the best working position, and the stability and reliability of the clamping are improved. Combined with the data of various sensors, the control system can intelligently adjust the operating parameters according to the actual situation to achieve more flexible and efficient palletizing operations; Specifically, the adjusting member 2 8 includes a transverse groove 81, a guide rod 82, a moving block 83, a bidirectional threaded rod 84, a servo motor 3 85 and a longitudinal rod 86. The transverse groove 81 is symmetrically arranged at the upper and lower ends of the placement area. The moving blocks 83 are symmetrically arranged in the transverse groove 81. The guide rod 82 is fixedly installed in the transverse groove 81 at the upper end. The moving block 83 at the upper end is symmetrically and movably installed on the guide rod 82. The bidirectional threaded rod 84 is movably installed in the transverse groove 81 at the lower end. The moving block 83 is symmetrically threadedly mounted on the bidirectional threaded rod 84, and the thread directions of the two ends of the bidirectional threaded rod 84 are opposite. The servo motor 3 85 is embedded in the clamping plate 42, and the output shaft of the servo motor 3 85 is fixedly connected to one end of the bidirectional threaded rod 84. The upper and lower ends of the moving block 83 are fixedly connected by the longitudinal rod 86, and the longitudinal rod 86 is movably installed in the corresponding fixing seat 51. The servo motor 3 85 and the control cabinet 1 are electrically connected through a wire. Specifically, the adjusting member 3 9 includes a longitudinal groove 91, a guide rod 2 92, a moving block 2 93, a bidirectional threaded rod 2 94, a servo motor 4 95 and a cross bar 96. The longitudinal groove 91 is symmetrically arranged at the left and right ends of the placement area. The moving blocks 2 93 are symmetrically arranged in the longitudinal groove 91. The guide rod 2 92 is fixedly installed in the longitudinal groove 91 at the left end. The moving block 2 93 at the left end is symmetrically movably installed on the guide rod 2 92. The bidirectional threaded rod 2 94 is movably installed in the longitudinal groove 91 at the right end. The moving block 2 93 at the right end is symmetrically movably installed on the guide rod 2 92. The thread is installed on the two-way threaded rod 94, and the thread directions of the two ends of the two-way threaded rod 94 are opposite. The servo motor 95 is embedded in the clamping plate 42 and the output shaft of the servo motor 95 is fixedly connected to the two-way threaded rod 94. The left and right ends of the moving blocks 93 are fixedly connected by the cross bar 96, and the cross bar 96 is movably installed in the corresponding fixing seat 51. The cross bar 96 and the longitudinal bar 86 are cross-staggered. The servo motor 95 and the control cabinet 1 are electrically connected through wires. Specifically, the movable assembly 6 includes a movable block 61 and a movable groove 62, wherein the movable block 61 is symmetrically fixedly mounted on the side wall of the fine-tuning seat 53, and the movable groove 62 is symmetrically opened on the inner side wall of the docking seat 52, and the movable block 61 is movably mounted in the corresponding movable groove 62; Specifically, a stepped groove is provided at the opening of the second open cavity 11, and a protective plate 12 is fixedly installed in the stepped groove by fastening bolts, and heat dissipation ports 13 are evenly distributed on the protective plate 12; The protective plate 12 effectively isolates the influence of the external environment on the servo motor 532, reduces the failure caused by dust, debris, etc., and improves the reliability and life of the system. The protective plate 12 is fixed by fastening bolts, which is easy to disassemble and install, and convenient for regular cleaning and maintenance; Specifically, the following steps are included: S1, visual positioning: the position information of the target object is captured by a high-definition camera 43, and the data is transmitted to the control cabinet 1, and the control cabinet 1 determines the position coordinates of the target object according to the image processing algorithm; S2, position adjustment: the control cabinet 1 adjusts the position according to the position coordinates of the target object through the base 2, the robot arm 3 and the end effector. The adjusting member 1 44 drives the threaded rod 446 through the servo motor 2 441 to move the slider 1 444 along the slide slot 1 442, thereby adjusting the position of the clamping plate 42. The adjusting member 2 8 and the adjusting member 3 9 drive the bidirectional threaded rod 1 84 and the bidirectional threaded rod 2 94 through the servo motor 3 85 and the servo motor 4 95 to move the moving block 1 83 and the moving block 2 93 along the transverse slot 81 and the longitudinal slot 91, respectively, thereby accurately adjusting the position of the clamping point seat 5. The optical encoder 14 continuously provides the control cabinet 1 with the precise position information of the clamping point seat 5, which enables the control system to understand the actual position of each clamping point in real time to ensure that they are in the best working position. S3, pre-clamping: when the clamping point seat 5 reaches the correct position, the control cabinet 1 drives the clamping wheel 531 to rotate through the servo motor 532, and the electromagnetic clutch 533 is engaged, so that the clamping wheel 531 starts to rotate to clamp the target goods. The torque sensor 535 monitors the output torque in real time to ensure that the clamping force is moderate. The magnetorheological fluid damper 534 adjusts the damping force as needed to ensure a smooth and powerful clamping; S4, pressure feedback: the strain gauge weighing sensor 7 monitors the pressure generated during the clamping process in real time. Each clamping point seat 5 is equipped with a fine-tuning area, which contains a servo motor 532, an electromagnetic clutch 533, a magnetorheological fluid damper 534 and a torque sensor 535 to ensure precise control during the clamping process to avoid damage to the goods or safety hazards. If the pressure exceeds the set value, the control system will automatically trigger the following steps: the electromagnetic clutch 533 is disconnected: the electromagnetic clutch 533 is disconnected, and the servo motor 532 no longer drives the driving shaft of the clamping wheel 531; the magnetorheological fluid damper 534 increases the damping: the magnetorheological fluid damper 534 increases the damping of the driving shaft of the clamping wheel 531, so that the rotation resistance of the clamping wheel 531 increases; stable placement: due to the increased rotation resistance of the clamping wheel 531, the goods can be placed stably to avoid sudden falling or damage; S5, dynamic adjustment: During the whole process, the control cabinet 1 continuously receives data from various sensors and adjusts the working status of each component according to the actual situation; S6, cargo placement: Once the target cargo is successfully clamped, the robot arm 3 moves the target cargo to the designated position, and the control cabinet 1 reversely drives the clamping wheel 531 through the servo motor 532 to release the cargo. After release, the control system is reset to prepare for the next operation.

[0019] Working principle: When in use, the present application includes a control cabinet 1, a base 2, a robotic arm 3 and an end effector, wherein the control cabinet 1, the base 2 and the robotic arm 3 can all be made of existing technologies. The control cabinet 1 is the control center of the entire system, responsible for processing signals, performing calculations and controlling various components. The base 2 adopts a stable platform in the existing technology to ensure sufficient stability and load-bearing capacity. It is usually made of solid metal materials, such as steel or cast iron, to support the robotic arm and load above, and ensure the stability of the palletizing robot during work. The robotic arm 3 also uses the existing multi-degree-of-freedom robotic arm design. Each joint of the robotic arm is driven by a high-precision servo motor, and the torque output is increased through a planetary gear reducer to ensure precise position control and high load capacity. The end effector includes a clamping frame 4, a roller clamping group and a position adjustment group, which are used to actually grab and place the target goods. The target goods are stably clamped by the roller clamping group. The roller design allows the end effector to easily roll along the surface of the transport box during the clamping process, thereby achieving fast and smooth clamping and releasing actions, improving work efficiency, and increasing the flexibility of use, making it convenient to frequently replace transport boxes of different sizes or shapes without replacing the end effector. The same set of end effectors can handle goods of various specifications, increasing the versatility and economic practicality of the equipment. At the same time, because the rollers can rotate freely on the surface of the transport box, the end effector can be easily clamped and released. Rotation, thus can greatly reduce the friction between the two, thereby reducing the wear degree of the surface of the transport box, which helps to protect the appearance quality of the transport box. A total of eight clamping point seats 5 with the same structure are arranged on both sides of the transported goods, and four are arranged on one side and correspond to the four corners of the transported goods, which helps to disperse the pressure and keep the balance of the transport box during the clamping process. The position adjustment group is used to adjust the position. The roller clamping group can automatically adjust the position according to the different sizes of the transport box to ensure a stable clamping effect. High-quality roller materials (such as polyurethane) are not only wear-resistant but also corrosion-resistant, which prolongs the service life and also reduces the maintenance cost. The clamping wheel 531 is movably installed in the open cavity 10 in the fine-tuning seat 53, and one end extends out of the open cavity 10. The outer wall surface is provided with anti-slip grooves to enhance the friction with the surface of the transport box to ensure stable clamping. The servo motor 1 532 is fixedly installed in the open cavity 2 11 in the fine-tuning seat 53, and is responsible for driving the clamping wheel 531 to rotate. The electromagnetic clutch 533 connects the output shaft of the servo motor 1 532 and the drive shaft of the clamping wheel 531 to control the start and stop of the clamping wheel 531. When the electromagnetic clutch 533 is engaged, the rotation of the servo motor 1 532 is transmitted to the clamping wheel 531. When disconnected, the output shaft of the servo motor 1 532 and the drive shaft of the clamping wheel 531 can rotate relative to each other. The magnetorheological fluid damper 534 is integrated on the drive shaft of the clamping wheel 531 to adjust the damping force of the roller drive shaft. When the resistance needs to be increased, the magnetorheological fluid damper 534 can increase the damping by changing the magnetic field strength, thereby controlling the clamping wheel The torque sensor 535 is integrated on the output shaft of the servo motor 532, which is used to monitor the output torque of the clamping wheel 531 in real time to ensure that the clamping force is moderate. When the pressure detected by the strain gauge weighing sensor 7 exceeds the preset value, the control system will automatically trigger the following steps: the electromagnetic clutch 533 is disconnected: the electromagnetic clutch 533 is disconnected, and the servo motor 532 no longer drives the driving shaft of the clamping wheel 531; the magnetorheological fluid damper 534 increases the damping: the magnetorheological fluid damper 534 increases the damping of the driving shaft of the clamping wheel 531, so that the rotation resistance of the clamping wheel 531 increases; stable placement: due to the increased rotation resistance of the clamping wheel 531, the goods can be placed stably to avoid sudden falling or damage. By timely disconnecting the electromagnetic clutch 533 and increasing the damping, the wear of mechanical parts is reduced, the service life of the equipment is extended, and the goods are protected from accidental damage, thereby improving the operating safety of the multi-axis palletizing industrial robot; The second adjusting member 8 and the third adjusting member 9 have the same structure and similar functions, and are both used to adaptively adjust the position of the fixed seat 51. The second adjusting member 8 is mainly responsible for the adjustment in the horizontal direction (lateral direction), and the third adjusting member 9 is mainly responsible for the adjustment in the vertical direction (longitudinal direction). The horizontal rod 96 and the longitudinal rod 86 are cross-staggered to ensure that the fixed seat 51 can be independently adjusted in two mutually perpendicular directions. The control cabinet 1 receives data from a high-definition camera or other positioning equipment to determine the target position. According to the position adjusted as needed, the control cabinet 1 controls the servo motor three 85 and the servo motor four 95 to start respectively. The servo motor three 85 drives the bidirectional threaded rod one 84 to rotate, so that the two moving blocks one 83 move toward or away from each other, and then the lateral position of the fixed seat 51 is adjusted through the longitudinal rod 86. Similarly The servo motor 4 95 drives the two-way threaded rod 2 94 to rotate, so that the two moving blocks 2 93 move toward or away from each other, and then adjust the longitudinal position of the fixed seat 51 through the cross bar 96. Since the two ends of the two-way threaded rod 1 84 and the two-way threaded rod 2 94 have opposite thread directions, when they rotate, the relative movement distance of the moving block 1 83 and the moving block 2 93 can be accurately controlled, thereby achieving high-precision position adjustment, which can adapt to transport boxes of different shapes and sizes, and improves its versatility and flexibility. Through precise position adjustment, it is ensured that the clamping point seat is always in the best working position, which improves the stability and reliability of the clamping. Combined with the data of various sensors, the control system can intelligently adjust the operating parameters according to the actual situation to achieve more flexible and efficient palletizing operations.

[0020] 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", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, goods or equipment 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, goods or equipment.

[0021] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-axis palletizing industrial robot and a working method thereof, comprising a control cabinet (1), a base (2), a robotic arm (3) and an end effector, characterized in that: The control cabinet (1) is arranged on one side of the base (2) and is electrically connected via a wire. The mechanical arm (3) is arranged on the upper end of the base (2) and the mechanical arm (3) and the control cabinet (1) are electrically connected via a wire. The end effector is arranged at the end of the mechanical arm (3). The end effector comprises a clamping frame (4), a roller clamping group and a position adjustment group. The clamping frame (4) comprises a top plate (41), a clamping plate (42), a high-definition camera (43) and an adjustment member (44). The top plate (41) is fixedly mounted on the end of the mechanical arm (3). The clamping plate (42) is electrically connected via an adjustment member A (44) is symmetrically arranged at the lower end of the top plate (41), the high-definition camera (43) is embedded and installed at the lower end of the top plate (41) for visual positioning, the high-definition camera (43) and the control cabinet (1) are electrically connected via a wire, a placement area is opened through the clamping plate (42), the roller clamping group is movably arranged in the placement area through the position adjustment group, the roller clamping group includes four clamping point seats (5) with the same structure, the clamping point seats (5) are respectively arranged corresponding to the four corners of the transport target, and the clamping point seats (5) are adjusted in position through the position adjustment group.

2. A multi-axis palletizing industrial robot and a working method thereof according to claim 1, characterized in that: The clamping point seat (5) comprises a fixed seat (51), a docking seat (52) and a fine-tuning seat (53); the fixed seat (51) and the docking seat (52) are fixedly connected by fastening bolts; the docking seat (52) is hollow and a fine-tuning area is formed between the fixed seat (51) and the docking seat (52); the fine-tuning seat (53) is movably installed in the fine-tuning area via a movable component (6); a strain gauge type weighing sensor (7) is embedded and installed in the inner bottom wall of the docking seat (52); the upper end surface of the strain gauge type weighing sensor (7) is in contact with the lower end surface of the fine-tuning seat (53); an optical encoder (14) is provided in the fine-tuning seat (53); the strain gauge type weighing sensor (7) and the optical encoder (14) are respectively electrically connected to the control cabinet (1) via wires.

3. A multi-axis palletizing industrial robot and a working method thereof according to claim 2, characterized in that: The fine-tuning seat (53) comprises a clamping wheel (531), a servo motor (532), an electromagnetic clutch (533), a magnetorheological fluid damper (534) and a torque sensor (535). An open cavity (10) and an open cavity (11) are respectively provided in the fine-tuning seat (53). The clamping wheel (531) is movably mounted in the open cavity (10). One end of the clamping wheel (531) extends out of the open cavity (10). The outer wall of the clamping wheel (531) is provided with anti-slip grooves. The servo motor (532) is fixedly mounted in the open cavity. In the second cavity (11), the output shaft of the servo motor (532) is connected to the drive shaft of the clamping wheel (531) via an electromagnetic clutch (533); the magnetorheological fluid damper (534) and the torque sensor (535) are respectively integrated on the drive shaft of the clamping wheel (531) and the output shaft of the servo motor (532); the servo motor (532), the electromagnetic clutch (533), the magnetorheological fluid damper (534) and the torque sensor (535) are respectively electrically connected to the control cabinet (1) via wires.

4. A multi-axis palletizing industrial robot and a working method thereof according to claim 1, characterized in that: The adjusting member 1 (44) comprises a servo motor 2 (441), a slide groove 1 (442), a slide rod (443), a slider 1 (444), a slide groove 2 (445), a threaded rod (446) and a slider 2 (447), wherein the slide groove 1 (442) and the slide groove 2 (445) are respectively arranged at the lower end of the top plate (41), and the slide groove 2 (445) is symmetrically arranged on both sides of the slide groove 1 (442), and the threaded rod (446) and the slide rod (443) are respectively fixedly installed in the slide groove 1 (442) and the slide groove 2 (445), and the slider 1 (444) and the slider 2 (447) are respectively fixedly installed in the slide groove 1 (442) and the slide groove 2 (445). 47) are respectively arranged at the upper end of the clamping plate (42), the second slider (447) is symmetrically arranged on both sides of the first slider (444), the second slider (447) and the first slider (444) are respectively located in the second slide groove (445) and the first slide groove (442), the first slider (444) is threadedly connected to the threaded rod (446), the second slider (447) is movably installed on the slide rod (443), the output shaft of the second servo motor (441) and the threaded rod (446) are fixedly connected, and the second servo motor (441) and the control cabinet (1) are electrically connected through a wire.

5. A multi-axis palletizing industrial robot and a working method thereof according to claim 2, characterized in that: The position adjustment group comprises an adjustment member 2 (8) and an adjustment member 3 (9), wherein the adjustment member 2 (8) and the adjustment member 3 (9) have the same structure and similar functions, and the adjustment member 2 (8) and the adjustment member 3 (9) are used to adaptively adjust the position of the fixing seat (51).

6. A multi-axis palletizing industrial robot and a working method thereof according to claim 5, characterized in that: The adjusting member 2 (8) comprises a transverse groove (81), a guide rod 1 (82), a moving block 1 (83), a bidirectional threaded rod 1 (84), a servo motor 3 (85) and a longitudinal rod (86), wherein the transverse groove (81) is symmetrically arranged at the upper and lower ends of the placement area, and the moving block 1 (83) is symmetrically arranged in the transverse groove (81), the guide rod 1 (82) is fixedly installed in the transverse groove (81) at the upper end, and the moving block 1 (83) at the upper end is symmetrically and movably installed on the guide rod 1 (82), and the bidirectional threaded rod 1 (84) is movably installed in the transverse groove (81) at the lower end, and the moving block 1 (83) at the lower end is symmetrically and movably installed on the guide rod 1 (82). The movable block 1 (83) is symmetrically threadedly mounted on the bidirectional threaded rod 1 (84), the threads at both ends of the bidirectional threaded rod 1 (84) are in opposite directions, the servo motor 3 (85) is embedded in the clamping plate (42), and the output shaft of the servo motor 3 (85) is fixedly connected to one end of the bidirectional threaded rod 1 (84), the upper and lower ends of the movable block 1 (83) are fixedly connected via the longitudinal rod (86), the longitudinal rod (86) is movably mounted through the corresponding fixed seat (51), and the servo motor 3 (85) and the control cabinet (1) are electrically connected via a wire.

7. A multi-axis palletizing industrial robot and a working method thereof according to claim 6, characterized in that: The adjusting member 3 (9) comprises a longitudinal groove (91), a guide rod 2 (92), a moving block 2 (93), a bidirectional threaded rod 2 (94), a servo motor 4 (95) and a cross bar (96), wherein the longitudinal groove (91) is symmetrically arranged at the left and right ends of the placement area, and the moving block 2 (93) is symmetrically arranged in the longitudinal groove (91), the guide rod 2 (92) is fixedly installed in the longitudinal groove (91) at the left end, and the moving block 2 (93) at the left end is symmetrically movably installed on the guide rod 2 (92), and the bidirectional threaded rod 2 (94) is movably installed in the longitudinal groove (91) at the right end, and the moving block 2 (93) at the right end Symmetrical threads are installed on the bidirectional threaded rod (94), the threads at both ends of the bidirectional threaded rod (94) are in opposite directions, the servo motor (95) is embedded in the clamping plate (42), and the output shaft of the servo motor (95) is fixedly connected to the bidirectional threaded rod (94), the left and right ends of the moving blocks (93) are fixedly connected by the cross bar (96), the cross bar (96) is movably installed in the corresponding fixed seat (51), the cross bar (96) and the longitudinal bar (86) are arranged in a cross-staggered manner, and the servo motor (95) and the control cabinet (1) are electrically connected by wires.

8. A multi-axis palletizing industrial robot and a working method thereof according to claim 2, characterized in that: The movable assembly (6) comprises a movable block (61) and a movable groove (62); the movable block (61) is symmetrically fixedly mounted on the side wall of the fine-tuning seat (53); the movable groove (62) is symmetrically opened on the inner side wall of the docking seat (52); and the movable block (61) is movably mounted in the corresponding movable groove (62).

9. A multi-axis palletizing industrial robot and a working method thereof according to claim 3, characterized in that: A stepped groove is provided at the opening of the second open cavity (11), and a protective plate (12) is fixedly installed in the stepped groove by means of fastening bolts, and heat dissipation openings (13) are evenly distributed on the protective plate (12).

10. A multi-axis palletizing industrial robot and a working method thereof according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, visual positioning: capturing the position information of the target object through a high-definition camera (43) and transmitting the data to the control cabinet (1), and the control cabinet (1) determines the position coordinates of the target object according to an image processing algorithm; S2, position adjustment: the control cabinet (1) adjusts the position according to the position coordinates of the target object through the base (2), the robot arm (3) and the end effector. The adjusting member 1 (44) drives the threaded rod (446) through the servo motor 2 (441) to move the slider 1 (444) along the slide groove 1 (442), thereby adjusting the position of the clamping plate (42). The adjusting member 2 (8) and the adjusting member 3 (9) drive the bidirectional threaded rod 1 (84) and the bidirectional threaded rod 2 (94) through the servo motor 3 (85) and the servo motor 4 (95), respectively, so that the moving block 1 (83) and the moving block 2 (93) move along the transverse groove (81) and the longitudinal groove (91), thereby accurately adjusting the position of the clamping point seat (5). The optical encoder (14) continuously provides the control cabinet (1) with accurate position information of the clamping point seat (5), so that the control system can understand the actual position of each clamping point in real time to ensure that they are in the best working position. S3, pre-clamping: when the clamping point seat (5) reaches the correct position, the control cabinet (1) drives the clamping wheel (531) to rotate through the servo motor 1 (532), and the electromagnetic clutch (533) is engaged, so that the clamping wheel (531) starts to rotate to clamp the target goods. The torque sensor (535) monitors the output torque in real time to ensure that the clamping force is moderate. The magnetorheological fluid damper (534) adjusts the damping force as needed to ensure smooth and powerful clamping; S4, pressure feedback: the strain gauge type weighing sensor (7) monitors the pressure generated during the clamping process in real time. Each clamping point seat (5) is equipped with a fine adjustment area, which contains a servo motor (532), an electromagnetic clutch (533), a magnetorheological fluid damper (534) and a torque sensor (535) to ensure precise control during the clamping process to avoid damage to the goods or safety hazards. If the pressure exceeds the set value, the control system will automatically trigger the following steps: the electromagnetic clutch (533) is disconnected: the electromagnetic clutch (533) is disconnected, and the servo motor (532) no longer drives the drive shaft of the clamping wheel (531); the magnetorheological fluid damper (534) increases the damping: the magnetorheological fluid damper (534) increases the damping of the drive shaft of the clamping wheel (531), so that the rotation resistance of the clamping wheel (531) increases; stable placement: due to the increase in the rotation resistance of the clamping wheel (531), the goods can be placed stably to avoid sudden falling or damage; S5, dynamic adjustment: During the entire process, the control cabinet (1) continuously receives data from various sensors and adjusts the working status of each component according to the actual situation; S6, cargo placement: Once the target cargo is successfully clamped, the robot arm (3) moves the target cargo to the designated position, and the control cabinet (1) drives the clamping wheel (531) in reverse through the servo motor 1 (532) to release the cargo. After release, the control system is reset to prepare for the next operation.

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