Multi-station full-automatic stacking cooperation system

Abstract

The invention relates to the technical field of multi-station full-automatic stacking, and particularly discloses a multi-station full-automatic stacking cooperation system which comprises a stacking robot, a material stacking platform deck and a material production line. The multiple sets of material stacking carrying tables are arranged on the side edge of the stacking robot, the stacking robot comprises a rack and a mechanical arm arranged on the rack, and the mechanical arm is used for grabbing packaged external materials on a material production line and then sequentially placing the packaged external materials on the material stacking carrying tables; the arrangement distance of the material stacking platform deck does not exceed the moving range of a mechanical arm of the stacking robot. By introducing the stacking robot and the multiple sets of material stacking carrying tables, the system can automatically complete grabbing and stacking work of materials, the production efficiency is remarkably improved, due to the arrangement of the multiple sets of material stacking carrying tables, the system can process more materials in a limited space, and space utilization is optimized.

Description

Technical Field

[0001] The invention relates to the technical field of multi-station full-automatic palletizing, and in particular discloses a multi-station full-automatic palletizing cooperative system. Background Art

[0002] As an important equipment in modern warehousing and logistics systems, the main function of the palletizer is to stack the cartons that have been loaded into the container on the pallet or the board in a certain arrangement to achieve automatic stacking, so as to facilitate the subsequent forklift transportation and warehouse storage. Some automated palletizing systems can only realize the palletizing operation of a single station, which means that the system can only process the materials on one station at the same time and cannot meet the needs of multiple stations working at the same time. In addition, the overall design of some automated palletizing systems is too backward, and the floor space is large, which is not conducive to achieving efficient operation in a limited space. Summary of the invention

[0003] In order to overcome the shortcomings and deficiencies in the prior art, an object of the present invention is to provide a multi-station fully automatic palletizing collaborative system.

[0004] To achieve the above-mentioned purpose, a multi-station fully automatic palletizing collaborative system of the present invention includes a palletizing robot, a material palletizing platform and a material production line; the material palletizing platforms are provided with multiple groups, and the multiple groups of material palletizing platforms are arranged on the side of the palletizing robot, the palletizing robot includes a frame, and a manipulator arranged on the frame, the manipulator is used to grab the external materials that have been packaged on the material production line and place them on the material palletizing platforms in sequence; the setting distance of the material stacking platforms does not exceed the moving range of the manipulator of the palletizing robot.

[0005] The palletizing robot also includes a suction component arranged at the free end of the manipulator, the suction component includes a suction plate, a vacuum generator for providing negative pressure to the suction plate is arranged in the frame, the vacuum generator is connected to the suction plate via an air pipe and triggers negative pressure to be generated between the suction plate and the material to absorb the material; the frame also includes a lifting platform and a lifting drive component, a accommodating space is provided in the frame, the lifting platform and the lifting drive component are accommodated in the accommodating space, the end of the manipulator away from the suction plate is installed on the lifting platform, and the lifting drive component drives the lifting platform to move up and down to drive the manipulator to move up and down to complete palletizing work at different heights.

[0006] The manipulator includes a rotating assembly, which includes a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, a fifth rotating shaft, a sixth rotating shaft, a seventh rotating shaft, a first arm and a second arm; the first rotating shaft is rotatably arranged on a lifting platform, the second rotating shaft and the third rotating shaft are respectively arranged at both ends of the first arm, the second rotating shaft is rotatably connected to the first rotating shaft, the fourth rotating shaft and the fifth rotating shaft are respectively arranged at both ends of the second arm, the fourth rotating shaft is rotatably connected to the third rotating shaft, the fifth rotating shaft is rotatably connected to the sixth rotating shaft, the sixth rotating shaft is rotatably connected to the seventh rotating shaft, and the seventh rotating shaft is rotatably connected to the suction assembly, and the manipulator rotates through the rotating assembly to place the external materials that have been packaged on the production line on material stacking carriers in different orientations.

[0007] The palletizing robot also includes sensors arranged on the first arm and the second arm and a control center arranged on the frame. The control center is electrically connected to the sensors. The control center is used to receive tilt signals of the first arm and the second arm detected by the sensors and control the manipulator to move in the opposite direction of its moving direction or stop moving.

[0008] The material production line includes a box opening mechanism, a box packing mechanism and a box sealing mechanism which are arranged in sequence along the same direction; the box sealing mechanism is arranged at one end close to the palletizing robot, and the box sealing mechanism includes a support frame, a sliding track arranged on the support frame, a box sealing assembly and a labeling mechanism, and the box sealing assembly and the labeling mechanism are arranged along the length direction of the support frame, and the external materials that have been boxed are transmitted to the sliding track on the box sealing mechanism via the box packing mechanism, and the sliding track drives the external materials that have been boxed to be transmitted to the bottom of the box sealing assembly for box sealing and transports the external materials that have been sealed to the bottom of the labeling mechanism for labeling.

[0009] A stopper is provided at one end of the support frame close to the palletizing robot, and the stopper is used to stop the sealed and labeled external materials transported via the sliding track.

[0010] The unpacking mechanism includes a base, a folding mechanism arranged on the base, a gluing mechanism and an unpacking auxiliary mechanism arranged on the side of the base. The unpacking auxiliary mechanism includes an operating table and a robotic arm arranged on the operating table. An unpacking actuator is provided at the end of the robotic arm away from the operating table. The unpacking actuator is used to suck the folded carton and move it to the folding mechanism for folding. After folding, the robotic arm drives the folded carton to move to the gluing mechanism. After the gluing mechanism glues the bottom of the carton to complete the bottom sealing action, the robotic arm drives the carton to be placed at the packing mechanism to wait for packing.

[0011] The packing mechanism includes a frame, a conveyor belt, a loading platform, a loading actuator and a packing auxiliary mechanism arranged on the frame; the conveyor belt is arranged along the length direction of the material production line, the loading platform includes a material panel, a material conveyor belt arranged on one side of the material panel, a pushing mechanism installed on one side of the material conveyor belt and a servo motor driving the pushing mechanism to move back and forth, the external material is conveyed to one end close to the pushing mechanism via the material conveyor belt, and the servo motor drives the pushing mechanism to move back and forth to load the external material placed on the material conveyor belt onto the material panel; the material panel includes a first panel for placing external materials, a limiting mechanism arranged on the side of the first panel, and a fixed plate arranged parallel to the limiting mechanism, the limiting mechanism includes a limiting plate and a telescopic motor for driving the limiting plate to move back and forth, the external material is pushed to the first panel via the pushing mechanism, and the telescopic motor drives the limiting plate to move toward the fixed plate to limit the external material.

[0012] The feeding actuator includes a movable slide rail arranged on a frame, a sliding rod body slidably arranged on the movable slide rail, and a movable motor driving the sliding rod body to reciprocate. A picking portion is provided at one end of the sliding rod body away from the movable slide rail. The sliding rod body is driven by the movable motor to pick up external materials placed on the feeding platform and then move them to the packing auxiliary mechanism for material packing. The conveyor belt moves the packed material box to the sealing mechanism for the next operation.

[0013] The control center includes an intelligent scheduling module, which collects and analyzes production data in real time according to the material transmission speed of the material production line and the occupied area of ​​the material stacking platform. The intelligent scheduling module forms a scheduling strategy based on the real-time data and generates scheduling instructions to send to the stacking robot to optimize production efficiency.

[0014] The fully automatic palletizing collaborative system includes a control center, and the material palletizing platform includes a positioning sensor and a material identification device; the positioning sensor of the material palletizing platform, the material identification device and the control center of the palletizing robot are all connected to the control center via a wireless transmission protocol; the positioning sensor is used to identify the placement position of the material palletizing platform, and the material identification device is used to identify material parameters. The positioning sensor and the material identification device transmit the identification data to the control center, and the control center organizes the data according to the identification data and forms instructions to send to the control center of the palletizing robot, and the palletizing robot performs corresponding palletizing operations according to the instructions.

[0015] A multi-station fully automatic palletizing collaborative system is mainly composed of a palletizing robot, a material palletizing platform and a material production line. The material palletizing platform is distributed around the palletizing robot, which is convenient for the robot to carry out flexible palletizing in multiple positions after grabbing the materials. The palletizing robot includes a manipulator, a suction component, a lifting platform and a control center. The manipulator is responsible for transferring the packaged materials from the production line to the palletizing position. The arrangement of multiple palletizing positions around the palletizing robot enables the robot to efficiently complete multi-directional palletizing tasks, thereby improving the palletizing efficiency and flexibility. The suction component design ensures the firm adsorption of the material, making it less likely for the material to slip or be mispositioned during the handling and palletizing process, thereby ensuring stability. The manipulator is designed as a multi-axis rotating structure, including seven rotating shafts and two machine arms; this multi-axis structure provides the manipulator with a high degree of freedom of movement, meets the multi-directional palletizing requirements, enhances the coverage of the material, and improves the flexibility of the manipulator. Sensors are configured on the first machine arm and the second machine arm to detect the tilt state of the manipulator. The control center receives sensor signals and adjusts the direction of the robot in real time to achieve precise palletizing control and anti-collision protection. The linkage design of the sensor and the control center enables the robot to have an automatic correction function, improves the safety and stability of operation, and avoids misoperation caused by tilt or over-limit.

[0016] The material production line includes unpacking, packing and sealing mechanisms. These modules are arranged in sequence along the production line to complete the automated unpacking, packing, sealing and labeling processes. The sealing mechanism has a built-in sliding track to drive the packed materials to go through sealing and labeling in sequence, and then transport them to the palletizing robot for palletizing after completion. The continuous automated operation of the material production line reduces manual intervention and waiting time, effectively improving the operating efficiency of the overall production line. The material production line adopts a linear layout, making the entire system more compact and reducing the floor space of the factory. This design not only helps to optimize space utilization, but also shortens the material transmission path from unpacking, packing, sealing to palletizing, and improves production efficiency. At the same time, the linear layout facilitates the operation of each module in sequence, reducing the waiting time and transfer times of materials on the production line, and further reducing energy consumption in the production process.

[0017] The intelligent scheduling module in the control center dynamically optimizes the scheduling strategy by analyzing the material production speed and the occupancy of the stacking position. It adjusts the robot stacking path and material handling frequency according to the real-time production data, thereby optimizing the overall production efficiency. The intelligent scheduling module adjusts the production rhythm in real time, effectively alleviating the production bottleneck caused by uneven production speed or stacking position, and improving the utilization rate of the production line. In a further scheme, the system also includes a control center, and a positioning sensor and a material identification device are set on the material stacking platform. The positioning sensor is used to obtain the material position data, and the material identification device is used to obtain the characteristic data of the material. This information is transmitted to the control center wirelessly, so that the control center can dynamically adjust the stacking task according to the material parameters. Through the interaction between the control center and the identification device, the intelligent identification and position adjustment of the material are realized, which improves the accuracy and efficiency of material management and stacking.

[0018] Furthermore, fault sensors are provided on the manipulator, the suction component and the lifting drive, and the control center is electrically connected to the fault sensors. When a fault occurs, the control center automatically sends an alarm signal and triggers the stacking robot to suspend operation and maintenance procedures.

[0019] Furthermore, a mounting frame and a retractable support arm are provided at the bottom of the frame, a containing space is provided in the mounting frame, and the retractable support arm is arranged in the containing space. The retractable length of the retractable support arm can be adjusted according to the weight of the external material: when the weight of the external material is large, the retractable support arm can be extended to a longer length to increase the support area of ​​the palletizing robot, thereby improving its stability and preventing shaking during the palletizing process; when the weight of the external material is small, the retractable support arm can be retracted to a shorter length to reduce the floor space and improve the flexibility of the equipment layout.

[0020] Beneficial effects of the present invention: The multi-station fully automatic palletizing collaborative system of the present invention optimizes the palletizing process and improves production efficiency through the collaborative work of the palletizing robot, the material production line and multiple groups of material palletizing platforms. The palletizing robot adopts a flexible manipulator design, with a multi-axis rotation structure, a suction component, a lifting platform, etc., which can efficiently and stably complete multi-directional palletizing tasks. At the same time, through the cooperation of sensors and the control center, real-time monitoring and precise control are realized. The sequential modular design of the material production line, including functions such as unpacking, packing, and sealing, further improves the automation level of the system and reduces manual intervention and operating errors. The control center optimizes the production rhythm and scheduling strategy in real time through the intelligent scheduling module, avoids production bottlenecks, and improves palletizing efficiency and resource utilization. In addition, the positioning sensor and material identification device of the material stacking platform are connected to the control center, which realizes the intelligent identification and position adjustment of the material, ensuring the precise operation and efficient operation of the system. The overall system improves the automation level, flexibility and safety of the production line, and greatly optimizes production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of the palletizing robot of the present invention; Figure 3 It is a structural schematic diagram of the manipulator of the present invention; Figure 4 It is a structural schematic diagram of the frame of the present invention; Figure 5 It is a structural schematic diagram of the box sealing mechanism of the present invention; Figure 6 It is a structural schematic diagram of the box opening mechanism of the present invention; Figure 7 It is a structural schematic diagram of the packing mechanism of the present invention; Figure 8 It is a structural schematic diagram of the loading platform of the present invention; Fig. 9 It is a structural schematic diagram of the feeding actuator of the present invention.

[0022] Reference numerals include: 1. Palletizing robot; 2. Material palletizing platform; 3. Material production line; 4. Rack; 5. Manipulator; 6. Suction assembly; 7. Suction plate; 9. Lifting platform; 11. Lifting drive; 12. Rotating assembly; 13. First rotating shaft; 14. Second rotating shaft; 15. Third rotating shaft; 16. Fourth rotating shaft; 17. Fifth rotating shaft; 18. Sixth rotating shaft; 19. Seventh rotating shaft; 21. First machine arm; 22. Second machine arm; 24. Control center; 25. Unpacking mechanism; 26. Packing mechanism; 27. Sealing mechanism; 28. Support frame; 29. ​​Sliding track; 30. Sealing assembly; 31. Labeling mechanism; 32. Stopper; 33. Base; 34. Folding mechanism; 35. Gluing mechanism; 36. Unpacking auxiliary mechanism; 37. Operating table; 38. Robotic arm; 39. Unpacking actuator; 41. Frame; 42. Conveyor belt; 43. Loading table; 44. Loading actuator; 45. Packing auxiliary mechanism; 46. Material panel; 47. Material conveyor belt; 48. Pushing mechanism; 49. Servo motor; 51. First panel; 52. Limiting mechanism; 53. Fixed plate; 54. Limiting plate; 55. Telescopic motor; 56. Moving slide rail; 57. Sliding rod; 58. Moving motor; 59. Picking part; 61. Control center. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0024] See also Figures 1 to 9 As shown, a multi-station fully automatic palletizing collaborative system of the present invention includes a palletizing robot 1, a material palletizing platform 2 and a material production line 3; the material palletizing platform 2 is provided with a plurality of groups, and the plurality of groups of material palletizing platforms 2 are arranged on the side of the palletizing robot 1, the palletizing robot 1 includes a frame 4, and a manipulator 5 arranged on the frame 4, the manipulator 5 is used to grab the external materials that have been packaged on the material production line 3 and place them on the material palletizing platform 2 in sequence; the setting distance of the material palletizing platform 2 does not exceed the moving range of the manipulator 5 of the palletizing robot 1.

[0025] The palletizing robot 1 also includes a suction component 6 arranged at the free end of the manipulator 5, the suction component 6 includes a suction disc 7, and a vacuum generator is provided in the frame 4 to provide negative pressure for the suction disc 7. The vacuum generator is connected to the suction disc 7 via an air pipe and triggers the generation of negative pressure between the suction disc 7 and the material to absorb the material; the frame 4 also includes a lifting platform 9 and a lifting drive 11. A accommodating space is provided in the frame 4, and the lifting platform 9 and the lifting drive 11 are accommodated in the accommodating space. The end of the manipulator 5 away from the suction disc 7 is installed on the lifting platform 9, and the lifting drive 11 drives the lifting platform 9 to move up and down to drive the manipulator 5 to move up and down to complete the palletizing work at different heights.

[0026] The manipulator 5 includes a rotating assembly 12, which includes a first rotating shaft 13, a second rotating shaft 14, a third rotating shaft 15, a fourth rotating shaft 16, a fifth rotating shaft 17, a sixth rotating shaft 18, a seventh rotating shaft 19, a first machine arm 21 and a second machine arm 22; the first rotating shaft 13 is rotatably arranged on the lifting platform 9, the second rotating shaft 14 and the third rotating shaft 15 are respectively arranged at both ends of the first machine arm 21, the second rotating shaft 14 is rotatably connected to the first rotating shaft 13, the fourth rotating shaft 16 and the fifth rotating shaft 17 are respectively arranged at both ends of the second machine arm 22, the fourth rotating shaft 16 is rotatably connected to the third rotating shaft 15, the fifth rotating shaft 17 is rotatably connected to the sixth rotating shaft 18, the sixth rotating shaft 18 is rotatably connected to the seventh rotating shaft 19, and the seventh rotating shaft 19 is rotatably connected to the suction assembly 6, and the manipulator 5 rotates through the rotating assembly 12 to place the external materials that have been packaged on the production line on the material stacking carrier 2 in different directions.

[0027] The palletizing robot 1 also includes sensors arranged on the first arm 21 and the second arm 22 and a control center 24 arranged on the frame 4. The control center 24 is electrically connected to the sensors. The control center 24 is used to receive the tilt signals of the first arm 21 and the second arm 22 detected by the sensors and control the manipulator 5 to move in the opposite direction of its transfer direction or stop moving.

[0028] The material production line 3 includes an unpacking mechanism 25, a packing mechanism 26 and a sealing mechanism 27 which are arranged in sequence along the same direction; the sealing mechanism 27 is arranged at one end close to the palletizing robot 1, and the sealing mechanism 27 includes a support frame 28, a sliding track 29 arranged on the support frame 28, a sealing assembly 30 and a labeling mechanism 31, and the sealing assembly 30 and the labeling mechanism 31 are arranged along the length direction of the support frame 28, and the external materials that have been packed are transmitted to the sliding track 29 on the sealing mechanism 27 via the packing mechanism 26, and the sliding track 29 drives the external materials that have been packed to be transmitted to the bottom of the sealing assembly 30 for sealing and transports the sealed external materials to the bottom of the labeling mechanism 31 for labeling.

[0029] A stopper 32 is disposed at one end of the support frame 28 close to the palletizing robot 1 , and the stopper 32 is used to stop the sealed and labeled external materials transported via the sliding track 29 .

[0030] The unpacking mechanism 25 includes a base 33, a folding mechanism 34 arranged on the base 33, a gluing mechanism 35 and an unpacking auxiliary mechanism 36 arranged on the side of the base 33. The unpacking auxiliary mechanism 36 includes an operating table 37 and a robotic arm 38 arranged on the operating table 37. An unpacking actuator 39 is provided at the end of the robotic arm 38 away from the operating table 37. The unpacking actuator 39 is used to suck and move the folded carton to the folding mechanism 34 for folding. After folding, the robotic arm 38 drives the folded carton to move toward the gluing mechanism 35. After the gluing mechanism 35 glues the bottom of the carton to complete the bottom sealing action, the robotic arm 38 drives the carton to be placed on the packing mechanism 26 to wait for packing.

[0031] The packing mechanism 26 includes a frame 41, a conveyor belt 42, a loading platform 43, a loading actuator 44 and a packing auxiliary mechanism 45 arranged on the frame 41; the conveyor belt 42 is arranged along the length direction of the material production line 3, and the loading platform 43 includes a material panel 46, a material conveyor belt 47 arranged on one side of the material panel 46, a pushing mechanism 48 installed on one side of the material conveyor belt 47, and a servo motor 49 driving the pushing mechanism 48 to move back and forth. External materials are conveyed to one end close to the pushing mechanism 48 via the material conveyor belt 47, and the servo motor 49 drives the pushing mechanism 48 to move back and forth. The mechanism 48 reciprocates to load the external material placed on the material conveyor belt 47 onto the material panel 46; the material panel 46 includes a first panel 51 for placing external materials, a limiting mechanism 52 arranged on the side of the first panel 51, and a fixed plate 53 arranged parallel to the limiting mechanism 52, the limiting mechanism 52 includes a limiting plate 54 and a telescopic motor 55 for driving the limiting plate 54 to reciprocate, the external material is pushed onto the first panel 51 via the pushing mechanism 48, and the telescopic motor 55 drives the limiting plate 54 to move toward the fixed plate 53 to limit the external material.

[0032] The feeding actuator 44 includes a movable slide rail 56 arranged on the frame 41, a sliding rod body 57 slidingly arranged on the movable slide rail 56, and a movable motor 58 driving the sliding rod body 57 to move back and forth. The sliding rod body 57 is provided with a picking portion 59 at one end away from the movable slide rail 56. The sliding rod body 57 is driven by the movable motor 58 to pick up the external material placed on the feeding platform 43 and then move it to the packing auxiliary mechanism 45 for material packing. The conveyor belt 42 moves the material box that has been boxed to the sealing mechanism 27 for the next step of operation.

[0033] The control center 24 includes an intelligent scheduling module, which collects and analyzes production data in real time according to the material transmission speed of the material production line 3 and the occupied area of ​​the material stacking platform 2. The intelligent scheduling module forms a scheduling strategy based on the real-time data and generates a scheduling instruction to send to the stacking robot 1 to optimize production efficiency.

[0034] The fully automatic palletizing collaborative system includes a control center 61, and the material palletizing platform 2 includes a positioning sensor and a material identification device; the positioning sensor of the material palletizing platform 2, the material identification device and the control center 24 of the palletizing robot 1 are all connected to the control center 61 via a wireless transmission protocol; the positioning sensor is used to identify the placement position of the material palletizing platform 2, and the material identification device is used to identify material parameters. The positioning sensor and the material identification device transmit the identification data to the control center 61, and the control center 61 organizes the data according to the identification data and forms instructions to send to the control center 24 of the palletizing robot 1, and the palletizing robot 1 performs corresponding palletizing operations according to the instructions.

[0035] A multi-station fully automatic palletizing collaborative system. In actual application, the system consists of a palletizing robot 1, multiple groups of material palletizing platforms 2, and a sequential modular material production line 3. The palletizing robot 1 is exquisitely designed and has a flexible manipulator 5. The manipulator 5 is equipped with a suction component 6, which uses the negative pressure provided by the vacuum generator to stably absorb the material through the suction plate 7. The rotating component 12 of the manipulator 5 includes a multi-axis rotating structure, which can realize all-round and multi-angle material handling and palletizing. At the same time, the design of the lifting platform 9 enables the manipulator 5 to complete palletizing work at different heights, further improving the adaptability and flexibility of the system. The palletizing robot 1 can be set at any position of the material production line 3 according to actual needs to complete the palletizing work.

[0036] The material production line 3 includes a box opening mechanism 25, a box packing mechanism 26 and a box sealing mechanism 27. Each mechanism has a specific task, such as folding, gluing and box opening assistance of the box opening mechanism 25, conveying, loading and box packing assistance of the box packing mechanism 26, and box sealing and labeling of the box sealing mechanism 27. These mechanisms realize the automatic processing and transmission of materials through precise coordination and cooperation. The material production line 3 is set to a linear direction, which not only saves floor space but also shortens production time and improves efficiency.

[0037] In addition, the control center 24, as the "brain" of the system, collects and analyzes production data in real time through the intelligent scheduling module, and dynamically adjusts the scheduling strategy to optimize production efficiency according to the material transmission speed of the material production line 3 and the occupancy of the material stacking platform 2. At the same time, the positioning sensor and material identification device of the material stacking platform 2 are connected to the control center 61, realizing the intelligent identification and position adjustment of the material, ensuring the accuracy and efficiency of the stacking.

[0038] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there will be changes in the specific implementation methods and application scopes. The content of this specification should not be understood as limiting the present invention.

Claims

1. A multi-station fully automatic palletizing collaborative system, characterized by: The invention comprises a palletizing robot (1), a material palletizing platform (2) and a material production line (3); the material palletizing platform (2) is provided with a plurality of groups, and the plurality of groups of material palletizing platforms (2) are arranged around the palletizing robot (1); the palletizing robot (1) comprises a frame (4) and a manipulator (5) arranged on the frame (4); the manipulator (5) is used to grab the external materials that have been packaged on the material production line (3) and place them on the material palletizing platform (2) in sequence; The palletizing robot (1) further comprises a suction component (6) arranged at the free end of the manipulator (5), the suction component (6) comprising a suction plate (7), a vacuum generator for providing negative pressure to the suction plate (7) being arranged in the frame (4), the vacuum generator being in communication with the suction plate (7) and triggering the generation of negative pressure between the suction plate (7) and the material to absorb the material; the frame (4) further comprises a lifting platform (9) and a lifting drive component (11), a receiving space being provided in the frame (4), the lifting platform (9) and the lifting drive component (11) being received in the receiving space, the end of the manipulator (5) away from the suction plate (7) being mounted on the lifting platform (9), the lifting drive component (11) driving the lifting platform (9) to move up and down to drive the manipulator (5) to move up and down to complete palletizing work at different heights.

2. A multi-station fully automatic palletizing collaborative system according to claim 1, characterized in that: The manipulator (5) comprises a rotating assembly (12), the rotating assembly (12) comprising a first rotating shaft (13), a second rotating shaft (14), a third rotating shaft (15), a fourth rotating shaft (16), a fifth rotating shaft (17), a sixth rotating shaft (18), a seventh rotating shaft (19), a first machine arm (21) and a second machine arm (22); the first rotating shaft (13) is rotatably arranged on the lifting platform (9), the second rotating shaft (14) and the third rotating shaft (15) are respectively arranged at two ends of the first machine arm (21), and the second rotating shaft (14) and the first rotating shaft ( The fourth rotating shaft (16) and the fifth rotating shaft (17) are respectively arranged at two ends of the second machine arm (22), the fourth rotating shaft (16) is rotationally connected to the third rotating shaft (15), the fifth rotating shaft (17) is rotationally connected to the sixth rotating shaft (18), the sixth rotating shaft (18) is rotationally connected to the seventh rotating shaft (19), and the seventh rotating shaft (19) is rotationally connected to the suction component (6), and the manipulator (5) is rotated via the rotating component (12) to place the external materials that have been packaged on the production line on the material stacking carrier (2) in different directions.

3. The multi-station fully automatic palletizing collaborative system according to claim 2 is characterized in that: The palletizing robot (1) further comprises sensors arranged on the first arm (21) and the second arm (22) and a control center (24) arranged on the frame (4); the control center (24) is electrically connected to the sensors, and the control center (24) is used to receive tilt signals of the first arm (21) and the second arm (22) detected by the sensors and control the manipulator (5) to move in the opposite direction of its transfer direction or to stop moving.

4. The multi-station fully automatic palletizing collaborative system according to claim 1, characterized in that: The material production line (3) comprises a box opening mechanism (25), a box packing mechanism (26) and a box sealing mechanism (27) which are arranged in sequence along the same direction; the box sealing mechanism (27) is arranged at one end close to the palletizing robot (1); the box sealing mechanism (27) comprises a support frame (28), a sliding track (29) arranged on the support frame (28), a box sealing assembly (30) and a labeling mechanism (31); the box sealing assembly (30) and the labeling mechanism (31) are arranged along the length direction of the support frame (28); the external materials that have been boxed are transferred to the sliding track (29) on the box sealing mechanism (27) via the box packing mechanism (26); the sliding track (29) drives the external materials that have been boxed to be transferred to the bottom of the box sealing assembly (30) for box sealing and transfers the sealed external materials to the bottom of the labeling mechanism (31) for labeling.

5. The multi-station fully automatic palletizing collaborative system according to claim 4 is characterized in that: A stopper (32) is provided at one end of the support frame (28) close to the palletizing robot (1), and the stopper (32) is used to stop the sealed and labeled external materials transported via the sliding track (29).

6. The multi-station fully automatic palletizing collaborative system according to claim 4, characterized in that: The unpacking mechanism (25) comprises a base (33), a folding mechanism (34) arranged on the base (33), a gluing mechanism (35), and an unpacking auxiliary mechanism (36) arranged on the side of the base (33); the unpacking auxiliary mechanism (36) comprises an operating table (37), a mechanical arm (38) arranged on the operating table (37); an unpacking actuator (39) is arranged at one end of the mechanical arm (38) away from the operating table (37); the unpacking actuator (39) is used to suck and move the folded carton to the folding mechanism (34) for folding; after folding, the mechanical arm (38) drives the folded carton to move to the gluing mechanism (35); after the gluing mechanism (35) glues the bottom of the carton to complete the bottom sealing action, the mechanical arm (38) drives the carton to be placed at the packing mechanism (26) to wait for packing.

7. The multi-station fully automatic palletizing collaborative system according to claim 4 is characterized in that: The packing mechanism (26) comprises a frame (41), a conveyor belt (42) arranged on the frame (41), a loading platform (43), a loading actuator (44) and a packing auxiliary mechanism (45); the conveyor belt (42) is arranged along the length direction of the material production line (3); the loading platform (43) comprises a material panel (46), a material conveyor belt (47) arranged on one side of the material panel (46), a pushing mechanism (48) installed on one side of the material conveyor belt (47) and a servo motor (49) driving the pushing mechanism (48) to move back and forth; external materials are conveyed to one end close to the pushing mechanism (48) via the material conveyor belt (47); the servo motor (49) drives the pushing mechanism (48) to move back and forth. The material pushing mechanism (48) reciprocates to load external materials placed on the material conveyor belt (47) onto the material panel (46); the material panel (46) comprises a first panel (51) for placing external materials, a limiting mechanism (52) arranged on the side of the first panel (51), and a fixed plate (53) arranged parallel to the limiting mechanism (52); the limiting mechanism (52) comprises a limiting plate (54) and a telescopic motor (55) for driving the limiting plate (54) to reciprocate; the external materials are pushed onto the first panel (51) by the material pushing mechanism (48); the telescopic motor (55) drives the limiting plate (54) to move in the direction of the fixed plate (53) to limit the external materials.

8. The multi-station fully automatic palletizing collaborative system according to claim 7, characterized in that: The feeding actuator (44) comprises a movable slide rail (56) arranged on a frame (41), a sliding rod body (57) slidably arranged on the movable slide rail (56), and a moving motor (58) driving the sliding rod body (57) to reciprocate. The sliding rod body (57) is provided with a picking portion (59) at one end away from the movable slide rail (56). The sliding rod body (57) is driven by the moving motor (58) to pick up external materials placed on the feeding platform (43) and then move them to the boxing auxiliary mechanism (45) for material boxing. The conveyor belt (42) moves the boxed material box to the box sealing mechanism (27) for the next operation.

9. The multi-station fully automatic palletizing collaborative system according to claim 3, characterized in that: The control center (24) includes an intelligent scheduling module, which collects and analyzes production data in real time based on the material transmission speed of the material production line (3) and the occupied area of ​​the material stacking platform (2). The intelligent scheduling module forms a scheduling strategy based on the real-time data and generates a scheduling instruction to send to the stacking robot (1) to optimize production efficiency.

10. The multi-station fully automatic palletizing collaborative system according to claim 1, characterized in that: The fully automatic palletizing cooperative system comprises a control center (61), and the material palletizing platform (2) comprises a positioning sensor and a material identification device; the positioning sensor of the material palletizing platform (2), the material identification device and the control center (24) of the palletizing robot (1) are all connected to the control center (61) via a wireless transmission protocol; the positioning sensor is used to identify the placement position of the material palletizing platform (2), and the material identification device is used to identify material parameters. The positioning sensor and the material identification device transmit the identification data to the control center (61), and the control center (61) organizes the data according to the identification data and forms an instruction to send to the control center (24) of the palletizing robot (1), and the palletizing robot (1) performs the corresponding palletizing operation according to the instruction.

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