A multi-station fully automated palletizing collaboration system

Abstract

This invention relates to the field of multi-station fully automated palletizing technology, and in particular discloses a multi-station fully automated palletizing collaborative system, including a palletizing robot, material palletizing platforms, and a material production line. Multiple sets of material palletizing platforms are arranged beside the palletizing robot. The palletizing robot includes a frame and a robotic arm mounted on the frame. The robotic arm is used to grasp pre-packaged external materials from the material production line and place them sequentially onto the material palletizing platforms. The distance between the material palletizing platforms does not exceed the movement range of the robotic arm of the palletizing robot. By introducing the palletizing robot and multiple sets of material palletizing platforms, the system can automatically complete the grasping and palletizing of materials, significantly improving production efficiency. The arrangement of multiple sets of material palletizing platforms allows the system to process more materials within a limited space, optimizing space utilization.

Description

Technical Field

[0001] This invention relates to the field of multi-station fully automated palletizing technology, and in particular discloses a multi-station fully automated palletizing collaborative system. Background Technology

[0002] Palletizers, as crucial equipment in modern warehousing and logistics systems, primarily function to automatically stack cartons already packed in containers onto pallets or stacks in a specific arrangement, facilitating subsequent forklift transport and warehouse storage. However, some automated palletizing systems can only perform palletizing operations at a single workstation. This means the system can only process materials at one workstation at a time, failing to meet the needs of multiple workstations operating simultaneously. Furthermore, some automated palletizing systems have outdated overall designs, occupying a large area and hindering efficient operation within limited spaces. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide a multi-station fully automated palletizing collaboration system.

[0004] To achieve the above objectives, the present invention provides a multi-station fully automated palletizing collaborative system, comprising a palletizing robot, a material palletizing platform, and a material production line; the material palletizing platform is provided in multiple sets, which are arranged on the side of the palletizing robot. The palletizing robot includes a frame and a robotic arm mounted on the frame. The robotic arm is used to grasp the externally packaged materials from the material production line and place them sequentially onto the material palletizing platform; the distance between the material palletizing platforms does not exceed the movement range of the robotic arm of the palletizing robot.

[0005] The palletizing robot also includes a suction component located at the free end of the robotic arm. The suction component includes a suction plate. A vacuum generator is provided inside the frame to provide negative pressure to the suction plate. The vacuum generator is connected to the suction plate via an air pipe and triggers the generation of negative pressure between the suction plate and the material to suck up the material. The frame also includes a lifting platform and a lifting drive. An accommodating space is provided inside the frame, and the lifting platform and the lifting drive are housed in the accommodating space. The end of the robotic arm away from the suction plate is mounted on the lifting platform. The lifting drive drives the lifting platform to move up and down, thereby moving the robotic arm up and down to complete the palletizing work at different heights.

[0006] The robotic arm includes a rotating assembly comprising 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 robotic arm, and a second robotic arm. The first rotating shaft is rotatably mounted on a lifting platform. The second and third rotating shafts are respectively located at both ends of the first robotic arm and are rotatably connected to the first rotating shaft. The fourth and fifth rotating shafts are respectively located at both ends of the second robotic arm and are 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. The seventh rotating shaft is rotatably connected to a suction assembly. The robotic arm, through the rotation of the rotating assembly, places the already packaged external materials on the production line onto material stacking platforms in different orientations.

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

[0008] The material production line includes an unpacking mechanism, a packing mechanism, and a sealing mechanism arranged sequentially in the same direction. The sealing mechanism is located at one end near the palletizing robot. The sealing mechanism includes a support frame, a sliding rail on the support frame, a sealing assembly, and a labeling mechanism. The sealing assembly and the labeling mechanism are arranged along the length of the support frame. The packed external materials are conveyed to the sliding rail on the sealing mechanism via the packing mechanism. The sliding rail carries the packed external materials to the bottom of the sealing assembly for sealing and then conveys the sealed external materials to the bottom of the labeling mechanism for labeling.

[0009] The support frame is equipped with a stop at one end near the palletizing robot. The stop is used to block external materials that have been sealed and labeled and are transported via the sliding track.

[0010] The unpacking mechanism includes a base, a folding mechanism and a gluing mechanism mounted on the base, and an unpacking auxiliary mechanism mounted on the side of the base. The unpacking auxiliary mechanism includes an operating table and a robotic arm mounted on the operating table. The end of the robotic arm away from the operating table is equipped with an unpacking execution mechanism. The unpacking execution mechanism is used to pick up the folded carton and move it to the folding mechanism for folding. After folding, the robotic arm moves the folded carton toward the gluing mechanism. The gluing mechanism applies glue to the bottom of the carton to complete the bottom sealing action. After that, the robotic arm moves the carton to the packing mechanism to wait for packing.

[0011] The packing mechanism includes a frame, a conveyor belt, a loading platform, a loading execution mechanism, and a packing auxiliary mechanism mounted on the frame. The conveyor belt is arranged along the length of the material production line. The loading platform includes a material panel, a material conveyor belt on one side of the material panel, a pushing mechanism on one side of the material conveyor belt, and a servo motor that drives the pushing mechanism to reciprocate. External materials are conveyed to one end near the pushing mechanism via the material conveyor belt. The servo motor drives the pushing mechanism to reciprocate and load the external materials placed on the material conveyor belt onto the material panel. The material panel includes a first panel for placing external materials, a limiting mechanism 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 reciprocate. External materials are pushed onto the first panel via the pushing mechanism. The telescopic motor drives the limiting plate to move towards the fixed plate to limit the external materials.

[0012] The feeding mechanism includes a movable slide rail mounted on the frame, a sliding rod slidably mounted on the movable slide rail, and a movable motor that drives the sliding rod to reciprocate. The end of the sliding rod away from the movable slide rail is provided with a picking-up part. The sliding rod is driven by the movable motor to pick up the external material placed on the feeding platform and move it to the boxing auxiliary mechanism for material boxing. The conveyor belt moves the boxed material to the sealing mechanism for the next step.

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

[0014] The fully automated palletizing collaborative system includes a control center, and the material palletizing platform includes a positioning sensor and a material identification device. The positioning sensor and material identification device of the material palletizing platform, as well as 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. The control center processes the identification data and generates instructions, which are then sent to the control center of the palletizing robot. The palletizing robot executes the corresponding palletizing operation according to the instructions.

[0015] A multi-station fully automated palletizing collaborative system mainly consists of a palletizing robot, a material palletizing platform, and a material production line. The material palletizing platforms are distributed around the palletizing robot, facilitating flexible multi-position palletizing after the robot grasps the material. The palletizing robot includes a robotic arm, a suction component, a lifting platform, and a control center. The robotic arm is responsible for transferring packaged materials from the production line to the palletizing positions. The arrangement of multiple palletizing positions around the palletizing robot enables it to efficiently complete multi-directional palletizing tasks, improving palletizing efficiency and flexibility. The suction component design ensures firm adhesion to the material, preventing material slippage or inaccurate positioning during handling and palletizing, thus guaranteeing stability. The robotic arm is designed with a multi-axis rotating structure, including seven axes and two arms; this multi-axis structure provides the robotic arm with high degrees of freedom of movement, meeting multi-directional palletizing requirements, enhancing material coverage, and improving the robotic arm's flexibility. Sensors are installed on the first and second arms to detect the robotic arm's tilt status. The control center receives sensor signals and adjusts the robot's movement direction in real time to achieve precise palletizing control and collision protection. The linkage design between the sensors and the control center enables the robot to have an automatic correction function, improving the safety and stability of operation and avoiding misoperation caused by tilting or exceeding limits.

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

[0017] The intelligent scheduling module within the control center dynamically optimizes scheduling strategies by analyzing material production speed and palletizing position occupancy. It adjusts the robot's palletizing path and material handling frequency based on real-time production data, thereby optimizing overall production efficiency. This real-time adjustment of the production rhythm effectively alleviates production bottlenecks caused by uneven production speed or palletizing position occupancy, improving production line utilization. In a further embodiment, the system also includes a control center, with positioning sensors and material identification devices installed on the material palletizing platforms. The positioning sensors acquire material location data, and the material identification devices acquire material characteristic data. This information is wirelessly transmitted to the control center, enabling it to dynamically adjust palletizing tasks based on material parameters. Through the interaction between the control center and the identification devices, intelligent material identification and position adjustment are achieved, improving the accuracy and efficiency of material management and palletizing.

[0018] Furthermore, fault sensors are installed on the robotic arm, the suction assembly, and the lifting drive. The control center is electrically connected to the fault sensors. When a fault occurs, the control center automatically issues an alarm signal and triggers the palletizing robot to pause operation and perform maintenance procedures.

[0019] Furthermore, the bottom of the frame is equipped with a mounting bracket and a retractable support arm. The mounting bracket has an accommodating space within which the retractable support arm is housed. The extension length of the retractable support arm can be adjusted according to the weight of the external material: when the external material is heavy, 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 swaying during palletizing; when the external material is light, the retractable support arm can be retracted to a shorter length to reduce the footprint and improve the flexibility of the equipment layout.

[0020] The beneficial effects of this invention are as follows: The multi-station fully automated palletizing collaborative system of this invention optimizes the palletizing process and improves production efficiency through the coordinated work of palletizing robots, material production lines, and multiple sets of material palletizing platforms. The palletizing robot adopts a flexible robotic arm design, featuring a multi-axis rotation structure, suction components, and a lifting platform, enabling it to efficiently and stably complete multi-directional palletizing tasks. Simultaneously, through the cooperation of sensors and a control center, real-time monitoring and precise control are achieved. The sequential modular design of the material production line, including functions such as unpacking, packing, and sealing, further improves the system's automation level and reduces manual intervention and operational errors. The control center, through an intelligent scheduling module, optimizes the production rhythm and scheduling strategy in real time, avoiding production bottlenecks and improving palletizing efficiency and resource utilization. Furthermore, the positioning sensors and material identification devices of the material palletizing platforms are connected to the control center, enabling intelligent material identification and position adjustment, ensuring precise operation and efficient operation of the system. The overall system enhances the automation level, flexibility, and safety of the production line, significantly optimizing production efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the palletizing robot of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the robotic arm of the present invention;

[0024] Figure 4 This is a schematic diagram of the frame structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the sealing mechanism of the present invention;

[0026] Figure 6 This is a schematic diagram of the opening mechanism of the present invention;

[0027] Figure 7 This is a schematic diagram of the packing mechanism of the present invention;

[0028] Figure 8 This is a schematic diagram of the loading platform of the present invention;

[0029] Figure 9 This is a schematic diagram of the feeding mechanism of the present invention.

[0030] The reference numerals in the figures include:

[0031] 1. Palletizing robot; 2. Material palletizing platform; 3. Material production line; 4. Frame; 5. Robotic arm; 6. Suction assembly; 7. Suction tray; 9. Lifting platform; 11. Lifting drive component; 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 robotic arm; 22. Second robotic arm; 24. Control center; 25. Unpacking mechanism; 26. Packing mechanism; 27. Sealing mechanism; 28. Support frame; 29. ​​Sliding rail; 30. Sealing assembly; 31. Labeling mechanism; 32. 33. Stop; 34. Base; 35. Folding mechanism; 36. Gluing mechanism; 37. Box opening auxiliary mechanism; 38. Operating table; 39. Robotic arm; 40. Box opening execution mechanism; 41. Frame; 42. Conveyor belt; 43. Loading platform; 44. Loading execution mechanism; 45. Box packing auxiliary mechanism; 46. Material panel; 47. Material conveyor belt; 48. Pushing mechanism; 49. Servo motor; 51. First panel; 52. Limiting mechanism; 53. Fixing plate; 54. Limiting plate; 55. Telescopic motor; 56. Moving slide rail; 57. Sliding rod; 58. Moving motor; 59. Pick-up unit; 61. Control center. Detailed Implementation

[0032] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0033] Please see Figures 1 to 9 As shown, a multi-station fully automated 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 in multiple sets, and the multiple sets 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 robotic arm 5 arranged on the frame 4. The robotic arm 5 is used to grab the external materials that have been packaged on the material production line 3 and place them sequentially on the material palletizing platform 2; the setting distance of the material palletizing platform 2 does not exceed the movement range of the robotic arm 5 of the palletizing robot 1.

[0034] The palletizing robot 1 also includes a suction component 6 located at the free end of the robotic arm 5. The suction component 6 includes a suction plate 7. The frame 4 is equipped with a vacuum generator that provides negative pressure to the suction plate 7. The vacuum generator is connected to the suction plate 7 via an air pipe and triggers the generation of negative pressure between the suction plate 7 and the material to suck up the material. The frame 4 also includes a lifting platform 9 and a lifting drive component 11. A receiving space is provided inside the frame 4. The lifting platform 9 and the lifting drive component 11 are housed in the receiving space. The end of the robotic arm 5 away from the suction plate 7 is mounted on the lifting platform 9. The lifting drive component 11 drives the lifting platform 9 to move up and down, thereby moving the robotic arm 5 up and down to complete the palletizing work at different heights.

[0035] The robotic arm 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 robotic arm 21, and a second robotic arm 22. The first rotating shaft 13 is rotatably mounted on the lifting platform 9. The second rotating shaft 14 and the third rotating shaft 15 are respectively located at both ends of the first robotic arm 21 and are rotatably connected to the first rotating shaft 13. The fourth rotating shaft 16 and the fifth rotating shaft 17 are respectively located at both ends of the second robotic arm 22 and are rotatably connected to the third rotating shaft 15. The fifth rotating shaft 17 is rotatably connected to the sixth rotating shaft 18 and the sixth rotating shaft 18 is rotatably connected to the seventh rotating shaft 19. The seventh rotating shaft 19 is rotatably connected to the suction assembly 6. The robotic arm 5, through the rotation of the rotating assembly 12, places the packaged external materials on the production line onto the material stacking platform 2 in different positions.

[0036] The palletizing robot 1 also includes sensors mounted on the first arm 21 and the second arm 22, and a control center 24 mounted on the frame 4. The control center 24 is electrically connected to the sensors and is used to receive tilt signals detected by the sensors on the first arm 21 and the second arm 22 and control the robot arm 5 to move in the opposite direction of its conveying direction or stop moving.

[0037] The material production line 3 includes an unpacking mechanism 25, a packing mechanism 26, and a sealing mechanism 27 arranged sequentially in the same direction. The sealing mechanism 27 is located at one end near the palletizing robot 1. The sealing mechanism 27 includes a support frame 28, a sliding rail 29 arranged on the support frame 28, a sealing assembly 30, and a labeling mechanism 31. The sealing assembly 30 and the labeling mechanism 31 are arranged along the length of the support frame 28. The packed external materials are conveyed to the sliding rail 29 on the sealing mechanism 27 via the packing mechanism 26. The sliding rail 29 drives the packed external materials to be conveyed to the sealing assembly 30 for sealing and then conveys the sealed external materials to the labeling mechanism 31 for labeling.

[0038] The support frame 28 is provided with a stop 32 at one end near the palletizing robot 1. The stop 32 is used to stop the external materials that have been sealed and labeled and transported via the sliding track 29.

[0039] The unpacking mechanism 25 includes a base 33, a folding mechanism 34 and a gluing mechanism 35 disposed on the base 33, and an unpacking auxiliary mechanism 36 disposed on the side of the base 33. The unpacking auxiliary mechanism 36 includes an operating table 37 and a robotic arm 38 disposed on the operating table 37. The end of the robotic arm 38 away from the operating table 37 is provided with an unpacking execution mechanism 39. The unpacking execution mechanism 39 is used to pick up the folded carton and move it to the folding mechanism 34 for folding. After folding, the robotic arm 38 moves the folded carton toward the gluing mechanism 35. The gluing mechanism 35 applies glue to the bottom of the carton to complete the bottom sealing action. After that, the robotic arm 38 moves the carton to the packing mechanism 26 to wait for packing.

[0040] The packing mechanism 26 includes a frame 41, a conveyor belt 42, a loading platform 43, a loading execution mechanism 44, and a packing auxiliary mechanism 45 mounted on the frame 41. The conveyor belt 42 is arranged along the length of the material production line 3. The loading platform 43 includes a material panel 46, a material conveyor belt 47 disposed on one side of the material panel 46, a pushing mechanism 48 mounted on one side of the material conveyor belt 47, and a servo motor 49 that drives the pushing mechanism 48 to reciprocate. External materials are conveyed to one end near the pushing mechanism 48 via the material conveyor belt 47, and the servo motor 49 drives the pushing mechanism. The reciprocating movement of mechanism 48 feeds external materials placed on material conveyor belt 47 onto material panel 46; the material panel 46 includes a first panel 51 for placing external materials, a limiting mechanism 52 disposed on the side of the first panel 51, and a fixed plate 53 disposed 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 materials are pushed onto the first panel 51 by the pushing mechanism 48, and the telescopic motor 55 drives the limiting plate 54 to move towards the fixed plate 53 to limit the external materials.

[0041] The feeding execution mechanism 44 includes a movable slide rail 56 mounted on the frame 41, a sliding rod 57 slidably mounted on the movable slide rail 56, and a moving motor 58 that drives the sliding rod 57 to reciprocate. The end of the sliding rod 57 away from the movable slide rail 56 is provided with a picking part 59. The sliding rod 57 is driven by the moving motor 58 to pick up the external materials placed on the feeding platform 43 and move them to the boxing auxiliary mechanism 45 for material boxing. The conveyor belt 42 moves the boxed material to the sealing mechanism 27 for the next step.

[0042] The control center 24 includes an intelligent scheduling module. The intelligent scheduling module collects and analyzes production data in real time based on the material transmission speed of the material production line 3 and the area occupied by the material palletizing platform 2. The intelligent scheduling module forms a scheduling strategy based on the real-time data and generates scheduling instructions to send to the palletizing robot 1 to optimize production efficiency.

[0043] The fully automated palletizing collaborative system includes a control center 61. The material palletizing platform 2 includes a positioning sensor and a material identification device. The positioning sensor and material identification device of the material palletizing platform 2, as well as 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. The control center 61 processes the identification data and generates instructions, which are then sent to the control center 24 of the palletizing robot 1. The palletizing robot 1 executes the corresponding palletizing operation according to the instructions.

[0044] A multi-station fully automated palletizing collaborative system, in practical applications, consists of a palletizing robot 1, multiple sets of material palletizing platforms 2, and a sequential modular material production line 3. The palletizing robot 1 is ingeniously designed, possessing a flexible robotic arm 5. The robotic arm 5 is equipped with a suction component 6, which utilizes the negative pressure provided by a vacuum generator to stably pick up materials via a suction plate 7. The rotating component 12 of the robotic arm 5 includes a multi-axis rotating structure, enabling omnidirectional and multi-angle material handling and palletizing. Simultaneously, the design of the lifting platform 9 allows the robotic arm 5 to perform palletizing work at different heights, further improving the system's adaptability and flexibility. The palletizing robot 1 can be positioned at any location on the material production line 3 to perform palletizing work as needed.

[0045] Material production line 3 includes an unpacking mechanism 25, a packing mechanism 26, and a sealing mechanism 27. Each mechanism performs a specific task, such as folding, gluing, and unpacking assistance by the unpacking mechanism 25; conveying, feeding, and packing assistance by the packing mechanism 26; and sealing and labeling by the sealing mechanism 27. Through precise coordination and cooperation, these mechanisms achieve automated material handling and transmission. The linear layout of material production line 3 not only saves floor space but also shortens production time and improves efficiency.

[0046] Furthermore, the control center 24, acting as the "brain" of the system, collects and analyzes production data in real time through an intelligent scheduling module. Based on the material transfer speed of the material production line 3 and the occupancy of the material palletizing platform 2, it dynamically adjusts the scheduling strategy to optimize production efficiency. Simultaneously, the positioning sensors and material identification devices of the material palletizing platform 2 are connected to the control center 61, enabling intelligent material identification and position adjustment, ensuring the accuracy and efficiency of palletizing.

[0047] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. A multi-station fully automatic palletizing collaboration system, characterized in that: Including the stacking robot (1), material stacking platform (2) and material production line (3), the material stacking platform (2) is provided with multiple groups, multiple groups of material stacking platform (2) are arranged around the stacking robot (1), the stacking robot (1) includes rack (4), mechanical arm (5) arranged on the rack (4), the mechanical arm (5) is used for grabbing the external material completed packaging on the material production line (3) and sequentially placed on the material stacking platform (2); The stacking robot (1) further includes a suction assembly (6) disposed at the free end of the mechanical arm (5), the suction assembly (6) includes a suction disc (7), the rack (4) is provided with a vacuum generator for providing negative pressure for the suction disc (7), the vacuum generator is in communication with the suction disc (7) and triggers the suction disc (7) to generate negative pressure between the suction disc (7) and the material to suck the material; The rack (4) further includes a lifting platform (9) and a lifting drive (11), the rack (4) is provided with a containing space, the lifting platform (9) and the lifting drive (11) are contained in the containing space, one end of the mechanical arm (5) away from the suction disc (7) is installed on the lifting platform (9), the lifting drive (11) drives the lifting platform (9) to move up and down to drive the mechanical arm (5) to move up and down to complete the stacking work of different heights; The material production line (3) includes unboxing mechanism (25), boxing mechanism (26) and sealing mechanism (27) arranged in the same direction in sequence; The sealing mechanism (27) is arranged at one end close to the stacking robot (1), the sealing mechanism (27) includes support frame (28), sliding rail (29) arranged on support frame (28), sealing assembly (30) and labeling mechanism (31), sealing assembly (30) and labeling mechanism (31) are arranged along the length direction of support frame (28), the external material completed boxing is conveyed to the sliding rail (29) on the sealing mechanism (27) through the boxing mechanism (26), the sliding rail (29) drives the external material completed boxing to be conveyed to the sealing assembly (30) below to seal and convey the external material completed sealing to the labeling mechanism (31) below to complete labeling; The boxing mechanism (26) comprises a frame (41), a conveying belt (42), a feeding table (43), a feeding execution mechanism (44) and a boxing auxiliary mechanism (45) arranged on the frame (41); the conveying belt (42) is arranged along the length direction of the material production line (3); the feeding table (43) comprises a material panel (46), a material conveying belt (47) arranged on one side of the material panel (46), a pushing mechanism (48) installed on one side of the material conveying belt (47), and a servo motor (49) for driving the pushing mechanism (48) to move back and forth; external materials are conveyed to one end close to the pushing mechanism (48) through the material conveying belt (47), and the servo motor (49) drives the pushing mechanism (48) to move back and forth to feed the external materials placed on the material conveying belt (47) to 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 in parallel with 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 move back and forth; the external materials are pushed onto the first panel (51) through the pushing mechanism (48), and the telescopic motor (55) drives the limiting plate (54) to move towards the fixed plate (53) to limit the external materials; The feeding execution mechanism (44) comprises a moving slide rail (56) arranged on the frame (41), a sliding rod body (57) slidingly arranged on the moving slide rail (56), and a moving motor (58) for driving the sliding rod body (57) to move back and forth; one end of the sliding rod body (57) away from the moving slide rail (56) is provided with a picking part (59); the sliding rod body (57) is driven by the moving motor (58) to pick up the external materials placed on the feeding table (43) and then moves to the boxing auxiliary mechanism (45) for material boxing; the conveying belt (42) moves the material box that has completed boxing to the sealing mechanism (27) for next operation.

2. The multi-station fully-automatic palletizing collaboration system according to claim 1, characterized in that: The mechanical arm (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 arm (21) and a second 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 arranged at two ends of the first arm (21) respectively, the second rotating shaft (14) is rotatably connected with the first rotating shaft (13), the fourth rotating shaft (16) and the fifth rotating shaft (17) are arranged at two ends of the second arm (22) respectively, the fourth rotating shaft (16) is rotatably connected with the third rotating shaft (15), the fifth rotating shaft (17) is rotatably connected with the sixth rotating shaft (18), the sixth rotating shaft (18) is rotatably connected with the seventh rotating shaft (19), the seventh rotating shaft (19) is rotatably connected with the suction assembly (6), and the mechanical arm (5) places the external material which has completed packaging on the production line on the material stacking platform (2) in different directions through rotation of the rotating assembly (12).

3. The multi-station fully automatic palletizing collaboration system according to claim 2, wherein: The stacking 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 with the sensors, and the control center (24) is used for receiving the inclination signals of the first arm (21) and the second arm (22) detected by the sensors and controlling the mechanical arm (5) to move in the opposite direction or stop moving in the direction of the transfer direction.

4. The multi-station fully automatic palletizing collaboration system of claim 1, wherein: The support frame (28) is provided with a stop piece (32) at one end close to the stacking robot (1), and the stop piece (32) is used for stopping the external material which has completed boxing and labeling and is transported through the sliding rail (29).

5. The multi-station fully automatic palletizing collaboration system of claim 1, wherein: The opening box mechanism (25) comprises a base (33), a folding mechanism (34) arranged on the base (33), a gluing mechanism (35) and an opening box auxiliary mechanism (36) arranged on the side of the base (33), the opening box auxiliary mechanism (36) comprising an operation table (37) and a mechanical arm (38) arranged on the operation table (37), one end of the mechanical arm (38) away from the operation table (37) being provided with an opening box execution mechanism (39), the opening box execution mechanism (39) being used for sucking and moving the folded carton to the folding mechanism (34) for folding, after folding, the mechanical arm (38) moving the folded carton to the gluing mechanism (35), and after the gluing mechanism (35) completes the bottom boxing action by gluing the bottom of the carton, the mechanical arm (38) places the carton at the boxing mechanism (26) to wait for boxing.

6. The multi-station fully automatic palletizing collaboration system of claim 3, wherein: The control center (24) comprises 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), forms a scheduling strategy according to the real-time data, generates a scheduling instruction and sends it to the stacking robot (1) to optimize the production efficiency.

7. The multi-station fully automatic palletizing collaboration system of claim 1, wherein: The full-automatic palletizing cooperation system comprises a regulation center (61), the material palletizing carrier (2) comprises a positioning sensor and a material identification device; the positioning sensor and the material identification device of the material palletizing carrier (2) and the control center (24) of the palletizing robot (1) are connected with the regulation center (61) via a wireless transmission protocol; the positioning sensor is used for identifying the placement position of the material palletizing carrier (2), the material identification device is used for identifying material parameters, the positioning sensor and the material identification device transmit identification data to the regulation center (61), the regulation center (61) performs data arrangement according to the identification data and forms an instruction sent to the control center (24) of the palletizing robot (1), and the palletizing robot (1) performs corresponding palletizing operations according to the instruction.

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