A palletizing robot with easy adjustment and method of use thereof

Abstract

The present application relates to the technical field of robots, and proposes a palletizing robot convenient to adjust and a use method thereof, which comprises a conveying belt, a multi-axis machine table arranged on one side of the conveying belt, and a mechanical claw for palletizing packaging boxes conveyed on the conveying belt under the drive of the multi-axis machine table. The mechanical claw comprises a support, a movable clamping jaw movably arranged on one side of the bottom of the support, and a fixed clamping jaw fixedly arranged on the other side of the bottom of the support. When the movable clamping jaw is driven by an electric telescopic rod to perform a clamping action on the packaging box, the overturning assembly is driven by the movable clamping jaw to push the packaging box from one side of the top in advance. Since the other side of the bottom of the packaging box is resisted by the stop rod on the fixed clamping jaw, the bottom of the side of the packaging box close to the movable clamping jaw is raised upward, so as to facilitate the clamping action on the packaging box. The present application adopts this clamping mode, which can reduce the damage of the packaging box and improve the clamping efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an easily adjustable palletizing robot and its usage method. Background Technology

[0002] Palletizing robots are vertical, multi-jointed robots with special functions. They can be programmed by computer to set parameters such as stacking order and number of layers according to different material packaging, and are widely used in the palletizing industry.

[0003] A search revealed that patent CN115724219A discloses an easily adjustable palletizing robot, comprising a main body electrically connected to a control device, a mechanical claw connected to the output end of the main body, and the control device electrically connected to the mechanical claw. A main claw body is mounted on the bottom of the mechanical claw via a drive assembly, and extension claws are symmetrically connected to the top of the main claw body. This palletizing robot, by installing extension claws, a micro-electric push rod, and a first force sensor, decomposes the mechanical claw into a main claw body and extension claws, which are connected by the micro-electric push rod. The operator can adjust the distance between the extension claw and the main claw body by controlling the extension and retraction of the micro-electric push rod through the control device. Combined with the first force sensor, the displacement space of the limiting plate inside the telescopic groove is limited to control the maximum extension length of the extension claw. By adjusting the overall length of the mechanical claw, the gripping surface of the mechanical claw can be adjusted.

[0004] However, the palletizing robot mentioned above still has the following problems: The mechanical gripper used by the palletizing robot clamps the object by simultaneously gripping it from both sides. When the width of the packaging box is less than the conveyor belt width, the gripping method of the mechanical gripper is prone to damaging the packaging box. Therefore, the conveyor belt needs to be narrowed to achieve safe clamping of the packaging box. However, narrowing the conveyor belt will reduce the stability of the packaging box during transport. When the center of gravity of the packaging box is biased to one side of the conveyor belt, it is very easy to tip over from the conveyor belt, which will affect the clamping. Summary of the Invention

[0005] This invention proposes an easily adjustable palletizing robot and its usage method, which solves the problems of easy damage to packaging boxes and instability of packaging boxes caused by the synchronous clamping method on both sides in the prior art.

[0006] The technical solution of the present invention is as follows: A palletizing robot that is easy to adjust includes a conveyor belt, a multi-axis machine set on one side of the conveyor belt, and a mechanical gripper driven by the multi-axis machine to palletize packaging boxes conveyed on the conveyor belt. The mechanical gripper includes a bracket, a movable gripper movably disposed on one side of the bottom of the bracket, and a fixed gripper fixedly disposed on the other side of the bottom of the bracket. An electric telescopic rod for driving the movable gripper to open and close is disposed between the movable gripper and the fixed gripper. A stop bar that can slide up and down is disposed on the fixed gripper. The bracket is close to the movable gripper. One side of the bracket is equipped with a flipping and pressing component that, in conjunction with a stop bar, causes one side of the bottom of the packaging box to tilt up before the movable gripper clamps the box. The side of the bracket near the fixed gripper is equipped with a traction component that pulls the stop bar upward after the movable gripper clamps the packaging box. The fixed gripper is equipped with a scissor brace component that automatically opens when the stop bar is pulled upward. The flipping and pressing component can press the top of the packaging box on one side after the movable gripper clamps the packaging box. The bottom of the bracket is equipped with a pressing component that, with the assistance of the traction component, presses the top of the packaging box on the other side.

[0007] Preferably, the movable gripper includes a movable gripper rod, an upper swing arm is fixed to the top of the movable gripper rod, a lower swing arm is fixed to the bottom of the upper swing arm, a first shaft is fixed to the upper end of the upper swing arm, a second shaft is fixed to the lower end of the upper swing arm, the second shaft is rotatably connected to the bracket, and a first synchronous pulley is fixed to both ends of the second shaft through the bracket.

[0008] Preferably, the fixed gripper includes a second crossbar, which is fixed to the bracket. Fixed gripper rods are fixed at both ends of the second crossbar. Guide grooves are provided on both sides of the fixed gripper rod. Guide rods located in the guide grooves are fixed at both ends of the stop bar. A slide rail is fixed at the bottom of the fixed gripper rod.

[0009] Preferably, one end of the electric telescopic rod is hinged to the first shaft, and the other end of the electric telescopic rod is hinged to the second crossbar.

[0010] Preferably, the flipping assembly includes a first pressure rod, with side guard rods fixed to both ends of the first pressure rod. A fan-shaped piece is hinged to the top of the side guard rod. A first rotating shaft, rotatably connected to the bracket, is fixed at the center of the fan-shaped piece. A second synchronous pulley is fixed on the first rotating shaft. The second synchronous pulley is connected to the first synchronous pulley via a synchronous belt. A first spring rod and a stop rod are fixed to the side of the fan-shaped piece. A second spring rod is fixed to the side of the side guard rod. The first spring rod and the second spring rod are elastically connected by a first tension spring. The side guard rod abuts against the stop rod under the elastic force of the first tension spring.

[0011] Preferably, the traction assembly includes a paddle, which is located on the rotation path of the lower swing arm. A first slider that is slidably connected to the bracket is fixed on one side of the paddle, and a traction belt is fixed on the top side of the paddle.

[0012] Preferably, a first crossbar is threaded on the inner bottom side of the bracket, the traction belt passes around the first crossbar and the second crossbar and is fixed to the stop bar, and a plurality of opposing adjustment holes are opened on the side of the bottom of the bracket, and the plurality of adjustment holes are adapted to the threads of the first crossbar.

[0013] Preferably, the scissor brace assembly includes a first support rod and a second support rod, which are arranged crosswise and elastically connected by a second tension spring. Both ends of the first and second support rods are hinged with second sliders. The second sliders at the bottom of the first and second support rods are slidably mounted on a slide rail, and the second sliders at the top of the first and second support rods are slidably mounted at the bottom of the stop rod.

[0014] Preferably, the top pressing assembly includes a pressure plate, with second rotating shafts fixed on both sides of the top of the pressure plate. The second rotating shafts are rotatably connected to the bracket and a torsion spring is engaged at the connection. The pressure plate abuts against the paddle under the elastic force of the torsion spring, and a second pressure rod is fixed on the bottom surface of the pressure plate.

[0015] Based on the above-mentioned easily adjustable palletizing robot, the present invention also proposes a method for using the palletizing robot, including the following steps:

[0016] Step 1: The packaging boxes are continuously transported by the conveyor belt. When they pass through the multi-axis machine, the multi-axis machine drives the mechanical claw to work.

[0017] Step 2: The bracket is driven by the multi-axis machine to bring the bottom of the fixed gripper close to the conveyor belt;

[0018] Step 3: The electric telescopic rod drives the movable gripper to begin clamping the packaging box.

[0019] Step 4: Driven by the movable gripper, the flipping assembly pushes the packaging box from the top side in advance. Because the bottom side of the packaging box is resisted by the stop bar on the fixed gripper, the bottom of the packaging box near the movable gripper tilts upward.

[0020] Step 5: Driven by the electric telescopic rod, the movable gripper continues to clamp the packaging box until the bottom of the movable gripper extends to the bottom of the packaging box, while the flipping component releases the packaging box and presses the top of the packaging box on one side.

[0021] Step six: While the movable gripper holds the packaging box, it drives the traction component to pull the stop bar, causing the stop bar to rise from low. During this process, the scissor brace component gradually opens up as the stop bar rises to protect the packaging box.

[0022] Step 7: The top pressing component, pushed by the traction component, presses down on the top of the packaging box from the other side;

[0023] Step 8: Driven by the multi-axis machine tool, the mechanical gripper stacks the packaged boxes at the designated position and then releases them, returning them to the initial position to await the arrival of the next packaged box.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. When the movable gripper of the present invention is driven by the electric telescopic rod to perform a clamping action on the packaging box, the flipping component is driven by the movable gripper to push the packaging box from the top side in advance. Since the bottom side of the packaging box is resisted by the stop bar on the fixed gripper, the bottom of the packaging box near the movable gripper is tilted upward to facilitate the clamping action of the packaging box. The present invention adopts this clamping method, which can reduce the damage to the packaging box and improve the clamping efficiency.

[0026] 2. In this invention, the movable gripper continues to clamp the packaging box under the drive of the electric telescopic rod until the bottom of the movable gripper extends to the bottom of the packaging box. The flipping component releases the packaging box and presses the top of the packaging box on one side. While the movable gripper is clamping the packaging box, it drives the traction component to pull the stop bar, causing the stop bar to rise from low. During this process, the scissor brace component gradually opens up as the stop bar rises to protect the packaging box. The top pressing component, pushed by the traction component, presses the top of the packaging box on the other side. Compared with the prior art, this invention adopts a surrounding multi-point pressing and fixing method, which can ensure the stability during the clamping process.

[0027] 3. In this invention, a first crossbar is threaded on the inner bottom of the bracket. The traction belt passes around the first crossbar and the second crossbar and is fixed to the stop bar. Several opposing adjustment holes are opened on the side of the bottom of the bracket, and the adjustment holes are all adapted to the threads of the first crossbar. The position of the first crossbar can be installed in the adjustment holes at different positions as needed, thereby adjusting the lifting height of the stop bar, which is suitable for clamping boxes of different heights. Attached Figure Description

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0029] Figure 1 This is a schematic diagram of the structure of an easily adjustable palletizing robot and its usage method proposed in this invention;

[0030] Figure 2 This is a schematic diagram of the mechanical claw structure proposed in this invention;

[0031] Figure 3 This is a front view schematic diagram of the mechanical claw structure proposed in this invention;

[0032] Figure 4 This is a schematic diagram of the movable gripper structure proposed in this invention;

[0033] Figure 5 This is a schematic diagram of the fixed gripper structure proposed in this invention;

[0034] Figure 6 This is a schematic diagram of the flip-press assembly structure proposed in this invention;

[0035] Figure 7 This is a partial structural diagram of the traction component proposed in this invention;

[0036] Figure 8 This is a schematic diagram of the top pressure component structure proposed in this invention;

[0037] In the diagram: 1. Conveyor belt; 2. Multi-axis machine base; 3. Mechanical gripper; 31. Support frame; 311. First crossbar; 312. Adjustment hole; 32. Movable gripper; 321. Movable gripper rod; 322. Upper swing arm; 323. Lower swing arm; 324. First shaft; 325. Second shaft; 326. First synchronous pulley; 33. Fixed gripper; 331. Second crossbar; 332. Fixed gripper rod; 333. Guide groove; 334. Slide rail; 34. Electric telescopic rod; 35. Stop bar; 351. Guide rod; 36. Flipping assembly; 361. First pressure bar; 362. Side guard bar; 363. Fan-shaped plate; 364. First rotating shaft; 365. Second synchronous pulley; 366. First spring rod; 367. Second spring rod; 368. First tension spring; 369. Stop rod; 37. Traction assembly; 371. Paddle; 372. First slider; 373. Traction belt; 38. Scissor brace assembly; 381. First support rod; 382. Second support rod; 383. Second tension spring; 384. Second slider; 39. Top pressure assembly; 391. Pressure plate; 392. Second rotating shaft; 393. Torsion spring; 394. Second pressure rod. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0039] Please see Figure 1 and Figure 2This invention provides a technical solution: an easily adjustable palletizing robot, comprising a conveyor belt 1, a multi-axis machine 2 disposed on one side of the conveyor belt 1, and a mechanical gripper 3 driven by the multi-axis machine 2 to palletize packaging boxes conveyed on the conveyor belt 1. The mechanical gripper 3 includes a support 31, a movable gripper 32 movably disposed on one side of the bottom of the support 31, and a fixed gripper 33 fixedly disposed on the other side of the bottom of the support 31. An electric telescopic rod 34 for driving the movable gripper 32 to open and close is disposed between the movable gripper 32 and the fixed gripper 33. A stop bar 35 capable of sliding up and down is disposed on the fixed gripper 33. The support 31 is close to the movable gripper 32. One side is provided with a flipping and pressing component 36 that, in cooperation with the stop bar 35, causes the bottom of the packaging box to tilt up on one side before the movable gripper 32 clamps the packaging box. The side of the bracket 31 near the fixed gripper 33 is provided with a traction component 37 that pulls the stop bar 35 upward after the movable gripper 32 clamps the packaging box. The fixed gripper 33 is provided with a scissor brace component 38 that automatically opens when the stop bar 35 is pulled upward. The flipping and pressing component 36 can press the top of the packaging box on one side after the movable gripper 32 clamps the packaging box. The bottom of the bracket 31 is provided with a pressing component 39 that, with the assistance of the traction component 37, presses the top of the packaging box on the other side.

[0040] Please see Figure 2 , Figure 3 and Figure 4 The movable gripper 32 includes a movable gripper rod 321. An upper swing arm 322 is fixed to the top of the movable gripper rod 321, and a lower swing arm 323 is fixed to the bottom of the upper swing arm 322. A first shaft 324 is fixed to the upper end of the upper swing arm 322, and a second shaft 325 is fixed to the lower end of the upper swing arm 322. The second shaft 325 is rotatably connected to the bracket 31, and both ends of the second shaft 325 pass through the bracket 31 and are fixed with a first synchronous wheel 326.

[0041] Please see Figure 2 , Figure 3 and Figure 5 The fixed gripper 33 includes a second crossbar 331, which is fixed to the bracket 31. Fixed gripper rods 332 are fixed at both ends of the second crossbar 331. Guide grooves 333 are provided on both sides of the fixed gripper rods 332. Guide rods 351 located in the guide grooves 333 are fixed at both ends of the stop rod 35. A slide rail 334 is fixed at the bottom of the fixed gripper rods 332.

[0042] Please see Figure 2 One end of the electric telescopic rod 34 is hinged to the first shaft 324, and the other end of the electric telescopic rod 34 is hinged to the second crossbar 331. When the electric telescopic rod 34 is working, it pushes the first shaft 324, causing the movable claw rod 321 to rotate counterclockwise around the first synchronous wheel 326 as the rotation center, which drives the movable gripper 32 to start clamping the packaging box or releasing the packaging box.

[0043] Please see Figure 2 , Figure 3 and Figure 6 The flipping assembly 36 includes a first pressure rod 361, with side guard rods 362 fixed to both ends of the first pressure rod 361. A fan-shaped piece 363 is hinged to the top of the side guard rod 362. A first rotating shaft 364, rotatably connected to the bracket 31, is fixed at the center of the fan-shaped piece 363. A second synchronous pulley 365 is fixed on the first rotating shaft 364. The second synchronous pulley 365 is connected to the first synchronous pulley 326 (not marked in the diagram) via a synchronous belt. A first spring rod 366 and a stop rod 369 are fixed to the side of the fan-shaped piece 363. A second spring rod 367 is fixed to the side of the side guard rod 362. The first spring rod 366 and the second spring rod 367 are elastically connected by a first tension spring 368. The side guard rod 362 is elastically connected by a first tension spring 368. The spring 368 abuts against the stop rod 369 under the elastic force. When the second shaft 325 rotates, it can drive the first synchronous pulley 326 at both ends to rotate. Under the transmission action of the synchronous belt, it can drive the second synchronous pulley 365 to rotate synchronously, thereby driving the fan-shaped plate 363 to rotate counterclockwise synchronously around the first rotating shaft 364 as the rotation center. Since the side guard rod 362 abuts against the stop rod 369, the first pressure rod 361 can push the top corner of one side of the packaging box. That is, the flipping assembly 36 is driven by the movable gripper 32 to push the packaging box from the top side in advance. Since the bottom of the packaging box is abutted by the stop bar 35 on the fixed gripper 33, the bottom of the packaging box near the movable gripper 32 can be tilted upward.

[0044] Please see Figure 2 , Figure 3 and Figure 7 The traction assembly 37 includes a paddle 371, which is located on the rotation path of the lower swing arm 323. A first slider 372, which is slidably connected to the bracket 31, is fixed on one side of the paddle 371. A traction belt 373 is fixed on the top side of the paddle 371. While the movable gripper 32 is holding the packaging box, the lower swing arm 323 can push the paddle 371. Under the sliding limit of the first slider 372 on the bracket 31, the paddle 371 can pull the traction belt 373, which in turn pulls the stop bar 35, causing the stop bar 35 to rise from low.

[0045] Furthermore, a first crossbar 311 is threaded on the inner bottom of the bracket 31. The traction belt 373 passes around the first crossbar 311 and the second crossbar 331 and is fixed to the stop bar 35. Several opposing adjustment holes 312 are opened on the side of the bottom of the bracket 31, and the adjustment holes 312 are threaded to the first crossbar 311. The position of the first crossbar 311 can be installed in the adjustment holes 312 at different positions as needed, thereby adjusting the lifting height of the stop bar 35, which is suitable for clamping boxes of different heights.

[0046] Please see Figure 2 , Figure 3 and Figure 5 The scissor brace assembly 38 includes a first support rod 381 and a second support rod 382, ​​which are arranged crosswise and elastically connected by a second tension spring 383. A second slider 384 is hinged to both ends of the first support rod 381 and the second support rod 382. The second sliders 384 at the bottom of the first support rod 381 and the second support rod 382 are slidably mounted on a slide rail 334. The second sliders 384 at the top of the first support rod 381 and the second support rod 382 are slidably mounted at the bottom of the stop rod 35. As the stop rod 35 rises from a low position, the two second sliders 384 at the bottom of the stop rod 35 and the two second sliders 384 on the slide rail 334 simultaneously close, meaning the scissor brace assembly 38 gradually expands as the stop rod 35 rises, thus protecting the packaging box.

[0047] Please see Figure 2 , Figure 3 and Figure 8 The top pressing assembly 39 includes a pressure plate 391. The top two sides of the pressure plate 391 are fixed with second rotating shafts 392. The second rotating shafts 392 are rotatably connected to the bracket 31 and a torsion spring 393 is engaged at the connection. The pressure plate 391 abuts against the paddle 371 under the elastic force of the torsion spring 393. The bottom surface of the pressure plate 391 is fixed with a second pressure rod 394. Under the squeezing action of the lower swing arm 323, the bottom of the paddle 371 pushes the pressure plate 391, so that the pressure plate 391 can overcome the elastic force of the torsion spring 393 and rotate counterclockwise to press against the top of the packaging box. That is, the top pressing assembly 39, with the assistance of the traction assembly 37, presses the top of the packaging box on the other side.

[0048] Based on the above embodiments, the present invention also proposes a method for using a palletizing robot, comprising the following steps:

[0049] Step 1: The packaging box is continuously transported by the conveyor belt 1. When it passes the multi-axis machine 2, the multi-axis machine 2 drives the mechanical claw 3 to work.

[0050] Step 2: Under the drive of the multi-axis machine tool 2, the support 31 makes the bottom of the fixed gripper 33 close to the conveyor belt 1;

[0051] Step 3: The electric telescopic rod 34 drives the movable gripper 32 to begin clamping the packaging box.

[0052] Step 4: The flipping assembly 36 is driven by the movable gripper 32 to push the packaging box from the top side in advance. Since the bottom side of the packaging box is resisted by the stop bar 35 on the fixed gripper 33, the bottom of the packaging box near the movable gripper 32 tilts upward.

[0053] Step 5: Driven by the electric telescopic rod 34, the movable gripper 32 continues to clamp the packaging box until the bottom of the movable gripper 32 extends to the bottom of the packaging box, while the flipping assembly 36 releases the packaging box and presses the top of the packaging box on one side.

[0054] Step six: While the movable gripper 32 holds the packaging box, it drives the traction component 37 to pull the stop bar 35, causing the stop bar 35 to rise from low. During this process, the scissor brace component 38 gradually opens up as the stop bar 35 rises to protect the packaging box.

[0055] Step 7: The top pressing assembly 39, pushed by the traction assembly 37, presses down on the top of the packaging box from the other side.

[0056] Step 8: Driven by the multi-axis machine tool 2, the mechanical gripper 3 stacks the picked-up packaging boxes at the designated position and then releases them, returning to the initial position to wait for the arrival of the next packaging box.

[0057] The working principle and usage process of this invention are as follows: Driven by the multi-axis machine tool 2, the support 31 brings the bottom of the fixed gripper 33 close to the conveyor belt 1. Then, the electric telescopic rod 34 operates, pushing the first shaft 324, causing the movable gripper 321 to rotate counterclockwise around the first synchronous pulley 326 as its rotation center. This drives the movable gripper 32 to begin clamping the packaging box. When the second shaft 325 rotates, it drives the first synchronous pulleys 326 at both ends to rotate. Under the transmission action of the synchronous belt, it drives the second synchronous pulley 326 to rotate. The step wheel 365 rotates synchronously, which in turn drives the fan-shaped plate 363 to rotate counterclockwise around the first rotating shaft 364. Since the side guard bar 362 abuts against the stop bar 369, the first pressure bar 361 can push one side of the top corner of the packaging box. That is, the flipping assembly 36 is driven by the movable gripper 32 to push the packaging box from the top side in advance. Since the bottom of the packaging box is abutted by the stop bar 35 on the fixed gripper 33, the bottom of the packaging box near the movable gripper 32 can be tilted upward.

[0058] When the movable gripper 32 is driven by the electric telescopic rod 34, it continues to clamp the packaging box until the bottom of the movable gripper 32 extends to the bottom of the packaging box. The first pressure rod 361 also just disengages from the packaging box, so that the packaging box falls onto the movable gripper 32 under the action of gravity. The side guard rod 362 is automatically pulled back and pressed down on the packaging box by the elastic force of the first tension spring 368. That is, the flipping and pressing component 36 releases the packaging box and presses down on the top of the packaging box on one side. The side guard rods 362 at both ends of the first pressure rod 361 protect the packaging box on both sides of the length direction of the first pressure rod 361 to prevent the packaging box from tipping over.

[0059] While the movable gripper 32 holds the packaging box, the lower swing arm 323 can push the lever 371. Under the sliding limit of the first slider 372 on the bracket 31, the lever 371 can pull the traction belt 373, which in turn pulls the stop bar 35, causing the stop bar 35 to rise from low. During this process, as the height of the stop bar 35 increases, the two second sliders 384 at the bottom of the stop bar 35 and the two second sliders 384 on the slide rail 334 close synchronously. That is, the scissor brace assembly 38 gradually opens as the stop bar 35 rises, which can protect the packaging box.

[0060] Under the squeezing action of the lower swing arm 323, the bottom of the paddle 371 pushes the pressure plate 391, so that the pressure plate 391 can overcome the elastic force of the torsion spring 393 and rotate counterclockwise to press against the top of the packaging box. That is, the pressing component 39, with the assistance of the traction component 37, presses the top of the packaging box on the other side, increasing the stability of the packaging box during the gripping process.

[0061] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An easily adjustable palletizing robot, comprising a conveyor belt (1), a multi-axis machine (2) disposed on one side of the conveyor belt (1), and a mechanical gripper (3) driven by the multi-axis machine (2) to palletize packaging boxes conveyed on the conveyor belt (1), characterized in that, The mechanical gripper (3) includes a bracket (31). A movable gripper (32) is movably disposed on one side of the bottom of the bracket (31), and a fixed gripper (33) is fixedly disposed on the other side of the bottom of the bracket (31). An electric telescopic rod (34) for driving the movable gripper (32) to open and close is disposed between the movable gripper (32) and the fixed gripper (33). A stop bar (35) that can slide up and down is disposed on the fixed gripper (33). On the side of the bracket (31) near the movable gripper (32), a mechanism is provided that, in cooperation with the stop bar (35), causes one side of the bottom of the packaging box to tilt before the movable gripper (32) clamps the packaging box. The support (31) has a flipping and pressing assembly (36), and a traction assembly (37) is provided on the side of the support (31) near the fixed gripper (33) to pull the stop bar (35) upward after the movable gripper (32) clamps the packaging box. The fixed gripper (33) is provided with a scissor brace assembly (38) that automatically opens when the stop bar (35) is pulled upward. The flipping and pressing assembly (36) can press the top of the packaging box on one side after the movable gripper (32) clamps the packaging box. The bottom of the support (31) is provided with a pressing assembly (39) that presses the top of the packaging box on the other side with the push of the traction assembly (37). The movable gripper (32) includes a movable gripper rod (321), an upper swing arm (322) is fixed to the top of the movable gripper rod (321), a lower swing arm (323) is fixed to the bottom of the upper swing arm (322), a first shaft (324) is fixed to the upper end of the upper swing arm (322), a second shaft (325) is fixed to the lower end of the upper swing arm (322), the second shaft (325) is rotatably connected to the bracket (31), and the two ends of the second shaft (325) pass through the bracket (31) and are fixed with a first synchronous pulley (326). The traction assembly (37) includes a paddle (371) located on the rotation path of the lower swing arm (323). A first slider (372) that is slidably connected to the bracket (31) is fixed on one side of the paddle (371), and a traction belt (373) is fixed on the top side of the paddle (371). The bottom inner side of the bracket (31) is threaded with a first crossbar (311), the traction belt (373) passes around the first crossbar (311) and the second crossbar (331) and is fixed with the stop bar (35). The bottom side of the bracket (31) is provided with a number of opposing adjustment holes (312), and the number of adjustment holes (312) are all threaded with the first crossbar (311). The top pressing assembly (39) includes a pressure plate (391), and a second rotating shaft (392) is fixed on both sides of the top of the pressure plate (391). The second rotating shaft (392) is rotatably connected to the bracket (31) and a torsion spring (393) is engaged at the connection. The pressure plate (391) abuts against the paddle (371) under the elastic force of the torsion spring (393). A second pressure rod (394) is fixed on the bottom surface of the pressure plate (391). The flipping assembly (36) includes a first pressure rod (361), with side guard rods (362) fixed at both ends of the first pressure rod (361). A fan-shaped piece (363) is hinged to the top of the side guard rod (362). A first rotating shaft (364) rotatably connected to the bracket (31) is fixed at the center of the fan-shaped piece (363). A second synchronous pulley (365) is fixed on the first rotating shaft (364). The second synchronous pulley (365) is connected to the first synchronous pulley (326) via a synchronous belt. A first spring rod (366) and a stop rod (369) are fixed on the side of the fan-shaped piece (363). A second spring rod (367) is fixed on the side of the side guard rod (362). The first spring rod (366) and the second spring rod (367) are elastically connected by a first tension spring (368). The side guard rod (362) abuts against the stop rod (369) under the elastic force of the first tension spring (368).

2. The easily adjustable palletizing robot according to claim 1, characterized in that, The fixed gripper (33) includes a second crossbar (331), which is fixed to the bracket (31). Fixed gripper rods (332) are fixed at both ends of the second crossbar (331). Guide grooves (333) are provided on both sides of the fixed gripper rods (332). Guide rods (351) located in the guide grooves (333) are fixed at both ends of the stop rod (35). A slide rail (334) is fixed at the bottom of the fixed gripper rods (332).

3. The easily adjustable palletizing robot according to claim 2, characterized in that, One end of the electric telescopic rod (34) is hinged to the first shaft (324), and the other end of the electric telescopic rod (34) is hinged to the second crossbar (331).

4. The easily adjustable palletizing robot according to claim 2, characterized in that, The scissor brace assembly (38) includes a first support rod (381) and a second support rod (382). The first support rod (381) and the second support rod (382) are arranged crosswise and elastically connected by a second tension spring (383). Both ends of the first support rod (381) and the second support rod (382) are hinged with second sliders (384). The second sliders (384) at the bottom of the first support rod (381) and the second support rod (382) are slidably arranged on the slide rail (334). The second sliders (384) at the top of the first support rod (381) and the second support rod (382) are slidably arranged at the bottom of the stop bar (35).

5. A method of using a palletizing robot, as described in claim 1, characterized in that, Includes the following steps: Step 1: The packaging box is continuously transported by the conveyor belt (1). When it passes the multi-axis machine (2), the multi-axis machine (2) drives the mechanical claw (3) to work. Step 2: The bracket (31) is driven by the multi-axis machine (2) to bring the bottom of the fixed gripper (33) close to the conveyor belt (1); Step 3: The electric telescopic rod (34) drives the movable gripper (32) to begin clamping the packaging box. Step 4: The flipping assembly (36) is driven by the movable gripper (32) to push the packaging box from the top side in advance. Because the bottom side of the packaging box is resisted by the stop bar (35) on the fixed gripper (33), the bottom of the packaging box near the movable gripper (32) tilts upward. Step 5: Driven by the electric telescopic rod (34), the movable gripper (32) continues to clamp the packaging box until the bottom of the movable gripper (32) extends to the bottom of the packaging box, while the flipping assembly (36) releases the packaging box and presses the top of the packaging box on one side. Step six: while the movable gripper (32) holds the packaging box, it drives the traction component (37) to pull the stop bar (35), causing the stop bar (35) to rise from low. During this process, the scissor brace component (38) gradually opens up as the stop bar (35) rises to protect the packaging box. Step 7: The top pressing assembly (39) presses the top of the packaging box on the other side with the assistance of the traction assembly (37); Step 8: Driven by the multi-axis machine tool (2), the mechanical claw (3) stacks the packaged boxes in the designated position and releases them, returning to the initial position to wait for the arrival of the next packaged box.

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