Stacking manipulator for carrying packaging boxes

Abstract

The invention relates to the technical field of packaging box carrying, in particular to a stacking manipulator for packaging box carrying, which comprises a mechanical arm and a mounting seat rotatably mounted on the mechanical arm, the bottom of the mounting seat is fixedly connected with a mounting plate, and the bottom of the mounting plate is symmetrically and slidably connected with supporting plates for supporting a packaging box. A pressing plate is slidably connected to the bottom of the mounting base. The mechanical arm is firstly controlled to enable the supporting plate to move to make contact with the bottom of the packaging box, then the air cylinder is started to drive the pressing plate to clamp the packaging box, then the mechanical arm is controlled to enable the supporting plate to drive the packaging box to move to the placing position, then the double-shaft motor is started to enable the supporting plate to be disengaged from the packaging box, and at the moment, the clamping plate and the packaging box are clamped; and then the clamping plates drive the packaging box to stably and slowly move downwards to be placed, so that the situation that the goods are impacted and damaged due to the shaking phenomenon caused by falling of the packaging box is prevented, and the safety of the goods is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging box handling, and in particular to a palletizing robot for packaging box handling. Background Art

[0002] After the goods are loaded into the same batch of boxes, in order to facilitate the subsequent storage and transportation of the boxes, it is necessary to use a palletizing robot to move the boxes to a transport vehicle or storage location.

[0003] The Chinese patent with publication number CN214298279U discloses a palletizing gripper, which belongs to the field of industrial robot technology, and includes a connecting frame and at least one gripping unit, wherein the gripping unit includes a connecting frame, a horizontal motion branch chain and a vertical motion branch chain; the upper part of the connecting frame is fixedly connected to the output end of the manipulator, the horizontal motion branch chain includes a first straight cylinder, the first straight cylinder is horizontally arranged on the lower part of the connecting frame, the cylinder rod of the first straight cylinder is fixedly connected to the slider connecting plate, the lower part of the slider connecting plate is fixedly connected to the upper end of the clamping plate, and a plurality of insert teeth are evenly distributed along a direction perpendicular to the movement direction of the clamping plate. At the lower end of the clamping plate, the vertical motion branch chain includes a second straight-moving cylinder, and the second straight-moving cylinder is vertically arranged at the lower part of the connecting frame. The cylinder rod of the second straight-moving cylinder is fixedly connected to the upper part of the lower pressure plate. Although the above patent can clamp the packaging box and then move it for stacking, when the packaging box is moved to the stacking position, there is still a certain distance between the packaging box and the stacking position. Once the clamping lower plate is separated from the packaging box, the packaging box will fall downward and shake, causing a collision, causing an impact on the goods in the packaging box. When the goods in the packaging box are fragile, it is easy to cause damage to the goods, resulting in economic losses.

[0004] The present invention aims to solve the problems existing in the above patents. To this end, a palletizing robot for transporting packaging boxes is proposed, which can place packaging boxes steadily and slowly to prevent the goods from being damaged by impact and ensure the safety of the goods. Summary of the invention

[0005] In order to overcome the shortcomings of the above patent that although the packaging box can be clamped and then moved for palletizing, when the packaging box is moved to the stacking position, since the packaging box contains fragile goods and there is a certain distance between the packaging box and the stacking position, once the clamping lower plate is detached from the packaging box, the packaging box will fall downward and shake, causing a collision, resulting in an impact on the goods in the packaging box and affecting the safety of the goods, the present invention provides a palletizing robot for packaging box transportation that can place the packaging box steadily and slowly to prevent the goods from being damaged by impact and ensure the safety of the goods.

[0006] The present invention is achieved through the following technical approaches: A palletizing robot for handling packaging boxes comprises a robot arm and a mounting seat rotatably mounted on the robot arm, a mounting plate is fixedly connected to the bottom of the mounting seat, a support plate for supporting the packaging box is symmetrically slidably connected to the bottom of the mounting plate, a cylinder is installed on the mounting seat, a pressing plate is fixedly connected to the end of the telescopic rod of the cylinder, and also comprises a movable frame, a fixed plate, a clamping plate, a movable plate, an adjusting bolt, a contact rod, a trigger assembly and a driving assembly, the front and rear sides of the mounting plate are slidably connected to the movable frame, the ends of the movable frame close to each other are fixedly connected to the fixed plate, the clamping plate is slidably penetrated by the clamping plate, the movable plate is slidably connected to the clamping plate, the clamping plate is threadedly connected to the adjusting bolt, and the end of the adjusting bolt is threadedly connected to the clamping plate. The part is rotatably connected to the movable plate, a contact rod is fixedly connected to the left side of the splint, and a guide groove is symmetrically opened on the right side of the mounting plate, the guide groove contacts the end of the contact rod to drive the contact rod to move, a trigger assembly is arranged between the movable frame and the mounting plate, and a driving assembly is arranged between the mounting plate and the support plate, the driving assembly is used to drive the support plate to disengage from the contact with the packaging box, and then the trigger assembly drives the fixed plate to move downward through the movable frame, the fixed plate drives the splint to move downward, the splint moves toward the packaging box through the cooperation of the contact rod and the guide groove, the splint clamps the packaging box, and then the splint drives the packaging box that has lost its support to move downward, so that the packaging box can be placed steadily and slowly for stacking.

[0007] Further explanation, the guide groove consists of an inclined section I, a vertical line section and an inclined section II, wherein the two ends of the vertical line section are respectively connected to the inclined section I and the inclined section II, and the inclined section I and the inclined section II are both inclined toward the center position of the mounting plate, and are used to drive the contact rod to perform inclined movement and vertical movement.

[0008] Further explanation, the trigger assembly includes a screw rod rotatably connected to the front and rear sides of the mounting plate, the screw rod is threadedly connected to the movable frame, a transmission assembly is connected between the upper parts of the screw rod, a dual-axis motor is fixed to the mounting plate, and the output shaft of the dual-axis motor and the screw rod are driven by a synchronous belt assembly.

[0009] Further explanation, the driving assembly includes a bidirectional screw rotatably connected to the mounting plate, the threads on both sides of the bidirectional screw are opposite, a thread block is threadedly connected to the bidirectional screw, the thread block is rotatably connected to the support plate, a magnetic ring is fixedly mounted on the outer side of the thread block, the magnetic ring is in magnetic contact with the inner side of the support plate, a worm gear is fixedly mounted on the bidirectional screw, a worm meshing with the worm gear is rotatably connected to the left side of the mounting plate, and the end of the worm gear and the output shaft of the dual-axis motor are driven by a synchronous belt assembly.

[0010] Further description, the device also includes a guide assembly, which includes a guide frame slidably connected to the support plate, a guide roller rotatably mounted in the middle of the guide frame, a return spring is connected between the guide frame and the support plate, and a wedge plate is symmetrically fixed to the bottom of the mounting plate.

[0011] As a further explanation, the ends of the front and rear wedge plates that are close to each other are inclined surfaces, which are used to trigger the guide frame.

[0012] As a further explanation, the device also includes a limiting plate rotatably connected to the top of the pallet to limit the packaging box, and a torsion spring is connected between the limiting plate and the rotating part of the pallet.

[0013] As a further explanation, the device also includes a contact roller rotatably connected to the side of the pallets that are close to each other to reduce the friction between the pallets and the packaging box.

[0014] The present invention has significant improvements in that: 1. First control the robot arm to move the pallet to contact with the bottom of the packaging box, then start the cylinder to drive the pressure plate to clamp the packaging box, and then control the robot arm to make the pallet drive the packaging box to move to the placement position, and then start the dual-axis motor to make the pallet and the packaging box out of contact. At this time, the clamping plate and the packaging box are clamped, and then the clamping plate drives the packaging box to move down smoothly and slowly for placement, so as to prevent the packaging box from falling and shaking, causing impact damage to the goods, thereby ensuring the safety of the goods.

[0015] 2. Under the action of the guide roller, whenever the pallet moves and loses contact with the packaging box, the pallet drives the guide roller to slide on the packaging box. The guide roller reduces the friction between the pallet and the packaging box, preventing the continuous friction between the pallet and the packaging box from causing wear of the packaging box, thereby ensuring the integrity of the packaging box.

[0016] 3. Under the action of the limit plate, whenever the packaging box is moved for stacking, the limit plate can limit the packaging box, which can prevent the packaging box from moving and losing contact with the pallet, causing it to fall and be damaged, thereby further ensuring the safety of the packaging box during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the second three-dimensional structure of the present invention.

[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the fixing plate and the clamping plate of the present invention.

[0020] Figure 4 It is a three-dimensional structural schematic diagram of the movable plate and the adjusting bolt of the present invention.

[0021] Figure 5 It is a schematic diagram of a partial explosion structure of the present invention.

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the trigger component of the present invention.

[0023] Figure 7 It is a schematic diagram of the three-dimensional structure of the driving assembly of the present invention.

[0024] Figure 8 It is a schematic diagram of the three-dimensional structure of the threaded block and the magnetic ring of the present invention.

[0025] Fig. 9 It is a schematic diagram of the three-dimensional structure of the guide assembly of the present invention.

[0026] Fig.10 It is a schematic diagram of the three-dimensional structure of the return spring of the present invention.

[0027] Fig.11 It is a schematic diagram of the three-dimensional structure of the guide assembly of the present invention when it is in operation.

[0028] Fig.12 It is a schematic diagram of the three-dimensional structure of the limiting plate and the torsion spring of the present invention.

[0029] Fig.13 It is a schematic diagram of the three-dimensional structure of the contact roller of the present invention.

[0030] The names of the numbers in the figure are: 1. Robot arm, 2. Mounting seat, 3. Mounting plate, 4. Support plate, 5. Pressure plate, 51. Cylinder, 6. Movable frame, 7. Fixed plate, 8. Clamp, 81. Movable plate, 82. Adjusting bolt, 9. Guide groove, 901. Inclined section I, 902. Vertical line segment, 903. Inclined section II, 91. Contact rod, 10. Screw, 101. Transmission assembly, 102. Dual-axis motor, 11. Bidirectional screw, 111. Worm gear, 112. Worm, 114. Threaded block, 115. Magnetic ring, 12. Guide frame, 121. Guide roller, 122. Wedge plate, 123. Reset spring, 13. Limit plate, 131. Torsion spring, 14. Contact roller. DETAILED DESCRIPTION

[0031] First of all, it should be pointed out that in the different described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosure contained in the entire description can be transferred to the same parts with the same reference numerals or the same component names. Selected positional descriptions in the description, such as top, bottom, lateral, etc., also refer to the directly described and shown figures and are transferred to the new positions in the case of a change in position.

[0032] Example: A palletizing robot for transporting packaging boxes, see Figure 1-Figure 13As shown, it includes a mechanical arm 1 and a mounting base 2 rotatably mounted on the mechanical arm 1, a mounting plate 3 is fixedly connected to the left side of the bottom of the mounting base 2, and a support plate 4 is symmetrically slidably connected to the bottom of the mounting plate 3. When the packaging box contacts the support plate 4, the support plate 4 can support the packaging box. Two cylinders 51 are installed in the middle of the mounting base 2, and a pressing plate 5 is fixedly connected between the ends of the telescopic rods of the two cylinders 51. It also includes a movable frame 6, a fixed plate 7, a clamping plate 8, a movable plate 81, an adjusting bolt 82, a contact rod 91, a trigger assembly and a driving assembly. The upper parts of the front and rear side surfaces of the mounting plate 3 are slidably connected to the movable frames 6, and the ends of the front and rear side movable frames 6 close to each other are fixedly connected to the fixed plates 7, and the front and rear side fixed plates 7 are slidably penetrated with clamping plates 8, and the front and rear side clamping plates 8 are slidably connected with movable plates 81, and the upper right sides of the front and rear side clamping plates 8 are threadedly connected. The ends of the front and rear side adjusting bolts 82 close to each other are rotatably connected to the front and rear side movable plates 81 respectively, and the lower left sides of the front and rear side clamping plates 8 are fixed A contact rod 91 is connected, and a guide groove 9 is symmetrically opened on the front and rear sides of the right side surface of the mounting plate 3. The guide groove 9 is composed of an inclined section I 901, a vertical line segment 902 and an inclined section II 903, wherein the two ends of the vertical line segment 902 are respectively connected to the inclined section I 901 and the inclined section II 903, and the inclined sections I 901 and II 903 are both inclined toward the center position of the mounting plate 3. The front and rear guide grooves 9 are respectively in contact with the left ends of the front and rear contact rods 91, and are used to drive the contact rods 91 to move. A trigger component is provided between the movable frame 6 and the mounting plate 3, and a driving component is provided between the mounting plate 3 and the support plate 4. The driving component is used to drive the support plate 4 to break contact with the packaging box, and then the trigger component drives the fixed plate 7 to move downward through the movable frame 6, and the fixed plate 7 drives the clamping plate 8 to move downward. The clamping plate 8 moves toward the packaging box through the cooperation of the contact rod 91 and the guide groove 9, and the clamping plate 8 clamps the packaging box through the movable plate 81, and then the clamping plate 8 drives the packaging box that has lost its support to move downward, so that the packaging box can be placed steadily and slowly for stacking.

[0033] The trigger assembly includes a screw rod 10, a transmission assembly 101 and a dual-axis motor 102. The upper parts of the front and rear sides of the mounting plate 3 are rotatably connected with the screw rods 10. The front and rear side screw rods 10 are respectively threadedly connected to the left sides of the front and rear side movable frames 6. When the screw rod 10 rotates, the screw rod 10 can drive the movable frame 6 to move up and down. The transmission assembly 101 is connected between the upper parts of the front and rear side screw rods 10. The transmission assembly 101 consists of two pulleys and a flat belt, wherein the two pulleys are fixedly mounted on the upper parts of the front and rear side screw rods 10 respectively, and the flat belt is wound between the two pulleys. A dual-axis motor 102 is fixedly connected to the upper side of the left front face of the mounting plate 3, and the output shaft above the dual-axis motor 102 and the front side screw rod 10 are driven by a synchronous belt assembly.

[0034] The driving assembly includes a bidirectional screw 11, a worm wheel 111, a worm 112, a threaded block 114 and a magnetic ring 115. The lower part of the mounting plate 3 is laterally rotatably connected with the bidirectional screw 11. The threads on the front and rear sides of the bidirectional screw 11 are opposite. Two threaded blocks 114 are threadedly connected to the bidirectional screw 11. The front and rear threaded blocks 114 are respectively rotatably connected to the left sides of the front and rear support plates 4. The middle part of the outer side of the front and rear threaded blocks 114 is fixedly sleeved with a magnetic ring 115. The magnetic ring 115 is in magnetic contact with the inner side of the support plate 4. The front side of the bidirectional screw 11 is fixedly sleeved with a worm wheel 111. The front side of the left side of the mounting plate 3 is rotatably connected with the worm 112. The worm 112 is meshed with the worm wheel 111. The top of the worm 112 and the output shaft below the dual-axis motor 102 are driven by a synchronous belt assembly.

[0035] When it is necessary to transport and stack the packaging boxes, first twist the adjusting bolt 82 to rotate and drive the movable plate 81 to move. When the movable plate 81 moves to a position suitable for clamping the packaging boxes, stop twisting the adjusting bolt 82. In this way, it can adapt to packaging boxes of different sizes for clamping and transportation. Then start the mechanical arm 1 to drive the mounting seat 2 to move. The mounting seat 2 moves through the mounting plate 3 to drive the pallet 4 to move, so that the pallet 4 moves to the bottom of the packaging box and the pallet 4 contacts the bottom of the packaging box. Then start the cylinder 51 to drive the pressure plate 5 to move downward and contact the packaging box. The pressure plate 5 and the pallet 4 cooperate to clamp the packaging box. Close the cylinder 51, and the mechanical arm 1 can be controlled to drive the mounting seat 2 to continue moving. The pressure plate 5 and the pallet 4 drive the packaging box to the placement position, and the pallet 4 contacts the placement position. The dynamic dual-axis motor 102 drives the worm 112 to rotate through the synchronous belt assembly, the worm 112 drives the worm wheel 111 to rotate, the worm wheel 111 drives the bidirectional screw 11 to rotate, the rotation of the bidirectional screw 11 drives the front and rear threaded blocks 114 to move away from each other, the front and rear threaded blocks 114 drive the front and rear magnetic rings 115 to move away from each other, the magnetic rings 115 drive the front and rear support plates 4 to move away from each other, and at the same time, the dual-axis motor 102 also drives the front side screw rod 10 to rotate through the synchronous belt assembly, the rotation of the front side screw rod 10 drives the rear side screw rod 10 to rotate through the transmission assembly 101, the rotation of the front and rear side screw rods 10 drives the front and rear side movable frames 6 to move downward, and the movable frame 6 drives the front and rear side fixed plates 7 to move downward The fixed plate 7 drives the front and rear clamping plates 8 to move downward, the clamping plates 8 drive the contact rod 91 to move downward, the inclined section Ⅰ 901 of the guide groove 9 first drives the front and rear contact rods 91 to move in the direction of approaching each other, the contact rod 91 drives the front and rear clamping plates 8 to move in the direction of approaching each other, the front and rear clamping plates 8 drive the movable plate 81 to contact with the packaging box, the clamping plates 8 clamp the packaging box through the movable plate 81, at this time, the support plate 4 moves to the maximum stroke and disengages from the packaging box, the support plate 4 stops moving, the support plate 4 stops moving through the magnetic ring 115, the bidirectional screw 11 continues to rotate to drive the threaded block 114 to rotate, the threaded block 114 drives the magnetic ring 115 to idle in the support plate 4, and then the front and rear contact rods 91 are in the vertical section 9 of the guide groove 9. 02, so that the front and rear side clamps 8 continue to move downward, and drive the unsupported packaging box downward through the movable plate 81, so that the packaging paper is placed and stacked steadily and slowly to prevent the packaging box from falling violently and causing the goods to be damaged by impact, thereby ensuring the safety of the goods. When the packaging box is placed, the clamp 8 continues to drive the contact rod 91 to move downward, and the contact rod 91 contacts the inclined section II 903 of the guide groove 9. The inclined section II 903 of the guide groove 9 drives the front and rear side contact rods 91 to move away from each other, and the contact rod 91 drives the clamp 8 to move away from each other, so that the movable plate 81 is out of contact with the packaging box, and the packaging box is released. The dual-axis motor 102 is turned off, and the bidirectional screw 11 stops driving the threaded block 114 to rotate.When the clamping plate 8 stops moving downward, the robot arm 1 can be controlled to drive the mounting seat 2 to move, so that the clamping plate 8 and the supporting plate 4 move upward to outside the placement area, and then the dual-axis motor 102 is started to drive the bidirectional screw 11 to rotate in the opposite direction through the worm 112 and the worm wheel 111, and the bidirectional screw 11 drives the thread block 114 to move and reset, and the thread block 114 drives the front and rear side supporting plates 4 to move and reset in the direction of approaching each other through the magnetic ring 115, and the movable frame 6 drives the fixed plate 7 to move upward and reset, and the fixed plate 7 drives the clamping plate 8 to move upward and reset, and the clamping plate 8 drives the contact rod 91 to move upward and reset, and so on repeatedly, the packaging boxes can be continuously transported and stacked. When the packaging boxes are stacked, the robot arm 1 can be closed.

[0036] The device also includes a guide assembly installed between the support plate 4 and the mounting plate 3, the guide assembly includes a guide frame 12, a guide roller 121, a wedge plate 122 and a return spring 123, the front and rear support plates 4 are both slidably connected with the guide frame 12, the middle parts of the front and rear guide frames 12 are rotatably mounted with guide rollers 121, when the guide rollers 121 contact the packaging box, the guide rollers 121 can guide the packaging box, the left and right sides of the guide frame 12 are connected to the inner side of the support plate 4 with return springs 123, the right side of the bottom of the mounting plate 3 is symmetrically fixed with wedge plates 122, the ends of the front and rear wedge plates 122 close to each other are inclined surfaces, the inclined surfaces of the front and rear wedge plates 122 are respectively in contact with the left sides of the front and rear guide frames 12, when the guide frame 12 moves horizontally, the wedge plate 122 can drive the guide frame 12 to move upward.

[0037] When the front and rear side support plates 4 move in the directions away from each other, the front and rear side support plates 4 drive the front and rear side guide frames 12 to move in the directions away from each other, and the guide frames 12 drive the front and rear side guide rollers 121 to move in the directions away from each other, and the wedge plate 122 drives the guide frame 12 to move upward, and the reset spring 123 is stretched, and the guide frame 12 drives the guide roller 121 to move upward and contact with the packaging box, and the guide roller 121 drives the packaging box to move and disengage from the support plate 4, and then the guide frame 12 continues to move and contacts with the horizontal surface of the wedge plate 122, and the guide frame 12 stops moving upward, and the guide roller 121 stops moving upward, and the guide roller 121 continues to move horizontally to reduce the friction between the packaging box and the packaging box. When the support plate 4 moves to the maximum stroke, the guide roller 121 also disengages from the packaging box, and when the front and rear side support plates 4 are reset, the support plate 4 drives the guide frame 12 to reset, and the guide frame 12 resets and disengages from the wedge plate 122. Due to the action of the reset spring 123, the guide frame 12 drives the guide roller 121 to move downward and reset. In this way, the continuous friction between the support plate 4 and the packaging box can be prevented from causing the packaging box to be worn, thereby ensuring the integrity of the packaging box.

[0038] The device also includes a limiting plate 13 and a torsion spring 131. The right sides of the tops of the front and rear side support plates 4 are both rotatably connected to the limiting plate 13. When the packaging box is moving, the limiting plate 13 can limit the packaging box. A torsion spring 131 is connected between the limiting plate 13 and the rotating part of the support plate 4.

[0039] The device also includes a contact roller 14. The sides of the front and rear support plates 4 that are close to each other are both rotatably connected with the contact roller 14. The contact roller 14 can reduce the friction between the contact roller and the packaging box.

[0040] When the pallet 4 moves, the pallet 4 drives the limiting plate 13 to move, the limiting plate 13 contacts the packaging box, and the packaging box presses the limiting plate 13, so that the limiting plate 13 swings downward, and the torsion spring 131 is compressed. Then, when the pallet 4 moves to the position of lifting the packaging box, the limiting plate 13 is out of contact with the packaging box. Due to the action of the torsion spring 131, the limiting plate 13 swings upward to reset. When the packaging box is moving, the limiting plate 13 can limit the packaging box. In this way, the packaging box can be prevented from moving and losing contact with the pallet 4, resulting in falling and damage, thereby further ensuring the safety of the packaging box during movement.

[0041] When the pallet 4 moves upward to reset, the pallet 4 drives the contact roller 14 to move upward, and the contact roller 14 moves upward to contact the side of the packaging box. The contact roller 14 rotates on the packaging box to reduce the friction between the pallet 4 moving upward and the packaging box. In this way, the pallet 4 can move upward more smoothly and break away from the packaging box.

[0042] The work flow is as follows: first, the robot arm 1 is controlled to make the pallet 4 contact with the bottom of the packaging box, and then the pressure plate 5 clamps the packaging box, and the robot arm 1 is controlled again to make the pallet 4 drive the packaging box to move to the placement position. During the movement of the packaging box, the limit plate 13 limits the packaging box, and the pallet 4 contacts the placement position. Then, the double-axis motor 102 is started, and the front and rear side pallets 4 are out of contact with the packaging box, and during the movement of the pallet 4, the guide roller 121 reduces the friction between the pallet 4 and the packaging box, and then the splint 8 first moves through the movable plate 81 to clamp and fix the packaging box, and then the splint 8 drives the packaging box to be placed steadily and slowly through the movable plate 81 to prevent the packaging box from falling violently and causing the goods to be damaged by impact, thereby ensuring the safety of the goods. After the packaging box is placed, the splint 8 continues to move to release the packaging box, and then the double-axis motor 102 is turned off, and the robot arm 1 is controlled to make the pallet 4 and the splint 8 move upward to leave the placement area. During the upward movement of the pallet 4, the contact roller 14 reduces the friction between it and the packaging box. This is repeated, and the packaging boxes can be continuously transported and stacked.

[0043] Finally, it is necessary to point out that the above content is only used to help understand the technical solution of the present invention and cannot be understood as limiting the scope of protection of the present invention; non-essential improvements and adjustments made by technical personnel in the field of technology based on the above content of the present invention are all within the scope of protection required by the present invention.

Claims

1. A palletizing robot for transporting packaging boxes, comprising a robot arm (1) and a mounting base (2) rotatably mounted on the robot arm (1), a mounting plate (3) being fixedly connected to the bottom of the mounting base (2), a support plate (4) for supporting the packaging box being symmetrically slidably connected to the bottom of the mounting plate (3), a cylinder (51) being mounted on the mounting base (2), a pressing plate (5) being fixedly connected to the end of a telescopic rod of the cylinder (51), wherein: The invention also comprises a movable frame (6), a fixed plate (7), a clamping plate (8), a movable plate (81), an adjusting bolt (82), a contact rod (91), a trigger assembly and a driving assembly. The movable frame (6) is slidably connected to the front and rear sides of the mounting plate (3). The ends of the movable frame (6) close to each other are fixedly connected to the fixed plate (7). The clamping plate (8) is slidably connected to the fixed plate (7). The movable plate (81) is slidably connected to the clamping plate (8). The adjusting bolt (82) is threadedly connected to the clamping plate (8). The end of the adjusting bolt (82) is rotatably connected to the movable plate (81). The left side of the clamping plate (8) is fixedly connected to the contact rod (91). The right side of the mounting plate (3) is symmetrically provided with a guide groove (9). The guide groove (9) is symmetrically provided on the right side of the mounting plate (3). The groove (9) contacts the end of the contact rod (91) to drive the contact rod (91) to move. A trigger assembly is provided between the movable frame (6) and the mounting plate (3). A drive assembly is provided between the mounting plate (3) and the support plate (4). The drive assembly is used to drive the support plate (4) to disengage from the packaging box. Subsequently, the trigger assembly drives the fixed plate (7) to move downward through the movable frame (6). The fixed plate (7) drives the clamping plate (8) to move downward. The clamping plate (8) moves toward the packaging box through the cooperation between the contact rod (91) and the guide groove (9). The clamping plate (8) clamps the packaging box. Then, the clamping plate (8) drives the packaging box that has lost its support to move downward, so that the packaging box is placed steadily and slowly for palletizing.

2. A palletizing robot for transporting packaging boxes as claimed in claim 1, characterized in that: The guide groove (9) is composed of an inclined section I (901), a vertical line section (902) and an inclined section II (903), wherein two ends of the vertical line section (902) are respectively connected to the inclined section I (901) and the inclined section II (903), and the inclined section I (901) and the inclined section II (903) are both inclined toward the center position of the mounting plate (3) and are used to drive the contact rod (91) to perform inclined movement and vertical movement.

3. A palletizing robot for transporting packaging boxes as claimed in claim 2, characterized in that: The trigger assembly comprises a screw rod (10) rotatably connected to the front and rear sides of the mounting plate (3); the screw rod (10) is threadedly connected to the movable frame (6); a transmission assembly (101) is connected between the upper parts of the screw rod (10); a dual-axis motor (102) is fixedly connected to the mounting plate (3); and the output shaft of the dual-axis motor (102) and the screw rod (10) are driven by a synchronous belt assembly.

4. A palletizing robot for transporting packaging boxes as claimed in claim 3, characterized in that: The driving assembly comprises a bidirectional screw (11) rotatably connected to a mounting plate (3), the threads on both sides of the bidirectional screw (11) are opposite, a thread block (114) is threadedly connected to the bidirectional screw (11), the thread block (114) is rotatably connected to a support plate (4), a magnetic ring (115) is fixedly sleeved on the outer side of the thread block (114), the magnetic ring (115) is in magnetic contact with the inner side of the support plate (4), a worm gear (111) is fixedly sleeved on the bidirectional screw (11), a worm (112) meshing with the worm gear (111) is rotatably connected to the left side of the mounting plate (3), and a synchronous belt assembly is used to transmit power between the end of the worm gear (112) and the output shaft of the dual-axis motor (102).

5. A palletizing robot for transporting packaging boxes as claimed in claim 4, characterized in that: The device further comprises a guide assembly, the guide assembly comprising a guide frame (12) slidably connected to the support plate (4), a guide roller (121) rotatably mounted in the middle of the guide frame (12), a return spring (123) connected between the guide frame (12) and the support plate (4), and a wedge plate (122) symmetrically fixed to the bottom of the mounting plate (3).

6. A palletizing robot for transporting packaging boxes as claimed in claim 5, characterized in that: The ends of the front and rear wedge-shaped plates (122) that are close to each other are inclined surfaces, which are used to trigger the guide frame (12).

7. A palletizing robot for transporting packaging boxes as claimed in claim 6, characterized in that: The device also includes a limiting plate (13) rotatably connected to the top of the supporting plate (4) to limit the position of the packaging box, and a torsion spring (131) is connected between the limiting plate (13) and the rotating part of the supporting plate (4).

8. A palletizing robot for transporting packaging boxes as claimed in claim 7, characterized in that: The device also includes a contact roller (14) rotatably connected to the side of the support plate (4) that is close to each other, so as to reduce the friction between the support plate and the packaging box.

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