Stacking device and unstacking robot

Abstract

The stacking device comprises a bearing sliding rail, the two sides of the bearing sliding rail move up and down between vertical frames through motor lifting sets, a sliding assembly transversely slides on the surface of the bearing sliding rail, and the interior of the sliding assembly drives a main suction plate to rotate above the vertical frames through a swing assembly. A transmission belt assembly is arranged on one side of the main suction plate and moves up and down on one side of the main suction plate. The three sets of auxiliary suction plates are rotationally arranged on the side, away from the transmission belt assembly, of the main suction plate through a swing adjusting mechanism, the side faces of the auxiliary suction plates and the bottom face of the main suction plate are fixedly connected with suction cups correspondingly, the stability of goods in the unstacking and stacking carrying process can be greatly improved, the goods are prevented from falling off, the stroke path is fixed, and the conveying efficiency is improved. The cargo handling efficiency is effectively guaranteed on the premise that complex algorithms are not needed and multiple sensors are not needed.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing and depalletizing equipment, and in particular to a palletizing device and a depalletizing robot. Background Art

[0002] In the process of goods production, transportation and storage, goods need to be stacked and depalletized. Stacking and depalletizing are two key operation steps in logistics and industrial production. They are of great significance to improving production efficiency, optimizing space utilization, and ensuring goods safety. Currently, common stacking and depalletizing methods are divided into manual operation and fully automatic / semi-automatic stacking and depalletizing machines.

[0003] The more common palletizing and depalletizing equipment on the market uses a robotic arm with a vacuum suction cup to vacuum adsorb the box, and then uses the robotic arm to deliver the goods to the conveyor belt or directly palletize them. Two or three groups of goods can be directly transported at a time, thereby achieving the purpose of palletizing or depalletizing goods.

[0004] However, in the process of adsorbing cargo boxes with vacuum suction cups, common means of transportation only provide suction force on the top of the cargo box. When the cargo is heavy or the surface of the cargo box is not smooth, the suction force provided by the suction cup is limited, which may cause the cargo to fall. The cargo is not stable enough during the stacking / destacking process. In addition, the use of fully automated transfer equipment such as robotic arms for stacking and destacking requires more complex program algorithm support or multiple sensors for control. The robotic arms need to move cargo at different positions to the conveyor belt along different prescribed routes, and the stroke is long, which makes the efficiency of stacking and destacking generally slow.

[0005] Therefore, how to provide a palletizing device and a palletizing robot is a problem that those skilled in the art need to solve urgently. Summary of the invention

[0006] One purpose of the present invention is to propose a palletizing device and a depalletizing robot, which can greatly improve the stability of goods during the palletizing and depalletizing process, prevent the goods from falling, and have a fixed travel path, effectively ensuring the efficiency of goods handling without the need for complex algorithms and the installation of more sensors.

[0007] A palletizing device and a palletizing robot according to an embodiment of the present invention include load-bearing slide rails on both sides that move up and down between vertical frames through motor lifting groups, a sliding assembly is provided on the surface of the load-bearing slide rail for transverse sliding, a main suction plate is driven to rotate above the vertical frame through a swing assembly inside the sliding assembly, a transmission belt assembly is provided on one side of the main suction plate, and the transmission belt assembly moves up and down on one side of the main suction plate;

[0008] Three groups of auxiliary suction plates, the auxiliary suction plates are rotatably arranged on the side of the main suction plate away from the transmission belt assembly through a swing adjustment mechanism, the side surfaces of the auxiliary suction plates and the bottom surface of the main suction plate are respectively fixedly connected with suction cups, the three groups of auxiliary suction plates are connected to the external air valve through the second suction pipe, and the main suction plate is connected to the external air valve through the first suction pipe;

[0009] An adjusting slide plate, one side of the adjusting slide plate is movably connected to a second side plate on one side of the auxiliary suction plate through a first side plate, the adjusting slide plate is limitedly slid on the surface of the main suction plate, and the adjusting slide plate is positioned and locked between the main suction plate through a locking mechanism.

[0010] Furthermore, the swing adjustment mechanism includes an actuator electric cylinder and an adjusting slide plate, the actuator electric cylinder output rod is fixedly connected to a side ear, the connecting side ear is movably connected to the shaft rod at the top of the auxiliary suction plate, and the connecting position of the connecting side ear and the auxiliary suction plate is located above the second side plate, the suction cup on the side of the auxiliary suction plate is located below the second side plate, and the actuator electric cylinder is fixed to the top of the main suction plate.

[0011] Furthermore, a locking protrusion is fixed on one side of the first side plate, and a docking protrusion is fixedly connected to a position of the second side plate near the locking protrusion. When the auxiliary suction plate is rotated to a 90-degree position on one side of the main suction plate, the locking protrusion and the docking protrusion conflict with each other.

[0012] Furthermore, the locking mechanism includes a push block and two groups of levers, the push block is fixed to the output end of the electromagnetic push rod, the electromagnetic push rod is fixed on the main suction plate, one ends of the two groups of levers are aligned with each other, and the push block is aligned with the fitting position of the two groups of levers.

[0013] Furthermore, one side of the lever is elastically arranged on the surface of the main suction plate through an elastic pin, and one end of the lever away from the push block is engaged with the bite groove, and the bite groove is arranged on the side of the adjusting slide plate.

[0014] Furthermore, the main suction plate is protruding upward on one side away from the auxiliary suction plate, and the overall shape of the main suction plate is a right-angle Z shape. A feeding assembly is provided at a position of the main suction plate away from the auxiliary suction plate.

[0015] Furthermore, the feeding assembly includes a sleeve frame and two groups of lifting electric cylinders, the two groups of lifting electric cylinders are fixed on the top of the main suction plate, the sleeve frame is fixed to the output end of the lifting electric cylinder, and the lifting electric cylinder drives the sleeve frame to move up and down under the main suction plate.

[0016] Furthermore, the transmission belt assembly is sleeved on the inner side of the sleeve, the outer surface of the transmission belt assembly is raised, and the top of the sleeve slides between the main suction plate through two groups of load-bearing sliding rods.

[0017] Furthermore, the suction cup on the surface of the auxiliary suction plate is connected to the second suction pipe, and the suction cup at the bottom of the main suction plate is connected to the first suction pipe.

[0018] Furthermore, a built-in groove is opened at a vertical position near the bottom of the vertical frame near the transmission belt assembly, and an upper and lower cargo plate is provided on one side of the built-in groove. The swing assembly is composed of a driving motor and a reversing bevel gear group, and the reversing bevel gear group is respectively connected to the output shaft of the driving motor and the rotating shaft on one side of the main suction plate.

[0019] The beneficial effects of the present invention are:

[0020] The present invention arranges auxiliary suction plates and feeding components on both sides of the main suction plate, and the suction cups arranged on the surfaces of the auxiliary suction plates and the main suction plates are connected to the external air valve through the second suction pipe and the first suction pipe, respectively. In this way, during the transportation process, after the main suction plate is driven to rotate by the sliding component, the top of the goods will be sucked by the auxiliary suction plate, and the side will be sucked by the main suction plate, and the bottom weight will be pressed on the feeding component. Compared with the traditional depalletizing and stacking method, this structure can greatly improve the stability of the goods during transportation and prevent the goods from falling.

[0021] The present invention arranges a swing adjustment mechanism and a locking mechanism between the main suction plate and the auxiliary suction plate, wherein the swing adjustment mechanism controls the flipping effect of the auxiliary suction plate, and the locking mechanism controls the relative distance between the swing adjustment mechanism and the main suction plate. When the locking mechanism locks the adjustment slide plate, the push of the execution electric cylinder drives the auxiliary suction plate to flip. When the locking mechanism releases the adjustment slide plate, the push of the execution electric cylinder drives the auxiliary suction plate to move laterally on one side of the main suction plate, thereby performing lateral adsorption and grabbing operations on goods of different lengths, so that the device has strong adaptability.

[0022] The present invention controls the auxiliary suction plate and the main suction plate respectively through the second suction pipe and the first suction pipe, and can firstly absorb the goods through the auxiliary suction plate and take them away for a distance, so that the feeding assembly on the other side of the main suction plate can be normally lowered to align the other side of the goods, and the control of the locking mechanism can drive the auxiliary suction plate and the main suction plate to approach each other, so that the feeding assembly and the auxiliary suction plate cooperate to clamp both sides of the goods, thereby further improving the stability when transporting goods, so that the device can meet a high degree of automated operation effect without relying on complex algorithms. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the overall operation of a palletizing device and a depalletizing robot proposed by the present invention;

[0025] Figure 2 This is a schematic diagram of the overall connection of a palletizing device and a palletizing robot sliding assembly proposed by the present invention.

[0026] Figure 3 This is a top view of the connection structure of a palletizing device and a main suction plate of a depalletizing robot proposed by the present invention.

[0027] Figure 4 This is a schematic diagram of the partial cross-section structure of a palletizing device and a main suction plate of a depalletizing robot proposed by the present invention.

[0028] Figure 5 This is a schematic diagram of the disassembly of the components of the swing mechanism of a palletizing device and a depalletizing robot proposed by the present invention.

[0029] Figure 6 This is a schematic diagram of the overall connection of a palletizing device and a palletizing robot adjustment mechanism proposed by the present invention.

[0030] Figure 7 A palletizing device and a palletizing robot proposed by the present invention Figure 4 Enlarged schematic diagram of the structure at point A.

[0031] In the figure: 1, stand; 2, load-bearing slide rail; 3, sliding assembly; 4, swing assembly; 5, main suction plate; 6, swing adjustment mechanism; 7, auxiliary suction plate; 8, locking mechanism; 9, feeding assembly; 10, first suction pipe; 11, second suction pipe;

[0032] 61. Executing electric cylinder; 62. Adjusting slide plate; 63. Connecting side ears; 64. First side plate; 65. Second side plate; 66. Locking protrusion; 67. Docking protrusion; 81. Electromagnetic push rod; 82. Push block; 83. Push rod; 84. Elastic pin; 85. Biting groove; 91. Sleeve; 92. Transmission belt assembly; 93. Lifting electric cylinder; 94. Load-bearing slide rod. DETAILED DESCRIPTION

[0033] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0034] refer to Figure 1-7 , including load-bearing slide rails 2 on both sides that move up and down between the vertical frames 1 through a motor lifting group, a sliding assembly 3 is provided on the surface of the load-bearing slide rail 2 for horizontal sliding, and the interior of the sliding assembly 3 drives the main suction plate 5 to rotate above the vertical frame 1 through a swing assembly 4, and a transmission belt assembly 92 is provided on one side of the main suction plate 5, and the transmission belt assembly 92 moves up and down on one side of the main suction plate 5;

[0035] Three groups of auxiliary suction plates 7, the auxiliary suction plates 7 are rotatably arranged on the side of the main suction plate 5 away from the transmission belt assembly 92 through the swing adjustment mechanism 6, the side surfaces of the auxiliary suction plates 7 and the bottom surfaces of the main suction plates 5 are respectively fixedly connected with suction cups, the three groups of auxiliary suction plates 7 are connected to the external air valve through the second suction pipe 11, and the main suction plate 5 is connected to the external air valve through the first suction pipe 10;

[0036] The adjusting slide plate 62 has one side movably connected to the second side plate 65 on one side of the auxiliary suction plate 7 through the first side plate 64. The adjusting slide plate 62 is limitedly slid on the surface of the main suction plate 5, and the adjusting slide plate 62 is positioned and locked between the main suction plate 5 through the locking mechanism 8.

[0037] In this embodiment, the sliding assembly 3 on the surface of the load-bearing slide rail 2 can move laterally on the load-bearing slide rail 2, and the load-bearing slide rail 2 is driven by the two side frames 1 to move up and down (here, it means that the two sides of the load-bearing slide rail 2 achieve the up and down movement effect through the motor lifting group, and the motor lifting group can be understood as the motor cooperates with the transmission screw and the connection transmission of the transmission block. This is a prior art means, so it will not be elaborated on in detail), so that the sliding assembly 3 can stop at various positions in the plane, thereby driving the main suction plate 5 to dock with the goods, meeting the automatic stacking and destacking operations;

[0038] The sliding component 3 drives the main suction plate 5 to flip through the swing component 4, so that after grabbing the goods, the goods can be flipped, and the auxiliary suction plates 7 and the transmission belt components 92 on both sides of the main suction plate 5 correspond to the two sides of the goods respectively, so that the goods are more stable during the process of grabbing, transporting and flipping, and the goods are prevented from falling.

[0039] The adjusting slide plate 62 is a connecting piece between the main suction plate 5 and the auxiliary suction plate 7. The adjusting slide plate 62 can slide with the main suction plate 5 to adjust the relative distance between the auxiliary suction plate 7 and the main suction plate 5. At the same time, the locking mechanism 8 can lock the swing adjustment mechanism 6, so that the swing adjustment mechanism 6 can satisfy the flipping between the auxiliary suction plate 7 and the main suction plate 5, and absorb and grab one side of the goods, and can also realize the lateral length adjustment, pull the goods away from each other (satisfy the space for the feeding component 9 to descend on one side of the main suction plate 5), and match the grabbing operation of goods of different lengths;

[0040] More specifically, after the suction cup on one side of the auxiliary suction plate 7 is adsorbed to the side of the cargo, the adsorption effect is achieved through the external air valve of the second suction pipe 11, and the main suction plate 5 is connected to the external air valve through the first suction pipe 10, so that the main suction plate 5 does not adsorb the top of the cargo. In this way, the swing adjustment mechanism 6 can normally drive the cargo away from other cargoes through the adsorption effect between the auxiliary suction plate 7 and the cargo.

[0041] refer to Figure 5 and Figure 6The swing adjustment mechanism 6 includes an actuator cylinder 61 and an adjusting slide plate 62. A side ear 63 is fixedly connected to the output rod of the actuator cylinder 61. The side ear 63 is movably connected to the shaft rod at the top of the auxiliary suction plate 7. The connecting position of the side ear 63 and the auxiliary suction plate 7 is located above the second side plate 65. The suction cup on the side of the auxiliary suction plate 7 is located below the second side plate 65. The actuator cylinder 61 is fixed to the top of the main suction plate 5.

[0042] In this embodiment, the executing electric cylinder 61 is movably connected with the shaft rod at the top of the auxiliary suction plate 7 through the connecting side ear 63, so that the executing electric cylinder 61 can directly push the top of the auxiliary suction plate 7 to move, and the side of the auxiliary suction plate 7 near the lower side of the connecting side ear 63 moves with the first side plate 64 on the side of the adjusting slide plate 62 through the second side plate 65, and the adjusting slide plate 62 is restricted on the main suction plate 5 by the locking mechanism 8. In this way, when the executing electric cylinder 61 pushes the auxiliary suction plate 7, the auxiliary suction plate 7 will rotate with the movably connected position of the second side plate 65 and the first side plate 64 as the center until the rotation angle is ninety degrees. At this time, the suction cup under the auxiliary suction plate 7 will fit with the side of the cargo, thereby realizing the vacuum adsorption grabbing operation;

[0043] The executing electric cylinder 61 is fixed on the main suction plate 5. When the position of the main suction plate 5 is fixed on the specified surface of the load-bearing slide rail 2 by the sliding assembly 3, the thrust of the executing electric cylinder 61 will directly act on the auxiliary suction plate 7. When the locking mechanism 8 contacts the locking of the adjusting slide plate 62, the first side plate 64 can no longer pull the second side plate 65. The pushing effect of the executing electric cylinder 61 will drive the auxiliary suction plate 7 to move to one side, and at the same time pull the adjusting slide plate 62 to slide on the surface of the main suction plate 5.

[0044] refer to Figure 5 , Figure 6 and Figure 7 A locking protrusion 66 is fixed on one side of the first side plate 64, and a docking protrusion 67 is fixedly connected to the second side plate 65 near the locking protrusion 66. When the auxiliary suction plate 7 rotates to a ninety-degree position on one side of the main suction plate 5, the locking protrusion 66 and the docking protrusion 67 contact each other.

[0045] In the present embodiment, during actual operation, since the auxiliary suction plate 7 moves with the first side plate 64 on one side of the adjusting slide plate 62 through the second side plate 65, when the adjusting slide plate 62 and the main suction plate 5 maintain a sliding state, even if the actuator electric cylinder 61 pushes the auxiliary suction plate 7 and simultaneously drives the adjusting slide plate 62 to slide, the suction cup under the auxiliary suction plate 7 will also provide a reverse squeezing operation for the goods. In order to prevent the cargo box from being damaged and deformed due to squeezing, the flipping angle of the first side plate 64 and the second side plate 65 is limited to ninety degrees through the setting of the docking protrusion 67 and the locking protrusion 66, so that the auxiliary suction plate 7 is completely flush with the cargo box, so that the actuator electric cylinder 61 can stably push the auxiliary suction plate 7 and the goods to move.

[0046] refer to Figure 5 , Figure 6 and Figure 7 The locking mechanism 8 includes a push block 82 and two groups of levers 83. The push block 82 is fixed to the output end of the electromagnetic push rod 81. The electromagnetic push rod 81 is fixed to the main suction plate 5. One end of the two groups of levers 83 is aligned with each other, and the push block 82 is aligned with the fitting position of the two groups of levers 83. One side of the lever 83 is elastically arranged on the surface of the main suction plate 5 through an elastic pin 84. The end of the lever 83 away from the push block 82 is engaged with the bite groove 85. The bite groove 85 is provided at the side of the adjustment slide plate 62.

[0047] In this embodiment, the electromagnetic push rod 81 can normally push the push block 82 to move to one side, and the push block 82 fits against the ends of the two sets of levers 83. When the pushing operation occurs, the lever 83 will swing with the elastic pin 84 as the center, causing the other end of the lever 83 to disengage from the engagement position of the bite groove 85, so that the adjustment slide plate 62 can slide normally onto the main suction plate 5. Conversely, when the push block 82 is pulled toward the electromagnetic push rod 81, the elastic pin 84 will provide elastic force at this time, so that one end of the lever 83 is reset, thereby engaging with the bite groove 85.

[0048] refer to Figure 2 , Figure 3 and Figure 4 The main suction plate 5 is convex on one side away from the auxiliary suction plate 7, and the overall shape of the main suction plate 5 is a right-angle Z shape. A feeding assembly 9 is arranged at a position of the main suction plate 5 away from the auxiliary suction plate 7. The feeding assembly 9 includes a sleeve frame 91 and two sets of lifting electric cylinders 93. The two sets of lifting electric cylinders 93 are fixed on the top of the main suction plate 5. The sleeve frame 91 is fixed to the output end of the lifting electric cylinder 93. The lifting electric cylinder 93 drives the sleeve frame 91 to move up and down under the main suction plate 5. The transmission belt assembly 92 is sleeved on the inner side of the sleeve frame 91. The outer surface of the transmission belt assembly 92 is convex. The top of the sleeve frame 91 is limited and slides between the main suction plate 5 through two sets of load-bearing sliding rods 94.

[0049] In this embodiment, the right-angle Z-shaped main suction plate 5 provides a good storage space for the feeding assembly 9 at this position, so that the main suction plate 5 can move normally above the goods, and when the auxiliary suction plate 7 pulls the goods and separates them from each other by a certain distance, the lifting electric cylinder 93 can drive the sleeve frame 91 to move downward under the main suction plate 5, and at the same time align the transmission belt assembly 92 with the other side of the goods. At this time, after the auxiliary suction plate 7 is pulled by the execution electric cylinder 61, the auxiliary suction plate 7 is adsorbed by the suction cup and the goods, so that the goods can be effectively driven to fit with the surface of the transmission belt assembly 92 until they are tightly attached, so that the grabbing and clamping operation can be completed;

[0050] By fixing the load-bearing slide bar 94 on the top of the sleeve frame 91, the limited sliding between the load-bearing slide bar 94 and the main suction plate 5 not only provides stability for the up and down movement, but also, after the main suction plate 5 drives the cargo box to flip ninety degrees, the pressure acts on the transmission belt assembly 92, and the load-bearing slide bar 94 can provide a certain supporting force at this time, cooperating with the main suction plate 5 and the auxiliary suction plate 7 to adsorb the cargo box, thereby stably realizing the unstacking and stacking operations of the goods.

[0051] refer to Figure 3 and Figure 6 The suction cup on the surface of the auxiliary suction plate 7 is connected to the second suction pipe 11, and the suction cup at the bottom of the main suction plate 5 is connected to the first suction pipe 10.

[0052] In this embodiment, the second suction pipe 11 and the first suction pipe 10 represent two suction units, respectively controlling the adsorption operation of the auxiliary suction plate 7 and the main suction plate 5 on the surface of the goods, thereby achieving the aforementioned effect of pulling the goods away from each other.

[0053] refer to Figure 1 and Figure 2 A built-in groove is opened at the vertical position of the bottom of the stand 1 near the transmission belt assembly 92, and an upper and lower cargo plate is set on one side of the built-in groove. The swing assembly 4 is composed of a driving motor and a reversing bevel gear group, and the reversing bevel gear group is respectively connected to the output shaft of the driving motor and the rotating shaft on one side of the main suction plate 5.

[0054] In this embodiment, the swing assembly 4 is mainly composed of a driving assembly and a reversing bevel gear group. The reversing bevel gear group is respectively connected to the connecting rod at the side of the main suction plate 5 and the output shaft of the driving assembly, so that the sliding assembly 3 can normally drive the main suction plate 5 to perform a flipping operation through the swing assembly 4.

[0055] Working principle: Taking the destacking operation as an example, first, the two sides of the load-bearing slide rail 2 rise to the top side of the cargo stack through the motor lifting group, and then the sliding component 3 moves horizontally on the surface of the load-bearing slide rail 2, driving the main suction plate 5 to move above the cargo that needs to be destacking. At this time, the actuator electric cylinder 61 in the swing mechanism 6 drives the auxiliary suction plate 7 to the upper position through the connecting side ear 63, and the auxiliary suction plate 7 is limited by the second side plate 65 and the first side plate 64 on the side of the adjusting slide plate 62. At this time, the auxiliary suction plate 7 will be at the first side plate 64. The two side plates 65 rotate as the center of the circle, so that the suction cup under the auxiliary suction plate 7 fits with one side of the cargo box, and the locking protrusion 66 and the docking protrusion 67 also contact each other. Then, the auxiliary suction plate 7 is sucked together with the cargo box through the suction cup through the second suction pipe 11. At this time, the electromagnetic push rod 81 in the locking mechanism 8 drives the push block 82 to move, and one end of the lever 83 is pushed by the push block 82, so that the lever 83 swings elastically with the elastic pin 84 as the center of the circle, and the other end of the lever 83 is in contact with the side of the adjusting slide plate 62. The biting groove 85 at the side position is disengaged. At this time, the executing electric cylinder 61 pushes the auxiliary suction plate 7 again. Since the adjusting slide plate 62 is unlocked from the main suction plate 5, the pushing effect will drive the cargo as a whole to separate from other cargoes through the auxiliary suction plate 7, providing the descending space of the feeding assembly 9 on the other side of the main suction plate 5. When the lifting electric cylinder 93 drives the sleeve frame 91 to descend to the other side of the cargo, the transmission belt assembly 92 is also aligned with the cargo, and the executing electric cylinder 61 pulls the auxiliary suction plate 7. The auxiliary suction plate 7 and the cargo are adsorbed together, so that the pulling effect will drive the cargo to align with the transmission belt assembly 92. Subsequently, the suction cup under the main suction plate 5 is adsorbed on the cargo through the first suction pipe 10. At this time, the cargo can be driven to rise or move away to one side. Subsequently, the sliding assembly 3 drives the main suction plate 5 to flip ninety degrees through the swing assembly 4, so that the gravity of the cargo is pressed on the transmission belt assembly 92, and the main load is realized by the load-bearing slide bar 94. Finally, the cargo is brought to the bottom of the stand 1, and the transmission belt assembly 92 is started to realize the destacking and transportation of the cargo.

[0056] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A palletizing device and a depalletizing robot, characterized in that: It comprises a load-bearing slide rail (2) on both sides which moves up and down between the vertical frames (1) through a motor lifting group, a sliding assembly (3) is provided on the surface of the load-bearing slide rail (2) for transverse sliding, the interior of the sliding assembly (3) drives the main suction plate (5) to rotate above the vertical frame (1) through a swing assembly (4), and a transmission belt assembly (92) is provided on one side of the main suction plate (5), and the transmission belt assembly (92) moves up and down on one side of the main suction plate (5); Three groups of auxiliary suction plates (7), the auxiliary suction plates (7) are rotatably arranged on a side of the main suction plate (5) away from the transmission belt assembly (92) through a swing adjustment mechanism (6), the side surfaces of the auxiliary suction plates (7) and the bottom surface of the main suction plate (5) are respectively fixedly connected with suction cups, the three groups of auxiliary suction plates (7) are connected to an external air valve through a second suction pipe (11), and the main suction plate (5) is connected to an external air valve through a first suction pipe (10); An adjusting slide plate (62), one side of which is movably connected to a second side plate (65) on one side of the auxiliary suction plate (7) via a first side plate (64), the adjusting slide plate (62) slidingly limits position on the surface of the main suction plate (5), and the adjusting slide plate (62) is positioned and locked with the main suction plate (5) via a locking mechanism (8).

2. A palletizing device and a depalletizing robot according to claim 1, characterized in that: The swing adjustment mechanism (6) comprises an actuating electric cylinder (61) and an adjusting slide plate (62); a connecting side ear (63) is fixedly connected to an output rod of the actuating electric cylinder (61); the connecting side ear (63) is movably connected to a shaft rod at the top of the auxiliary suction plate (7); and a connecting position between the connecting side ear (63) and the auxiliary suction plate (7) is located above the second side plate (65); a suction cup on the side of the auxiliary suction plate (7) is located below the second side plate (65); and the actuating electric cylinder (61) is fixed to the top of the main suction plate (5).

3. A palletizing device and a depalletizing robot according to claim 1, characterized in that: A locking protrusion (66) is fixed at one side of the first side plate (64), and a docking protrusion (67) is fixedly connected to a position of the second side plate (65) close to the locking protrusion (66). When the auxiliary suction plate (7) is rotated to a position of ninety degrees on one side of the main suction plate (5), the locking protrusion (66) and the docking protrusion (67) abut against each other.

4. A palletizing device and a depalletizing robot according to claim 1, characterized in that: The locking mechanism (8) comprises a push block (82) and two groups of shifting rods (83); the push block (82) is fixed to the output end of the electromagnetic push rod (81); the electromagnetic push rod (81) is fixed to the main suction plate (5); one ends of the two groups of shifting rods (83) are mutually abutted and aligned; and the abutting positions of the push block (82) and the two groups of shifting rods (83) are aligned.

5. A palletizing device and a depalletizing robot according to claim 4, characterized in that: One side of the lever (83) is elastically arranged on the surface of the main suction plate (5) through an elastic pin (84), and one end of the lever (83) away from the push block (82) is engaged with a bite groove (85), and the bite groove (85) is arranged on the side of the adjusting slide plate (62).

6. A palletizing device and a depalletizing robot according to claim 1, characterized in that: The main suction plate (5) is convex upwardly on one side away from the auxiliary suction plate (7), and the overall shape of the main suction plate (5) is in a right-angled Z shape. A feeding assembly (9) is provided at a position of the main suction plate (5) away from the auxiliary suction plate (7).

7. A palletizing device and a depalletizing robot according to claim 6, characterized in that: The feeding assembly (9) comprises a sleeve frame (91) and two groups of lifting electric cylinders (93). The two groups of lifting electric cylinders (93) are fixed on the top of the main suction plate (5). The sleeve frame (91) is fixed to the output ends of the lifting electric cylinders (93). The lifting electric cylinders (93) drive the sleeve frame (91) to move up and down below the main suction plate (5).

8. A palletizing device and a depalletizing robot according to claim 7, characterized in that: The transmission belt assembly (92) is sleeved on the inner side of the sleeve frame (91), the outer surface of the transmission belt assembly (92) is convex, and the top of the sleeve frame (91) slides between the main suction plate (5) through two groups of load-bearing sliding rods (94).

9. A palletizing device and a depalletizing robot according to claim 1, characterized in that: The suction cup on the surface of the auxiliary suction plate (7) is connected to the second suction pipe (11), and the suction cup at the bottom of the main suction plate (5) is connected to the first suction pipe (10).

10. A palletizing device and a depalletizing robot according to claim 1, characterized in that: A built-in groove is provided at a vertical position near the bottom of the stand (1) and the transmission belt assembly (92), and an upper and lower cargo plate is provided on one side of the built-in groove. The swing assembly (4) is composed of a drive motor and a reversing bevel gear group, and the reversing bevel gear group is respectively connected to the output shaft of the drive motor and the rotating shaft on one side of the main suction plate (5).

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