Full-automatic stacking robot and control method thereof

Abstract

The invention relates to the technical field of palletizing robots, and discloses a full-automatic palletizing robot which comprises a first conveying line, a rack is arranged below the right half portion of the first conveying line, a portal frame is fixedly installed on the right side of the rack, and a gantry type electric drive sliding rail is arranged at the top of the portal frame; a mechanical gripper is fixedly installed at the output end of the left side of the gantry type electric drive sliding rail, a second conveying line is arranged on the left side of the mechanical gripper and located between the first conveying line and the rack, a bearing assembly is arranged below the gantry, and a third conveying line is arranged on the right side of the bearing assembly. The whole structure layout is compact, the plant area is saved, the characteristics of being high in speed, efficient, stable in operation, convenient to operate and control and the like are achieved, high-speed and efficient stacking can be achieved, and the urgent requirements of the automatic stacking industry for low cost, high efficiency and high takt are met.

Description

Technical Field

[0001] The invention relates to a palletizing robot, and in particular to a fully automatic palletizing robot and a control method thereof. Background Art

[0002] There are two types of existing bagged goods palletizing: manual palletizing and mechanical palletizing. Manual palletizing is time-consuming and labor-intensive, with a large workload and low production efficiency. It is heavy physical labor, especially when the weather is slightly hot, and workers are seriously overdrawn physically, and have gradually withdrawn from the palletizing market; the power arm palletizing method is also manually operated, using suction cups or other mechanical structures to suck up the goods, with the power arm fixing frame as the center, and the goods are palletized on the pallet within the rotation radius of the power arm. This type of palletizing method has a certain effect on reducing the physical load of the operator, but the operating efficiency is low. The popularization of mechanical palletizing will be an inevitable development of the palletizing form. In developed countries, mechanical palletizing has almost completely replaced manual palletizing.

[0003] When performing palletizing operations, traditional articulated robots mainly rely on the end-actuator grabber to rotate and adjust a certain angle to place it at a specified position to achieve a certain palletizing form. In addition to vertical and horizontal movements, the end also requires a rotational movement. The movement of the robotic arm consumes too much time, which reduces its efficiency when performing palletizing operations in large span areas. In addition, robot palletizing operations are accompanied by high-speed and high-frequency movements, and they run continuously for 24 hours. The robot reducer and motor are prone to wear and damage, and the after-sales maintenance costs are high, especially for imported articulated robots. The complex structure makes disassembly and maintenance difficult and inconvenient, and the maintenance cycle is long. Once the product production line is shut down, it will bring huge economic losses to the company. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a fully automatic palletizing robot and a control method thereof, which have the advantages of high degree of automation, high palletizing efficiency, simple structure, low cost, etc., and also solves the problems of low efficiency of manual palletizing, complex structure and high cost of mechanical palletizing, and inconvenient maintenance.

[0005] In order to achieve the above-mentioned purposes of high degree of automation, high palletizing efficiency, simple structure and low cost, the present invention provides the following technical solutions: a fully automatic palletizing robot, comprising a first conveyor line, a frame is arranged below the right half of the first conveyor line, a gantry is fixedly installed on the right side of the frame, a gantry-type electric drive slide is arranged on the top of the gantry, a mechanical gripper is fixedly installed on the left output end of the gantry-type electric drive slide, a second conveyor line is arranged on the left side of the mechanical gripper, the second conveyor line is located between the first conveyor line and the frame, a bearing assembly is arranged below the gantry, and a third conveyor line is arranged on the right side of the bearing assembly.

[0006] Preferably, the first conveyor line consists of an inclined portion and a horizontal portion, the horizontal portion is parallel to the frame and is located directly above the frame, and grating photoelectric sensors are provided directly above the end of the horizontal portion and directly above the end of the second conveyor line.

[0007] Preferably, there are two groups of gantries, which are distributed front to back and are respectively located on the front and rear sides of the bearing assembly. A Y-axis translation mechanism is fixedly installed on the top of the two groups of gantries, and a Y-axis slider is slidably connected to the top of the Y-axis translation mechanism. The two groups of Y-axis sliders are fixedly installed on the bottom of the gantry-type electric drive slide rail, and an X-axis slider is slidably connected to the left side of the gantry-type electric drive slide rail, and the X-axis slider is fixedly installed on the mechanical gripper.

[0008] Preferably, there are two groups of gantries, which are distributed front to back and are respectively located at the front and rear sides of the bearing assembly. A Y-axis translation mechanism is fixedly installed on the top of one of the gantries, and an auxiliary guide rail is fixedly installed on the top of the other gantry. A Y-axis slider is slidably connected to the top of the Y-axis translation mechanism, and the Y-axis slider is fixedly installed at the bottom of one end of the gantry-type electric drive slide rail, and the other end of the gantry-type electric drive slide rail is slidably connected to the top of the auxiliary slide rail, and an X-axis slider is slidably connected to the left side of the gantry-type electric drive slide rail, and the X-axis slider is fixedly installed on the mechanical gripper.

[0009] Preferably, the mechanical gripper includes an adapter flange fixedly mounted on the left side of the X-axis slider, the bottom of the adapter flange is rotatably connected to a conveyor line mounting plate, a brake motor is fixedly mounted on the top of the conveyor line mounting plate, the output end of the brake motor passes through the conveyor line mounting plate, and a suspension frame is fixedly mounted on the bottom of the output end of the brake motor; the front and rear sides of the mechanical gripper are rotatably connected to a rotating shaft, each of the two ends of the rotating shaft is fixedly mounted with a clamping jaw, and the two clamping jaws on the same side are fixedly mounted with a clamping plate; two groups of cylinders are fixedly mounted on the top of the suspension frame, the output shafts of the two groups of cylinders face opposite directions, and cranks are fixedly mounted on the rotating shaft, and the top ends of the two groups of cranks are respectively hinged to the output ends of the two groups of cylinders.

[0010] Preferably, a bearing is provided between the adapter flange and the conveyor line mounting plate.

[0011] Preferably, the second conveyor line is fixedly installed on the left side of the conveyor line mounting plate, and a guide rail is fixedly installed on the bottom of the second conveyor line. A slide seat is slidably connected to the surface of the guide rail, and a turntable is rotatably connected to the bottom of the slide seat. The turntable is fixedly installed on the top of the frame, and the turntable is located directly below the right end of the horizontal part. A bearing is arranged between the slide seat and the turntable.

[0012] Preferably, the bearing assembly comprises a scissor-fork lift, a conveyor line loading platform is arranged on the top of the scissor-fork lift, a pallet is placed on the top of the conveyor line loading platform, and the pallet is located directly below the mechanical gripper.

[0013] Furthermore, the control method of the fully automatic palletizing robot comprises the following specific steps: S1, the system is initialized, and the scissor lift is raised to the initial position to be stacked; the first conveyor line moves and conveys the products to be stacked, and the grating photoelectric sensor above the horizontal part monitors whether there are items moving to the horizontal part. If not, the first conveyor line continues to move, and if so, the first conveyor line stops moving; S2, judging whether the mechanical gripper is in the initial position and whether the two sets of splints are closed; the Y-axis slider slides along the Y-axis translation mechanism, and the X-axis slider slides along the gantry electric drive slide rail, driving the mechanical gripper to move along the X-axis and Y-axis, so that the mechanical gripper moves to the initial position; the output end of the cylinder extends, pushing the crank and the shaft to rotate, thereby driving the jaws and the splints to deflect, so that the two sets of splints are closed; S3, the first conveyor line continues to move, and conveys the products to be palletized to the second conveyor line. The second conveyor line moves, and transfers the products to be palletized to the inside of the two sets of clamps. The grating photoelectric sensor on the second conveyor line monitors whether the products to be palletized pass through. When the grating photoelectric sensor does not detect the products to be palletized passing through, the second conveyor line continues to transport the products to be palletized. After the grating photoelectric sensor detects the products to be palletized passing through, the second conveyor line stops running, and the first conveyor line continues to move; S4, slide the Y-axis slider along the Y-axis translation mechanism, and slide the X-axis slider along the gantry electric drive slide rail, so that the mechanical gripper moves along the X-axis and Y-axis, and the clamping plate moves to the stacking point, and then the output end of the brake motor rotates to drive the suspension frame to rotate 90°, 180° or 270° to adjust the angle of the product to be stacked, and then the output end of the cylinder contracts to pull the crank and the shaft to rotate, drive the clamping plate to deflect, and the two sets of clamping plates open, so that the products to be stacked fall onto the pallet; S5. The four sides of the space formed in the middle of the two gantries are fixedly installed with cylinder push plates. After one layer of products is stacked on the pallet, the cylinder push plates will perform overall shaping and position adjustment on the stacked products to ensure neat stacking up and down. The stacking height of one layer of products will be lowered by the scissor fork lift to prepare for the next layer of stacking, and the cyclic stacking program will be executed in sequence. After the products on the entire pallet reach the set number of stacking layers, the scissor fork lift will be lowered to the lowest point, and the bottom of the pallet will be flush with the top of the third conveyor line. The pallet will then be transferred to the third conveyor line through the movement of the conveyor line loading platform, and then the pallet will be transferred to the right through the movement of the third conveyor line.

[0014] Compared with the prior art, the fully automatic palletizing robot and the control method thereof provided by the present invention have the following beneficial effects: 1. The fully automatic palletizing robot and its control method have a compact overall structure and layout, which can save plant area. The robot system has the characteristics of high speed and high efficiency, stable operation, and easy operation and control, thereby achieving the purpose of high-speed and efficient palletizing and meeting the urgent needs of the automated palletizing industry for low cost, high efficiency, and high beat; 2. The fully automatic palletizing robot and its control method decompose the action of grabbing and palletizing of the traditional articulated robot, and the second conveyor line is directly connected to the gantry-type electric drive slide rail slider, which can achieve palletizing of any shape and high speed, and can also greatly improve the stability of continuous motion, so that the flexibility of the entire robot system can be the same as that of the articulated robot; 3. The fully automatic palletizing robot and its control method have high rigidity and overall running speed of the robot system, compact structure, wide travel range, high degree of automation, low processing and manufacturing cost, and economic advantages. In addition, the transmission structure is convenient for equipment repair, debugging and maintenance, and the later maintenance cost is low, and a variety of palletizing types can be set; 4. The fully automatic palletizing robot and its control method are stable, safe, highly reliable, have a low failure rate, can operate continuously, are cost-effective, and have a wide range of applications, such as automatic palletizing of various woven bag packaging, paper-plastic composite bags, packaging box products, barreled liquids and other regular objects; for example: grain, fertilizer, food, feed, beverages, fruits, tobacco, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the three-dimensional structure of the fully automatic palletizing robot in the embodiment; Figure 2 It is a schematic diagram of the three-dimensional structure of the mechanical gripper and the second conveyor line of the fully automatic palletizing robot in the embodiment; Figure 3 Schematic diagram of the three-dimensional structure of the mechanical gripper of the fully automatic palletizing robot in the embodiment; Figure 4 Schematic diagram of the control method of the fully automatic palletizing robot in the embodiment.

[0016] In the figure: 100, first conveyor line; 200, frame; 300, gantry; 400, Y-axis translation mechanism; 500, gantry electric drive slide rail; 600, mechanical gripper; 700, second conveyor line; 800, bearing assembly; 900, third conveyor line; 101, inclined portion; 102, horizontal portion; 501, X-axis slider; 502, auxiliary guide rail; 601, adapter flange; 602, conveyor line mounting plate; 603, brake motor; 604, suspension frame; 605, rotating shaft; 606, clamping claw; 607, clamping plate; 608, cylinder; 609, crank; 610, bearing; 701, guide rail; 702, slide seat; 703, turntable; 801, scissor fork lift; 802, conveyor line loading platform; 803, pallet. DETAILED DESCRIPTION

[0017] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-Figure 3 A fully automatic palletizing robot includes a first conveyor line 100, a frame 200 is arranged below the right half of the first conveyor line 100, and the first conveyor line 100 is composed of an inclined portion 101 and a horizontal portion 102, and the horizontal portion 102 is parallel to the frame 200 and is located directly above the frame 200. A gantry 300 is fixedly installed on the right side of the frame 200, a gantry-type electric drive slide 500 is arranged on the top of the gantry 300, and a mechanical gripper 600 is fixedly installed at the output end of the left side of the gantry-type electric drive slide 500, so that the mechanical gripper 600 can move along the X-axis and the Y-axis through the cooperation of the Y-axis translation mechanism 400 and the gantry-type electric drive slide 500, so that the products to be palletized are moved to the point to be palletized. A second conveyor line 700 is provided on the left side of the mechanical gripper 600, and the second conveyor line 700 is located between the first conveyor line 100 and the frame 200. Grating photoelectric sensors are provided just above the end of the horizontal portion 102 and just above the end of the second conveyor line 700. The grating photoelectric sensor identifies the product at the top of the horizontal portion 102 to determine whether there are products to be palletized at the top of the horizontal portion 102 and the top of the second conveyor line 700. A bearing assembly 800 is provided below the gantry 300, and a third conveyor line 900 is provided on the right side of the bearing assembly 800.

[0019] See also Figure 1There are two groups of gantries 300, which are distributed front and back and are respectively located on the front and back sides of the bearing assembly 800. The tops of the two groups of gantries 300 are fixedly installed with Y-axis translation mechanisms 400, and the tops of the Y-axis translation mechanisms 400 are slidably connected with Y-axis sliders. The two groups of Y-axis sliders are fixedly installed at the bottom of the gantry electric drive slide rail 500. The left side of the gantry electric drive slide rail 500 is slidably connected with an X-axis slider 501, and the X-axis slider 501 is fixedly installed with the mechanical gripper 600. When the Y-axis slider slides along the Y-axis translation mechanism 400, it drives the gantry electric drive slide rail 500 and the mechanical gripper 600 to move synchronously. The left side of the gantry electric drive slide rail 500 is slidably connected with an X-axis slider 501, and the X-axis slider 501 is fixedly installed with the mechanical gripper 600.

[0020] See also Figure 1 There are two groups of gantries 300, which are distributed front and back and are respectively located at the front and back sides of the bearing assembly 800. A Y-axis translation mechanism 400 is fixedly installed on the top of one of the gantry frames 300, and an auxiliary guide rail 502 is fixedly installed on the top of the other gantry frame 300. A Y-axis slider is slidably connected to the top of the Y-axis translation mechanism 400. The Y-axis slider is fixedly installed at the bottom of one end of the gantry electric drive slide rail 500, and the other end of the gantry electric drive slide rail 500 is slidably connected to the top of the auxiliary slide rail 502. An X-axis slider 501 is slidably connected to the left side of the gantry electric drive slide rail 500, and the X-axis slider 501 is fixedly installed with the mechanical gripper 600. When the Y-axis slider slides along the Y-axis translation mechanism 400, under the guidance of the auxiliary guide rail 502, the gantry electric drive slide rail 500 and the mechanical gripper 600 are driven to move synchronously.

[0021] See also Figure 2-Figure 3 The mechanical gripper 600 includes an adapter flange 601 fixedly mounted on the left side of the X-axis slider 501, a conveyor line mounting plate 602 is rotatably connected to the bottom of the adapter flange 601, and a bearing 610 is arranged between the adapter flange 601 and the conveyor line mounting plate 602 to reduce the rotational friction between the adapter flange 601 and the conveyor line mounting plate 602.

[0022] A brake motor 603 is fixedly installed on the top of the conveyor line installation plate 602, and the output end of the brake motor 603 passes through the conveyor line installation plate 602. A suspension bracket 604 is fixedly installed at the bottom of the output end of the brake motor 603. The brake motor 603 drives the suspension bracket 604 to rotate, and the angle of the suspension bracket 604 is adjusted to achieve 90°, 180°, and 270° rotation of the product.

[0023] The front and rear sides of the mechanical gripper 600 are both rotatably connected to the rotating shaft 605, and each rotating shaft 605 is fixedly installed with a clamping claw 606 at both ends, and a clamping plate 607 is fixedly installed on the two clamping claws 606 on the same side. Two groups of cylinders 608 are fixedly installed on the top of the suspension frame 604, and the output shafts of the two groups of cylinders 608 face opposite directions. A crank 609 is fixedly installed on the rotating shaft 605, and the top ends of the two groups of cranks 609 are respectively hinged to the output ends of the two groups of cylinders 608. The output ends of the two groups of cylinders 608 are extended, pushing the crank 609 and the rotating shaft 605 to rotate, driving the clamping plate 607 to deflect, so that the two groups of clamping plates 607 are closed and the products to be stacked are stored. Similarly, the output ends of the two groups of cylinders 608 are contracted, pulling the crank 609 and the rotating shaft 605 to rotate, driving the clamping plate 607 to deflect, so that the two groups of clamping plates 607 are opened, and the products to be stacked inside the clamping plates 607 fall.

[0024] See also Figure 2 The second conveyor line 700 is fixedly installed on the left side of the conveyor line mounting plate 602, and a guide rail 701 is fixedly installed at the bottom of the second conveyor line 700. A slide 702 is slidably connected to the surface of the guide rail 701, and a turntable 703 is rotatably connected to the bottom of the slide 702. The turntable 703 is fixedly installed on the top of the frame 200, and the turntable 703 is located directly below the right end of the horizontal part 102. A bearing is arranged between the slide 702 and the turntable 703, so that when the mechanical gripper 600 moves along the X-axis and the Y-axis, the second conveyor line 700 and the guide rail 701 can slide relative to the slide 702, and the slide 702 can rotate relative to the turntable 703.

[0025] The load-bearing assembly 800 includes a scissor lift 801, a conveyor loading platform 802 is arranged on the top of the scissor lift 801, a pallet 803 is placed on the top of the conveyor loading platform 802, and the pallet 803 is located directly below the mechanical gripper 600. For each layer of pallet 803, the scissor lift 801 is lowered by one level, and the layers of packaging boxes or bagged products are stacked by staggered placement. Through the set palletizing process package program (criss-cross stacking, return stacking, vertical stacking, etc.), the products are stacked into a stack.

[0026] In addition, three limit baffles can be fixed on the top of the conveyor line loading platform 802. The three limit baffles are set in a U shape, and the opening faces the left side. The limit baffle facing the opening can be retracted. When the pallet 803 is transported to the conveyor line loading platform 802, the pallet 803 is limited by the limit baffle. After the products on the entire pallet 803 reach the set number of stacking layers, the bottom of the pallet 803 is flush with the top of the third conveyor line 900, and the limit baffle facing the opening is retracted into the conveyor line loading platform 802. Then, through the movement of the conveyor line loading platform, the pallet 803 is transferred to the moving third conveyor line 900 to transfer the pallet 803 to the right. In addition, the four-sided space formed in the middle of the two gantries 300 is fixedly installed with a cylinder push plate. After a layer of products is stacked on the pallet 803, the cylinder push plate performs overall shaping and position adjustment on the stacked products to ensure neat stacking up and down.

[0027] When using, refer to Figure 4 The specific steps of the control method of the fully automatic palletizing robot are as follows: S1, system initialization, while the scissor lift 801 is raised to the initial position to be palletized; the first conveyor line 100 moves and conveys the products to be palletized, and the grating photoelectric sensor above the horizontal part 102 monitors whether there are items moving to the horizontal part 102, if not, the first conveyor line 100 continues to move, if yes, the first conveyor line 100 stops moving; S2, judging whether the mechanical gripper 600 is in the initial position and whether the two sets of clamps 607 are closed; the Y-axis slider slides along the Y-axis translation mechanism 400, and the X-axis slider 501 slides along the gantry-type electric drive slide rail 500, driving the mechanical gripper 600 to move along the X-axis and the Y-axis, so that the mechanical gripper 600 moves to the initial position; the output end of the cylinder 608 extends, pushing the crank 609 and the rotating shaft 605 to rotate, thereby driving the jaws 606 and the clamps 607 to deflect, so that the two sets of clamps 607 are closed; S3, the first conveyor line 100 continues to move, and conveys the products to be palletized to the second conveyor line 700. The second conveyor line 700 moves, and transfers the products to be palletized to the inside of the two sets of clamping plates 607. The grating photoelectric sensor on the second conveyor line 700 monitors whether the products to be palletized pass through. When the grating photoelectric sensor does not detect the products to be palletized passing through, the second conveyor line 700 continues to transport the products to be palletized. After the grating photoelectric sensor detects the products to be palletized passing through, the second conveyor line 700 stops running, and the first conveyor line 100 continues to move; S4, the Y-axis slider slides along the Y-axis translation mechanism 400, and the X-axis slider 501 slides along the gantry electric drive slide rail 500, so that the mechanical gripper 600 moves along the X-axis and Y-axis, and the clamping plate 607 moves to the stacking point, and then the output end of the brake motor 603 rotates to drive the suspension frame 604 to rotate 90°, 180° or 270° to adjust the angle of the product to be stacked, and then the output end of the cylinder 608 contracts to pull the crank 609 and the rotating shaft 605 to rotate, drive the clamping plate 607 to deflect, and the two groups of clamping plates 607 open, so that the products to be stacked fall onto the tray 803; S5. The four-sided space formed in the middle of the two gantries 300 is fixedly installed with cylinder push plates. After a layer of products is stacked on the pallet 803, the cylinder push plates perform overall shaping and position adjustment on the stacked products to ensure neat stacking up and down. The stacking height of one layer of products is lowered by the scissor fork lift 801 to prepare for the next layer of stacking, and the cyclic stacking program is executed in sequence. After the products on the entire pallet 803 reach the set number of stacking layers, the scissor fork lift 801 is lowered to the lowest point, and the bottom of the pallet 803 is flush with the top of the third conveyor line 900, and then the conveyor line loading platform 802 moves to transfer the pallet 803 to the third conveyor line 900, and then the pallet 803 is transferred to the right by the movement of the third conveyor line 900.

Claims

1. A fully automatic palletizing robot, comprising a first conveyor line (100), characterized in that: A frame (200) is arranged below the right half of the first conveyor line (100), a gantry (300) is fixedly mounted on the right side of the frame (200), a gantry-type electric drive slide rail (500) is arranged on the top of the gantry (300), a mechanical gripper (600) is fixedly mounted on the left output end of the gantry-type electric drive slide rail (500), a second conveyor line (700) is arranged on the left side of the mechanical gripper (600), the second conveyor line (700) is located between the first conveyor line (100) and the frame (200), a bearing assembly (800) is arranged below the gantry (300), and a third conveyor line (900) is arranged on the right side of the bearing assembly (800).

2. The fully automatic palletizing robot according to claim 1, characterized in that: The first conveyor line (100) is composed of an inclined portion (101) and a horizontal portion (102); the horizontal portion (102) is parallel to the frame (200) and is located directly above the frame (200); and grating photoelectric sensors are provided directly above the end of the horizontal portion (102) and directly above the end of the second conveyor line (700).

3. The fully automatic palletizing robot according to claim 1, characterized in that: The number of the gantries (300) is two groups, and the two groups of gantries (300) are distributed front and back and are respectively located at the front and back sides of the bearing assembly (800). The tops of the two groups of gantries (300) are fixedly installed with a Y-axis translation mechanism (400), and the tops of the Y-axis translation mechanisms (400) are slidably connected with a Y-axis slider, and the two groups of Y-axis sliders are fixedly installed at the bottom of the gantry-type electric drive slide rail (500). The left side of the gantry-type electric drive slide rail (500) is slidably connected with an X-axis slider (501), and the X-axis slider (501) is fixedly installed with the mechanical gripper (600).

4. The fully automatic palletizing robot according to claim 1, characterized in that: The number of the gantries (300) is two groups, and the two groups of gantries (300) are distributed front and back and are respectively located at the front and back sides of the bearing assembly (800), wherein a Y-axis translation mechanism (400) is fixedly installed on the top of one of the gantries (300), and an auxiliary guide rail (502) is fixedly installed on the top of the other gantry (300), and a Y-axis slider is slidably connected to the top of the Y-axis translation mechanism (400), and the Y-axis slider is fixedly installed at the bottom of one end of the gantry electric drive slide rail (500), and the other end of the gantry electric drive slide rail (500) is slidably connected to the top of the auxiliary slide rail (502), and an X-axis slider (501) is slidably connected to the left side of the gantry electric drive slide rail (500), and the X-axis slider (501) is fixedly installed with the mechanical gripper (600).

5. The fully automatic palletizing robot according to claim 4, characterized in that: The mechanical gripper (600) comprises an adapter flange (601) fixedly mounted on the left side of the X-axis slider (501); the bottom of the adapter flange (601) is rotatably connected to a conveyor line mounting plate (602); a brake motor (603) is fixedly mounted on the top of the conveyor line mounting plate (602); the output end of the brake motor (603) passes through the conveyor line mounting plate (602); and a suspension bracket (604) is fixedly mounted on the bottom of the output end of the brake motor (603); The front and rear sides of the mechanical gripper (600) are both rotatably connected to a rotating shaft (605), and each of the two ends of the rotating shaft (605) is fixedly mounted with a clamping claw (606), and a clamping plate (607) is fixedly mounted on the two clamping claws (606) on the same side; Two groups of cylinders (608) are fixedly mounted on the top of the suspension frame (604), and the output shafts of the two groups of cylinders (608) face in opposite directions. A crank (609) is fixedly mounted on the rotating shaft (605), and the top ends of the two groups of cranks (609) are respectively hinged to the output ends of the two groups of cylinders (608).

6. The fully automatic palletizing robot according to claim 5, characterized in that: A bearing (610) is provided between the adapter flange (601) and the conveyor line mounting plate (602).

7. The fully automatic palletizing robot according to claim 5, characterized in that: The second conveyor line (700) is fixedly mounted on the left side of the conveyor line mounting plate (602); a guide rail (701) is fixedly mounted on the bottom of the second conveyor line (700); a slide seat (702) is slidably connected to the surface of the guide rail (701); a turntable (703) is rotatably connected to the bottom of the slide seat (702); the turntable (703) is fixedly mounted on the top of the frame (200); the turntable (703) is located directly below the right end of the horizontal portion (102); and a bearing is provided between the slide seat (702) and the turntable (703).

8. The fully automatic palletizing robot according to claim 1, characterized in that: The bearing assembly (800) comprises a scissor-fork lift (801), a conveyor line loading platform (802) is arranged on the top of the scissor-fork lift (801), a pallet (803) is placed on the top of the conveyor line loading platform (802), and the pallet (803) is located directly below the mechanical gripper (600).

9. The control method of the fully automatic palletizing robot according to any one of claims 1 to 8, wherein the specific steps are as follows: S1, the system is initialized, and the scissor lift (801) is raised to the initial position to be stacked; the first conveyor line (100) moves and conveys the products to be stacked, and the grating photoelectric sensor above the horizontal part (102) monitors whether there are objects moving to the horizontal part (102). If not, the first conveyor line (100) continues to move, and if so, the first conveyor line (100) stops moving; S2, determining whether the mechanical gripper (600) is in the initial position and whether the two sets of clamps (607) are closed; the Y-axis slider slides along the Y-axis translation mechanism (400), and the X-axis slider (501) slides along the gantry-type electric drive slide rail (500), driving the mechanical gripper (600) to move along the X-axis and the Y-axis, thereby moving the mechanical gripper (600) to the initial position; the output end of the cylinder (608) extends, pushing the crank (609) and the rotating shaft (605) to rotate, thereby driving the clamping claw (606) and the clamping plate (607) to deflect, so that the two sets of clamps (607) are closed; S3, the first conveyor line (100) continues to move, and conveys the products to be palletized to the second conveyor line (700). The second conveyor line (700) moves, and transfers the products to be palletized to the inside of the two sets of clamping plates (607). The grating photoelectric sensor on the second conveyor line (700) monitors whether the products to be palletized have passed. When the grating photoelectric sensor does not detect that the products to be palletized have passed, the second conveyor line (700) continues to transport the products to be palletized. After the grating photoelectric sensor detects that the products to be palletized have passed, the second conveyor line (700) stops running, and the first conveyor line (100) continues to move; S4, the Y-axis slider slides along the Y-axis translation mechanism (400), and the X-axis slider (501) slides along the gantry-type electric drive slide rail (500), so that the mechanical gripper (600) moves along the X-axis and the Y-axis, so that the clamping plate (607) moves to the stacking point, and then the output end of the brake motor (603) rotates to drive the suspension frame (604) to rotate 90°, 180°, or 270° to adjust the angle of the product to be stacked, and then the output end of the cylinder (608) contracts to pull the crank (609) and the rotating shaft (605) to rotate, so that the clamping plate (607) deflects, and the two groups of clamping plates (607) open, so that the product to be stacked falls onto the tray (803); S5. The four sides of the space formed in the middle of the two gantries (300) are fixedly installed with cylinder push plates. When a layer of products is stacked on the pallet (803), the cylinder push plates perform overall shaping and position adjustment on the stacked products to ensure neat stacking. The stacking height of one layer of products is lowered by the scissor fork lift (801) to prepare for the next layer of stacking, and the cyclic stacking program is performed in sequence. When the products on the entire pallet (803) reach the set number of stacking layers, the scissor fork lift (801) is lowered to the lowest point, the bottom of the pallet (803) is flush with the top of the third conveyor line (900), and then the conveyor line loading platform (802) moves to transfer the pallet (803) to the third conveyor line (900), and then the pallet (803) is transferred to the right by the movement of the third conveyor line (900).

Images