Material stacking manipulator stable in clamping

Abstract

The invention relates to the technical field of manipulators, and discloses a stable-clamping material stacking manipulator which comprises a base, the base is connected with a holder through a first motor, the holder is connected with a large arm through a second motor, the large arm is connected with a small arm through a third motor, and the small arm is connected with a wrist plate through a fourth motor. The wrist plate is connected with a supporting plate through a fifth motor, and the supporting plate is connected with two clamping plates through a sixth motor. An L-shaped seat is fixedly connected to one side of the base, a power mechanism is connected to the interior of the L-shaped seat, and a pushing assembly is connected to the output end of the power mechanism. According to the material stacking manipulator capable of stably clamping, the joints of the base, the holder, the large arm, the small arm, the wrist plate, the supporting plate and the two clamping plates are controlled through a first motor, a second motor, a third motor, a fourth motor, a fifth motor and a sixth motor correspondingly, and anti-skid pads are arranged on the clamping plates, so that when materials are carried, the materials can be conveniently conveyed; and the stability can be improved while clamping is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a manipulator for palletizing materials with stable clamping. Background Art

[0002] The material palletizing robot is an industrial robot used for automated material stacking. Through preset programs or intelligent control, it can stack goods in different forms (such as bags, boxes, barrels, etc.) on pallets or shelves according to rules to achieve efficient and accurate logistics sorting and warehousing management.

[0003] At present, the patent with announcement number CN218707232U discloses a stacking device, including a connecting frame, a material suction component, a first material clamping component and a second material clamping component. The material suction component is arranged at one end of the connecting frame, the first material clamping component is fixed to the other end of the connecting frame, the second material clamping component is located between the material suction component and the first material clamping component, and the second material clamping component is slidably connected to the connecting frame. The material suction component on the connecting frame is used to suck the cardboard. At the same time, the first material clamping component and the second material clamping component at the other end of the connecting frame can move toward or away from each other to clamp the material, so as to realize the stacking of the material by the robot and the suction and placement of the cardboard. This enables a single robot to complete the work of material stacking and cardboard placement, greatly reducing the equipment cost.

[0004] However, the above-mentioned palletizing device still has the following problems in actual use: When the robot is carrying materials, motors are installed between each component, and bearings are installed between the motor and adjacent components. However, when the robot carries heavy objects for a long time, slight wear will occur between the components. These wears will affect the sensitivity of the entire robot after a long period of accumulation. However, current robots do not have the function of self-calibration, which is inconvenient. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a material stacking robot with stable gripping capability, which can be automatically calibrated at regular intervals.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a material stacking robot with stable clamping, comprising a base, the base is connected to a pan-tilt table through a No. 1 motor, the pan-tilt table is connected to an arm through a No. 2 motor, the arm is connected to a forearm through a No. 3 motor, the forearm is connected to a wrist plate through a No. 4 motor, the wrist plate is connected to a support plate through a No. 5 motor, and the support plate is connected to two clamping plates through a No. 6 motor; an L-shaped seat is fixedly connected to one side of the base, a power mechanism is connected to the inside of the L-shaped seat, an output end of the power mechanism is connected to a pushing assembly, the other end of the pushing assembly is connected to a hydraulic assembly and an oil injection assembly, the other five ends of the hydraulic assembly are all connected to calibration assemblies, the other ends of the five calibration assemblies are respectively connected to the base, the pan-tilt table, the arm, the forearm and the wrist plate, and the other three ends of the oil injection assembly are respectively connected to the arm, the forearm and the wrist plate.

[0007] Furthermore, the power mechanism includes a push box, a hydraulic rod, a diversion assembly and two extrusion tubes, the outer wall of the push box is fixedly connected to the end of the L-shaped seat away from the base, the outer wall of the hydraulic rod is fixedly connected to the end of the push box away from the L-shaped seat, the output end of the hydraulic rod passes through the interior of the push box and is connected to the push assembly, the end of the push box away from the hydraulic rod is fixedly connected to one end of the two extrusion tubes, the other ends of the two extrusion tubes are respectively connected to the two ends of the diversion assembly, the other two ends of the diversion assembly are respectively connected to the hydraulic assembly and the oil injection assembly, and the push box, the two extrusion tubes and the diversion assembly are internally connected.

[0008] Furthermore, the diverter assembly includes a diverter tube No. 1, a diverter tube No. 2 and two connectors, one end of the two connectors are respectively fixedly connected to one end of the two extrusion tubes away from the push box, the other ends of the two connectors are respectively fixedly connected to the diverter tube No. 1 and the diverter tube No. 2, the other ends of the diverter tube No. 1 and the diverter tube No. 2 are respectively connected to the hydraulic assembly and the oil injection assembly, the extrusion tube, one of the connectors, the diverter tube No. 1 and the hydraulic assembly are internally connected, and the extrusion tube, the other connector, the diverter tube No. 2 and the oil injection assembly are internally connected.

[0009] Furthermore, the hydraulic assembly includes five push hoses, one ends of the five push hoses are fixedly connected to the No. 1 diversion pipe, and the other ends of the five push hoses are respectively connected to the five calibration assemblies, and the No. 1 diversion pipe, the five push hoses and the five calibration assemblies are internally connected.

[0010] Furthermore, the calibration assembly includes a support block, an outer tube, a positioning head, a positioning block, a pushing tube, a piston and a push rod. One end of the support block is fixedly connected to the outer wall of the base, the side wall of the support block is fixedly connected to one end of the outer tube, the end of the outer tube close to the support block is also fixedly connected to one end of the pushing tube, the other end of the pushing tube is fixedly connected to an end of the pushing hose away from the No. 1 diversion pipe, the outer wall of the piston is slidably connected to the inner wall of the outer tube, one side of the piston is fixedly connected to one end of the push rod, the other end of the push rod passes through the outside of the outer tube and is fixedly connected to the positioning head, one end of the positioning block is fixedly connected to the outer wall of the pan-tilt head, the positioning head is matched and aligned with the positioning block, and the pushing hose, the pushing tube and the inner part of the outer tube are connected.

[0011] Furthermore, the pushing assembly includes a connecting plate and two pushing plugs, the two ends of the connecting plate are fixedly connected to the outer walls of the two pushing plugs, the middle part of the connecting plate is fixedly connected to the output end of the hydraulic rod, the outer wall of the connecting plate is slidably connected to the inner wall of the pushing box, and the outer walls of the two pushing plugs are slidably connected to the inner walls of the two extrusion tubes.

[0012] Furthermore, the oil filling assembly includes three refueling hoses, three sealing rings and three refueling pipes. An oil storage cavity is opened on one side of the upper arm, the lower arm and the wrist plate. The outer walls of the three sealing rings are rotatably connected to the inner walls of the three oil storage cavity openings respectively. One end of the three refueling pipes is fixedly connected to the outer walls of the three sealing rings respectively, and the other ends of the three refueling pipes are fixedly connected to one end of the three refueling hoses respectively. The other ends of the three refueling hoses are fixedly connected to the outer wall of the No. 2 diversion pipe, and the oil storage cavity, the refueling pipe, the refueling hose and the No. 2 diversion pipe are internally connected.

[0013] Furthermore, an oil storage tank is fixedly connected to one side of the base close to the L-shaped seat, an oil supply pipe is fixedly connected to the upper surface of the oil storage tank, a sealing cap is threadedly connected to the outer wall of the oil supply pipe, an oil suction pipe is fixedly connected to the inside of the oil supply pipe, the other end of the oil suction pipe passes through the oil storage tank and is connected to an extrusion pipe close to the oil filling assembly, and the oil supply pipe, the oil storage tank, the oil suction pipe and the extrusion tube are internally connected.

[0014] Furthermore, an observation port is provided through a side of the oil storage tank away from the base, transparent glass is provided inside the observation port, and scale lines are provided on the surface of the transparent glass.

[0015] Furthermore, a support tube is fixedly connected to the side wall of the extruded tube near the oil injection assembly, and the other end of the support tube is sleeved and fixedly connected to the outer wall of the oil suction tube at one end outside the oil storage tank, and a one-way valve is provided on the inner wall of the support tube and the same extruded tube connector.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This kind of material stacking robot with stable clamping can improve stability while ensuring clamping when transporting materials, by controlling the connection between the base, pan / tilt, upper arm, lower arm, wrist plate, support plate and two clamping plates separately through motors No. 1, No. 2, No. 3, No. 4, No. 5 and No. 6, and arranging anti-slip pads on the clamping plates.

[0017] 2. This material stacking robot with stable gripping has an L-shaped seat on one side of the base, and a power mechanism, a pushing component, a hydraulic component and five calibration components on the L-shaped seat, and the five calibration components are respectively connected to the connection between the base, the pan-tilt head, the upper arm, the lower arm, the wrist plate and the support plate, so that after a period of use, the positions of the pan-tilt head, the upper arm, the lower arm, the wrist plate and the support plate can be automatically calibrated through the five calibration components.

[0018] 3. This kind of material stacking robot with stable gripping can lubricate the connection between the pan-tilt and the upper arm, the connection between the upper arm and the lower arm, and the connection between the lower arm and the wrist plate through the oil injection assembly arranged between the pushing assembly and the upper arm, the lower arm and the wrist plate while the calibration assembly can calibrate the pan-tilt, the upper arm, the lower arm, the wrist plate and the support plate, thereby improving the sensitivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall appearance of the present invention; Figure 2 A schematic diagram of the overall appearance of the present invention from another viewing angle; Figure 3 It is a detailed connection diagram of the base, L-shaped seat and oil storage tank of the present invention; Figure 4 is a cross-sectional schematic diagram of a calibration assembly of the present invention; Figure 5 It is a detailed connection diagram of the L-shaped seat, power mechanism, oil storage tank and other components of the present invention; Figure 6 For the present invention Figure 5 Exploded diagram of each component in the diagram; Figure 7 It is a detailed connection diagram of the oil storage tank, oil suction pipe, sealing cap and other components of the present invention.

[0020] In the figure: 1. base; 2. pan head; 3. upper arm; 4. lower arm; 5. wrist plate; 6. support plate; 7. splint; 8. L-shaped seat; 9. push box; 10. squeeze tube; 11. hydraulic rod; 12. push hose; 13. refueling hose; 14. No. 1 shunt pipe; 15. No. 2 shunt pipe; 16. oil storage tank; 17. sealing cap; 18. support block; 19. outer tube; 20. positioning head; 21. positioning block; 22. sealing ring; 23. refueling pipe; 24. observation port; 25. oil storage chamber; 26. push tube; 27. piston; 28. push rod; 29. ​​connector; 30. one-way valve; 31. oil suction pipe; 32. support pipe; 33. push plug; 34. connecting plate; 35. oil supply pipe. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] See also Figure 1-Figure 7 A material stacking robot with stable clamping comprises a base 1, wherein the base 1 is connected to a pan head 2 through a No. 1 motor, the pan head 2 is connected to an arm 3 through a No. 2 motor, the arm 3 is connected to an arm 4 through a No. 3 motor, the arm 4 is connected to a wrist plate 5 through a No. 4 motor, the wrist plate 5 is connected to a support plate 6 through a No. 5 motor, and the support plate 6 is connected to two clamping plates 7 through a No. 6 motor; an L-shaped seat 8 is fixedly connected to one side of the base 1, a power mechanism is connected to the inside of the L-shaped seat 8, the output end of the power mechanism is connected to a pushing component, the other end of the pushing component is connected to a hydraulic component and an oil injection component, the other five ends of the hydraulic component are all connected to calibration components, the other ends of the five calibration components are respectively connected to the base 1, the pan head 2, the arm 3, the arm 4 and the wrist plate 5, and the other three ends of the oil injection component are respectively connected to the arm 3, the arm 4 and the wrist plate 5.

[0023] like Figures 1 to 7 As shown, the material stacking robot with stable clamping in the present invention can control the rotation of the pan-tilt head 2, the upper arm 3, the lower arm 4, the wrist plate 5 and the support plate 6 respectively through the No. 1 motor, the No. 2 motor, the No. 3 motor, the No. 4 motor and the No. 5 motor when transporting materials, and after the support plate 6 rotates to a suitable position, the No. 6 motor is used to control the two clamping plates 7 to approach, so as to clamp the materials for transportation, and at the same time, anti-slip pads are arranged on the two clamping plates 7 to improve the clamping stability.

[0024] In addition, during the period of transporting materials by the pan-tilt head 2, upper arm 3, lower arm 4, wrist plate 5, support plate 6 and two splints 7, the pan-tilt head 2, upper arm 3, lower arm 4, wrist plate 5 and support plate 6 will be worn, which will affect the sensitivity of each component over time. At this time, the pan-tilt head 2, upper arm 3, lower arm 4, wrist plate 5, support plate 6 and two splints 7 can be reset through the manipulator's main controller after thousands of times or half a month (of course, other times or times).

[0025] After resetting, the power mechanism is turned on by the controller. After the power mechanism is started, the hydraulic oil and lubricating oil inside the pushing component will be pushed into the hydraulic component and the oil injection component respectively. Then the hydraulic oil pushes the five calibration components to move simultaneously (or sequentially, which has no effect on the entire calibration process and is not specifically limited) through the hydraulic component, so that the calibration component can be in contact with adjacent components (that is, the calibration component installed on the base 1 is in contact with the gimbal 2, and the calibration component installed on the gimbal 2 is in contact with the arm 3), so that it can be judged whether to return to the initial value according to the set value. If the initial value is maintained or within the error range, it can continue to be used. If it exceeds the initial value or is not within the error range, the controller can be used to separately control the movement of any one or more components of the gimbal 2, arm 3, forearm 4, wrist plate 5, support plate 6 and two splints 7 to achieve the resetting effect (of course, manual disassembly can also be used for resetting, which is not specifically limited).

[0026] When the calibration component measures whether there are errors in the pan-tilt head 2, upper arm 3, lower arm 4, wrist plate 5, support plate 6 and two splints 7, the oil injection component will also inject lubricating oil into the connection between the pan-tilt head 2 and upper arm 3, the connection between the upper arm 3 and lower arm 4, and the connection between the lower arm 4 and wrist plate 5 for lubrication. Because these positions are the main force points of the manipulator, the lubrication of these parts can be improved, thereby improving the sensitivity.

[0027] After the calibration is completed, the power mechanism returns and draws the hydraulic oil injected into the hydraulic component back into the push component for collection, and waits for the next calibration; after the oil filling is completed, the power mechanism returns and automatically replenishes the lubricating oil into the push component and continues to wait for the next use.

[0028] As a preferred solution of the present invention, the power mechanism includes a push box 9, a hydraulic rod 11, a diversion assembly and two extrusion tubes 10. The outer wall of the push box 9 is fixedly connected to the end of the L-shaped seat 8 away from the base 1, the outer wall of the hydraulic rod 11 is fixedly connected to the end of the push box 9 away from the L-shaped seat 8, the output end of the hydraulic rod 11 passes through the interior of the push box 9 and is connected to the push assembly, the end of the push box 9 away from the hydraulic rod 11 is fixedly connected to one end of the two extrusion tubes 10, the other ends of the two extrusion tubes 10 are respectively connected to the two ends of the diversion assembly, the other two ends of the diversion assembly are respectively connected to the hydraulic assembly and the oil injection assembly, and the push box 9, the two extrusion tubes 10 and the internal part of the diversion assembly are connected.

[0029] More specifically, when it is necessary to control the calibration of the calibration component or the oiling of the oiling component, it is only necessary to open the hydraulic rod 11, and the output end of the hydraulic rod 11 can push the pushing component to move inside the pushing box 9, so that the hydraulic oil and lubricating oil respectively located inside the two extrusion tubes 10 can be pushed into the hydraulic component and the oiling component through the diverter component.

[0030] As a preferred embodiment of the present invention, the diverter assembly includes a No. 1 diverter tube 14, a No. 2 diverter tube 15 and two connectors 29, one end of the two connectors 29 are respectively fixedly connected to one end of the two extrusion tubes 10 away from the push box 9, the other ends of the two connectors 29 are respectively fixedly connected to the No. 1 diverter tube 14 and the No. 2 diverter tube 15, the other ends of the No. 1 diverter tube 14 and the No. 2 diverter tube 15 are respectively connected to the hydraulic assembly and the oil injection assembly, the extrusion tube 10, one of the connectors 29, the No. 1 diverter tube 14 and the interior of the hydraulic assembly are connected, and the extrusion tube 10, the other connector 29, the No. 2 diverter tube 15 and the interior of the oil injection assembly are connected.

[0031] More specifically, when the pushing component moves, the pushing component will push the hydraulic oil and lubricating oil respectively located in the two extrusion tubes 10 into the two connecting heads 29, and then enter the No. 1 diverter pipe 14 and the No. 2 diverter pipe 15 respectively through the two connecting heads 29, so that they can enter the hydraulic component and the oil injection component through the No. 1 diverter pipe 14 and the No. 2 diverter pipe 15.

[0032] As a preferred solution of the present invention, the hydraulic assembly includes five push hoses 12, one end of the five push hoses 12 is fixedly connected to the No. 1 diversion pipe 14, the other ends of the five push hoses 12 are respectively connected to five calibration assemblies, and the No. 1 diversion pipe 14, the five push hoses 12 and the five calibration assemblies are internally connected.

[0033] More specifically, after the hydraulic oil enters the No. 1 diversion pipe 14 through the connector 29, the hydraulic oil will again enter the five push hoses 12 through the No. 1 diversion pipe 14, so that the positions of the gimbal 2, upper arm 3, lower arm 4, wrist plate 5 and support plate 6 can be calibrated simultaneously through the five push hoses 12.

[0034] As a preferred solution of the present invention, the calibration assembly includes a support block 18, an outer tube 19, a positioning head 20, a positioning block 21, a push tube 26, a piston 27 and a push rod 28. One end of the support block 18 is fixedly connected to the outer wall of the base 1, the side wall of the support block 18 is fixedly connected to one end of the outer tube 19, the end of the outer tube 19 close to the support block 18 is also fixedly connected to one end of the push tube 26, the other end of the push tube 26 is fixedly connected to the end of the push hose 12 away from the No. 1 diversion tube 14, the outer wall of the piston 27 is slidably connected to the inner wall of the outer tube 19, one side of the piston 27 is fixedly connected to one end of the push rod 28, the other end of the push rod 28 passes through the outside of the outer tube 19 and is fixedly connected to the positioning head 20, one end of the positioning block 21 is fixedly connected to the outer wall of the pan-tilt head 2, the positioning head 20 is matched and aligned with the positioning block 21, and the push hose 12, the push tube 26 and the outer tube 19 are internally connected.

[0035] More specifically, when the hydraulic oil enters the push tube 26 through the push hose 12, it will enter the outer tube 19 from the push tube 26, so that the piston 27, the push rod 28 and the positioning head 20 located inside the outer tube 19 can be pushed outward from the other end of the outer tube 19, and in the process of pushing outward, they will contact the positioning block 21, so that the contact sensors located inside the positioning head 20 and the positioning block 21 can determine whether they are in the corresponding position, thereby determining the corresponding data.

[0036] It should be noted here that the principle of the contact sensor is to detect specific data through direct contact, and form an electrical signal to be transmitted to an external processor for processing. After processing by the external processor, it is concluded that the internal electrical signals of the positioning head 20 and the positioning block 21 are different from the initial set values, and the error will be directly judged. Of course, if the error value is very small and within the set range, no alarm will occur. Therefore, it is an existing mature technology, so its internal structure will not be described in detail here.

[0037] As a preferred solution of the present invention, the pushing assembly includes a connecting plate 34 and two pushing plugs 33, the two ends of the connecting plate 34 are respectively fixedly connected to the outer walls of the two pushing plugs 33, the middle part of the connecting plate 34 is fixedly connected to the output end of the hydraulic rod 11, the outer wall of the connecting plate 34 is slidably connected to the inner wall of the pushing box 9, and the outer walls of the two pushing plugs 33 are respectively slidably connected to the inner walls of the two extrusion tubes 10.

[0038] More specifically, when the hydraulic rod 11 is started, the output end of the hydraulic rod 11 pushes the connecting plate 34 to move inside the two push plugs 33 respectively inside the two extruded tubes 10, so that the hydraulic oil and lubricating oil inside the two extruded tubes 10 can be pushed outward.

[0039] As a preferred embodiment of the present invention, the oil filling assembly includes three refueling hoses 13, three sealing rings 22 and three refueling pipes 23. An oil storage cavity 25 is opened on one side of the upper arm 3, the lower arm 4 and the wrist plate 5. The outer walls of the three sealing rings 22 are rotatably connected to the inner walls of the openings of the three oil storage cavities 25 respectively. One end of the three refueling pipes 23 is fixedly connected to the outer walls of the three sealing rings 22 respectively. The other ends of the three refueling pipes 23 are fixedly connected to one ends of the three refueling hoses 13 respectively. The other ends of the three refueling hoses 13 are fixedly connected to the outer wall of the No. 2 diversion pipe 15. The oil storage cavity 25, the refueling pipe 23, the refueling hose 13 and the No. 2 diversion pipe 15 are internally connected.

[0040] More specifically, when the push plug 33 moves, the lubricating oil inside the extrusion tube 10 is pushed toward the other end, and the lubricating oil is squeezed into the refueling hose 13 through the connector 29 and the No. 2 diverter pipe 15, and then enters the refueling pipe 23 through the refueling hose 13, and then enters the oil storage chamber 25 sealed by the sealing ring 22 through the refueling pipe 23, so that the bearings in the oil storage chamber 25 can be lubricated.

[0041] It should be noted that when the manipulator is put into use, the refueling hose 13 must be filled with lubricating oil in advance to prevent the lubricating oil from not being replenished into the oil storage chamber 25 during the first few uses; the same applies to the hydraulic oil in the upper push hose 12.

[0042] As a preferred solution of the present invention, the side of the base 1 close to the L-shaped seat 8 is fixedly connected to an oil storage tank 16, the upper surface of the oil storage tank 16 is fixedly connected to an oil replenishment pipe 35, the outer wall of the oil replenishment pipe 35 is threadedly connected to a sealing cap 17, the inside of the oil replenishment pipe 35 is fixedly connected to an oil suction pipe 31, the other end of the oil suction pipe 31 passes through the oil storage tank 16 and is connected to the extrusion pipe 10 close to the oil injection assembly, and the oil replenishment pipe 35, the oil storage tank 16, the oil suction pipe 31 and the inside of the extrusion pipe 10 are connected. An observation port 24 is opened through the side of the oil storage tank 16 away from the base 1, and transparent glass is provided inside the observation port 24, and scale lines are provided on the surface of the transparent glass. A support pipe 32 is fixedly connected to the side wall of the extrusion pipe 10 close to the oil injection assembly, and the other end of the support pipe 32 is sleeved and fixedly connected to the outer wall of the oil suction pipe 31 at one end outside the oil storage tank 16, and a one-way valve 30 is provided on the inner wall of the support pipe 32 and the connector 29 of the same extrusion pipe 10.

[0043] More specifically, by providing the oil storage tank 16, the support tube 32 and the oil suction pipe 31, when the push plug 33 pushes the lubricating oil inside the squeeze tube 10 into the refueling hose 13 and starts to return, the lubricating oil can be automatically replenished from the oil storage tank 16 through the oil suction pipe 31, so that when it is used next time, there is still lubricating oil inside the squeeze tube 10, and because the one-way valve 30 is provided inside the support tube 32 and the connecting head 29, the movement direction of the lubricating oil can also be limited; at the same time, because of the oil replenishing pipe 35, the sealing cap 17, the observation port 24, the transparent glass and the scale line, the lubricating oil can be observed in real time and replenished into the oil storage tank 16.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A material stacking robot with stable gripping, comprising a base (1), characterized in that: The base (1) is connected to a pan-tilt platform (2) via a No. 1 motor, the pan-tilt platform (2) is connected to a large arm (3) via a No. 2 motor, the large arm (3) is connected to a small arm (4) via a No. 3 motor, the small arm (4) is connected to a wrist plate (5) via a No. 4 motor, the wrist plate (5) is connected to a support plate (6) via a No. 5 motor, and the support plate (6) is connected to two clamping plates (7) via a No. 6 motor; one side of the base (1) is fixedly connected to an L-shaped seat (8), the inside of the L-shaped seat (8) is connected to a power mechanism, the output end of the power mechanism is connected to a pushing component, the other end of the pushing component is connected to a hydraulic component and an oil injection component, the other five ends of the hydraulic component are all connected to calibration components, the other ends of the five calibration components are respectively connected to the base (1), pan-tilt platform (2), large arm (3), small arm (4) and wrist plate (5), and the other three ends of the oil injection component are respectively connected to the large arm (3), small arm (4) and wrist plate (5).

2. A material palletizing robot with stable gripping according to claim 1, characterized in that: The power mechanism comprises a push box (9), a hydraulic rod (11), a flow diversion assembly and two extrusion tubes (10); the outer wall of the push box (9) is fixedly connected to one end of the L-shaped seat (8) away from the base (1); the outer wall of the hydraulic rod (11) is fixedly connected to one end of the push box (9) away from the L-shaped seat (8); the output end of the hydraulic rod (11) passes through the interior of the push box (9) and is connected to the push assembly; the end of the push box (9) away from the hydraulic rod (11) is fixedly connected to one end of the two extrusion tubes (10); the other ends of the two extrusion tubes (10) are respectively connected to two ends of the flow diversion assembly; the other two ends of the flow diversion assembly are respectively connected to the hydraulic assembly and the oil injection assembly; the push box (9), the two extrusion tubes (10) and the interior of the flow diversion assembly are communicated.

3. A material palletizing robot with stable gripping according to claim 2, characterized in that: The flow diversion assembly comprises a first diversion tube (14), a second diversion tube (15) and two connectors (29); one end of the two connectors (29) is fixedly connected to one end of the two squeeze tubes (10) away from the push box (9); the other ends of the two connectors (29) are fixedly connected to the first diversion tube (14) and the second diversion tube (15); the other ends of the first diversion tube (14) and the second diversion tube (15) are connected to the hydraulic assembly and the oil injection assembly; the squeeze tube (10), one of the connectors (29), the first diversion tube (14) and the hydraulic assembly are internally connected; the squeeze tube (10), the other connector (29), the second diversion tube (15) and the oil injection assembly are internally connected.

4. The material palletizing robot with stable gripping according to claim 3 is characterized by: The hydraulic assembly comprises five push hoses (12), one end of each of the five push hoses (12) being fixedly connected to a No. 1 shunt pipe (14), the other ends of the five push hoses (12) being respectively connected to five calibration assemblies, and the No. 1 shunt pipe (14), the five push hoses (12) and the five calibration assemblies are internally connected.

5. The material palletizing robot with stable gripping according to claim 4 is characterized in that: The calibration assembly comprises a support block (18), an outer tube (19), a positioning head (20), a positioning block (21), a push tube (26), a piston (27) and a push rod (28), one end of the support block (18) is fixedly connected to the outer wall of the base (1), the side wall of the support block (18) is fixedly connected to one end of the outer tube (19), one end of the outer tube (19) close to the support block (18) is also fixedly connected to one end of the push tube (26), and the other end of the push tube (26) is fixedly connected to the push hose (12) away from the first distributor. One end of the flow tube (14) is fixedly connected, the outer wall of the piston (27) is slidably connected to the inner wall of the outer tube (19), one side of the piston (27) is fixedly connected to one end of the push rod (28), the other end of the push rod (28) penetrates the outside of the outer tube (19) and is fixedly connected to the positioning head (20), one end of the positioning block (21) is fixedly connected to the outer wall of the pan / tilt head (2), the positioning head (20) and the positioning block (21) are matched and aligned, and the push hose (12), the push tube (26) and the outer tube (19) are internally connected.

6. The material palletizing robot with stable gripping according to claim 2, characterized in that: The pushing assembly comprises a connecting plate (34) and two pushing plugs (33); the two ends of the connecting plate (34) are respectively fixedly connected to the outer walls of the two pushing plugs (33); the middle of the connecting plate (34) is fixedly connected to the output end of the hydraulic rod (11); the outer wall of the connecting plate (34) is slidably connected to the inner wall of the pushing box (9); and the outer walls of the two pushing plugs (33) are respectively slidably connected to the inner walls of the two extrusion tubes (10).

7. The material palletizing robot with stable gripping according to claim 3 is characterized by: The oil filling assembly comprises three oil filling hoses (13), three sealing rings (22) and three oil filling pipes (23). One side of the upper arm (3), the lower arm (4) and the wrist plate (5) is provided with an oil storage cavity (25). The outer walls of the three sealing rings (22) are rotatably connected to the inner walls of the openings of the three oil storage cavities (25). One end of the three oil filling pipes (23) is fixedly connected to the outer walls of the three sealing rings (22). The other ends of the three oil filling pipes (23) are fixedly connected to one end of the three oil filling hoses (13). The other ends of the three oil filling hoses (13) are fixedly connected to the outer wall of the second diversion pipe (15). The oil storage cavity (25), the oil filling pipe (23), the oil filling hose (13) and the second diversion pipe (15) are internally communicated.

8. The material stacking robot with stable gripping according to claim 1, characterized in that: The base (1) is fixedly connected to an oil storage tank (16) on one side close to the L-shaped seat (8); an oil replenishing pipe (35) is fixedly connected to the upper surface of the oil storage tank (16); a sealing cap (17) is threadedly connected to the outer wall of the oil replenishing pipe (35); an oil suction pipe (31) is fixedly connected to the inside of the oil replenishing pipe (35); the other end of the oil suction pipe (31) passes through the oil storage tank (16) and is connected to an extrusion pipe (10) close to the oil injection assembly; the oil replenishing pipe (35), the oil storage tank (16), the oil suction pipe (31) and the extrusion pipe (10) are internally connected.

9. The material palletizing robot with stable gripping according to claim 8, characterized in that: An observation port (24) is provided through a side of the oil storage tank (16) away from the base (1), and transparent glass is provided inside the observation port (24), and scale lines are provided on the surface of the transparent glass.

10. The material palletizing robot with stable gripping according to claim 8, characterized in that: A support tube (32) is fixedly connected to the side wall of the extrusion tube (10) near the oil injection assembly, and the other end of the support tube (32) is sleeved and fixedly connected to the outer wall of the end of the oil suction tube (31) located outside the oil storage tank (16). The support tube (32) and the inner wall of the connector (29) of the same extrusion tube (10) are both provided with a one-way valve (30).

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