Four-axis carrying and stacking robot

Abstract

The invention belongs to the technical field of palletizing robots and discloses a four-axis carrying palletizing robot which comprises a base, a rotating part is rotationally connected to the upper portion of the base, a first mechanical arm is rotationally connected to the upper portion of the rotating part, a second mechanical arm is rotationally connected to the upper portion of the first mechanical arm, and an adjusting arm is rotationally connected to the upper portion of the second mechanical arm. One end of the adjusting arm is rotationally connected with a clamping assembly, a moving assembly is arranged below the base, the clamping assembly is arranged, objects can be conveniently clamped, the structure is practical, in the using process, the clamping effect is good through an elastic clamping mode, the clamping assembly and the adjusting arm can be conveniently and rapidly assembled through the connecting assembly, and the clamping effect is good. The device is simple in structure and convenient to operate, the moving assembly is arranged, the device can be conveniently moved, and after moving is completed, the universal wheels can be conveniently folded to position the device.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing robots, and in particular relates to a four-axis handling and palletizing robot. Background Art

[0002] Palletizing robot is an automated device that can simulate human arms to grab, carry and stack objects in a predetermined manner. It integrates multidisciplinary technologies such as mechanics, electronics, computers, sensors, and artificial intelligence, and realizes complex three-dimensional space operations through a precise control system.

[0003] Chinese patent application No. 202223357595.5 discloses a four-axis palletizing robot for palletizing packaging boxes, wherein the main body comprises a rotating shaft, a frame, an electric push rod, and a clamping device. The rotating shaft is movably matched with an adjusting arm, and the frame is connected to the end of the rotating shaft. Two electric push rods are provided and symmetrically installed at the two ends of the inner part of the frame. Two clamping devices are provided and are respectively connected to the two ends of the electric push rod. The clamping device comprises a connecting seat, a clamping plate, a rubber block, an empty groove, and a rubber strip. The clamping plate comprises a connecting block, a clamping body, and a friction block. The friction block comprises a rubber body, a buffer groove, and a friction groove. The present invention sets the internal end face of the clamping body to a hollow shape, so that the two sides of the clamping body can grasp the two sides of the packaging box, avoiding the force of the clamping body on the packaging box being concentrated in the middle position of the packaging box, causing the packaging box to slip during transportation, so that the two sides of the packaging box can be subjected to force at the same time, so that the two clamping bodies can stably grasp the packaging box for transportation.

[0004] The above-mentioned patent, when in use, drives the clamping plate to clamp by means of multiple electric push rods, which has a slightly high cost and poor clamping effect when in use; and it is inconvenient to move the device when in use. Summary of the invention

[0005] To solve the problems raised in the above background technology, the present invention provides a four-axis handling and palletizing robot, which has the characteristics of being able to conveniently clamp objects, having a practical structure, having a good clamping effect, and being easy to move the device.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a four-axis handling and palletizing robot, comprising a base, a rotating component rotatably connected to the top of the base, a mechanical arm 1 rotatably connected to the top of the rotating component, a mechanical arm 2 rotatably connected to the top of the mechanical arm 1, an adjusting arm rotatably connected to the top of the mechanical arm 2, one end of the adjusting arm rotatably connected to a clamping assembly, and a moving assembly is arranged below the base.

[0007] Preferably, the clamping assembly includes a connecting assembly, a clamping seat, a clamping trapezoidal screw rod, a clamping self-locking motor, a square slider, an elastic assembly and a clamping plate, wherein a connecting assembly is provided at one end of the adjusting arm, one end of the connecting assembly is fixedly connected to the clamping seat, the clamping seat is internally rotatably connected to the clamping trapezoidal screw rod, one end of the clamping trapezoidal screw rod is fixedly connected to the clamping self-locking motor, the surface of the clamping trapezoidal screw rod is symmetrically threaded with a square slider, and the square slider and the clamping seat are fitted and slidably connected, one end of the square slider is fixedly connected to the elastic assembly, and one end of the elastic assembly is installed with a clamping plate.

[0008] Preferably, the connecting component includes a square plug block, a connecting seat, a limit rod, a positioning rod and a bendable steel wire, wherein the connecting seat is fixedly connected to the top of the connecting component, the square plug block is tightly inserted into the top of the connecting seat, and one end of the square plug block is fixedly connected to the adjusting arm, the middle of the square plug block is tightly inserted into the limit rod, the end of the limit rod located outside the connecting seat is tightly inserted into the positioning rod, and one side of the positioning rod is abutted against the connecting seat, and the bendable steel wire is fixedly connected to the bottom of the positioning rod, and the top of the bendable steel wire is abutted against the limit rod.

[0009] Preferably, the elastic component includes a fastening seat, an installation slide rod, a limit block, a positioning seat and a fastening spring, wherein one end of the square slider is fixedly connected to the fastening seat, the clamping plate is located in the middle of one end inside the fastening seat and is fixedly connected to the installation slide rod, one end of the installation slide rod is threadedly connected to the limit block, the clamping plate is located on both sides of one end inside the fastening seat and is fixedly connected to the positioning seat, a fastening spring is placed inside the positioning seat, and the other end of the fastening spring abuts against the inner wall of the fastening seat.

[0010] Preferably, one end of the clamping plate located outside the fastening seat is fixedly connected to a rubber fastening pad.

[0011] Preferably, the moving assembly includes a splicing assembly, a storage seat, a storage self-locking motor, a storage trapezoidal screw rod, a storage plate, a universal wheel and a compacting pad, wherein a splicing assembly is arranged below the base, a storage seat is fixedly connected to the bottom of the splicing assembly, a storage self-locking motor is fixedly connected to the upper part of the interior of the storage seat, one end of the storage self-locking motor is fixedly connected to the storage trapezoidal screw rod, a storage plate is threadedly connected to the surface of the storage trapezoidal screw rod, and the storage plate and the storage seat are fitted and slidably connected, universal wheels are symmetrically installed at both ends below the storage plate, and a compacting pad is fixedly connected to the bottom of the storage seat.

[0012] Preferably, the splicing assembly includes a splicing seat, a square splicing block, a fixing rod, a fixed slider and a fixing spring, wherein the splicing seat is fixedly connected to the top of the storage seat, a square splicing block is tightly inserted on the top of the splicing seat, the top of the square splicing block is fixedly connected to the base, fixing rods are tightly inserted on both sides of the square splicing block, a fixed slider is fixedly connected to the top of the fixing rod, and a fixing spring is fixedly connected to one side of the fixed slider.

[0013] Preferably, both sides of the storage plate are fixedly connected with limit sliders, and the storage seat is provided with limit sliding grooves matching the limit sliders inside.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention realizes the effect of conveniently clamping items by setting a clamping component, and the structure is practical. When in use, the clamping effect is good through elastic clamping.

[0016] 2. The present invention realizes the effect of being able to quickly assemble the clamping assembly and the adjustment arm by setting a connecting assembly. The structure is easy to use and simple to operate, and does not require the aid of external tools.

[0017] 3. The present invention realizes the effect of being able to conveniently move the device by setting up a moving component, and after the movement is completed, the universal wheels can be conveniently folded up to position the device, and the structure is convenient for splicing the moving component and the base through the splicing component. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the clamping assembly of the present invention;

[0020] Figure 3 It is a structural schematic diagram of a connecting component in a clamping component of the present invention;

[0021] Figure 4 It is a schematic structural diagram of the elastic component in the clamping component of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the mobile assembly of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the splicing assembly in the mobile assembly of the present invention.

[0024] In the figure: 1, base; 2, mechanical arm 1; 3, adjustment arm; 4, clamping assembly; 41, connecting assembly; 411, square plug block; 412, connecting seat; 413, limit rod; 414, positioning rod; 415, bendable steel wire; 42, clamping seat; 43, clamping trapezoidal screw rod; 44, clamping self-locking motor; 45, square slider; 46, elastic assembly; 47, clamping plate; 461, fastening seat; 462, mounting slide rod; 463, limit block; 4 64. Positioning seat; 465. Fastening spring; 466. Rubber fastening pad; 5. Moving assembly; 51. Splicing assembly; 52. Storage seat; 53. Storage self-locking motor; 54. Storage trapezoidal screw rod; 55. Storage plate; 56. Universal wheel; 57. Tightening pad; 58. Limiting slider; 511. Splicing seat; 512. Square splicing block; 513. Fixed rod; 514. Fixed slider; 515. Fixed spring; 6. Rotating component; 7. Robot arm 2. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0026] Example 1

[0027] See also Figure 1-5 The present invention provides the following technical solution: a four-axis handling and palletizing robot, comprising a base 1, a rotating component 6 is rotatably connected to the top of the base 1, a mechanical arm 2 is rotatably connected to the top of the rotating component 6, a mechanical arm 1 2 is rotatably connected to the top of the mechanical arm 2, an adjusting arm 3 is rotatably connected to the top of the mechanical arm 2 7, one end of the adjusting arm 3 is rotatably connected to a clamping component 4, and a moving component 5 is arranged below the base 1.

[0028] Specifically, the clamping assembly 4 includes a connecting assembly 41, a clamping seat 42, a clamping trapezoidal screw rod 43, a clamping self-locking motor 44, a square slider 45, an elastic assembly 46 and a clamping plate 47, wherein a connecting assembly 41 is provided at one end of the adjusting arm 3, one end of the connecting assembly 41 is fixedly connected to the clamping seat 42, the clamping seat 42 is internally rotatably connected to the clamping trapezoidal screw rod 43, one end of the clamping trapezoidal screw rod 43 is fixedly connected to the clamping self-locking motor 44, the surface of the clamping trapezoidal screw rod 43 is symmetrically threaded with a square slider 45, and the square slider 45 and the clamping seat 42 are fitted and slidably connected, one end of the square slider 45 is fixedly connected to the elastic assembly 46, and one end of the elastic assembly 46 is installed with a clamping plate 47.

[0029] By adopting the above technical solution, the clamping self-locking motor 44 drives the clamping trapezoidal screw rod 43 to rotate, and the rotation of the clamping trapezoidal screw rod 43 will drive the two square sliders 45 to move, and the movement of the square sliders 45 will drive the clamping plate 47 to move, so as to clamp the objects. When clamping, the elastic component 46 is used to achieve a good clamping effect.

[0030] Specifically, the connecting component 41 includes a square plug 411, a connecting seat 412, a limiting rod 413, a positioning rod 414 and a bendable steel wire 415, wherein the connecting seat 412 is fixedly connected to the top of the connecting component 41, the square plug 411 is tightly inserted on the top of the connecting seat 412, and one end of the square plug 411 is fixedly connected to the adjusting arm 3, the middle of the square plug 411 is tightly inserted with the limiting rod 413, the end of the limiting rod 413 located outside the connecting seat 412 is tightly inserted with the positioning rod 414, and one side of the positioning rod 414 is abutted against the connecting seat 412, and the bendable steel wire 415 is fixedly connected to the bottom of the positioning rod 414, and the top of the bendable steel wire 415 is abutted against the limiting rod 413.

[0031] By adopting the above technical solution, the square plug block 411 is inserted into the connecting seat 412, and then the limiting rod 413 is inserted into the square plug block 411 through the connecting seat 412, and finally the limiting rod 413 is inserted into the end of the limiting rod 413 located outside the connecting seat 412, and then the bendable steel wire 415 is bent to fix the positioning rod 414, thereby completing the installation of the clamping assembly 4.

[0032] Specifically, the elastic component 46 includes a fastening seat 461, an installation slide rod 462, a limit block 463, a positioning seat 464 and a fastening spring 465, wherein one end of the square slide 45 is fixedly connected to the fastening seat 461, the clamping plate 47 is located in the middle of one end inside the fastening seat 461 and is fixedly connected to the installation slide rod 462, one end of the installation slide rod 462 is threadedly connected to the limit block 463, the clamping plate 47 is located on both sides of one end inside the fastening seat 461 and is fixedly connected to the positioning seat 464, a fastening spring 465 is placed inside the positioning seat 464, and the other end of the fastening spring 465 is abutted against the inner wall of the fastening seat 461.

[0033] By adopting the above technical solution, the fastening spring 465 is placed in the positioning seat 464, and then inserted into the fastening seat 461 through the installation slide rod 462, and finally fixed between the limit block 463 and the installation slide rod 462 by a threaded connection, so that the elastic component 46 is assembled. When clamping, the fastening spring 465 is moved and compressed in the fastening seat 461 through the clamping plate 47 until the fastening spring 465 is in a fully compressed state, so that the clamping and fixing effect is good.

[0034] Specifically, one end of the clamping plate 47 located outside the fastening seat 461 is fixedly connected to a rubber fastening pad 466 .

[0035] By adopting the above technical solution, the rubber fastening pad 466 can further improve the clamping effect.

[0036] When this embodiment is in use: the clamping self-locking motor 44 drives the clamping trapezoidal screw rod 43 to rotate, and the rotation of the clamping trapezoidal screw rod 43 drives the two square sliders 45 to move, and the movement of the square slider 45 drives the clamping plate 47 to move, so as to clamp the object. When clamping, the elastic component 46 is used to achieve a good clamping effect. When the elastic component 46 is used, the fastening spring 465 is placed in the positioning seat 464, and then the installation slide rod 462 is inserted into the fastening seat 461, and finally the limit block 463 and the installation slide rod 462 are fixed by threaded connection, so that the elastic component 46 is assembled. When clamping, the clamping plate 47 moves in the fastening seat 461. Compress the fastening spring 465 until the fastening spring 465 is in a fully compressed state, so that the clamping and fixing effect is good. When the connecting component 41 is used, the square plug block 411 is inserted into the connecting seat 412, and then the limiting rod 413 is inserted into the square plug block 411 through the connecting seat 412, and finally the limiting rod 413 is inserted into the end of the limiting rod 413 outside the connecting seat 412, and then the bendable steel wire 415 is bent to fix the positioning rod 414, thereby completing the installation of the clamping component 4, so that the device can conveniently clamp objects when in use, and the clamping effect is good, and the structure can facilitate the quick assembly between the clamping component 4 and the adjustment arm 3.

[0037] Example 2

[0038] The present embodiment is different from the embodiment 1 in that: specifically, the moving assembly 5 includes a splicing assembly 51, a storage seat 52, a storage self-locking motor 53, a storage trapezoidal screw rod 54, a storage plate 55, a universal wheel 56 and a compacting pad 57, wherein a splicing assembly 51 is provided below the base 1, a storage seat 52 is fixedly connected to the bottom of the splicing assembly 51, a storage self-locking motor 53 is fixedly connected to the top of the interior of the storage seat 52, one end of the storage self-locking motor 53 is fixedly connected to the storage trapezoidal screw rod 54, a storage plate 55 is threadedly connected to the surface of the storage trapezoidal screw rod 54, and the storage plate 55 and the storage seat 52 are fitted and slidably connected, universal wheels 56 are symmetrically installed at both ends below the storage plate 55, and a compacting pad 57 is fixedly connected to the bottom of the storage seat 52.

[0039] By adopting the above technical solution, the universal wheel 56 is used to facilitate the movement of the device. After the movement is completed, the storage self-locking motor 53 is started, and the storage self-locking motor 53 drives the storage trapezoidal screw 54 to rotate. The rotation of the storage trapezoidal screw 54 will drive the storage plate 55 to move in the storage seat 52, and the universal wheel 56 is stored in the storage seat 52, so that the storage seat 52 is in contact with the ground, and the device is positioned. The compaction pad 57 is used to facilitate the compaction between the storage seat 52 and the ground.

[0040] Specifically, the splicing assembly 51 includes a splicing seat 511, a square splicing block 512, a fixing rod 513, a fixing slider 514 and a fixing spring 515, wherein the splicing seat 511 is fixedly connected to the top of the storage seat 52, the square splicing block 512 is tightly inserted on the top of the splicing seat 511, the top of the square splicing block 512 is fixedly connected to the base 1, the fixing rod 513 is tightly inserted on both sides of the square splicing block 512, the fixing slider 514 is fixedly connected to the top of the fixing rod 513, and the fixing spring 515 is fixedly connected to one side of the fixed slider 514.

[0041] By adopting the above technical solution, by pulling the fixing rod 513, the fixing rod 513 drives the fixing slider 514 to move and compress the fixing spring 515, and then the square splicing block 512 is placed in the splicing seat 511, and then the fixing rod 513 is released, the fixing spring 515 is reset, and drives the fixing rod 513 to be tightly inserted into the square splicing block 512, thereby completing the fixation and completing the splicing between the base 1 and the moving component 5.

[0042] Specifically, the two sides of the storage plate 55 are fixedly connected with the limit sliders 58 , and the storage seat 52 is provided with limit sliding grooves matching the limit sliders 58 inside.

[0043] By adopting the above technical solution, the limiting slider 58 and the limiting slide groove cooperate to facilitate limiting the moving range of the storage plate 55.

[0044] When the present embodiment is in use, the universal wheel 56 is used to facilitate the movement of the device. After the movement is completed, the storage self-locking motor 53 is started, and the storage self-locking motor 53 drives the storage trapezoidal screw rod 54 to rotate. The rotation of the storage trapezoidal screw rod 54 drives the storage plate 55 to move in the storage seat 52, and the universal wheel 56 is stored in the storage seat 52, so that the storage seat 52 is in contact with the ground, and the device is positioned. The compaction pad 57 is used to improve the compactness between the storage seat 52 and the ground, and the fixing rod 513 is pulled. The fixing rod 513 drives the fixing slider 514 to move and compress the fixing spring 515, and then puts the square splicing block 512 into the splicing seat 511, and then releases the fixing rod 513, and the fixing spring 515 is reset, driving the fixing rod 513 to be tightly inserted into the square splicing block 512, thereby completing the fixation and completing the splicing between the base 1 and the mobile component 5, so that the device can be conveniently moved when in use, and it is convenient to quickly splice and use the mobile component 5 and the base 1.

[0045] The structure and use principle of the base 1, robot arm 2, adjustment arm 3, rotating component 6 and robot arm 2 7 in the present invention have been disclosed in a four-axis palletizing robot for palletizing packaging boxes disclosed in Chinese patent application No. 202223357595.5. Its working principle is to use the rotating component 6 to make the robot arm 2 rotate on the base 1, and cooperate with the adjustment arm 3 to move the clamping assembly 4 to the object.

[0046] The working principle and use process of the present invention are as follows: the present invention is used for carrying and stacking articles. When in use, the device is moved to the use position by the moving component 5, the device is positioned, and then it can be used. When in use, the mechanical arm 2 is rotated on the base 1 by the rotating component 6, and the clamping component 4 is moved to the article in cooperation with the adjusting arm 3. The article is clamped by the clamping component 4, and then stacking is performed. When the clamping component 4 is in use, the clamping trapezoidal screw rod 43 is driven to rotate by the clamping self-locking motor 44. The rotation of the clamping trapezoidal screw rod 43 will drive the two square sliders 45 to move. The movement of the square slider 45 will drive the clamping plate 47 to move to clamp the article. When clamping, the elastic component 46 is used to make the article The clamping effect is good. When the elastic component 46 is used, the fastening spring 465 is placed in the positioning seat 464, and then the installation slide rod 462 is inserted into the fastening seat 461, and finally the limit block 463 and the installation slide rod 462 are fixed by threaded connection, so that the elastic component 46 is assembled. When clamping, the fastening spring 465 is moved and compressed in the fastening seat 461 by the clamping plate 47 until the fastening spring 465 is in a fully compressed state, so that the clamping and fixing effect is good. When the connecting component 41 is used, the square plug block 411 is inserted into the connecting seat 412, and then the limit rod 413 is inserted into the square plug block 411 through the connecting seat 412, and finally Insert the limiting rod 413 into one end of the limiting rod 413 located outside the connecting seat 412, then bend the bendable steel wire 415 to fix the positioning rod 414, thereby completing the installation of the clamping assembly 4, so that the device can conveniently clamp objects when in use, and the clamping effect is good, and the structure can conveniently and quickly assemble the clamping assembly 4 and the adjusting arm 3. When the moving assembly 5 is in use, the universal wheel 56 is used to facilitate the movement of the device. After the movement is completed, start the storage self-locking motor 53, and the storage self-locking motor 53 drives the storage trapezoidal screw rod 54 to rotate. The rotation of the storage trapezoidal screw rod 54 will drive the storage plate 55 to move in the storage seat 52, and the universal wheel 56 will be stored in the storage seat 52, so that the storage seat 52 is in contact with the ground to position the device, and the compaction pad 57 is used to improve the compactness between the storage seat 52 and the ground. By pulling the fixing rod 513, the fixing rod 513 drives the fixing slider 514 to move and compress the fixing spring 515, and then the square splicing block 512 is placed in the splicing seat 511, and then the fixing rod 513 is released, and the fixing spring 515 is reset, driving the fixing rod 513 to be tightly inserted into the square splicing block 512, thereby completing the fixation and completing the splicing between the base 1 and the mobile component 5, so that the device can be conveniently moved when in use, and it is convenient to quickly splice and use the mobile component 5 and the base 1.

[0047] 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 four-axis handling and palletizing robot, comprising a base (1), a rotating component (6) is rotatably connected to the top of the base (1), a mechanical arm 1 (2) is rotatably connected to the top of the rotating component (6), a mechanical arm 2 (7) is rotatably connected to the top of the mechanical arm 1 (2), and an adjusting arm (3) is rotatably connected to the top of the mechanical arm 2 (7), wherein: One end of the adjusting arm (3) is rotatably connected to a clamping assembly (4), and a moving assembly (5) is arranged below the base (1).

2. A four-axis handling and palletizing robot according to claim 1, characterized in that: The clamping assembly (4) comprises a connecting assembly (41), a clamping seat (42), a clamping trapezoidal lead screw (43), a clamping self-locking motor (44), a square slider (45), an elastic assembly (46) and a clamping plate (47), wherein one end of the adjusting arm (3) is provided with a connecting assembly (41), one end of the connecting assembly (41) is fixedly connected to the clamping seat (42), the clamping seat (42) is internally rotatably connected to the clamping trapezoidal lead screw (43), one end of the clamping trapezoidal lead screw (43) is fixedly connected to the clamping self-locking motor (44), the surface of the clamping trapezoidal lead screw (43) is symmetrically threadedly connected to the square slider (45), and the square slider (45) and the clamping seat (42) are fitted and slidably connected, one end of the square slider (45) is fixedly connected to the elastic assembly (46), and one end of the elastic assembly (46) is installed with the clamping plate (47).

3. A four-axis handling and palletizing robot according to claim 2, characterized in that: The connection assembly (41) comprises a square plug (411), a connection seat (412), a limiting rod (413), a positioning rod (414) and a bendable steel wire (415), wherein the connection seat (412) is fixedly connected to the top of the connection assembly (41), the square plug (411) is tightly inserted on the top of the connection seat (412), and one end of the square plug (411) is fixedly connected to the adjustment arm (3), the middle of the square plug (411) is tightly inserted with the limiting rod (413), one end of the limiting rod (413) located outside the connection seat (412) is tightly inserted with the positioning rod (414), and one side of the positioning rod (414) is in contact with the connection seat (412), and the bendable steel wire (415) is fixedly connected to the bottom of the positioning rod (414), and the top of the bendable steel wire (415) is in contact with the limiting rod (413).

4. A four-axis handling and palletizing robot according to claim 2, characterized in that: The elastic component (46) comprises a fastening seat (461), an installation slide rod (462), a limit block (463), a positioning seat (464) and a fastening spring (465), wherein one end of the square slider (45) is fixedly connected to the fastening seat (461), a clamping plate (47) is located in the middle of one end inside the fastening seat (461) and is fixedly connected to the installation slide rod (462), one end of the installation slide rod (462) is threadedly connected to the limit block (463), the clamping plate (47) is located at both sides of one end inside the fastening seat (461) and is fixedly connected to the positioning seat (464), a fastening spring (465) is placed inside the positioning seat (464), and the other end of the fastening spring (465) is in contact with the inner wall of the fastening seat (461).

5. A four-axis handling and palletizing robot according to claim 4, characterized in that: One end of the clamping plate (47) located outside the fastening seat (461) is fixedly connected to a rubber fastening pad (466).

6. The four-axis handling and palletizing robot according to claim 1, characterized in that: The moving assembly (5) comprises a splicing assembly (51), a storage seat (52), a storage self-locking motor (53), a storage trapezoidal screw rod (54), a storage plate (55), a universal wheel (56) and a compacting pad (57), wherein a splicing assembly (51) is arranged below the base (1), a storage seat (52) is fixedly connected below the splicing assembly (51), a storage self-locking motor (53) is fixedly connected above the interior of the storage seat (52), one end of the storage self-locking motor (53) is fixedly connected to the storage trapezoidal screw rod (54), a storage plate (55) is threadedly connected to the surface of the storage trapezoidal screw rod (54), and the storage plate (55) and the storage seat (52) are fitted and slidably connected, universal wheels (56) are symmetrically installed at both ends below the storage plate (55), and a compacting pad (57) is fixedly connected below the storage seat (52).

7. A four-axis handling and palletizing robot according to claim 6, characterized in that: The splicing assembly (51) comprises a splicing seat (511), a square splicing block (512), a fixing rod (513), a fixing slide block (514) and a fixing spring (515), wherein the splicing seat (511) is fixedly connected to the top of the storage seat (52), the square splicing block (512) is tightly inserted to the top of the splicing seat (511), the top of the square splicing block (512) is fixedly connected to the base (1), the fixing rod (513) is tightly inserted to the two sides of the square splicing block (512), the top of the fixing rod (513) is fixedly connected to the fixing slide block (514), and one side of the fixing slide block (514) is fixedly connected to the fixing spring (515).

8. The four-axis handling and palletizing robot according to claim 6, characterized in that: The two sides of the storage plate (55) are fixedly connected to limit sliders (58), and the interior of the storage seat (52) is provided with limit sliding grooves that match the limit sliders (58).

Images