Rapid carton stacking robot

Abstract

The invention belongs to the technical field of palletizing robots, and particularly relates to a rapid carton palletizing robot which comprises a base and a conveying mechanism used for conveying cartons, a mechanical arm is arranged on the base, a clamp used for clamping the cartons is arranged at the end of the mechanical arm, the clamp comprises a clamping seat, and the clamping seat is fixedly installed at the end of the mechanical arm. The two guide rods are fixedly installed in the clamping base, the two sliding bases are symmetrically distributed in the clamping base, the sliding bases are slidably connected with the two guide rods, the clamping plates are fixedly connected with the lower end faces of the sliding bases, a carton is supported through the limiting feet, and under the condition that the clamping force of the clamping plates on the carton is reduced, the carton is limited in the space formed by combining the two clamping plates and the multiple limiting feet; the stability of the carton is guaranteed, the limiting feet are single in structure, the carton is more convenient to take and place, the overall structure, the size and the weight of the device are not greatly influenced, and therefore the operation and the service life of the whole device are prevented from being greatly influenced.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing robots, in particular to a fast carton palletizing robot. Background Art

[0002] A carton palletizing robot is an automated device used to stack cartons neatly on pallets according to preset rules. Due to its high efficiency, high flexibility, strong safety and cost savings, it is widely used in logistics, packaging, warehousing and other industries. The carton palletizing robot is mainly composed of a conveying mechanism, a robotic arm base, a robotic arm, a clamp and other components.

[0003] The patent with announcement number CN218289519U discloses a palletizer for carton production, including a machine base, a mechanical arm is installed on the machine base, a mechanical arm is provided with a mechanical hand, a clamp mechanism is provided at the end of the mechanical hand, and the clamp mechanism includes an electric telescopic rod, the upper end face of the electric telescopic rod is fixedly connected to the end of the mechanical hand, the two ends of the electric telescopic rod are respectively fixedly connected to two groups of clamping plates, the lower end face of the electric telescopic rod is fixedly connected to a vacuum suction plate, and the top of the vacuum suction plate is fixedly connected to a vacuum pump. When the two groups of clamping plates clamp the carton, this solution generates suction on the carton through a vacuum device, which can not only reduce the clamping force of the clamping plates on the carton and prevent damage to the carton, but also ensure the stability of the clamping of the carton and avoid a large displacement of the position of the carton.

[0004] In the above scheme, the vacuum pump and the vacuum suction plate are set to generate suction on the carton. However, adding a vacuum pump and a vacuum suction plate to the traditional clamp will lead to a complicated structure and excessive volume. The complicated structure will reduce the stability of the clamp operation. Secondly, the excessive volume will increase the weight of the entire clamp, which is not only inconvenient for the clamp to pick up and place cartons, but also increases the load on the robot arm and the manipulator, and reduces the service life of the robot arm and the manipulator. For this reason, the present invention provides a carton fast stacking robot. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows: a carton fast palletizing robot described in the present invention comprises a base and a conveying mechanism for conveying cartons, a mechanical arm is arranged on the base, a clamp for clamping the carton is arranged at the end of the mechanical arm, the clamp comprises a clamp seat, the clamp seat is fixedly installed at the end of the mechanical arm, two groups of guide rods are fixedly installed in the clamp seat, two groups of slide seats are symmetrically distributed in the clamp seat, the slide seat is slidably connected to the two groups of guide rods, a clamp plate fixedly connected to the lower end surface of the slide seat, three groups of limit feet for holding the carton are arranged at the lower end of the clamp plate, two groups of cylinders are symmetrically installed on both sides of the clamp seat, and the ends of the cylinders are connected to the slide seat; The carton is supported by the limiting feet, and the carton is limited in the space formed by two groups of plywood and multiple groups of limiting feet while reducing the clamping force of the plywood on the carton, thereby ensuring the stability of the carton. The limiting feet have a simple structure, and it is more convenient to take and place the carton, and it will not cause too much impact on the overall structure, volume, and weight of the device, thereby avoiding too much impact on the operation and service life of the entire device.

[0007] Preferably, the splint includes a plate body, the upper end of the plate body is fixedly connected to a sliding seat, a movable frame movably installed in the plate body, three groups of rotating tubes, the three groups of rotating tubes are rotatably installed in the plate body, the lower ends of the three groups of rotating tubes are respectively connected to three groups of limiting feet, the upper end of the movable frame is fixedly connected to a movable rod, the movable rod passes through the sliding seat, two groups of guide columns are symmetrically fixedly installed in the plate body, springs are sleeved on the guide columns, and the movable frame is slidably connected to the two groups of guide columns, avoidance holes are provided at both ends of the movable frame, the upper end of the rotating tube passes through the avoidance hole, two groups of spiral grooves are provided on the rotating tube, two groups of fixed shafts are provided at the lower end of the avoidance hole, one end of the fixed shaft is located in the spiral groove, a pressure plate is also fixedly installed in the base, a roller is rotatably installed on the upper end of the movable rod, the roller is rotatably connected to the pressure plate, and two groups of inclined groove surfaces for pushing rollers are provided on the pressure plate; The two groups of cylinders pull the two groups of slides to move along the guide rods in reverse, so that the two groups of slides drive the two groups of plate bodies to release the clamping of the carton. At the same time, the movable rod, rollers and other components move with the plate body, and the movable rollers roll along the oblique groove surface, and the oblique groove surface pushes the rollers, so that the rollers push the movable rods together with the movable frame to move downward, and the movable frame slides along the guide column, and the movable frame compresses the spring. At the same time, the movable frame drives one end of the fixed shaft to slide along the spiral groove, so that the rotating tube together with the limit foot rotates toward the lower end surface of the plate body until the roller misses the oblique groove surface. At this time, the limit foot just rotates 90 degrees, and the limit foot is located below the lower end surface of the plate body, so that the limit foot is separated from the bottom of the carton. In this way, when the opening distance of the two groups of splints is small, the limit foot can be separated from the bottom of the carton, thereby greatly reducing the gap between the two adjacent groups of cartons, which not only improves the stability of the cartons stacked on the pallet, but also saves the placement space on the pallet, so that more cartons can be placed on the pallet.

[0008] Preferably, a linkage mechanism is provided between the two sets of slide seats, the linkage mechanism comprises a fixed column, the upper end of the fixed column is fixedly connected to the pressure plate, a rotating rod is provided at the lower end of the fixed column, two sets of connecting rods are provided at both ends of the rotating rod, a hinge plate is hinged at one end of the connecting rod, the hinge plate is fixedly connected to the slide seat, the middle part of the rotating rod is rotatably connected to the lower end of the fixed column, and the other end of the connecting rod is hinged to the end of the rotating rod; While retaining one group of cylinders, this group of cylinders drives the corresponding slides, and the slides rotate the rotating rods through the corresponding connecting rods. The rotating rotating rods cause another group of slides to move synchronously through another group of connecting rods. At the same time, the two groups of slides drive the two groups of splints to move synchronously, thereby ensuring the consistency of the movement of the two groups of splints, which not only reduces the difficulty of adjustment, but also reduces the failure rate of the device operation.

[0009] The beneficial effects of the present invention are as follows: 1. The carton is supported by the limiting feet. Under the condition of reducing the clamping force of the plywood on the carton, the carton is limited in the space composed of two groups of plywood and multiple groups of limiting feet, so as to ensure the stability of the carton. The limiting feet have a single structure, which makes it more convenient to take and put the carton, and will not cause too much impact on the overall structure, volume and weight of the device, thereby avoiding too much impact on the operation and service life of the entire device.

[0010] 2. Two groups of cylinders pull the two groups of slides to move back along the guide rods, so that the two groups of slides drive the two groups of plates to release the clamping of the cartons. At the same time, the movable rod, rollers and other components move with the plate body, and the movable rollers roll along the oblique groove surface, and the oblique groove surface pushes the rollers, so that the rollers push the movable rods together with the movable frame to move downward, and the movable frame slides along the guide column, and the movable frame compresses the spring. At the same time, the movable frame drives one end of the fixed shaft to slide along the spiral groove, so that the rotating tube together with the limit foot rotates toward the lower end surface of the plate body until the roller staggers the oblique groove surface. At this time, the limit foot just rotates 90 degrees, and the limit foot is located below the lower end surface of the plate body, so that the limit foot is separated from the bottom of the carton. In this way, when the opening distance of the two groups of splints is small, the limit foot can be separated from the bottom of the carton, thereby greatly reducing the gap between the two adjacent groups of cartons, which not only improves the stability of the cartons stacked on the pallet, but also saves the placement space on the pallet, so that more cartons can be placed on the pallet.

[0011] 3. The opening and closing of the two groups of splints are driven by two groups of cylinders. Since the two groups of cylinders are controlled by different air sources, it is time-consuming and laborious to adjust the two groups of cylinders to maintain consistency. Moreover, as the cylinders are used for a long time, the consistency of the two groups of cylinders can be easily broken, which will lead to a particularly high failure rate in the operation of the device. While retaining one group of cylinders, this group of cylinders drives the corresponding slide seat, and the slide seat rotates the rotating rod through the corresponding connecting rod. The rotating rotating rod causes the other group of slide seats to move synchronously through another group of connecting rods. At the same time, the two groups of slide seats drive the two groups of splints to move synchronously, thereby ensuring the consistency of the movement of the two groups of splints, which not only reduces the difficulty of adjustment, but also reduces the failure rate of the device operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below in conjunction with the accompanying drawings.

[0013] Figure 1It is a schematic diagram of the overall structure of the present invention.

[0014] Figure 2 It is a schematic diagram of the combination of the clamp and the carton of the present invention.

[0015] Figure 3 It is a schematic diagram of the assembly of the clamping seat, the sliding seat, the clamping plate and the limiting foot of the present invention.

[0016] Figure 4 It is a cross-sectional schematic diagram of the slide seat, clamping plate and limiting foot assembly of the present invention.

[0017] Figure 5 It is a schematic diagram of the combination of the movable frame and the rotating tube in section according to the present invention.

[0018] Figure 6 It is a schematic diagram of another state of the combination of the slide seat, the clamping plate and the limiting foot of the present invention.

[0019] Figure 7 It is a schematic cross-sectional view of the clamp of the present invention.

[0020] In the figure: 1. base; 2. conveying mechanism; 3. carton; 4. robotic arm; 5. clamp; 501. clamp seat; 5011. pressure plate; 5012. oblique groove surface; 502. slide seat; 503. guide rod; 504. clamp plate; 505. limit foot; 506. cylinder; 507. linkage mechanism; 5041. plate body; 5042. movable frame; 421. avoidance hole; 422. fixed shaft; 5043. rotating tube; 431. spiral groove; 5044. movable rod; 5045. roller; 5046. guide column; 5047. spring; 5071. fixed column; 5072. rotating rod; 5073. connecting rod; 5074. hinged plate. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0022] Embodiment 1, as Figure 1 and Figure 2As shown, a carton rapid palletizing robot described in an embodiment of the present invention includes a base 1 and a conveying mechanism 2 for conveying cartons 3, a robotic arm 4 is arranged on the base 1, a clamp 5 for clamping the carton 3 is arranged at the end of the robotic arm 4, the clamp 5 includes a clamp seat 501, the clamp seat 501 is fixedly installed at the end of the robotic arm 4, two groups of guide rods 503 fixedly installed in the clamp seat 501, two groups of slides 502 symmetrically distributed in the clamp seat 501, the slide seat 502 is slidably connected to the two groups of guide rods 503, a clamp plate 504 fixedly connected to the lower end surface of the slide seat 502, three groups of limiting feet 505 for holding the carton 3 are arranged at the lower end of the clamp plate 504, two groups of cylinders 506 are symmetrically installed on both sides of the clamp seat 501, and the ends of the cylinders 506 are connected to the slide seat 502.

[0023] Specifically, in the initial state, the spacing between the two groups of clamps 504 is much larger than the width of the carton 3. Therefore, when clamping the carton 3, the clamp 5 is moved to the carton 3 on the conveying mechanism 2 by the robot arm 4, and the carton 3 is located between the two groups of clamps 504. The limit feet 505 and the conveying rollers on the conveying mechanism 2 are staggered, and the conveying rollers will not interfere with the limit feet 505. The two groups of cylinders 506 are started to push the two groups of slides 502 to move toward each other along the guide rods 503. The two groups of slides 502 drive the corresponding clamps 504 to clamp the carton 3, and the limit feet 505 move to the bottom of the carton 3. Then, the clamp 5 lifts the carton 3 through the robot arm 4, and the clamp 5 clamps the carton 3 on the clamps 504. In this case, the multiple groups of limiting feet 505 below support the carton 3, thereby clamping the carton 3, and then the clamp 5 is used to put the carton 3 on the pallet through the mechanical arm 4, and the above operation is repeated to stack the carton 3 on the pallet. Compared with the prior art, the carton 3 is supported by the limiting feet 505, and the carton 3 is limited in the space composed of two groups of splints 504 and multiple groups of limiting feet 505 while reducing the clamping force of the splint 504 on the carton 3, thereby ensuring the stability of the carton 3. The limiting feet 505 have a single structure, and it is more convenient to take and put the carton 3, and it will not cause too much impact on the overall structure, volume, and weight of the device, thereby avoiding too much impact on the operation and service life of the entire device.

[0024] like Figures 3 to 6As shown, the clamping plate 504 includes a plate body 5041, the upper end of the plate body 5041 is fixedly connected to the slide seat 502, a movable frame 5042 is movably installed in the plate body 5041, three sets of rotating tubes 5043 are rotatably installed in the plate body 5041, the lower ends of the three sets of rotating tubes 5043 are respectively connected to three sets of limiting feet 505, the upper end of the movable frame 5042 is fixedly connected to the movable rod 5044, the movable rod 5044 passes through the slide seat 502, two sets of guide pillars 5046 are symmetrically fixedly installed in the plate body 5041, the guide pillars 5046 are sleeved with springs 5047, and the movable frame 5042 is slidably connected to the two sets Guide column 5046, both ends of movable frame 5042 are provided with avoidance holes 421, the upper end of rotating tube 5043 passes through avoidance hole 421, two groups of spiral grooves 431 are provided on rotating tube 5043, two groups of fixed shafts 422 are provided at the lower end of avoidance hole 421, one end of fixed shaft 422 is located in spiral groove 431, a pressure plate 5011 is also fixedly installed in base 1, roller 5045 is rotatably installed on the upper end of movable rod 5044, roller 5045 is rollingly connected to pressure plate 5011, and two groups of inclined groove surfaces 5012 for pushing roller 5045 are provided on pressure plate 5011.

[0025] Specifically, the width of the lower end surface of the plate body 5041 is greater than the width of the limiting foot 505. When placing the carton 3 on the pallet, the two groups of clamps 504 need to be opened, and the limiting foot 505 needs to be separated from the bottom of the carton 3. Since the limiting foot 505 has a certain length, the opening distance of the two groups of clamps 504 must be much greater than the width of the carton 3. In order to avoid the two groups of clamps 504 from hitting adjacent cartons 3 during the opening process, the gap between the two adjacent groups of cartons 3 will be very large, which not only wastes the placement space on the pallet, but also greatly reduces the space for loading and unloading. The stability of the cartons 3 stacked on the pallet is reduced. When the two groups of clamping plates 504 clamp the cartons 3, the two groups of rollers 5045 are respectively close to the two groups of inclined groove surfaces 5012. When the carton 3 is placed on the pallet, the two groups of slides 502 are pulled by the two groups of cylinders 506 to move backward along the guide rods 503, so that the two groups of slides 502 drive the two groups of plate bodies 5041 to release the clamping of the carton 3. At the same time, other components such as the movable rod 5044 and the roller 5045 move together with the plate body 5041. The moving rollers 5045 The movable rod 5044 and the movable frame 5042 are pushed downward by the inclined groove surface 5012, and the movable frame 5042 slides along the guide column 5046, and the movable frame 5042 compresses the spring 5047. At the same time, the movable frame 5042 drives one end of the fixed shaft 422 to slide along the spiral groove 431, so that the rotating tube 5043 and the limiting foot 505 rotate toward the lower end surface of the plate body 5041 until the roller 5045 staggers the inclined groove surface 5012. Towards the groove surface 5012, the limit foot 505 is rotated 90 degrees at this time, and the limit foot 505 is located below the lower end surface of the plate body 5041, so that the limit foot 505 is separated from the bottom of the carton 3. In this way, when the two groups of clamps 504 are opened at a smaller distance, the limit foot 505 can be separated from the bottom of the carton 3, thereby greatly reducing the gap between the two adjacent groups of cartons 3, which not only improves the stability of the cartons 3 stacked on the pallet, but also saves the placement space on the pallet, so that more cartons 3 can be placed on the pallet.

[0026] Example 2. Figure 7 As shown, compared with Example 1, another implementation of the present invention is: a linkage mechanism 507 is arranged between the two groups of slides 502, and the linkage mechanism 507 includes a fixed column 5071, the upper end of the fixed column 5071 is fixedly connected to the pressure plate 5011, a rotating rod 5072 is arranged at the lower end of the fixed column 5071, two groups of connecting rods 5073 are arranged at both ends of the rotating rod 5072, and a hinged plate 5074 is hinged at one end of the connecting rod 5073, the hinged plate 5074 is fixedly connected to the slide 502, the middle part of the rotating rod 5072 is rotatably connected to the lower end of the fixed column 5071, and the other end of the connecting rod 5073 is hinged to the end of the rotating rod 5072.

[0027] Specifically, the opening and closing of the two groups of splints 504 are driven by two groups of cylinders 506. Since the two groups of cylinders 506 are controlled by different air sources, it is time-consuming and laborious to adjust the two groups of cylinders 506 to maintain consistency. As the cylinders 506 are used for a long time, the consistency of the two groups of cylinders 506 is easily broken, which will lead to a particularly high failure rate in the operation of the device. While retaining one group of cylinders 506, the group of cylinders 506 drives the corresponding slide 502, and the slide 502 rotates the rotating rod 5072 through the corresponding connecting rod 5073. The rotating rotating rod 5072 causes the other group of slides 502 to move synchronously through another group of connecting rods 5073. At the same time, the two groups of slides 502 drive the two groups of splints 504 to move synchronously, thereby ensuring the consistency of the movement of the two groups of splints 504, which not only reduces the difficulty of adjustment, but also reduces the failure rate of the operation of the device.

[0028] Working principle: when clamping the carton 3, the clamp 5 is moved to the carton 3 on the conveying mechanism 2 by the mechanical arm 4, and the carton 3 is located between the two groups of clamping plates 504, and the limiting feet 505 are staggered with the conveying rollers on the conveying mechanism 2, and the conveying rollers will not interfere with the limiting feet 505. The two groups of cylinders 506 are started to make the two groups of cylinders 506 push the two groups of slides 502 to move toward each other along the guide rods 503, and the two groups of slides 502 drive the corresponding clamping plates 504 to clamp the carton 3, and make the limiting feet 505 move to the bottom of the carton 3, and then the clamp 5 is lifted by the mechanical arm 4. When the clamping plates 504 clamp the carton 3, the multiple groups of limiting feet 505 below support the carton 3, so as to clamp the carton 3, and then the clamp 5 is placed on the pallet by the mechanical arm 4, and the above operation is repeated to realize the stacking of the carton 3 on the pallet; When the two groups of clamping plates 504 clamp the carton 3, the two groups of rollers 5045 are respectively close to the two groups of inclined groove surfaces 5012. When the carton 3 is placed on the pallet, the two groups of slides 502 are pulled by the two groups of cylinders 506 to move backwards along the guide rods 503, so that the two groups of slides 502 drive the two groups of plate bodies 5041 to release the clamping of the carton 3. At the same time, the movable rods 5044, rollers 5045 and other components move together with the plate bodies 5041, and the moving rollers 5045 roll along the inclined groove surfaces 5012, and the inclined groove surfaces 5012 push the rollers 5045, so that the rollers 5045 push The movable rod 5044 moves downward together with the movable frame 5042, and the movable frame 5042 slides along the guide column 5046, and the movable frame 5042 compresses the spring 5047. At the same time, the movable frame 5042 drives one end of the fixed shaft 422 to slide along the spiral groove 431, so that the rotating tube 5043 and the limiting foot 505 rotate toward the lower end surface of the plate body 5041 until the roller 5045 staggers the oblique groove surface 5012. At this time, the limiting foot 505 rotates 90 degrees and is located below the lower end surface of the plate body 5041, so that the limiting foot 505 is separated from the bottom of the carton 3; While retaining one group of cylinders 506, the group of cylinders 506 drives the corresponding slide 502, and the slide 502 rotates the rotating rod 5072 through the corresponding connecting rod 5073. The rotating rotating rod 5072 causes another group of slides 502 to move synchronously through another group of connecting rods 5073. At the same time, the two groups of slides 502 drive the two groups of splints 504 to move synchronously, thereby ensuring the consistency of the movement of the two groups of splints 504.

[0029] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A carton rapid palletizing robot, comprising a base (1) and a conveying mechanism (2) for conveying cartons (3), characterized in that: A mechanical arm (4) is arranged on the base (1), and a clamp (5) for clamping the carton (3) is arranged at the end of the mechanical arm (4); The clamp (5) comprises: A clamping seat (501), the clamping seat (501) being fixedly mounted at the end of the mechanical arm (4); Two sets of guide rods (503) fixedly mounted in the clamping seat (501); Two groups of slide seats (502) symmetrically distributed in the clamp seat (501), the slide seats (502) being slidably connected to the two groups of guide rods (503); A clamping plate (504) fixedly connected to the lower end surface of the sliding seat (502); The lower end of the clamping plate (504) is provided with three groups of limiting feet (505) for supporting the carton (3); Two groups of cylinders (506) are symmetrically mounted on both sides of the clamping seat (501), and ends of the cylinders (506) are connected to the sliding seat (502).

2. The carton rapid palletizing robot according to claim 1, characterized in that: The splint (504) comprises: A plate body (5041), the upper end of which is fixedly connected to the slide seat (502); A movable frame (5042) movably mounted in the plate body (5041); Three groups of rotating tubes (5043), the three groups of rotating tubes (5043) are all rotatably mounted in the plate body (5041), and the lower ends of the three groups of rotating tubes (5043) are respectively connected to three groups of limiting feet (505); The upper end of the movable frame (5042) is fixedly connected to a movable rod (5044), and the movable rod (5044) passes through the sliding seat (502).

3. The carton rapid palletizing robot according to claim 2, characterized in that: Two groups of guide pillars (5046) are symmetrically fixedly installed in the plate body (5041), springs (5047) are sleeved on the guide pillars (5046), and the movable frame (5042) is slidably connected to the two groups of guide pillars (5046).

4. The carton rapid palletizing robot according to claim 3, characterized in that: Both ends of the movable frame (5042) are provided with avoidance holes (421), and the upper end of the rotating tube (5043) passes through the avoidance holes (421).

5. The carton rapid palletizing robot according to claim 4, characterized in that: Two groups of spiral grooves (431) are provided on the rotating tube (5043), and two groups of fixed shafts (422) are provided at the lower end of the avoidance hole (421), with one end of the fixed shaft (422) being located in the spiral groove (431).

6. The carton rapid palletizing robot according to claim 5, characterized in that: A pressure plate (5011) is also fixedly mounted in the base (1), and a roller (5045) is rotatably mounted on the upper end of the movable rod (5044), and the roller (5045) is rollingly connected to the pressure plate (5011).

7. The carton rapid palletizing robot according to claim 6, characterized in that: The pressure plate (5011) is provided with two groups of inclined groove surfaces (5012) for pushing the rollers (5045).

8. The carton rapid palletizing robot according to claim 7, characterized in that: A linkage mechanism (507) is provided between the two groups of slide seats (502), and the linkage mechanism (507) comprises: A fixed column (5071), the upper end of which is fixedly connected to the pressure plate (5011); A rotating rod (5072) disposed at the lower end of the fixed column (5071); Two sets of connecting rods (5073) are provided at both ends of the rotating rod (5072); A hinge plate (5074) is hingedly connected to one end of the connecting rod (5073).

9. The carton rapid palletizing robot according to claim 8, characterized in that: The hinged plate (5074) is fixedly connected to the sliding seat (502).

10. The carton rapid palletizing robot according to claim 9, characterized in that: The middle part of the rotating rod (5072) is rotatably connected to the lower end of the fixed column (5071), and the other end of the connecting rod (5073) is hinged to the end of the rotating rod (5072).

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