A palletizing device for conveying building materials

Abstract

The present invention provides a palletizing device for building material transportation, which includes a track and a mobile chassis arranged on the track. A six-axis robotic arm is provided on one side of the mobile chassis, and a counterweight device is provided on the other side of the mobile chassis; the counterweight device includes a guide rail and a counterweight block, and the counterweight block is driven by a driving mechanism to move along the guide rail. Encoders are provided on the first axis, the second axis, and the third axis of the six-axis robotic arm. The driving mechanism gives a corresponding displacement amount of the counterweight block according to the joint angle signals fed back by each encoder; the driving mechanism includes a slide screw. A rotary plunger pump is provided at the end of the guide rail, and the rotor of the rotary plunger pump is coaxially connected to the slide screw. A hydraulic damping cylinder is also provided at the end of the guide rail and is drivingly connected to the rotary plunger pump. Hydraulic support rods are connected at the second axis and the fourth axis of the six-axis robotic arm. The two connecting ends of the hydraulic support rod are universal hinge joints, and the hydraulic cavity of the hydraulic support rod is connected to the hydraulic damping cylinder through a high-pressure oil circuit.

Description

Technical Field

[0001] The present invention relates to the technical field of building material handling devices, and particularly to a palletizing device for building material transportation. Background Art

[0002] Traditional palletizing devices are composed of a robotic arm system, a conveyor belt mechanism, a gripping end, a sensor group, and a control system. The robotic arm mostly adopts a four-axis or six-axis joint structure and completes three-dimensional space positioning through servo motor drive. The conveyor belt is responsible for material transportation and out-of-pallet transfer, and an optoelectronic sensor detects the material in-place signal. The gripping end is configured with a vacuum suction cup or a mechanical gripper according to the characteristics of the goods. The control system realizes path planning based on PLC programming, and stacks materials in layers according to a preset pallet pattern through a coordinate transformation algorithm. The stability is enhanced by staggered arrangement between pallet layers. A typical working cycle includes five action stages: grasping, lifting, translation, lowering, and releasing.

[0003] However, for the palletizing of building materials, improvements need to be made in at least three aspects: First, develop a multi-modal gripping system, integrate an electromagnetic fixture and an adaptive mechanical claw, and add a pressure feedback module to the claw part to prevent brittle material breakage; Second, strengthen the support structure, use a box-section steel beam for the column, and configure a hydraulic leveling mechanism for the foundation platform to improve the load-bearing stability of large-mass loads; Third, add a mobile track chassis, realize longitudinal positioning along the construction axis through gear-rack transmission, and cooperate with a laser rangefinder to achieve dynamic alignment. The working principle adopts a force and position hybrid control strategy, and automatically adjusts the grasping force and motion acceleration according to the material density.

[0004] However, there is an inertial coupling problem between the existing mobile chassis and the robotic arm of the palletizing device. When performing high-speed palletizing operations, the reaction force generated by the movement of the robotic arm is likely to cause chassis displacement. Secondly, the current series structure of the six-axis joint has a problem of insufficient end stiffness when carrying heavy building materials, especially elastic deformation is likely to occur at the connection of the third and fourth axes. These two points will directly affect the quality and efficiency of palletizing. Summary of the Invention

[0005] The present invention aims to solve the above technical problems and provides a palletizing device for building material transportation.

[0006] The technical solution of the present invention is a palletizing device for building material transportation, which includes a track and a mobile chassis arranged on the track. A six-axis robotic arm is arranged on one side of the mobile chassis, and a counterweight device is arranged on the other side of the mobile chassis;

[0007] The counterweight device includes a guide rail parallel to the track and a counterweight block arranged on the guide rail. The counterweight block is driven by a driving mechanism to move along the guide rail. Encoders are respectively arranged on the first axis, the second axis, and the third axis of the six-axis robotic arm. The driving mechanism gives a corresponding displacement amount to the counterweight block according to the joint angle signals fed back by the encoders.

[0008] The driving mechanism includes a slider screw rod drivingly connected to the counterweight block. A rotary plunger pump is arranged at the end of the guide rail. The rotor of the rotary plunger pump is coaxially connected to the slider screw rod. A hydraulic damping cylinder drivingly connected to the rotary plunger pump is also arranged at the end of the guide rail. Hydraulic support rods are connected at the second axis and the fourth axis of the six-axis robotic arm. The two connection ends of the hydraulic support rods are universal hinge joints. The hydraulic cavity of the hydraulic support rod is connected to the hydraulic damping cylinder through a high-pressure oil circuit. A piezoelectric ceramic layer is arranged at the piston of the hydraulic support rod. The driving mechanism also gives a corresponding displacement compensation amount to the counterweight block according to the stress signal fed back by the piezoelectric ceramic layer.

[0009] As an implementation manner, the track is arranged on a base. A rack is also arranged on the base. A first motor is arranged on the mobile chassis. The driving shaft of the first motor penetrates through the mobile chassis and is connected with a gear. The gear meshes with the rack.

[0010] As an implementation manner, a motor cover is arranged on the mobile chassis. The motor cover covers the outside of the first motor.

[0011] As an implementation manner, an explosion vent plate in contact with the ground is arranged at the bottom of the base.

[0012] As an implementation manner, a robotic arm base is arranged on one side of the mobile chassis. The six-axis robotic arm is arranged on the robotic arm base. The position of the robotic arm base and the position of the counterweight device are symmetric along the transverse axis of the mobile chassis.

[0013] As an implementation manner, the driving mechanism further includes a second motor and a sliding seat. The rotor of the second motor is coaxially connected to the slider screw rod. The sliding seat is slidably connected to the guide rail. The counterweight block is fixed on the sliding seat. The slider screw rod drives and connects the counterweight block through the sliding seat.

[0014] As an implementation manner, the counterweight block is made of high-density alloy. The mass of the counterweight block is 30% - 50% of the maximum load of the six-axis robotic arm.

[0015] As an implementation manner, the encoder is an absolute encoder.

[0016] As an implementation manner, an outer shell extension bracket is provided at the second axis of the six-axis robotic arm. The lower end of the hydraulic support rod is connected to the outer shell extension bracket. An outer shell swivel base is provided at the fourth axis of the six-axis robotic arm. The upper end of the hydraulic support rod is connected inside the outer shell swivel base.

[0017] As an implementation manner, anti-collision blocks are provided on both the front and rear sides of the mobile chassis.

[0018] The beneficial effect of the present invention compared with the prior art is that in order to improve the quality and efficiency of palletizing, a driving mechanism of a counterweight device is added to the palletizing device for building material transportation and is linked with the six-axis robotic arm. Encoders are respectively provided on the first axis, the second axis, and the third axis of the six-axis robotic arm. The joint angle signals fed back by these encoders can reflect the displacement of the robotic arm extending longitudinally along the construction axis. Based on this, the driving mechanism converts the linear motion of the robotic arm into the reverse motion of the counterweight block. When the six-axis robotic arm is working, the overall moment of the mobile chassis is zeroed, avoiding displacement and improving the quality of palletizing.

[0019] A hydraulic support rod is also added. The hydraulic support rod is connected between the second axis and the fourth axis of the six-axis robotic arm. When the counterweight block moves backward, the slider screw driving the counterweight block synchronously drives the rotary plunger pump to rotate mechanically. The high-pressure oil output by the rotary plunger pump forms a closed oil circuit system with the hydraulic damping cylinder. The change in oil pressure drives the hydraulic damping cylinder to act, thereby generating an axial pre-tightening force on the hydraulic support rod. The pre-tightening force of the hydraulic support rod forms a triangular support structure between the large arm and the small arm, improving the joint stiffness and greatly enhancing the bending resistance of the small arm, thereby increasing the maximum working load of the six-axis robotic arm and improving the efficiency of palletizing.

[0020] Moreover, due to the closed oil circuit system formed by the hydraulic support rod and the hydraulic damping cylinder, when the robotic arm moves at high speed, the reaction force generated by the pre-tightening force is fed back to the counterweight block through the oil circuit, forming an additional damping effect to suppress the vibration of the mobile chassis. When a sudden impact load occurs, the piezoelectric ceramic layer senses the sudden change in stress and triggers the counterweight block to move quickly to compensate for the moment. The displacement of the counterweight block synchronously increases the pre-tightening force of the hydraulic support rod, forming a two-way stiffness lock. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is the first structural schematic diagram of the palletizing device for building material transportation provided by the embodiment of the present invention;

[0022] Figure 2 It is the second structural schematic diagram of the palletizing device for building material transportation provided by the embodiment of the present invention;

[0023] Figure 3 by Figure 1Partial enlarged view of the palletizing device for building material transportation provided in

[0024] Figure 4 This is a partial enlarged view of the palletizing device for building material transportation provided by the embodiment of the present invention.

[0025] In the figure: 1, track; 2, mobile chassis; 3, six-axis robotic arm; 4, counterweight device; 5, guide rail; 6, counterweight block; 7, drive mechanism; 8, encoder; 9, slider screw; 10, rotary plunger pump; 11, hydraulic damping cylinder; 12, hydraulic support rod; 13, high-pressure oil circuit; 14, piezoelectric ceramic layer; 15, base; 16, rack; 17, first motor; 18, gear; 19, motor cover; 20, explosion relief plate; 21, robotic arm base; 22, second motor; 23, slide seat; 24, housing extension bracket; 25, housing swivel base; 26, anti-collision block. Specific embodiments

[0026] The following combines the accompanying drawings to clearly and completely describe the above and other embodiments and advantages of the present invention. Obviously, the described embodiments are only partial embodiments of the present invention, rather than all embodiments.

[0027] In one embodiment, as Figures 1 to 3 shown.

[0028] The palletizing device for building material transportation provided in this embodiment includes a track 1 and a mobile chassis 2 provided on the track 1. A six-axis robotic arm 3 is provided on one side of the mobile chassis 2, and a counterweight device 4 is provided on the other side of the mobile chassis 2. The counterweight device 4 includes a guide rail 5 parallel to the track 1 and a counterweight block 6 provided on the guide rail 5. The counterweight block 6 is driven by a drive mechanism 7 to move along the guide rail 5. Encoders 8 are provided on the first axis, the second axis, and the third axis of the six-axis robotic arm 3. The drive mechanism 7 gives the corresponding displacement of the counterweight block 6 according to the joint angle signals fed back by each encoder 8. The drive mechanism 7 includes a slider screw 9 drivingly connected to the counterweight block 6. A rotary plunger pump 10 is provided at the end of the guide rail 5. The rotor of the rotary plunger pump 10 is coaxially connected to the slider screw 9. A hydraulic damping cylinder 11 drivingly connected to the rotary plunger pump 10 is also provided at the end of the guide rail 5. Hydraulic support rods 12 are connected at the second axis and the fourth axis of the six-axis robotic arm 3. The two connection ends of the hydraulic support rod 12 are universal hinge joints. The hydraulic cavity of the hydraulic support rod 12 is connected to the hydraulic damping cylinder 11 through a high-pressure oil circuit 13. A piezoelectric ceramic layer 14 is provided at the piston of the hydraulic support rod 12. The drive mechanism 7 also gives the corresponding displacement compensation of the counterweight block 6 according to the stress signal fed back by the piezoelectric ceramic layer 14.

[0029] In this embodiment, for the palletizing device used for building material transportation, a track 1 and a mobile chassis 2 are provided, and longitudinal positioning along the construction axis is achieved through gear-rack transmission. A six-axis robotic arm 3 is adopted. It should be noted that the six-axis robotic arm 3 has a series structure of six-axis joints. The six axes are respectively the base rotation axis (the first axis), which is used to drive the whole machine to rotate around the Z axis; the lower arm pitching rotation axis (the second axis), which is used to control the swing of the upper arm in the vertical plane; the upper arm pitching rotation axis (the third axis), which is used to control the swing of the lower arm relative to the upper arm; the lower arm rotation axis (the fourth axis), which is used to drive the wrist to rotate around its own axis; the wrist pitching rotation axis (the fifth axis), which is used to adjust the final attitude; and the end rotation axis (the sixth axis), which is used for fine-tuning the final attitude. An execution-end fixture is connected to the end rotation axis. Due to the working conditions, the rotation of the lower arm rotation axis (the fourth axis) does not exceed 180 degrees.

[0030] Based on this, in order to improve the quality and efficiency of palletizing, a driving mechanism 7 of a counterweight device 4 is added to be linked with the six-axis robotic arm 3 for the palletizing device used for building material transportation. Specifically, encoders 8 are respectively provided on the first axis, the second axis, and the third axis of the six-axis robotic arm 3. The joint angle signals fed back by these encoders 8 can reflect the displacement of the robotic arm extending longitudinally along the construction axis. Based on this, the driving mechanism 7 converts the linear motion of the robotic arm into the reverse motion of the counterweight. When the robotic arm extends forward, a clockwise overturning moment M1 = F × L1 (F = load gravity, L1 = moment arm) is generated. When the counterweight moves backward, a counterclockwise balancing moment M2 = G × L2 (G = counterweight gravity, L2 = counterweight moment arm) is generated. When M1 = M2, the overall moment of the mobile chassis 2 is zero, avoiding displacement and improving the quality of palletizing.

[0031] A hydraulic support rod 12 is also added. The hydraulic support rod 12 is connected to the second axis of the six-axis robotic arm 3 and the fourth axis of the six-axis robotic arm 3. When the counterweight moves backward, the slider screw 9 driving the counterweight synchronously drives the rotary plunger pump 10 to rotate mechanically. The high-pressure oil output by the rotary plunger pump 10 forms a closed oil circuit system with the hydraulic damping cylinder 11. The change in oil pressure drives the hydraulic damping cylinder 11 to act, so that the hydraulic support rod 12 generates an axial pre-tightening force. The magnitude of the pre-tightening force can be adjusted according to actual needs. The pre-tightening force of the hydraulic support rod 12 forms a triangular support structure between the upper arm and the lower arm, improving the joint stiffness and greatly enhancing the bending resistance of the lower arm, thereby increasing the maximum working load of the six-axis robotic arm 3 and improving the efficiency of palletizing.

[0032] Among them, in the closed oil circuit system formed by the hydraulic support rod 12 and the hydraulic damper cylinder 11, when the robotic arm moves at high speed, the reaction force generated by the pre-tightening force is fed back to the counterweight 6 through the oil circuit, forming an additional damping effect to suppress the vibration of the mobile chassis 2. In the event of a sudden impact load, the piezoelectric ceramic layer 14 senses the sudden change in stress and triggers the rapid movement of the counterweight 6 to compensate for the moment. The displacement of the counterweight 6 synchronously increases the pre-tightening force of the hydraulic support rod 12, forming a two-way stiffness lock.

[0033] Therefore, in this embodiment, for the palletizing device for building material transportation, by adding the counterweight device 4 and the hydraulic support rod 12, the dynamic counterweight system reduces the unbalanced load of the chassis and provides a more stable base for the six-axis robotic arm 3; while the enhanced joint stiffness reduces the response accuracy requirements of the counterweight compensation system, forming a positive synergistic effect. Through structural topology optimization, the maximum working load of the palletizing device is increased, the palletizing efficiency is improved, and the system positioning repeat accuracy is also improved, enhancing the palletizing quality.

[0034] In one embodiment, as Figure 1 and Figure 4 shown.

[0035] For the palletizing device for building material transportation provided in this embodiment, its track 1 is arranged on the base 15, a rack 16 is further arranged on the base 15, a first motor 17 is arranged on the mobile chassis 2, the drive shaft of the first motor 17 penetrates through the mobile chassis 2 and is connected with a gear 18, and the gear 18 meshes with the rack 16.

[0036] In this embodiment, for the palletizing device for building material transportation, through the transmission system of the rack 16 and the gear 18, the precise positioning drive of the mobile chassis 2 on the track 1 is realized. The first motor 17 provides a controllable power output, ensuring that the mobile chassis 2 has a positioning accuracy of ±5 cm level when moving longitudinally along the construction axis. At the same time, compared with the traditional chain and belt drives, the rack meshing structure has higher load-bearing capacity and anti-slip stability, meeting the high-load requirements of building material transportation.

[0037] In one embodiment, as Figure 4 shown.

[0038] For the palletizing device for building material transportation provided in this embodiment, a motor cover 19 is arranged on the mobile chassis 2, and the motor cover 19 covers the outside of the first motor 17.

[0039] In this embodiment, the motor cover 19 of the palletizing device for building material transportation forms a semi-closed protection for the first motor 17, preventing pollutants such as construction site dust and cement slurry from invading the interior of the motor, and ensuring the long-term reliable operation of the transmission system in a harsh environment. At the same time, the cover design can also take into account the heat dissipation requirements, with a diversion air duct arranged inside to control the motor temperature rise within ΔT≤35°C.

[0040] In one embodiment, as Figure 4 shown.

[0041] For the palletizing device for building material transportation provided in this embodiment, a bursting panel 20 in contact with the ground is provided at the bottom of the base 15.

[0042] In this embodiment, the bursting panel 20 of the palletizing device for building material transportation serves as a pressure relief device. When the chassis bears a sudden impact load (such as the fall of building materials), it ruptures in a directional manner through a preset weak structural plane (the bursting pressure is set to 1.5 times the working limit load), quickly releasing the stress wave energy, avoiding the overall failure of the base 15 structure, and improving the intrinsic safety level of the system.

[0043] In one embodiment, as Figure 1 shown.

[0044] For the palletizing device for building material transportation provided in this embodiment, a robotic arm base 21 is provided on one side of the mobile chassis 2, and a six-axis robotic arm 3 is arranged on the robotic arm base 21. The positions of the robotic arm base 21 and the counterweight device 4 are symmetrical along the transverse axis of the mobile chassis 2.

[0045] In this embodiment, the symmetrical layout of the robotic arm base 21 and the counterweight device 4 of the palletizing device for building material transportation forms a dynamic balance topology, and then the center of mass of the mobile chassis 2 is always located within ±10 cm of the center line of the track 1. This design converts the overturning moment during the operation of the robotic arm into a balanced couple inside the chassis, reducing the amplitude of the pressure fluctuation on the track contact surface by 70%, and significantly extending the service life of the track.

[0046] In one embodiment, as Figure 3 shown.

[0047] For the palletizing device for building material transportation provided in this embodiment, the drive mechanism 7 further includes a second motor 22 and a sliding seat 23. The rotor of the second motor 22 is coaxially connected to the slider screw 9. The sliding seat 23 is slidably connected to the guide rail 5, and the counterweight block 6 is fixed to the sliding seat 23. The slider screw 9 is drivingly connected to the counterweight block 6 through the sliding seat 23.

[0048] In this embodiment, the sliding pair of the sliding seat 23 and the guide rail 5 of the palletizing device for building material transportation adopts a double V-shaped roller guide rail, and is combined with the precise transmission of the slide screw 9 to achieve low friction and fast response of the counterweight 6. The second motor 22 can drive the screw through an additional planetary reducer to ensure that the displacement of the counterweight 6 is strictly synchronized with the movement of the robotic arm.

[0049] In one embodiment, as Figure 3 shown.

[0050] For the palletizing device for building material transportation provided in this embodiment, the counterweight 6 is made of high-density alloy, and the mass of the counterweight 6 is 30% - 50% of the maximum load of the six-axis robotic arm 3.

[0051] In this embodiment, the mass ratio design of the high-density alloy counterweight 6 provides sufficient balancing torque within a limited space, while avoiding excessive increase in the total mass of the chassis.

[0052] In one embodiment, as Figure 2 shown.

[0053] For the palletizing device for building material transportation provided in this embodiment, the encoder 8 is an absolute encoder 8.

[0054] In this embodiment, the absolute encoder 8 of the palletizing device for building material transportation directly outputs the digital signal of the slider position, without the need for zero reset operation, reducing the calibration time compared with the incremental encoder.

[0055] In one embodiment, as Figure 2 shown.

[0056] For the palletizing device for building material transportation provided in this embodiment, an outer shell extension bracket 24 is provided at the second axis of the six-axis robotic arm 3, the lower end of the hydraulic support rod 12 is connected to the outer shell extension bracket 24, and an outer shell swivel base 25 is provided at the fourth axis of the six-axis robotic arm 3, and the upper end of the hydraulic support rod 12 is connected inside the outer shell swivel base 25.

[0057] In this embodiment, the outer shell extension bracket 24 and the outer shell swivel base 25 of the palletizing device for building material transportation form a double-hinged support system, releasing the assembly stress of the hydraulic support rod 12 through a universal joint. When the six-axis robotic arm 3 is loaded, the pulling force direction of the hydraulic support rod 12 is automatically adjusted to be perpendicular to the joint bending surface, converting more than 70% of the bending moment into the axial tension of the rod.

[0058] In one embodiment, as Figure 1 shown.

[0059] The palletizing device for building material transportation provided by this embodiment is provided with anti-collision blocks 26 on both the front and rear sides of the mobile chassis 2.

[0060] In this embodiment, the anti-collision blocks 26 of the palletizing device for building material transportation are polyurethane anti-collision blocks 26 with a Shore hardness of 75A. They are arranged at both ends of the mobile chassis 2 in the traveling direction and prevent the end of the track 1 from being damaged by impact through non-linear compression energy absorption. The anti-collision blocks 26 can also be internally provided with pressure sensors, which trigger an emergency stop signal when the collision force exceeds 5 kN, reducing the braking distance of the mobile chassis 2 to within 0.3 m.

[0061] The palletizing device for building material transportation provided by the above embodiment forms an inseparable technical whole through the optimization of the mechanical transmission chain and the in-depth integration of mechatronic coupling control.

[0062] The above-described specific embodiments have further elaborated on the invention purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. In particular, it is pointed out that for those skilled in the art, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A palletizing device for transporting building materials, characterized in that It includes an orbit and a mobile chassis provided on the orbit. A six-axis robotic arm is provided on one side of the mobile chassis, and a counterweight device is provided on the other side of the mobile chassis; The counterweight device includes a guide rail parallel to the orbit and a counterweight block provided on the guide rail. The counterweight block is driven by a driving mechanism to move along the guide rail. Encoders are provided on the first axis, the second axis, and the third axis of the six-axis robotic arm. The driving mechanism gives a corresponding displacement amount of the counterweight block according to the joint angle signals fed back by the encoders; The driving mechanism includes a slider screw rod drivingly connected to the counterweight block. A rotary plunger pump is provided at the end of the guide rail. The rotor of the rotary plunger pump is coaxially connected to the slider screw rod. A hydraulic damping cylinder drivingly connected to the rotary plunger pump is also provided at the end of the guide rail. Hydraulic support rods are connected at the second axis and the fourth axis of the six-axis robotic arm. The two connection ends of the hydraulic support rods are universal hinge joints. The hydraulic cavity of the hydraulic support rod is connected to the hydraulic damping cylinder through a high-pressure oil path. A piezoelectric ceramic layer is provided at the piston of the hydraulic support rod. The driving mechanism also gives a corresponding displacement compensation amount of the counterweight block according to the stress signal fed back by the piezoelectric ceramic layer.

2. The palletizing device for conveying building materials according to claim 1, wherein The orbit is provided on a base. A rack is also provided on the base. A first motor is provided on the mobile chassis. The driving shaft of the first motor penetrates through the mobile chassis and is connected with a gear. The gear meshes with the rack.

3. The palletizing device for conveying building materials according to claim 2, characterized in that, A motor cover is provided on the mobile chassis. The motor cover covers the outside of the first motor.

4. The palletizing device for building material transportation according to claim 2, characterized in that, An explosion vent panel in contact with the ground is provided at the bottom of the base.

5. The palletizing device for building material transportation according to claim 1, wherein A robotic arm base is provided on one side of the mobile chassis. The six-axis robotic arm is provided on the robotic arm base. The positions of the robotic arm base and the counterweight device are symmetric along the transverse axis of the mobile chassis.

6. The palletizing device for building material transportation according to claim 1, characterized in that The driving mechanism further includes a second motor and a slide seat. The rotor of the second motor is coaxially connected to the slider screw rod. The slide seat is slidably connected to the guide rail. The counterweight block is fixed on the slide seat. The slider screw rod is drivingly connected to the counterweight block through the slide seat.

7. The palletizing device for conveying building materials according to claim 6, characterized in that, The counterweight block is made of high-density alloy. The mass of the counterweight block is 30% - 50% of the maximum load of the six-axis robotic arm.

8. The palletizing device for conveying building materials according to claim 1, characterized in that, The encoder is an absolute encoder.

9. The palletizing device for conveying building materials according to claim 1, characterized in that, An outer shell extension bracket is provided at the second axis of the six-axis robotic arm. The lower end of the hydraulic support rod is connected to the outer shell extension bracket. An outer shell swivel base is provided at the fourth axis of the six-axis robotic arm. The upper end of the hydraulic support rod is connected inside the outer shell swivel base.

10. The palletizing device for conveying building materials according to claim 1, wherein, Anti-collision blocks are provided on both the front and rear sides of the mobile chassis.

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