A mobile robot palletizing system and palletizing method

Abstract

The present invention relates to the technical field of palletizing equipment, and in particular to a mobile robot palletizing system and a palletizing method, comprising an incoming material conveyor line; the incoming material conveyor line is provided with a visual detection device, and each pushing station is provided with a limit mechanism and a pushing assembly; multiple grouping conveyor lines, whose feed ends are connected to the pushing stations in a one-to-one correspondence; each grouping conveyor line is provided with a buffer area and a grabbing area; an empty pallet conveyor line has a stacking position, and each stacking position is provided with a steering conveyor assembly; multiple full pallet conveyor lines, whose feed ends are connected to the stacking positions in a one-to-one correspondence; a mobile robot assembly includes a transverse ground rail assembly, a robot body, and a clamp, and the robot body is configured to be able to move to the grabbing areas of all grouping conveyor lines to grab products, and move to all stacking positions to stack products on empty pallets. The present invention realizes the automation of the entire process of products from feeding, classification, grouping, palletizing to transportation, and improves the efficiency and accuracy of palletizing operations.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing equipment, and in particular to a movable robot palletizing system and a palletizing method. Background Art

[0002] In modern industrial production and logistics, palletizing is a crucial step in product packaging and storage. Traditional palletizing methods often rely on manual operation or fixed robotic arm palletizing. Manual palletizing is inefficient, labor-intensive, and prone to operational errors. Fixed robotic arm palletizing systems, on the other hand, lack flexibility and struggle to adapt to changing production layouts and product types. With the advancement of industrial automation and intelligentization, the market urgently needs efficient, flexible, and automated palletizing systems to meet diverse production needs.

[0003] In the related art, application number 202211486861.6 discloses a multi-category package box scanning circulation conveying and palletizing system, including a control system and a conveying device connected to the control system signal, a scanning and rejecting system, a palletizing system and a transportation system. Package boxes of different specifications are placed on the conveying device, and the conveying device transports the package boxes to the scanning and rejecting system for scanning. The package boxes that are successfully scanned are grabbed by the palletizing system, and the package boxes of different specifications are placed in different palletizing positions respectively. The package boxes that are unsuccessfully scanned are rejected by the conveying device. The palletizing system is used to grab the identified package boxes, and the transportation system is used to transport empty pallets and pallets after palletizing. This device can be used to carry out mixed flow transportation of at least six types of cartons, and the package boxes can be circulated, improving palletizing efficiency and reducing human-machine cross-work. However, the package boxes that are successfully scanned by the device but are not allowed to be palletized can only be circulated on the ring roller conveyor device, which cannot achieve efficient grouping of products, occupies a large space, and has low efficiency in palletizing operations. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a mobile robotic palletizing system and method that automates the entire product process, from feeding, sorting, grouping, palletizing, to transporting, thereby improving the efficiency and accuracy of palletizing operations.

[0005] A first aspect of the present invention provides a mobile robot palletizing system, comprising:

[0006] A transversely arranged incoming material conveyor line has a plurality of pushing stations distributed along its length; a visual inspection device is provided at the feed end of the incoming material conveyor line, and each pushing station is provided with a limiting mechanism for positioning the product and a pushing component for pushing the product longitudinally;

[0007] Multiple marshalling conveyor lines are arranged side by side in a longitudinal direction, and their feed ends are connected to the pushing stations in a one-to-one correspondence; each of the marshalling conveyor lines is provided with a buffer area and a grabbing area;

[0008] A transverse empty pallet conveyor line is located on the side of the marshalling conveyor line facing away from the incoming material conveyor line and has the same number of stacking positions as the marshalling conveyor line. Each stacking position is provided with a steering conveyor assembly for receiving and positioning an empty pallet and, after being stacked with products to form a full pallet, rotating the full pallet at a 90-degree angle and conveying it longitudinally to the full pallet conveyor line connected thereto;

[0009] Multiple full pallet conveyor lines are arranged side by side longitudinally, and their feed ends are connected to the stacking positions in a one-to-one correspondence;

[0010] A movable robot assembly, comprising a transverse ground rail assembly, a robot body movable along the transverse ground rail assembly, and a clamp mounted on the end of the robot body, wherein the robot body is configured to move to the grabbing areas of all marshaling conveyor lines to grab products, and to move to all stacking positions to stack products onto empty pallets;

[0011] The central control system is electrically connected to the visual detection device, multiple limiting mechanisms, multiple pushing components, multiple grouping conveying lines, empty pallet conveying lines, multiple full pallet conveying lines and the movable robot component.

[0012] In the first aspect of the present invention, as a preferred embodiment, the incoming material conveying line includes a first frame and a first roller conveying mechanism mounted on the first frame, wherein the first roller conveying mechanism is configured to convey the product in a transverse direction;

[0013] The visual detection device, limiting mechanism and pushing assembly are respectively installed on the first frame, wherein the limiting mechanism includes a liftable first baffle and a first lifting drive assembly, the first lifting drive assembly is used to drive the first baffle to rise or fall, so as to realize the switching of the first baffle between a blocking state and an unblocking state; the first baffle extends upward from the gap between adjacent rollers in the blocking state, and retracts downward to below the roller surface in the unblocking state.

[0014] In the first aspect of the present invention, as a preferred embodiment, the pushing component includes:

[0015] a linear actuator, fixed on the first frame;

[0016] A connecting seat connected to the output end of the linear actuator;

[0017] A plurality of push rods arranged in a vertical direction are installed on the connecting seat, and each push rod passes through the gap between adjacent rollers;

[0018] Among them, the linear actuator is used to drive the connecting seat and multiple push rods to move perpendicular to the conveying direction of the roller, so as to realize the switching of multiple push rods between retracted and extended states; when the push rod is in the retracted state, it is located on one side of the frame to allow the product to pass along the conveying direction, and when the push rod is in the extended state, it pushes the product to the corresponding grouping conveying line perpendicular to the conveying direction of the roller.

[0019] In the first aspect of the present invention, as a preferred embodiment, the marshaling conveyor line includes a second frame and a second roller conveyor mechanism mounted on the second frame, wherein the second roller conveyor mechanism is configured to convey the product in a longitudinal direction;

[0020] A blocking assembly is provided on the marshalling conveyor line, and the blocking assembly is located in the buffer area and includes a second baffle that can be raised or lowered and a second lifting drive assembly, and the second lifting drive assembly is used to drive the second baffle to rise or fall so as to switch the second baffle between a blocking state and an unblocking state; when in the blocking state, the second baffle extends upward from the gap between adjacent rollers to intercept products, and when in the unblocking state, it retracts downward to below the roller surface to allow products to pass.

[0021] In the first aspect of the present invention, as a preferred embodiment, the marshalling conveyor line further includes a sorting component located in a grabbing area, where the robot on the marshalling conveyor line grabs the product; the sorting component includes:

[0022] a transverse pushing mechanism, configured to push the product in a transverse direction to a first reference position;

[0023] a longitudinal pushing mechanism, configured to push the product longitudinally to a second reference position;

[0024] Among them, the action sequence of the horizontal pushing mechanism and the vertical pushing mechanism is configured as follows: first start the vertical pushing mechanism to push the product to the second reference position, and then start the horizontal pushing mechanism to push the product to the first reference position.

[0025] In the first aspect of the present invention, as a preferred embodiment, the transverse ground rail assembly includes:

[0026] A gate-shaped support seat is arranged across the conveying lines of the plurality of full pallets;

[0027] The guide rail and slider pair comprises at least one pair of guide rails installed on the top surface of the gate-shaped support seat at intervals along the longitudinal direction, and a slider assembly slidably fitted on each pair of the guide rails;

[0028] A sliding seat, fixedly mounted on the slider assembly;

[0029] The robot body is mounted on the sliding seat;

[0030] The first power assembly is used to drive the slider assembly, the sliding seat and the robot body to move along the guide rail. The movement range covers the grabbing areas of all marshalling conveyor lines and all stacking positions.

[0031] In the first aspect of the present invention, as a preferred embodiment, the clamp includes:

[0032] Connecting flange, connected to the end of the robot body;

[0033] Mounting plate, installed below the connecting flange;

[0034] A fixed splint is fixedly installed on one side of the bottom surface of the mounting plate;

[0035] A movable splint is slidably mounted on the other side of the bottom surface of the mounting plate;

[0036] The second power assembly drives the movable clamping plate to move toward or away from the fixed clamping plate to clamp or release the product.

[0037] In the first aspect of the present invention, as a preferred embodiment, the clamp further comprises a supporting assembly, the supporting assembly comprising a supporting member and a lifting driving assembly for driving the supporting member to lift in a vertical direction;

[0038] The supporting member comprises:

[0039] A horizontal connecting portion connected to the output end of the lifting drive assembly;

[0040] A plurality of equally spaced L-shaped fork rods are formed at the lower portion of the horizontal connecting portion;

[0041] Each L-shaped fork comprises: a vertical section connected to the horizontal connecting portion; a horizontal section formed at the bottom end of the vertical section;

[0042] The spacing between adjacent L-shaped fork rods is greater than the spacing between rollers of the marshalling conveyor line;

[0043] The support member is configured to have two states:

[0044] Descending state: the horizontal section penetrates into the gap between adjacent rollers, and the top of the horizontal section is lower than the top surface of the roller;

[0045] Supporting state: The lifting drive mechanism drives the supporting part to lift up, so that the horizontal section is higher than the top surface of the drum and supports the bottom surface of the product.

[0046] A second aspect of the present invention provides a palletizing method based on the mobile robot palletizing system of the first aspect, comprising the following steps:

[0047] S10, visual inspection step: When the product enters the incoming material conveyor line, the visual inspection device identifies the product label information and sends it to the central control system;

[0048] S20, classification and pushing step: The central control system determines the target pushing station according to preset rules; controls the limiting mechanism of the station to position the product, and the pushing component pushes the product longitudinally into the buffer area of ​​the corresponding grouping conveyor line;

[0049] S30, buffering and grouping step: the products are temporarily stored in the buffer area of ​​the grouping conveyor line and grouped and sorted in the grabbing area;

[0050] S40, palletizing step: When there is an empty pallet at the palletizing position, the robot body moves to the grabbing area, the clamp grabs the product and moves to the palletizing position to stack it on the empty pallet;

[0051] S50, full pallet processing step: When the palletizing position is full, the steering conveyor assembly rotates the full pallet by ninety degrees and conveys it longitudinally to the full pallet conveyor line.

[0052] In the second aspect of the present invention, as a preferred embodiment,

[0053] In the classification and pushing step, the first baffle of the limiting mechanism rises to block and position the product, and the push rod of the pushing assembly extends to push the product into the grouping conveyor line;

[0054] In the buffering and grouping step, the second baffle of the blocking assembly of the grouping conveyor line rises to intercept the products to achieve buffering, and then descends to allow the products to enter the grabbing area; the grouping and sorting step includes: the longitudinal pushing mechanism pushes the products to the second reference position, and the transverse pushing mechanism pushes the products to the first reference position;

[0055] In the palletizing step, the support member of the clamp first descends to the point where the horizontal section of the L-shaped fork is lower than the top surface of the roller of the marshalling conveyor line, and after clamping the product, the support member rises to the horizontal section to support the bottom surface of the product;

[0056] In the full stack processing step, the steering conveyor assembly rises to receive the full stack pallet, rotates it ninety degrees, and then conveys it longitudinally to the full stack pallet conveyor line.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1. The system according to the present invention is centered around a central control system that coordinates the various components to work together. The incoming material conveyor line transports the product horizontally, and the visual inspection device identifies the product information and feeds it back to the central control system. The central control system controls the limiting mechanism and the pushing mechanism according to preset rules to accurately push the product to the corresponding grouping conveyor line. The grouping conveyor line caches and groups the products, and the movable robot assembly moves to the designated grouping conveyor line through the horizontal ground rail assembly, grabs the product with a clamp, and stacks it on the empty pallet at the corresponding stacking position of the empty pallet conveyor line. After the stack is full, the steering conveyor assembly rotates the full pallet ninety degrees and transports it to the full pallet conveyor line to complete the transfer. In this way, the present invention realizes the automation of the entire process of product feeding, classification, grouping, palletizing to transfer, thereby improving the efficiency and accuracy of palletizing operations. The layout design of the empty and full pallet conveyor lines, as well as the installation of steering conveyor components, enables full pallets to be quickly and efficiently transferred from the palletizing position to the full pallet conveyor line, reducing the dwell time of full pallets and improving the operating efficiency of the entire palletizing system. At the same time, through the matrix layout of the horizontal incoming material line and the vertical marshalling line, a coordinated mechanism of product caching by category, robot cross-line grasping, and full pallet right-angle steering is implemented, resolving the contradiction between site utilization and marshalling efficiency. The movable robot component, through the horizontal ground rail component and the movable robot body, expands the robot's operating range, can cover multiple palletizing positions, and achieve efficient palletizing operations at multiple positions, further improving palletizing efficiency and reducing labor costs.

[0059] 2. According to the method of the present invention, after the product enters the incoming material conveyor line, the visual inspection device is activated to identify the product label information and transmit it to the central control system. The central control system determines the product classification based on preset rules and controls the relevant mechanisms of the incoming material conveyor line to push the product to the corresponding grouping conveyor line buffer area. In the buffering grouping step, the product is temporarily stored and grouped. When there is an empty pallet at the stacking position, the central control system controls the movable robot assembly to execute the palletizing step. After the pallet is full, the steering conveyor assembly is activated to complete the transfer of the full pallet. During the entire process, the central control system monitors the operating status of each component in real time and coordinates the control. This palletizing method realizes the automation and intelligent control of the entire palletizing process. Each step is closely connected to ensure that the products can be efficiently palletized according to the established rules. The real-time monitoring and coordination of the central control system enables the system to flexibly adjust the operation rhythm according to the actual production situation and handle abnormal situations in a timely manner, ensuring the stability and continuity of the palletizing operation, and significantly improving the overall efficiency and quality of the palletizing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 Schematic diagram of the structure of the mobile robot palletizing system of the present invention;

[0061] Figure 2 for Figure 1A schematic diagram of the enlarged structure of the middle part A;

[0062] Figure 3 It is a structural schematic diagram of the incoming material conveying line of the present invention;

[0063] Figure 4 It is a structural schematic diagram of the marshalling conveying line of the present invention;

[0064] Figure 5 It is a structural schematic diagram of the marshaling conveying line of the present invention from another angle;

[0065] Figure 6 It is a schematic structural diagram of an empty pallet conveyor line and a full pallet conveyor line of the present invention;

[0066] Figure 7 is a schematic structural diagram of a movable robot assembly of the present invention;

[0067] Figure 8 It is a schematic structural diagram of the transverse floor rail assembly of the present invention;

[0068] Figure 9 A schematic structural diagram of the transverse floor rail assembly of the present invention from another angle;

[0069] Figure 10 It is a structural schematic diagram of the clamp of the present invention;

[0070] Figure 11 It is a structural schematic diagram of the safety fence assembly of the present invention;

[0071] Figure 12 It is a flowchart of the palletizing method of the present invention;

[0072] Figure 13 This is a circuit principle block diagram of the present invention.

[0073] In the picture:

[0074] 10. Incoming material conveyor line; 101. Pushing station; 11. First frame; 12. First roller conveying mechanism; 13. Visual inspection device; 14. Limiting mechanism; 141. First baffle; 142. First lifting drive assembly; 15. Pushing assembly; 151. Linear actuator; 152. Connecting seat; 153. Push rod;

[0075] 20. Grouping conveyor line; 201. Buffer area; 202. Grabbing area; 21. Second frame; 22. Second roller conveyor mechanism; 23. Blocking mechanism; 231. Second baffle; 232. Second lifting drive assembly; 24. Arrangement assembly; 241. Horizontal pushing mechanism; 242. Vertical pushing mechanism;

[0076] 30. Empty pallet conveyor line; 301. Palletizing position; 31. Third rack; 32. Chain conveyor mechanism; 33. Steering conveyor assembly;

[0077] 40. Full pallet conveyor line; 41. Fourth frame; 42. Third roller conveyor mechanism;

[0078] 50. Movable robot assembly; 51. Horizontal ground rail assembly; 511. Door-shaped support seat; 512. Guide rail slider pair; 513. Sliding seat; 514. First power mechanism; 52. Robot body; 53. Clamp; 531. Connecting flange; 532. Mounting plate; 533. Fixed clamp; 534. Movable clamp; 535. Second power mechanism; 536. Support assembly; 5361. Support member; 5362. Lifting drive mechanism; 5363. Fixed seat;

[0079] 60. Central control system;

[0080] 70. Safety fence assembly; 71. Posts; 72. Guard net; 73. Maintenance door; 74. Safety grating. DETAILED DESCRIPTION

[0081] Below, the invention is further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0082] In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0083] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a connection through an intermediary medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0084] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. In addition, the terms "including," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product, or apparatus.

[0085] Example 1:

[0086] Please refer to Figures 1-13 , this embodiment provides a mobile robot palletizing system, comprising:

[0087] The horizontally arranged incoming material conveyor line 10 has a plurality of pushing stations 101 distributed along its length. The feeding end of the incoming material conveyor line 10 is provided with a visual inspection device 13. Each pushing station 101 is provided with a limiting mechanism 14 for positioning the product and a pushing component 15 for pushing the product longitudinally.

[0088] Multiple marshalling conveyor lines 20 are arranged side by side in a longitudinal direction, and their feeding ends are connected to the pushing stations 101 in a one-to-one correspondence; each of the marshalling conveyor lines 20 is provided with a buffer area 201 and a grabbing area 202;

[0089] The horizontally arranged empty pallet conveyor line 30 is located on the side of the marshalling conveyor line 20 facing away from the incoming material conveyor line 10 and has the same number of stacking positions 301 as the marshalling conveyor line 20. Each stacking position 301 is provided with a steering conveyor assembly 33 for receiving and positioning an empty pallet and, after being stacked with products to form a full pallet, rotating the full pallet at a 90-degree angle and conveying it longitudinally to the connected full pallet conveyor line 40;

[0090] A plurality of full pallet conveyor lines 40 are arranged side by side in a longitudinal direction, and their feed ends are connected to the palletizing positions 301 in a one-to-one correspondence;

[0091] The movable robot assembly 50 includes a transverse rail assembly 51, a robot body 52 movable along the transverse rail assembly 51, and a clamp 53 installed at the end of the robot body 52. ​​The robot body 52 is configured to be able to move to the grabbing areas 202 of all grouping conveyor lines 20 to grab products, and move to all stacking positions 301 to stack products on empty pallets; preferably, the robot body 52 can be a six-axis manipulator, which can imitate certain movement functions of human hands and arms, and is used to automatically operate according to a fixed program.

[0092] The central control system 60 is electrically connected to the visual inspection device 13, multiple limiting mechanisms 14, multiple pushing components 15, multiple grouping conveyor lines 20, empty pallet conveyor lines 30, multiple full pallet conveyor lines 40 and the movable robot component 50.

[0093] On the basis of the above structure, when the product enters the incoming material conveyor line 10, the visual inspection device 13 located at the feed end performs visual inspection on the product, identifies the information on the product label, and sends the information to the central control system 60 in real time. The central control system 60 determines the push station 101 to which the product should be conveyed based on the preset product classification rules. As the incoming material conveyor line 10 runs, when the product arrives at the corresponding push station 101, the central control system 60 controls the limiting mechanism 14 of the push station 101 to start, locate the product, and ensure the accurate position of the product. Subsequently, the pushing mechanism is controlled to push the product longitudinally so that the product enters the buffer area 201 of the grouping conveyor line 20 connected thereto. The products on the grouping conveyor line 20 are temporarily stored and grouped in the buffer area 201. When there is an empty pallet at the stacking position 301, the central control system 60 controls the movable robot assembly 50 to start working. The robot body 52 moves along the transverse ground rail assembly 51 to the corresponding position of the marshalling conveyor line 20. The clamp 53 at the end grabs the products on the marshalling conveyor line 20 and stacks them onto the empty pallet at the palletizing position 301. When the empty pallet at the palletizing position 301 is filled with products, the steering conveyor assembly 33 at the palletizing position 301 is activated, rotating the full pallet 90 degrees and conveying it longitudinally to the full pallet conveyor line 40. The full pallet conveyor line 40 transports the full pallet to the subsequent transportation location, completing the entire palletizing operation process. Throughout the palletizing operation, the central control system 60 monitors the operating status of each component in real time and coordinates and controls each component according to actual conditions to ensure stable and efficient operation of the entire palletizing system.

[0094] In this way, the present invention realizes the automation of the entire process of product feeding, classification, grouping, palletizing and transportation, and improves the efficiency and accuracy of palletizing operations. The layout design of the empty pallet conveyor line 30 and the full pallet conveyor line 40, as well as the setting of the steering conveying component 33, enable full pallets to be quickly and efficiently transferred from the palletizing position 301 to the full pallet conveyor line 40, reducing the residence time of the full pallet and improving the operating efficiency of the entire palletizing system. At the same time, through the matrix layout of the horizontal incoming material line and the vertical marshalling line, a coordinated mechanism of product caching by category, robot cross-line grabbing, and full pallet right-angle steering is realized, solving the contradiction between site utilization and grouping efficiency. The movable robot component 50 expands the robot's operating range through the horizontal ground rail component 51 and the movable robot body 52, and can cover multiple palletizing positions 301, realizing efficient palletizing operations on multiple palletizing positions 301, further improving palletizing efficiency and reducing labor costs.

[0095] In a preferred embodiment of the present invention, the incoming material conveying line 10 includes a first frame 11 and a first roller conveying mechanism 12 mounted on the first frame 11, and the first roller conveying mechanism 12 is configured to convey products in a transverse direction;

[0096] The visual inspection device 13, the limiting mechanism 14 and the pushing mechanism are respectively installed on the first frame 11, wherein,

[0097] The limiting mechanism 14 includes a first baffle 141 that can be raised or lowered and a first lifting drive assembly 142. The first lifting drive mechanism 5362 is used to drive the first baffle 141 to rise or fall so as to switch the first baffle 141 between a blocking state and an unblocking state; when the first baffle 141 is in the blocking state, it extends upward from the gap between adjacent rollers, and when it is in the unblocking state, it retracts downward to below the roller surface.

[0098] Based on the above structure, the first roller conveyor mechanism 12 drives the product to move horizontally. When the product reaches the vicinity of the pushing station 101, the central control system 60 controls the first lifting drive assembly 142 based on the information fed back by the visual inspection device 13 to raise the first baffle 141 and extend it from the gap between adjacent rollers to block the product from moving forward and achieve positioning. After positioning is completed, the pushing mechanism pushes the product out. In this way, the liftable first baffle 141 can accurately position the product, avoiding the continuous obstruction of product transportation by traditional fixed baffles and reducing the wear of the product during the transportation process. At the same time, in conjunction with the first roller conveyor mechanism 12 and the visual inspection device 13, it ensures that the product is accurately pushed to the correct position, laying the foundation for subsequent grouping and stacking, and improving the accuracy of product classification.

[0099] In a preferred embodiment of the present invention, the pushing mechanism includes:

[0100] The linear actuator 151 is fixed on the first frame 11;

[0101] A connecting seat 152 is connected to the output end of the linear actuator 151;

[0102] A plurality of push rods 153 arranged in a vertical direction are mounted on the connecting seat 152, and each push rod 153 passes through the gap between adjacent rollers;

[0103] Among them, the linear actuator 151 is used to drive the connecting seat 152 and multiple push rods 153 to move perpendicular to the conveying direction of the roller, so as to realize the switching of the multiple push rods 153 between the extended state and the retracted state; when the push rod 153 is in the retracted state, it is located on one side of the frame to allow the product to pass along the conveying direction, and when the push rod 153 is in the extended state, it can push the product in the direction perpendicular to the conveying direction of the roller.

[0104] Based on the above structure, when linear actuator 151 is energized, it drives connecting base 152 and the push rod 153 mounted thereon to move perpendicular to the direction of roller conveyance. When product pushing is required, push rod 153 extends from a retracted state, penetrates the gap between adjacent rollers, and pushes the positioned product longitudinally onto the marshaling conveyor line 20. When pushing is not required, push rod 153 retracts to the side of the frame, without affecting the normal conveyance of products on the incoming conveyor line 10. This design ensures smooth and accurate product pushing without interfering with the normal conveyance of the rollers, avoiding product tipping and damage caused by improper pushing methods. Furthermore, by controlling linear actuator 151, the stroke and thrust of push rod 153 can be flexibly adjusted to accommodate the pushing of products of varying sizes and weights, enhancing the system's versatility.

[0105] In a preferred embodiment of the present invention, the marshaling conveyor line 20 includes a second frame 21 and a second roller conveyor mechanism 22 mounted on the second frame 21, and the second roller conveyor mechanism 22 is configured to convey products in the longitudinal direction;

[0106] A blocking mechanism 23 is also provided in the middle of the second frame 21. The blocking mechanism 23 includes a liftable second baffle 231 and a second lifting drive assembly 232. The second lifting drive mechanism 5362 is used to drive the second baffle 231 to rise or fall to realize the switching of the second baffle 231 between a blocking state and an unblocking state; when the second baffle 231 is in the blocking state, it extends upward from the gap between adjacent rollers to intercept products for caching; when the second baffle 231 is in the unblocking state, it retracts downward to below the roller surface to allow products to pass along the conveying direction.

[0107] Based on the above structure, the second roller conveyor mechanism 22 moves the products longitudinally. When products need to be temporarily stored in the buffer area 201, the central control system 60 controls the second lifting drive assembly 232, causing the second baffle 231 to rise and extend from the gap between adjacent rollers to intercept the products. When the products need to continue to be conveyed for grouping, sorting, or palletizing, the second baffle 231 descends and retracts below the roller surface, allowing the products to pass smoothly. The liftable second baffle 231 enables flexible caching of products, dynamically adjusting the number and residence time of products in the buffer area 201 according to the production rhythm and palletizing requirements. This effectively coordinates the operating rhythm of the incoming material conveyor line 10 and the palletizing process, avoiding production congestion or waiting caused by speed mismatches between the front and rear links, and improving the smoothness and efficiency of the entire palletizing system.

[0108] In a preferred embodiment of the present invention, the marshalling conveyor line 20 further includes a collating assembly 24 disposed in the grabbing area 202, which includes:

[0109] Transverse pushing mechanism 241: configured to push the product in the transverse direction so as to move the product to the first reference position of the grouping conveying line 20;

[0110] Longitudinal pushing mechanism 242: configured to push the product longitudinally to move the product to the second reference position;

[0111] The action sequence of the transverse pushing mechanism 241 and the longitudinal pushing mechanism 242 is configured as follows: first start the longitudinal pushing mechanism 242 to push the product to the first reference position, and then start the transverse pushing mechanism 241 to push the product to the second reference position.

[0112] Based on the above structure, in the gripping area 202, the products are first pushed longitudinally (in the Y direction) by the longitudinal pushing mechanism 242 to the first reference position for preliminary alignment. The transverse pushing mechanism 241 then pushes the products transversely (in the X direction) to the second reference position for precise positioning. The two pushing mechanisms operate according to a preset sequence, ensuring that the products are neatly arranged for easy grasping by the robotic gripper 53. In this way, through the coordinated action of the transverse and longitudinal pushing mechanisms 242 and precise timing control of their movements, products can be efficiently and accurately grouped and arranged, achieving a uniform standard position and posture in the gripping area 202. This significantly improves the accuracy and stability of the robotic gripper 53 in grasping products, reduces the error rate in grasping, and thus improves the overall efficiency and quality of palletizing operations.

[0113] In a preferred embodiment of the present invention, the transverse ground rail assembly 51 includes a gate-shaped support seat 511, a guide rail slider pair 512, a sliding seat 513, and a first power mechanism 514;

[0114] The gate-shaped support base 511 is arranged across the conveying lines 40 of multiple full pallets;

[0115] The guide rail and slider pair 512 includes two guide rails symmetrically mounted on the top surface of the gate-shaped support seat 511 along the longitudinal direction and sliders respectively slidably fitted on the two guide rails;

[0116] The sliding seat 513 is fixedly mounted on the slider;

[0117] The robot body 52 is mounted on the sliding seat 513;

[0118] The first power mechanism 514 is used to drive the slider, the sliding seat 513 and the robot body 52 to move along the length direction of the guide rail, and the moving range covers all the stacking positions 301 of the empty pallet conveyor line.

[0119] On the basis of the above structure, the first power mechanism 514 drives the rack and pinion transmission assembly or other transmission methods to drive the slider to slide on the guide rail, and the slider is fixedly connected to the sliding seat 513, so that the robot body 52 installed on the sliding seat 513 moves along the length direction of the guide rail. The door-shaped support seat 511 provides stable support for the entire movement process, so that the robot body 52 can move above the stacking positions 301 of multiple empty pallet conveyor lines, covering all areas that need to be operated. The design of the transverse ground rail assembly 51 significantly expands the operating range of the robot body 52, allowing one robot to serve multiple stacking positions 301, reducing the number of robot equipment invested and reducing equipment procurement and maintenance costs. At the same time, the stable guide rail slider pair 512 and the reliable first power mechanism 514 ensure high-precision positioning of the robot during movement, ensuring that the robot can accurately grasp and stack products, and improving the efficiency and consistency of stacking operations.

[0120] In a preferred embodiment of the present invention, the first power mechanism 514 includes a first servo motor and a rack and pinion transmission assembly; the first servo motor is fixed on the sliding seat 513; the rack of the rack and pinion transmission pair is fixed parallel to the side of the guide rail, and the gear is installed on the output shaft of the servo motor.

[0121] In a preferred embodiment of the present invention, the fixture 53 comprises:

[0122] Connecting flange 531, connected to the end of the robot body 52;

[0123] The mounting plate 532 is installed below the connecting flange 531;

[0124] A fixed clamping plate 533 is fixedly mounted on one side of the bottom surface of the mounting plate 532;

[0125] A movable clamping plate 534 is slidably mounted on the other side of the bottom surface of the mounting plate 532;

[0126] The second power mechanism 535 drives the movable clamping plate 534 to move toward or away from the fixed clamping plate 533 to clamp or release the product.

[0127] Specifically, the second power mechanism 535 adopts a motor screw drive mechanism.

[0128] Based on the above structure, when the second power mechanism 535 is in operation, it drives the movable clamp 534 to move toward or away from the fixed clamp 533. When the robot body 52 moves to the corresponding position of the grabbing area 202 of the grouping conveyor line 20, the second power mechanism 535 moves the movable clamp 534 toward the fixed clamp 533 to clamp the product. After completing the palletizing task, the second power mechanism 535 controls the movable clamp 534 to move away from the fixed clamp 533, releasing the product. The clamp-type clamp 53 has a simple and practical structure. Through the cooperation of the movable clamp 534 and the fixed clamp 533, it can adapt to the clamping needs of products of different sizes and shapes, and has strong versatility. In addition, the second power mechanism 535 can accurately control the magnitude of the clamping force, which can not only ensure that the product does not slip during transportation, but also avoid damage to the product due to excessive clamping force, thereby improving the adaptability and reliability of the clamp 53 for various products.

[0129] In a preferred embodiment of the present invention, the clamp 53 further includes a supporting assembly 536, which includes a supporting member 5361 and a lifting drive mechanism 5362 for driving the supporting member 5361 to move up and down in the vertical direction;

[0130] The supporting member 5361 includes:

[0131] A horizontal connection portion connected to the output end of the lifting drive mechanism 5362;

[0132] A plurality of equally spaced L-shaped fork rods are formed at the lower portion of the horizontal connecting portion;

[0133] Each L-shaped fork includes:

[0134] The vertical section is connected to the lower part of the horizontal connecting part; the horizontal section is formed at the bottom end of the vertical section and is used to support the product;

[0135] Wherein, the spacing between adjacent L-shaped fork rods is greater than the spacing between rollers of the marshaling conveyor line 20;

[0136] The supporting member 5361 is configured to have two states:

[0137] Descending state: the horizontal section penetrates into the gap between adjacent rollers, and the top of the horizontal section is lower than the top surface of the roller;

[0138] Supporting state: the lifting drive mechanism 5362 drives the supporting member 5361 to lift, so that the horizontal section is higher than the top surface of the drum and supports the bottom surface of the product.

[0139] Specifically, the lifting drive mechanism 5362 can adopt a rodless cylinder or a rod cylinder.

[0140] Based on the above structure, before grabbing a product, the lifting drive mechanism 5362 drives the support member 5361 downward, allowing the horizontal section of the L-shaped fork rod to penetrate the gap between adjacent rollers, with the top of the horizontal section lower than the roller top surface, thus not affecting the normal transportation of the product on the grouping conveyor line 20. After the movable clamping plate 534 clamps the product, the lifting drive mechanism 5362 drives the support member 5361 upward, with the horizontal section higher than the roller top surface, supporting the bottom surface of the product. Working together with the clamping plate, it firmly clamps the product and facilitates robot handling. The design of the support assembly 536 effectively enhances the gripping stability of the clamp 53 for products. This is especially true for products with irregular shapes and bottom surfaces that are difficult to secure with clamping force. The L-shaped fork rod supports the bottom surface of the product, preventing the product from falling due to shaking or unstable center of gravity during handling. At the same time, the liftable design cleverly solves the spatial interference problem between the clamp 53 and the rollers of the grouping conveyor line 20, ensuring a smooth grasping process and further improving the reliability and efficiency of the palletizing operation.

[0141] In a preferred embodiment of the present invention, the supporting assembly 536 further includes a fixed seat 5363, which is mounted on the outer side of the movable splint 534, and a lifting drive mechanism 5362 is mounted on the fixed seat 5363. Preferably, the lifting drive mechanism 5362 is a rodless cylinder.

[0142] In a preferred embodiment of the present invention, the empty pallet conveying line 30 includes a third frame 31 and a chain conveying mechanism 32 mounted on the third frame 31, and the chain conveying mechanism 32 is configured to convey the empty pallets in the longitudinal direction;

[0143] The steering conveying assembly 33 includes a lifting frame arranged at the palletizing position 301 , on which a pallet steering chain is provided. The conveying direction of the pallet steering chain is perpendicular to the conveying direction of the chain conveying mechanism 32 .

[0144] In this way, the full pallet can be turned at a ninety-degree angle and conveyed to the full pallet conveyor line 40, which has the advantages of fast and accurate turning and easy operation.

[0145] In a preferred embodiment of the present invention, the full pallet conveyor line 40 includes a fourth frame 41 and a third roller conveyor mechanism 42 mounted on the fourth frame 41, and the third roller conveyor mechanism 42 is configured to convey products in the longitudinal direction;

[0146] In a preferred embodiment of the present invention, a safety fence assembly 70 is also included, consisting of columns 71, a guard net 72, a maintenance door 73, and a safety grating 74. The columns 71 serve as a support structure, fixed at regular intervals to support the guard net 72, forming the boundary of a closed palletizing area. The guard net 72, made of a high-strength metal mesh, is installed between the columns 71 to prevent side access to the palletizing area. The maintenance door 73 is located in a convenient location for equipment maintenance and is equipped with a door lock and a safety interlock device that automatically cuts off power to the palletizing system when the door is opened, ensuring the safety of maintenance personnel. The safety grating 74 is positioned along the top of the fence or at key access points, forming an infrared sensor barrier. When the palletizing system is in operation, the safety grating 74 continuously emits an infrared beam. If a person or object blocks the beam, the grating immediately transmits a signal to the central control system 60. Upon receiving the signal, the central control system 60 immediately triggers an emergency shutdown sequence, halting the mobile robot and the conveyor line, and activating an audible and visual alarm to warn personnel to evacuate the danger zone. When the maintenance door 73 is closed, the safety interlock device is in the on state and the system can operate normally; when the maintenance door 73 is opened, the interlock device cuts off the system power supply to prevent accidental startup of the equipment from causing harm to maintenance personnel.

[0147] In the mobile robotic palletizing system, the buffer area 201 on the marshaling conveyor line 20 is a key component in eliminating upstream and downstream rhythm discrepancies. Located between the incoming material conveyor line 10 and the mobile robotic palletizing station, it serves to temporarily store and regulate the product delivery rhythm. When the upstream incoming material conveyor line 10 is moving at a high speed, while the downstream palletizing station 301 is processing more slowly due to robotic grasping and stacking operations or empty pallet replacement, the buffer area 201 can temporarily accommodate excess product, preventing product accumulation and blockage on the incoming material conveyor line 10. Conversely, when the downstream palletizing station 301 speeds up and the upstream conveyor line is unable to supply product in time, the product stored in the buffer area 201 can be replenished promptly, ensuring the continuity of the palletizing operation.

[0148] When products rapidly arrive at the push station 101 via the incoming conveyor line 10, and the central control system 60 determines that the downstream palletizing station 301 is busy (e.g., a robot is stacking products or an empty pallet has not yet arrived), it controls the limiting mechanism 14 of the push station 101 to position the products. The pushing mechanism then pushes the products to the buffer area 201 of the marshalling conveyor line 20. At this point, the blocking mechanism 23 in the middle of the marshalling conveyor line 20 is in a blocking position, extending upward from the gap between adjacent rollers to intercept the products and force them to remain in the buffer area 201. As products continue to enter, the buffer area 201 gradually accumulates a certain number of products, which then wait for the downstream palletizing station 301 to become ready. When an empty pallet is available at the palletizing station 301 and the robot is idle, the central control system 60 controls the second baffle 231 to descend to its unblocked position, releasing the products from the buffer area 201 in sequence and conveying them to the grabbing area 202 for the robot to grab and stack, thus buffering and accommodating the faster upstream process.

[0149] If the downstream palletizing station 301's processing speed increases, such as due to reduced empty pallet replacement time or improved robotic palletizing efficiency, resulting in increased product demand, and the incoming material conveyor line 10 is unable to promptly supply products due to product inspection and sorting, the products stored in the buffer area 201 can be replenished promptly. At this point, the second baffle 231 of the blocking mechanism 23 descends, and the products in the buffer area 201 are quickly transported to the grabbing area 202 by the second roller conveyor mechanism 22, meeting the needs of the downstream palletizing station 301. This prevents interruptions in palletizing operations due to insufficient product supply and balances the tactile differences between upstream and downstream.

[0150] The central control system 60 monitors the operating status of upstream and downstream components in real time, including the product delivery progress of the incoming material conveyor line 10, the empty pallet status of the palletizing station 301, and the operating status of the robot. Based on this information, the central control system 60 precisely controls the timing of the push mechanism and the blocking mechanism 23 to ensure that the buffer 201 can store and release products appropriately, dynamically adjusting to the differences in the upstream and downstream rhythms. For example, if the palletizing station 301 is about to become empty, the push mechanism is activated to advance the product to the buffer 201 to prepare for supply. If the palletizing station 301 is busy, the system promptly blocks the product from entering the buffer 201 to prevent excessive accumulation.

[0151] After products are released from the buffer area 201 and enter the grabbing area 202, the sorting assembly 24 comes into play. The longitudinal and transverse pusher mechanisms 242 and 241 operate in a specific time sequence to precisely position and sort the products into the standard grabbing position. This not only improves the robot's grasping accuracy and stability but also further optimizes the overall efficiency of the palletizing operation, ensuring palletizing quality while eliminating time variations.

[0152] The provision of buffer area 201 within the marshaling conveyor line 20, in conjunction with other components, effectively eliminates tempo discrepancies between the upstream and downstream mobile robotic palletizing systems, improving the stability and smoothness of system operation. This reduces product accumulation and equipment blockages caused by tempo mismatches, and avoids energy waste and equipment wear caused by frequent starts and stops. Furthermore, it ensures the continuity of palletizing operations, improves the production efficiency and automation level of the entire palletizing system, and reduces operating costs.

[0153] Example 2:

[0154] Please refer to Figures 1-13 This embodiment discloses a palletizing method of the mobile robot palletizing system based on the first embodiment, comprising the following steps:

[0155] S10, visual inspection step: When the product enters the incoming material conveyor line, the visual inspection device identifies the product label information and sends it to the central control system;

[0156] S20, classification and pushing step: The central control system determines the target pushing station according to preset rules; controls the limiting mechanism of the station to position the product, and the pushing component pushes the product longitudinally into the buffer area of ​​the corresponding grouping conveyor line;

[0157] S30, buffering and grouping step: the products are temporarily stored in the buffer area of ​​the grouping conveyor line and grouped and sorted in the grabbing area;

[0158] S40, palletizing step: When there is an empty pallet at the palletizing position, the robot body moves to the grabbing area, the clamp grabs the product and moves to the palletizing position to stack it on the empty pallet;

[0159] S50, full pallet processing step: When the palletizing position is full, the steering conveyor assembly rotates the full pallet by ninety degrees and conveys it longitudinally to the full pallet conveyor line.

[0160] During the entire palletizing process, the central control system monitors the operating status of each component in real time and coordinates and controls each component based on actual conditions.

[0161] Based on the above method, after the product enters the incoming material conveyor line, the visual inspection device is activated, identifying the product label information and transmitting it to the central control system. The central control system determines the product classification based on preset rules and controls the relevant mechanisms of the incoming material conveyor line to push the product to the corresponding grouping conveyor line buffer area. During the buffer grouping step, the product is temporarily stored and grouped. When there is an empty pallet in the stacking position, the central control system controls the movable robot assembly to execute the palletizing step. Once the pallet is full, the steering conveyor assembly is activated to complete the transfer of the full pallet. Throughout this process, the central control system monitors the operating status of each component in real time and coordinates control. This palletizing method realizes automated and intelligent control of the entire palletizing process, with each step closely linked to ensure that products are efficiently palletized according to established rules. The real-time monitoring and coordination of the central control system enables the system to flexibly adjust the operation rhythm according to actual production conditions and promptly handle abnormal situations, ensuring the stability and continuity of the palletizing operation, and significantly improving the overall efficiency and quality of the palletizing operation.

[0162] As a preferred embodiment,

[0163] In the classification and pushing step, the first baffle of the limiting mechanism rises to block and position the product, and the push rod of the pushing assembly extends to push the product into the grouping conveyor line;

[0164] In the buffering and grouping step, the second baffle of the blocking assembly of the grouping conveyor line rises to intercept the products to achieve buffering, and then descends to allow the products to enter the grabbing area; the grouping and sorting step includes: the longitudinal pushing mechanism pushes the products to the second reference position, and the transverse pushing mechanism pushes the products to the first reference position;

[0165] In the palletizing step, the support member of the clamp first descends to the point where the horizontal section of the L-shaped fork is lower than the top surface of the roller of the marshalling conveyor line, and after clamping the product, the support member rises to the horizontal section to support the bottom surface of the product;

[0166] In the full stack processing step, the steering conveying assembly rises to receive the full stack pallet, rotates ninety degrees, and then conveys it longitudinally to the full stack pallet conveying line.

[0167] Based on the above method, in the classification and pushing step, the limiting mechanism and the pushing mechanism operate in a preset manner to achieve precise product pushing; in the cache grouping step, the blocking mechanism and the product sorting step work together to complete product caching and precise positioning; in the palletizing step, the fixture support assembly and the robot moving mechanism cooperate to achieve accurate grasping and stacking; in the full pallet processing step, the empty pallet conveyor line and the steering conveyor assembly operate in an orderly manner to complete the transfer of full pallets.

[0168] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be envisioned by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, use of materials, color, orientation, etc.

[0169] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A mobile robot palletizing system, characterized in that: include: A transversely arranged incoming material conveyor line has a plurality of pushing stations distributed along its length; a visual inspection device is provided at the feed end of the incoming material conveyor line, and each pushing station is provided with a limiting mechanism for positioning the product and a pushing component for pushing the product longitudinally; Multiple marshalling conveyor lines are arranged side by side in a longitudinal direction, and their feed ends are connected to the pushing stations in a one-to-one correspondence; each of the marshalling conveyor lines is provided with a buffer area and a grabbing area; A transverse empty pallet conveyor line is located on the side of the marshalling conveyor line facing away from the incoming material conveyor line and has the same number of stacking positions as the marshalling conveyor line. Each stacking position is provided with a steering conveyor assembly for receiving and positioning an empty pallet and, after being stacked with products to form a full pallet, rotating the full pallet at a 90-degree angle and conveying it longitudinally to the full pallet conveyor line connected thereto; Multiple full pallet conveyor lines are arranged side by side longitudinally, and their feed ends are connected to the stacking positions in a one-to-one correspondence; A movable robot assembly, comprising a transverse ground rail assembly, a robot body movable along the transverse ground rail assembly, and a clamp mounted on the end of the robot body, wherein the robot body is configured to move to the grabbing areas of all marshaling conveyor lines to grab products, and to move to all stacking positions to stack products onto empty pallets; a central control system electrically connected to the visual inspection device, the plurality of limit mechanisms, the plurality of push assemblies, the plurality of grouping conveyor lines, the empty pallet conveyor line, the plurality of full pallet conveyor lines, and the movable robot assembly; The transverse ground rail assembly comprises: A gate-shaped support seat is arranged across the conveying lines of the plurality of full pallets; The guide rail and slider pair comprises at least one pair of guide rails installed on the top surface of the gate-shaped support seat at intervals along the longitudinal direction, and a slider assembly slidably fitted on each pair of the guide rails; A sliding seat, fixedly mounted on the slider assembly; The robot body is mounted on the sliding seat; The first power assembly is used to drive the slider assembly, the sliding seat and the robot body to move along the guide rail. The movement range covers the grabbing area of ​​all marshalling conveyor lines and all stacking positions; The marshalling conveyor line also includes a sorting component located in the grabbing area, which is the position where the robot on the marshalling conveyor line grabs products; the sorting component includes: a transverse pushing mechanism, configured to push the product in a transverse direction to a first reference position; a longitudinal pushing mechanism, configured to push the product longitudinally to a second reference position; Among them, the action sequence of the horizontal pushing mechanism and the vertical pushing mechanism is configured as follows: first start the vertical pushing mechanism to push the product to the second reference position, and then start the horizontal pushing mechanism to push the product to the first reference position.

2. The mobile robot palletizing system according to claim 1, wherein: The incoming material conveying line includes a first frame and a first roller conveying mechanism mounted on the first frame, wherein the first roller conveying mechanism is configured to convey products in a transverse direction; The visual detection device, limiting mechanism and pushing assembly are respectively installed on the first frame, wherein the limiting mechanism includes a liftable first baffle and a first lifting drive assembly, the first lifting drive assembly is used to drive the first baffle to rise or fall, so as to realize the switching of the first baffle between a blocking state and an unblocking state; the first baffle extends upward from the gap between adjacent rollers in the blocking state, and retracts downward to below the roller surface in the unblocking state.

3. The mobile robot palletizing system according to claim 2, wherein: The push component includes: a linear actuator, fixed on the first frame; A connecting seat connected to the output end of the linear actuator; A plurality of push rods arranged in a vertical direction are installed on the connecting seat, and each push rod passes through the gap between adjacent rollers; Among them, the linear actuator is used to drive the connecting seat and multiple push rods to move perpendicular to the conveying direction of the roller, so as to realize the switching of multiple push rods between retracted and extended states; when the push rod is in the retracted state, it is located on one side of the frame to allow the product to pass along the conveying direction, and when the push rod is in the extended state, it pushes the product to the corresponding grouping conveying line perpendicular to the conveying direction of the roller.

4. The mobile robot palletizing system according to claim 1, wherein: The marshaling conveyor line includes a second frame and a second roller conveying mechanism mounted on the second frame, wherein the second roller conveying mechanism is configured to convey products in a longitudinal direction; A blocking assembly is provided on the marshalling conveyor line, and the blocking assembly is located in the buffer area and includes a second baffle that can be raised or lowered and a second lifting drive assembly, and the second lifting drive assembly is used to drive the second baffle to rise or fall so as to switch the second baffle between a blocking state and an unblocking state; when in the blocking state, the second baffle extends upward from the gap between adjacent rollers to intercept products, and when in the unblocking state, it retracts downward to below the roller surface to allow products to pass.

5. The mobile robot palletizing system according to claim 1, wherein: The fixture comprises: Connecting flange, connected to the end of the robot body; Mounting plate, installed below the connecting flange; A fixed splint is fixedly installed on one side of the bottom surface of the mounting plate; A movable splint is slidably mounted on the other side of the bottom surface of the mounting plate; The second power assembly drives the movable clamping plate to move toward or away from the fixed clamping plate to clamp or release the product.

6. The mobile robot palletizing system according to claim 5, wherein: The clamp further includes a supporting assembly, which includes a supporting member and a lifting driving assembly for driving the supporting member to lift in a vertical direction; The supporting member comprises: A horizontal connecting portion connected to the output end of the lifting drive assembly; A plurality of equally spaced L-shaped fork rods are formed at the lower portion of the horizontal connecting portion; Each L-shaped fork comprises: a vertical section connected to the horizontal connecting portion; a horizontal section formed at the bottom end of the vertical section; The spacing between adjacent L-shaped fork rods is greater than the spacing between rollers of the marshalling conveyor line.

7. A palletizing method, characterized in that: The mobile robot palletizing system according to any one of claims 1 to 6 comprises the following steps: S10, visual inspection step: When the product enters the incoming material conveyor line, the visual inspection device identifies the product label information and sends it to the central control system; S20, classification and pushing step: The central control system determines the target pushing station according to preset rules; controls the limiting mechanism of the station to position the product, and the pushing component pushes the product longitudinally into the buffer area of ​​the corresponding grouping conveyor line; S30, buffering and grouping step: the products are temporarily stored in the buffer area of ​​the grouping conveyor line and grouped and sorted in the grabbing area; S40, palletizing step: When there is an empty pallet at the palletizing position, the robot body moves to the grabbing area, the clamp grabs the product and moves to the palletizing position to stack it on the empty pallet; S50, full pallet processing step: When the palletizing position is full, the steering conveyor assembly rotates the full pallet by ninety degrees and conveys it longitudinally to the full pallet conveyor line.

8. The palletizing method according to claim 7, wherein: In the classification and pushing step, the first baffle of the limiting mechanism rises to block and position the product, and the push rod of the pushing assembly extends to push the product into the grouping conveyor line; In the buffering and grouping step, the second baffle of the blocking assembly of the grouping conveyor line rises to intercept the product to achieve buffering, and then descends to allow the product to enter the grabbing area; the grouping and sorting includes: the longitudinal pushing mechanism pushes the product to the second reference position, and the transverse pushing mechanism pushes the product to the first reference position; In the palletizing step, the support member of the clamp first descends to the point where the horizontal section of the L-shaped fork is lower than the top surface of the roller of the marshalling conveyor line, and after clamping the product, the support member rises to the horizontal section to support the bottom surface of the product; In the full stack processing step, the steering conveyor assembly rises to receive the full stack pallet, rotates it ninety degrees, and then conveys it longitudinally to the full stack pallet conveyor line.

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