Stacking manipulator applied to corrugated paper production conveying line

Abstract

The invention discloses a stacking mechanical arm applied to a corrugated paper production conveying line, and relates to the technical field of stacking mechanical arms, the stacking mechanical arm comprises a mechanical arm body, and a connecting frame is arranged at the bottom of the right end of the mechanical arm body. The corrugated paper pile packing device is reasonable in design structure, a servo motor A drives a bearing frame to be separated from a packing belt of a corrugated paper pile, meanwhile, an electric telescopic rod C drives a pushing frame B to be away from the corrugated paper pile, an electric telescopic rod B drives a pushing frame A to move downwards to the side wall of the corrugated paper pile through a connecting rod and an adjusting frame, and a control module drives the electric telescopic rod A to drive a lifting frame to move upwards by a certain distance; the lifting frame drives the adjusting wheel B to move upwards through the rotating ring and is meshed with the moving plate A. The control module drives the servo motor B to operate, the servo motor B drives the adjusting wheel B to rotate by a certain number of turns through the power shaft, the adjusting wheel B drives the moving plate A to move, the moving plate A drives the pushing frame A to move through the guiding frame A, and the pushing frame A pushes corrugated paper to move. The corrugated paper stacking device has the advantage of being compact in stacking.

Description

Technical Field

[0001] The invention relates to the technical field of palletizing robots, in particular to a palletizing robot used on a corrugated paper production conveyor line. Background Art

[0002] Corrugated paper is a plate-like material made by gluing noodle paper and corrugated paper formed by processing with corrugated rollers. It is generally divided into single-corrugated cardboard and double-corrugated cardboard. It has the advantages of low cost, light weight, easy processing, high strength, convenient storage and transportation, etc. It is widely used in the packaging field. The production conveyor line of corrugated paper usually has a conveyor belt, a drive device, a tensioning device, a guide device, and a support structure. On the production conveyor line of corrugated paper, the stacked corrugated paper is heavy, and the same operation needs to be repeated during transportation. Manual transportation consumes a lot of manpower. Therefore, current technology uses robots to replace manpower, and the robots stack and organize the corrugated paper.

[0003] However, conventional robots use a shovel to scoop up stacked corrugated paper from underneath, then transfer it to the stack before withdrawing it. This process only lifts the bottom of the corrugated paper, which can easily cause the stacked corrugated paper to tilt and collapse during the robot's withdrawal. Furthermore, after palletizing the corrugated paper, gaps often form between the stacks because the robot needs to hold the paper at a certain distance. This requires the cooperation of another palletizer to ensure tight stacking, increasing operating costs. To address this issue, we have developed a palletizing robot for use on corrugated paper production conveyor lines. Summary of the Invention

[0004] 1) Technical problems solved

[0005] The purpose of the present invention is to remedy the deficiencies of the prior art and to provide a palletizing robot for use on a corrugated paper production conveyor line.

[0006] 2) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a stacking robot applied to a corrugated paper production conveyor line, comprising a robot arm body, a connecting frame is provided at the bottom of the right end of the robot arm body, the bottom of the connecting frame is fixedly connected to the carrying plate, a limiting mechanism is provided at the bottom of the carrying plate, contact mechanisms are provided on the left and right sides of the carrying plate, an adjustment mechanism is provided near the contact mechanism on the top rear end of the carrying plate, a distance measuring sensor is embedded in the front side of the connecting frame inside the carrying plate, the limiting mechanism comprises a moving frame, the moving frame is arranged in a "T" shape, and the front and rear sides of the top wall of the moving frame are slidingly connected to the bottom wall of the carrying plate by setting a limiting slider, the bottom of the left end of the moving frame is rotatably connected to a bidirectional screw rod, the outer surface of the bidirectional screw rod is located at the front and rear sides of the moving frame and is rotatably connected to the load-bearing frame, the load-bearing frame is arranged in an "L" shape, the right end of the moving frame is fixedly connected to the contact plate above the carrying plate, the top wall of the contact plate is embedded with a rack, the bottom wall of the contact plate and the top wall of the carrying plate are slidingly connected, and the contact plate and the moving frame are arranged in a "U" shape.

[0008] Furthermore, the top wall of the supporting plate is located above the contact plate and is rotatably connected to an adjusting wheel A, which is engaged with a rack. The top wall of the supporting plate is rotatably connected to the front and rear sides of the adjusting wheel A by setting a support frame. The front axis position of the adjusting wheel A is fixedly connected to a transmission wheel. The top wall of the supporting plate is located on the right side of the connecting frame and is fixedly connected to a servo motor A. The front output end of the servo motor A is engaged with the transmission wheel through a transmission chain.

[0009] Furthermore, the bottom wall of the bearing plate is provided with a sliding groove engaged with the limiting slider, the top of the load-bearing frame is provided with a moving groove engaged with the bottom wall of the left end of the moving frame, and the right side of the bottom end of the load-bearing frame is provided with an inclined groove.

[0010] Furthermore, the contact mechanism includes a servo motor B, the outer wall of the servo motor B is fixedly connected to the top wall of the supporting plate by setting a bracket, the bottom output end of the servo motor B is fixedly connected to the power shaft, the outer surface of the power shaft is slidably connected to the adjusting wheel B, the top wall of the adjusting wheel B is fixedly connected to a rotating ring away from the power shaft, the outer surface of the rotating ring is located at the rear side of the servo motor B and is rotatably connected to a lifting frame, the top wall of the rear end of the lifting frame is fixedly connected to the electric telescopic rod A, and the top wall of the supporting plate is connected to the outer wall of the electric telescopic rod A by setting a bracket.

[0011] Furthermore, the front side of the adjusting wheel B is engaged with a movable plate A, the front side of the left end of the movable plate A is fixedly connected to a guide frame A, the rear side of the adjusting wheel B is engaged with the movable plate B, the front side of the right end of the movable plate B is fixedly connected to the guide frame B, the top wall of the supporting plate is located at the side wall of the movable plate A and the side wall of the movable plate B are fixedly connected to the guide rail, the side wall of the movable plate A and the side wall of the movable plate B are respectively slidably connected to the guide rail, and a guide groove engaged with the guide frame A and the guide frame B is provided inside the supporting plate, and the side wall of the movable plate A and the side wall of the movable plate B are engaged with the adjusting wheel B by setting a plurality of teeth.

[0012] Furthermore, the guide frame A is internally slidably connected to the pushing frame A, the top of the pushing frame A is fixedly connected to the adjusting frame, the left side wall of the load-bearing plate is fixedly connected to the electric telescopic rod B, the top output end of the electric telescopic rod B is located inside the adjusting frame and is fixedly connected to the connecting rod, the connecting rod and the interior of the adjusting frame form a sliding connection, the guide frame B is internally slidably connected to the pushing frame B, the top rear end of the pushing frame B is fixedly connected to the electric telescopic rod C, and the top wall of the movable plate B is connected to the outer wall of the electric telescopic rod C by setting a bracket.

[0013] Furthermore, the top wall of the carrying plate is fixedly connected to a control module at the rear side of the connecting frame, and the ranging sensor, servo motor A, servo motor B, electric telescopic rod A, electric telescopic rod B, and electric telescopic rod C are all connected to the control module.

[0014] 3) Beneficial effects:

[0015] Compared with the existing technology, the palletizing robot used in the corrugated paper production conveyor line has the following advantages:

[0016] Beneficial effects:

[0017] First, the present invention stacks corrugated paper on a pallet through a mechanical arm body. The servo motor A drives the load-bearing frame to separate from the packing belt of the corrugated paper pile. At the same time, the electric telescopic rod C drives the pushing frame B to move above the horizontal plane of the top of the corrugated paper pile. The electric telescopic rod B drives the adjustment frame downward through the connecting rod. The adjustment frame drives the pushing frame A to move downward to the side wall of the corrugated paper pile. The control module drives the electric telescopic rod A to operate. The electric telescopic rod A drives the lifting frame to move up a certain distance. The lifting frame drives the adjustment wheel B to move up through the rotating ring and engages with the moving plate A. The control module drives the servo motor C to move upward. When machine B is running, servo motor B drives adjusting wheel B to rotate a certain number of circles through power shaft, and adjusting wheel B drives movable plate A to move, and movable plate A drives pushing frame A to move through guide frame A, and pushing frame A pushes corrugated paper pair to move, so that the stacking of corrugated paper is tighter. This solves the problem that after the existing robot stacks corrugated paper, there is a certain distance between the robot clamping materials, and another whole stacking machine is needed to cooperate to stack the paper piles tightly, which increases the use cost. It has the advantage of tight stacking.

[0018] The servo motor A is used to move the load-bearing frame to the position where the packing tape of the corrugated paper pile is moved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the orthogonal triaxial drawing of the present invention;

[0020] Figure 2 This is a schematic diagram of the load-bearing frame of the present invention;

[0021] Figure 3 Schematic diagram of the adjusting wheel A of the present invention;

[0022] Figure 4 This is a schematic diagram of the lifting frame of the present invention;

[0023] Figure 5 This is a schematic diagram of the control module of the present invention;

[0024] Figure 6 Schematic diagram of the distance measuring sensor of the present invention;

[0025] Figure 7 It is a schematic diagram of the mobile frame of the present invention;

[0026] Figure 8 This is a schematic diagram of the guide frame A of the present invention;

[0027] Figure 9 This is a schematic diagram of the rotating ring of the present invention;

[0028] Figure 10 Schematic diagram of the guide rail of the present invention.

[0029] In the figure: 1. Robot arm body; 2. Connecting frame; 3. Load-bearing plate; 4. Distance measuring sensor; 5. Moving frame; 6. Limit slider; 7. Bidirectional screw rod; 8. Load-bearing frame; 9. Contact plate; 10. Rack; 11. Adjusting wheel A; 12. Transmission wheel; 13. Servo motor A; 14. Transmission chain; 15. Servo motor B; 16. Power shaft; 17. Adjusting wheel B; 18. Rotating ring; 19. Lifting frame; 20. Electric telescopic rod A; 21. Moving plate A; 22. Guide frame A; 23. Moving plate B; 24. Guide frame B; 25. Guide rail; 26. Guide groove; 27. Pushing frame A; 28. Adjusting frame; 29. ​​Electric telescopic rod B; 30. Connecting rod; 31. Pushing frame B; 32. Electric telescopic rod C; 33. Control module. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] like Figures 1-10 As shown, the present invention provides a technical solution: a stacking robot applied to a corrugated paper production conveyor line, comprising a robot body 1, a connecting frame 2 is provided at the bottom of the right end of the robot body 1, a carrying plate 3 is fixedly connected to the bottom end of the connecting frame 2, a limiting mechanism is provided at the bottom of the carrying plate 3, contact mechanisms are provided on both sides of the carrying plate 3, an adjustment mechanism is provided at the rear end of the top of the carrying plate 3 near the contact mechanism, a distance measuring sensor 4 is embedded in the interior of the carrying plate 3 at the front side of the connecting frame 2, the limiting mechanism comprises a moving frame 5, the moving frame 5 is arranged in a "T" shape, and the front and rear sides of the top wall of the moving frame 5 are connected to the carrying plate 3 by setting a limiting slider 6. The bottom wall of the plate 3 forms a sliding connection, and the bottom wall of the load-bearing plate 3 is provided with a sliding groove that engages with the limit slider 6. The bottom left end of the mobile frame 5 is rotatably connected to a two-way screw rod 7. The outer surface of the two-way screw rod 7 is located on the front and rear sides of the mobile frame 5 and is rotatably connected to the load-bearing frame 8. The load-bearing frame 8 is arranged in an "L" shape. The top of the load-bearing frame 8 is provided with a moving groove that engages with the bottom wall of the left end of the mobile frame 5, and the right side of the bottom end of the load-bearing frame 8 is provided with an inclined groove. The opening of the inclined groove makes it easier for the load-bearing frame 8 to be inserted under the packing tape of the corrugated paper pile. The distance between the load-bearing frames 8 can be manually adjusted according to the size of the corrugated paper. The adjustment can be achieved by rotating the two-way screw rod 7 to drive the load-bearing frames 8 to move toward each other.

[0032] The right end of the mobile frame 5 is located above the carrier plate 3 and is fixedly connected to the contact plate 9. The top wall of the contact plate 9 is inlaid with a rack 10. The bottom wall of the contact plate 9 and the top wall of the carrier plate 3 form a sliding connection. The contact plate 9 and the mobile frame 5 are arranged in a "U" shape. The top wall of the carrier plate 3 is located above the contact plate 9 and is rotatably connected to the adjusting wheel A11. The adjusting wheel A11 is engaged with the rack 10. The top wall of the carrier plate 3 is rotatably connected to the front and rear sides of the adjusting wheel A11 by setting a support frame. The front axis position of the adjusting wheel A11 is fixedly connected to the transmission wheel 12. The top wall of the carrier plate 3 is located on the right side of the connecting frame 2 and is fixedly connected to the servo motor A13. The front output end of the servo motor A13 is engaged with the transmission wheel 12 through a transmission chain 14. The control module 33 drives the pushing frame B31 through the electric telescopic rod C32. Move downward, the robot arm body 1 controls the movement of the load-bearing plate 3 through the connecting frame 2, and the load-bearing plate 3 drives the load-bearing frame 8 to approach the strapping position of the corrugated paper pile through the mobile frame 5. The control module 33 drives the servo motor A13 to operate, and the servo motor A13 drives the transmission wheel 12 to rotate through the transmission chain 14, and the transmission wheel 12 drives the adjusting wheel A11 to rotate. The adjusting wheel A11 drives the contact plate 9 to move through the rack 10, and the contact plate 9 drives the load-bearing frame 8 to adjust the initial position through the mobile frame 5. The load-bearing frame 8 is controlled to move down a certain distance and press down the corrugated paper pile through the ranging sensor 4. At this time, the servo motor A13 drives the load-bearing frame 8 to move again, and the load-bearing frame 8 is inserted under the strapping of the corrugated paper pile. The robot arm body 1 transfers the position of the carried corrugated paper pile through the connecting frame 2.

[0033] The contact mechanism includes a servo motor B15, the outer wall of the servo motor B15 is fixedly connected to the top wall of the supporting plate 3 by setting a bracket, the bottom output end of the servo motor B15 is fixedly connected to the power shaft 16, the outer surface of the power shaft 16 is slidably connected to the adjusting wheel B17, the top wall of the adjusting wheel B17 is fixedly connected to a rotating ring 18 away from the power shaft 16, the outer surface of the rotating ring 18 is located at the rear side of the servo motor B15 and is rotatably connected to the lifting frame 19, the rear end top wall of the lifting frame 19 is fixedly connected to the electric telescopic rod A20, the top wall of the supporting plate 3 is connected to the outer wall of the electric telescopic rod A20 by setting a bracket, the front side of the adjusting wheel B17 is engaged with a movable plate A21, the front side of the left end of the movable plate A21 is fixedly connected to the guide frame A22, the rear side of the adjusting wheel B17 is engaged with a movable plate B23, and the front side of the right end of the movable plate B23 is fixedly connected to the guide frame B24.

[0034] The top wall of the carrying plate 3 is located at the side wall of the moving plate A21 and the side wall of the moving plate B23, which are fixedly connected to the guide rail 25. The side wall of the moving plate A21 and the side wall of the moving plate B23 are respectively connected to the guide rail 25 for sliding. The inside of the carrying plate 3 is provided with a guide groove 26 that engages with the guide frame A22 and the guide frame B24. The side wall of the moving plate A21 and the side wall of the moving plate B23 are engaged with the adjusting wheel B17 by setting a number of teeth. The guide frame A22 is internally slidably connected to the push frame A27, and the top of the push frame A27 is fixedly connected to the adjusting frame 28. The left wall of the carrying plate 3 is fixed The electric telescopic rod B29 is fixedly connected, and the output end of the top of the electric telescopic rod B29 is located inside the adjustment frame 28 and is fixedly connected to the connecting rod 30. The connecting rod 30 and the adjustment frame 28 form a sliding connection. The guide frame B24 is internally slidably connected to the push frame B31. The top rear end of the push frame B31 is fixedly connected to the electric telescopic rod C32. The top wall of the moving plate B23 is connected to the outer wall of the electric telescopic rod C32 by setting a bracket. The top wall of the carrying plate 3 is located on the rear side of the connecting frame 2 and is fixedly connected to the control module 33. The distance sensor 4, the servo motor A13, and the servo motor The robot B15, the electric telescopic rod A20, the electric telescopic rod B29, and the electric telescopic rod C32 are all connected to the control module 33. When the robot moves to the stacking position, the robot body 1 stacks the corrugated paper on the pallet. The servo motor A13 drives the load-bearing frame 8 to separate from the strapping belt of the corrugated paper pile. At the same time, the electric telescopic rod C32 drives the push frame B31 to move above the horizontal plane of the top of the corrugated paper pile. The electric telescopic rod B29 drives the adjustment frame 28 to move downward through the connecting rod 30. The adjustment frame 28 drives the push frame A27 to move downward to the side wall of the corrugated paper pile. The control module 33 drives The electric telescopic rod A20 runs, and the electric telescopic rod A20 drives the lifting frame 19 to move up a certain distance. The lifting frame 19 drives the adjusting wheel B17 to move up through the rotating ring 18 and engages with the movable plate A21. The control module 33 drives the servo motor B15 to run. The servo motor B15 drives the adjusting wheel B17 to rotate a certain number of circles through the power shaft 16. The adjusting wheel B17 drives the movable plate A21 to move. The movable plate A21 drives the pushing frame A27 to move through the guide frame A22. The pushing frame A27 pushes the corrugated paper pair to move, so that the corrugated paper stacks are stacked more tightly.

[0035] Working principle: When the stacking robot applied to the corrugated paper production conveyor line is in use, the distance between the load-bearing frames 8 is manually adjusted according to the size of the corrugated paper. The adjustment can be achieved by rotating the bidirectional screw rod 7 to drive the load-bearing frames 8 to move toward each other. The control module 33 drives the pushing frame B31 downward through the electric telescopic rod C32. The robot body 1 controls the movement of the load-bearing plate 3 through the connecting frame 2. The load-bearing plate 3 drives the load-bearing frame 8 to the strapping position of the corrugated paper pile through the moving frame 5. The control module 33 drives the servo motor A13 to operate. The servo motor A13 drives the transmission wheel 12 to rotate through the transmission chain 14. The transmission wheel 12 drives the adjusting wheel A11 to rotate. The adjusting wheel A11 drives the contact plate 9 to move through the rack 10. The contact plate 9 drives the load-bearing frame 8 to adjust the initial position through the moving frame 5. The distance measuring sensor 4 controls the load-bearing frame 8 to move down a certain distance and press down the corrugated paper pile. At this time, the servo motor A13 drives the load-bearing frame 8 to move again. The load-bearing frame 8 is inserted under the strapping belt of the corrugated paper pile. The robot body 1 is connected to the The corrugated paper pile is transferred. When it moves to the stacking position, the robot body 1 puts the corrugated paper pile on the pallet. The servo motor A13 drives the load-bearing frame 8 to separate from the packing belt of the corrugated paper pile. At the same time, the electric telescopic rod C32 drives the pushing frame B31 to move above the horizontal plane of the top of the corrugated paper pile. The electric telescopic rod B29 drives the adjusting frame 28 to move down through the connecting rod 30. The adjusting frame 28 drives the pushing frame A27 to move down to the side wall of the corrugated paper pile. The control module 33 drives the electric telescopic rod A20 to operate. The retracting rod A20 drives the lifting frame 19 to move up a certain distance. The lifting frame 19 drives the adjusting wheel B17 to move up through the rotating ring 18 and engages with the movable plate A21. The control module 33 drives the servo motor B15 to operate. The servo motor B15 drives the adjusting wheel B17 to rotate a certain number of circles through the power shaft 16. The adjusting wheel B17 drives the movable plate A21 to move. The movable plate A21 drives the pushing frame A27 to move through the guide frame A22. The pushing frame A27 pushes the corrugated paper pair to move, so that the corrugated paper stacks are stacked more tightly.

[0036] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A palletizing robot for use on a corrugated paper production conveyor line, comprising a robot arm body (1), characterized in that: A connecting frame (2) is provided at the bottom of the right end of the mechanical arm body (1); a supporting plate (3) is fixedly connected to the bottom end of the connecting frame (2); a limiting mechanism is provided at the bottom of the supporting plate (3); contact mechanisms are provided on both the left and right sides of the supporting plate (3); an adjustment mechanism is provided at the rear end of the top of the supporting plate (3) near the contact mechanism; and a distance measuring sensor (4) is embedded in the supporting plate (3) at the front side of the connecting frame (2); The limiting mechanism comprises a moving frame (5), the moving frame (5) is arranged in a "T" shape, the front and rear sides of the top wall of the moving frame (5) are slidably connected to the bottom wall of the bearing plate (3) by arranging a limiting slider (6), the bottom of the left end of the moving frame (5) is rotatably connected to a bidirectional screw rod (7), the outer surface of the bidirectional screw rod (7) is located on the front and rear sides of the moving frame (5) and is rotatably connected to a load-bearing frame (8), the load-bearing frame (8) is arranged in an "L" shape, the right end of the moving frame (5) is located above the bearing plate (3) and is fixedly connected to a contact plate (9), the top wall of the contact plate (9) is inlaid with a rack (10), the bottom wall of the contact plate (9) is slidably connected to the top wall of the bearing plate (3), and the contact plate (9) and the moving frame (5) are arranged in a "U" shape.

2. The palletizing robot used in a corrugated paper production conveyor line according to claim 1, characterized in that: The top wall of the carrier plate (3) is located above the contact plate (9) and is rotatably connected to an adjusting wheel A (11). The adjusting wheel A (11) is meshed with a rack (10). The top wall of the carrier plate (3) is rotatably connected to the front and rear sides of the adjusting wheel A (11) by providing a support frame. The front axis position of the adjusting wheel A (11) is fixedly connected to a transmission wheel (12). The top wall of the carrier plate (3) is located on the right side of the connecting frame (2) and is fixedly connected to a servo motor A (13). The front output end of the servo motor A (13) is meshed with the transmission wheel (12) via a transmission chain (14).

3. The palletizing robot used in a corrugated paper production conveyor line according to claim 1, characterized in that: The bottom wall of the bearing plate (3) is provided with a sliding groove engaged with the limiting slider (6), the top of the load-bearing frame (8) is provided with a moving groove engaged with the bottom wall of the left end of the moving frame (5), and the right side of the bottom end of the load-bearing frame (8) is provided with an inclined groove.

4. The palletizing robot used in a corrugated paper production conveyor line according to claim 1, characterized in that: The contact mechanism comprises a servo motor B (15), the outer wall of the servo motor B (15) is fixedly connected to the top wall of the carrier plate (3) by providing a bracket, the bottom output end of the servo motor B (15) is fixedly connected to a power shaft (16), the outer surface of the power shaft (16) is slidably connected to an adjusting wheel B (17), the top wall of the adjusting wheel B (17) is fixedly connected to a rotating ring (18) at a position away from the power shaft (16), the outer surface of the rotating ring (18) is located at the rear side of the servo motor B (15) and is rotatably connected to a lifting frame (19), the rear end top wall of the lifting frame (19) is fixedly connected to an electric telescopic rod A (20), and the top wall of the carrier plate (3) is connected to the outer wall of the electric telescopic rod A (20) by providing a bracket.

5. The palletizing robot used in a corrugated paper production conveyor line according to claim 4, characterized in that: The front side of the regulating wheel B (17) is engaged with a movable plate A (21), the front side of the left end of the movable plate A (21) is fixedly connected to a guide frame A (22), the rear side of the regulating wheel B (17) is engaged with a movable plate B (23), the front side of the right end of the movable plate B (23) is fixedly connected to a guide frame B (24), the top wall of the carrying plate (3) is located at the side wall of the movable plate A (21) and the side wall of the movable plate B (23) are fixedly connected to a guide rail (25), the side wall of the movable plate A (21) and the side wall of the movable plate B (23) are respectively connected to the guide rail (25) in a sliding manner, the inside of the carrying plate (3) is provided with a guide groove (26) engaged with the guide frame A (22) and the guide frame B (24), the side wall of the movable plate A (21) and the side wall of the movable plate B (23) are engaged with the regulating wheel B (17) by providing a plurality of teeth.

6. The palletizing robot used in a corrugated paper production conveyor line according to claim 5, characterized in that: The guide frame A (22) is internally connected to a push frame A (27) in a sliding manner, and the top of the push frame A (27) is fixedly connected to an adjustment frame (28). The left side wall of the carrier plate (3) is fixedly connected to an electric telescopic rod B (29), and the top output end of the electric telescopic rod B (29) is located inside the adjustment frame (28) and is fixedly connected to a connecting rod (30). The connecting rod (30) and the inside of the adjustment frame (28) form a sliding connection. The guide frame B (24) is internally connected to a push frame B (31), and the top rear end of the push frame B (31) is fixedly connected to an electric telescopic rod C (32). The top wall of the movable plate B (23) is connected to the outer wall of the electric telescopic rod C (32) by setting a bracket.

7. The palletizing robot used in a corrugated paper production conveyor line according to claim 1, characterized in that: The top wall of the carrier plate (3) is located at the rear side of the connecting frame (2) and is fixedly connected to a control module (33); the distance sensor (4), the servo motor A (13), the servo motor B (15), the electric telescopic rod A (20), the electric telescopic rod B (29), and the electric telescopic rod C (32) are all connected to the control module (33).

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