Movable material stacking robot

Abstract

The invention discloses a movable material stacking robot, and relates to the technical field of robots. The robot comprises a movable vehicle body, the movable vehicle body comprises an outer vehicle frame arranged on the movable vehicle body, a mechanical arm is fixedly installed on the surface of the outer vehicle frame, and a fixing frame is fixedly installed on an output shaft of the tail end of the mechanical arm; the dust sticking mechanism comprises a plurality of dust sticking adhesive tapes which are mounted on the fixing frame and are used for sticking dust and particulate matters on the surface of the carton, and one end of each dust sticking adhesive tape is wound on the unwinding drum; the unwinding drum rotates to unwind under the action of winding tension of the dust-sticking adhesive tape, the dust-sticking adhesive tape adheres dust and particles on a packaging box to the surface of the dust-sticking adhesive tape through the winding action while the dust-sticking adhesive tape is driven by the swing mechanism to slide on the surface of the packaging box, and then the dust and particles are wound to the winding drum, so that the surface of the packaging box is automatically cleaned; dust and particles on the surface of the packaging box are prevented from being sucked into the air pipe through the negative pressure effect of the suction cup mechanism, and the air pipe is prevented from being blocked abnormally.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mobile material stacking robot. Background Art

[0002] At present, with the development of robotic industrial technology, the use of factory robots is becoming more and more popular. By introducing robotic technology, the efficiency of manufacturing can be greatly improved, while also ensuring the consistency of operation. At present, robots can cooperate with mobile carts for mobile material transportation, which greatly improves the flexibility of robot use.

[0003] Currently, when using mobile robots for material transportation, the boxes are sucked and stacked by suction cups. As a result, a large amount of dust from the surface of the boxes accumulates in the suction cups over a long period of time, causing blockage inside the air pipes and affecting the generation of negative pressure in the suction cups. Once an abnormality occurs, the boxes will fall and damage the items inside.

[0004] Based on this, the present invention designs a mobile material stacking robot to solve the above problems. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a mobile material stacking robot, aiming to solve the technical problems existing in the existing technology mentioned in the background technology.

[0006] The embodiment of the present invention is implemented as follows: a mobile material stacking robot, the robot comprising: The mobile body comprises an outer frame provided on the mobile body, a mechanical arm is fixedly mounted on the surface of the outer frame, and a fixing frame is fixedly mounted on the output shaft at the end of the mechanical arm; The dust-binding mechanism comprises a plurality of sticky tapes mounted on a fixed frame for binding dust and particles on the surface of the carton. One end of each sticky tape is wound on a reel, and the other end of each sticky tape is fixedly connected to the reel. The inner wall of the reel is slidably connected to the output shaft of the driving ratchet gear, which is engaged with the sector-shaped tooth plate. Swing mechanism: used to support the sticky tape in contact with the carton surface; Air intake mechanism: used to absorb the sticky tape when it moves horizontally; Reverse thrust mechanism: drives the sticky tape to move horizontally by cooperating with the transverse movement mechanism; Suction cup mechanism: used to absorb and grab cartons.

[0007] Furthermore, the swing mechanism includes a guide cylinder in contact with the surface of the sticky tape, the guide cylinder is fixedly mounted on the swing plate, and the surfaces of the two rotationally symmetrical swing plates are connected to the reverse thrust mechanism through a torsion spring, and the two rotationally symmetrical swing plates are both rotatably connected to the reverse thrust mechanism, the unwinding drum is mounted on the damping rotation column on the swing plate, and the output shaft of the driving ratchet gear passes through the swing plate and is rotatably connected to the swing plate.

[0008] Furthermore, the air intake mechanism includes a negative pressure pipe fixedly connected to the swing plate, and the end of the negative pressure pipe away from the swing plate is connected to an external negative pressure device through a hose. The interior of the negative pressure pipe is connected to the interior of the guide cylinder through a circular hole opened on the swing plate, and a plurality of negative pressure holes connected to the interior of the guide cylinder are opened on the guide cylinder.

[0009] Furthermore, the reverse thrust mechanism includes a plurality of T-shaped cylindrical rods mounted on a fixed frame, a rubber pad is installed on the surface of the T-shaped cylindrical rod, and the T-shaped cylindrical rod is fixedly connected to the surface of the linkage frame rod, two fan-shaped tooth plates are fixedly mounted on the inner wall of the linkage frame rod, and two rotationally symmetrical swing plates are rotatably mounted on the inner wall of the linkage frame rod, the inner wall of the linkage frame rod is connected to the swing plate through a torsion spring, and a sliding plate is fixedly mounted on the surface of the linkage frame rod, the two sliding plates are connected by two transverse mechanisms, the two transverse mechanisms are both slidably connected to the L-shaped plate, the sliding plate is connected to the surface of the L-shaped plate through a compression spring, and two sliding rods are fixedly mounted on the surface of the L-shaped plate, each sliding rod passes through the fixed frame and is slidably connected to the fixed frame, and each sliding rod is connected to the surface of the fixed frame through a tension spring.

[0010] Furthermore, the transverse movement mechanism includes two connecting blocks fixedly installed between the two sliding plates, each connecting block is slidably connected to the L-shaped plate, a transverse movement plate is fixedly installed on the surface of each connecting block, a slide column head is fixedly installed on the surface of the transverse movement plate, two slide blocks are fixedly installed on the surface of the fixed frame, and the surface of each slide block is provided with an inclined slide groove that matches the slide column head.

[0011] Furthermore, the suction cup mechanism includes multiple negative pressure suction cups slidably connected to the fixed frame, the surface of the negative pressure suction cup is connected to the fixed frame through a suction cup spring, and two sticky tapes are circularly symmetrically arranged between two symmetrical negative pressure suction cups, and one end of the negative pressure suction cup is connected to another negative pressure device in the outside world through a hose.

[0012] Furthermore, a rolling ball is provided at the mating end of the slide groove column head and the inclined slide groove.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention rotates the unwinding drum to unwind under the tensile force of the sticky tape winding. While the swing mechanism drives the sticky tape to slide on the surface of the packaging box, the sticky tape adheres the dust and particles on the packaging box to its surface through the winding action, and then winds it onto the winding drum, thereby automatically cleaning the surface of the packaging box and preventing the dust and particles on the surface of the packaging box from being sucked into the air pipe by the negative pressure of the suction cup mechanism, causing abnormal air pipe blockage.

[0014] 2. The present invention drives the reverse thrust mechanism to move upward through the reaction force, and drives the sticky tape to move horizontally under the cooperation of the reverse thrust mechanism and the transverse movement mechanism, so that the sticky tape will not interfere with the contact between the suction cup mechanism and the surface of the carton, thereby achieving the purpose of automatic dislocation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A structural schematic diagram of a mobile material palletizing robot provided by an embodiment of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the enlarged structure at point A; Figure 3 This is a schematic cross-sectional view of a mobile material palletizing robot according to the present invention; Figure 4 For the present invention Figure 3 A schematic diagram of the enlarged structure at point B; Figure 5 This is another cross-sectional structural schematic diagram of a mobile material palletizing robot according to the present invention; Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged structure at C; Figure 7 This is another schematic cross-sectional view of a mobile material palletizing robot according to the present invention; Figure 8 For the present invention Figure 7 A schematic diagram of the structure at D of FIG. Figure 9 This is a schematic diagram of the exploded structure of some parts of a mobile material stacking robot according to the present invention; Figure 10 For the present invention Figure 9 Enlarged structural diagram at E.

[0016] In the accompanying drawings: 1. Mobile body; 101. Outer frame; 102. Robotic arm; 103. Fixed frame; 2. Dust-binding mechanism; 201. Dust-binding tape; 202. Unwinding drum; 203. Winding drum; 204. Driving ratchet gear; 205. Sector-shaped tooth plate; 3. Swinging mechanism; 301. Guide cylinder; 302. Swinging plate; 303. Torsion spring; 4. Air intake mechanism; 401. Negative pressure pipe; 402. Negative pressure hole ; 5. Reverse thrust mechanism; 501. T-shaped cylindrical rod; 502. Linkage frame rod; 503. Sliding plate; 504. L-shaped plate; 505. Sliding rod; 506. Tension spring; 507. Compression spring; 6. Transverse movement mechanism; 601. Connecting block; 602. Transverse movement plate; 603. Slide column head; 604. Slide block; 605. Inclined slide; 7. Suction cup mechanism; 701. Negative pressure suction cup; 702. Suction cup spring. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] It will be understood that the terms "first," "second," etc. used herein may be used to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0019] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 8 、 Figure 9 and Figure 10 As shown, in one embodiment, a mobile material palletizing robot is provided, the robot comprising: The mobile body 1 includes an outer frame 101 provided on the mobile body 1 , a mechanical arm 102 is fixedly mounted on the surface of the outer frame 101 , and a fixing frame 103 is fixedly mounted on the output shaft at the end of the mechanical arm 102 ; The dust-binding mechanism 2 comprises a plurality of sticky tapes 201 mounted on a fixed frame 103 for binding dust and particles on the surface of the carton. One end of each sticky tape 201 is wound around a reel 202, and the other end of each sticky tape 201 is fixedly connected to a reel 203. The inner wall of the reel 203 is slidably connected to the output shaft of a driving ratchet gear 204, which is meshed with a sector-shaped toothed plate 205. Swing mechanism 3: used to support the sticky tape 201 in contact with the carton surface; Air intake mechanism 4: used to absorb the sticky tape 201 when the sticky tape 201 moves laterally; Reverse thrust mechanism 5: drives the sticky tape 201 to move laterally by cooperating with the transverse movement mechanism 6; Suction cup mechanism 7: used for adsorbing and grabbing cartons.

[0020] In actual application of the embodiment of the present invention, after the outer frame 101 moves to the specified position, the mechanical arm 102 starts to work, and the mechanical arm 102 drives the fixing frame 103 to move downward toward the top of the packaging box. Figure 2 As shown, at this time, the sticky tape 201 contacts the surface of the packaging box through the action of the swing mechanism 3. As the fixing frame 103 continues to descend, the swing mechanism 3 rotates under the reaction force of the packaging box surface, and at the same time, the swing mechanism 3 drives the sticky tape 201 to slide along the surface of the packaging box, as shown in FIG. Figure 10 As shown, the rotation of the swing mechanism 3 drives the driving ratchet gear 204 to rotate synchronously, and the driving ratchet gear 204 is set as a ratchet to avoid driving the winding drum 203 to rotate in the opposite direction when resetting, and under the action of the driving ratchet gear 204 and the fan-shaped tooth plate 205 meshing, the driving ratchet gear 204 rotates, and the rotation of the driving ratchet gear 204 drives the winding drum 203 to perform the winding operation. It should be noted here that by installing the unwinding drum 202 on the swing mechanism 3 and the winding drum 203 on the output shaft of the driving ratchet gear 204, and then limiting the unwinding drum 202 and the winding drum 203 by snapping, relative sliding of the unwinding drum 202 and the winding drum 203 during rotation is avoided. The sticky tape 201 is rotated and unwound by the pulling force of the sticky tape 201. When the swing mechanism 3 drives the sticky tape 201 to slide on the surface of the packaging box, the sticky tape 201 adheres the dust and particles on the packaging box to its surface through the winding action, and then winds it onto the winding drum 203, thereby automatically cleaning the surface of the packaging box, avoiding the dust and particles on the surface of the packaging box being sucked into the air pipe by the negative pressure of the suction cup mechanism 7, resulting in abnormal blockage of the air pipe and affecting the stacking efficiency of the packaging box. After the cleaning of the adsorption position of the suction cup mechanism 7 is completed, the robot arm 102 drives the fixed frame 103 to continue to move downward. At this time, the surface of the packaging box contacts the reverse thrust mechanism 5. Figure 8 and Figure 9As shown, the reverse thrust mechanism 5 is driven to move upward by the reaction force, and the sticky tape 201 is driven to move horizontally under the cooperation of the reverse thrust mechanism 5 and the transverse movement mechanism 6, so that the sticky tape 201 will not interfere with the contact between the suction cup mechanism 7 and the surface of the carton, and when the sticky tape 201 moves laterally, the driving ratchet gear 204 and the fan-shaped tooth plate 205 are disengaged, and the negative pressure generated on the air intake mechanism 4 tightly adsorbs the sticky tape 201, avoiding the friction force of the lateral movement of the sticky tape 201 causing the sticky tape 201 to produce deformation and wrinkles, affecting the subsequent work effect, at this time, the suction cup mechanism 7 contacts the surface of the packaging box to perform adsorption and grasping operations on the packaging, thereby achieving the purpose of automatic grasping and stacking.

[0021] like Figure 9 and Figure 10 As shown, as a preferred embodiment of the present invention, the swing mechanism 3 includes a guide cylinder 301 in contact with the surface of the sticky tape 201, the guide cylinder 301 is fixedly mounted on the swing plate 302, and the surfaces of the two rotationally symmetrical swing plates 302 are connected to the reverse thrust mechanism 5 through a torsion spring 303, and the two rotationally symmetrical swing plates 302 are both rotatably connected to the reverse thrust mechanism 5, the unwinding drum 202 is mounted on the damping rotation column on the swing plate 302, and the output shaft of the driving ratchet gear 204 passes through the swing plate 302 and is rotatably connected to the swing plate 302.

[0022] In actual application of the embodiment of the present invention, when the fixing frame 103 moves downward so that the sticky tape 201 contacts the packaging box, as shown in FIG. Figure 9 and Figure 10 As shown, the sticky tape 201 is attached to the packaging box by the action of the guide cylinder 301. At this time, the guide cylinder 301 is driven by the reaction force of the packaging box to move horizontally on the surface of the packaging box, thereby driving the swing plate 302 to rotate. The rotation of the swing plate 302 drives the driving ratchet gear 204 to rotate synchronously. The driving ratchet gear 204 is driven to rotate by the meshing action of the driving ratchet gear 204 and the fan-shaped tooth plate 205, thereby driving the sticky tape 201 to slide on the guide cylinder 301, thereby removing dust and particles on the surface of the carton to avoid abnormal blockage of the trachea.

[0023] like Figure 10 As shown, as another preferred embodiment of the present invention, the air intake mechanism 4 includes a negative pressure pipe 401 fixedly connected to the swing plate 302, and the end of the negative pressure pipe 401 away from the swing plate 302 is connected to an external negative pressure device through a hose, the interior of the negative pressure pipe 401 is communicated with the interior of the guide cylinder 301 through a circular hole opened on the swing plate 302, and a plurality of negative pressure holes 402 connected to the interior of the guide cylinder 301 are opened on the guide cylinder 301.

[0024] In practical application of the embodiment of the present invention, when the sticky tape 201 moves laterally, Figure 10 As shown, the negative pressure device connected to the negative pressure pipe 401 starts to move. At this time, under the action of negative pressure, the sticky tape 201 is tightly adsorbed through the negative pressure hole 402 to prevent the sticky tape 201 from deforming and wrinkling under the action of friction, which affects the subsequent sticky effect.

[0025] like Figure 8 As shown, as another preferred embodiment of the present invention, the reverse thrust mechanism 5 includes a plurality of T-shaped cylindrical rods 501 mounted on the fixed frame 103, the surface of the T-shaped cylindrical rods 501 is installed with rubber pads, and the T-shaped cylindrical rods 501 are fixedly connected to the surface of the linkage frame rod 502, the inner wall of the linkage frame rod 502 is fixedly installed with two sector-shaped tooth plates 205, and the inner wall of the linkage frame rod 502 is rotatably installed with two rotationally symmetrical swing plates 302, and the inner wall of the linkage frame rod 502 is connected to the swing plate 302 via a torsion spring 303. A sliding plate 503 is fixedly installed on the surface of the linkage frame rod 502, and the two sliding plates 503 are connected by two transverse movement mechanisms 6. The two transverse movement mechanisms 6 are both slidably connected to the L-shaped plate 504. The sliding plate 503 is connected to the surface of the L-shaped plate 504 through a compression spring 507. Two sliding rods 505 are fixedly installed on the surface of the L-shaped plate 504, each sliding rod 505 passes through the fixed frame 103 and is slidably connected to the fixed frame 103, and each sliding rod 505 is connected to the surface of the fixed frame 103 through a tension spring 506.

[0026] When the embodiment of the present invention is actually used, as the sticky tape 201 completes the dust removal operation on the surface of the packaging box, the packaging box is in contact with the T-shaped cylindrical rod 501, and the reaction force drives the T-shaped cylindrical rod 501 to move upward. The upward movement of the T-shaped cylindrical rod 501 drives the L-shaped plate 504 to move upward through the linkage frame rod 502 and the sliding plate 503. At the same time, the movement of the sliding plate 503 drives the transverse movement mechanism 6 to move upward, and the sliding plate 503 is driven by the action of the transverse movement mechanism 6 to move horizontally, thereby driving the sticky tape 201 to move horizontally, so that the sticky tape 201 will not interfere with the movement of the suction cup mechanism 7, thereby achieving the purpose of automatic dislocation after cleaning.

[0027] like Figure 5 、 Figure 6 、 Figure 7 and Figure 8As shown, as another preferred embodiment of the present invention, the transverse movement mechanism 6 includes two connecting blocks 601 fixedly installed between the two sliding plates 503, each connecting block 601 is slidably connected to the L-shaped plate 504, and the surface of each connecting block 601 is fixedly installed with a transverse movement plate 602, and the surface of the transverse movement plate 602 is fixedly installed with a slide column head 603. The surface of the fixed frame 103 is fixedly installed with two slide blocks 604, and the surface of each slide block 604 is provided with an inclined slide 605 that matches the slide column head 603.

[0028] In actual application of the embodiment of the present invention, when the sliding plate 503 moves upward, as shown in FIG. Figure 6 and Figure 8 As shown, at this time, the sliding plate 503 drives the connecting block 601 to move upward, and then drives the slide groove column head 603 to move along the trajectory of the inclined slide groove 605 through the transverse plate 602. At this time, the connecting block 601 moves upward and moves horizontally at the same time, and then drives the sticky tape 201 to move horizontally through the reverse thrust mechanism 5, thereby achieving the purpose of automatic dislocation to avoid affecting the adsorption and grasping of the suction cup mechanism 7.

[0029] like Figure 2 As shown, as another preferred embodiment of the present invention, the suction cup mechanism 7 includes a plurality of negative pressure suction cups 701 slidably connected to the fixing frame 103, the surface of the negative pressure suction cup 701 is connected to the fixing frame 103 through a suction cup spring 702, and two sticky tapes 201 are symmetrically arranged in a circular manner between two symmetrical negative pressure suction cups 701, and one end of the negative pressure suction cup 701 is connected to another negative pressure device in the outside world through a hose.

[0030] In practical application of the embodiment of the present invention, when the horizontal movement of the sticky tape 201 is completed, Figure 2 As shown, at this time, the negative pressure suction cup 701 contacts the surface of the packaging box, and another external negative pressure device connected to the negative pressure suction cup 701 starts to operate. At this time, the packaging box is sucked and grasped by the negative pressure generated by the negative pressure suction cup 701, thereby achieving the purpose of automatic suction and palletizing.

[0031] like Figure 6 As shown, as another preferred embodiment of the present invention, a rolling ball is provided at the mating end of the slide groove column head 603 and the inclined slide groove 605.

[0032] In practical application, the embodiment of the present invention is as follows: Figure 6 As shown, the sliding friction is converted into rolling friction by the rolling ball provided on the slide groove column head 603, thereby achieving the purpose of reducing friction and increasing the service life of the device.

[0033] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0034] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mobile material palletizing robot, characterized in that: The robot comprises: The mobile body (1) comprises an outer frame (101) provided on the mobile body (1), a mechanical arm (102) being fixedly mounted on the surface of the outer frame (101), and a fixing frame (103) being fixedly mounted on the output shaft at the end of the mechanical arm (102); The dust sticking mechanism (2) comprises a plurality of dust sticking tapes (201) mounted on a fixed frame (103) for sticking dust and particles on the surface of the carton, one end of each dust sticking tape (201) is wound on a reel (202), the other end of each dust sticking tape (201) is fixedly connected to a reel (203), and the inner wall of the reel (203) is slidably connected to the output shaft of a driving ratchet gear (204), and the driving ratchet gear (204) is meshed with a sector tooth plate (205); Swing mechanism (3): used to support the sticky tape (201) in contact with the surface of the carton; An air intake mechanism (4) is used to absorb the sticky tape (201) when the sticky tape (201) moves laterally; Reverse thrust mechanism (5): drives the sticky tape (201) to move laterally by cooperating with the transverse movement mechanism (6); Suction cup mechanism (7): used for adsorbing and grabbing cartons.

2. The mobile material palletizing robot according to claim 1, characterized in that: The swing mechanism (3) comprises a guide cylinder (301) in contact with the surface of the sticky tape (201), the guide cylinder (301) being fixedly mounted on the swing plate (302), and the surfaces of the two rotationally symmetrical swing plates (302) are both connected to the reverse thrust mechanism (5) via a torsion spring (303), and the two rotationally symmetrical swing plates (302) are both rotationally connected to the reverse thrust mechanism (5), the unwinding drum (202) is mounted on a damping rotation column on the swing plate (302), and the output shaft of the driving ratchet gear (204) passes through the swing plate (302) and is rotationally connected to the swing plate (302).

3. The mobile material palletizing robot according to claim 2, characterized in that: The air intake mechanism (4) comprises a negative pressure pipe (401) fixedly connected to the swing plate (302), and one end of the negative pressure pipe (401) away from the swing plate (302) is connected to an external negative pressure device via a hose, the interior of the negative pressure pipe (401) communicates with the interior of the guide cylinder (301) via a circular hole provided on the swing plate (302), and the guide cylinder (301) is provided with a plurality of negative pressure holes (402) that communicate with the interior of the guide cylinder (301).

4. The mobile material palletizing robot according to claim 2, characterized in that: The reverse thrust mechanism (5) comprises a plurality of T-shaped cylindrical rods (501) mounted on a fixed frame (103), the surfaces of the T-shaped cylindrical rods (501) are mounted with rubber pads, and the T-shaped cylindrical rods (501) are fixedly connected to the surface of a linkage frame rod (502), the inner wall of the linkage frame rod (502) is fixedly mounted with two sector-shaped tooth plates (205), and the inner wall of the linkage frame rod (502) is rotatably mounted with two rotationally symmetrical swing plates (302), the inner wall of the linkage frame rod (502) is connected to the swing plate (302) via a torsion spring (303), and the surface of the linkage frame rod (502) is fixedly mounted with two sector-shaped tooth plates (205). A sliding plate (503) is fixedly installed, and the two sliding plates (503) are connected to each other through two transverse movement mechanisms (6). The two transverse movement mechanisms (6) are both slidably connected to the L-shaped plate (504). The sliding plate (503) is connected to the surface of the L-shaped plate (504) through a compression spring (507). Two sliding rods (505) are fixedly installed on the surface of the L-shaped plate (504). Each sliding rod (505) passes through the fixed frame (103) and is slidably connected to the fixed frame (103). Each sliding rod (505) is connected to the surface of the fixed frame (103) through a tension spring (506).

5. The mobile material palletizing robot according to claim 4, characterized in that: The transverse movement mechanism (6) includes two connecting blocks (601) fixedly mounted between two sliding plates (503), each connecting block (601) is slidably connected to the L-shaped plate (504), a transverse movement plate (602) is fixedly mounted on the surface of each connecting block (601), a slide column head (603) is fixedly mounted on the surface of the transverse movement plate (602), two slide blocks (604) are fixedly mounted on the surface of the fixed frame (103), and an inclined slide (605) is provided on the surface of each slide block (604) to match the slide column head (603).

6. The mobile material palletizing robot according to claim 1, characterized in that: The suction cup mechanism (7) comprises a plurality of negative pressure suction cups (701) slidably connected to a fixing frame (103), the surface of the negative pressure suction cup (701) being connected to the fixing frame (103) via a suction cup spring (702), and two sticky tapes (201) being symmetrically arranged between two symmetrical negative pressure suction cups (701), and one end of the negative pressure suction cup (701) being connected to another negative pressure device in the outside world via a hose.

7. The mobile material palletizing robot according to claim 5, characterized in that: The matching ends of the chute column head (603) and the inclined chute (605) are provided with rolling balls.

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