Mechanical arm stacking workstation with five degrees of freedom

Abstract

The invention belongs to the technical field of mechanical automation, and particularly relates to a five-degree-of-freedom mechanical arm stacking workstation which comprises an integrated cabinet. A five-degree-of-freedom robot is mounted at the top of the integrated cabinet body; a buffer module is mounted at the end part of the five-degree-of-freedom robot; a sponge sucker is mounted at the end part of the buffer module; an integrated line body is arranged on the side wall of the integrated cabinet body, accumulated errors of stack height caused by inconsistent sizes of materials can be effectively reduced through the arranged buffer module, meanwhile, it is guaranteed that when a sponge suction cup grabs the materials, the suction cup is completely matched with the materials, the materials are stably grabbed in the stacking process, the fault tolerance of equipment is increased, and the stacking efficiency is improved. Compared with a traditional six-degree-of-freedom collaborative robot, the developed five-degree-of-freedom robot is used for a stacking scene, the stacking speed is higher, and the service life of the robot is longer.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automation, in particular to a robotic arm palletizing workstation with five degrees of freedom. Background Art

[0002] Palletizing robots are mainly used to arrange cartons filled with materials on pallets and automatically stack them, making it easier for forklifts to transport them to warehouses for storage. Palletizing robots are widely used in logistics, production lines, supermarkets and other industries.

[0003] In the current existing technology, a six-degree-of-freedom collaborative robot is a robot that can move and operate freely in six degrees of freedom. It can move in three translational degrees of freedom and three rotational degrees of freedom. This type of robot is usually designed to cooperate with human workers or other robots to complete various tasks, such as assembly, handling, collaborative operation, etc.

[0004] The traditional 6-DOF collaborative robot has a relatively slow palletizing speed when operating in palletizing scenarios, which requires a lot of time cost for the equipment to perform palletizing operations. Therefore, to address the above problem, a five-DOF robotic arm palletizing workstation is proposed. Summary of the Invention

[0005] In order to make up for the deficiencies of the prior art and solve at least one technical problem raised in the background art, the present invention proposes a robotic arm palletizing workstation with five degrees of freedom.

[0006] The technical solution adopted by the present invention to solve its technical problems is: the present invention describes a five-degree-of-freedom robotic arm palletizing workstation, comprising an integrated cabinet; a five-degree-of-freedom robot is installed on the top of the integrated cabinet; a buffer module is installed on the end of the five-degree-of-freedom robot; a sponge suction cup is installed on the end of the buffer module; an integrated line body is provided on the side wall of the integrated cabinet; a material limiting mechanism is installed on the top of the integrated line body; a material limiting plate is installed on the end of the material limiting mechanism; a pair of pallet positioning structures are installed on the side wall of the integrated cabinet; the pallet positioning structures are symmetrically arranged.

[0007] Preferably, the side wall of the integrated line body is installed with multiple groups of cleaning discs; the cleaning discs are arranged in an array; the side wall of the cleaning disc is fixed with a handle; the side wall of the handle is installed with a cleaning rod; the middle part of the cleaning rod is fixed with two groups of bristles.

[0008] Preferably, the side wall of the integrated line body is fixed with multiple groups of fixing pins; the side wall of the cleaning disk is provided with a pair of mounting grooves; the middle part of the cleaning disk is provided with a pair of cylindrical grooves; the inner side walls of the cylindrical grooves are fixed with magnets; the inner side walls of the cylindrical grooves are slidably connected with a fixing block; and a card slot is provided in the middle of the fixing pin.

[0009] Preferably, a through hole is opened on the inner side wall of the cylindrical groove; a connecting steel wire is fixedly connected to the end of the fixing block; and a metal limiting ball is fixedly connected to the end of the connecting steel wire.

[0010] Preferably, a connecting rope is fixedly connected to the end of the metal limiting ball; a limiting column is fixedly connected to the side wall of the cleaning disk; and a limiting groove is provided in the middle of the limiting column.

[0011] Preferably, the side wall of the material limiting plate is provided with a plurality of groups of circular grooves; the circular grooves are arranged in an array; and metal balls are rollingly connected to the inner side walls of the circular grooves.

[0012] Preferably, a pair of connecting rods are fixedly connected to the side walls of the integrated cabinet; a reinforcing rod is fixedly connected to the middle of the connecting rods; and the connecting rods are slidably connected to the integrated cabinet.

[0013] Preferably, the end of the connecting rod is provided with an end fixing plate; the end fixing plate is fixedly connected to the end of the connecting rod.

[0014] Beneficial effects of the present invention:

[0015] The present invention provides a robotic arm palletizing workstation with five degrees of freedom. Through the material limiting mechanism and material limiting plate, the equipment can organize and locate the final position of the material on the integrated box, ensure the position accuracy of the material, facilitate the five-degree-of-freedom robot to accurately grasp and ensure the palletizing accuracy. The material limiting mechanism can ensure that a certain distance is maintained between materials, so as to avoid the five-degree-of-freedom robot from affecting the position accuracy of another material when grasping one of the materials. The buffer module can effectively reduce the cumulative error of the stack height caused by the inconsistent size of the materials themselves, and at the same time ensure that the sponge suction cup is completely consistent with the material when grasping the material, so as to achieve stable grasping of the material in the palletizing process and increase the fault tolerance of the equipment. Compared with the traditional six-degree-of-freedom collaborative robot, the five-degree-of-freedom robot developed by the research and development is used in palletizing scenarios, with faster palletizing speed and longer service life.

[0016] The present invention provides a robotic arm palletizing workstation with five degrees of freedom. A cleaning rod is provided, and multiple groups of bristles are provided in the middle of the cleaning rod. When the conveyor roller is rotating, the bristles will clean the conveyor roller, thereby reducing the residual impurities on the equipment, thereby reducing the impact of debris on the equipment, thereby effectively improving the smoothness of the equipment operation and facilitating the cleaning of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a perspective view of the present invention;

[0019] Figure 2 is a perspective view of the present invention;

[0020] Figure 3 is a three-dimensional diagram of the five-degree-of-freedom robot of the present invention;

[0021] Figure 4 It is a three-dimensional diagram of the integrated linear body of the present invention;

[0022] Figure 5 is a perspective view of the cleaning rod of the present invention;

[0023] Figure 6 It is a three-dimensional diagram of the material limiting plate in the present invention;

[0024] Figure 7 is a cross-sectional view of the cleaning disc of the present invention;

[0025] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0026] Figure 9 This is a schematic diagram of the robot palletizing principle in the present invention;

[0027] Figure 10 This is a design drawing of the robot stack in the present invention.

[0028] Legend:

[0029] 1. Integrated cabinet; 11. Five-degree-of-freedom robot; 12. Buffer module; 13. Sponge suction cup; 14. Integrated line body; 15. Pallet positioning structure; 16. Material limiting mechanism; 17. Material limiting plate; 2. Cleaning tray; 21. Grip; 22. Cleaning rod; 23. Bristles; 3. Mounting slot; 31. Fixing pin; 32. Cylindrical groove; 33. Magnet; 34. Fixing block; 35. Card slot; 4. Through hole; 41. Connecting steel wire; 42. Metal limiting ball; 5. Connecting rope; 51. Limiting column; 52. Limiting slot; 6. Circular groove; 61. Metal ball; 7. Connecting rod; 71. Reinforcement rod; 72. End fixing plate. DETAILED DESCRIPTION

[0030] The following will provide a clear and complete description of 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] Specific examples are given below.

[0032] See also Figure 1 - Figure 8 The present invention provides a five-degree-of-freedom robotic arm palletizing workstation, comprising an integrated cabinet 1; a five-degree-of-freedom robot 11 is installed on the top of the integrated cabinet 1; a buffer module 12 is installed at the end of the five-degree-of-freedom robot 11; a sponge suction cup 13 is installed at the end of the buffer module 12; an integrated line 14 is provided on the side wall of the integrated cabinet 1; a material limiting mechanism 16 is installed on the top of the integrated line 14; a material limiting plate 17 is installed at the end of the material limiting mechanism 16; a pair of pallet positioning structures 15 are installed on the side wall of the integrated cabinet 1; the pallet positioning structure 15 For symmetrical settings, the palletizing type is designed in the early stage through the human-computer interaction interface, and then the corresponding customized palletizing type library is generated. The on-site personnel select the recipe according to the needs, and the system automatically retrieves the corresponding palletizing data from the palletizing type library, and then sends it to the robot to generate the robot palletizing task. The palletizing type design is carried out in the early stage through the human-computer interaction interface, and then the corresponding customized palletizing type library is generated. The on-site personnel select the recipe according to the needs, and the system automatically retrieves the corresponding palletizing data from the palletizing type library, and then sends it to the robot to generate the robot palletizing task. The following settings can be made through the palletizing type design:

[0033] 1. Palletizing sequence design, such as ABAB, AABB;

[0034] 2. Layer design, used to graphically display the stack type currently designed;

[0035] 3. Material data input window;

[0036] 4. Pallet data input window;

[0037] 5. Stacking data: record the offset adjustment in the actual stacking of the current stacking type to eliminate theoretical errors.

[0038] During the palletizing operation, the integrated line body 14 transports the materials to the working area of ​​the five-degree-of-freedom robot 11. The five-degree-of-freedom robot 11 will identify the goods, then grab the goods through the sponge suction cup 13, and place them on the pallet in the area of ​​the pallet positioning structure 15 on both sides of the integrated cabinet 1, so as to repeatedly stack the goods on the pallet. Through the set material limiting mechanism 16 and material limiting plate 17, the equipment can sort and locate the final position of the material on the integrated line body 14, ensure the position accuracy of the material, facilitate the five-degree-of-freedom robot 11 to accurately grab and ensure the palletizing accuracy. The material limiting mechanism 1 6 can ensure that a certain distance is maintained between materials, avoiding the five-degree-of-freedom robot 11 from affecting the position accuracy of another material when grabbing one of the materials. The buffer module 12 set up can effectively reduce the cumulative error of the stack height caused by the inconsistent size of the materials themselves. At the same time, it ensures that when the sponge suction cup 13 grabs the material, the suction cup and the material are completely consistent, so that the material can be stably grabbed during the stacking process to increase the fault tolerance of the equipment. Compared with the traditional circular groove 6-degree-of-freedom collaborative robot, the five-degree-of-freedom robot 11 developed by the research and development is used in the stacking scene, and the stacking speed is faster and the robot service life is longer.

[0039] Further, such as Figure 1 - Figure 5 As shown, multiple groups of cleaning discs 2 are installed on the side wall of the integrated line body 14; the cleaning discs 2 are arranged in an array; a gripping handle 21 is fixedly connected to the side wall of the cleaning disc 2; a cleaning rod 22 is installed on the side wall of the gripping handle 21; two groups of bristles 23 are fixedly connected to the middle of the cleaning rod 22. During operation, when the integrated line body 14 transports goods, impurities on the goods will adhere to the conveying roller in the middle of the integrated line body 14, thereby affecting the smoothness of the equipment operation. Through the provided cleaning rod 22, and multiple groups of bristles 23 are provided in the middle of the cleaning rod 22, when the conveying roller is rotating, the bristles 23 will clean the conveying roller, thereby reducing the residual impurities on the equipment, thereby reducing the impact of debris on the equipment, thereby effectively improving the smoothness of the equipment operation and facilitating the cleaning of the equipment.

[0040] Further, such as Figure 7 and Figure 8As shown, the side wall of the integrated line body 14 is fixed with multiple groups of fixing pins 31; the side wall of the cleaning disc 2 is provided with a pair of mounting grooves 3; the middle part of the cleaning disc 2 is provided with a pair of cylindrical grooves 32; the inner side wall of the cylindrical groove 32 is fixed with a magnet 33; the inner side wall of the cylindrical groove 32 is slidably connected with a fixing block 34; the middle part of the fixing pin 31 is provided with a card slot 35. When working, when installing the cleaning rod 22, the staff will hold the grip 21 and insert the cleaning rod 22 into the hole reserved on one side of the integrated line body 14. When the cleaning rod 22 is inserted to the bottom, the fixing pin 3 needs to be inserted. 1 is inserted into the installation groove 3. As the fixing pin 31 continues to be inserted into the installation groove 3, the fixing block 34 is squeezed by the fixing pin 31 and enters the cylindrical groove 32. Since the magnet 33 and the cylindrical groove 32 are made of the same material and have a repulsive force, when the fixing pin 31 is fully inserted into the installation groove 3, the fixing block 34 will be pushed into the card slot 35 by the repulsive force, thereby fixing the device. This step effectively simplifies the fixing steps during device installation, thereby effectively reducing the workload of the staff during device installation and reducing the difficulty of installation.

[0041] Further, such as Figure 1 - Figure 8 As shown, a through hole 4 is provided on the inner wall of the cylindrical groove 32; a connecting steel wire 41 is fixedly connected to the end of the fixing block 34; a metal limiting ball 42 is fixedly connected to the end of the connecting steel wire 41. During operation, when disassembling the cleaning disc 2, the staff can pull the metal limiting ball 42 to pull the fixing block 34 out of the slot 35, and then pull the cleaning rod 22 out from one side of the integrated line body 14, thereby completing the disassembly of the equipment. The detachable setting effectively facilitates the staff's maintenance and replacement of the equipment, thereby effectively reducing the workload of the staff when disassembling the equipment.

[0042] Further, such as Figure 7 and Figure 8 As shown, the end of the metal limiting ball 42 is fixedly connected to a connecting rope 5; the side wall of the cleaning disc 2 is fixedly connected to the limiting column 51; a limiting groove 52 is provided in the middle of the limiting column 51. During operation, when the cleaning disc 2 needs to be disassembled, the staff needs to pull the metal limiting ball 42 at the same time to pull the fixing block 34 out of the slot 35. Through the provided connecting rope 5, the connecting rope 5 connects the metal limiting balls 42 on the side wall of the cleaning disc 2 together. It is only necessary to pull the connecting rope 5 to pull out the pair of fixing blocks 34, thereby effectively facilitating the staff's disassembly of the equipment. After pulling out the connecting rope 5, the staff can hang the connecting rope 5 inside the limiting groove 52 in the middle of the limiting column 51 through the provided limiting column 51, and then continuously pull out the cleaning rod 22, thereby further improving the convenience of the equipment.

[0043] Further, such as Figure 1- Figure 6 As shown, the side wall of the material limiting plate 17 is provided with multiple groups of circular grooves 6; the circular grooves 6 are arranged in an array; the inner wall of the circular grooves 6 is rollingly connected with metal balls 61. During operation, when the goods are transported from the top of the integrated cabinet 14 to near the integrated cabinet 1, when they enter the material limiting plate 17, the metal balls 61 are set. When the goods come into contact with the material limiting plate 17, the sliding friction is converted into rolling friction between the goods and the metal balls 61, thereby effectively reducing the friction between the goods and the material limiting plate 17, thereby effectively reducing the impact of the material limiting plate 17 on the goods, thereby improving the smoothness of the goods when being transported.

[0044] Further, such as Figure 1 and Figure 2 As shown, a pair of connecting rods 7 are fixed to the side walls of the integrated cabinet 1; a reinforcing rod 71 is fixed to the middle of the connecting rod 7; the connecting rod 7 is slidably connected to the integrated line body 14. During operation, when installing the equipment, the equipment needs to be installed on the same horizontal line, thereby improving the accuracy of the equipment in grabbing goods. By setting the connecting rod 7, and the connecting rod 7 passes through the integrated line body 14, when the equipment is installed for debugging, the integrated line body 14 is moved. Due to the limitation of the connecting rod 7, the integrated line body 14 can only move within the horizontal line limited by the connecting rod 7, thereby effectively facilitating the installation and debugging of the equipment by the staff.

[0045] Further, such as Figure 1 and Figure 2 As shown, the end of the connecting rod 7 is provided with an end fixing piece 72; the end fixing piece 72 is fixedly connected to the end of the connecting rod 7. When working, the end fixing piece 72 provided at the end of a pair of connecting rods 7 effectively increases the overall strength of the connecting rod 7, and the end fixing piece 72 is arc-shaped, thereby effectively improving the overall force strength of the equipment, thereby facilitating the distance adjustment of the integrated cabinet 1 and the integrated line body 14.

[0046] Working principle: In the early stage, the palletizing type is designed through the human-computer interaction interface, and then the corresponding customized palletizing type library is generated. On-site personnel select the recipe according to the needs. The system automatically retrieves the corresponding palletizing data from the palletizing type library and then sends it to the robot to generate the robot palletizing task. In the early stage, the palletizing type is designed through the human-computer interaction interface, and then the corresponding customized palletizing type library is generated. On-site personnel select the recipe according to the needs. The system automatically retrieves the corresponding palletizing data from the palletizing type library and then sends it to the robot to generate the robot palletizing task. The following settings can be made through the palletizing type design:

[0047] 1. Palletizing sequence design, such as ABAB, AABB;

[0048] 2. Layer design, used to graphically display the stack type currently designed;

[0049] 3. Material data input window;

[0050] 4. Pallet data input window;

[0051] 5. Stacking data: record the offset adjustment in the actual stacking of the current stacking type to eliminate theoretical errors.

[0052] During the palletizing operation, the integrated line 14 transports the materials to the working area of ​​the five-degree-of-freedom robot 11. The five-degree-of-freedom robot 11 will identify the goods, then grab the goods through the sponge suction cup 13, and place them on the pallet in the area of ​​the pallet positioning structure 15 on both sides of the integrated cabinet 1, so as to repeatedly stack the goods on the pallet. Through the set material limiting mechanism 16 and material limiting plate 17, the equipment can organize and position the final position of the material on the integrated line 14 to ensure the position accuracy of the material, facilitate the five-degree-of-freedom robot 11 to accurately grab and ensure the palletizing accuracy. The material limiting mechanism 16 can ensure that a certain distance is maintained between materials to avoid affecting another when the five-degree-of-freedom robot 11 grabs one of the materials. The positioning accuracy of the material can be effectively reduced by the buffer module 12 set up, which is caused by the inconsistency of the material's own size. At the same time, it is ensured that when the sponge suction cup 13 grabs the material, the suction cup and the material are completely consistent, so that the material can be stably grabbed during the stacking process to increase the fault tolerance of the equipment. The five-degree-of-freedom robot 11 developed by the research and development is compared with the traditional circular groove 6-degree-of-freedom collaborative robot. The five-degree-of-freedom robot 11 is used in the stacking scene, and the stacking speed is faster and the service life of the robot is longer. When the integrated line 14 transports the goods, the impurities on the goods will adhere to the conveying roller in the middle of the integrated line 14, thereby affecting the smoothness of the equipment operation. Through the cleaning rod 22 set up, and multiple groups of bristles 23 are provided in the middle of the cleaning rod 22, when the conveying roller is rotating When the cleaning rod 22 is installed, the staff will hold the gripping handle 21 and insert the cleaning rod 22 into the reserved gap on one side of the integrated line body 14. When the cleaning rod 22 is inserted to the bottom, the fixing pin 31 needs to be inserted into the installation groove 3. As the fixing pin 31 is continuously inserted into the installation groove 3, the fixing block 34 is squeezed by the fixing pin 31 and enters the cylindrical groove 32. Since the magnet 33 and the cylindrical groove 32 are made of the same material and have a repulsive force, when the fixing pin 31 is fully inserted into the installation groove 3, the fixing pin 31 is fixed under the action of the repulsive force. The fixing block 34 will be pushed into the card slot 35 by the repulsive force to fix the equipment. This step effectively simplifies the fixing steps when installing the equipment, thereby effectively reducing the workload of the staff when installing the equipment and reducing the installation difficulty. When removing the cleaning plate 2, the staff can pull the fixing block 34 out of the card slot 35 by pulling the metal limiting ball 42, and then the cleaning rod 22 can be pulled out from one side of the integrated line body 14 to complete the disassembly of the equipment. The detachable setting effectively facilitates the maintenance and replacement of the equipment by the staff, thereby effectively reducing the workload of the staff when disassembling the equipment. When the cleaning plate 2 needs to be removed, the staff needs to pull the metal limiting ball 42 at the same time to pull the fixing block 34 out of the card slot 35.Through the provided connecting rope 5, the connecting rope 5 connects the metal limiting balls 42 on the side walls of the cleaning disk 2. It is only necessary to pull the connecting rope 5 to pull out the pair of fixed blocks 34, which effectively facilitates the staff to disassemble the equipment. After pulling out the connecting rope 5, the staff can hang the connecting rope 5 in the limiting groove 52 in the middle of the limiting column 51 through the provided limiting column 51, and then continuously pull out the cleaning rod 22, thereby further improving the convenience of the equipment. When the goods are transported to the top of the integrated line body 14 near the integrated cabinet 1, when entering the material limiting plate 17, the metal ball 61 is provided, and the sliding friction of the goods is converted into rolling friction between the goods and the metal ball 61, thereby effectively reducing the friction between the goods and the material limiting plate 17. Friction, thereby effectively reducing the impact of the material limit plate 17 on the goods, thereby improving the smoothness of the goods when being transported. When installing the equipment, it is necessary to install the equipment on the same horizontal line, thereby improving the accuracy of the equipment in grabbing goods. Through the setting of the connecting rod 7, and the connecting rod 7 running through the integrated line body 14, when installing the equipment for debugging, the integrated line body 14 is moved. Due to the limitation of the connecting rod 7, the integrated line body 14 can only move within the horizontal line limited by the connecting rod 7, thereby effectively facilitating the installation and debugging of the equipment by the staff. The end fixing pieces 72 provided at the ends of a pair of connecting rods 7 effectively increase the overall strength of the connecting rod 7, and the end fixing pieces 72 are arc-shaped, thereby effectively improving the overall force-bearing strength of the equipment, thereby facilitating the adjustment of the distance between the integrated cabinet 1 and the integrated line body 14.

[0053] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A five-degree-of-freedom robotic arm palletizing workstation, comprising an integrated cabinet (1); characterized in that: A five-degree-of-freedom robot (11) is installed on the top of the integrated cabinet (1); a buffer module (12) is installed on the end of the five-degree-of-freedom robot (11); a sponge suction cup (13) is installed on the end of the buffer module (12); an integrated line body (14) is provided on the side wall of the integrated cabinet (1); a material limiting mechanism (16) is installed on the top of the integrated line body (14); a material limiting plate (17) is installed on the end of the material limiting mechanism (16); a pair of tray positioning structures (15) are installed on the side wall of the integrated cabinet (1); the tray positioning structures (15) are symmetrically arranged.

2. The five-degree-of-freedom robotic arm palletizing workstation according to claim 1, characterized in that: The side wall of the integrated line body (14) is equipped with multiple groups of cleaning discs (2); the cleaning discs (2) are arranged in an array; the side wall of the cleaning disc (2) is fixedly connected with a gripping handle (21); the side wall of the gripping handle (21) is equipped with a cleaning rod (22); the middle part of the cleaning rod (22) is fixedly connected with two groups of bristles (23).

3. The five-degree-of-freedom robotic arm palletizing workstation according to claim 2, characterized in that: The side wall of the integrated line body (14) is fixedly connected to a plurality of sets of fixing pins (31); the side wall of the cleaning disc (2) is provided with a pair of mounting grooves (3); the middle of the cleaning disc (2) is provided with a pair of cylindrical grooves (32); the inner side walls of the cylindrical grooves (32) are fixedly connected to magnets (33); the inner side walls of the cylindrical grooves (32) are slidably connected to fixing blocks (34); and the middle of the fixing pins (31) is provided with a clamping groove (35).

4. The five-degree-of-freedom robotic arm palletizing workstation according to claim 3, characterized in that: A through hole (4) is provided on the inner side wall of the cylindrical groove (32); a connecting steel wire (41) is fixedly connected to the end of the fixing block (34); and a metal limiting ball (42) is fixedly connected to the end of the connecting steel wire (41).

5. The five-degree-of-freedom robotic arm palletizing workstation according to claim 4, characterized in that: The end of the metal limiting ball (42) is fixedly connected to a connecting rope (5); the side wall of the cleaning disc (2) is fixedly connected to a limiting column (51); and a limiting groove (52) is provided in the middle of the limiting column (51).

6. The five-degree-of-freedom robotic arm palletizing workstation according to claim 1, characterized in that: The side wall of the material limiting plate (17) is provided with a plurality of groups of circular grooves (6); the circular grooves (6) are arranged in an array; and the inner side walls of the circular grooves (6) are rollingly connected with metal balls (61).

7. The five-degree-of-freedom robotic arm palletizing workstation according to claim 1, characterized in that: A pair of connecting rods (7) are fixedly connected to the side walls of the integrated cabinet (1); a reinforcing rod (71) is fixedly connected to the middle of the connecting rod (7); and the connecting rod (7) is slidably connected to the integrated line body (14).

8. The five-degree-of-freedom robotic arm palletizing workstation according to claim 7, characterized in that: An end fixing piece (72) is provided at the end of the connecting rod (7); the end fixing piece (72) is fixed to the end of the connecting rod (7).

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