A palletizing robot

Abstract

The application provides a stacking robot, and relates to the technical field of mechanical hands.The stacking robot comprises a central controller, a tray, a conveying belt, a base and a mechanical arm, a positioning reference surface is formed through two groups of positioning plates and positioning strips, a first translation driving structure is combined to drive the forward and backward movement of a clamping box, and a second translation driving structure is combined to drive the left and right clamping of a first clamping plate and a second clamping plate, the box body can be actively pushed to displace in the direction of the positioning strips, the whole layer of box bodies can be ensured to be closely attached to the preset position, a pressure detection structure can feed back the contact pressure between the positioning strips and the box bodies in real time, a plurality of clamping boxes in a rectangular array distribution are arranged on the lower wall of the base, the first translation driving structure and the second translation driving structure are independently controlled, the whole layer of box bodies can be clamped, adjusted and accurately stacked at the same time in a single action of the mechanical arm, and the efficiency bottleneck caused by the multiple back-and-forth movements of the traditional paired clamping mechanism is solved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically a palletizing robot. Background Technology

[0002] In the product manufacturing process, the finished products and accessories are placed in packaging boxes according to preset positions. The packaging boxes are then sealed and stacked by palletizing robots to arrange the boxes according to certain rules for easy loading onto vehicles. Palletizing robots generally only participate in the palletizing process of packaging boxes.

[0003] Existing palletizing robots have a large contact area between the gripping parts and the boxes when palletizing, resulting in significant gaps during stacking and making it difficult to remove the gripping parts. When handling heavy boxes, the stack vibrates considerably as the stacking height increases, causing instability and potentially leading to tipping over during transport.

[0004] To address the aforementioned problems, a palletizing robot (patent publication number CN117262726A) is disclosed, comprising a gripping unit. The gripping unit includes two relatively movable sliding frames, each with a gripper connected via a hinged structure. In the stacking state, the two grippers rotate around the hinged structure, causing the bottoms of two items to approach and adhere tightly to each other. This palletizing robot adjusts the posture of the packaging boxes during the stacking process, achieving a tilted stacking state with the bottoms abutting each other. This ensures that when pairs of boxes fall, they adhere tightly to each other, and the opposing vibrations cancel each other out. After stacking, the stack is more stable and reliable, reducing the risk of tipping over during transportation.

[0005] However, the aforementioned disclosed technology still has certain defects. After adjusting the posture of the box, the clamping mechanism relies on the weight of the box itself to adjust the posture of the box after stacking. If the center of gravity of the box deviates from the center, it is difficult to make the bottom of the box completely abut against each other by relying solely on its own weight, which may lead to tilting or sliding. Moreover, this structure can only clamp in pairs and cannot adapt to the requirement of stacking multiple boxes at the same time. Especially in the scenario of box stacking with rectangular array distribution, the clamping mechanism proposed in the aforementioned disclosed technology is completely unsuitable. Summary of the Invention

[0006] To address the shortcomings of the prior art, this invention provides a palletizing robot that solves the problems existing in the prior art.

[0007] The technical solution of this invention is as follows:

[0008] A palletizing robot includes a central controller, a pallet, a conveyor belt, a base, and a robotic arm. The robotic arm is mounted on the upper part of the base, and a base plate is mounted on the end of the robotic arm away from the base. A vision inspection component is mounted on the lower wall of the base plate. Positioning plates are slidably connected to the right and rear walls of the base plate. A positioning strip is mounted on the side of the positioning plate facing the base plate and near the lower end of the positioning plate. A first lifting drive structure is mounted on the base plate to drive the positioning plates to rise and fall. Multiple sets of clamping boxes arranged in a rectangular array are mounted on the lower wall of the base plate. A first translation drive structure is provided between the clamping boxes and the base plate to drive the clamping boxes to move back and forth. The clamping box has two sets of support plates that are slidably connected to each other on the inner sidewall. The first clamping plate and the second clamping plate are slidably connected to the opposite side of the two sets of support plates. A second lifting drive structure for driving the lifting is provided between the first clamping plate, the second clamping plate and the support plates. A set of anti-slip pads is provided on the opposite side of the first clamping plate and the second clamping plate. Pressure detection structures for detecting pressure are provided on the inner sidewall of the anti-slip pads and on the side of the positioning strip away from the positioning plate. A second translation drive structure for driving the first clamping plate and the second clamping plate is provided on the upper inner wall of the clamping box.

[0009] Preferably, two sets of upright plates are fixedly connected to the upper wall of the substrate, the two sets of upright plates being close to the rear wall and right wall of the substrate respectively. A top plate is fixedly connected to the side wall of the upright plate. Multiple sets of guide posts are fixedly connected sequentially along the length direction of the top plate on the lower wall of the top plate. The ends of the multiple sets of guide posts away from the top plate all pass through the positioning plate and are slidably connected to the positioning plate. The clamping box is slidably connected to the lower wall of the substrate through two sets of slide rails. Both sets of slide rails are fixedly connected to the lower wall of the substrate and their length direction is parallel to the left and right walls of the substrate. Two sets of sliding rods are fixedly connected sequentially in a front-back distribution on the inner side wall of the clamping box. Both sets of sliding rods pass through two sets of support plates. The two sets of support plates are slidably connected to the inner side wall of the clamping box through the two sets of sliding rods.

[0010] Preferably, the visual inspection component includes four sets of cameras, all of which are fixedly connected to the lower wall of the substrate and located near the four corners of the lower wall of the substrate.

[0011] Preferably, the first lifting drive structure is a first electric telescopic rod, and an installation cavity is provided on the inner wall of the positioning plate at the center of the length direction. The first electric telescopic rod is fixedly connected to the inner side wall of the installation cavity, and the end of the protruding shaft of the first electric telescopic rod is fixedly connected to the lower wall of the top plate.

[0012] Preferably, the first translation drive structure includes a first motor and a first screw. The first screw is rotatably connected to the lower wall of the substrate and located between two sets of slide rails via a set of rotating seats. The first rotating seats are fixedly connected to the lower wall of the substrate and located near the rear end of the two sets of slide rails. The first motor is fixedly connected to the lower wall of the substrate and located near the front end of the two sets of slide rails. The end of the first screw away from the rotating seats is fixedly connected to the end of the protruding shaft of the first motor via a coupling. The outer wall of the first screw is threadedly connected to the upper wall of the clamping box via a connecting seat. The horizontal height of the upper wall of the clamping box is lower than that of the lower wall of the first motor.

[0013] Preferably, the second lifting drive structure includes two sets of second electric telescopic rods, which are respectively fixedly connected to the opposite side of two sets of support plates. Limit blocks are fixedly connected to the upper ends of the first clamping plate and the second clamping plate. The protruding shaft ends of the two sets of second electric telescopic rods are respectively fixedly connected to the upper wall of a set of limit blocks.

[0014] Preferably, the pressure detection structure includes a first pressure sensor and a second pressure sensor. The first pressure sensor is disposed on the inner wall of the anti-slip pad, and the second pressure sensor is disposed on the side of the positioning strip away from the positioning plate.

[0015] Preferably, the second translation drive structure includes two sets of second motors and two sets of second screws. The two sets of second motors are arranged in a left-right distribution and are fixedly connected to the upper inner wall of the clamping box. The two sets of second screws are respectively fixedly connected to the end of the extended shaft of one set of second motors and rotatably connected to the left and right inner walls of the clamping box. The first clamping plate and the support plate are respectively threadedly connected to one set of second screws.

[0016] Preferably, each of the two sets of support plates is fixedly connected to a sliding sleeve on one side of the opposite side and near the lower end of the support plate. The inner wall of the sliding sleeve is provided with a sliding cavity that runs vertically through the upper and lower sides. The front wall and the rear wall of the inner side of the sliding cavity are provided with sliders that protrude into the sliding cavity. The front wall and the rear wall of the first clamping plate and the second clamping plate are provided with grooves corresponding to the sliders. The first clamping plate and the second clamping plate are slidably connected to a set of sliding sleeves through the grooves and the sliders, respectively.

[0017] Preferably, after the first lifting drive structure drives the positioning plate to descend, the horizontal height of the upper wall of the positioning bar is lower than the lower end height of the second clamping plate when it is driven to the upper stroke end point by the second lifting drive structure.

[0018] The present invention discloses a palletizing robot, which has the following beneficial effects:

[0019] 1. This palletizing robot uses two sets of positioning plates and positioning strips that slide on the right and rear walls of the base plate to form a positioning reference surface during stacking. Combined with the first translation drive structure driving the clamping box to move back and forth and the second translation drive structure driving the first and second clamping plates to clamp left and right, it can actively push the box to move towards the positioning strip, ensuring that the entire layer of boxes fits tightly to the preset position. This completely eliminates the problem of gaps between multiple boxes caused by excessive clamping area or insufficient self-weight adjustment in traditional palletizing. The pressure detection structure provides real-time feedback on the contact pressure between the positioning strip and the box, and the central controller dynamically adjusts the clamping force and the lifting height of the positioning plate to avoid the box from being deformed or offset due to squeezing, which would affect the positioning accuracy.

[0020] 2. This palletizing robot features multiple gripping boxes arranged in a rectangular array on the lower wall of the substrate. Combined with independently controlled first and second translational drive structures, it can simultaneously grip, adjust, and precisely stack an entire layer of boxes in a single robotic arm movement. This overcomes the efficiency bottleneck caused by the multiple back-and-forth movements required by traditional paired gripping mechanisms, making it particularly suitable for scenarios involving stacking entire layers of pallets. The rectangular array layout of the gripping boxes works in conjunction with the vision detection components. Four sets of cameras identify the position of the entire layer of boxes, and the central controller plans independent avoidance paths for the gripping boxes, achieving simultaneous gripping and interference-free stacking of multiple boxes. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 For the present invention Figure 1 A magnified view of a section at point A in the middle;

[0023] Figure 3 This is a top sectional view of the connection structure between the second clamping plate and the anti-slip pad of the present invention;

[0024] Figure 4 This is a partial top sectional view of the connection structure between the support plate and the sliding sleeve of the present invention;

[0025] Figure 5 This is a partial cross-sectional view of the connection structure of the substrate, upright plate, top plate and positioning plate of the present invention.

[0026] Figure 6 This is a partial sectional view of the connection structure between the top plate and the positioning plate of the present invention;

[0027] Figure 7 This is a top view schematic diagram of the connection structure between the substrate and the clamping box of the present invention;

[0028] Figure 8 For the present invention Figure 7 A magnified view of a section at point B.

[0029] The components are as follows: 1. Base; 2. Robotic arm; 3. Base plate; 4. Vertical plate; 5. Top plate; 6. Positioning plate; 7. Positioning strip; 8. Clamping box; 9. First clamping plate; 10. Support plate; 11. Sliding sleeve; 12. Second clamping plate; 13. Limiting block; 14. Sliding groove; 15. Sliding cavity; 16. Slider; 17. Anti-slip pad; 18. First electric telescopic rod; 19. Second electric telescopic rod; 20. Guide column; 21. First pressure sensor; 22. Camera; 23. Slide rail; 24. First motor; 25. First screw; 26. Sliding rod; 27. Second motor; 28. Second screw; 29. ​​Second pressure sensor. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0031] Example:

[0032] like Figures 1 to 8As shown, a palletizing robot includes a central controller, a pallet, a conveyor belt, a base 1, and a robotic arm 2. The robotic arm 2 is mounted on the upper part of the base 1. A base plate 3 is provided at the end of the robotic arm 2 away from the base 1. Positioning plates 6 are slidably connected to the right wall and rear wall of the base plate 3. A positioning strip 7 is provided on the side of the positioning plate 6 facing the base plate 3 and near the lower end of the positioning plate 6. Multiple sets of clamping boxes 8 arranged in a rectangular array are provided on the lower wall of the base plate 3. Two sets of support plates 10 are slidably connected to the inner sidewalls of the clamping boxes 8 in a left-right arrangement. A first clamping plate 9 and a second clamping plate 12 are slidably connected to opposite sides of the two sets of support plates 10, respectively. The first clamping plate 9 and the second clamping plate 12 are slidably connected to the first clamping plate 9 and the second clamping plate 12. A set of anti-slip pads 17 are respectively provided on one side of the second clamping plate 12. Two sets of upright plates 4 are fixedly connected to the upper wall of the substrate 3. The two sets of upright plates 4 are close to the rear wall and right wall of the substrate 3, respectively. A top plate 5 is fixedly connected to the side wall of the upright plate 4. Multiple sets of guide posts 20 are fixedly connected to the lower wall of the top plate 5 along the length of the top plate 5. The ends of the multiple sets of guide posts 20 away from the top plate 5 all pass through the positioning plate 6 and are slidably connected to the positioning plate 6. The clamping box 8 is slidably connected to the lower wall of the substrate 3 through two sets of slide rails 23. Both sets of slide rails 23 are fixedly connected to the lower wall of the substrate 3 and their length direction is parallel to the left and right walls of the substrate 3. The inner side wall of the clamping box 8 is distributed front and back and fixed in sequence. Two sets of sliding rods 26 are connected, each passing through two sets of support plates 10. The two sets of support plates 10 are slidably connected to the inner wall of the clamping box 8 via the two sets of sliding rods 26. The positioning plate 6 forms a liftable positioning reference surface with the base plate 3 via a sliding connection. The positioning strip 7 contacts the side wall of the box when stacked. The first lifting drive structure drives the positioning plate 6 to lift vertically, combined with the first translation drive structure to push the clamping box 8 to move back and forth, and the second translation drive pushes the box to the right via the first clamping plate 9, actively pressing the box against the positioning strip 7 on the right and rear sides, eliminating gaps between multiple boxes and ensuring a tight fit. The clamping boxes 8 are arranged in a rectangular array. The first and second translation drive structures, which are independently controlled, can clamp the entire layer of boxes simultaneously. The support plate 10 and the slide bar 26 work together to constrain the movement path of the clamping plate, ensuring the linear accuracy of the clamping action and adapting to the scenario of stacking the entire pallet. The guide column 20 guides the positioning plate 6 to rise and fall stably in the vertical direction, avoiding positioning offset caused by mechanical vibration or load changes, and ensuring the consistency of the position of the stacking reference surface. The slide rail 23 constrains the front and back movement path of the clamping box 8, and the slide bar 26 limits the left and right sliding range of the support plate 10. The dual guide design ensures the linearity of the clamping action and avoids tilting or slippage of the box due to uneven clamping force.

[0033] In order to identify the position and posture of the entire box in real time and optimize the clamping path planning, a vision detection component is set on the lower wall of the substrate 3. The vision detection component includes four sets of cameras 22. The four sets of cameras 22 are fixedly connected to the lower wall of the substrate 3 and are respectively close to the four corners of the lower wall of the substrate 3. The four sets of cameras 22 cover the area below the substrate 3. The central controller identifies the size, position and arrangement gap of the box through visual data and dynamically adjusts the translation and clamping action of the clamping box 8 to adapt to the stacking requirements of mixed-size boxes.

[0034] In order to achieve rapid lifting and lowering adjustment of the positioning plate 6 and avoid interference between the clamping mechanism and the positioning structure, the base plate 3 is provided with a first lifting drive structure for driving the positioning plate 6 to lift and lower. The first lifting drive structure is a first electric telescopic rod 18. The inner wall of the positioning plate 6 is provided with an installation cavity at the center of the length direction. The first electric telescopic rod 18 is fixedly connected to the inner side wall of the installation cavity. The end of the extension shaft of the first electric telescopic rod 18 is fixedly connected to the lower wall of the top plate 5. After the first electric telescopic rod 18 drives the positioning plate 6 to descend, the horizontal height of the upper wall of the positioning strip 7 is lower than the lower end height of the second clamping plate 12 at the end of the upper stroke, ensuring that there is no interference between the second clamping plate 12 and the positioning strip 7 after the second clamping plate 12 rises.

[0035] To precisely control the forward and backward movement of the clamping box 8 and coordinate with multiple clamping units to complete the adjustment of the entire box, a first translational drive structure for driving the forward and backward movement of the clamping box 8 is provided between the clamping box 8 and the substrate 3. The first translational drive structure includes a first motor 24 and a first screw 25. The first screw 25 is rotatably connected to the lower wall of the substrate 3 through a set of rotating seats and is located between two sets of slide rails 23. The first rotating seats are fixedly connected to the lower wall of the substrate 3 and are located near the rear end of the two sets of slide rails 23. The first motor 24 is fixedly connected to the lower wall of the substrate 3. Located near the front end of the two sets of slide rails 23, the end of the first screw 25 away from the rotating seat is fixedly connected to the end of the extended shaft of the first motor 24 through a coupling. The outer wall of the first screw 25 is threadedly connected to the upper wall of the clamping box 8 through a connecting seat. The horizontal height of the upper wall of the clamping box 8 is lower than that of the lower wall of the first motor 24. The first motor 24 drives the first screw 25 to rotate, which drives the clamping box 8 to move back and forth along the slide rail 23 to adjust the contact position between the clamping box 8 and the box body. At the same time, combined with the vision detection component, multiple boxes are clamped synchronously and the gap is adjusted.

[0036] To ensure the vertical lifting stability of the clamping plate and reduce the pulling resistance of the clamping mechanism, two sets of support plates 10 are fixedly connected to a sliding sleeve 11 on opposite sides and near the lower end of the support plate 10. The inner wall of the sliding sleeve 11 is provided with a vertically penetrating sliding cavity 15. The inner front wall and inner rear wall of the sliding cavity 15 are provided with sliders 16 protruding towards the inside of the sliding cavity 15. The front and rear walls of the first clamping plate 9 and the second clamping plate 12 are provided with grooves 14 corresponding to the sliders 16. The first clamping plate 9 and the second clamping plate 12 are slidably connected to a set of sliding sleeves 11 through the grooves 14 and the sliders 16 respectively. The grooves 14 and the sliders 16 cooperate to constrain the lifting path of the clamping plate, ensuring that the clamping force acts vertically on the surface of the box, reducing the lateral frictional resistance when the clamping plate is pulled out, and preventing the box from shifting.

[0037] To facilitate the second translation drive structure pushing the box through the first clamping plate 9, a second lifting drive structure for driving lifting is provided between the first clamping plate 9, the second clamping plate 12 and the support plate 10. The second lifting drive structure includes two sets of second electric telescopic rods 19, which are fixedly connected to opposite sides of the two sets of support plates 10. Limit blocks 13 are fixedly connected to the upper ends of the first clamping plate 9 and the second clamping plate 12. The protruding shaft ends of the two sets of second electric telescopic rods 19 are fixedly connected to the upper wall of a set of limit blocks 13. After the first lifting drive structure drives the positioning plate 6 to descend, the horizontal height of the upper wall of the positioning strip 7 is lower than the lower end height of the second clamping plate 12 when it is driven to the upper end of the stroke by the second lifting drive structure. After the box falls on the tray, the second electric telescopic rods 19 drive the second clamping plate 12 to rise. At this time, the second translation drive mechanism can continuously push the box to the right through the first clamping plate 9 to eliminate the gap between the boxes.

[0038] To dynamically monitor the clamping force and positioning pressure and prevent deformation of the housing or positioning failure, pressure detection structures for detecting pressure are provided on the inner wall of the anti-slip pad 17 and the side of the positioning strip 7 away from the positioning plate 6. The pressure detection structures include a first pressure sensor 21 and a second pressure sensor 29. The first pressure sensor 21 is located on the inner wall of the anti-slip pad 17, and the second pressure sensor 29 is located on the side of the positioning strip 7 away from the positioning plate 6. The first pressure sensor 21 detects the clamping force of the clamping plate on the housing in real time, and the second pressure sensor 29 monitors the contact pressure between the positioning strip 7 and the housing. The central controller dynamically adjusts the clamping force and the lifting height of the positioning plate 6 based on the feedback data to prevent overpressure from causing deformation of the housing or insufficient clamping force from causing slippage.

[0039] To achieve independent adjustment of the clamping plate spacing and adapt to boxes of different widths, a second translational drive structure is provided on the upper inner wall of the clamping box 8 for driving the first clamping plate 9 and the second clamping plate 12. The second translational drive structure includes two sets of second motors 27 and two sets of second screws 28. The two sets of second motors 27 are arranged left and right and fixedly connected to the upper inner wall of the clamping box 8. The two sets of second screws 28 are respectively fixedly connected to the end of the extended shaft of one set of second motors 27 and rotatably connected to the left and right inner walls of the clamping box 8. The first clamping plate 9 and the support plate 10 are respectively threadedly connected to one set of second screws 28. The two sets of second motors 27 independently drive the two sets of second screws 28 to rotate, thereby controlling the left and right movement of the first clamping plate 9 and the second clamping plate 12, flexibly adjusting the clamping spacing to adapt to the clamping requirements of boxes of different widths.

[0040] Working principle: The positioning plate 6 forms a liftable positioning reference surface with the base plate 3 through a sliding connection. The positioning strip 7 contacts the side wall of the box during stacking. The first lifting drive structure drives the positioning plate 6 to move vertically, combined with the first translation drive structure to push the clamping box 8 to move back and forth, and the second translation drive pushes the box to the right through the first clamping plate 9, actively pressing the box against the positioning strip 7 on the right and rear sides, eliminating gaps between multiple boxes and ensuring a tight fit. The clamping boxes 8, distributed in a rectangular array, can clamp the entire layer of boxes simultaneously through the independently controlled first and second translation drive structures. The support plate 10 and the slide rod 26 cooperate to constrain the movement path of the clamping plate and ensure the clamping action. The linear accuracy is suitable for pallet stacking scenarios. The guide column 20 guides the positioning plate 6 to rise and fall stably in the vertical direction, avoiding positioning offset caused by mechanical vibration or load changes, and ensuring the consistency of the stacking reference surface. The slide rail 23 constrains the front and back movement path of the clamping box 8, and the slide rod 26 limits the left and right sliding range of the support plate 10. The dual guide design ensures the linearity of the clamping action and avoids tilting or slippage of the box due to uneven clamping force. Four sets of cameras 22 cover the area below the base plate 3. The central controller identifies the size, position and arrangement gap of the box through visual data and dynamically adjusts the translation and clamping action of the clamping box 8 to adapt to the stacking requirements of mixed-size boxes. After the electric telescopic rod 18 drives the positioning plate 6 to descend, the upper wall of the positioning strip 7 is lower than the lower end of the second clamping plate 12 at the end of its upper stroke, ensuring that the second clamping plate 12 does not interfere with the positioning strip 7 after it rises. The first motor 24 drives the first screw 25 to rotate, causing the clamping box 8 to move back and forth along the slide rail 23, adjusting the contact position between the clamping box 8 and the box body. At the same time, combined with the vision detection component, multiple boxes are clamped synchronously and the gap is adjusted. The slide groove 14 and the slider 16 cooperate to constrain the lifting path of the clamping plate, ensuring that the clamping force acts perpendicularly on the surface of the box body, reducing the lateral frictional resistance when the clamping plate is pulled out, and preventing the box body from shifting. After the box body falls onto the tray, the second electric telescopic rod... Rod 19 drives the second clamping plate 12 to rise. At this time, the second translation drive mechanism can continuously push the box to the right through the first clamping plate 9 to eliminate the gap between the boxes. The first pressure sensor 21 detects the clamping force of the clamping plate on the box in real time, and the second pressure sensor 29 monitors the contact pressure between the positioning strip 7 and the box. The central controller dynamically adjusts the clamping force and the lifting height of the positioning plate 6 according to the feedback data to avoid the box from deforming due to excessive pressure or slippage caused by insufficient clamping force. Two sets of second motors 27 independently drive two sets of second screws 28 to rotate, respectively controlling the left and right movement of the first clamping plate 9 and the second clamping plate 12, flexibly adjusting the clamping distance to adapt to the clamping requirements of boxes of different widths.

Claims

1. A palletizing robot, characterized in that: The system includes a central controller, a tray, a conveyor belt, a base (1), and a robotic arm (2). The robotic arm (2) is located on the upper end of the base (1). A base plate (3) is located on the end of the robotic arm (2) away from the base (1). A vision inspection component is located on the lower wall of the base plate (3). Positioning plates (6) are slidably connected to the right and rear walls of the base plate (3). A positioning strip (7) is located on the side of the positioning plate (6) facing the base plate (3) and near the lower end of the positioning plate (6). A first lifting drive structure for driving the positioning plate (6) to rise and fall is provided on the base plate (3). Multiple sets of clamping boxes (8) arranged in a rectangular array are provided on the lower wall of the base plate (3). A first translation drive structure for driving the clamping boxes (8) to move back and forth is provided between the clamping boxes (8) and the base plate (3). The clamping box (8) has two sets of support plates (10) that are slidably connected to each other on the inner side wall. The first clamping plate (9) and the second clamping plate (12) are slidably connected to the opposite side of the two sets of support plates (10). A second lifting drive structure for driving the lifting is provided between the first clamping plate (9) and the second clamping plate (12) and the support plate (10). A set of anti-slip pads (17) is provided on the opposite side of the first clamping plate (9) and the second clamping plate (12). A pressure detection structure for detecting pressure is provided on the inner side wall of the anti-slip pads (17) and the side of the positioning strip (7) away from the positioning plate (6). A second translation drive structure for driving the first clamping plate (9) and the second clamping plate (12) is provided on the upper inner wall of the clamping box (8). After the first lifting drive structure drives the positioning plate (6) to descend, the upper wall of the positioning bar (7) is lower than the lower end height of the second clamping plate (12) when it is driven to the upper stroke end point by the second lifting drive structure.

2. The palletizing robot according to claim 1, characterized in that: Two sets of upright plates (4) are fixedly connected to the upper wall of the substrate (3). The two sets of upright plates (4) are close to the rear wall and right wall of the substrate (3) respectively. A top plate (5) is fixedly connected to the side wall of the upright plate (4). Multiple sets of guide columns (20) are fixedly connected to the lower wall of the top plate (5) along the length direction of the top plate (5). The ends of the multiple sets of guide columns (20) away from the top plate (5) all pass through the positioning plate (6) and are slidably connected to the positioning plate (6). The clamping box (8) is slidably connected to the lower wall of the substrate (3) through two sets of slide rails (23). Both sets of slide rails (23) are fixedly connected to the lower wall of the substrate (3) and their length direction is parallel to the left and right walls of the substrate (3). Two sets of slide rods (26) are fixedly connected to the inner side wall of the clamping box (8) in a front-to-back distribution. Both sets of slide rods (26) pass through two sets of support plates (10). The two sets of support plates (10) are slidably connected to the inner side wall of the clamping box (8) through the two sets of slide rods (26).

3. A palletizing robot according to claim 2, characterized in that: The visual inspection component includes four sets of cameras (22), which are fixedly connected to the lower wall of the substrate (3) and located near the four corners of the lower wall of the substrate (3).

4. A palletizing robot according to claim 3, characterized in that: The first lifting drive structure is a first electric telescopic rod (18). The inner wall of the positioning plate (6) is provided with an installation cavity located in the middle of the length direction. The first electric telescopic rod (18) is fixedly connected to the inner side wall of the installation cavity. The end of the extension shaft of the first electric telescopic rod (18) is fixedly connected to the lower wall of the top plate (5).

5. A palletizing robot according to claim 4, characterized in that: The first translation drive structure includes a first motor (24) and a first screw (25). The first screw (25) is rotatably connected to the lower wall of the substrate (3) through a set of rotating seats and is located between two sets of slide rails (23). The first rotating seat is fixedly connected to the lower wall of the substrate (3) and is close to the rear end of the two sets of slide rails (23). The first motor (24) is fixedly connected to the lower wall of the substrate (3) and is located close to the front end of the two sets of slide rails (23). The end of the first screw (25) away from the rotating seat is fixedly connected to the end of the extended shaft of the first motor (24) through a coupling. The outer wall of the first screw (25) is threadedly connected to the upper wall of the clamping box (8) through a connecting seat. The horizontal height of the upper wall of the clamping box (8) is lower than that of the lower wall of the first motor (24).

6. A palletizing robot according to claim 5, characterized in that: The second lifting drive structure includes two sets of second electric telescopic rods (19). The two sets of second electric telescopic rods (19) are fixedly connected to the opposite side of the two sets of support plates (10). Limiting blocks (13) are fixedly connected to the upper ends of the first clamping plate (9) and the second clamping plate (12). The ends of the extension shafts of the two sets of second electric telescopic rods (19) are fixedly connected to the upper wall of a set of limiting blocks (13).

7. A palletizing robot according to claim 6, characterized in that: The pressure detection structure includes a first pressure sensor (21) and a second pressure sensor (29). The first pressure sensor (21) is disposed on the inner side wall of the anti-slip pad (17), and the second pressure sensor (29) is disposed on the side of the positioning strip (7) away from the positioning plate (6).

8. A palletizing robot according to claim 7, characterized in that: The second translation drive structure includes two sets of second motors (27) and two sets of second screws (28). The two sets of second motors (27) are arranged in a left-right distribution and are fixedly connected to the upper inner wall of the clamping box (8). The two sets of second screws (28) are respectively fixedly connected to the end of the extended shaft of one set of second motors (27) and rotatably connected to the left and right inner walls of the clamping box (8). The first clamping plate (9) and the support plate (10) are respectively threadedly connected to one set of second screws (28).

9. A palletizing robot according to claim 8, characterized in that: Both sets of support plates (10) are fixedly connected to a sliding sleeve (11) on opposite sides and near the lower end of the support plate (10). The inner wall of the sliding sleeve (11) is provided with a sliding cavity (15) that runs vertically through the upper and lower sides. The inner front wall and inner rear wall of the sliding cavity (15) are provided with a slider (16) protruding towards the inside of the sliding cavity (15). The front wall and rear wall of the first clamping plate (9) and the second clamping plate (12) are provided with a sliding groove (14) corresponding to the slider (16). The first clamping plate (9) and the second clamping plate (12) are slidably connected to a set of sliding sleeves (11) through the sliding groove (14) and the slider (16).

Images