Intelligent mechanical hand for multi-layer stacking and stacking of fiberboard

Abstract

The application discloses a kind of fibreboard multilayer stack and stacking intelligent manipulator, it is related to stacking mechanical arm technical field, with mechanical arm total as motion carrier, the order action of " first center pre-positioning, then edge clamping, again aligning to edge " is used in grabbing stage, and the edge of plate material of different warping degree is adapted by the alignment push rod group of vertical misplacement distribution, and the complex effect of two sides rigid flat pressing and center elastic flattening is passed through in flattening stage, cooperate servo motor accurate control high-strength cable tension, make lower hammer smoothly switch between pre-tightening, taut state, synchronous eliminate a variety of plate surface deformation, carry stage keeps full plate surface uniform pressure tight state, stack stage is positioned coaxially by means of hemispherical lower hammer to upper and lower plate material, and no impact smooth placement is realized by progressive force release, to solve the technical problems that warped fibreboard is not grabbed, stack misplacement and plate surface damage, significantly improve stacking precision and production efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an intelligent robotic arm for multi-layer stacking and palletizing of fiberboard. Background Technology

[0002] In various fields of automated production, robotic arms are often used as key structures, and automated program controllers are used to complete various production actions, as shown in the technical content of relevant documents such as CN118650603A and CN118003357A.

[0003] The key component of the robotic arm lies in the drive structure between the joints, which meets the requirements of high-weight handling and can also complete the process of fine and lightweight handling. In particular, it supplements the requirements of fiberboard stacking: Although fiberboard is a board, it may be warped or not completely flat due to uneven moisture content or stress release after hot pressing. Therefore, whether it is a rigid negative pressure suction cup or a mechanical claw, there may be problems such as insufficient adsorption stability / gripping force and scratching of the board.

[0004] This is particularly evident in the board stacking process. When the boards warp, it can lead to inaccurate placement of the next layer, or even collision with already stacked boards. Furthermore, it is impossible to perceive minute changes in resistance during the grasping process and contact force during placement, which can easily cause the boards to be squeezed and deformed or placed unevenly. It can also affect the subsequent stacking process, such as deviations in the number of stacked layers and obvious misalignments in the actual stacking position.

[0005] In response to the above problems, this invention proposes a solution. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent robotic arm for multi-layer stacking and palletizing of fiberboard, in order to solve the above-mentioned technical problems.

[0007] The objective of this invention can be achieved through the following technical solution: a multi-layer stacking and palletizing intelligent robot for fiberboard, comprising a robotic arm assembly and a headstock;

[0008] The headstock is installed at the end output position of the robotic arm assembly, and the headstock includes two sets of symmetrically distributed movable gripper assemblies.

[0009] Two sets of symmetrically arranged flat pressure hydraulic cylinders and flat pressure plates are provided on the lower side of the machine head base. The flat pressure plates are linearly moved relative to the machine head base in the vertical direction by the flat pressure hydraulic cylinders.

[0010] Two sets of flat pressure plates are each equipped with a winding reel at a diagonal position, and the winding reel is provided with a reel for winding high-strength steel cable inside;

[0011] A directional head is provided at the relative center point of the two sets of flat pressure plates. The lower end of the directional head is connected to a lower punch by a spring member, and four high-strength steel cables extend outward and are fixedly connected to the directional head.

[0012] A servo motor for driving the rotation of the reel is installed on the upper end of the reel.

[0013] A further configuration is provided: a clamping hydraulic cylinder is installed on the lower side of the machine head base, and the movable gripper assembly is rotatably connected to the machine head base through the clamping hydraulic cylinder.

[0014] Further configuration: The movable gripper assembly is provided with an alignment hydraulic rod and an alignment push rod assembly along its horizontal direction;

[0015] The alignment push rod assembly maintains a horizontal sliding state between itself and the movable gripper assembly via the alignment hydraulic rod, and the two alignment push rod assemblies maintain a state of opposing movement.

[0016] The configuration is further defined as follows: the alignment push rod assembly consists of multiple vertically arranged push rods, wherein the push rods and the movable gripper assembly maintain a staggered distribution.

[0017] The further configuration is as follows: the lower punch and the directional head are slidably connected in the vertical direction, and the lower punch is a hemispherical structure.

[0018] Further configured so that the action process of the downward punch and the directional head cooperating with the flat pressure plate has the following two states:

[0019] Initial state: The servo motor is in a temporarily stopped state, and the high-strength steel cable is in a relatively downward bending state under the gravity of the downward hammer and the directional head. The lower curved surface of the directional head is lower than the lower plane of the flat pressure plate.

[0020] Pre-tension state: The servo motor starts, the high-strength steel cable switches to a relatively horizontal state, the lower curved surface of the directional head is higher than the curved surface of the flat plate, and the lower curved surface of the lower punch is lower than the lower plane of the flat plate;

[0021] Tensioned state: The servo motor starts, the high-strength steel cable switches to a relatively upward bending state, the lower curved surface of the lower punch is on the same horizontal plane as the lower plane of the flat pressure plate, and the lower punch is kept in an elastic fluctuation state by the spring component.

[0022] A further configuration is provided: a counterweight ball is slidably installed on the outer wall position between the flat pressure plate and the directional head of the high-strength steel cable.

[0023] The present invention has the following beneficial effects:

[0024] 1. Adopting a synergistic mode of "rigid flat pressing on both sides + elastic leveling in the center", combined with diagonally arranged tension self-balancing high-strength steel cables and sliding counterweight ball structure, it can simultaneously eliminate complex deformation forms such as edge warping, center arching and corner twisting of fiberboard. The elastic floating downward hammer can adapt to the slight deformation of the board surface and dynamically adjust the clamping force, avoiding the problems of board surface scratches, indentations and edge crushing caused by traditional rigid clamping methods, and greatly improving the product processing qualification rate.

[0025] 2. Secondly, through the step-by-step positioning process of "center pre-positioning - edge clamping - edge alignment - coaxial stacking", the adaptive centering characteristics of the hemispherical downward punch are utilized to reduce the dependence on the accuracy of the vision positioning system. At the same time, combined with the real-time signal feedback of the pressure sensor, the contact state and stacking degree of the board can be accurately identified, and the number of stacking layers can be automatically verified. This effectively avoids stacking misalignment, stack tilting and layer deviation, and significantly improves the stability and automation level of the palletizing operation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of an intelligent robotic arm for multi-layer stacking and palletizing of fiberboard proposed in this invention;

[0028] Figure 2 This is a schematic diagram of the structure of the machine head base in this invention;

[0029] Figure 3 This is a schematic diagram of the movable gripper assembly in this invention;

[0030] Figure 4 This is a schematic diagram of the flat pressure plate in this invention;

[0031] Figure 5 For the present invention Figure 4 A lateral schematic diagram;

[0032] Figure 6 For the present invention Figure 4 Top view.

[0033] In the diagram: 1. Robotic arm assembly; 2. Movable gripper assembly; 3. Headstock; 4. Flat pressure plate; 5. Gripping hydraulic cylinder; 6. Flat pressure hydraulic cylinder; 7. Servo motor; 8. Alignment hydraulic rod; 9. Alignment push rod assembly; 10. Winding wheel; 11. Counterweight ball bearings; 12. Downward punch; 13. Orientation head; 14. High-strength steel cable. Detailed Implementation

[0034] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1: Refer to Figures 1-3 The following describes the robotic arm used for gripping sheet metal: It generally adopts the architecture of "robotic arm + end effector". The end effector is mainly in the form of negative pressure suction cup group and rigid mechanical claw. The basic operating principle is as follows: the industrial control system presets the motion trajectory, controls the robotic arm to drive the end effector to the loading station, and uses the vacuum suction force of the negative pressure suction cup or the clamping force of the rigid mechanical claw to grip one or more sheets of fiberboard. Then, it is transported to the stacking station and stacked layer by layer according to the preset number of layers to form a standard stack.

[0036] by Figure 3 For example, this invention primarily uses a rigid mechanical claw structure. Under the action of the clamping hydraulic cylinder 5, two movable claw assemblies 8 are driven to open or close to clamp the board and transfer it to a designated position. However, for fiberboard, due to uneven moisture content distribution during production or the release of internal stress after hot pressing, it is prone to uneven deformation such as edge warping and center arching. The rigid mechanical claw needs to apply a large clamping force to ensure clamping stability, which can easily scratch the board surface or cause edge crushing deformation, and may even aggravate the degree of board deformation. At the same time, warped boards cannot fit tightly with the lower layer of boards when stacked, resulting in stacking misalignment and stack tilting, which seriously affects the stacking accuracy and the normal operation of subsequent warehousing and transportation processes. The following technical solution is proposed to address this issue:

[0037] Reference Figures 1-6 This invention uses a robotic arm assembly 1 as a motion carrier, with an integrated headstock 3 integrated at its end output position. Two sets of openable and closable movable gripper assemblies 2 are symmetrically arranged on the headstock 3 for gripping the edges of the sheet metal. Inside the movable gripper assembly 2, there is an integrated horizontally extendable alignment push rod assembly 9 for aligning the opposite edges of the sheet metal. Below the headstock 3, there are two sets of vertically lifting and lowering flat pressure plates 4 for pressing the two sides of the sheet metal. At the center of the two sets of flat pressure plates 4, a center leveling and positioning mechanism is designed, consisting of a roller 10, a servo motor 7, a high-strength steel cable 14, a directional head 13, a downward punch 12, and a counterweight ball bearing 11. The tension of the high-strength steel cable 14 is precisely controlled by the servo motor 7 to achieve precise switching of the downward punch 12 in multiple states, completing the elastic leveling of the center warping of the sheet metal and coaxial positioning during stacking.

[0038] Example 2: This example is a step-by-step explanation of Example 1:

[0039] Firstly, considering the fiberboard clamping process, it is divided into five consecutive stages: initial standby, center pre-positioning and board gripping, full board surface leveling and pre-tightening, precise handling and coaxial stacking, and gradual release and reset standby, as explained in detail below:

[0040] S1: Initial standby phase

[0041] The servo motor 7 is in a power-off and temporary stop state. The reel 10 does not apply any active tension to the high-strength steel cable 14. Under the action of the weight of the lower punch 12 and the directional head 13, the four diagonally arranged high-strength steel cables 14 naturally hang down in a relatively downward bending state. The directional head 13 extends downward as a whole, and its lower curved surface position is significantly lower than the lower plane position of the flat pressure plate 4.

[0042] The clamping hydraulic cylinder 5 fully retracts, driving the two sets of movable gripper assemblies 2 to rotate outward to their maximum opening angle. This part is specifically combined... Figure 3 Explanation: For example, the movable gripper assembly 2 consists of a bracket and grippers. The bracket is the power transmission component corresponding to the hydraulic cylinder 5 for gripping. If... Figure 3 The connection relationship is such that when the clamping hydraulic cylinder 5 retracts, the overall support is in the open state, thus reserving sufficient space for gripping the plate. When the flat pressure hydraulic cylinder 6 retracts completely, it drives the two sets of flat pressure plates 4 to rise to the highest limit, avoiding collision with the object below. When the alignment hydraulic rod 8 retracts completely, the alignment push rod group 9 is completely retracted into the internal groove of the movable claw assembly 2, without exceeding the inner contour of the claw.

[0043] In this stage, gravity is used to allow the central leveling and positioning mechanism to naturally droop and form a stable pre-positioning reference, requiring no additional power input and serving only as an auxiliary function.

[0044] S2: Center Pre-positioning and Sheet Grabbing Stage

[0045] After receiving the material handling command, the robotic arm assembly 1 drives the headstock 3 to move quickly to the top of the fiberboard to be gripped at the loading station. After initially aligning with the center of the board through the vision positioning system, it slowly descends. During the descent, the hemispherical structure of the lower punch 12 first contacts the center area of ​​the upper surface of the board. The curved surface of the hemisphere can automatically adapt to the slight tilt and central arch deformation of the board. The initial center positioning of the board can be completed without precise position calibration, providing a unified reference for subsequent edge clamping and four-sided alignment. For this purpose, a pressure sensor can also be added at the center point of the lower punch 12. After the lower punch 12 contacts the board, the pressure sensor sends a pressure signal to indicate that it has contacted the board.

[0046] After the punch 12 makes stable contact with the center of the plate, the clamping hydraulic cylinder 5 extends synchronously, driving the two sets of movable jaw assemblies 2 to rotate inward synchronously at the same angular velocity, so that the flexible pads on the inner side of the jaws make stable contact with and clamp the left and right edges of the plate.

[0047] As the clamping action is completed, the alignment hydraulic rod 8 extends synchronously, pushing the two sets of alignment push rods 9 to move in opposite directions in the horizontal direction. Multiple push rods that are vertically staggered contact different height positions on the front and rear edges of the plate, pushing the plate towards the center reference position for alignment.

[0048] This stage adopts a step-by-step action method of "first center positioning, then edge clamping, and then four-sided alignment" to ensure the positional accuracy of the board during the gripping process. The vertical staggered distribution structure of the alignment push rod group 9 can effectively adapt to the edges of the board with different degrees of warping, avoiding scratches and indentations caused by single-point rigid contact on the board surface. At the same time, the entire gripping process only contacts the edge area of ​​the board and does not contact the main processing area on the upper surface of the board.

[0049] S3: Full-surface leveling and pre-tightening stage

[0050] After the plate is gripped and aligned on all four sides, the flat pressure hydraulic cylinder 6 extends synchronously, driving the two sets of flat pressure plates 4 to descend smoothly in the vertical direction. The lower surface of the flat pressure plate 4 first contacts and presses the left and right sides of the upper surface of the plate. The evenly distributed pressure initially eliminates the edge warping deformation of the plate, keeping the two sides of the plate basically horizontal.

[0051] As the flat pressure plate 4 descends and presses down, the servo motor 7 starts and drives the winding wheel 10 to rotate in the forward direction, beginning to wind up the high-strength steel cable 14 at a uniform speed, so that the center leveling and positioning mechanism smoothly switches to the pre-tightened state and the tensioned state in sequence:

[0052] Pre-tension state: As the high-strength steel cable 14 is wound up, the tension of the steel cable gradually increases, slowly pulling the directional head 13 upward until the lower curved surface of the directional head 13 is higher than the upper curved surface of the flat pressure plate 4. At this time, the lower punch 12 extends / falls downward under the combined action of the elastic force of the spring between it and the directional head 13 and gravity. Its lower curved surface is lower than the lower plane of the flat pressure plate 4, elastically pressing the center area of ​​the plate, and specifically eliminating the upward arching deformation of the plate center.

[0053] Tensioned state: Servo motor 7 continues to drive reel 10 to wind up high-strength steel cable 14, further increasing the cable tension, as shown in the reference. Figure 5Because the lower punch 12 is affected by the surface of the plate, it slowly moves upward on its own, thus "forcing" the entire lower punch 12 + directional head 13 to move upward, thus "forcing" the high-strength steel cable 14 to switch from a horizontal state to a relatively upward-curved state. The directional head 13 continues to move upward and compresses the spring, pulling the lower punch 12 upward until its lower curved surface is at the same level as the lower plane of the flat pressure plate 4.

[0054] At this time, the spring is in a moderately compressed state, so that the lower punch 12 maintains an elastic fluctuation state, which can adaptively adjust the clamping force according to the slight deformation of the plate surface, and form a uniform clamping of the entire plate surface in conjunction with the flat pressure plate 4.

[0055] During the entire state switching process, the counterweight ball 11 slidably installed on the high-strength steel cable 14 will automatically slide to the side with less tension under the action of gravity, thereby balancing the tension of the four diagonally arranged high-strength steel cables 14 in real time, ensuring that the central pressing force is evenly distributed across the entire plate surface, and avoiding situations where the local pressure is too high or too low.

[0056] This stage utilizes a combination of "rigid flat pressing on both sides + elastic flattening in the center" to simultaneously eliminate various deformation patterns of fiberboard, such as edge warping, center arching, and corner twisting, achieving flatness across the entire board surface. The elastic pressing design avoids damage such as indentations and cracks caused to the board by traditional rigid pressing methods, significantly improving the product qualification rate.

[0057] It should also be noted that in both the pre-tensioned and tensioned states, the pressure sensor on the lower side of the lower punch 12 can be used for directional analysis. For example, in the initial state, if the tension of the high-strength steel cable 14 on the lower punch 12 + directional head 13 is ignored, the pressure signal of the pressure sensor should be equal to the sum of the weight of the lower punch 12 + directional head 13 + spring. However, in reality, the tension of the high-strength steel cable 14 on the lower punch 12 + directional head 13 must be taken into account. Therefore, the actual pressure signal is slightly less than the sum of the weight of the lower punch 12 + directional head 13 + spring. Only when the flat pressure plate 4 is just pressing on the plate, and the lower punch 12 + directional head 13 "loses" the tension of the high-strength steel cable 14, will its pressure signal be equal to the sum of the weight of the lower punch 12 + directional head 13 + spring. Therefore, its pressure signal can be used to feedback the contact state of the lower punch 12 with the plate.

[0058] When the flat plate 4 is not in contact with the plate, the pressure signal is 0. After the lower punch 12 starts to contact the plate, the pressure signal changes from 0 and slowly rises to the sum of the weight of the lower punch 12 + the directional head 13 + the spring. This indicates that the flat plate 4 is just in contact with the plate. At this time, it slowly enters the pre-tightened state from the initial state, and the high-strength steel cable 14 also slowly switches from the downward bending state to the upward bending state.

[0059] The flat plate 4 continues to move slowly downwards to press and stack multiple fiberboards, while simultaneously winding up the high-strength steel cable 14. The purpose is to ensure that the lower punch 12 and the directional head 13 continue to move downwards, which can be understood as applying downward pressure. As a result, the pressure signal of the pressure sensor continues to rise, exceeding the sum of the weight of the lower punch 12, the directional head 13, and the spring.

[0060] It can also record the pressure signal in real time for each time period to provide feedback on the stacking status of the board. If the board shows local warping and the pressure signal fluctuation amplitude changes in a non-linear state during the high-strength steel cable 14 retraction, but when each board is stacked to the maximum extent, its pressure signal fluctuation amplitude changes in a linear state. The specific change is related to the retraction speed of the high-strength steel cable 14, which indicates that each fiberboard is stacked to the maximum extent, making it convenient to record the number of board layers grabbed later. The pressure signal is the pressure value.

[0061] S4: Precision handling and coaxial stacking stage

[0062] After the entire board surface is leveled and pre-tightened, the robotic arm assembly 1 drives the headstock 3 and the leveled board to move smoothly to the top of the stacking station. After initially aligning with the center position of the lower stacked board through the position control of the industrial control system, it slowly descends. During the descent, the hemispherical structure of the lower punch 12 first contacts the center area of ​​the upper surface of the lower board, completing the coaxial positioning of the upper and lower boards and providing a precise reference for the placement of the upper board.

[0063] After coaxial positioning is completed, the servo motor 7 rotates in the opposite direction, and the reel 10 begins to release the high-strength steel cable 14 at a uniform speed, so that the center leveling and positioning mechanism smoothly switches from the taut state back to the pre-tightened state and the initial state. During the state switching process, the downward punch 12 gradually reduces the center pressing force on the upper plate until it completely loses its pressing effect. At the same time, the flat pressure hydraulic cylinder 6 retracts slowly, driving the two sets of flat pressure plates 4 to gradually move upward, and evenly release the pressing force on both sides of the plate. When the center pressing force and the pressing force on both sides are completely released, the clamping hydraulic cylinder 5 retracts, driving the two sets of movable gripper assemblies 2 to rotate outward synchronously, releasing the left and right edges of the plate. The plate falls smoothly and without impact onto the lower plate under the action of gravity.

[0064] Finally, after the board is placed stably, the robotic arm assembly 1 drives the headstock 3 to quickly return to the loading station. During the return process, all the actuators automatically reset to the initial standby state, ready for the next gripping and palletizing cycle.

[0065] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

[0066] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A smart robotic arm for multi-layer stacking and palletizing of fiberboard, characterized in that, Includes a robotic arm assembly (1) and a headstock (3); The headstock (3) is installed at the end output position of the robotic arm assembly (1), and the headstock (3) includes two sets of symmetrically distributed movable gripper assemblies (2). Two sets of symmetrically arranged flat pressure hydraulic cylinders (6) and flat pressure plates (4) are provided on the lower side of the machine head base (3). The flat pressure plates (4) are linearly moved relative to the machine head base (3) in the vertical direction by means of the flat pressure hydraulic cylinders (6). Two sets of flat pressure plates (4) are each equipped with a winding disc (10) at opposite corners. The winding disc (10) is provided with a disc for winding high-strength steel cable (14). Two sets of flat pressure plates (4) are provided with a directional head (13) at their relative center point. The lower end of the directional head (13) is connected to a lower punch (12) via a spring, and four high-strength steel cables (14) extend outward and are fixedly connected to the directional head (13). The upper end of the reel (10) is equipped with a servo motor (7) for driving the reel to rotate.

2. The intelligent robotic arm for multi-layer stacking and palletizing of fiberboard according to claim 1, characterized in that, A gripping hydraulic cylinder (5) is installed on the lower side of the headstock (3), and the movable gripper assembly (2) and the headstock (3) are rotatably connected by the gripping hydraulic cylinder (5).

3. The intelligent robotic arm for multi-layer stacking and palletizing of fiberboard according to claim 2, characterized in that, The movable gripper assembly (2) is provided with a positioning hydraulic rod (8) and a positioning push rod assembly (9) along its horizontal direction. Among them, the alignment push rod group (9) maintains a horizontal sliding state between the alignment hydraulic rod (8) and the movable gripper assembly (2), and the two alignment push rod groups (9) maintain a state of opposing movement.

4. The intelligent robotic arm for multi-layer stacking and palletizing of fiberboard according to claim 3, characterized in that, The alignment push rod assembly (9) consists of multiple vertically arranged push rods, wherein the push rods and the movable gripper assembly (2) are in a staggered distribution state.

5. The intelligent robotic arm for multi-layer stacking and palletizing of fiberboard according to claim 1, characterized in that, The lower punch (12) and the directional head (13) are slidably connected in the vertical direction, and the lower punch (12) is a hemispherical structure.

6. The intelligent robotic arm for multi-layer stacking and palletizing of fiberboard according to claim 5, characterized in that, The action of the downward punch (12) and the directional head (13) in conjunction with the flat pressure plate (4) has the following two states: Initial state: The servo motor (7) is in a stop state, and the high-strength steel cable (14) is in a relatively downward bending state under the gravity of the downward hammer (12) and the directional head (13). The lower curved surface of the directional head (13) is lower than the lower plane of the flat plate (4). Pre-tightening state: The servo motor (7) starts, the high-strength steel cable (14) switches to a relatively horizontal state, the lower curved surface of the directional head (13) is higher than the upper curved surface of the flat pressure plate (4), and the lower curved surface of the lower punch (12) is lower than the lower plane of the flat pressure plate (4); Tightening state: The servo motor (7) starts, the high-strength steel cable (14) switches to a relatively upward bending state, the lower curved surface of the lower punch (12) and the lower plane of the flat pressure plate (4) are on the same horizontal plane, and the lower punch (12) maintains an elastic fluctuation state through the spring.

7. The intelligent robotic arm for multi-layer stacking and palletizing of fiberboard according to claim 6, characterized in that, The high-strength steel cable (14) is slidably mounted with counterweight balls (11) on the outer wall position between the flat plate (4) and the directional head (13).

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