Stacking work station

Abstract

The utility model relates to the technical field of industrial robots, and discloses a stacking work station which comprises a control base, a multi-axis robotic arm and a clamp, and the two ends of the multi-axis robotic arm are connected with the control base and the clamp respectively. The control base comprises an electric cabinet, a first control electric box, a second control electric box and a lifting mechanism, the first control electric box, the second control electric box and the lifting mechanism are mounted in the electric cabinet, the first control electric box is in communication connection with the second control electric box, the first control electric box is connected with the multi-axis robotic arm to control the multi-axis robotic arm to work, and the lifting mechanism is connected with the first end of the multi-axis robotic arm. And the multi-axis robot arm is driven to do lifting motion in the longitudinal direction of the electric cabinet body. According to the stacking work station provided by the utility model, the control base is provided with the first control electric box and the second control electric box, so that other equipment on the whole production line can be controlled while the multi-axis mechanical arm of the whole stacking work station is intelligently controlled; and joint control of the stacking work station and other equipment on a production line is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and in particular relates to a palletizing workstation. Background Art

[0002] With the development of industrial intelligence, more and more robots are being used in industries such as industry, agriculture, medical treatment, and services. Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities.

[0003] At present, the proportion of intelligent robots in the packaging industry is gradually increasing. Box packaging still accounts for a large proportion in the transportation industry. Therefore, the demand for the placement and stacking of box packaging is increasing. Therefore, a palletizing workstation including a palletizer is produced. This type of palletizing workstation is widely used in the box packaging industry.

[0004] Based on the continuous addition of intelligent control to the control of the palletizing workstation, when other equipment needs to be controlled, most of the time, a control box is re-established externally to control other equipment. The control box is mostly connected to the palletizing workstation and other equipment by a control line to achieve remote control of the palletizing workstation. However, the control line is exposed outside, and there is a probability that the staff will pull the control line randomly. The operation force of the palletizing workstation is large, and there is a risk of breaking the control line, which poses a great safety hazard. In addition, in order to control the palletizing workstation and other equipment at the same time through the control box, the staff needs to walk back and forth and need to pay attention to the external situation at all times, or two people are required to perform the control operation, which increases the labor cost. In addition, the connection between the palletizer and the external electric box and other equipment brings troubles to assembly and maintenance. Summary of the invention

[0005] In order to solve the problems in the above-mentioned prior art that the joint control between the palletizing workstation and other equipment needs to be controlled by an additional control box, which has the problems of increased cost, complex connection, complicated assembly and maintenance, the utility model provides a palletizing workstation.

[0006] The technical effects to be achieved by the utility model are achieved through the following technical aspects:

[0007] In the first aspect, the utility model provides a palletizing workstation, comprising: a control base, a multi-axis robot arm and a clamp, wherein the first end of the multi-axis robot arm is connected to the control base, and the second end of the multi-axis robot arm is connected to the clamp; the control base comprises an electrical cabinet, a first control electrical box, a second control electrical box and a lifting mechanism, the first control electrical box, the second control electrical box and the lifting mechanism are installed in the electrical cabinet, the first control electrical box is communicatively connected with the second control electrical box, the first control electrical box is connected to the multi-axis robot arm to control the operation of the multi-axis robot arm, and the lifting mechanism is connected to the first end of the multi-axis robot arm to drive the multi-axis robot arm to perform lifting and lowering movements in the longitudinal direction along the electrical cabinet.

[0008] In some optional implementations, the first control electrical box and the second control electrical box are disposed on a first side of the electrical cabinet, and the first control electrical box and the second control electrical box are distributed vertically.

[0009] In some optional implementations, the control base also includes an air source controller, which is installed on the electrical cabinet, the air source controller is communicatively connected to the first control electrical box, and the connector of the air source controller is connected to the clamp through an air pipe to control the operation of the clamp.

[0010] In some optional implementations, the second control electrical box includes an IO electrical box.

[0011] In some optional implementations, a display control panel and a control switch are provided on the electrical cabinet, the display control panel is connected to the first control electrical box and / or the second control electrical box, and the control switch is connected to the first control electrical box and / or the second control electrical box.

[0012] In some optional implementations, ventilation mesh holes are provided on the side walls of the electrical cabinet.

[0013] In some optional implementations, the lifting mechanism is arranged on the second side of the electric cabinet; the lifting mechanism includes a mounting seat, a lifting column and a driving unit, the mounting seat is fixedly installed in the electric cabinet, the lifting column is slidably connected to the mounting seat through a slide rail assembly, the driving unit is installed in the mounting seat and connected to the lifting column to drive the lifting column to perform lifting movement along the mounting seat through the slide rail assembly, and the first end of the multi-axis robot arm is embedded in the electric cabinet and fixedly connected to the upper end of the lifting column so as to be able to move synchronously with the lifting column.

[0014] In some optional implementations, the multi-axis robot arm includes a base, a first rotation joint, a second rotation joint, a first connecting arm, a third rotation joint, an adapter, a second connecting arm, a fourth rotation joint and a fifth rotation joint connected in sequence, the base is fixedly connected to the lifting mechanism, and the end of the fifth rotation joint is fixedly connected to the clamp.

[0015] In some optional implementations, the clamp includes a mounting frame and at least one vacuum suction cup assembly connected to the mounting frame, and the vacuum suction cup assembly is connected to the air source controller via an air pipe.

[0016] In some optional implementations, the control base further includes a base, the electric cabinet is arranged on the base, a support portion is provided at the bottom of the base; and a pallet is provided on one side of the base to be able to place stacked objects.

[0017] In summary, the utility model has at least the following benefits:

[0018] The palletizing workstation provided by the utility model has a control base which, through the first control electric box and the second control electric box, can realize intelligent control of the multi-axis robot arm of the entire palletizing workstation and control other equipment on the entire production line, thereby realizing joint control of the palletizing workstation and other equipment on the production line; and by integrating the first control electric box and the second control electric box into the control base of a single palletizing workstation, the structure of the single palletizing workstation is optimized, making the assembly and maintenance of the palletizing workstation simpler and more convenient, and also reducing the production cost and maintenance cost of the palletizing workstation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic structural diagram of a palletizing workstation provided by an embodiment of the utility model;

[0020] Figure 2 A schematic structural diagram of a control base and a multi-axis robot arm of a palletizing workstation provided by an embodiment of the utility model from another angle;

[0021] Figure 3 A schematic diagram of the structure of a lifting mechanism of a palletizing workstation provided by an embodiment of the utility model;

[0022] Figure 4 for Figure 3 AA surface cross-sectional view of ;

[0023] Figure 5 A schematic diagram of the structure of a multi-axis robot arm of a palletizing workstation provided by an embodiment of the utility model;

[0024] Figure 6A schematic structural diagram of a first rotary joint of a multi-axis robot arm of a palletizing workstation provided by an embodiment of the utility model;

[0025] Figure 7 A reference diagram of the use status of a palletizing workstation provided in an embodiment of the utility model.

[0026] Markings in the figure:

[0027] 1. Control base;

[0028] 11. Electric cabinet, 111. Ventilation mesh;

[0029] 12. The first control box;

[0030] 13. Second control box;

[0031] 14. lifting mechanism, 141. mounting seat, 1411. first guide rail mounting seat, 1412. second guide rail mounting seat, 1413. first fixing bracket, 1414. second fixing bracket, 142. lifting column, 143. driving unit, 144. slide rail assembly, 1441. slider, 1442. slide rail;

[0032] 15. base, 151. support portion;

[0033] 16. Three-color integrated light;

[0034] 17. Display control panel;

[0035] 18. Control switch;

[0036] 19. Operation buttons;

[0037] 2. Multi-axis robotic arm;

[0038] 21. Base;

[0039] 22. first rotating joint, 221. housing, 222. driving motor assembly, 223. first synchronous wheel, 224. synchronous belt, 225. second synchronous wheel, 226. reducer assembly;

[0040] 23. Second rotation joint;

[0041] 24. A first connecting arm;

[0042] 25. The third rotation joint;

[0043] 26. Adapter;

[0044] 27. Second connecting arm;

[0045] 28. Fourth rotation joint;

[0046] 29. Fifth rotation joint;

[0047] 30. Flange assembly;

[0048] 3. fixture, 31. mounting frame, 32. vacuum suction cup assembly;

[0049] 4. Air source controller;

[0050] 5. Box body;

[0051] 6. Pallet. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the implementation of the utility model clearer, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. The described implementation is a part of the implementation of the utility model, not all of the implementations.

[0053] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0054] Example 1

[0055] In order to solve the problems in the prior art that the linkage control between the palletizing workstation and other equipment needs to be controlled by an additional control box, which has the problems of increased cost, complicated connection, and complicated assembly and maintenance, the embodiment of the utility model discloses a palletizing workstation.

[0056] Please see attached Figure 1 The palletizing workstation disclosed in this embodiment includes: a control base 1, a multi-axis robot arm 2 and a fixture 3, the first end of the multi-axis robot arm 2 is connected to the control base 1, and the second end of the multi-axis robot arm 2 is connected to the fixture 3; the control base 1 includes an electric cabinet 11, a first control electric box 12, a second control electric box 13 and a lifting mechanism 14, the first control electric box 12, the second control electric box 13 and the lifting mechanism 14 are installed in the electric cabinet 11, the first control electric box 12 is communicatively connected with the second control electric box 13, the first control electric box 12 is connected to the multi-axis robot arm 2 to control the operation of the multi-axis robot arm 2, and the lifting mechanism 14 is connected to the first end of the multi-axis robot arm 2 to drive the multi-axis robot arm 2 to move up and down in the longitudinal direction along the electric cabinet 11.

[0057] In this embodiment, the first control electrical box 12 and the second control electrical box 13 are arranged on the first side of the electrical cabinet 11, and the first control electrical box 12 and the second control electrical box 13 are distributed up and down. The first control electrical box 12 is used to control the operation of the multi-axis robot arm 2 and the fixture 3, that is, the first control electrical box 12 can control the multi-axis robot arm 2 and the fixture 3 of the palletizing workstation to perform palletizing work, and the second control electrical box 13 includes an IO electrical box. While the IO electrical box is communicated with the first control electrical box 12, it is also communicated with other equipment on the assembly line to realize intelligent control of the entire assembly line.

[0058] The lifting mechanism 14 is arranged on the second side of the electric cabinet 11 and can perform lifting and lowering movements in the longitudinal direction of the electric cabinet 11. The lifting mechanism 14 is also connected to the first control electric box 12, and realizes lifting and lowering movements in the longitudinal direction of the electric cabinet 11 under the control of the first control electric box 12; and the upper end of the lifting mechanism 14 is connected to the multi-axis robot arm 2 to drive the multi-axis robot arm 2 to perform synchronous lifting and lowering movements in the longitudinal direction of the electric cabinet 11, thereby achieving the purpose of adjusting the height of the multi-axis robot arm 2.

[0059] In addition, if Figure 2 As shown, the control base 1 also includes an air source controller 4, which is installed on the electrical cabinet 11. The air source controller 4 is communicatively connected to the first control electrical box 12, and the connector of the air source controller 4 is connected to the fixture 3 through an air pipe to control the operation of the fixture 3.

[0060] In this embodiment, which is a preferred embodiment, the gas source controller 4 adopts a gas source processing dual-unit.

[0061] Preferably, the clamp 3 includes a mounting frame 31 and at least one vacuum suction cup assembly 32 connected to the mounting frame 31 , and the vacuum suction cup assembly 32 is connected to the air source controller 4 through an air pipe.

[0062] In some optional embodiments, a display control panel 17, a control switch 18, a plurality of operation buttons 19 and a three-color integrated light 16 are provided on the electrical cabinet 11. The display control panel 17, the control switch 18, the plurality of operation buttons 19 and the three-color integrated light 16 are all connected to the first control electrical box 12 and / or the second control electrical box 13. The operation buttons 19 include at least two of a start operation button, a stop operation button, a reset operation button and an emergency stop operation button.

[0063] In addition, in some optional embodiments, ventilation mesh holes 111 are provided on the side walls of the electric cabinet 11 to achieve ventilation and cooling functions.

[0064] In some optional embodiments, the electric cabinet 11 is respectively provided with a front door panel, a rear door panel, a left door panel and a right door panel to achieve a better sealing effect for the entire electric cabinet 11 to prevent small animals from entering the interior and also to achieve a dustproof effect.

[0065] Finally, the control base 1 of the palletizing workstation disclosed in this embodiment also includes a base 15, the electric cabinet 11 is arranged on the base 15, and a support portion 151 is provided at the bottom of the base 15 to realize the assembly of the control base 1; and a card plate 6 is provided on one side of the base 15 to place the objects to be palletized, see Figure 7 shown.

[0066] In this embodiment, the palletizing workstation is used to realize the palletizing of the boxes 5 , and the boxes 5 transferred from the assembly line are palletized onto the pallet 6 by the multi-axis robot arm 2 and the clamp 3 .

[0067] Therefore, the palletizing workstation provided in this embodiment, whose control base 1 is provided with the first control electrical box 12 and the second control electrical box 13, can realize intelligent control of the multi-axis robot arm 2 of the entire palletizing workstation while also controlling other equipment on the entire production line, thereby realizing joint control of the palletizing workstation and other equipment on the production line; and by integrating the first control electrical box 12 and the second control electrical box 13 into the control base 1 of a single palletizing workstation, the structure of the single palletizing workstation is optimized, making the assembly and maintenance of the palletizing workstation simpler and more convenient, while also reducing the production cost and maintenance cost of the palletizing workstation.

[0068] Example 2

[0069] This embodiment discloses a palletizing workstation, which further optimizes the structure of the lifting mechanism 14 based on the first embodiment.

[0070] See also Figure 3-4 As shown, the lifting mechanism 14 includes a mounting seat 141, a lifting column 142 and a driving unit 143. The mounting seat 141 is fixedly installed in the electric cabinet 11. The lifting column 142 is slidably connected to the mounting seat 141 through a slide rail assembly 144. The driving unit 143 is installed in the mounting seat 141 and connected to the lifting column 142 to drive the lifting column 142 to move up and down along the mounting seat 141 through the slide rail assembly 144. The first end of the multi-axis robot arm 2 is embedded in the electric cabinet 11 and fixedly connected to the upper end of the lifting column 142 so as to be able to move synchronously with the lifting column 142.

[0071] Specifically, the mounting base 141 includes a first guide rail mounting base 1411 , a second guide rail mounting base 1412 , a first fixing bracket 1413 and a second fixing bracket 1414 .

[0072] Among them, the first guide rail mounting seat 1411 and the second guide rail mounting seat 1412 have the same structure and are symmetrically arranged, the first fixed bracket 1413 and the second fixed bracket 1414 have the same structure, and the upper and lower ends of the same side of the first guide rail mounting seat 1411 and the second guide rail mounting seat 1412 are respectively connected by the first fixed bracket 1413 and the second fixed bracket 1414.

[0073] The slide rail assembly 144 includes a slide rail 1442 and a slider 1441 matched therewith. The slide rail 1442 is fixedly mounted on the relative inner walls of the first guide rail mounting seat 1411 and the second guide rail mounting seat 1412 along the longitudinal direction, and the slider 1441 is fixedly mounted on the relative outer walls of the lifting column 142, so that the lifting column 142 can be lifted and lowered along the mounting seat 141 through the slider 1441 matched with the slide rail 1442.

[0074] The driving unit 143 adopts an electric cylinder, which is arranged in the lifting column 142 and installed at the bottom of the mounting seat 141. The driving end of the driving unit 143 is connected to the top of the lifting column 142 through a floating joint, and the lower end of the multi-axis robot arm 2 is fixedly connected to the upper end surface of the lifting column 142.

[0075] In addition, the driving unit 143 is also connected to the air source controller 4 through an air pipe so that its operation can be controlled by the air source controller 4 .

[0076] The lifting mechanism 14 disclosed in this embodiment controls the driving part 143 to work through the air source controller 4, so that the entire lifting column 142 performs lifting movement along the electric cabinet 11, and drives the multi-axis robot arm 2 to perform lifting movement synchronously, so as to adjust the height of the multi-axis robot arm 2, thereby realizing the adjustment of the stacking height.

[0077] Example 3

[0078] This embodiment discloses a palletizing workstation, which further optimizes the structure of the multi-axis robot arm 2 based on Embodiments 1 and 2.

[0079] See also Figure 5 As shown, the multi-axis robot arm 2 includes a base 21, a first rotation joint 22, a second rotation joint 23, a first connecting arm 24, a third rotation joint 25, an adapter 26, a second connecting arm 27, a fourth rotation joint 28 and a fifth rotation joint 29 which are connected in sequence. The base 21 is fixedly connected to the lifting mechanism 14, and the end of the fifth rotation joint 29 is fixedly connected to the clamp 3.

[0080] Specifically: the two ends of the first connecting arm 24 are fixedly connected to the second rotation joint 23 and the third rotation joint 25 respectively, and the two ends of the second connecting arm 27 are fixedly connected to the adapter 26 and the fourth rotation joint 28 respectively; the base 21 is fixedly connected to the upper end of the lifting column 142, the first rotation joint 22 can achieve 360° rotation relative to the base 21, the second rotation joint 23 can drive the first connecting arm 24 to achieve 360° rotation relative to the first rotation joint 22, the third rotation joint 25 can achieve 360° rotation relative to the adapter 26 and the fourth rotation joint 28, and the fourth rotation joint 28 can achieve 360° rotation relative to the fifth rotation joint 29.

[0081] The end of the fifth rotation joint 29 can also be connected to the mounting frame 31 of the clamp 3 via the flange assembly 30 , so that the clamp 3 can achieve 360° rotation relative to the fifth rotation joint 29 .

[0082] In this embodiment, which is a preferred embodiment, the structures of the first rotation joint 22, the second rotation joint 23, the third rotation joint 25, the fourth rotation joint 28 and the fifth rotation joint 29 are all the same.

[0083] Take the structure of the first rotating joint 22 as an example. Figure 6 As shown, the first rotary joint 22 includes a shell 221, a drive motor assembly 222, a first synchronous wheel 223, a second synchronous wheel 225, a synchronous belt 224, and a reducer assembly 226. The drive motor assembly 222 is fixedly installed in the shell 221, the first synchronous wheel 223 is arranged at the driving end of the drive motor assembly 222, the second synchronous wheel 225 is arranged on the flexible wheel of the reducer assembly 226, the synchronous belt 224 diffracts on the first synchronous wheel 223 and the second synchronous wheel 224, and the reducer assembly 226 is fixedly connected to the shell 221 and the base 21 through its steel wheel and wave generator, so that under the drive of the drive motor assembly 222, the shell 221 can achieve 360° rotation relative to the base 21 through the reducer assembly 226.

[0084] In some optional embodiments, the adapter 26 can also be designed as a rotary joint structure that is the same as the third rotary joint 25. However, given that the internal design eliminates the drive motor assembly 222, the first synchronous wheel 223, the second synchronous wheel 225, the synchronous belt 224, and the reducer assembly 226, it can still meet the requirements of palletizing and avoid the generation of more singular points, making it safer to use.

[0085] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0087] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0088] In the present utility model, unless otherwise clearly specified and limited, the first feature being above or below the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature being above, above, and above the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being below, below, and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0089] Although the utility model is described in conjunction with the above specific embodiments, it is obvious that those skilled in the art can make many substitutions, modifications and changes based on the above content. Therefore, all such substitutions, improvements and changes are included in the spirit and scope of the appended claims.

Claims

1. A palletizing workstation, characterized in that: include: A control base (1), a multi-axis robot arm (2) and a fixture (3), wherein the first end of the multi-axis robot arm (2) is connected to the control base (1), and the second end of the multi-axis robot arm (2) is connected to the fixture (3); the control base (1) comprises an electrical cabinet (11), a first control electrical box (12), a second control electrical box (13) and a lifting mechanism (14), wherein the first control electrical box (12), the second control electrical box (13) and the lifting mechanism (14) are installed in the electrical cabinet (11), the first control electrical box (12) is communicatively connected to the second control electrical box (13), the first control electrical box (12) is connected to the multi-axis robot arm (2) to control the operation of the multi-axis robot arm (2), and the lifting mechanism (14) is connected to the first end of the multi-axis robot arm (2) to drive the multi-axis robot arm (2) to perform lifting movement in the longitudinal direction along the electrical cabinet (11).

2. The palletizing workstation according to claim 1, characterized in that: The first control electric box (12) and the second control electric box (13) are arranged on a first side of the electric cabinet (11), and the first control electric box (12) and the second control electric box (13) are distributed vertically.

3. The palletizing workstation according to claim 1, characterized in that: The control base (1) also includes an air source controller (4), which is installed on the electrical cabinet (11). The air source controller (4) is communicatively connected to the first control electrical box (12), and the connector of the air source controller (4) is connected to the clamp (3) via an air pipe to control the operation of the clamp (3).

4. The palletizing workstation according to claim 1, characterized in that: The second control electrical box (13) comprises an IO electrical box.

5. The palletizing workstation according to claim 1, characterized in that: A display control panel (17) and a control switch (18) are provided on the electrical cabinet (11); the display control panel (17) is connected to the first control electrical box (12) and / or the second control electrical box (13); and the control switch (18) is connected to the first control electrical box (12) and / or the second control electrical box (13).

6. The palletizing workstation according to claim 1, characterized in that: A ventilation mesh (111) is provided on the side wall of the electric cabinet (11).

7. The palletizing workstation according to claim 1, characterized in that: The lifting mechanism (14) is arranged on the second side of the electric cabinet (11); the lifting mechanism (14) comprises a mounting seat (141), a lifting column (142) and a driving unit (143); the mounting seat (141) is fixedly mounted in the electric cabinet (11); the lifting column (142) is slidably connected to the mounting seat (141) through a slide rail assembly (144); the driving unit (143) is mounted in the mounting seat (141) and connected to the lifting column (142) to drive the lifting column (142) to move up and down along the mounting seat (141) through the slide rail assembly (144); the first end of the multi-axis robot arm (2) is embedded in the electric cabinet (11) and fixedly connected to the upper end of the lifting column (142) so as to be able to move synchronously with the lifting column (142).

8. The palletizing workstation according to claim 1, characterized in that: The multi-axis robot arm (2) comprises a base (21), a first rotating joint (22), a second rotating joint (23), a first connecting arm (24), a third rotating joint (25), an adapter (26), a second connecting arm (27), a fourth rotating joint (28) and a fifth rotating joint (29) which are connected in sequence, wherein the base (21) is fixedly connected to the lifting mechanism (14), and an end of the fifth rotating joint (29) is fixedly connected to the clamp (3).

9. The palletizing workstation according to claim 3, characterized in that: The clamp (3) comprises a mounting frame (31) and at least one vacuum suction cup assembly (32) connected to the mounting frame (31), and the vacuum suction cup assembly (32) is connected to the air source controller (4) via an air pipe.

10. The palletizing workstation according to claim 1, characterized in that: The control base (1) also includes a base (15), the electric cabinet (11) is arranged on the base (15), a support portion (151) is provided at the bottom of the base (15), and a card plate (6) is provided on one side of the base (15) so as to place stacked objects.

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