Stacking manipulator

Abstract

The utility model relates to the technical field of automation equipment, in particular to a stacking manipulator which comprises a chassis, a multi-shaft transmission arm and an intelligent flexible gripper, one end of the multi-shaft transmission arm is rotatably connected to the chassis, and the other end of the multi-shaft transmission arm is detachably connected with the intelligent flexible gripper; magnetic suction panels are arranged at the joints of the intelligent flexible grippers and the multi-axis transmission arm, and the intelligent flexible grippers are symmetrically arranged on the magnetic suction panels. The intelligent flexible gripper is further provided with an integrated weighing sensor and a visual identification system, and the weighing sensor is used for monitoring the weight of the gripped aluminum sulfate powder package in real time; and the visual identification system is used for identifying the position, size and posture of the aluminum sulfate powder package in real time so as to realize accurate grabbing and stacking actions in a complex space. According to the aluminum sulfate powder packaging bag stacking machine, the multi-shaft transmission arm, the intelligent flexible gripper, the integrated weighing sensor and the visual identification system are integrated, so that safe, efficient and accurate stacking of aluminum sulfate powder packaging bags is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a palletizing manipulator for packing aluminum sulfate powder. Background Art

[0002] A palletizing manipulator is an automation device used to grab goods for palletizing. The manipulator imitates the movements of a human hand and realizes automatic grasping, handling, and palletizing according to a predetermined program. In the chemical product packaging industry, after aluminum sulfate powder is produced and packed in packaging bags, it usually needs to be palletized through a production line. Therefore, the palletizing operation is an important link.

[0003] Currently, Chinese Patent No. CN215395277U discloses a palletizing manipulator. It mainly sets a left swing arm gripper and a right swing arm gripper at the left and right ends of the manipulator mounting frame respectively, and is provided with a gripper mechanism and a pressing plate mechanism on the left swing arm gripper and the right swing arm gripper, so that the gripper mechanism swings synchronously towards or away from each other to realize the opening and closing movement of the manipulator, and the pressing mechanism moves downward synchronously to press and position the goods grabbed by the manipulator. This technical solution has the characteristics of stable grasping and lifting of goods through the palletizing manipulator scheme of the swing arm gripper combining the gripper mechanism and the pressing plate mechanism. However, in the actual production process, there are still the following disadvantages:

[0004] 1) When the palletizing manipulator actually grabs goods, it cannot detect and adjust the weight, size, grasping position, and posture of the goods, resulting in problems such as easy scattering and damage of the goods during the grasping process.

[0005] 2) The grasping action of the palletizing manipulator mainly relies on the swinging of the gripper mechanism and the up and down pressing of the pressing plate mechanism to complete the grasping and fixing of the goods. This method can only grab and move the packaging bag within a specific space and cannot make adjustments according to the spatial layout of the production line and the palletizing position. Summary of the Utility Model

[0006] In order to solve the technical defects mentioned in the above background art, the purpose of the utility model is to provide a palletizing manipulator to solve the problems existing in the prior art, realize the safe and accurate palletizing of aluminum sulfate powder packaging bags, improve production efficiency, and reduce material loss.

[0007] To achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A palletizing robot arm, comprising a chassis integrated with a control system, a multi-axis drive arm with multiple degrees of freedom, and an intelligent flexible gripper for grasping and palletizing aluminum sulfate powder packages. One end of the multi-axis drive arm is rotatably connected to the chassis, and the other end is detachably connected to the intelligent flexible gripper. A magnetic adsorption panel is provided at the connection between the intelligent flexible gripper and the multi-axis drive arm, and the intelligent flexible grippers are symmetrically arranged on the magnetic adsorption panel. An integrated weighing sensor and a vision recognition system are also provided on the intelligent flexible gripper. The weighing sensor is used to monitor the weight of the grasped aluminum sulfate powder package in real time. The vision recognition system is used to identify the position, size, and posture of the aluminum sulfate powder package in real time to achieve precise grasping and palletizing actions in a complex space.

[0009] Preferably, the intelligent flexible gripper includes a mounting frame, a jaw assembly, and a pressing plate assembly. The jaw assembly and the pressing plate assembly are movably connected to the mounting frame. The jaw assembly includes clamping hooks, a connecting plate, and a jaw cylinder. A plurality of clamping hooks are provided, and the plurality of clamping hooks are connected in series through the connecting plate so that the distances between each clamping hook are arranged at equal intervals. One end of the jaw cylinder is connected to a fixed seat, and the other end is connected to a transmission shaft. The fixed seat is fixed to the bottom end of the mounting frame, and the transmission shaft passes through between each clamping hook. The jaw cylinder drives the clamping hook to swing around the shaft through the transmission shaft to complete the clamping action.

[0010] Preferably, the clamping hook has a C-shaped structure, and a buckle is connected between the bottom of the clamping hook and the weighing sensor.

[0011] Preferably, the connecting plate is horizontally clamped on one side of the clamping hook, and a groove is provided on the side of the connecting plate corresponding to the clamping hook.

[0012] Preferably, a hinge assembly is provided at one end of the clamping hook connected to the mounting frame. The hinge assembly includes a fixed block, a connecting shaft, and a locking nut. The fixed block is fixed to the top end of the mounting frame, and a slot adapted to the clamping hook is provided on the fixed block. One end of the clamping hook is snap-fitted into the slot. The connecting shaft passes through the clamping hook and the fixed block, and both ends of the connecting shaft are locked by the locking nut.

[0013] Preferably, the pressing plate assembly includes a pressing plate, a hook, and a pressing plate cylinder. The pressing plate is horizontally arranged inside the bent part of the claw hook, and one side of the pressing plate is fixedly connected to the hook. A plurality of hooks are provided, and the plurality of hooks are arranged at intervals between two adjacent clamping hooks, and the top end of the hook is inserted into the mounting frame. The pressing plate cylinder is fixed to the mounting frame, and the output end of the pressing plate cylinder is in transmission connection with the hook to drive the pressing plate to swing and press under the drive of the hook.

[0014] Preferably, the multi-axis drive arm includes a first rotating arm, a second rotating arm connected to the first rotating arm, and a third rotating arm connected to the second rotating arm. One end of the first rotating arm is rotatably connected to the chassis, the other end is drivingly connected to the second rotating arm, one end of the third rotating arm is drivingly connected to the second rotating arm, and the other end is rotatably connected to the magnetic adsorption panel.

[0015] Preferably, a driving member is drivingly connected to the connection between the chassis and the first rotating arm, and between the first rotating arm and the second rotating arm. The driving member uses a high-torque servo motor.

[0016] In summary, the beneficial effects of the present utility model are as follows:

[0017] By combining the intelligent flexible gripper with the multi-axis linkage function of the multi-axis drive arm, the present utility model can perform precise motion control in three-dimensional space, accurately grasp and stack the packaging bags filled with aluminum sulfate powder. At the same time, through the integrated weighing sensor, it ensures that each stack of aluminum sulfate powder meets the preset stacking weight standard; and is equipped with a vision recognition system to identify the position and posture of the aluminum sulfate powder packaging, further improving the accuracy of grasping. The entire stacking process coordinates the actions of each component by the control system to achieve intelligent stacking operation, thereby reducing the risk of damage to the packaging bags during the stacking process and improving production efficiency and product quality. Description of the Drawings

[0018] Figure 1 is the working state diagram of the stacking manipulator of the present utility model;

[0019] Figure 2 is the structural schematic diagram of the stacking manipulator of the present utility model;

[0020] Figure 3 is Figure 2 the enlarged structural schematic diagram of the intelligent flexible gripper at position A in

[0021] Figure 4 is the structural schematic diagram of one side of the intelligent flexible gripper of the present utility model;

[0022] Figure 5 is Figure 4 the enlarged structural schematic diagram of the hinge assembly at position B in

[0023] Figure 6 is the partial structural schematic diagram of the pressing plate assembly of the present utility model.

[0024] Explanation of the reference numerals in the drawings:

[0025] 1. Chassis; 2. Multi-axis drive arm; 21. First swivel arm; 22. Second swivel arm; 23. Third swivel arm; 24. Driving part; 3. Intelligent flexible gripper; 31. Mounting bracket; 32. Jaw assembly; 321. Clamping hook; 322. Connecting plate; 3221. Groove; 323. Jaw cylinder; 324. Fixed seat; 325. Transmission shaft; 33. Pressing plate assembly; 331. Pressing plate; 332. Hook; 333. Pressing plate cylinder; 34. Hinge assembly; 341. Fixed block; 3411. Card slot; 342. Coupling shaft; 343. Locking nut; 4. Magnetic adsorption panel; 5. Weighing sensor; 6. Visual recognition system; 7. Buckle; 8. Control system; 9. Conveyor belt. Detailed implementation mode

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention.

[0027] Those skilled in the art should understand that in the disclosure of the present invention, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0028] In the description of the present invention, if there are descriptions such as "several", its meaning is one or more, and the meaning of multiple is two or more. Understanding greater than, less than, exceeding, etc. does not include the present number, and understanding above, below, within, etc. includes the present number. If there is a description of first, second, third, etc., it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0029] The following combines the attached Figure 1-5 , and further details the embodiments of a palletizing robot of the present invention.

[0030] A palletizing robot, such as Figure 1 , 2As shown in the figure, it includes a chassis 1 integrated with a control system 8, a multi-axis drive arm 2 with multiple degrees of freedom, and an intelligent flexible gripper 3 for grasping and palletizing aluminum sulfate powder packages. One end of the multi-axis drive arm 2 is rotatably connected to the chassis 1, and the other end is detachably connected to the intelligent flexible gripper 3; a magnetic adsorption panel 4 is provided at the connection between the intelligent flexible gripper 3 and the multi-axis drive arm 2, and the intelligent flexible gripper 3 is symmetrically arranged on the magnetic adsorption panel 4; the magnetic adsorption connection between the magnetic adsorption panel 4 and the intelligent flexible gripper 3 can make the installation of the intelligent flexible gripper 3 simpler and more secure, and at the same time facilitate the subsequent disassembly or replacement of the intelligent flexible gripper 3; an integrated weighing sensor 5 and a vision recognition system 6 are also provided on the intelligent flexible gripper 3. The weighing sensor 5 is used to monitor the weight of the grasped aluminum sulfate powder package in real time; the vision recognition system 6 is used to recognize the position, size and posture of the aluminum sulfate powder package in real time to achieve precise grasping and palletizing actions in a complex space.

[0031] Specifically, after the production and processing of aluminum sulfate powder are completed, generally, a conveyor belt 9 is set to palletize the packaged materials. Among them, a palletizing robot is set on one side of the conveyor belt 9 for classification and stacking. The multi-axis drive arm 2 can perform precise motion control in a three-dimensional space through a multi-axis drive structure, so that the packaged aluminum sulfate powder can be accurately grasped and palletized by category; among them, the weighing sensor 5 provided on the intelligent flexible gripper 3 is a high-precision electronic scale, which can provide accurate weight data, and can monitor the weight of the bag containing aluminum sulfate powder grasped in real time, and feed the data back to the control system 8 in the chassis 1; the control system 8 receives the signal from the weighing sensor 5 and compares it with the preset palletizing weight standard, and ensures that the weight of each stack of aluminum sulfate powder meets the requirements by controlling the actions of the palletizing robot; in addition, a vision recognition system 6 is also equipped on the intelligent flexible gripper 3. The vision recognition system 6 uses a vision detector, and can identify the position and posture of the bag containing aluminum sulfate powder through vision detection, further improving the accuracy of grasping; in addition, the control system 8 also includes a user interface, allowing the operator to set the palletizing weight standard and other relevant parameters to achieve personalized palletizing requirements.

[0032] It is worth mentioning that two intelligent flexible grippers 3 are set in this embodiment, and the two intelligent flexible grippers 3 have the same shape and structure but opposite grasping directions. When grasping the aluminum sulfate powder package, the two intelligent flexible grippers 3 cooperate with each other to achieve bottom-up grasping, thereby quickly completing palletizing, improving production efficiency and saving space at the same time.

[0033] In this embodiment, as Figure 3 、 4As shown in the figure, the intelligent flexible gripper 3 includes a mounting bracket 31, a jaw assembly 32 and a pressing plate assembly 33. The jaw assembly 32 and the pressing plate assembly 33 are movably connected to the mounting bracket 31. The jaw assembly 32 includes a clamping hook 321, a connecting plate 322 and a jaw cylinder 323. There are multiple clamping hooks 321, and the multiple clamping hooks 321 are connected in series through the connecting plate 322, so that the distance between each clamping hook 321 is arranged at equal intervals. One end of the jaw cylinder 323 is connected with a fixed seat 324, and the other end is connected with a transmission shaft 325. The fixed seat 324 is fixed to the bottom end of the mounting bracket 31. The transmission shaft 325 passes through between each clamping hook 321. The jaw cylinder 323 drives the clamping hook 321 to swing around the shaft through the transmission shaft 325 to complete the clamping action.

[0034] Specifically, when grasping the bagged aluminum sulfate powder, the working mode of the intelligent flexible gripper 3 is as follows: First, use the visual detector set on the mounting bracket 31 to monitor the grasping position and posture of the packaging bag during the grasping process. Use the jaw cylinder 323 of the jaw assembly 32 to drive the clamping hook 321 to rotate around the transmission shaft 325, so that each clamping hook 321 swings inward to realize the grasping of the packaging bag. After grasping the packaging bag, use the multiple weighing sensors 5 at the bottom of the clamping hook 321 to detect its weight, and then cooperate with the pressing plate assembly 33 to further limit the grasped packaging bag to prevent the risk of the packaging bag falling during the movement of the intelligent flexible gripper 3.

[0035] Among them, the clamping hook 321 has a C-shaped structure, which simulates the action of a human finger. When the clamping hook 321 grasps the packaging bag, it is equivalent to the effect of holding the packaging bag with both hands. And there is a buckle 7 connected between the bottom of the clamping hook 321 and the weighing sensor 5, that is, the weighing sensor 5 can be clamped on the clamping hook 332 through the buckle 7. When the weighing sensor 5 is not needed, the disassembly and assembly can be quickly completed. In addition, the intelligent flexible gripper 3 can be designed with the clamping hook 321 made of a soft material, such as silicone, according to production requirements, which has good buffering performance and anti-slip texture to ensure that the aluminum sulfate powder packaging bag will not be damaged during grasping.

[0036] In this embodiment, the connecting plate 322 is horizontally clamped on one side of the clamping hook 321, and a groove 3221 is opened on the side of the connecting plate 322 corresponding to the clamping hook 321.

[0037] Specifically, the function of the connecting plate 322 is to connect multiple clamping hooks 321 together, so that only one jaw cylinder 323 can drive all the clamping hooks 321 to act. At the same time, it is also to adjust the distance between each clamping hook 321 according to requirements to obtain the best grasping effect and avoid problems such as uneven coverage of the clamping hook 321 on the packaging bag during grasping, resulting in damage to the packaging bag.

[0038] In this embodiment, as Figure 5As shown in the figure, an articulated component 34 is provided at one end of the clamping hook 321 connected to the mounting bracket 31. The articulated component 34 includes a fixed block 341, a connecting shaft 342, and a locking nut 343. The fixed block 341 is fixed to the top of the mounting bracket 31, and a card slot 3411 adapted to the clamping hook 321 is provided on the fixed block 341. One end of the clamping hook 321 is snap-fitted into the card slot 3411; the connecting shaft 342 passes through the clamping hook 321 and the fixed block 341, and both ends of the connecting shaft 342 are locked by the locking nut 343.

[0039] Specifically, by providing the articulated component 34, one end of the clamping hook 321 is stably articulated to the mounting bracket 31. At the same time, the clamping hook 321 can also rotate around the connecting shaft 342 of the articulated component 34, enabling the clamping hook 321 to hold the bottom of the packaging bag, preventing damage to the packaging bag during the grasping process.

[0040] In this embodiment, as Figure 6 shown, the pressing plate assembly 33 includes a pressing plate 331, a hook 332, and a pressing plate cylinder 333. The pressing plate 331 is horizontally arranged inside the bend of the clamping hook 321, and one side of the pressing plate 331 is fixedly connected to the hook 332. A plurality of hooks 332 are provided, and the plurality of hooks 332 are arranged at intervals between two adjacent clamping hooks 321, and the top of the hook 332 is inserted into the mounting bracket 31; the pressing plate cylinder 333 is fixed to the mounting bracket 31, and the output end of the pressing plate cylinder 333 is in transmission connection with the hook 332 to drive the pressing plate 331 to swing and press under the drive of the hook 332.

[0041] Specifically, in order to further improve the grasping efficiency of the intelligent flexible gripper 3 and also to facilitate adjusting the clamping position according to the size of the packaging bag, the pressing plate assembly 33 is provided on the mounting bracket 31 to cooperate with the claw assembly 32 to limit the packaging bag. Among them, after the clamping hook 321 completes the bottom grasping of the packaging bag, a link mechanism is connected between the pressing plate cylinder 333 and the hook 332. One end of the link mechanism is connected to the pressing plate cylinder 333, and the other end is connected to the hook 332. A fixed slider is provided and connected to the link mechanism, so as to convert the lifting motion into a linear reciprocating motion through the link mechanism. Driven by the pressing plate cylinder 333, the link mechanism drives the hook 332 to move inward along the direction of the clamping hook 321. The two pressing plates 331 control the moving distance according to the size of the packaging bag during the moving process, so that the pressing plates 331 clamp and position the two sides of the packaging bag to improve the grasping effect on the packaging bag.

[0042] In this embodiment, the multi-axis drive arm 2 includes a first rotating arm 21, a second rotating arm 22 connected to the first rotating arm 21, and a third rotating arm 23 connected to the second rotating arm 22. One end of the first rotating arm 21 is rotatably connected to the chassis 1, the other end is drivingly connected to the second rotating arm 22, one end of the third rotating arm 23 is drivingly connected to the second rotating arm 22, and the other end is rotatably connected to the magnetic adsorption panel 4.

[0043] Specifically, a driving member 24 is drivingly connected to the connection between the chassis 1 and the first rotating arm 21, and between the first rotating arm 21 and the second rotating arm 22. The driving member 24 uses a high-torque servo motor. During the operation of the multi-axis drive arm 2, to prevent the intelligent flexible gripper 3 from rotating with the third rotating arm 23 and affecting the bag-grabbing and bag-releasing effects, at this time, the first rotating arm 21, the second rotating arm 22 and the servo motor can be used to cooperate with the movement of the third rotating arm 23 to keep the intelligent flexible gripper 3 in a stable posture. That is, when the third rotating arm 23 rotates downward, the servo motor located between the second rotating arm 22 and the third rotating arm 23 controls the contraction of the second rotating arm 22 and the extension of the third rotating arm 23, and successively pulls the intelligent flexible gripper 3 to tilt up through the actions of the first rotating arm 21 and the chassis 1, so that the intelligent flexible gripper 3 can still maintain a horizontal state during the falling process. Among them, the first rotating arm 21, the second rotating arm 22 and the third rotating arm 23 can all rotate, so as to be able to control the movement of the intelligent flexible gripper 3 in a multi-axis space.

[0044] The working principle of the present utility model:

[0045] When in use, install this palletizing robot at the end of the conveyor belt 9. When the palletizing packaging bag of aluminum sulfate powder is conveyed along the conveyor belt 9 to the palletizing station, the sensor sends an induction signal to the control system 8. The control system 8 controls the servo motor to work, thereby driving the multi-axis drive arm 2 to act, and cooperating with the rotation of the magnetic adsorption panel 4, so that the third rotating arm 23 and the intelligent flexible gripper 3 grab the packaging bag and rotate it above the palletizing station, and by dropping the intelligent flexible gripper 3, use the visual detector provided on the mounting frame 31 to monitor the grabbing position and posture of the packaging bag during the grabbing process. The clamping hook 321 of the clamping jaw assembly 32 is driven by the clamping jaw cylinder 323 of the clamping jaw assembly 32 to rotate around the transmission shaft 325, so that each clamping hook 321 swings inward to realize the bottom-up grabbing of the packaging bag. After grabbing the packaging bag, its weight is detected by a plurality of weighing sensors 5 at the bottom of the clamping hook 321, and then the grabbed packaging bag is further limited by the pressing plate assembly 33 to prevent the risk of the packaging bag falling during the movement of the intelligent flexible gripper 3. The control system 8 controls the multi-axis drive arm 2 to work, so that the intelligent flexible gripper 3 rotates to the palletizing area, and according to the current palletizing height, adjusts the height of the intelligent flexible gripper 3. The intelligent flexible gripper 3 is released, and the packaging bag falls to complete the palletizing. When the robot operates continuously, the control system 8 needs to adjust the bag-releasing position of the intelligent flexible gripper 3 from time to time to achieve orderly palletizing.

[0046] By combining the intelligent flexible gripper 3 with the multi-axis linkage function of the multi-axis drive arm 2, the utility model can perform precise motion control in three-dimensional space, accurately grasp and stack the packaging bags filled with aluminum sulfate powder. At the same time, the integrated weighing sensor 5 ensures that each stack of aluminum sulfate powder meets the preset stacking weight standard; and is equipped with a vision recognition system 6 to identify the position and posture of the aluminum sulfate powder packaging, further improving the accuracy of grasping. The entire stacking process is coordinated by the control system 8 for the actions of each component to achieve intelligent stacking operation, thereby reducing the risk of damage to the packaging bags during the stacking process and improving production efficiency and product quality.

[0047] The embodiments of this specific implementation manner are all preferred embodiments of this application, and do not limit the protection scope of this application accordingly. The same components are represented by the same reference numerals. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A palletizing robot, comprising a chassis integrated with a control system, a multi-axis transmission arm with multiple degrees of freedom, and an intelligent flexible gripper for grabbing and palletizing aluminum sulfate powder packages, characterized in that: One end of the multi-axis transmission arm is rotatably connected to the chassis, and the other end is detachably connected to the intelligent flexible gripper; a magnetic panel is provided at the connection between the intelligent flexible gripper and the multi-axis transmission arm, and the intelligent flexible gripper is symmetrically arranged on the magnetic panel; the intelligent flexible gripper is also provided with an integrated weighing sensor and a visual recognition system, and the weighing sensor is used for real-time monitoring of the weight of the grasped aluminum sulfate powder package; the visual recognition system is used for real-time identification of the position, size and posture of the aluminum sulfate powder package.

2. The palletizing robot according to claim 1, characterized in that: The intelligent flexible gripper includes a mounting frame, a clamping jaw assembly and a pressure plate assembly, wherein the clamping jaw assembly and the pressure plate assembly are movably connected to the mounting frame; the clamping jaw assembly includes a clamping hook, a connecting plate and a clamping jaw cylinder, wherein a plurality of clamping hooks are provided, and the plurality of clamping hooks are connected in series through a connecting plate so that the spacing between each clamping hook is equidistantly arranged; one end of the clamping jaw cylinder is connected to a fixed seat, and the other end is connected to a transmission shaft, wherein the fixed seat is fixed to the bottom end of the mounting frame, and the transmission shaft passes through each clamping hook, and the clamping jaw cylinder drives the clamping hook to swing around the axis through the transmission shaft to complete the clamping action.

3. The palletizing robot according to claim 2, characterized in that: The clamp hook is in a C-shaped structure, and a buckle is connected between the bottom of the clamp hook and the weighing sensor.

4. The palletizing robot according to claim 3, characterized in that: The connecting plate is laterally clamped on one side of the clamping hook, and a groove is provided on one side of the connecting plate corresponding to the clamping hook.

5. The palletizing robot according to claim 4, characterized in that: A hinge assembly is provided on one end of the clamp hook connected to the mounting frame, and the hinge assembly includes a fixed block, a connecting shaft and a locking nut. The fixed block is fixed to the top of the mounting frame, and a slot adapted to the clamp hook is provided on the fixed block, and one end of the clamp hook is engaged and connected in the slot; the connecting shaft passes through the clamp hook and the fixed block, and both ends of the connecting shaft are locked by locking nuts.

6. The palletizing robot according to claim 5, characterized in that: The pressure plate assembly includes a pressure plate, a hook and a pressure plate cylinder. The pressure plate is transversely arranged on the inner side of the bend of the claw hook, and one side of the pressure plate is fixedly connected to the hook. There are multiple hooks, and the multiple hooks are spaced between two adjacent clamping hooks, and the top of the hook is inserted into the mounting frame; the pressure plate cylinder is fixed on the mounting frame, and the output end of the pressure plate cylinder is transmission-connected with the hook to drive the pressure plate to swing and press under the drive of the hook.

7. The palletizing robot according to claim 6, characterized in that: The multi-axis transmission arm includes a first rotating arm, a second rotating arm connected to the first rotating arm, and a third rotating arm connected to the second rotating arm. One end of the first rotating arm is rotationally connected to the chassis, and the other end is transmission-connected to the second rotating arm. One end of the third rotating arm is transmission-connected to the second rotating arm, and the other end is rotationally connected to the magnetic panel.

8. The palletizing robot according to claim 7, characterized in that: The chassis and the first rotating arm, as well as the connection between the first rotating arm and the second rotating arm are connected with a driving member in a transmission manner, and the driving member adopts a high-torque servo motor.

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