Carton stacking robot and carton stacking system

Abstract

The utility model relates to the technical field of carton stacking, in particular to a carton stacking robot and a carton stacking system. The utility model provides a carton stacking robot. The carton stacking robot comprises a mobile robot chassis, a control cabinet, a lifting assembly, a camera assembly, a six-axis mechanical arm, a suction cup gripper and vacuum air source equipment. The control cabinet is installed on the mobile robot chassis, the lifting assembly is installed on the control cabinet and used for driving the six-axis mechanical arm to ascend and descend in the vertical direction, and the suction cup paw is installed at the end, away from the lifting assembly, of the six-axis mechanical arm to grab a carton. And the vacuum gas source equipment is mounted in the control cabinet. The carton stacking robot can flexibly move according to instructions, mechanical arms do not need to be arranged beside all the conveying lines, the cost of a factory is reduced, the height of the six-axis mechanical arms can be increased through the lifting assembly, and therefore the height of the cartons stacked on the tray is increased, and more layers of cartons can be stacked on the tray.

Description

Technical Field

[0001] The utility model relates to the technical field of carton palletizing, in particular to a carton palletizing robot and a carton palletizing system. Background Art

[0002] In existing production lines, carton packaging typically involves a robotic arm positioned alongside a conveyor line. The arm, with its gripper or fixture, removes cartons from the conveyor line, places them on designated pallets, and then returns to its starting position to wait for the next set of cartons. Because the robotic arm cannot move, it must be installed in the unloading area of each conveyor line, resulting in high costs. Furthermore, the limited stacking height of the robotic arm limits the number of cartons that can be stacked.

[0003] Therefore, the current palletizing method has the problems of poor flexibility and low number of palletizing layers. Utility Model Content

[0004] (1) The problem to be solved by the present invention is that the current traditional palletizing method has the problems of poor flexibility and low number of palletizing layers.

[0005] (2) Technical solution

[0006] A carton palletizing robot, comprising a mobile robot chassis, a control cabinet, a lifting assembly, a camera assembly, a six-axis robotic arm, a suction cup gripper, and a vacuum air source device;

[0007] The control cabinet is mounted on the chassis of the mobile robot, and the lifting assembly is mounted on the control cabinet to drive the six-axis robotic arm to move up and down in the vertical direction. The suction cup gripper is mounted on one end of the six-axis robotic arm away from the lifting assembly to grab the carton;

[0008] The vacuum air source device is installed in the control cabinet and is connected to the suction cup gripper through an air pipe; the camera assembly is installed on the six-axis robotic arm and is used to take pictures and locate incoming cartons;

[0009] The six-axis robotic arm, the lifting assembly, the camera assembly and the vacuum air source equipment are respectively connected to the control cabinet signal.

[0010] According to one embodiment of the present invention, the lifting component is a lifting column, the control cabinet includes a cabinet shell, the top surface of the cabinet shell is provided with a through hole for the lifting column to pass through, the lifting column is fixed inside the cabinet shell, and the lifting column and the through hole are aligned.

[0011] According to one embodiment of the present invention, the six-axis robotic arm includes a base, a first electric joint, a second electric joint, an extension arm, a third electric joint, an extension arm, a fourth electric joint, a fifth electric joint and a sixth electric joint connected in sequence; the top of the lifting column and the base are fixed by bolts, and the suction cup gripper is connected to the output end of the sixth electric joint.

[0012] According to one embodiment of the present invention, the camera assembly includes a camera cover and a camera module, a first circular hole is provided on the lower surface of the camera cover, and a second circular hole is provided on the side thereof, the first electric joint extends from the first circular hole into the interior of the camera cover, one end of the second electric joint extends from the second circular hole into the interior of the camera cover and is connected to the first electric joint, the camera module is installed inside the camera cover, and a through hole matching the camera module is provided on the camera cover.

[0013] According to one embodiment of the present invention, the suction cup gripper includes a box body and a plurality of suction nozzles, a plurality of air holes are provided on the lower surface of the box body, a suction nozzle is sealed and installed in each of the air holes, at least one air inlet is provided on the side of the box body, and the vacuum air source device is connected to the air inlet through a hose.

[0014] According to an embodiment of the present invention, a barometer for measuring the internal air pressure is installed on the box body.

[0015] According to an embodiment of the present invention, the suction nozzles are arranged in multiple rows, and the suction nozzles in the multiple rows are arranged in sequence along the width direction of the box body.

[0016] According to an embodiment of the present invention, a display screen is installed on the side of the control cabinet, and the display screen is signal-connected to the control cabinet.

[0017] According to one embodiment of the present invention, an emergency stop button is installed on the chassis of the mobile robot, and the emergency stop button is signal-connected to a chassis controller in the chassis of the mobile robot.

[0018] A carton palletizing system comprises the above-mentioned carton palletizing robot, a conveyor line and a pallet, wherein the conveyor line is used to convey cartons, and the carton palletizing robot is used to grab cartons on the conveyor line according to instructions and palletize them on the pallet.

[0019] Beneficial effects of the utility model:

[0020] The utility model provides a carton palletizing robot, comprising a mobile robot chassis, a control cabinet, a lifting assembly, a camera assembly, a six-axis robotic arm, a suction cup gripper and a vacuum air source device; the control cabinet is installed on the mobile robot chassis, the lifting assembly is installed on the control cabinet, and is used to drive the six-axis robotic arm to lift and lower in a vertical direction, and the suction cup gripper is installed at one end of the six-axis robotic arm away from the lifting assembly to grab cartons; the vacuum air source device is installed in the control cabinet, and the vacuum air source device is connected to the suction cup gripper through an air pipe; the camera assembly is installed on the six-axis robotic arm, and is used to take pictures and locate incoming cartons; the six-axis robotic arm, the lifting assembly, the camera assembly and the vacuum air source device are respectively connected to the control cabinet signal.

[0021] The mobile robot chassis can drive the carton stacking robot to move flexibly, thereby improving the carton stacking robot's flexibility. When cartons on a conveyor line need to be palletized, the carton stacking robot moves to the unloading area of the conveyor line via the mobile robot chassis. The six-axis robotic arm then drives the suction cup gripper to grab the cartons on the conveyor line and place them on the pallet for palletizing. Because the lifting component can raise the height of the six-axis robotic arm, the six-axis robotic arm's working height can be increased, allowing it to stack more layers of cartons on the pallet, thereby increasing the number of pallets stacked.

[0022] As can be seen, because this carton palletizing robot can move flexibly according to instructions, it can selectively move to the conveyor line where unloading is required according to actual production conditions to unload cartons from that conveyor line. This eliminates the need to install a robotic arm next to each conveyor line, reducing factory costs. Furthermore, because the lifting assembly can raise the height of the six-axis robotic arm, the height of the stacked cartons on the pallet is increased, allowing for more layers of cartons to be stacked on the pallet, thereby increasing the number of cartons that can be stacked. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A structural diagram of a carton palletizing system provided in an embodiment of the present utility model;

[0025] Figure 2 A structural diagram of a carton palletizing robot provided in an embodiment of the present utility model;

[0026] Figure 3 A structural diagram of the carton palletizing robot provided by an embodiment of the present invention after a side panel of the motor cover is removed;

[0027] Figure 4 A connection diagram of the lifting column, six-axis robotic arm, and suction cup gripper in the carton palletizing robot provided in an embodiment of the present invention;

[0028] Figure 5 This is a structural diagram of the suction cup gripper in the carton palletizing robot provided by an embodiment of the utility model.

[0029] Icons: 1. Support frame; 2. Conveyor; 3. Pallet; 4. Mobile robot chassis; 401. Drive wheel system; 402. Emergency stop button; 403. Indicator light; 5. Control cabinet; 501. Display screen; 6. Six-axis robotic arm; 601. Base; 602. First electric joint; 603. Second electric joint; 604. Extension arm; 605. Third electric joint; 606. Extension arm; 607. Fourth electric joint; 608. Fifth electric joint; 609. Sixth electric joint; 7. Suction cup gripper; 701. Box body; 702. Air inlet; 703. Suction nozzle; 704. Pressure gauge; 8. Camera cover; 9. Lifting column; 10. Camera module. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Example 1

[0032] The first embodiment of the present invention provides a carton palletizing robot, comprising a mobile robot chassis 4, a control cabinet 5, a lifting assembly, a camera assembly, a six-axis robotic arm 6, a suction cup gripper 7 and a vacuum air source device;

[0033] The control cabinet 5 is mounted on the mobile robot chassis 4, and the lifting assembly is mounted on the control cabinet 5 to drive the six-axis robot arm 6 to move up and down in the vertical direction. The suction cup gripper 7 is mounted on the end of the six-axis robot arm 6 away from the lifting assembly to grab the carton;

[0034] The vacuum air source device is installed on the control cabinet 5 and is connected to the suction cup gripper 7 through an air pipe. The camera component is installed on the six-axis robot arm 6 and is used to take pictures and locate the incoming cartons.

[0035] The six-axis robotic arm 6, lifting assembly, camera assembly and vacuum air source equipment are respectively connected to the control cabinet 5 for signal connection.

[0036] In this embodiment, the mobile robot chassis 4 can drive the carton palletizing robot to move flexibly, thereby improving the flexibility of the carton palletizing robot. When cartons on a conveyor line need to be palletized, the carton palletizing robot moves to the unloading area of the conveyor line via the mobile robot chassis 4. The six-axis robot arm 6 then drives the suction cup gripper 7 to grab the cartons on the conveyor line and place them on the pallet 3 for palletizing. Because the lifting assembly can raise the height of the six-axis robot arm 6, the working height of the six-axis robot arm 6 can be increased, allowing more layers of cartons to be palletized on the pallet 3, thereby increasing the number of pallets to be palletized.

[0037] As can be seen, since the carton palletizing robot can move flexibly according to instructions, it can selectively move to the conveyor line where unloading is required according to actual production conditions to unload cartons from that conveyor line. This eliminates the need to install a robotic arm next to each conveyor line, reducing factory costs. Furthermore, since the lifting assembly can raise the height of the six-axis robotic arm 6, the height of the cartons stacked on the pallet 3 is increased, allowing more layers of cartons to be stacked on the pallet 3, thereby increasing the number of cartons that can be stacked.

[0038] Figure 2 This is a three-dimensional picture of the carton palletizing robot. Figure 2 It can be seen that the control cabinet 5 is installed on the top surface of the mobile robot chassis 4. The control cabinet 5 includes a cabinet shell. The top surface of the cabinet shell is provided with a through hole for the lifting component to pass through. The lifting component is vertically installed inside the cabinet shell, and the lifting component can pass through the top through hole of the cabinet shell.

[0039] Preferably, the lifting assembly is a lifting column 9, the bottom end of which is fixed to the inner bottom wall of the cabinet housing via a flange, and the top end of which is fixedly connected to the bottom end of the six-axis robotic arm 6. For example, the lifting column 9 has a pushing load of 1500N, a maximum travel of 500mm-1400mm, and a maximum no-load speed of 80mm / s.

[0040] In addition, the lifting assembly may also select other lifting mechanisms, such as a scissor fork lifting mechanism, a hydraulic lifting mechanism, etc.

[0041] Figure 4 This diagram shows the connection between the lifting column 9, six-axis robotic arm 6, and suction cup gripper 7 of this carton palletizing robot. The six-axis robotic arm 6 includes a base 601, a first electric joint 602, a second electric joint 603, an extension arm 604, a third electric joint 605, an extension arm 606, a fourth electric joint 607, a fifth electric joint 608, and a sixth electric joint 609, which are connected in sequence. A fixing plate with multiple bolt holes is fixed to the top of the lifting column 9. The base 601 is frustum-shaped, with multiple bolt mounting areas on its side corresponding to the bolt holes on the fixing plate. The bolt mounting areas of the base 601 are connected to the bolt holes of the fixing plate by bolts.

[0042] Furthermore, the suction cup gripper 7 is installed at the output end of the sixth electric joint 609 , and the sixth electric joint 609 can drive the suction cup gripper 7 to rotate around the axis of the sixth electric joint 609 .

[0043] It should be noted that the use of the six-axis robotic arm 6 in this embodiment can ensure the flexibility of the carton palletizing robot, which can perform complex movements and operations in three-dimensional space to achieve precise palletizing.

[0044] Figure 3 is Figure 2 The camera assembly includes a camera cover 8 and a camera module 10. The camera cover 8 is a rectangular box-shaped assembly consisting of six side panels. A first circular hole is formed on the lower surface of the camera cover 8, and a second circular hole is formed on the side surface thereof. The first electric joint 602 extends from the first circular hole into the interior of the camera cover 8. The end of the second electric joint 603, which is away from the extension arm 604, extends from the second circular hole into the interior of the camera cover 8 and is connected to the housing of the first electric joint 602. A through hole is formed on the surface of the camera cover 8. The camera module 10 is mounted inside the camera cover 8, and the lens of the camera module 10 is aligned with the through hole on the surface of the camera cover 8.

[0045] Optionally, transparent glass is installed on the through hole on the surface of the camera cover 8 to prevent dust from entering the interior of the camera cover 8.

[0046] The camera module 10 is a long-range industrial-grade laser 3D camera with the following advantages:

[0047] It has high precision and a wide field of view, and can cover a wide range of objects and scenes. It can quickly identify and locate multiple adjacent cartons on the conveyor line at the same time, and can also quickly identify the position on the tray 3.

[0048] Ambient light immunity: Even in strong ambient light interference exceeding 30,000 lx, the sensor can still generate high-quality 3D point cloud data for a variety of typical objects. This feature makes it ideal for use in bright industrial environments, reducing the need for light shielding facilities.

[0049] Fast scanning speed: The typical acquisition time is 0.5 to 0.9 seconds, which means it can quickly acquire 3D data of objects and improve production efficiency.

[0050] Complete interface: Provides multi-language, multi-platform SDK options, compatible with a variety of machine vision software, allowing users to easily complete hardware to software adaptation and integration.

[0051] Figure 5This is a structural diagram of the suction gripper 7. The suction gripper 7 includes a housing 701 and multiple suction nozzles 703. The lower surface of the housing 701 is provided with multiple air holes, specifically arranged in two rows. The multiple air holes in each row are evenly spaced along the length of the housing 701. The two rows of air holes are arranged along the width of the housing 701. A suction nozzle 703 is sealed in each air hole.

[0052] Furthermore, a row of air inlets 702 for connecting to a vacuum air source device is provided on the side of the box body 701. The vacuum air source device is mounted on the control cabinet 5 and has a signal connection to the control cabinet 5. The vacuum air source device is connected to the air inlets 702 via a hose. Furthermore, a barometer 704 is mounted on the box body 701 for measuring the internal air pressure.

[0053] It should be noted that the adsorption and release of the carton are achieved by using the suction cup gripper 7 in conjunction with a vacuum device (such as a vacuum generator). The specific process is as follows: Adsorption process: The suction nozzle 703 on the suction cup gripper 7 contacts the carton, and the vacuum air source device is started to suck, so that a negative pressure is generated in the suction nozzle 703, thereby firmly adsorbing the carton. Release process: When the carton is stacked to the specified position, the vacuum air source device inflates the suction cup gripper 7, so that the negative pressure in the suction nozzle 703 becomes zero pressure or slightly positive pressure, so that the suction nozzle 703 can be separated from the carton. Using this suction cup gripper 7 to adsorb and grasp the carton is less harmful to the carton than using a clamp to grasp it.

[0054] Exemplarily, the vacuum air source device is a vacuum generator, which is installed on the outer side of the control cabinet 5 or inside the control cabinet 5 .

[0055] For example, the vacuum degree of the suction cup gripper 7 is -60 kPa, the vacuum flow rate is 1400 L / min, and the suction force is 1061 N.

[0056] In this embodiment, the mobile robot chassis 4 is an AGV that uses laser SLAM technology for navigation. The mobile robot chassis 4 is equipped with a drive train 401, a charging port, a switch button, an emergency stop button 402, and an indicator light 403. The drive train 401 enables the mobile robot chassis 4 to move forward, backward, and rotate in place; the charging port is used to charge the mobile robot chassis 4; the switch button controls the circuit on and off; and the emergency stop button 402 controls the emergency stop of the mobile robot chassis 4. Furthermore, the indicator light 403 displays the current operating status of the mobile robot chassis 4. For example, a red display indicates that the mobile robot chassis 4 is in a fault state, while a green display indicates that the mobile robot chassis 4 is in normal operation. Obstacle avoidance laser radars are also installed on the sides and front of the mobile robot chassis 4 to monitor the surrounding environment. The drive train 401, emergency stop button 402, indicator light 403, and obstacle avoidance laser radar are each connected to the chassis controller for signal communication.

[0057] In addition, the mobile robot chassis 4 has a four-layer hardware safety protection system, which includes sound and light warning, laser scanner, safety touch edge, and emergency stop button 402.

[0058] First level of safety protection: A warning light is installed on the chassis 4 of the mobile robot. Different colors correspond to different operating states, and there is a beeping sound to remind people to avoid it.

[0059] Double safety protection: A laser safety sensor is used to form a safety protection device to detect the distance between the mobile robot chassis 4 and obstacles in real time. According to the distance, the mobile robot chassis 4 will respectively perform sound and light alarms, deceleration, and braking.

[0060] Triple safety protection: The safety edge is fixed on the front and rear edges of the mobile robot chassis 4. It is a strip-shaped pressure-sensitive switch. If the mobile robot chassis 4 hits an obstacle, the robot will stop running immediately under the action of the mechanical anti-collision mechanism.

[0061] Four-fold safety protection: In an emergency, the emergency stop button 402 can be pressed to stop the mobile robot chassis 4 immediately and the warning light will light up.

[0062] In this embodiment, a vehicle-mounted lithium battery is provided in the chassis 4 of the mobile robot, and all energy consumed by the carton palletizing robot during the palletizing process is provided by the vehicle-mounted lithium battery.

[0063] Preferably, Figure 2 and Figure 3 As shown, the control cabinet 5 houses the robot vision and motion controllers. The camera module 10, six-axis robotic arm 6, and lifting column 9 are connected to the robot vision and motion controllers, respectively. Furthermore, a display screen 501 is mounted on the outer surface of the control cabinet 5, through which commands are input into the control cabinet 5.

[0064] Example 2:

[0065] like Figure 1 As shown, embodiment 2 of the present invention provides a carton palletizing system, comprising the carton palletizing robot, conveyor line and pallet 3 in embodiment 1, wherein the conveyor line is used to convey cartons, the pallet 3 is placed at a designated position in the feed area of the conveyor line, and the carton palletizing robot is used to grab the cartons on the conveyor line and palletize them on the pallet 3 according to instructions.

[0066] Specifically, the conveyor line includes a support frame 1 and a conveyor 2 installed on the support frame 1. The conveyor 2 is any one of a belt conveyor and a roller conveyor.

[0067] When this carton palletizing system is in operation, a worker uses a forklift to place a pallet 3 at a designated location in the unloading area of the conveyor line. The carton palletizing robot then drives to the unloading area of the conveyor line according to instructions from the scheduling system. After the incoming cartons on the conveyor line are delivered to the designated location, they stop. The camera module 10 then takes a photo of the incoming cartons on the conveyor line and sends the captured carton position information to the robot's vision and motion controller. The robot's vision and motion controller processes and analyzes the carton positions and, based on the processing results, controls the six-axis robotic arm 6 to drive the suction cup gripper 7 to grab the incoming cartons on the conveyor line and place them on the pallet 3 for palletizing. The robot's vision and motion controller also controls the lifting column 9 to raise or lower during the palletizing process, ensuring that the suction cup gripper 7 is always in the optimal working position, thereby increasing the six-axis robotic arm 6's palletizing height and allowing for more cartons to be palletized on the pallet 3.

[0068] In the description of this utility model, it should be noted that the terms "upper" and "lower" and other terms indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0069] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installation", "connection", and "connection" 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, an indirect connection through an intermediate medium, or a connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A carton palletizing robot, characterized in that: It includes a mobile robot chassis (4), a control cabinet (5), a lifting component, a camera component, a six-axis robot arm (6), a suction cup gripper (7) and a vacuum air source device; The control cabinet (5) is mounted on the mobile robot chassis (4), the lifting assembly is mounted on the control cabinet (5) and is used to drive the six-axis robot arm (6) to move up and down in a vertical direction, and the suction cup gripper (7) is mounted on one end of the six-axis robot arm (6) away from the lifting assembly to grab the carton; The vacuum air source device is installed on the control cabinet (5), and the vacuum air source device is connected to the suction cup gripper (7) through an air pipe; the camera assembly is installed on the six-axis robotic arm (6) and is used to take pictures and locate incoming cartons; The six-axis robotic arm (6), the lifting assembly, the camera assembly and the vacuum air source device are respectively connected to the control cabinet (5) via signals.

2. A carton palletizing robot according to claim 1, characterized in that: The lifting component is a lifting column (9), and the control cabinet (5) includes a cabinet shell. The top surface of the cabinet shell is provided with a through hole for the lifting column (9) to pass through. The lifting column (9) is fixed inside the cabinet shell, and the lifting column (9) and the through hole are aligned.

3. The carton palletizing robot according to claim 2, characterized in that: The six-axis robotic arm (6) comprises a base (601), a first electric joint (602), a second electric joint (603), an extension arm (604), a third electric joint (605), an extension arm (606), a fourth electric joint (607), a fifth electric joint (608) and a sixth electric joint (609) which are connected in sequence; the top end of the lifting column (9) and the base (601) are fixed by bolts, and the suction cup gripper (7) is connected to the output end of the sixth electric joint (609).

4. The carton palletizing robot according to claim 3, characterized in that: The camera assembly comprises a camera cover (8) and a camera module (10); a first circular hole is provided on the lower surface of the camera cover (8), and a second circular hole is provided on the side surface thereof; the first electric joint (602) extends from the first circular hole into the interior of the camera cover (8); one end of the second electric joint (603) extends from the second circular hole into the interior of the camera cover (8) and is connected to the first electric joint (602); the camera module (10) is installed inside the camera cover (8), and a through hole matching the camera module (10) is provided on the camera cover (8).

5. The carton palletizing robot according to claim 1, characterized in that: The suction cup gripper (7) includes a box body (701) and a plurality of suction nozzles (703). The lower surface of the box body (701) is provided with a plurality of air holes, and a suction nozzle (703) is sealed and installed in each of the air holes. At least one air inlet (702) is provided on the side of the box body (701), and the vacuum air source device is connected to the air inlet (702) through a hose.

6. The carton palletizing robot according to claim 5, characterized in that: The box body (701) is provided with a barometer (704) for measuring the internal air pressure.

7. The carton palletizing robot according to claim 5, characterized in that: The suction nozzles (703) are arranged in multiple rows, and the suction nozzles (703) in multiple rows are arranged in sequence along the width direction of the box body (701).

8. The carton palletizing robot according to claim 1, characterized in that: A display screen (501) is installed on the side of the control cabinet (5), and the display screen (501) is connected to the control cabinet (5) for signal connection.

9. The carton palletizing robot according to claim 1, characterized in that: An emergency stop button (402) is installed on the mobile robot chassis (4), and the emergency stop button (402) is signal-connected to a chassis controller in the mobile robot chassis (4).

10. A carton palletizing system, characterized in that: It comprises a carton palletizing robot, a conveyor line and a pallet (3) as described in any one of claims 1 to 9, wherein the conveyor line is used to convey cartons, and the carton palletizing robot is used to grab cartons on the conveyor line according to instructions and palletize them on the pallet (3).

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