Warehousing type stacking device and logistics unstacking and stacking composite robot
By designing an inbound palletizing device, using a stop structure and conveying device, the problem of cargo boxes shifting or tipping on the moving base is solved, thereby improving the stability of goods during the transfer process and increasing palletizing efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-17
- Publication Date
- 2026-03-27
AI Technical Summary
Existing palletizing robots are prone to shifting or tipping over when stacking boxes on mobile bases, resulting in poor stability and a risk of boxes falling.
Design an inbound palletizing device, including a mobile robot, a storage unit, and a transfer platform. The storage unit has multiple storage locations, each with an inbound and an outbound port, and is equipped with a stop structure and a conveying device. The stop structure prevents goods from shifting, while the transfer platform and conveying device achieve stable conveying and palletizing.
It improves the stability of goods during transit, prevents goods from shifting or tipping over, enhances the stability and flexibility of the palletizing process, and enables free access and efficient palletizing of goods.
Smart Images
Figure CN224046126U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of logistics robots, particularly relates to a warehousing type stacking device and logistics unstacking and stacking composite robot. BACKGROUND
[0002] The stacking robot can stack multiple containers on the mobile base, thereby carrying multiple containers at a time, and can improve the efficiency of carrying operation, so the stacking robot becomes one of the research hotspots in the logistics industry. However, the multiple containers stacked on the mobile base may deviate or fall, which causes the containers to easily fall from the mobile base and poor stability. SUMMARY
[0003] The utility model discloses a warehousing type stacking device and logistics unstacking and stacking composite robot, and aims to provide a logistics stacking device with high stability.
[0004] To achieve the above object, the utility model provides a warehousing type stacking device, which comprises:
[0005] The mobile robot is movably arranged;
[0006] The storage library is arranged on the mobile robot, and the storage library has a plurality of storage positions, and each storage position has at least an inlet and an outlet in the horizontal direction; and
[0007] The transfer platform is movably arranged on the mobile robot to respectively connect the inlets of the storage positions, and the transfer platform is provided with a second conveying device, which is used to convey goods between the transfer platform and the storage positions.
[0008] In an embodiment, each outlet is provided with a stop structure, and the stop structure comprises a movable stop portion, which has an avoidance position avoiding the outlet in the movable stroke of the stop portion and a stop position stopping goods in the outlet.
[0009] In an embodiment, the bottom of each storage position is provided with a first conveying device, and the first conveying device has a conveying stroke for conveying goods between the inlet and the outlet.
[0010] In an embodiment, the stop portion is used to abut the first piece of goods stored in the storage position, so that the second piece of goods is conveyed into the storage position by the driving of the first conveying device, and a plurality of goods are stored in the same storage position.
[0011] In an embodiment, the stop portion is a telescopic rod extending into the outlet from the outer edge of the outlet; or
[0012] The stop portion is a rod member rotatably installed on the outer edge of the outlet.
[0013] In an embodiment, the stopper includes a stop rod, which is movably arranged at the outlet, and has a stop position extending upwardly to stop the first conveying device and a retreat position descending downwardly below the upper end surface of the first conveying device.
[0014] In an embodiment, the stop rods of the plurality of storage locations are connected by a connecting rod.
[0015] In an embodiment, the plurality of stop rods are synchronously moved by a same driving device.
[0016] In an embodiment, two ends of the plurality of stop rods corresponding to the plurality of storage locations are respectively connected by a connecting rod extending upwardly and downwardly.
[0017] In an embodiment, a guide structure is arranged between the connecting rod and the storage, to guide the upward and downward movement of the stop rod.
[0018] In an embodiment, the guide structure includes guide rails arranged at both sides of the outlet and a guide part arranged on the connecting rod, which is movably arranged at the guide rails.
[0019] In an embodiment, each storage location includes two sub-storage locations horizontally spaced apart, the first conveying device includes conveying units arranged at the two sub-storage locations, and the stop rod is arranged across the two sub-storage locations.
[0020] In an embodiment, the stop structure further includes a driving device, which drives the stop rod.
[0021] In an embodiment, the bottom of each storage location is provided with the first conveying device, which has a conveying stroke for conveying the goods between the inlet and the outlet.
[0022] In an embodiment, the first conveying device and / or the second conveying device includes a roller conveyor belt, which includes a plurality of conveying roller groups, each conveying roller group includes a driving roller, a plurality of driven rollers, and a driving member, the driving member is drivingly connected with the driving roller, and the driving roller and the plurality of driven rollers are drivingly connected through a transmission structure.
[0023] In an embodiment, the transmission structure includes a gear and a transmission belt engaged with the gear.
[0024] In an embodiment, the plurality of storage locations are distributed from bottom to top, and the transfer platform is movably arranged at the mobile robot.
[0025] The utility model also provides a logistics unstacking and stacking composite robot, which comprises:
[0026] The warehouse-in type stacking device is the warehouse-in type stacking device described above; and
[0027] A grabbing manipulator is arranged at a position corresponding to the transfer platform of the mobile robot to grab the goods placed on the transfer platform.
[0028] The utility model discloses a warehousing type stacking device, wherein the warehousing type stacking device comprises:
[0029] The mobile robot is movably arranged;
[0030] The storage library is arranged on the mobile robot, and the storage library has a plurality of library positions distributed from bottom to top.
[0031] The transfer platform is movably arranged on the mobile robot to respectively connect the in-warehouse openings of the library positions, and the transfer platform is provided with a second conveying device for conveying goods between the transfer platform and the library positions.
[0032] In an embodiment, each out-warehouse opening is provided with a stop structure comprising a stop part movably arranged, and the stop part has an avoiding position avoiding the out-warehouse opening in a movement stroke of the stop part and a stop position stopping goods in the out-warehouse opening.
[0033] In an embodiment, the stop part comprises a horizontally extending stop rod movably arranged on the out-warehouse opening to have a stop position upwardly extending out of the first conveying device and an avoiding position downwardly descending below an upper end surface of the first conveying device.
[0034] In an embodiment, two ends of the stop rod corresponding to a plurality of the library positions are connected by a vertically extending connecting rod.
[0035] In an embodiment, two sides of the out-warehouse opening are provided with vertically extending guide rails, the connecting rod is provided with a guide part movably arranged on the guide rails.
[0036] In an embodiment, each library position comprises two horizontally spaced sub-library positions, the first conveying device comprises conveying units respectively arranged in the two sub-library positions, the stop rod is arranged across the two sub-library positions, and the stop structure further comprises a driving device arranged between the two sub-library positions and driving a middle part of the stop rod.
[0037] In an embodiment, the first conveying device and / or the second conveying device comprises a roller conveyor belt.
[0038] In an embodiment, the roller conveyor comprises a plurality of conveying wheel sets, each of the conveying wheel sets comprises a driving wheel, a plurality of driven wheels, and a driving member, the driving member is in driving connection with the driving wheel, and the driving wheel is in transmission connection with the plurality of driven wheels through a transmission structure.
[0039] In an embodiment, the transmission structure comprises a gear and a transmission belt in meshing connection with the gear.
[0040] The utility model discloses a logistics unstacking and stacking composite robot, wherein the logistics unstacking and stacking composite robot comprises a warehousing type stacking device and a grabbing manipulator, the warehousing type stacking device comprises a mobile robot, a storage library and a transfer platform, the mobile robot is movably arranged, the storage library is arranged on the mobile robot, the storage library has a plurality of library positions distributed from bottom to top, and the library position has at least a warehousing inlet and a warehouse outlet in the horizontal direction, the bottom of each library position is provided with a first conveying device, the first conveying device has a conveying stroke for conveying goods between the warehousing inlet and the warehouse outlet, the transfer platform is movably arranged on the mobile robot to respectively dock the warehousing inlet of each library position, and the transfer platform is provided with a second conveying device, and the second conveying device is used for conveying goods between the transfer platform and each library position, and the grabbing manipulator is arranged on the mobile robot corresponding to the position of the transfer platform to grab goods and place the goods on the transfer platform.
[0041] In the technical scheme of the utility model, the mobile robot is movably arranged to move between a goods feeding position and a goods stacking position, so as to meet the requirement of moving the goods to the stacking area after taking the goods. The storage library is mainly used for temporarily storing the goods to be stacked during the movement of the mobile robot. Specifically, the storage library comprises a plurality of library positions distributed from top to bottom, that is, the upper and lower goods are stored by separate library positions. When it is necessary to take out the goods for stacking, the first conveying device on the corresponding library position is driven to send the goods out of the warehouse outlet of the library position, so as to meet the requirement of stacking. In this way, the goods are stored in the separate library positions in the storage library, which does not affect the transfer and stacking of the goods, improves the stability of the goods placed from top to bottom during the transfer process, avoids the deviation or toppling of the goods during the transfer process, and makes the goods stored in the separate library positions more free during stacking, so that the goods in the corresponding library positions can be sent out according to the stacking requirement. On this basis, the storage library is matched with the transfer platform, so that the transfer platform can receive the goods and send the goods to the corresponding library position, thereby meeting the functional requirement. BRIEF DESCRIPTION OF DRAWINGS
[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description, obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative labor.
[0043] Figure 1 The structural schematic diagram of one embodiment of the logistics unstacking and stacking composite robot provided by the present application is shown in the figure.
[0044] Figure 2 For Figure 1 The local enlarged view of the roller conveyor in the figure.
[0045] Explanation of reference numerals:
[0046] 1000, logistics unstacking and stacking composite robot; 100, warehouse-entering stacking device; 1, mobile robot; 2, storage library; 21, library position; 211, warehouse-entering port; 212, warehouse-exiting port; 213, sub-library position; 22, first conveying device; 221, conveying unit; 3, transfer platform; 31, second conveying device; 4, stop structure; 41, stop rod; 42, connecting rod; 43, guide rail; 44, driving device; 5, roller conveyor; 51, conveying wheel set; 511, driving wheel; 512, driven wheel; 514, transmission structure; 514a, gear; 514b, transmission belt; 200, grabbing manipulator.
[0047] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION
[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.
[0049] The stacking robot can stack multiple containers on the mobile base, thereby carrying multiple containers at a time, and can improve the efficiency of carrying operation, so the stacking robot becomes one of the research hotspots in the logistics industry. However, the multiple containers stacked on the mobile base may deviate or fall, which causes the containers to easily fall from the mobile base and poor stability.
[0050] The present application provides a warehouse-entering stacking device, please refer to Figures 1 to 2The embodiment of the warehouse-in type stacking device is described below in combination with specific drawings.
[0051] Please refer to Figures 1 to 2 The warehouse-in type stacking device 100 comprises a mobile robot 1, a storage warehouse 2 and a transfer platform 3, the mobile robot 1 is movably arranged, the storage warehouse 2 is arranged on the mobile robot 1, the storage warehouse 2 has a plurality of storage positions 21, and each storage position 21 has at least an inlet 211 and an outlet 212 in the horizontal direction, and the transfer platform 3 is movably arranged on the mobile robot 1 to respectively connect the inlets 211 of the storage positions 21, and the transfer platform 3 is provided with a second conveying device 31, which is used to convey goods between the transfer platform 3 and the storage positions 21.
[0052] In some embodiments, the bottom of each storage position 21 is provided with a first conveying device 22, and the first conveying device 22 has a conveying stroke for conveying goods between the inlet 211 and the outlet 212. Further, the plurality of storage positions 21 are arranged from bottom to top. In addition, the transfer platform 3 can be movably arranged on the mobile robot 1.
[0053] In the technical scheme of the utility model, the mobile robot 1 is movably arranged to move between the goods loading position and the goods stacking position, which meets the requirement of moving the goods to the stacking area after taking the goods. The storage warehouse 2 is mainly used to temporarily store the goods to be stacked during the movement of the mobile robot 1. Specifically, the storage warehouse 2 comprises a plurality of storage positions 21 arranged from top to bottom, i.e. the upper and lower goods are stored by separate storage positions 21. When the goods need to be taken out for stacking, the first conveying device 22 of the corresponding storage position 21 can send the goods out of the outlet 212 of the storage position 21, which meets the requirement of stacking and stacking. In this way, the goods stored in the separate storage positions 21 of the storage warehouse 2 do not affect the transfer and stacking of the goods, and the stability of the goods placed from top to bottom during the transfer process is improved, which avoids the deviation or dumping of the goods during the transfer process. In addition, the separate storage positions 21 store the goods, which is more free during stacking, and the goods in the corresponding storage position 21 can be sent out according to the stacking requirement. On this basis, the storage warehouse 2 is matched with the transfer platform 3, so that the transfer platform 3 can receive the goods and send them to the corresponding storage position 21, which meets the functional requirement.
[0054] Specifically, each of the delivery ports 212 is provided with a stop structure 4, which includes a movable stop portion having an avoiding position avoiding the delivery port 212 in the active stroke of the stop portion and a stop position stopping the goods of the delivery port 212. On the one hand, in order to avoid the goods from being taken out of the storage location 21 from the delivery port 212 and to ensure the stability of the goods during the transfer process, on the other hand, in order to meet the requirement of horizontally and interval placing two goods in the same storage location 21, the stop structure 4 is arranged at the delivery port 212 to limit the goods from being taken out of the delivery port 212 during the transfer process, and when the second goods is stored in the same storage location 21, the first conveying device 22 is driven to convey, the first goods is not moved by abutting against the stop structure 4, and the second goods is driven to be close to the first goods to realize the storage of the second goods, which meets the storage of multiple goods in the same storage location 21 and meets the functional requirement.
[0055] In other words, the stop portion is used to abut against the first goods stored in the storage location 21, so that the second goods is driven by the first conveying device 22 to realize the storage, so that multiple goods are stored in the same storage location 21.
[0056] Further, the stop portion includes a blocking rod 41, which is movably arranged above and below the delivery port 212 to have a stop position extending upwardly to the first conveying device 22 and an avoiding position descending below the upper end surface of the first conveying device 22. In some examples, the blocking rod 41 can extend horizontally. The stop portion can be any structure extending into the delivery port 212 from outside the storage location 21, such as a telescopic rod extending into the delivery port 212 from outside the delivery port 212, a rod member rotatably installed outside the delivery port 212, etc. In the embodiment, the stop portion is arranged as the blocking rod 41 movably arranged above and below, and the blocking rod 41 is arranged to extend horizontally, so that after the blocking rod 41 extends into the delivery port 212, the blocking rod 41 can horizontally intercept the goods, which is more stable.
[0057] In addition, the plurality of blocking rods 41 of the plurality of storage locations 21 are connected by the connecting rods 42. Exemplarily, two ends of the plurality of blocking rods 41 corresponding to the plurality of storage locations 21 are connected by the connecting rods 42 extending upward and downward respectively. When the goods in the storage locations 21 need to be removed, the first conveying device 22 needs to be conveyed, that is, when the blocking rods 41 are in the avoiding position, the goods cannot be removed from the storage locations 21 by themselves, that is, the blocking rods 41 mainly function to protect the goods during the movement of the mobile robot 1, and when the mobile robot 1 stops to perform the goods removal and stacking operation, the function of the blocking rods 41 is not obvious. Therefore, in the present application, the plurality of blocking rods 41 of the plurality of storage locations 21 are connected by the connecting rods 42 to move synchronously, on the one hand, to reduce the driving structure, that is, to drive the plurality of blocking rods 41 to move synchronously by one driving structure, thereby reducing the cost, in other words, the plurality of blocking rods 41 are driven by the same driving device to move synchronously. On the other hand, the removal control process of the goods in the plurality of storage locations 21 is simplified, that is, when the goods in the plurality of storage locations 21 need to be removed, the blocking rods 41 of the removal openings 212 of all the storage locations 21 are directly controlled to avoid by the driving structure, without the need to accurately control the storage locations 21 that need to be removed, thereby reducing the control cost and simplifying the control process.
[0058] Specifically, the two sides of the removal opening 212 are provided with upward and downward extending guide rails 43, the connecting rod 42 is provided with a guide portion, and the guide portion is upward and downward movably arranged on the guide rail 43. The upward and downward movement of the blocking rod 41 can be guided by the additional guide structure or by the above-mentioned driving structure, which is not limited herein. In the present application, the additional guide structure is arranged between the connecting rod 42 and the storage 2 to guide the upward and downward movement of the blocking rod 41, so that the upward and downward movement of the blocking rod 41 is more stable. Specifically, the above-mentioned guide structure includes the guide rails 43 arranged on the two sides of the removal opening 212 and the guide portion arranged on the connecting rod 42, and the guide portion is arranged to move along the guide rail 43 to guide the upward and downward movement of the blocking rod 41.
[0059] Further, each of the storage locations 21 comprises two horizontally spaced sub-storage locations 213, the first conveying device 22 comprises conveying units 221 arranged at the two sub-storage locations 213, the blocking rod 41 is arranged across the two sub-storage locations 213, and the stop structure 4 further comprises a driving device 44 arranged between the two sub-storage locations 213, the driving device 44 is drivingly connected to the blocking rod 41, for example, connected to the middle part of the blocking rod 41. In order to improve the stability of the driving device 44 driving the blocking rod 41 to move up and down, the driving device 44 is drivingly connected to the middle part of the blocking rod 41. Based on this, the storage location 21 is arranged as two horizontally spaced sub-storage locations 213, so as to arrange the driving device 44 between the two sub-storage locations 213, avoiding blocking the storage location 21. Specifically, considering the size of the goods and the storage capacity of the warehouse-in type stacking device 100, three storage locations 21 are arranged above and below, and each storage location 21 is divided into two spaced sub-storage locations 213, which has been described above. Two goods can be stored in each sub-storage location 213, that is, a storage warehouse 2 with a storage scale of 2X2X3 is formed, which meets the actual use demand.
[0060] Further, a support rod is arranged between the two sub-storage locations 213, and the driving device 44 is arranged on the support rod.
[0061] Further, the first conveying device 22 and / or the second conveying device 31 comprises a roller conveyor 5. In the present application, the first conveying device 22 and the second conveying device 31 are both arranged as the roller conveyor 5, which has a mature and stable structure and low cost. Specifically, the roller conveyor 5 comprises a plurality of conveying roller groups 51, each conveying roller group 51 comprises a driving roller 511, a plurality of driven rollers 512, and a driving member, the driving member is drivingly connected to the driving roller 511, and the driving roller 511 and the plurality of driven rollers 512 are drivingly connected through a transmission structure 514. It can be understood that the roller conveyor 5 is composed of a plurality of spaced rollers. In the process of stably conveying the goods, each roller needs to have driving force, so a driving member can be arranged corresponding to each roller. However, the cost is obviously higher, and it is difficult to ensure the synchronization of each roller. Therefore, the present application groups a plurality of rollers into a conveying roller group 51, so that the rollers in the conveying roller group 51 are divided into driving rollers 511 and driven rollers 512. The driving rollers 511 and the driven rollers 512 are drivingly connected through the transmission structure 514. The driving rollers 511 are driven by the driving member, so as to drive the plurality of driven rollers 512 to rotate synchronously. On the one hand, the number of driving members is reduced, and on the other hand, the synchronization of the driving rollers 511 and the driven rollers 512 is ensured.
[0062] Specifically, the transmission structure 514 includes a gear 514a and a transmission belt 514b engaged with the gear 514a. The transmission structure 514 can be provided in various forms, including but not limited to transmission by a set of engaged gears, as long as power transmission between the driving wheel 511 and the driven wheel 512 can be achieved, which is not limited herein. In the present application, the transmission structure 514 includes the gear 514a and the transmission belt 514b. The transmission belt 514b is a flexible structure, which is convenient for processing and molding and convenient for layout.
[0063] The utility model discloses still puts forward a logistics unstacking and stacking composite robot 1000, and the logistics unstacking and stacking composite robot 1000 includes warehousing type stacking device 100 and grabbing manipulator 200, and the specific structure of logistics unstacking and stacking composite robot 1000 refers to the above embodiment, because logistics unstacking and stacking composite robot 1000 has adopted all the technical schemes of the above all embodiments, therefore at least has all the beneficial effects brought by the technical scheme of the above embodiment, and here will not repeat again; Grabbing manipulator 200 is set up in the position corresponding to transfer platform 3 of mobile robot 1, to grab the goods and place in transfer platform 3.
[0064] It can be understood that grabbing manipulator 200, transfer platform 3 and storage 2 are installed on movable mobile robot 1, and mobile robot 1 can automatically reconstruct the surrounding environment under the dual action of vision and laser radar, further plan the driving route, achieve the free walking ability, and differ from the logistics transfer device of fixed route movement. The logistics unstacking and stacking composite robot 1000 provided in the application can freely move between the logistics unstacking area and the stacking area, the single goods after unstacking are grabbed by the grabbing manipulator 200 and placed on the transfer platform 3 for classified storage, and different storage locations 21 in the storage 2 are provided with independent warehouse outlets 212, so that different stacking requirements of goods can be selectively independently discharged. When the logistics unstacking and stacking composite robot 1000 moves to the stacking area, the goods with different stacking requirements in the storage location 21 are stacked to the corresponding position, so as to realize the unpacking and stacking of the whole stack. Compared with the traditional logistics transfer device that can only transfer the whole stack, the logistics unstacking and stacking composite robot 1000 provided in the application can plan the access path of the goods, can automatically drive, can store the goods, has higher automation, can realize the classified stacking of the unpacked whole stack, and is more practical.
[0065] The above-mentioned is only the exemplary embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structural transformation made by using the utility model specification and the drawings contents or directly / indirectly applied in other related technical fields under the technical concept of the utility model is included in the patent protection range of the utility model.
Claims
1. An infeed palletizing device, characterized by The application relates to a storage and transfer system, comprising: a mobile robot, which is movable; a storage, which is arranged on the mobile robot, has a plurality of storage positions, and is provided with at least an inlet and an outlet in a horizontal direction; a transfer platform, which is movably arranged on the mobile robot to respectively connect the inlets of the storage positions, and is provided with a second conveying device for conveying goods between the transfer platform and the storage positions. Each of the outlets is provided with a stop structure, which comprises a stop part movably arranged, has an avoiding position for avoiding the outlet in a moving stroke of the stop part, and a stop position for stopping goods in the outlet.
2. The infeed palletizing apparatus of claim 1, wherein The bottom of each of the storage positions is provided with a first conveying device, which has a conveying stroke for conveying goods between the inlet and the outlet.
3. The infeed palletizing device of claim 2, wherein, The stop part is used for resisting a first piece of goods stored in the storage position, so that a second piece of goods is conveyed into the storage position by the first conveying device, and a plurality of the goods are stored in the same storage position.
4. The infeed palletizing apparatus of claim 3, wherein The stop part is a telescopic rod which can extend into the outlet from an outer edge of the outlet; or 5. The infeed palletizing apparatus of claim 3, wherein The stop part is a rod member rotatably arranged on the outer edge of the outlet. The stop part comprises a stop rod, which is movably arranged up and down in the outlet to have a stop position for extending upwardly to stop the first conveying device, and an avoiding position for descending downwardly below an upper end surface of the first conveying device.
6. The infeed palletizing apparatus of claim 3, wherein The stop rods of the plurality of storage positions are connected by a connecting rod.
7. The infeed palletizing apparatus of claim 6, wherein The stop rods are synchronously moved by a same driving device; two ends of the stop rods corresponding to the plurality of storage positions are respectively connected by the connecting rod extending up and down.
8. The infeed palletizing device of claim 7, wherein, A guide structure is arranged between the connecting rod and the storage to guide the up-and-down movement of the stop rod.
9. The infeed palletizing device of claim 8, wherein, The guide structure comprises guide rails arranged on both sides of the outlet, and a guide part arranged on the connecting rod, which is movably arranged up and down in the guide rails.
10. The infeed palletizing apparatus of claim 9, wherein, Each of the storage positions comprises two sub-storage positions horizontally spaced apart, the first conveying device comprises conveying units arranged in the two sub-storage positions, and the stop rod is arranged across the two sub-storage positions.
11. The infeed palletizing device according to any of claims 6 to 10, characterized in that, The stop structure further comprises a driving device, which drives the stop rod.
12. The infeed palletizing apparatus of claim 11, wherein, The bottom of each of the storage positions is provided with a first conveying device, which has a conveying stroke for conveying goods between the inlet and the outlet.
13. The inbound palletizing device of claim 1, wherein, The plurality of storage positions are distributed from bottom to top, and the transfer platform is movably arranged up and down on the mobile robot.
14. The inbound palletizing device of claim 1, wherein, The application further relates to an inlet type stacking device, and a grabbing manipulator arranged on the mobile robot corresponding to the transfer platform to grab goods and place the goods on the transfer platform.
15. A logistic de-palletizing and palletizing composite robot, characterized by,