Multi-station cooperative fruit and vegetable powder packaging box stacking mechanical hand

Abstract

The utility model belongs to the technical field of stacking manipulator, especially a kind of multi-station collaborative fruit and vegetable powder packaging box stacking manipulator, including manipulator ontology and vacuum adsorption platform fixedly installed on the manipulator ontology, monitoring mechanism is arranged in the vacuum adsorption platform inside, the monitoring mechanism includes vacuum sensor, vacuum sensor carries out point-to-point pressure monitoring to it by the vacuum branch pressure signal of vacuum adsorption platform acquisition, by setting adjusting mechanism, drive hollow guide column to reset, hollow guide column slidingly inserts in limiting groove, limiting groove limits hollow guide column only axial movement, prevent its from happening deflection or rotation in working process, guarantee the position accuracy of suction cup, hollow guide column and sealing ring form sliding seal, guarantee adsorption force, spring is fixedly installed with mounting panel and hollow guide column respectively, provide adaptive buffer and reset function.

Description

Technical Field

[0001] This utility model relates to the field of palletizing robot technology, and in particular to a multi-station collaborative fruit and vegetable powder packaging box palletizing robot. Background Technology

[0002] With the rapid development of the food industry, fruit and vegetable powder, as an important nutritional supplement and food ingredient, is increasingly in demand. At the end of the production line, the filled and sealed fruit and vegetable powder packaging cartons are neatly stacked onto pallets from the conveyor belt to form pallets for easy storage and transportation. In order to improve the level of automation, some companies have introduced general industrial palletizing robots. These robots use vacuum suction cups to grab and move the boxes for palletizing.

[0003] In existing technologies, during the transportation and stacking of fruit and vegetable powder packaging cartons, the surface is prone to bending, warping, or wrinkling. When the rigidly connected suction cup assembly is gripping downwards, it cannot guarantee that all suction cups can simultaneously and evenly contact the carton surface. Furthermore, when a carton falls, maintenance personnel cannot quickly locate which suction cup is malfunctioning, making repairs difficult. Therefore, a multi-station collaborative fruit and vegetable powder packaging carton palletizing robot is proposed to solve the above-mentioned problems. Utility Model Content

[0004] To address the technical problems in existing technologies, such as the surface of fruit and vegetable powder packaging cartons being prone to bending, warping, or wrinkling, the inability of rigidly connected suction cup assemblies to ensure that all suction cups can simultaneously and evenly contact the carton surface during downward gripping, and the inability of maintenance personnel to quickly locate which suction cup malfunctioned after a carton drop, this application provides a multi-station collaborative fruit and vegetable powder packaging carton palletizing robot.

[0005] This utility model proposes a multi-station collaborative fruit and vegetable powder packaging box palletizing robot, which includes a robot body and a vacuum adsorption platform fixedly installed on the robot body. The vacuum adsorption platform is equipped with a monitoring mechanism, which includes a vacuum sensor. The vacuum sensor performs point-to-point pressure monitoring by collecting the vacuum branch pressure signal of the vacuum adsorption platform.

[0006] The lower surface of the vacuum adsorption stage is provided with an adjustment mechanism, which includes a hollow guide column and a spring. The spring drives the hollow guide column to reset through its elastic deformation.

[0007] Preferably, the monitoring mechanism further includes a mounting plate, which is sealed and mounted on the lower surface of the vacuum adsorption stage.

[0008] The above technical solution involves sealing the mounting plate to the vacuum adsorption stage, securing it while preventing gas leakage. The mounting plate can be made of aerospace-grade aluminum alloy to significantly reduce the load on the robot's end effector while ensuring sufficient strength, thereby increasing the robot's movement speed and reducing energy consumption. Before installation, the lower surface of the vacuum adsorption stage and the upper surface of the mounting plate must be thoroughly wiped with a lint-free cloth and cleaning agent, such as alcohol, to ensure that there is no dust, oil, or particulate matter. The sealing gasket must be checked for damage, and a thin layer of vacuum grease should be applied evenly to aid sealing and installation. Using a torque wrench, all bolts should be tightened evenly in a crisscross and phased manner to ensure that the mounting plate is subjected to uniform force and to prevent air leakage due to warping.

[0009] Preferably, the through hole on the upper surface of the mounting plate is fixedly connected to the vacuum branch of the vacuum adsorption stage, and the plurality of vacuum sensors are respectively fixedly installed on the inner wall of each vacuum branch of the vacuum adsorption stage.

[0010] The above technical solution involves a mounting plate that is fixedly connected to the vacuum branch of the vacuum adsorption stage. The connection between the two must be coaxial to prevent airflow eddies or localized throttling, which could affect adsorption efficiency and sensor readings. Vacuum sensors are installed on the inner walls of each vacuum branch of the vacuum adsorption stage, allowing for the most direct and rapid detection of actual pressure changes in that branch. This enables monitoring of the adsorption status of individual suction cups. The core components of the vacuum sensors are typically ceramic capacitor diaphragms or stainless steel pressure-sensitive elements. Models can be from the German PN series or PQ series, selected based on actual working conditions. Sensor installation usually uses threaded connections; Teflon tape or thread sealant should be wrapped around the threads to ensure airtightness after installation. Excessive torque should be avoided during installation to prevent damage to the sensor body.

[0011] Preferably, the adjustment mechanism further includes a sealing ring, which is fixedly installed on the inner wall of the through hole of the mounting plate.

[0012] The above technical solution involves fixing the sealing ring to the mounting plate. The sealing ring can be made of polyurethane, which has excellent wear resistance and tear resistance, long service life, and is suitable for high-frequency reciprocating motion applications. Before installation, a layer of material-compatible grease, such as silicone grease, can be applied to the surface of the sealing ring to protect it and reduce initial friction. Special tools must be used during installation to avoid sharp objects scratching the lip or surface of the sealing ring. Ensure that the sealing ring is flat and free from twisting in the groove of the through hole; otherwise, it may lead to sealing failure or excessive wear.

[0013] Preferably, the hollow guide post is slidably inserted into the inner wall of the limiting groove of the mounting plate, and the arcuate surface of the hollow guide post forms a sliding seal with the inner wall of the sealing ring.

[0014] The above technical solution involves a hollow guide post slidingly inserted into a limiting groove. The limiting groove restricts the hollow guide post to move only axially, preventing it from swaying or rotating during operation and ensuring the positional accuracy of the suction cup. The hollow guide post and the sealing ring form a sliding seal, which is the core of achieving the sliding seal. This ensures that the vacuum channel inside the hollow guide post does not connect with the atmosphere when it slides up and down, which is crucial for maintaining the adsorption force. The hollow guide post can be made of stainless steel or hard anodized aluminum alloy. Before installation, check the curved surface of the guide post for scratches or burrs. Any slight unevenness may damage the sealing ring. During installation, it is essential to ensure that the center lines of the guide post, sealing ring, and through hole are basically aligned; otherwise, it will lead to unilateral wear and accelerate the failure of the sealing ring.

[0015] Preferably, the spring is fixed to the inner wall of the groove of the mounting plate, one end of the spring is fixedly installed to the arc surface of the hollow guide post, and a suction cup is sealed on the lower surface of the hollow guide post.

[0016] The above technical solution utilizes springs fixedly mounted to the mounting plate and hollow guide posts, providing adaptive buffering and reset functions. For packaging boxes with slight height differences or uneven surfaces, each hollow guide post can be independently adjusted up and down to ensure good contact between all suction cups and the box surface. After gripping, the spring force drives the guide post back to its initial position, preparing for the next gripping. The spring material can be piano wire or stainless steel spring wire, and the suction cup material can be polyurethane or nitrile rubber. The spring must be pre-compressed during installation to provide initial contact pressure, ensuring stability of the suction cups before contact with the box and providing a clear zero point for the entire adjustment mechanism. The pre-compression amount is typically 10%-20% of the spring's free length; for example, a 50mm long spring would be pre-compressed by 5-10mm. The values ​​need to be calculated based on the required adsorption force, buffer stroke, and spring stiffness. During installation, first place the spring into the groove of the mounting plate, then press the guide post in so that the distance between its lower end face and the lower surface of the mounting plate is less than the free length of the spring. Finally, fix the other end of the spring to the guide post with screws or other means. The suction cup and the lower end of the guide post are usually connected by threads or snaps. Sealing gaskets or sealant must be used at the connection to ensure that it is airtight. This is the last line of defense for the vacuum system. After all components are installed, the air source and sensor lines need to be connected to perform vacuum and motion tests. Observe whether the descent, contact, adsorption, rise, and reset actions of each suction cup are smooth, and check whether the sensor readings are normal. The installation methods and precautions for each structure in the monitoring and adjustment mechanisms are existing technologies, so they will not be elaborated on here.

[0017] The beneficial effects of this utility model are as follows: 1. By setting up a monitoring mechanism, point-to-point pressure monitoring is performed on the vacuum branch of the vacuum adsorption stage. The mounting plate is fixedly connected to the vacuum branch of the vacuum adsorption stage, and the connection between the two must ensure coaxiality to avoid airflow eddies or local throttling, which would affect adsorption efficiency and sensor readings. Vacuum sensors are installed on the inner walls of each vacuum branch of the vacuum adsorption stage, which can directly and quickly sense the real pressure changes of the branch, so as to monitor the adsorption status of individual suction cups. This solves the technical problem in the prior art that when a box falls off, maintenance personnel cannot quickly locate which suction cup is faulty, making maintenance difficult.

[0018] 2. By setting an adjustment mechanism, the hollow guide column is driven to reset. The hollow guide column slides into the limiting groove, which restricts the hollow guide column to move only along the axial direction, preventing it from swaying or rotating during operation and ensuring the positional accuracy of the suction cup. The hollow guide column and the sealing ring form a sliding seal, ensuring that the vacuum channel inside the hollow guide column will not be connected to the atmosphere when the hollow guide column slides up and down, thus ensuring the suction force. The springs are fixedly installed on the mounting plate and the hollow guide column, providing adaptive buffering and reset functions. For packaging boxes with slight differences in height or uneven surfaces, each hollow guide column can be independently adjusted up and down to ensure that all suction cups can make good contact with the surface of the box. This solves the technical problem in the prior art that the surface of fruit and vegetable powder packaging cartons is prone to bending, warping or wrinkling during transportation and stacking, and the rigid connection suction cup group cannot guarantee that all suction cups can contact the box surface simultaneously and evenly when gripping downwards. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a multi-station collaborative fruit and vegetable powder packaging box palletizing robot proposed in this utility model; Figure 2 A perspective view of the suction cup structure of a multi-station collaborative fruit and vegetable powder packaging box palletizing robot proposed in this utility model; Figure 3 A perspective view of the hollow guide column structure of a multi-station collaborative fruit and vegetable powder packaging box palletizing robot proposed in this utility model; Figure 4 A three-dimensional view of the vacuum sensor structure of a multi-station collaborative fruit and vegetable powder packaging box palletizing robot proposed in this utility model; Figure 5 This is a perspective view of the sealing ring structure of a multi-station collaborative fruit and vegetable powder packaging box palletizing robot proposed in this utility model.

[0020] In the diagram: 1. Robotic arm body; 11. Vacuum adsorption stage; 2. Mounting plate; 3. Vacuum sensor; 4. Sealing ring; 5. Hollow guide column; 6. Spring; 61. Suction cup. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0022] Reference Figures 1-5 A multi-station collaborative fruit and vegetable powder packaging box palletizing robot includes a robot body 1 and a vacuum adsorption platform 11 fixedly installed on the robot body 1. The vacuum adsorption platform 11 is equipped with a monitoring mechanism, which includes a vacuum sensor 3. The vacuum sensor 3 performs point-to-point pressure monitoring by collecting the vacuum branch pressure signal of the vacuum adsorption platform 11.

[0023] To ensure uniform force distribution on mounting plate 2, the monitoring mechanism also includes mounting plate 2. Mounting plate 2 is sealed and installed on the lower surface of vacuum adsorption table 11. The mounting plate 2 is sealed and installed with vacuum adsorption table 11, which not only fixes it but also prevents gas leakage. Mounting plate 2 can be made of aviation aluminum alloy to significantly reduce the load on the end effector of the robot while ensuring sufficient strength, thereby improving the robot's movement speed and reducing energy consumption. Before installing mounting plate 2, the lower surface of vacuum adsorption table 11 and the upper surface of mounting plate 2 must be thoroughly wiped with a lint-free cloth and cleaning agent such as alcohol to ensure that there is no dust, oil or particulate matter. The sealing gasket must be checked for damage and a thin layer of vacuum silicone grease should be applied evenly to assist in sealing and installation. Using a torque wrench, all bolts should be tightened evenly in a crisscross and phased manner to ensure uniform force distribution on mounting plate 2 and prevent air leakage due to warping.

[0024] To monitor the adsorption status of a single suction cup 61, the through hole on the upper surface of the mounting plate 2 is fixedly connected to the vacuum branch of the vacuum adsorption stage 11. Multiple vacuum sensors 3 are fixedly installed on the inner wall of each vacuum branch of the vacuum adsorption stage 11. The connection between the mounting plate 2 and the vacuum branch of the vacuum adsorption stage 11 must be coaxial to avoid airflow eddies or local throttling, which would affect adsorption efficiency and sensor readings. Vacuum sensors 3 are installed on the inner wall of each vacuum branch of the vacuum adsorption stage 11, which can directly and quickly sense the real pressure change of the branch to monitor the adsorption status of a single suction cup 61. The core component of the vacuum sensor 3 is usually a ceramic capacitor diaphragm or a stainless steel pressure-sensitive element. The model can be the German PN series or PQ series, and the specific selection depends on the actual working conditions. The sensor is usually installed using a threaded connection. Teflon tape or thread sealant should be wrapped around the thread to ensure airtightness after installation. Avoid using excessive torque during installation to prevent damage to the sensor body.

[0025] By setting up a monitoring mechanism, point-to-point pressure monitoring is performed on the vacuum branch of the vacuum adsorption stage 11. The mounting plate 2 is fixedly connected to the vacuum branch of the vacuum adsorption stage 11, and the connection between the two must ensure coaxiality to avoid airflow eddies or local throttling, which would affect adsorption efficiency and sensor readings. Vacuum sensors 3 are installed on the inner walls of each vacuum branch of the vacuum adsorption stage 11, which can directly and quickly sense the real pressure changes of the branch, so as to monitor the adsorption status of a single suction cup 61. This solves the technical problem in the prior art that when a box falls off, maintenance personnel cannot quickly locate which suction cup 61 is faulty, making maintenance difficult.

[0026] In order to reset the hollow guide column 5, an adjustment mechanism is provided on the lower surface of the vacuum adsorption stage 11. The adjustment mechanism includes the hollow guide column 5 and the spring 6. The spring 6 drives the hollow guide column 5 to reset through its elastic deformation.

[0027] To protect the sealing ring 4 and reduce initial friction, the adjustment mechanism also includes a sealing ring 4. The sealing ring 4 is fixedly installed on the inner wall of the through hole of the mounting plate 2. The sealing ring 4 is fixed to the mounting plate 2. The sealing ring 4 can be made of polyurethane, which has excellent wear resistance and tear resistance, long service life, and is suitable for high-frequency reciprocating motion. Before installation, a layer of grease compatible with the material, such as silicone grease, can be applied to the surface of the sealing ring 4 to protect the sealing ring 4 and reduce initial friction. Special tools should be used during installation to avoid sharp objects scratching the lip or surface of the sealing ring 4. Ensure that the sealing ring 4 is flat and free from twisting in the groove of the through hole, otherwise it will lead to sealing failure or excessive wear.

[0028] To ensure that the vacuum channel inside the hollow guide post 5 does not connect with the atmosphere when it slides up and down, the hollow guide post 5 is slidably inserted into the inner wall of the limiting groove of the mounting plate 2. The curved surface of the hollow guide post 5 forms a sliding seal with the inner wall of the sealing ring 4. The limiting groove restricts the hollow guide post 5 to move only along the axial direction, preventing it from swaying or rotating during operation and ensuring the positional accuracy of the suction cup 61. The sliding seal formed by the hollow guide post 5 and the sealing ring 4 is the core of achieving the sliding seal. Ensuring that the vacuum channel inside the hollow guide post 5 does not connect with the atmosphere when it slides up and down is the key to ensuring the adsorption force. The hollow guide post 5 can be made of stainless steel or hard anodized aluminum alloy. Before installation, check the curved surface of the guide post for scratches and burrs. Any slight unevenness may damage the sealing ring 4. During installation, it is necessary to ensure that the center lines of the guide post, the sealing ring 4, and the through hole are basically aligned. Otherwise, it will lead to unilateral wear and accelerate the failure of the sealing ring 4.

[0029] To ensure good contact between all suction cups 61 and the box surface, spring 6 is fixed to the inner wall of the groove in mounting plate 2. One end of spring 6 is fixedly installed to the curved surface of hollow guide post 5. Suction cups 61 are sealed on the lower surface of hollow guide post 5. Spring 6 is used to fix both the suction cups 61 to mounting plate 2 and hollow guide post 5, providing adaptive buffering and reset functions. For boxes with slight height differences or uneven surfaces, each hollow guide post 5 can be independently adjusted up and down to ensure good contact between all suction cups 61 and the box surface. After gripping, the elasticity of spring 6 drives the guide post back to its initial position, preparing for the next gripping. Spring 6 can be made of piano wire or stainless steel wire, and suction cups 61 can be made of polyurethane or nitrile rubber. Spring 6 must be pre-compressed during installation to provide initial contact pressure, ensuring the suction cups 61 remain stable before contacting the box and providing a clear zero point for the entire adjustment mechanism. The pre-compression amount is typically the free pressure of spring 6. The length should be 10%-20%, for example, a 50mm long spring 6, pre-compressed by 5-10mm. The specific value needs to be calculated based on the required suction force, buffer stroke, and spring 6 stiffness. During installation, first place the spring 6 into the groove of the mounting plate 2, then press the guide post in so that the distance between its lower end face and the lower surface of the mounting plate 2 is less than the free length of the spring 6. Finally, fix the other end of the spring 6 to the guide post with screws or other means. The suction cup 61 and the lower end of the guide post are usually connected by threads or snaps. The connection must be sealed with a gasket or sealant to ensure that it is airtight. This is the last line of defense for the vacuum system. After all components are installed, the air source and sensor lines need to be connected to perform vacuum tests and action tests. Observe whether the descent, contact, suction, rise, and reset actions of each suction cup 61 are smooth, and check whether the sensor readings are normal. The installation methods and precautions of each structure in the monitoring mechanism and adjustment mechanism are existing technologies, so they will not be elaborated on here.

[0030] By setting an adjustment mechanism, the hollow guide column 5 is driven to reset. The hollow guide column 5 is slidably inserted into the limiting groove. The limiting groove restricts the hollow guide column 5 to move only along the axial direction, preventing it from swaying or rotating during operation and ensuring the positional accuracy of the suction cup 61. The hollow guide column 5 and the sealing ring 4 form a sliding seal, ensuring that the vacuum channel inside the hollow guide column 5 will not be connected to the atmosphere when it slides up and down, thus ensuring the adsorption force. The spring 6 is fixedly installed on the mounting plate 2 and the hollow guide column 5 respectively, providing adaptive buffering and reset functions. For packaging boxes with slight differences in height or uneven surfaces, each hollow guide column 5 can be independently adjusted up and down to ensure that all suction cups 61 can make good contact with the surface of the box. This solves the technical problem in the prior art that the surface of fruit and vegetable powder packaging cartons is prone to bending, warping or wrinkling during transportation and stacking, and the rigidly connected suction cup 61 group cannot guarantee that all suction cups 61 can contact the box surface simultaneously and evenly when gripping downwards.

[0031] Working principle: The control system performs a self-test upon power-up, confirming that all vacuum sensors 3, valves, and mechanical components are in normal condition. The robot body 1 is positioned at the preset standby point above the conveyor belt. The conveyor belt transports the fruit and vegetable powder packaging box to the gripping area. The camera of the vision system takes pictures and calculates the precise position and angle offset of the box. The data is sent to the robot control system. Based on the positioning information, the robot control system plans the optimal gripping path from the standby point to the top of the packaging box. The robotic arm control system drives the robotic arm body 1, which in turn drives the entire vacuum adsorption stage 11 to descend at high speed along the planned trajectory. When the suction cups 61 approach and contact the packaging box, due to the possible slight unevenness or height difference on the surface of the box, some suction cups 61 will contact the box first. The hollow guide post 5 of the suction cups 61 that contact first will be subjected to an upward reaction force and will begin to slide upward in the limiting groove of the mounting plate 2, while compressing the spring 6. The suction cups 61 that have not been contacted continue to descend until their guide posts also contact the surface of the box. Finally, all the springs 6 will generate different compression amounts according to the actual height of their respective contact surfaces, achieving complete contact between all the suction cups 61 and the surface of the box. During this process, the limiting groove ensures that the guide posts only move axially and do not wobble, thus ensuring the positional accuracy of the suction cups 61. The robotic arm control system sends a command to the control system of the vacuum adsorption platform 11, which opens the solenoid valve and the vacuum generator starts working. The air is drawn out through the air passage inside the vacuum adsorption platform 11, the through hole of the mounting plate 2, and the hollow cavity of the hollow guide column 5, and finally through the suction cup 61. During the vacuum building process, each vacuum sensor 3 fixed to the inner wall of the vacuum branch collects the pressure value of its branch in real time and converts it into an electrical signal to feed back to the central controller. The controller compares the reading of each sensor with the preset adsorption success threshold. If all sensor readings reach or exceed the threshold, the controller determines that the adsorption is successful. If any sensor reading is higher than the threshold, that is, the vacuum is insufficient, the controller immediately determines that the grasping fails. Only after confirming all successes will the robot control system execute the lifting command, causing the adsorbed packaging box to leave the conveyor belt. The robot smoothly transports the packaging box to the top of the pallet according to the preset safety path. Throughout the process, the vacuum sensor 3 continuously monitors the system. If the pressure is abnormal, the system will immediately stop and alarm. The robot descends to the predetermined stacking position on the pallet. The control system instructs the vacuum adsorption table 11 to close the vacuum solenoid valve and may open a venting valve to restore the air pressure inside and outside the suction cup 61 to balance. The packaging box falls onto the pallet due to its own weight. The robot rises vertically to complete one stacking cycle. During the ascent, the elastic force of the spring 6 is released, pushing the hollow guide column 5 and the suction cup 61 back to the initial extended position, preparing for the next gripping. The robot returns to the top of the conveyor belt to wait for the next packaging box and start a new cycle. If the adsorption process is determined to have failed, the control system will activate the emergency plan, such as trying to adsorb again at the original location. If it still fails, an audible and visual alarm will be issued and the operator will be notified to handle the situation. The curved surface of the hollow guide column 5 and the inner wall of the sealing ring 4 are the main moving friction parts. The connecting structure needs to be disassembled regularly to lubricate the friction parts in order to reduce wear, extend service life and maintain sealing effect. The lubrication point is the curved surface where the hollow guide column 5 contacts the sealing ring 4. Depending on the frequency of equipment use, such as 8 hours of operation per day, it is recommended to lubricate every 3-6 months. For high-load and high-frequency applications, the cycle should be shortened to once a month. It is recommended to use silicone-based grease or vacuum-compatible grease. These types of greases are chemically stable, do not easily volatilize, will not contaminate the vacuum system, and have good compatibility with polyurethane or fluororubber sealing rings 4. Check all suction cups 61 daily for damage, cracks or severe wear. During vacuum adsorption, listen for any abnormal hissing or leaking sounds. At the same time, observe whether the readings of each vacuum sensor 3 on the control screen are within the normal range and whether there are any alarm messages. Remove the hollow guide column 5 monthly / quarterly and check the lip of the sealing ring 4 for wear, aging, indentation, or permanent deformation. Replace it immediately if any abnormality is found. Check the spring 6 for rust, cracks, or plastic deformation. Measure its free length and compare it with a new part. Replace it if the deviation is too large. Check the connecting bolts between the mounting plate 2 and the vacuum adsorption stage 11, and the connecting parts between the suction cup 61 and the guide column for looseness. Tighten them as needed. Calibrate the vacuum sensor 3 using a standard pressure source to ensure its readings are accurate. Replace all wear parts annually. In addition, develop a plan based on usage to replace all sealing rings 4 and suction cups 61 in batches every year or every two years. Check the vacuum pipeline for aging or bending, and clean the impurities in the filter. The electronic devices, their circuit connections, power supply methods, and control methods described in this article are all existing technologies with mature applications. Therefore, they will only be briefly explained here without further elaboration.

[0032] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-station collaborative fruit and vegetable powder packaging box palletizing robot, comprising a robot body (1) and a vacuum adsorption stage (11) fixedly mounted on the robot body (1), characterized in that: The vacuum adsorption stage (11) is equipped with a monitoring mechanism, which includes a vacuum sensor (3). The vacuum sensor (3) performs point-to-point pressure monitoring by collecting the vacuum branch pressure signal of the vacuum adsorption stage (11). The lower surface of the vacuum adsorption stage (11) is provided with an adjustment mechanism, which includes a hollow guide column (5) and a spring (6). The spring (6) drives the hollow guide column (5) to reset through its elastic deformation.

2. The multi-station collaborative fruit and vegetable powder packaging box palletizing robot according to claim 1, characterized in that: The monitoring mechanism also includes a mounting plate (2), which is sealed and installed on the lower surface of the vacuum adsorption stage (11).

3. The multi-station collaborative fruit and vegetable powder packaging box palletizing robot according to claim 2, characterized in that: The upper surface through hole of the mounting plate (2) is fixedly connected to the vacuum branch of the vacuum adsorption stage (11), and the multiple vacuum sensors (3) are respectively fixedly installed on the inner wall of each vacuum branch of the vacuum adsorption stage (11).

4. The multi-station collaborative fruit and vegetable powder packaging box palletizing robot according to claim 2, characterized in that: The adjustment mechanism also includes a sealing ring (4), which is fixedly installed on the inner wall of the through hole of the mounting plate (2).

5. The multi-station collaborative fruit and vegetable powder packaging box palletizing robot according to claim 4, characterized in that: The hollow guide post (5) is slidably inserted into the inner wall of the limiting groove of the mounting plate (2), and the arc surface of the hollow guide post (5) forms a sliding seal with the inner wall of the sealing ring (4).

6. The multi-station collaborative fruit and vegetable powder packaging box palletizing robot according to claim 5, characterized in that: The spring (6) is fixed to the inner wall of the groove of the mounting plate (2). One end of the spring (6) is fixedly installed on the arc surface of the hollow guide post (5). A suction cup (61) is sealed on the lower surface of the hollow guide post (5).

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