Mobile robot-based palletizing system

Abstract

A mobile robot-based palletizing system, comprising: a discharge conveyor line, used for continuously conveying multiple target boxes of multiple orders into a work space, wherein the discharge conveyor line is provided with multiple discharge ports; a retractable roller conveyor line that has a front end connected to a mobile robot and a rear end communicated with the discharge ports and is used for transferring material from the discharge ports into the operating range of the mobile robot; the mobile robot, used for loading the material from the retractable roller conveyor line onto material pallets; multiple material pallets that are arranged in sequence to form material pallet arrays, wherein a moving channel is formed between two material pallet arrays; and the moving channel, used for the movement of the mobile robot during mobile palletizing, wherein the mobile robot moves along the moving channel to sequentially stack the material from the retractable roller conveyor line onto the material pallets. The mobile robot-based palletizing system can avoid the problem of the position of a retractable roller conveyor line needing to be constantly adjusted during a palletizing process, thereby improving the efficiency of palletizing.

Description

Mobile robot-based palletizing system TECHNICAL FIELD

[0001] The present disclosure relates to a logistics robot, in particular to a mobile robot-based palletizing system. BACKGROUND

[0002] Industrial robots are intelligent devices with sensors, objectives and electronic optical systems, which can quickly sort and transport goods.

[0003] More and more visual sensors and force sensors will be used on industrial robots, and industrial robots will become more and more intelligent. With the progress of sensing and identification systems, artificial intelligence and other technologies, robots are developing from being controlled in one direction to storing and applying data themselves, and gradually becoming information-based.

[0004] In order to expand the application scenarios and application range of industrial robots, the prior art installs an industrial robot on a mobile base to manufacture a mobile robot, so as to realize the movement of the industrial robot to realize mobile unstacking and moving picking and other functions.

[0005] Palletizing is one of the core links of warehouse logistics and factory logistics, and the automation level and efficiency of palletizing are crucial to the flow efficiency of the entire factory and warehouse. Mobile robots are gradually replacing manual palletizing in intelligent factories. How to improve the efficiency of palletizing is a core link to provide warehouse logistics efficiency.

[0006] SUMMARY

[0007] The purpose of the present disclosure is to provide a mobile robot-based palletizing system.

[0008] The mobile robot-based palletizing system provided by the present disclosure comprises a mobile robot, a material pallet, an extendable roller conveying line and a discharge conveying line.

[0009] The discharge conveying line is used to continuously convey a plurality of target boxes of a plurality of orders into a work space, and the discharge conveying line is provided with a plurality of discharge ports.

[0010] The extendable roller conveying line is connected to the front end of the mobile robot and is communicated with the discharge port at the rear end, and is used to convey materials from the discharge port to the work range of the mobile robot.

[0011] The mobile robot is used to load the materials on the extendable roller conveying line onto the material pallet.

[0012] The material tray is arranged in sequence to form a tray array, and a moving channel is formed between two rows of the tray array; the moving channel is used for the movement of the mobile robot when stacking; and the mobile robot moves along the moving channel to stack the materials on the telescopic roller conveying line on the material tray in sequence.

[0013] According to an embodiment of the present application, the mobile robot is used for stacking materials, and is moved in front of a corresponding tray by stretching the telescopic roller conveying line according to the identification code corresponding to the materials, so as to stack the materials on the corresponding tray.

[0014] According to an embodiment of the present application, the telescopic roller conveying line is used for stretching to provide a movement space for the mobile robot when the mobile robot moves along the moving channel and turns to the left and right.

[0015] According to an embodiment of the present application, the mobile robot comprises:

[0016] A moving base is used for moving to an arbitrary position or pausing at an arbitrary position and determining a direction angle according to a received control instruction;

[0017] A mechanical arm is arranged on the moving base and is used for continuously grabbing and placing materials on the telescopic roller conveying line;

[0018] A visual perception module is arranged at the end of the first mechanical arm and is used for collecting image information of the materials on the material tray.

[0019] According to an embodiment of the present application, the mobile platform is capable of freely moving;

[0020] The mobile platform is used for moving to the lower side of the material tray, dragging away the material tray on which the stacking is completed, and dragging the material tray to be loaded to the working area of the mobile robot to form the tray array.

[0021] According to an embodiment of the present application, the end of the mechanical arm is provided with a bottom supporting clamp, and the bottom supporting clamp comprises:

[0022] A clamp body;

[0023] A suction cup support is arranged on one side surface of the clamp body and is capable of moving in a first direction;

[0024] A bottom supporting mechanism is arranged on the clamp body and is capable of moving in a second direction opposite to the first direction;

[0025] A driving module is connected with the suction cup support and the bottom supporting mechanism through a driving transmission mechanism, and is used to drive the suction cup support and the bottom supporting mechanism to perform reverse movement simultaneously.

[0026] According to one embodiment of the present application, the length ratio between the stretched state of the telescopic roller conveying line and the compressed state of the telescopic roller conveying line is between 2 and 3.

[0027] According to one embodiment of the present application, the front end of the mobile robot is connected with a material conveying table, and the front end of the material conveying table is provided with a first supporting rod and a second supporting rod on both sides.

[0028] The end of the first supporting rod is provided with a first safety radar, and the end of the second supporting rod is provided with a second safety radar.

[0029] The first supporting rod, the second supporting rod, the first safety radar and the second safety radar form a safe working range of the mobile robot.

[0030] According to one embodiment of the present application, at least one side of the material tray is provided with a safety fence.

[0031] The safety fence is used to isolate a safe working range of the mobile robot.

[0032] According to one embodiment of the present application, a code scanning mechanism and a quality inspection mechanism are fixedly arranged on the telescopic roller conveying line.

[0033] The code scanning mechanism is arranged on the upper side of the telescopic roller conveying line, and is used to read an identification code on the material, so as to determine product information of the material according to the identification code.

[0034] The quality inspection mechanism is arranged on the upper side of the telescopic roller conveying line, and is used to acquire an image of the material, so as to perform quality inspection on the material according to the image of the material.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] In the present disclosure, the materials are sequentially shunted to the telescopic roller conveyor line through the discharge conveying line; the front end of the telescopic roller conveyor line is connected to the mobile robot, and the rear end is connected to the discharge port of the telescopic roller conveyor line, so as to convey the materials to the working range of the mobile robot; a plurality of material pallets are placed on both sides of the mobile robot, and the plurality of material pallets are sequentially arranged to form a pallet array, and a moving channel is formed between the two rows of pallet arrays; the mobile robot moves in the moving channel when carrying out the movement and stacking, and the movement space is obtained by stretching the telescopic roller conveyor line, so as to sequentially stack the materials on the telescopic roller conveyor line on the corresponding material pallets, thereby avoiding the need to constantly adjust the position of the telescopic roller conveyor line in the stacking process, and improving the stacking efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings. Other features, objects and advantages of the present disclosure will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0038] Fig. 1 is a schematic diagram of the initial working state of the palletizing system based on the mobile robot in the embodiment of the present disclosure;

[0039] Fig. 2 is a schematic diagram of the working process state of the palletizing system based on the mobile robot in the embodiment of the present disclosure;

[0040] Fig. 3 is a schematic diagram of the safety mechanism of the palletizing system based on the mobile robot in the embodiment of the present disclosure;

[0041] Fig. 4 is a schematic diagram of the relationship between the mobile robot and the material sorting conveying table in the embodiment of the present disclosure;

[0042] Fig. 5 is a schematic diagram of the structure of the mobile robot in the embodiment of the present disclosure;

[0043] Fig. 6 is a schematic diagram of the structure of the bottom supporting clamp in the embodiment of the present disclosure;

[0044] Fig. 7 is a schematic diagram of the working state of the bottom supporting clamp in the embodiment of the present disclosure; and

[0045] Fig. 8 is a schematic diagram of the control system of the palletizing system based on the mobile robot in the embodiment of the present disclosure.

[0046] In the figure: 1 is a mobile robot; 101 is a mobile base; 102 is a mechanical arm; 103 is a bottom supporting clamp; 1031 is a bottom supporting mechanism; 1032 is an array of suction cups; 1033 is a suction cup; 1034 is a conveyor belt; 1035 is a suction cup support; 1036 is a driving module; 1037 is a clamp body; 104 is a visual perception module; 2 is a discharge conveying line; 3 is an extendable roller conveying line; 4 is a material arranging conveying table; 401 is a material arranging line body; 402 is an edge returning baffle; 403 is a pushing plate; 404 is an edge pushing mechanism; 5 is a target box; 6 is a material tray; 7 is a first supporting rod; 8 is a first safety radar; 9 is a third safety radar; 10 is a mobile platform; 11 is a code scanning mechanism; 12 is a control management system; 13 is a safety fence. DETAILED DESCRIPTION

[0047] The present disclosure will be described in detail below with specific reference being made to the figures. The following examples serve to illustrate the present disclosure and should not be construed as limiting the same. It is noted that, as to one of ordinary skill in the art, several changes and modifications can be made thereto without departing from the spirit and scope of the present disclosure. These are all within the scope of the present disclosure.

[0048] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present disclosure, and above mentioned drawings, if any, are used to distinguish between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the use of these terms here is not meant to limit the scope of the present disclosure to the specific examples described herein, but rather the scope of the present disclosure encompasses any of the examples and embodiments described herein. Moreover, the terms "comprise", "comprising", "have", "having", "include", "including", "contain", "containing", "provide", "provided", "provide for", "provided for" and the like, are used in the sense of inclusion, that is, meaning and / or consisting of and not by way of restriction. It is noted that, as to one of ordinary skill in the art, these terms refer to the products or processes contained within rather than to exclude anything from the products or processes.

[0049] The technical solutions of the present disclosure will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described in detail in some examples.

[0050] The technical solutions of the present disclosure and how the technical solutions solve the above technical problems will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described in detail in some examples. The embodiments of the present disclosure will be described below with reference to the drawings.

[0051] Fig. 1 is a schematic diagram of the initial state of the working of the palletizing system based on the mobile robot in the embodiment of the present disclosure. As shown in Fig. 1, the palletizing system based on the mobile robot provided by the present disclosure comprises a mobile robot 1, a material pallet 6, an extendable roller conveying line 3, and a discharge conveying line 2.

[0052] The discharge conveying line 2 is used to continuously convey a plurality of target boxes 5 of a plurality of orders into the working space. The discharge conveying line 2 is provided with a plurality of discharge ports.

[0053] The extendable roller conveying line 3 is connected to the front end of the mobile robot 1 and is communicated with the discharge port at the rear end, and is used to convey the material from the discharge port to the working range of the mobile robot 1.

[0054] The mobile robot 1 is used to load the material on the extendable roller conveying line 3 onto the material pallet 6.

[0055] The material pallet 6 is arranged in an array, and a moving channel is formed between two rows of the material pallet array. The moving channel is used for the movement of the mobile robot 1 when it is moving and stacking. The mobile robot 1 moves along the moving channel to sequentially stack the material on the extendable roller conveying line 3 on the material pallet 6.

[0056] In the embodiment of the present disclosure, the length ratio between the stretched state of the extendable roller conveying line 3 and the compressed state of the extendable roller conveying line 3 is between 2 and 3, and preferably 2.5.

[0057] The material is the target box 5.

[0058] In the embodiment of the present disclosure, a material push plate is arranged on the opposite side of the discharge port. The material push plate pushes the material through the discharge port onto the extendable roller conveying line 3, which continues to transport the material.

[0059] In the deformation example of the present disclosure, the material push plate can be replaced by an inclined baffle. The inclined baffle guides the material to the extendable roller conveying line 3. When the material needs to be guided, the inclined baffle is turned to the discharge conveying line 2. When the material needs to pass through, the inclined baffle is lifted to move away from the extendable roller conveying line 3.

[0060] In an embodiment of the present disclosure, an inclined roller is arranged on the extendable roller conveying line 3. Through the arrangement of the inclined roller, the target box 5 on the extendable roller conveying line 3 can be aligned. The target box 5 is aligned to a material sorting table, and a camera unit is arranged to capture the image of the target box 5 on the material sorting table, and further control the mobile robot 1 to grasp and place the target box 5 after alignment.

[0061] In the embodiments of the present disclosure, the mobile robot-based palletizing system provided by the present disclosure further comprises a code scanning mechanism 11 and a quality inspection mechanism fixedly arranged on the telescopic roller conveying line 3.

[0062] The code scanning mechanism 11 is arranged on the upper side of the telescopic roller conveying line 3 and is used to read the identification code on the material to determine the product information of the material according to the identification code.

[0063] The quality inspection mechanism is arranged on the upper side of the telescopic roller conveying line 3 and is used to obtain the image of the material to perform quality inspection on the material according to the image of the material.

[0064] FIG. 2 is a working progress state diagram of the mobile robot-based palletizing system in the embodiments of the present disclosure. As shown in FIGS. 1 and 2, when the mobile robot 1 is used to palletize the material, the telescopic roller conveying line 3 is stretched to move to the corresponding tray in front of the mobile robot 1 according to the identification code corresponding to the material, so as to palletize the material on the corresponding tray. The mobile robot 1 reciprocates between the front end of the moving channel and the rear end of the moving channel to palletize the material on the telescopic roller conveying line 3 on the corresponding material tray 6.

[0065] The identification code corresponding to the material is obtained by scanning the two-dimensional code or the bar code of the material by the code scanning mechanism 11 arranged on the upper side of the telescopic roller conveying line 3.

[0066] In the embodiments of the present disclosure, the telescopic roller conveying line 3 is used to stretch to obtain the movement space of the mobile robot 1 when the mobile robot 1 moves along the moving channel and rotates to both sides.

[0067] FIG. 3 is a safety mechanism diagram of the mobile robot-based palletizing system in the embodiments of the present disclosure. As shown in FIG. 3, the rear end of the material conveying table 4 is provided with a first supporting rod 7 and a second supporting rod.

[0068] The end of the first supporting rod 7 is provided with a first safety radar 8, and the end of the second supporting rod is provided with a second safety radar.

[0069] The first supporting rod 7, the second supporting rod, and the first safety radar 8 and the second safety radar form a safety operation range of the mobile robot 1.

[0070] When the first safety radar 8 and the second safety radar detect the entry of a moving object into the safety operation range, the control management system 12 controls the mechanical arm of the mobile robot 1 to reduce the movement speed or stop the movement.

[0071] The first supporting rod 7 and the second supporting rod are hinged on both sides of the front end of the material sorting conveying table 4. When the safety working range needs to be formed, the first supporting rod 7 and the second supporting rod are stretched to be perpendicular to both sides of the material sorting conveying table 4. When the safety working range does not need to be formed, the first supporting rod 7 and the second supporting rod are retracted to be attached to both sides of the material sorting conveying table 4.

[0072] In the embodiment of the present disclosure, the rear end of the mobile robot 1 is provided with a third safety radar 14. On the one hand, the third safety radar 14 can form a safety working range of the mobile robot 1 together with the first safety radar 8 and the second safety radar. On the other hand, the third safety radar 14 can independently give a safety warning to the rear end area of the mobile robot 1.

[0073] In the embodiment of the present disclosure, at least one side of the material tray 6 is provided with a safety fence 13. The safety fence 13 is used to isolate the safety working range of the mobile robot 1.

[0074] The safety fence 13 is arranged between adjacent material trays 6, so as to avoid collision of materials on the adjacent material tray 6 when the mobile robot 1 takes or places materials on a material tray 6, or collision of a person near an empty material tray 6, and isolates the empty material tray 6 from the working range of the mobile robot 1.

[0075] FIG. 4 is a schematic view of the relationship between the second mobile robot and the material sorting conveying table in the embodiment of the present disclosure. As shown in FIG. 4, the front end of the mobile robot 1 is connected with a material sorting conveying table 4.

[0076] The rear end of the material sorting conveying table 4 is connected with the front end of the telescopic roller conveying line 3.

[0077] The material sorting conveying table 4 is used to sort the materials conveyed by the telescopic roller conveying line 3 to form a material combination for the mobile robot 1 to grasp at one time.

[0078] In the embodiment of the present disclosure, the material sorting conveying table 4 comprises:

[0079] A material sorting line body 401 is used for conveying the materials.

[0080] An edge returning baffle 402 is arranged on the material sorting line body 401 and is used for placing the materials to slide off.

[0081] A push plate 403 is arranged on the material sorting line body 401 and is arranged opposite to the edge returning baffle 402, and is used for pushing the materials to be close to the edge returning baffle 402.

[0082] A push plate driving mechanism is configured to drive the push plate 403 to move relative to the edge guide 402 to push the material to the edge guide 402.

[0083] The push edge mechanism 404 is arranged at the inlet of the material sorting line body 401.

[0084] The push edge mechanism 404 is arranged at the inlet of the material sorting line body 401.

[0085] In addition, when the target box 5 does not need to be sorted, the electric cylinder drives the guide plate to move away from the upper side of the telescopic conveyor 100 to directly pass the target box 5.

[0086] The push edge mechanism 404 includes a telescopic mechanism and a front push frame; the front push frame is arranged at the front end of the telescopic mechanism; the rear end of the telescopic mechanism is connected to the material sorting line body 401 through a fixed frame.

[0087] The fixed frame is provided with a first sensor, which is used to trigger the push edge mechanism 404; when the first sensor 8 detects the target box 5, the push edge mechanism 404 performs the push edge operation on the target box 5.

[0088] The outlet end of the material sorting line body 401 is provided with a second sensor, which is used to trigger the material sorting action of the material sorting conveying line; when the second sensor detects the target box 5, the push plate driving mechanism pushes the push plate to push the target box 5 to perform the material sorting operation.

[0089] Figure 5 is a structural schematic diagram of a mobile robot in an embodiment of the present disclosure, as shown in Figure 5, the mobile robot 1 includes:

[0090] A mobile base 101 is configured to move to any position or pause at any position and determine the orientation angle according to the received control instruction;

[0091] A mechanical arm 102 is arranged on the mobile base 101 and is configured to continuously grasp and place the material on the material tray 6 onto the telescopic roller conveying line 3.

[0092] A visual perception module 104 is arranged at the end of the mechanical arm 102 and is configured to collect image information of the material on the material tray 6.

[0093] In the embodiment of the present disclosure, the mobile robot-based stacking system provided by the present disclosure further includes a mobile platform 10 which can move freely.

[0094] The mobile platform 10 is used to move to the underside of the material pallet 6, and then drag the material pallet 6 after the unloading to the working area of the mobile robot 1 to form the pallet array.

[0095] The end of the mechanical arm 102 is provided with a bottom supporting clamp 103. FIG. 6 is a structural schematic diagram of the bottom supporting clamp in the embodiment of the present disclosure, and FIG. 7 is a working state schematic diagram of the bottom supporting clamp in the embodiment of the present disclosure. As shown in FIGS. 6 and 7, the bottom supporting clamp 103 comprises:

[0096] a clamp body 1037;

[0097] a suction cup support 1035 provided with a suction cup array 1032 for sucking the target box 5, the suction cup support 1035 being arranged on one side surface of the clamp body 1037 and being capable of moving in a first direction; the suction cup array 1032 is provided with a plurality of suction cups 1033 arranged in a matrix.

[0098] a bottom supporting mechanism 1031 arranged on the clamp body 1037 and capable of moving in a second direction opposite to the first direction;

[0099] a driving module 1036 connecting the suction cup support 1035 and the bottom supporting mechanism 1031 through a driving transmission mechanism, and used for driving the suction cup support 1035 and the bottom supporting mechanism 1031 to move reversely at the same time.

[0100] In the embodiment of the present disclosure, the driving transmission mechanism comprises a driving wheel, a driven wheel and a transmission belt 1034.

[0101] The driving wheel is arranged on an output shaft of the driving module 1036;

[0102] The driven wheel is arranged at the front end of the clamp body 1037; and the driving wheel is connected to the driven wheel through the transmission belt 1034.

[0103] The suction cup support 1035 is connected to one side of the transmission belt 1034, and the bottom supporting mechanism 1031 is connected to the other side of the transmission belt 1034, so as to realize the reverse linkage between the suction cup support 1035 and the bottom supporting mechanism 1031.

[0104] In the embodiment of the present disclosure, the driving module 1036 is connected with the driving wheel through a speed reducer to drive the driving wheel to rotate; the driven wheel is arranged at the middle region of the connecting cross bar at the front end of the clamp body 1037, the connecting cross bar is connected with the driven wheel through a synchronous wheel mounting plate, four supporting rods are arranged on the synchronous wheel mounting plate, and a synchronous wheel cover plate is arranged at the top end of the supporting rods, and the synchronous wheel cover plate and the four supporting rods form a protective cover of the driven wheel.

[0105] FIG. 8 is a schematic diagram of a control system of the palletizing system based on the mobile robot according to the embodiment of the present disclosure. As shown in FIG. 8, the mobile robot 1, the code scanning mechanism 11, the mobile platform 10 and the material sorting and conveying table 4 are wirelessly connected through a network, and a control management system 12 is arranged to realize the orderly operation of the mobile robot 1, the mobile platform 10 and the material sorting and conveying table 4.

[0106] In the embodiment of the present disclosure, the materials are sequentially shunted to the telescopic roller conveying line through the discharging conveying line; the front end of the telescopic roller conveying line is connected with the mobile robot, and the rear end is connected with the discharging port of the telescopic roller conveying line to convey the materials to the working range of the mobile robot; a plurality of material pallets are arranged on both sides of the mobile robot, and the plurality of material pallets are sequentially arranged to form a pallet array, and a moving channel is formed between the two pallet arrays; the mobile robot moves in the moving channel when palletizing, and the movement space is obtained by stretching the telescopic roller conveying line, and the materials on the telescopic roller conveying line are sequentially palletized on the corresponding material pallets, so that the position of the telescopic roller conveying line does not need to be adjusted constantly during the palletizing process, and the palletizing efficiency is improved.

[0107] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present disclosure. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0108] The specific embodiments of the present disclosure are described above. It should be understood that the present disclosure is not limited to the above specific embodiments, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present disclosure.

Claims

1. A palletizing system based on a mobile robot, comprising: Mobile robots, material pallets, telescopic roller conveyors, and discharge conveyors; The discharge conveyor line is used to continuously transport multiple target boxes from multiple orders to the work space, and the discharge conveyor line is equipped with multiple discharge ports; A telescopic roller conveyor line, with its front end connected to the mobile robot and its rear end connected to the discharge port, is used to convey materials from the discharge port to the working range of the mobile robot. A mobile robot is used to load materials on the telescopic roller conveyor line onto the material tray; Material pallets, multiple material pallets arranged sequentially to form a pallet array, and a moving channel formed between two columns of material pallet arrays; the moving channel is used for the movement of the mobile robot when performing moving palletizing; the mobile robot moves along the moving channel to sequentially stack the materials on the telescopic roller conveyor line onto the material pallets.

2. The palletizing system based on a mobile robot according to claim 1, wherein, When the mobile robot is used for palletizing materials, it moves to the front of the corresponding pallet by stretching the telescopic roller conveyor line according to the identification code corresponding to the material, so as to stack the material onto the corresponding pallet.

3. The palletizing system based on a mobile robot according to claim 1, wherein, The telescopic roller conveyor is used to extend the mobile robot to provide it with movement space when the mobile robot moves along the moving channel and rotates to both sides.

4. The palletizing system based on a mobile robot according to claim 1, wherein, The mobile robot includes: A movable base, used to move to any position or pause at any position and determine the orientation angle according to received control commands; A robotic arm, mounted on the movable base, is used to continuously grab materials from the material pallet and place them onto the telescopic roller conveyor line; A vision perception module, located at the end of the first robotic arm, is used to collect image information of the materials on the material tray.

5. The palletizing system based on a mobile robot according to claim 1, further comprising: A mobile platform that can move freely; The mobile platform is used to move to the underside of the material pallet, thereby dragging away the pallet that has been palletized, and to drag the pallet to be loaded to the working area of ​​the mobile robot to form the pallet array.

6. The palletizing system based on a mobile robot according to claim 4, wherein, The robotic arm is equipped with a bottom-supporting clamp at its end, the bottom-supporting clamp comprising: Fixture body; A suction cup bracket, on which the suction cup array is provided, the suction cup array being used to pick up the target box, the suction cup bracket being disposed on the clamp body and being able to move along a first direction; The bottom support mechanism, located on the clamp body, is capable of moving in a second direction opposite to the first direction; The driving module is connected to the suction cup bracket and the bottom support mechanism through a driving transmission mechanism, and is used to drive the suction cup bracket and the bottom support mechanism to move in opposite directions simultaneously.

7. The palletizing system based on a mobile robot according to claim 1, wherein, The length ratio between the stretched state and the compressed state of the telescopic roller conveyor is between 2 and 3.

8. The palletizing system based on a mobile robot according to claim 1, wherein, The front end of the mobile robot is connected to a material handling conveyor, and the front end of the material handling conveyor is provided with a first support rod and a second support rod on both sides. The first support rod is equipped with a first safety radar at its end, and the second support rod is equipped with a second safety radar at its end. The first support rod, the second support rod, and the fields of view of the first safety radar and the second safety radar constitute the safe operating range of the mobile robot.

9. The palletizing system based on a mobile robot according to claim 1, wherein, The material pallet is equipped with a safety fence on at least one side; The safety fence is used to isolate the safe operating area of ​​the mobile robot.

10. The palletizing system based on a mobile robot according to claim 1 further includes a barcode scanning mechanism fixedly installed on the telescopic roller conveyor line; A barcode scanning mechanism is installed on the upper side of the telescopic roller conveyor line to read the identification code on the material in order to determine the product information of the material based on the identification code.

Images