1269 results about "Palletizer" patented technology

The invention discloses a path planning method for a palletizing robot based on a multi-path convolutional neural network, and relates to the technical field of convolutional neural networks, and the method comprises the steps: employing the three-source data of a quality inspection report image, a damaged video and a microscopic image, extracting features through a parallel convolutional neural network, generating a dynamic maximum curvature constraint value after the fusion, and obtaining the path planning of the palletizing robot. And self-adaptive path planning of material characteristics is realized. And nodes conforming to curvature constraint are screened based on a probability route map (PRM) to generate a track, and the vibration spectrum energy of the mechanical arm is monitored in real time. When vibration exceeds a dynamic safety threshold value, subsequent path constraint is tightened in real time through a curvature penalty factor, and the damage risk is reduced by 90%; a closed loop of material analysis, path generation, vibration feedback and parameter correction is established, and balance of safety and efficiency is achieved in a high-speed stacking scene.

The invention discloses a robot palletizer with an adjustable grabbing angle, and relates to the technical field of automatic equipment, the robot palletizer comprises a base and a mechanical arm fixedly mounted on the base, and a clamping mechanism is arranged at the tail end of the mechanical arm; the clamping mechanism comprises a V-shaped clamping frame, sliding channels are formed in the two sides of the clamping frame, sliding plates are arranged in the sliding channels in a sliding mode, first rotating channels are formed in the sliding plates, clamping plates are rotationally arranged in the first rotating channels, and the clamping plates and the sliding plates are crossed in an X shape; the inclination angle of the clamping plate is adjusted through the first control assembly. According to the robot palletizer with the adjustable grabbing angle, by arranging the clamping frame, the clamping plates, the reinforcing plates and other structures, the robot palletizer is suitable for cylindrical cargoes of various sizes, six linear contact positions can be always kept to clamp and lock the cargoes at most, the cargoes are distributed in a major arc shape, the grabbing stability is guaranteed, the robot palletizer can be conveniently pulled out, and the use efficiency of the robot palletizer is improved.

The invention relates to the technical field of magnesium ingot conveying, in particular to a discharging and conveying device and method for magnesium ingot conveying The discharging and conveying device comprises a rack, a continuous casting machine body and a conveying mechanism are vertically distributed on the rack, the continuous casting machine body is used for conveying produced magnesium ingots from left to right, and a limiting mechanism is arranged on the rack. A side scrap removing mechanism is arranged between the continuous casting machine body and the conveying mechanism, the magnesium ingot discharging angle, the optimal discharging position and the vertical sliding track can be accurately controlled, and the magnesium ingots are prevented from deviating in the conveying process; chippings and impurities on the surfaces of the magnesium ingots are brushed away, and the situation that normal conveying of the magnesium ingots is affected due to deviation of conveying of the magnesium ingots caused by blockage, blockage and clamping stagnation of chain seams of the conveying mechanism due to direct contact with the conveying mechanism after blanking is prevented; the arrangement action of a plurality of magnesium ingots required by stacking is preposed, and the situation that the magnesium ingots and a chain belt are scraped when the magnesium ingots are stacked at a processing point and wait for a stacking robot to grab the magnesium ingots is reduced.

The invention relates to a stacking path planning method, system and equipment based on multiple stackers and a medium, and relates to the technical field of workshop transportation, and the method comprises the steps that a dynamic risk hot area map is generated through the real-time personnel density, a two-dimensional map is updated in combination with the positions of idle stackers, and the shortest obstacle avoidance path is planned; and candidate stackers meeting a return electric quantity safety threshold value are screened based on a motion energy consumption model, the moving distance and time consumption of the candidate stackers are calculated, a weighted scoring model fusing the distance, time and path risk values is constructed, and the stacker with the optimal comprehensive score is selected to execute an emergency task. According to the method, the path planning of the stacker crane executing the emergency task and other stacker cranes can be optimized, and the continuity of executing multiple stacking tasks by the stacker cranes is improved.

The invention provides a visual positioning and grabbing force control method for a palletizing robot in the intelligent manufacturing industry, and relates to the technical field of intelligent manufacturing. The multispectral visual positioning module at least comprises a visible light imaging unit, a near-infrared imaging unit and a structured light imaging unit; s2, on the basis of the material three-dimensional information, fitting a material motion track through a motion trend prediction model, and calculating a target grabbing position in advance; through visible light + near infrared + structured light multispectral fusion, the problem of interference of dust and haze on visual positioning is solved, and the positioning error is reduced to be within 1mm in combination with an adaptive weight algorithm; and meanwhile, the grabbing position is calculated in advance through the motion trend prediction model, the dynamic positioning response speed is increased, compared with the prior art, the performance is higher, and the high-speed dynamic stacking requirement is met.

The invention provides an automatic material grabbing device based on tobacco material frame limiting cooperation of a stacking robot, and relates to the technical field of stacking robots, the automatic material grabbing device comprises a mechanical arm and further comprises a supporting assembly, the supporting assembly comprises a mounting column fixedly connected to the mechanical arm, and the bottom end of the mounting column is fixedly connected with a foundation bottom plate; transverse supporting rods are slidably connected to the two sides of the bottom end of the foundation bottom plate, first sliding blocks are slidably connected into the transverse supporting rods, and extension arms are fixedly connected to the outer sides of the first sliding blocks. By means of the design, the transverse distance and the longitudinal distance of the material grabbing device can be accurately adjusted according to the size of materials, the device can adapt to the grabbing requirements of materials such as cigarette boxes and cigarette material frames of different specifications, and the defect that tools need to be manually replaced due to the fact that the distance of existing equipment cannot be flexibly adjusted is overcome. The problem that the continuous production efficiency is low due to frequent shutdown and tool replacement is solved, and continuous grabbing operation of multi-form materials is achieved.

The invention discloses stacking and film winding equipment and a control method thereof.The stacking and film winding equipment comprises a tray conveying assembly used for inputting empty trays and outputting solid trays; the tray distributing assembly is used for receiving and storing the empty trays on the tray conveying assembly; the stacking robot is used for carrying out material stacking on the empty trays; the film winding robot is used for carrying out film winding and packaging on the solid trays; the first stacking assembly is used for conveying the empty trays from the tray distributing assembly to the stacking robot; and the second stacking assembly is used for conveying the solid trays packaged by the film winding robot to the tray conveying assembly to be output. Empty trays are conveyed to the stacking robot from the tray distributing assembly through the first stacking assembly, then solid trays packaged by the film winding robot are conveyed to the tray conveying assembly through the second stacking assembly to be output, in this way, stacking and film winding of the logistics warehouse management system can be integrally completed, and the overall operation efficiency is improved.

The invention discloses an automatic steel cylinder stacking line, and particularly relates to the technical field of material stacking equipment, the automatic steel cylinder stacking line comprises a first conveying line, a second conveying line, a stacking device and a partition plate placing area, the stacking device comprises a stacking robot and a stacking clamp, and a bottom supporting assembly is arranged on the stacking clamp. Through the arrangement of the bottom supporting assembly, in the process that the supporting frame moves in the direction close to or away from the fixed plate, a guide rod can drive a guide wheel to move in four areas of a guide groove in sequence, and when the output end of a second driving piece is completely retracted, a bottom supporting piece can move to the bottom of a box body to support the bottom of the box body; when the output end of the second driving piece completely extends out, the bottom supporting piece is higher than the box body, the bottom supporting piece is prevented from making contact with a tray in the box body placing process, and therefore a large amount of distance needed during overturning can be saved in a translation mode, and potential safety hazards caused by the fact that the box body slides from a high position are avoided.

The emulsion explosive stacker crane with the detection function comprises a sliding base and a clamp mechanism, the clamp mechanism comprises a mounting base and a clamping arm assembly, and the clamping arm assembly comprises a sliding plate, a clamping plate and a pose detection part. The sliding plate is connected to the mounting base through the clamping driving part, and the clamping driving part drives the sliding plate to slide in the X-Z plane; the two clamping plates are symmetrically arranged, the two clamping plates are connected to the sliding plate through side position adjusting driving parts, and the side position adjusting driving parts drive the clamping plates to slide in the Y-axis direction; the pose detection parts are connected to the sliding plate, each clamping plate is correspondingly provided with one group of pose detection parts, and the pose detection parts are used for detecting the height of the corresponding position of the upper end face of the clamped material and feeding back the height of the position as a displacement stroke; and the height of one side, corresponding to the two side positions, of the clamped material is adjusted to a proper position by driving the sliding plate to slide. The stacking stability can be improved, and meanwhile the stacking operation efficiency can be improved.

The present invention discloses a palletizing robot and a palletizing method for wall cloth processing, and relates to the field of manipulators. In the present invention, when a clamping plate clamps and grabs an article, an auxiliary support claw can be supported on the bottom surface of the article to provide auxiliary support for the article, thereby improving the stability of the palletizing robot when grabbing and conveying the article and preventing the article from falling during the grabbing and conveying process; the auxiliary support claw is initially folded and installed on the outer side surface of the lower part of the clamping plate by a lifting and rotating assembly, and will not hinder the clamping of the article by the clamping plate, so that when the clamping plate grabs the article, there is no need to leave a suspended position at the bottom of the article, thereby making the clamping process of the article more convenient and improving the applicability of the palletizing robot; and when the article is grabbed and conveyed to the stacking position, the auxiliary support claw can be driven by the lifting and rotating assembly to reset and fold on the outer side surface of the lower end of the clamping plate in advance, thereby reducing the space occupied by the auxiliary support claw, which is conducive to densely stacking the articles.

The invention belongs to the technical field of coal mine airtight wall building, and particularly relates to a movable type airtight wall building double-arm operation platform. Comprising a crawler walking mechanism, and a double-operation-arm stacking unit, a brick arranging area, a brick pre-arranging mechanical arm and a brick feeding area are sequentially arranged on the crawler walking mechanism from front to back; the brick pre-arranging mechanical arm is used for moving bulk bricks in the brick feeding area into the brick arranging area and arranging the bulk bricks into brick units according to the width of a wall body; the double-operation-arm stacking unit comprises a left stacking mechanical arm and a right stacking mechanical arm which act independently, the two stacking mechanical arms grab the brick units from the left row of brick units and the right row of brick units correspondingly to conduct wall building, and the two stacking mechanical arms cooperate to conduct wall building within the set length range. By means of the work division operation mode of brick pre-arrangement and overall stacking, the wall building efficiency can be greatly improved; the two stacking mechanical arms open left and right to conduct wall building operation, and the wall building efficiency is doubled compared with a traditional single-mechanical-arm mode.

The invention belongs to the technical field of unstacking and stacking equipment, and discloses an automatic stacking machine which comprises a first steel roller conveying belt, a second steel roller conveying belt, a third steel roller conveying belt and a third steel roller conveying belt. The mounting frame is connected above the second steel roller conveying belt; and the shaping and positioning mechanism is arranged on the mounting frame and used for adjusting the materials. Through the action of a cleaning rod, a first baffle and a second baffle, material chippings between the rollers are cleaned and collected, and the situation that rotation of the rollers is affected after the gaps of the rollers are blocked, materials are inconvenient to position and remove wrinkles, and consequently blockage or deflection occurs in the conveying process is prevented; and the first baffle and the scraping plate are driven to move through the first movable structure, the wrinkle removing effect on the materials can be achieved, the using effect of the shaping and positioning mechanism is improved, and using of the stacker crane is facilitated.

The present application relates to the field of food stacking device, in particular to a carrying and stacking robot for food industrial processing. It comprises a mechanical arm, a bearing frame, a guide ring, a limiting plate, a conveying roller mechanism and a switching mechanism. The mechanical arm has a control end. The bearing frame is connected at the control end. Two guide rings are symmetrically arranged horizontally on the bearing frame. The conveying roller mechanism comprises multiple groups of conveying roller assemblies distributed side by side along the outer contour of the guide ring. Each conveying roller assembly comprises a roller group and two groups of moving assemblies symmetrically distributed about the roller group. Each moving assembly comprises a moving frame for the roller group to rotate and a roller assembly to roll on the guide ring. The roller assembly is rotatably arranged on the moving frame. The switching mechanism comprises three sprockets rotatably arranged on the guide ring and respectively distributed at the three corners of a triangle. The present application can carry and stack a whole layer of goods at a time, with high stacking efficiency.

The utility model relates to the technical field of material conveying, in particular to a limiting mechanism for conveying materials on a conveyor belt, which comprises a roller conveyor, guide components are arranged on two sides of the top of the roller conveyor, a limiting component is fixedly connected to the bottom of the roller conveyor, and the limiting component comprises a bottom plate. The two sides of the top of the bottom plate are fixedly connected with the roller conveyor through connecting plates, an electric push rod is fixed to the middle of the top of the bottom plate, a shell is fixedly connected to the outer end of the electric push rod, and a matched movable plate is inserted into an inner cavity of an opening in the top of the shell. Other products on the roller conveyor can be limited through the limiting assembly when goods are grabbed by the stacker crane, and the products can be released one by one after one-time grabbing is finished, so that the situation that the products are gathered at the stacking position can be avoided, and the situation that grabbing is influenced by product gathering is avoided.

The invention discloses an egg tray conveying mechanism and an egg product stacking machine, and relates to the technical field of egg tray transportation. A first transmission member; a second transmission member; the limiter is used for limiting the transmission of the first transmission part and the second transmission part along a specified track; the rotating axis of the balance component is hinged to the first transmission component, the edge of the balance component is meshed with the second transmission component, the balance component does annular revolution motion along the first transmission component, and the balance component does not rotate at the same time of revolution; the bearing plate is rotatably mounted on the balance component, and is used for supporting the egg tray when moving upwards and releasing the egg tray when moving downwards; and the power assembly drives the first transmission part and the second transmission part to transmit at the same linear speed. The egg tray stacking device has the beneficial effects that egg trays can be rapidly stacked together under the transmission action of the first transmission component and the second transmission component, manual operation is omitted, meanwhile, the stacking efficiency is greatly improved, and stacking of large-scale egg trays is met.

The invention relates to the field of insulation board production equipment, in particular to a holding and clamping stacker crane for insulation board production, which comprises a sorting chamber and a base plate, a discharge port is formed in one side of the sorting chamber, a conveying channel is fixedly connected to the top of the sorting chamber, and a fixed table is fixedly connected between the conveying channel and the sorting chamber; a fixing table is fixedly connected to the top of the arranging chamber, a platform is fixedly connected to one side of the fixing table, a conveying belt is fixedly connected to the side, away from the platform, of the fixing table, and a fixing column is fixedly connected to the top of the arranging chamber. According to the heat preservation plate conveying device, heat preservation plates with different thicknesses can be conveyed, meanwhile, a chain wheel and a second protruding column are driven by the conveying assembly to move downwards by a fixed distance, continuous conveying of the heat preservation plates is achieved, and arrangement of the heat preservation plates and continuous stacking and conveying of the heat preservation plates are achieved through rotation of a third rotating plate, a second rotating plate and a first rotating plate.

The invention belongs to the technical field of aluminum alloy ingot production, and particularly discloses an aluminum alloy ingot production cooling and transferring device which comprises a conveying frame, conveying rollers are evenly and rotationally connected to the two sides of the inner wall of the conveying frame, a transferring mechanism is connected to one side of the conveying frame, and supporting frames are connected to multiple positions of the lower end of the conveying frame and located below the transferring mechanism. One side of the upper end of the conveying frame is connected with a cooling box, the middle of the upper end of the cooling box is connected with an air inlet mechanism, the air inlet mechanism conveys cold air into the cooling box to cool the aluminum alloy ingot workpieces above the conveying rollers, the middles of the two sides of the cooling box are connected with turnover mechanisms, and one side of the upper end of the cooling box is connected with an air blowing mechanism; multi-face uniform cooling of aluminum ingots is achieved through the air inlet mechanism and the overturning mechanism, water drops on the surfaces of the aluminum ingots are removed through the air blowing mechanism, finally, stacking and transferring of the aluminum ingots are completed through the stacking mechanical arm and the conveying belt, the quality of the aluminum ingots is effectively guaranteed, and the production efficiency is improved.

The invention discloses a mechanism for achieving symmetrical stacking of special-shaped stamping parts in the technical field of plate machining equipment, and the mechanism comprises a telescopic belt conveyor, an automatic upender, a double-layer belt conveyor, a stacking machine and a stacking platform which are sequentially arranged from front to back, and the stacking machine comprises a front stacking device and a rear stacking device; the stacking platform comprises a front lifting platform arranged on the front moving vehicle and a rear lifting platform arranged on the rear moving vehicle, the front lifting platform corresponds to the front stacking device, and the rear lifting platform corresponds to the rear stacking device. Compared with the prior art, the finished plate can be turned over by 180 degrees in the feeding direction in the feeding process or is not turned over to be switched for production, finally stacking is conducted, conveying, turning over and stacking are integrated, the machine cost and the labor cost are saved, and meanwhile the production efficiency is improved.

The invention discloses an anti-falling carton carrying and stacking manipulator. The manipulator comprises a vacuum suction cup mounting plate, and a robot fixing transfer disc, a vacuum suction cup, a limiting assembly and an anti-falling assembly which are mounted on the vacuum suction cup mounting plate; the upper surface of the vacuum suction cup mounting plate is provided with a robot fixing transfer disc used for being connected with a mechanical arm of a robot, and the lower surface of the vacuum suction cup mounting plate is provided with vacuum suction cups used for sucking paper boxes. Limiting assemblies are symmetrically mounted on the left side and the right side of the vacuum suction cup mounting plate and used for limiting the upper end of the paper box. Anti-falling assemblies are symmetrically mounted on the front side and the rear side of the vacuum suction cup mounting plate and used for lifting the lower end of the paper box and preventing the paper box from falling. The battery carton can be prevented from falling off, the operation safety is guaranteed, and the working efficiency is improved.

Aiming at the problems of low efficiency, high labor intensity, potential safety hazards and the like caused by dependence on manual operation in the current aircraft bellyhold cargo stacking operation, the invention designs a special aircraft bellyhold stacking robot which comprises a stacking robot and a flexible conveying system, the palletizing robot comprises a moving platform, a lifting system, a telescopic device, a visual system and a first processor, the flexible conveying system comprises a flexible conveying device and a second processor, and the first processor and the second processor communicate through a wireless network; through a compact and light-weight mechanical structure and an intelligent sensing and control algorithm and in cooperation with a flexible conveying device, efficient, stable and automatic stacking of goods in a narrow and complex cabin environment is achieved. The robot adapts to luggage cases of different sizes and regular box bodies, and has the capabilities of autonomous navigation, accurate grabbing and path planning, so that the automation level and the operation safety of air freight are improved.

The invention relates to the technical field of loading and stacking, in particular to a mobile mechanical arm loading and stacking system which comprises the following steps: acquiring three-dimensional point cloud data of a vehicle through an optical detection unit; recognizing the size, posture and parking deviation of the vehicle; generating a stacking scheme based on a random forest or a deep learning model; performing real-time stack shape simulation by combining a Poisson reconstruction algorithm; and the stacking robot is controlled to perform staggered stacking of transverse and vertical packages, and the compartment space utilization rate is maximized. Cooperative control of all the units is achieved through the central control platform, and the overall operation fluency is improved. Through cooperation of the parking guiding unit and the high-flexibility robot, horizontal and angle parking deviation is automatically compensated; a visual system is adopted, and an intelligent algorithm is combined, so that the recognition precision and robustness in a complex scene are improved; a self-adaptive stacking algorithm is introduced, transverse and vertical bag staggering is supported, a bag slipping stack shape is prevented, and the space utilization rate and stability are improved; the optical detection unit quickly completes vehicle modeling, and efficient planning and execution are realized in combination with a cloud edge collaborative algorithm.

The utility model discloses a stacking shaping device used for being matched with a robot for stacking, belongs to the technical field of stacking machines, and aims to solve the problem that the stacking shape of a stacking robot is not compact. Comprising a stacked tray conveying mechanism, a lifting mechanism, a shaping mechanism and a layering mechanism, the lifting mechanism comprises a lifting machine frame and a fork rod assembly, the fork rod assembly is vertically arranged on the lifting machine frame in a sliding mode, the stacked tray conveying mechanism penetrates through the bottom of the lifting machine frame, the shaping mechanism and the layering mechanism are arranged on the top of the lifting machine frame in an up-down mode, the layering mechanism comprises a layering machine frame and a layering plate, and the layering plate is horizontally arranged on the layering machine frame in a sliding mode; the shaping mechanism comprises four shaping plates which slide horizontally, the shaping plates are connected with the shaping support through shaping air cylinders, and a shaping area is formed among the four shaping plates; according to the material bag shaping device, adaptive shaping is carried out on the material bag according to the size and the position of a tray, the shaping pertinence is high, the cost is low, and the occupied area is small.

The utility model discloses a stacking robot visual positioning device which comprises a stacking manipulator, a visual positioning system and a stacking gripper assembly, and the visual positioning system and the stacking gripper assembly are arranged at the movable end of the stacking manipulator. The visual positioning system comprises a second fixing plate arranged at the movable end of the stacking manipulator, a fixing rod is movably connected to the lower portion of the second fixing plate, and a visual positioner is connected to the lower portion of the fixing rod. In conclusion, the visual positioning device overcomes the defects in the prior art, is reasonable in design, can be used for visual positioning in a larger range, enlarges the use range of visual positioning, and has higher social use value and application prospect.

The invention discloses insulation board cutting and stacking equipment which comprises a feeding conveying mechanism, an adjustable thermal cutting mechanism, a discharging conveying mechanism, a follow-up cutting mechanism and a double-station stacking mechanism which are sequentially arranged in the conveying direction of insulation boards. The adjustable thermal cutting mechanism is provided with an adjusting frame and an adjustable cutting assembly, the adjustable cutting assembly is installed on the adjusting frame, and the insulation board is cut through the adjustable cutting assembly. The cutting mode can be freely adjusted according to the requirements for the sizes of different heat preservation plates, continuous strip cutting, thinning, beveling and the like of the heat preservation plates are facilitated, other cutting equipment does not need to be added, the cutting cost is reduced, automatic stacking can be conducted, manual operation is replaced, the stacking efficiency is improved, and the stacking danger is reduced. The cutting and stacking device is suitable for the technical field of cutting and stacking.

According to the full-automatic stacking machine for the full-automatic cold roll forming line photovoltaic support, the turnover mechanism is arranged, steel is attracted through a fixing electromagnet, the purpose of fixing the steel is achieved, multiple pieces of steel can synchronously rotate along with a turnover tool under the condition that a turnover shaft rotates, and the function of turning over the multiple pieces of steel at a time is achieved; the efficiency is effectively improved; two guiding mechanisms are arranged, when steel passes through the position between a first side plate and a base plate, a second mounting plate is pushed to be close to the steel through a first electric telescopic rod, according to different placing positions, the extending lengths of the two guiding mechanisms are different, the steel can be conveniently placed side by side, the steel corresponds to a fixed electromagnet of a turnover mechanism, and unified turnover is facilitated; and furthermore, the steel stacks are rapidly packaged through the ribbon output mechanism, and finally the purpose of improving the stacking efficiency is achieved.

The invention belongs to the field of manipulators, and particularly relates to a manipulator of a stacking robot for logistics warehousing, which comprises a machine head, the top of the machine head is fixedly connected with a mounting screw head, the bottom of the machine head is slidably connected with two symmetrically distributed sliding columns, the sliding columns penetrate through the machine head, and the middle sections of column bodies of the sliding columns are fixedly connected with two limiting rings. The two limiting rings are slidably connected with the inner surface and the outer surface of the machine head correspondingly, a connecting column is inserted into the bottom of the sliding column, a quick release mechanism is jointly arranged between the connecting column and the sliding column, and a clamping jaw shell is fixedly connected to the bottom of the connecting column. An original clamping jaw is arranged to be a hollow clamping jaw shell, then an anti-falling protection mechanism is arranged in the clamping jaw shell, when a clamping plate is pressed to retract inwards, a waist wheel rotates to drive a shovel plate to horizontally stretch out, bottom support of goods is formed, sliding caused by insufficient clamping force is prevented, meanwhile, a fourth spring exerts reset force on the waist wheel through a cushion block, and the clamping jaw is prevented from falling off. And the shovel plate can be automatically withdrawn after being unloaded.

The invention provides a carrying device of an unmanned vehicle-mounted palletizing robot, and relates to the technical field of palletizing robots, and the carrying device comprises an unmanned vehicle chassis used for providing a moving carrier platform for the palletizing robot; the stacking robot completes grabbing, transferring and placing operations of the cleaning robot through a carrying execution mechanism; the carrying execution mechanism is used for clamping or bearing a target object; the navigation positioning module is used for realizing autonomous movement and obstacle avoidance of the chassis of the unmanned vehicle; and the energy supply module is used for providing power for the whole vehicle and supporting external power supply. Through cooperative cooperation of the unmanned vehicle chassis, the stacking robot, the carrying execution mechanism, the navigation positioning system and the energy supply system, automatic transfer of the cleaning robot between rows of photovoltaic panels is achieved, and the problem that after a traditional wall-mounted cleaning robot completes cleaning of one row of panels, the traditional wall-mounted cleaning robot needs manual carrying to conduct row changing operation is solved; the labor cost investment is reduced, and the operation efficiency of the photovoltaic station is improved.

The utility model relates to the technical field of automatic boxing logistics lines, and discloses a stacking device for an automatic boxing logistics line, which comprises a conveying belt, and further comprises a material taking assembly arranged at the top end of a stacking robot and used for quickly grabbing cartons on the conveying belt instead of manpower; and the positioning assembly is arranged at the bottom of the stacking robot and can improve the working stability of the material taking assembly. The stacking robot is used for driving the material taking assembly to grab the cartons on the conveying belt, then the cartons are tidily stacked on the containing trays one by one, when one containing tray is full, the indicator lamp corresponding to the containing tray flickers for prompting, the full containing tray can be forked out, and the empty containing tray can be replaced for entering. In this way, non-stop work is achieved, the stacking efficiency is improved, by arranging the positioning assembly, the overall supporting strength is enhanced, and the stacking robot is more stable and smoother when driving the material taking assembly to conduct stacking work.

The utility model relates to the technical field of feed packaging, in particular to a clamping jaw stacking device capable of automatically arranging feed packaging bags. The device comprises a clamping jaw stacking device arranged above an assembly line, the clamping jaw stacking device comprises a stacking robot and a clamping jaw mechanism installed on the stacking robot, the clamping jaw mechanism comprises a driving installation part, a rotating gear, a transmission chain and a clamping plate, the rotating gear and the driving installation part synchronously rotate, the transmission chain is driven by the rotating gear to rotate, and the clamping plate is driven by the transmission chain to rotate. The transmission chains in four directions are connected with the transmission shaft; the transmission chains are mounted on the sliding rails which are arranged in a cross shape, penetrate through the sliding blocks and drive the sliding blocks to slide along the sliding rails; efficient and automatic stacking of the feed packaging bags is achieved, the proximity sensor arranged at the tail end of the assembly line ensures that the clamping jaw stacking device can respond in time, and the clamping jaw mechanism achieves clamping and arranging of the feed packaging bags through cooperation of a rotating gear, a transmission chain and a clamping plate.

The modularly-designed robot stacking workstation comprises a working platform, a self-conveying supporting plate warehouse, a clamping plate transferring mechanism, a stacking mechanical arm and a feeding conveying line are fixedly installed on the working platform, and the clamping plate transferring mechanism comprises a plate pushing mechanism, a clamping plate temporary storage table, a stacking table and a discharging table. On the basis of assembly of the working platform, the self-conveying supporting plate warehouse, the clamping plate transferring mechanism, the stacking mechanical arm and the feeding conveying line are fixedly installed on the working platform, the self-conveying supporting plate warehouse, the clamping plate transferring mechanism, the stacking mechanical arm and the feeding conveying line on the working platform are disassembled, and the disassembling process is rapidly completed; all the mechanisms do not need to be disassembled into scattered parts, the disassembling and assembling steps are reduced, the debugging process during later assembling is reduced, and the disassembling and assembling efficiency is improved.