CN112061797B

CN112061797B - Stacking manipulator

Info

Publication number: CN112061797B
Application number: CN202010873001.2A
Authority: CN
Inventors: 董春萍; 孔玉
Original assignee: Shandong Juncheng Machinery Technology Co ltd
Current assignee: Shandong Juncheng Machinery Technology Co ltd
Priority date: 2020-08-26
Filing date: 2020-08-26
Publication date: 2022-05-06
Anticipated expiration: 2040-08-26
Also published as: CN112061797A

Abstract

The invention relates to the field of stacking, in particular to a stacking manipulator which comprises a conveying belt, a stacking structure, a carrying structure, a box pushing structure, an anti-skidding structure and a lifting structure, wherein the conveying belt is arranged on the conveying belt; the two boxes can be stacked up and down by using the box pushing structure, so that the carrying structure can carry the two boxes simultaneously, and the working efficiency of the stacking manipulator is improved; the friction force between the box pushing structure and the box and between the lifting structure and the box are increased by using the anti-skid structure, the holding force of the box pushing structure and the lifting structure is improved, the anti-skid structure can be taken down from the box pushing structure and the lifting structure, and the anti-skid structure is convenient to replace after being seriously worn; the use of elevation structure can cooperate and push away the case structure and pile two cases together to can drive and push away the case structure and stretch out and draw back, promote the case and remove, can grasp the case of bottom simultaneously, lift it up.

Description

Stacking manipulator

Technical Field

The invention relates to the field of stacking, in particular to a stacking manipulator.

Background

The stacking manipulator can stack packaged goods with different overall dimensions on a tray or a production line in order and automatically. In order to fully utilize the area of the tray and the stability of the stacked materials, the robot is provided with a material stacking sequence and arrangement setter. Can meet the requirements from low speed to high speed, from packaging bags to cartons, from stacking one product to stacking a plurality of different products. The device is applied to product transportation, stacking and the like, and is widely applied to different fields of automobiles, logistics, household appliances, medicines, food and beverage and the like. At present, a plurality of stacking manipulator production enterprises exist in China, the prices of imported products are greatly reduced due to the appearance of the enterprises, the wide application of the stacking manipulator is promoted, but the products of the enterprises have certain differences from the imported products in performance, and meanwhile, control systems of the products of the enterprises are purchased abroad, so that the stacking manipulator is restricted to abroad. Due to the heavy work requirement of the production line, enterprises can introduce expensive stacking manipulators to save workers, improve efficiency, improve product quality, achieve good safety and improve enterprise images.

The stacking manipulator for carrying the box body at present carries one box at a time, so that the stacking efficiency is low, the overstocked goods of the production line is easy to cause, and the goods carrying efficiency of the production line is reduced; the existing manipulator clamping jaw adopts a side clamping mode, the clamping jaw is seriously abraded after long-term work, a box body is not firmly fixed, the clamping jaw needs to be replaced again, and the cost is increased.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a stacking manipulator.

The technical scheme adopted by the invention for solving the technical problems is as follows: a stacking manipulator comprises a conveying belt, a stacking structure, a carrying structure, a box pushing structure, an anti-skidding structure and a lifting structure; the conveyor belt for conveying the boxes is fixed on the ground; the carrying structure used for carrying boxes and orderly stacking is rotationally connected with the stacking structure; the stacking structure for driving the carrying structure to move is arranged on the ground at one side of the conveyor belt; the box pushing structure used for pushing the lower layer box to move and hugging the box is connected to the inside of the carrying structure in a sliding manner; the lifting structure is used for driving the upper layer box to ascend and driving the box pushing structure to stretch and is connected to the inner wall of the carrying structure in a sliding manner; the anti-skid structure for anti-skid and clamping the box is connected with the side wall of the lifting structure in a clamping manner.

Specifically, the conveyor belt is fixed on the ground.

Specifically, the pile up neatly structure includes arm, floor, pile up neatly board and box, the arm install in one side of conveyer belt is subaerial, one side of floor is contradicted the one end of conveyer belt, the pile up neatly board is to ground, the box is contradicted in the conveyer belt, the top surface of floor and the top surface of pile up neatly board.

It is specific, the transport structure includes splint, first air pump, back plate, wedge, second air pump, first telescopic link and second telescopic link, the top of splint with the arm rotates to be connected, first air pump install in the top surface of splint, the back plate is fixed in the bottom surface of splint, the wedge rotate connect in the bottom of back plate, the second air pump is located the top surface of splint, first telescopic link connect in the bottom surface of second air pump, the second telescopic link with the second air pump intercommunication.

Specifically, push away the case structure and include a support section of thick bamboo, push pedal, a sliding barrel, spring, screw rod, gear and draw-in groove, a support section of thick bamboo sliding connection in the inside of splint, the push pedal is fixed in the top of a support section of thick bamboo, a sliding barrel sliding connection in the inside of a support section of thick bamboo, the spring housing in the surface of a sliding barrel, just support the inside conflict of a section of thick bamboo the spring, the screw rod with the inside threaded connection of a sliding barrel, just the one end conflict of screw rod the inside of a support section of thick bamboo, the gear is fixed in the one end of a sliding barrel, the draw-in groove is located the lateral wall of a support section of thick bamboo.

Specifically, elevation structure includes lifter plate, rack, draw runner, limiting plate and shell fragment, lifter plate sliding connection in the inner wall of splint, just the lifter plate with first air pump intercommunication, the rack is fixed in the lateral wall of lifter plate, just the rack with gear engagement connects, the draw runner is located the back of lifter plate, the top of limiting plate with rotate between the lifter plate and connect, just the limiting plate is contradicted the back of lifter plate, just the limiting plate with the block is connected between the draw-in groove, the shell fragment is located the top of limiting plate.

Specifically, the anti-skidding structure includes rubber mould and anti-skidding line, the rubber mould block respectively in the lateral wall of push pedal and the front of lifter plate, many the anti-skidding line is located the surface of rubber mould.

The invention has the beneficial effects that:

(1) according to the stacking manipulator, the two box bodies can be stacked together up and down by using the box pushing structure, so that the carrying structure can carry the two box bodies simultaneously, and the working efficiency of the stacking manipulator is improved.

(2) According to the stacking manipulator, the friction force between the box pushing structure and the box body and between the lifting structure and the box body are increased due to the use of the anti-skid structure, the holding force of the box pushing structure and the lifting structure is improved, the anti-skid structure can be taken down from the box pushing structure and the lifting structure, and the anti-skid structure is convenient to replace after being seriously worn.

(3) According to the stacking manipulator, the lifting structure can be matched with the box pushing structure to stack two boxes together, and can drive the box pushing structure to stretch and retract so as to push the boxes to move, and meanwhile, the box at the bottom layer can be clamped and lifted.

(4) According to the stacking manipulator, the box pushing structure and the lifting structure are matched for use, so that the carrying structure can carry two box bodies at one time, the two box bodies can be stacked together, the stacking speed is increased, the working efficiency is improved, meanwhile, the lifting structure can be lifted to drive the box pushing structure to extend out or retract, and the linkage is improved.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic overall structure diagram of a stacking manipulator according to a preferred embodiment of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a schematic cross-sectional view of the push box structure shown in FIG. 1;

FIG. 4 is an enlarged view of the portion B shown in FIG. 3;

FIG. 5 is an enlarged view of the portion C shown in FIG. 3;

fig. 6 is a schematic structural view of the box pushing structure and the lifting structure shown in fig. 3.

In the figure: 1. the conveying belt, 2, a stacking structure, 21, a mechanical arm, 22, a carrying platform, 23, a stacking plate, 24, a box body, 3, a carrying structure, 31, a clamping plate, 32, a first air pump, 33, a rear plate, 34, a wedge-shaped plate, 35, a second air pump, 36, a first telescopic rod, 37, a second telescopic rod, 4, a box pushing structure, 41, a supporting cylinder, 42, a pushing plate, 43, a sliding cylinder, 44, a spring, 45, a screw rod, 46, a gear, 47, a clamping groove, 5, an anti-skidding structure, 51, a rubber film, 52, an anti-skidding line, 6, a lifting structure, 61, a lifting plate, 62, a rack, 63, a sliding strip, 64, a limiting plate, 65 and a spring sheet.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 6, the stacking manipulator of the present invention includes a conveyor belt 1, a stacking structure 2, a carrying structure 3, a box pushing structure 4, an anti-skid structure 5, and a lifting structure 6; the conveyor belt 1 for conveying boxes is fixed on the ground; the carrying structure 3 used for carrying boxes and orderly stacking is rotatably connected with the stacking structure 2; the stacking structure 2 for driving the carrying structure 3 to move is arranged on the ground at one side of the conveyor belt 1; the box pushing structure 4 used for pushing the lower layer box to move and tightly holding the box is connected to the inside of the carrying structure 3 in a sliding manner; the lifting structure 6 for driving the upper box to ascend and driving the box pushing structure 4 to stretch is connected to the inner wall of the carrying structure 3 in a sliding manner; the anti-skid structure 5 for anti-skid and clamping the box is connected with the side wall of the lifting structure 6 in a clamping way; the box pushing structure 4 can stack the two box bodies 24 together up and down, so that the carrying structure 3 can carry the two box bodies 24 simultaneously, and the working efficiency of the stacking manipulator is improved; the friction force between the box pushing structure 4, the lifting structure 6 and the box body 24 is increased by using the anti-skid structure 5, the holding force of the box pushing structure 4 and the lifting structure 6 is improved, the anti-skid structure 5 can be taken down from the box pushing structure 4 and the lifting structure 6, and the anti-skid structure 5 is convenient to replace after being seriously worn; the lifting structure 6 can be matched with the box pushing structure 4 to stack two box bodies 24 together, and can drive the box pushing structure 4 to stretch and retract so as to push the box bodies 24 to move, and meanwhile, the box bodies 24 at the bottom layer can be clamped and lifted; push away the case structure 4 with the cooperation of elevation structure 6 is used, not only makes the transport structure 3 once carries two the box 24 can be with two moreover the box 24 is stacked together for pile up neatly speed improves work efficiency, simultaneously elevation structure 6's lift can drive push away the case structure 4 and stretch out or retract, improves the linkage nature.

Specifically, the conveyor belt 1 is fixed on the ground and is used for conveying the box 24.

Specifically, the stacking structure 2 comprises a mechanical arm 21, a carrying table 22, a stacking plate 23 and a box body 24, wherein the mechanical arm 21 is mounted on the ground on one side of the conveyor belt 1, one side of the carrying table 22 abuts against one end of the conveyor belt 1, the stacking plate 23 abuts against the ground, and the box body 24 abuts against the conveyor belt 1, the top surface of the carrying table 22 and the top surface of the stacking plate 23; the size of the carrousel 22 is such that exactly two boxes 24 are placed side by side, the robotic arm 21 drives the carrying structure 3 to grip two boxes 24 on the carrousel 22, and then two boxes 24 stacked together are placed on the pallet 23.

Specifically, the carrying structure 3 includes a clamping plate 31, a first air pump 32, a rear plate 33, a wedge-shaped plate 34, a second air pump 35, a first telescopic rod 36 and a second telescopic rod 37, the top end of the clamping plate 31 is rotatably connected with the mechanical arm 21, the first air pump 32 is mounted on the top surface of the clamping plate 31, the rear plate 33 is fixed on the bottom surface of the clamping plate 31, the wedge-shaped plate 34 is rotatably connected to the bottom end of the rear plate 33, the second air pump 35 is arranged on the top surface of the clamping plate 31, the first telescopic rod 36 is connected to the bottom surface of the second air pump 35, and the second telescopic rod 37 is communicated with the second air pump 35; the stacking structure 2 drives the clamping plate 31 to wrap the box body 24, the lifting structure 6 is driven by the first air pump 32 to clamp the box body 24 at the rear row, then the second air pump 35 is utilized to drive the first telescopic rod 36 to retract and the second telescopic rod 37 to extend, so that the lifting structure 6 is lifted, the wedge-shaped plate 34 is perpendicular to the rear plate 33, the box body 24 at the rear row is lifted along with the lifting structure 6, the lifting structure 6 drives the box pushing structure 4 to retract, the box pushing structure 4 drives the box body 24 at the front row to enter the clamping plate 31, the wedge-shaped plate 34 drags the bottom of the box body 24 at the front row to prevent the box body 24 from falling off, the carrying structure 3 is driven by the stacking structure 2 to move, the box body 24 is placed on the stacking plate 23, and when the box body 24 is put down, first air pump 32 drives elevation structure 6 outwards removes, elevation structure 6 relaxs box 24, then second air pump 35 drives second telescopic link 37 withdrawal, wedge 34 winds back plate 33 bottom rotates, until wedge 34 with back plate 33 is parallel, box 24 just can the landing on the hacking plate 23.

Specifically, the box pushing structure 4 includes a supporting cylinder 41, a pushing plate 42, a sliding cylinder 43, a spring 44, a screw 45, a gear 46 and a clamping groove 47, the supporting cylinder 41 is slidably connected to the inside of the clamping plate 31, the pushing plate 42 is fixed to the top end of the supporting cylinder 41, the sliding cylinder 43 is slidably connected to the inside of the supporting cylinder 41, the spring 44 is sleeved on the surface of the sliding cylinder 43, the spring 44 is abutted against the inside of the supporting cylinder 41, the screw 45 is in threaded connection with the inside of the sliding cylinder 43, one end of the screw 45 is abutted against the inside of the supporting cylinder 41, the gear 46 is fixed to one end of the sliding cylinder 43, and the clamping groove 47 is arranged on the side wall of the supporting cylinder 41; in an initial state, the supporting cylinder 41 extends out of the conveying structure 3, the top end of the screw 45 always abuts against the inside of the supporting cylinder 41, the spring 44 is in a compressed state, the lifting structure 6 is located at the lower part of the conveying structure 3, and the lifting structure 6 is in clamping connection with the clamping groove 47; when the carrying structure 3 clamps the box 24, the push plate 42 just wraps the front row of boxes 24, then the lifting structure 6 starts to drive the rear row of boxes 24 to ascend, the ascending structure 6 drives the gear 46 to rotate in the ascending process, the gear 46 drives the sliding barrel 43 to rotate, because the sliding barrel 43 is in threaded connection with the screw 45, the rotation of the sliding barrel 43 enables the screw 45 to retract into the sliding barrel 43, the top end of the screw 45 no longer abuts against the inside of the supporting barrel 41, when the lifting structure 6 ascends to the highest point, the screw 45 is completely retracted into the sliding barrel 43, and the ascending structure 6 no longer engages with the engaging groove 47, under the push of the spring 44, the supporting barrel 41 drives the push plate 42 to slide towards the inside of the carrying structure 3, the push plate 42 pushes the front row of boxes 24 into the inside of the carrying structure 3, then the carrying structure 3 is driven by the stacking structure 2 to move the box body 24 to a designated position, during stacking, the lifting structure 6 is loosened, the upper layer of the box body 24 descends, the lower layer of the box body 24 is pushed out from the bottom of the carrying structure and 3, the upper layer of the box body 24 falls down along with the lower layer of the box body 24 and falls on the stacking plate 23, then the stacking structure 2 drives the carrying structure 3 to reset, during resetting, the lifting structure 6 descends to drive the gear 46 to rotate reversely, the gear 46 drives the sliding barrel 43 to rotate, so that the screw 45 extends out from the sliding barrel 43, the top end of the screw 45 abuts against the inside of the supporting barrel 41 to slide out of the carrying structure 3, meanwhile, the spring 44 is compressed, and when the lifting structure 6 moves to the lowest end, the clamping groove 47 on the surface of the supporting barrel 41 is just clamped and connected with the lifting structure 6, so that the support cylinder 41 cannot slide.

Specifically, the lifting structure 6 includes a lifting plate 61, a rack 62, a sliding strip 63, a limiting plate 64 and a spring plate 65, the lifting plate 61 is slidably connected to the inner wall of the clamping plate 31, the lifting plate 61 is communicated with the first air pump 32, the rack 62 is fixed to the side wall of the lifting plate 61, the rack 62 is meshed with the gear 46, the sliding strip 63 is arranged on the back surface of the lifting plate 61, the top end of the limiting plate 64 is rotatably connected with the lifting plate 61, the limiting plate 64 abuts against the back surface of the lifting plate 61, the limiting plate 64 is connected with the clamping groove 47 in a clamping manner, and the spring plate 65 is arranged on the top end of the limiting plate 64; after the carrying structure 3 clamps the box 24, the carrying structure 3 drives the lifting plate 61 to clamp the box 24 at the rear row, and then the lifting plate 61 is lifted, the lifting plate 61 drives the box 24 at the front row to ascend, under the elastic action of the elastic sheet 65, the limit plate 64 always slides in the box pushing structure 4, meanwhile, the rack 62 drives the box pushing structure 4 to rotate, and when the bottom end of the limit plate 64 is separated from the box pushing structure 4, the box pushing structure 4 retracts into the carrying structure 3, and pushes the box 24 at the front row into the carrying structure 3; when the box 24 is put down, the carrying structure 3 controls the lifting plate 61 to move towards two sides, the box 24 is loosened, and the box 24 is put down together with the carrying structure 3; afterwards, the stacking structure 2 drives the carrying structure 3 to reset, in the resetting process of the carrying structure 3, the lifting plate 61 drives the limiting plate 64 and the rack 63 to descend, the rack 63 drives the box pushing structure 4 to rotate, the box pushing structure 4 slides out of the carrying structure 3, and finally the limiting plate 64 is connected with the box pushing structure 4 in a clamping mode.

Specifically, the anti-slip structure 5 includes a rubber mold 51 and anti-slip threads 52, the rubber mold 51 is respectively clamped on the side wall of the push plate 42 and the front surface of the lifting plate 61, and the anti-slip threads 52 are arranged on the surface of the rubber mold 51; the friction force between the box pushing structure 4 and the lifting structure 6 and the box body 24 is increased by the anti-skid grains 52, so that the box pushing structure 4 and the lifting structure 6 can grab the box body 24 more stably, when the anti-skid structure 5 is seriously worn due to long-term use, the rubber film 51 is directly taken down, and the rubber film 51 is replaced with a new one, so that the anti-skid device is simple and convenient, does not need to replace the carrying structure 3, saves parts and reduces the cost.

And switching on an external power supply. In an initial state, the supporting tube 41 extends out of the clamping plate 31, the top end of the screw 45 always abuts against the inside of the supporting tube 41, the spring 44 is in a compressed state, the lifting structure 6 is located at the lower portion of the clamping plate 31, the limiting plate 64 is connected with the clamping groove 47 in a clamping manner, and meanwhile, the second air pump 35 enables the second telescopic rod 37 to extend out, so that the wedge-shaped plate 34 rotates to be perpendicular to the bottom side wall of the back plate 33. The boxes 24 are conveyed to the carrying table 22 by the conveyor belt 1, the carrying table 22 is just provided with two boxes 24 side by side, when the carrying table 22 is filled with the boxes 24, the mechanical arm 21 drives the clamping plate 31 to clamp the two boxes 24 on the carrying table 22, when the clamping plate 31 clamps the boxes 24, the pushing plate 42 just wraps the front row of boxes 24, the first air pump 32 and the second air pump 35 are started in sequence, the first air pump 32 enables the lifting plates 61 on the inner side walls of the clamping plate 31 to be close to each other to clamp the back row of boxes 24, the anti-skid threads 52 on the surface of the rubber mold 51 tightly abut against the boxes 24, then the second air pump 35 drives the first telescopic rod 36 to retract to lift the lifting plate 61, and the lifting plate 61 drives the front row of boxes 24 to lift, under the elastic action of the elastic sheet 65, the limiting plate 64 always slides in the slot 47, that is, the limiting plate 64 always connects with the slot 47 in a clamping manner, and meanwhile, the rack 62 drives the gear 46 to rotate, the gear 46 drives the sliding barrel 43 to rotate, because the sliding barrel 43 is in threaded connection with the screw 45, the sliding barrel 43 rotates to enable the screw 45 to retract into the sliding barrel 43, the top end of the screw 45 no longer collides with the inside of the supporting barrel 41, when the lifting plate 61 rises to the highest point, the screw 45 completely retracts into the sliding barrel 43, and the bottom end of the limiting plate 64 slides out of the slot 47 and no longer connects with the slot 47 in a clamping manner, under the pushing of the spring 44, the supporting barrel 41 drives the push plate 42 to slide into the inside of the clamping plate 31, the push plate 42 pushes the front-row box 24 into the inside of the carrying structure 3, the bottom edge of the front row of the boxes 24 slides to the top surface of the wedge-shaped plate 34 and is supported by the wedge-shaped plate 34; the robotic arm 21 then drives the handling structure 3, the box pushing structure 4 and the lifting structure 6 to move above the stacking plate 23, when the box body 24 is put down for stacking, the first air pump 32 controls the lifting plates 61 to move away from each other, the rubber mold 51 and the anti-skid grains 52 do not interfere with the box body 24 any more, meanwhile, the second air pump 35 controls the second telescopic rod 37 to retract, the wedge-shaped plate 34 rotates around the bottom end of the rear plate 33 until the wedge-shaped plate 35 is parallel to the rear plate 33, the upper layer of box 24 descends by means of self gravity, the lower layer of box 24 is pushed out from the bottom of the clamping plate 31, the upper layer of box 24 falls along with the lower layer of box 24 and falls on the stacking plate 23, and then the mechanical arm 21 drives the carrying structure 3, the box pushing structure 4 and the lifting structure 6 to reset; in the resetting process, the lifting plate 61 drives the limit plate 64 and the rack 63 to descend, the rack 63 drives the gear 46 to rotate reversely, the gear 46 drives the sliding barrel 43 to rotate, so that the screw 45 extends out of the sliding barrel 43, the top end of the screw 45 abuts against the inside of the supporting barrel 41, so that the supporting barrel 41 slides out of the carrying structure 3, meanwhile, the spring 44 is compressed by the supporting barrel 41, when the lifting plate 61 moves to the lowest end, the clamping groove 47 on the surface of the supporting barrel 41 is just clamped and connected with the lifting structure 6, so that the supporting barrel 41 cannot slide, and the box body 24 is waited to be clamped next time; when the anti-skid structure 5 is seriously worn due to long-term use, the rubber film 51 is directly taken down, and the rubber film 51 is replaced with a new one, so that the method is simple and convenient, and other parts do not need to be replaced, thereby reducing the cost.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A pile up neatly machinery hand which characterized in that: comprises a conveyor belt (1), a stacking structure (2), a carrying structure (3), a box pushing structure (4), an anti-skidding structure (5) and a lifting structure (6); the conveyor belt (1) for conveying boxes is fixed on the ground; the carrying structure (3) used for carrying boxes and orderly stacking is rotatably connected with the stacking structure (2); the stacking structure (2) for driving the carrying structure (3) to move is arranged on the ground at one side of the conveyor belt (1); the box pushing structure (4) used for pushing the lower box to move and tightly holding the box is connected to the inside of the carrying structure (3) in a sliding manner; the lifting structure (6) used for driving the upper box to ascend and driving the box pushing structure (4) to stretch is connected to the inner wall of the carrying structure (3) in a sliding manner; the anti-skid structure (5) for preventing skid and clamping the box is connected with the side wall of the lifting structure (6) in a clamping way;

the carrying structure (3) comprises a clamping plate (31), a first air pump (32), a rear plate (33), a wedge-shaped plate (34), a second air pump (35), a first telescopic rod (36) and a second telescopic rod (37), the top end of the clamping plate (31) is rotatably connected with the mechanical arm (21), the first air pump (32) is installed on the top surface of the clamping plate (31), the rear plate (33) is fixed on the bottom surface of the clamping plate (31), the wedge-shaped plate (34) is rotatably connected with the bottom end of the rear plate (33), the second air pump (35) is arranged on the top surface of the clamping plate (31), the first telescopic rod (36) is connected with the bottom surface of the second air pump (35), and the second telescopic rod (37) is communicated with the second air pump (35);

the box pushing structure (4) comprises a supporting cylinder (41), a pushing plate (42), a sliding cylinder (43), a spring (44), a screw rod (45), a gear (46) and a clamping groove (47), wherein the supporting cylinder (41) is connected to the inside of the clamping plate (31) in a sliding manner, the pushing plate (42) is fixed to the top end of the supporting cylinder (41), the sliding cylinder (43) is connected to the inside of the supporting cylinder (41) in a sliding manner, the spring (44) is sleeved on the surface of the sliding cylinder (43), the spring (44) is abutted to the inside of the supporting cylinder (41), the screw rod (45) is in threaded connection with the inside of the sliding cylinder (43), one end of the screw rod (45) is abutted to the inside of the supporting cylinder (41), the gear (46) is fixed to one end of the sliding cylinder (43), and the clamping groove (47) is arranged on the side wall of the supporting cylinder (41);

elevation structure (6) include lifter plate (61), rack (62), draw runner (63), limiting plate (64) and shell fragment (65), lifter plate (61) sliding connection in the inner wall of splint (31), just lifter plate (61) with first air pump (32) intercommunication, rack (62) are fixed in the lateral wall of lifter plate (61), just rack (62) with gear (46) meshing is connected, draw runner (63) are located the back of lifter plate (61), the top of limiting plate (64) with rotate between lifter plate (61) and be connected, just limiting plate (64) are contradicted the back of lifter plate (61), just limiting plate (64) with the block is connected between draw-in groove (47), shell fragment (65) are located the top of limiting plate (64).

2. A stacking manipulator according to claim 1, characterised in that: the conveyor belt (1) is fixed on the ground.

3. A stacking manipulator according to claim 1, characterised in that: pile up neatly structure (2) includes arm (21), floor (22), pile up neatly board (23) and box (24), arm (21) install in one side of conveyer belt (1) is subaerial, contradict in one side of floor (22) the one end of conveyer belt (1), it is subaerial that pile up neatly board (23) contradicts, box (24) contradict in conveyer belt (1) the top surface of floor (22) with the top surface of pile up neatly board (23).

4. A stacking manipulator according to claim 1, characterised in that: the anti-skidding structure (5) comprises a rubber die (51) and anti-skidding lines (52), the rubber die (51) is clamped on the side wall of the push plate (42) and the front face of the lifting plate (61) respectively, and the anti-skidding lines (52) are arranged on the surface of the rubber die (51).