CN114890132A

CN114890132A - Collaborative stacking equipment

Info

Publication number: CN114890132A
Application number: CN202210360608.XA
Authority: CN
Inventors: 戚广图; 陈敦坚; 周春翔
Original assignee: Shenzhen Warsonco Technology Co ltd
Current assignee: Shenzhen Warsonco Technology Co ltd
Priority date: 2022-04-07
Filing date: 2022-04-07
Publication date: 2022-08-12

Abstract

The invention relates to the technical field of stacking machines, in particular to a cooperative stacking device which comprises a base, a stacking machine, a control system, a feeding mechanism, a taking and placing jig, a stacking station and a fixed extension arm, wherein the control system is arranged on the base, the stacking machine and the feeding mechanism are both electrically connected with the control system, the two sides of the base are both detachably connected with the fixed extension arm, the stacking machine is arranged on the base, the taking and placing jig is arranged at the output end of the stacking machine, the feeding mechanism and the stacking station are arranged around the stacking machine, and the feeding mechanism is used for feeding materials to the stacking machine. The automatic stacking machine automatically completes stacking of materials, and is high in stacking efficiency, good in quality, good in working stability, high in stacking efficiency and good in quality.

Description

Collaborative stacking equipment

Technical Field

The invention relates to the technical field of stackers, in particular to a cooperative stacking device.

Background

In industrial production, in order to facilitate the transportation of materials, save the space for transportation or save the occupied space required by the materials, the materials are generally required to be stacked. The materials are stacked mainly by the following two modes: or materials are manually stacked, the stacking mode is high in labor cost, high in labor intensity, low in stacking efficiency and large in influence of human factors, and stacking quality is difficult to guarantee; or pile up neatly the material through stacker automation, though stacker's pile up neatly is efficient, when stacker's pile up neatly speed was very fast, stacker's job stabilization nature was lower, takes place the skew of position easily to influence the quality of pile up neatly. Therefore, the drawbacks are obvious, and a solution is needed.

Disclosure of Invention

In order to solve the above technical problem, it is an object of the present invention to provide a cooperative palletizing apparatus.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a cooperation pile up neatly equipment, its includes base, pile up neatly stacker, control system, feeding mechanism, gets and puts tool, pile up neatly station and fixed extension arm, control system installs in the base, pile up neatly stacker and feeding mechanism all are connected with the control system electricity, the equal detachably of both sides of base is connected with fixed extension arm, pile up neatly stacker is installed in the base, get and put the tool and install in the output of pile up neatly stacker, feeding mechanism and pile up neatly station are around the setting of pile up neatly stacker, feeding mechanism is used for the feed to pile up neatly stacker.

Further, the taking and placing jig comprises a connecting piece connected with the output end of the stacking stacker, a material sucking piece connected to the connecting piece and a cushion pad arranged on the material sucking surface of the material sucking piece, and the cushion pad is provided with a plurality of sucking holes communicated with the material sucking piece.

Further, the stacking stacker comprises a lifting mechanism arranged on the base and a multi-joint manipulator arranged at the lifting end of the lifting mechanism, and the taking and placing jig is arranged at the output end of the multi-joint manipulator.

Further, the multi-joint manipulator comprises a mounting seat, a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint, a first machine arm and a second machine arm, wherein the output end of the first joint is fixedly connected with the mounting seat, the main body of the first joint is rotatably connected with the mounting seat, the output end of the second joint is fixedly connected with the main body of the first joint, the main body of the second joint is rotatably connected with the main body of the first joint, the axis of the first joint is perpendicular to the axis of the second joint, the main body of the second joint is connected with one end of the first machine arm, the other end of the first machine arm is connected with the main body of the third joint, the axis of the second joint and the axis of the third joint are both perpendicular to the axis of the first machine arm, the output end of the third joint is fixedly connected with the fourth joint, and the main body of the third joint are coaxially and rotatably connected, one end of the second machine arm is connected with the fourth joint, the other end of the second machine arm is connected with the main body of the fifth joint, the axis of the fourth joint and the axis of the fifth joint are perpendicular to the axis of the second machine arm, the output end of the fifth joint is fixedly connected with the main body of the sixth joint, the main body of the sixth joint is rotatably connected with the main body of the fifth joint, the axis of the sixth joint is perpendicular to the axis of the fifth joint, the output end of the sixth joint is fixedly connected with the main body of the seventh joint, the main body of the sixth joint is rotatably connected with the main body of the seventh joint, the axis of the sixth joint is perpendicular to the axis of the seventh joint, the taking and placing jig is installed at the output end of the seventh joint, and the installation seat is installed at the lifting end of the lifting mechanism.

Further, the third joint, the fifth joint, the sixth joint or the seventh joint comprises a shell, a speed reducer, a transmission assembly and a motor, the shell is provided with an accommodating cavity and an opening communicated with the accommodating cavity, the motor and the transmission assembly are accommodated in the accommodating cavity, the speed reducer is embedded in the opening and covers the opening, the transmission assembly comprises a driving wheel, a driven wheel and a transmission belt, the driving wheel is sleeved outside an output shaft of the motor, the driven wheel is sleeved at an input end of the speed reducer, the transmission belt is sleeved outside the driving wheel and the driven wheel, and the motor is electrically connected with a control system.

Further, the structure of the third joint, the structure of the fifth joint, the structure of the sixth joint, and the structure of the seventh joint are the same.

Furthermore, a first wire passing hole is formed in the axial direction of the main shaft of the speed reducer, a fixing plate is installed on the shell and located in the containing cavity, the motor is installed on the fixing plate, and a second wire passing hole which is coaxially communicated with the first wire passing hole is formed in the fixing plate.

Furthermore, the shell is provided with a wire passing piece, the wire passing piece is located in the accommodating cavity, and the wire passing piece is provided with one or more third wire passing holes.

Further, the casing includes cavity shell body and lid and locates the closing cap of the one end of cavity shell body, the closing cap encloses with cavity shell body and establishes into the holding chamber, the other end of cavity shell body is the opening, the lateral wall of closing cap is provided with heat radiation structure.

Further, the pile up neatly station includes two trays, and two trays are located the both sides of base respectively.

The invention has the beneficial effects that: in practical application, the control system controls the feeding mechanism and the stacking stacker to work respectively, the feeding mechanism supplies materials to a preset position, the stacking stacker drives the pick-and-place jig to move above the materials and pick up the materials, then the stacking stacker drives the pick-and-place jig to move with the materials to a stacking station, and the stacking stacker performs actions according to a stacking program of the control system so as to stack the materials supplied by the feeding mechanism on the stacking station regularly and stack the materials. The stacking stacker has the advantages that the stacking stacker is supported by additionally arranging the fixed extension arm, so that the contact area with a supporting surface is increased, the base is reinforced, the working stability of equipment is improved, and the phenomenon of shaking caused by the fact that the stacking stacker executes too fast action speed is avoided. The automatic stacking machine automatically completes stacking of materials, and is high in stacking efficiency, good in quality, good in working stability, high in stacking efficiency and good in quality.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic perspective view of the pick-and-place jig and the multi-joint manipulator according to the present invention.

Fig. 3 is a cross-sectional view of a third joint, a fifth joint, a sixth joint, or a seventh joint of the present invention.

Fig. 4 is an exploded view of the third joint, the fifth joint, the sixth joint, or the seventh joint of the present invention.

Description of reference numerals:

01. a base; 02. stacking and stacking machines; 021. a lifting mechanism; 022. a multi-joint manipulator; 03. a control system; 04. a feeding mechanism; 05. a stacking station; 06. fixing the extension arm; 1. a mounting base; 2. a first joint; 3. a second joint; 4. a third joint; 41. a housing; 411. a hollow shell body; 412. sealing the cover; 413. a heat dissipation structure; 42. a speed reducer; 421. a connecting ring; 43. a driving wheel; 44. a motor; 45. an accommodating cavity; 46. a driven wheel; 47. a first wire passing hole; 48. a fixing plate; 481. a wire passing piece; 482. a third wire passing hole; 49. a second wire passing hole; 5. a fourth joint; 6. a fifth joint; 7. a sixth joint; 71. a seventh joint; 8. a first arm; 81. a second arm; 9. taking and placing the jig; 91. a connecting member; 92. a material sucking part; 93. a cushion pad.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.

As shown in fig. 1 to 4, the cooperative stacking apparatus provided by the invention comprises a base 01, a stacking stacker 02, a control system 03, a feeding mechanism 04, a pick-and-place jig 9, a stacking station 05 and a fixed extension arm 06, wherein the control system 03 is installed on the base 01, the stacking stacker 02 and the feeding mechanism 04 are both electrically connected with the control system 03, the fixed extension arm 06 is detachably connected to both sides of the base 01, the stacking stacker 02 is installed on the base 01, the pick-and-place jig 9 is installed at an output end of the stacking stacker 02, the feeding mechanism 04 and the stacking station 05 are arranged around the stacking stacker 02, and the feeding mechanism 04 is used for feeding materials to the stacking stacker 02.

In practical application, the control system 03 controls the feeding mechanism 04 and the stacking stacker 02 to work respectively, the feeding mechanism 04 supplies materials to a preset position, the stacking stacker 02 drives the pick-and-place jig 9 to move above the materials and pick up the materials, then the stacking stacker 02 drives the pick-and-place jig 9 to move with the materials to the stacking station 05, and the stacking stacker 02 performs actions according to a stacking program of the control system 03 so as to regularly stack the materials supplied by the feeding mechanism 04 on the stacking station 05, so that the materials are stacked. The supporting is realized by additionally arranging the fixed extension arm 06, the contact area with the supporting surface is increased, the base 01 is reinforced, the working stability of the equipment is improved, and the phenomenon of shaking caused by the fact that the action speed of the stacking stacker 02 is too high during stacking is avoided. The automatic stacking machine automatically completes stacking of materials, and is high in stacking efficiency, good in quality, good in working stability, high in stacking efficiency and good in quality.

Specifically, fixed extension arm 06 is extending structure for fixed extension arm 06 can stretch out and draw back, is convenient for change the effective length of fixed extension arm 06, uses in a flexible way, in order to satisfy the user demand of different occasions.

In this embodiment, the pick-and-place jig 9 includes a connecting piece 91 connected to the output end of the stacker 02, a material sucking part 92 connected to the connecting piece 91, and a cushion pad 93 disposed on the material sucking surface of the material sucking part 92, where the cushion pad 93 is provided with a plurality of sucking holes communicated with the material sucking part 92, the cushion pad 93 is made of an elastic material, the material sucking part 92 has a vacuum cavity, and the vacuum cavity is communicated with a vacuum pumping device. The material sucking member 92 sucks the material tightly through a plurality of sucking holes on the cushion pad 93 so as to facilitate the transfer and the taking and placing of the material. Because blotter 93 possesses the buffering characteristic, so when blotter 93 and material contact, blotter 93 plays the effect of buffering protection, avoids getting to put tool 9 and takes place rigid impact collision with the material, plays the effect of protection to the material, has guaranteed the quality of material.

In this embodiment, the stacking stacker 02 includes a lifting mechanism 021 installed on the base 01 and a multi-joint manipulator 022 installed at a lifting end of the lifting mechanism 021, and the pick-and-place jig 9 is installed at an output end of the multi-joint manipulator 022. The lifting end of the lifting mechanism 021 is lifted to drive the multi-joint manipulator 022 to lift, so that the flexibility of the multi-joint manipulator 022 is further improved, and the stroke of the multi-joint manipulator 022 is increased.

In this embodiment, the multi-joint manipulator 022 includes a mounting base 1, a first joint 2, a second joint 3, a third joint 4, a fourth joint 5, a fifth joint 6, a sixth joint 7, a seventh joint 71, a first arm 8, and a second arm 81, an output end of the first joint 2 is fixedly connected to the mounting base 1, a main body of the first joint 2 is rotatably connected to the mounting base 1, an output end of the second joint 3 is fixedly connected to a main body of the first joint 2, a main body of the second joint 3 is rotatably connected to a main body of the first joint 2, an axis of the first joint 2 is perpendicular to an axis of the second joint 3, a main body of the second joint 3 is connected to one end of the first arm 8, the other end of the first arm 8 is connected to a main body of the third joint 4, an axis of the second joint 3 and an axis of the third joint 4 are perpendicular to an axis of the first arm 8, the output end of the third joint 4 is fixedly connected with a fourth joint 5, the fourth joint 5 is coaxially and rotatably connected with the main body of the third joint 4, one end of the second horn 81 is connected with the fourth joint 5, the other end of the second horn 81 is connected with the main body of the fifth joint 6, the axis of the fourth joint 5 and the axis of the fifth joint 6 are both vertical to the axis of the second horn 81, the output end of the fifth joint 6 is fixedly connected with the main body of the sixth joint 7, the main body of the sixth joint 7 is rotatably connected with the main body of the fifth joint 6, the axis of the sixth joint 7 is vertical to the axis of the fifth joint 6, the output end of the sixth joint 7 is fixedly connected with the main body of the seventh joint 71, the main body of the sixth joint 7 is rotatably connected with the main body of the seventh joint 71, the axis of the sixth joint 7 is vertical to the axis of the seventh joint 71, the pick-and-place jig 9 is installed at the output end of the seventh joint 71, and the mounting base 1 is installed at the lifting end of the lifting mechanism 021. Specifically, the fourth joint 5 may adopt a connection structure, and the first joint 2 and the second joint 3 may adopt a rotation mechanism in the prior art, which is not described in detail herein.

In practical application, the main body of the first joint 2 can rotate 360 degrees relative to the mounting seat 1 and drive all joints and machine arms to synchronously rotate, the main body of the second joint 3 can rotate 360 degrees relative to the main body of the first joint 2 and drive other joints except the first joint 2 and the machine arms to synchronously rotate, the third joint 4 drives the fourth joint 5 to rotate together with the first machine arm 8, the fifth joint 6 drives the sixth joint 7 to rotate together with the seventh joint 71 and the taking and placing jig 9, the sixth joint 7 drives the seventh joint 71 to rotate together with the taking and placing jig 9, and the seventh joint 71 drives the taking and placing jig 9 to rotate 360 degrees so as to adjust the angle of the jig 9 and facilitate the taking and placing jig 9 to take and place materials; when the materials are taken and placed, the first joint 2, the second joint 3, the third joint 4, the fifth joint 6, the sixth joint 7 and the seventh joint 71 cooperate under the program control of the control system 03 to complete the required stacking action. First horn 8 and second horn 81 have prolonged the stroke of multi-joint manipulator 022, through first joint 2, second joint 3, third joint 4, fourth joint 5, fifth joint 6, sixth joint 7, seventh joint 71, first horn 8, the second horn 81 and get the reasonable overall arrangement of putting tool 9, make the action of multi-joint manipulator 022 nimble, can rotate by arbitrary angle, in order to accomplish required action, singular point can not appear in work area, the unusual condition of multi-joint manipulator 022 has been avoided, job stabilization nature is good. When taking and placing the tool 9 and colliding with the obstacle, the joints can feed the received force back to the control system 03, and when the force is greater than a set value, the control system 03 controls the joints to stop acting, so that the multi-joint manipulator 022 is in a stop working state, an anti-collision function is achieved, and damage to the multi-joint manipulator 022 is reduced.

In this embodiment, the third joint 4, the fifth joint 6, the sixth joint 7 or the seventh joint 71 includes a housing 41, a speed reducer 42, a transmission assembly and a motor 44, the housing 41 is provided with an accommodating cavity 45 and an opening communicated with the accommodating cavity 45, the motor 44 and the transmission assembly are both accommodated in the accommodating cavity 45, the speed reducer 42 is embedded in the opening and covers the opening, the transmission assembly includes a driving wheel 43, a driven wheel 46 and a transmission belt (not shown in the figure), the driving wheel 43 is sleeved outside an output shaft of the motor 44, the driven wheel 46 is sleeved at an input end (a main shaft input end) of the speed reducer 42, and the transmission belt is sleeved outside the driving wheel 43 and the driven wheel 46; the output end (main shaft output end) of the reducer 42 of the previous joint is fixedly connected with the shell 41 of the next joint, the motor 44 can be a servo motor, and both the motor 44 and the reducer 42 are electrically connected with the control system 03.

In practical applications, the output shaft of the motor 44 drives the driving wheel 43 to rotate, the rotating driving wheel 43 drives the driven wheel 46 to rotate via the transmission belt, and the rotating driven wheel 46 drives the input end of the speed reducer 42 to rotate, so that the output end of the speed reducer 42 drives the next joint to rotate. When the picking and placing jig 9 touches an obstacle, the motor 44 feeds back the stress to the control system 03, and when the stress is greater than a set value, the control system 03 controls the motor 44 to stop working, so that the damage to the multi-joint manipulator 022 is reduced, and an anti-collision function is achieved. The motor 44 and the transmission assembly are arranged in the shell 41, the structure is compact, the appearance is attractive, the motor 44 and the transmission assembly are protected, the opening is sealed through the structure of the speed reducer 42, the use of a cover plate is saved, the structure is simplified, and the cost is reduced. The joint is simple and compact in structure, sensitive in action, capable of rotating at any angle, simplified in structure, reduced in manufacturing and using cost, good in transmission stability and low in transmission noise due to the transmission mode of the belt wheel.

In the present embodiment, the structure of the third joint 4, the structure of the fifth joint 6, the structure of the sixth joint 7, and the structure of the seventh joint 71 are the same. The structure design has the advantages of good structure replaceability, strong universality, convenience in production, manufacture and maintenance and reduction of production cost.

In this embodiment, a first wire passing hole 47 is axially formed in the main shaft of the speed reducer 42, a fixing plate 48 is installed on the housing 41, the fixing plate 48 is located in the accommodating cavity 45, the motor 44 is installed on the fixing plate 48, and the fixing plate 48 is provided with a second wire passing hole 49 coaxially communicated with the first wire passing hole 47. The first wire passing hole 47 and the second wire passing hole 49 are used for the penetration of a power supply wire, so that the guiding, the positioning and the management of the wire are facilitated, the scattered arrangement of the wire is avoided, the wire is also hidden, the appearance is attractive, the exposure of the wire is avoided, and the connection of the wire and the motor 44 and the speed reducer 42 in each joint is facilitated.

Specifically, the inner wall of the first wire passing hole 47 is coated with a smooth coating, the thickness of the smooth coating is 1mm, the smooth coating is smooth, the abrasion of the wire is reduced, and the service life of the wire is prolonged.

In this embodiment, the housing 41 is provided with a wire passing member 481, the wire passing member 481 is located in the accommodating cavity 45, and the wire passing member 481 is provided with one or more third wire passing holes 482. The wire passing piece 481 fixes the electric wire; when the number of the third wire through holes 482 is multiple, each third wire through hole 482 is respectively penetrated by one type of electric wire, so that different types of electric wires can be classified and managed conveniently.

In this embodiment, the housing 41 includes a hollow housing 411 and a cover 412 covering one end of the hollow housing 411, the cover 412 and the hollow housing 411 enclose an accommodating cavity 45, the other end of the hollow housing 411 is an opening, and a heat dissipation structure 413 is disposed on an outer side wall of the cover 412. Due to the structural design, the modular assembly of the shell 41 is realized, and the structure in the shell 41 is convenient to disassemble, assemble and maintain; the heat dissipation structure 413 facilitates rapid heat dissipation of the joint, and prevents the motor 44 and the reducer 42 from operating at a high temperature for a long time.

Preferably, the heat dissipation structure 413 comprises a plurality of parallel fins arranged at equal intervals. This structural design is favorable to articular heat dissipation, avoids motor 44 and reduction gear 42 to be in the operating condition of high temperature for a long time, has prolonged motor 44 and reduction gear 42's life.

Specifically, the outer side wall of the hollow shell 411 is coated with a heat dissipation coating, so that the heat dissipation effect is better; the inner wall of the hollow shell 411 or/and the inner wall of the sealing cover 412 are connected with the shell of the motor 44 through the heat conducting member, the heat generated by the motor 44 is transferred to the hollow shell 411 or/and the sealing cover 412 through the heat conducting member, and then the heat is rapidly dissipated through the heat dissipation coating and the heat dissipation structure 413, so that the heat dissipation effect is obvious.

Specifically, the outer side wall of the decelerator 42 is sealingly connected to the inner wall of the casing 41 via a sealing structure (not shown in the figure). Preferably, the sealing structure includes a sealing ring and a groove concavely formed on the inner wall of the housing 41 or the outer wall of the speed reducer 42, the sealing ring is embedded in the groove, and the sealing ring is used for sealing a gap between the outer side wall of the speed reducer 42 and the inner wall of the housing 41. This structural design, sealed effectual avoids impurity such as moisture to get into in the holding chamber 45 easily.

Specifically, the output end of the speed reducer 42 is provided with a connecting ring 421; the connection ring 421 is connected to a corresponding structure for driving connection between two adjacent joints.

In this embodiment, pile up neatly station 05 includes two trays, and two trays are located the both sides of base 01 respectively. The stacking stacker 02 alternately stacks two trays to replace the trays, thereby saving the waiting time for replacing the trays and improving the stacking efficiency.

All the technical features in the embodiment can be freely combined according to actual needs.

The above embodiments are preferred implementations of the present invention, and the present invention can be implemented in other ways without departing from the spirit of the present invention.

Claims

1. A collaborative palletizing apparatus, characterized by: including base, pile up neatly stacker, control system, feeding mechanism, get and put tool, pile up neatly station and fixed extension arm, control system installs in the base, pile up neatly stacker and feeding mechanism all are connected with the control system electricity, the equal detachably of both sides of base is connected with fixed extension arm, pile up neatly stacker is installed in the base, get and put the tool and install in the output of pile up neatly stacker, feeding mechanism and pile up neatly station are around the pile up neatly stacker setting, feeding mechanism is used for the feed to pile up neatly stacker.

2. A collaborative palletization plant according to claim 1, characterized in that: the picking and placing jig comprises a connecting piece connected with the output end of the stacking stacker, a material sucking piece connected to the connecting piece and a cushion pad arranged on the material sucking surface of the material sucking piece, wherein the cushion pad is provided with a plurality of sucking holes communicated with the material sucking piece.

3. A collaborative palletization plant according to claim 1, characterized in that: the stacking stacker comprises a lifting mechanism arranged on a base and a multi-joint manipulator arranged at the lifting end of the lifting mechanism, and the taking and placing jig is arranged at the output end of the multi-joint manipulator.

4. A collaborative palletization plant according to claim 3, characterized in that: the multi-joint manipulator comprises a mounting seat, a first joint, a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint, a first machine arm and a second machine arm, wherein the output end of the first joint is fixedly connected with the mounting seat, the main body of the first joint is rotatably connected with the mounting seat, the output end of the second joint is fixedly connected with the main body of the first joint, the main body of the second joint is rotatably connected with the main body of the first joint, the axis of the first joint is vertical to the axis of the second joint, the main body of the second joint is connected with one end of the first machine arm, the other end of the first machine arm is connected with the main body of the third joint, the axis of the second joint and the axis of the third joint are both vertical to the axis of the first machine arm, the output end of the third joint is fixedly connected with the fourth joint, and the main body of the third joint are coaxially and rotatably connected, one end of the second machine arm is connected with the fourth joint, the other end of the second machine arm is connected with the main body of the fifth joint, the axis of the fourth joint and the axis of the fifth joint are perpendicular to the axis of the second machine arm, the output end of the fifth joint is fixedly connected with the main body of the sixth joint, the main body of the sixth joint is rotatably connected with the main body of the fifth joint, the axis of the sixth joint is perpendicular to the axis of the fifth joint, the output end of the sixth joint is fixedly connected with the main body of the seventh joint, the main body of the sixth joint is rotatably connected with the main body of the seventh joint, the axis of the sixth joint is perpendicular to the axis of the seventh joint, the taking and placing jig is installed at the output end of the seventh joint, and the installation seat is installed at the lifting end of the lifting mechanism.

5. A collaborative palletization apparatus according to claim 4, characterized in that: the third joint, the fifth joint, the sixth joint or the seventh joint comprises a shell, a speed reducer, a transmission assembly and a motor, the shell is provided with an accommodating cavity and an opening communicated with the accommodating cavity, the motor and the transmission assembly are accommodated in the accommodating cavity, the speed reducer is embedded in the opening and covers the opening, the transmission assembly comprises a driving wheel, a driven wheel and a transmission belt, the driving wheel is sleeved outside an output shaft of the motor, the driven wheel is sleeved at the input end of the speed reducer, the transmission belt is sleeved outside the driving wheel and the driven wheel, and the motor is electrically connected with a control system.

6. A collaborative palletization apparatus according to claim 5, characterized in that: the structure of the third joint, the structure of the fifth joint, the structure of the sixth joint and the structure of the seventh joint are the same.

7. A collaborative palletization apparatus according to claim 5, characterized in that: the motor is characterized in that a first wire passing hole is formed in the axial direction of a main shaft of the speed reducer, the shell is provided with a fixing plate, the fixing plate is located in the containing cavity, the motor is arranged on the fixing plate, and the fixing plate is provided with a second wire passing hole which is coaxially communicated with the first wire passing hole.

8. A collaborative palletization apparatus according to claim 5, characterized in that: the shell is provided with a wire passing piece, the wire passing piece is located in the containing cavity, and the wire passing piece is provided with one or more third wire passing holes.

9. A collaborative palletization apparatus according to claim 5, characterized in that: the shell comprises a hollow shell body and a sealing cover covering one end of the hollow shell body, the sealing cover and the hollow shell body are enclosed to form an accommodating cavity, the other end of the hollow shell body is an opening, and a heat dissipation structure is arranged on the outer side wall of the sealing cover.

10. A collaborative palletization plant according to claim 1, characterized in that: the stacking station comprises two trays, and the two trays are respectively positioned on two sides of the base.