CN210048160U - Robot stacking system for leached meal - Google Patents

Abstract

The utility model relates to a robot stacking system for leaching meal, which comprises a bag feeding device, a stacking robot, a stacking tray in-and-out device and a control device, wherein a material taking claw of the stacking robot comprises a base arranged at the output end part of an arm, connecting shafts arranged at the two opposite sides of the base, a plurality of L-shaped claw rods distributed on the connecting shafts at intervals along the length direction of the connecting shafts, and a driving piece, wherein the gap areas of the L-shaped claw rods positioned on the connecting shafts at the two sides are respectively arranged towards the inside of the base; the arm comprises two arm rods which are rotationally connected around a rotating shaft extending in the vertical direction, wherein the movement of the arm can drive the material taking claw to swing within the range of 0-180 degrees in the direction parallel to the horizontal plane. The utility model discloses a simple structure's robot setting can realize leaching the pile up neatly of dregs of a meal pocket in very little space, and the robot all is the mechanical type drive simultaneously, and the explosion-proof nature is high, consequently, and the specially adapted grease mill realizes leaching the pile up neatly of dregs of a meal pocket.

Description

Robot stacking system for leached meal

Technical Field

The utility model belongs to grease processing equipment field, concretely relates to leach robot pile up neatly system of dregs of rice.

Background

The palletizing robot is a kind of industrial robot used for executing tasks of acquiring, carrying, palletizing and the like of mass workpieces and packages in the industrial production process, and is a high-performance electromechanical product integrating the disciplines of machinery, electronics, information, intelligent technology, computer science and the like. Semi-automatic and full-automatic stacking machines were developed in 60 th century abroad, and have been widely applied to stacking operation of bagged and boxed materials such as petrochemical powder products, fertilizers, grains, food, beverages, medicines, cement and the like. At present, the palletizing robot is not widely applied in China. According to the data display of the national statistical bureau, two thousand and more large enterprises and three thousand and more ten thousand and more ten thousand of small and medium-sized enterprises exist in China, and the number of the enterprises needing product packaging and transport packaging is not less than 800. Wherein 95% of enterprises utilize the manpower to pack the product into boxes, and more than 98% of enterprises utilize the manpower and simple mechanical packing to the tray section. However, as the labor cost is increased, the trend of replacing manpower with mechanization is inevitable.

The stacker crane in China starts from the 20 th century and the 80 th century, is gradually applied to grease factories in recent years, and mainly performs stacking operation of leached meal and edible oil packing boxes. The oil extraction dregs in the oil factory have certain powder degree, although the oil extraction dregs are desolventized, the oil extraction dregs also contain certain solvent, so the extraction dregs are poor in packaging environment, the material ratio is heavy, the working intensity of operators is high, and with the continuous violent rise of the personnel cost, the stacking of the extraction dregs is carried out by adopting a stacking robot to replace the operators, which is necessary for the industry development. In addition, the material flow rate in an oil factory is large, the capacity of an extracted meal warehouse is generally large and has the specifications of 8000t and 11000t, and the like, and the manual stacking and delivery in such a scale cannot complete the operation, so that a full-automatic stacking robot is required to perform stacking operation.

The robot palletization system currently used in grease plants is a device that simulates the operations of a human, automatically operates, reprograms and performs defined operations in three dimensions, performed by the cooperation of a plurality of mechanisms, able to pick up one or more objects from one or more places and then place them on a pre-set palletization tray. The stacking machine mainly comprises a machine main body, a servo driving system, an arm system, an end effector (a gripper), an end effector adjusting mechanism and a detection mechanism, and is used for setting parameters according to requirements of different material packages, stacking sequences, layer numbers and the like to realize stacking operation of materials. The system is applied to packing and discharging the goods at the back of a large bulk warehouse, and a quantitative packer, a metal detector, a weight detector and other equipment are arranged in front of the system.

However, the palletizing robot applied to the grease factory has the following main problems:

(1) the palletizing capacity is limited. The working capacity of the palletizing robot is related to the mechanical structure, the working space and the flexibility of the palletizing robot, and the heavy and complex mechanical structure inevitably causes the movement space and the flexibility of the robot to be greatly reduced. At present, 2 parallel parallelogram mechanisms are adopted by a domestic and international palletizing robot to control a wrist swinging articulated robot, so that a wrist motor is cancelled, the control of a joint is reduced, meanwhile, four side rods play a balancing role, but the improvement of the working space of an end effector is limited by a quadrangle formed by a front big arm, a rear big arm and a small arm of the robot, the complexity and the weight of the structure of the robot body are increased by a four-bar linkage mechanism, the flexibility of the robot motion is reduced, and the working efficiency is inevitably influenced.

(2) The device system structure is complicated, because do not have the pile up neatly machine people who leaches the pile up neatly operation design of dregs of a meal to the grease mill specially, use the pile up neatly machine people who leaches the pile up neatly device of dregs of a meal all general type at the grease mill at present, though can carry out the pile up neatly operation to different shape materials, nevertheless caused functional "waste" to the grease mill, the system is too complicated, area is big, and is not too reasonable and practical to the grease mill.

(3) There is a security risk. The leached dregs are solid matters formed by adding solvent to an oil extraction workshop to extract oil after pretreatment or prepressing of oil materials (such as soybean, rapeseed, cottonseed, peanut and the like) and desolventizing and drying, and have certain powder degree and contain trace solvent, so the leached dregs also have certain safety risk in storage, packaging and stacking operations and have explosion-proof requirements on equipment. However, the electrical connection of the currently used palletizing robot does not meet the explosion-proof requirement.

Disclosure of Invention

The utility model aims to solve the technical problem that overcome prior art not enough, provide a robot pile up neatly system of dregs of a meal pile up neatly leaches in modified simple structure, occupation space are little and the specially adapted grease processing.

In order to solve the technical problem, the utility model discloses take following technical scheme:

a robotic stacking system for leached meal, comprising:

the bag feeding device is used for conveying the packed leaching meal bags;

the stacking robot comprises a base, an arm rotationally connected with the base, a material taking claw, a first driver for driving the material taking claw to grab a material bag, and a second driver for driving the arm to move;

the stacking tray in-and-out device comprises a stacking tray supply mechanism and a stacking transmission mechanism;

and a control device for controlling the operation of the motor,

particularly, the material taking claw comprises a base arranged at the output end part of the arm, connecting shafts arranged at two opposite sides of the base and capable of rotating around the axis direction of the base, a plurality of L-shaped claw rods distributed on the connecting shafts at intervals along the length direction of the connecting shafts, and a driving part for driving the connecting shafts to rotate, wherein notch areas of the L-shaped claw rods positioned on the connecting shafts at two sides are respectively arranged towards the inside of the base;

the arm comprises two arm rods which are rotationally connected around a rotating shaft extending in the vertical direction, wherein the movement of the arm can drive the material taking claw to swing within the range of 0-180 degrees in the direction parallel to the horizontal plane.

Preferably, the plurality of L-shaped clamping claw rods positioned on the two connecting shafts are distributed symmetrically or in a staggered mode.

Preferably, the first claw bar is arranged perpendicular to the second claw bar.

According to the utility model discloses a concrete implementation and preferred aspect, advance bagging apparatus including leaching dregs of rice material bag transport mechanism, be located and leach the material stock platform between dregs of rice material bag transport mechanism output end and the pile up neatly machine people, be used for the drive material stock platform to make progress the jacking and the driving piece that resets, wherein pile up neatly machine people is when the material stock platform is in the jacking state, and the dregs of rice material bag that leaches on the material stock platform is grabbed to the claw of getting material.

Preferably, the leached pulp bag transmission mechanism comprises a first transmission unit communicated with the leached pulp packaging machine and a second transmission unit which is in butt joint with the output end of the first transmission unit and can buffer the leached pulp bag, wherein when the stock platform is in a reset state and the stock platform does not detect the leached pulp bag, the second transmission unit transmits the next leached pulp bag to the stock platform.

Preferably, the stacking transmission mechanism is used for transmitting the stacked trays after stacking to the stacking area, the stacking tray supply mechanism comprises a stacking tray transmission unit and a stacking tray cache unit, when stacking of the stacked trays is completed on the stacking transmission mechanism, the stacking tray cache unit transmits the non-stacked stacking trays to the stacking transmission mechanism, and the stacking robot grabs the leached meal bags from the material storage platform and transfers the leached meal bags to the stacking trays on the stacking transmission mechanism for stacking.

Preferably, the direction of the leached pulp bags transmitted by the first transmission unit is parallel to the direction of the pallet transmitted by the pallet transmission unit, and the leached pulp bags and the pallet are both transmitted to the palletizing robot; the direction of the first transmission unit for transmitting the leached meal bags is perpendicular to the direction of the stacking tray after the stacking transmission mechanism transmits and stacks the meal bags. The layout makes the occupied space more reasonable.

According to a further embodiment and preferred aspect of the invention, the palletization tray comprises a tray seat, a tray body rotationally arranged on the tray seat with a rotation period of 90 °. The purpose of rotation is to realize the stacking of a plurality of layers of leached pulp bags on a stacking tray by matching with a robot.

Specifically, the bottom of the tray body is provided with a driving shaft, a bearing seat is formed on the tray seat, the driving shaft is rotatably arranged on the bearing seat, the stacking tray further comprises a transmission gear arranged at the lower end part of the driving shaft extending out of the bearing seat, a servo motor arranged on the tray seat and a driving gear meshed with the transmission gear.

In addition, the base extends from top to bottom along the vertical direction, the palletizing robot further comprises a height adjusting base which is arranged on the base in a vertically sliding mode, and the end portion, far away from the material taking claw, of the arm is rotatably arranged on the adjusting base through a rotating shaft extending in the vertical direction. The arm moves up and down to realize multi-layer stacking on the stacking tray.

Due to the implementation of the above technical scheme, compared with the prior art, the utility model have the following advantage:

the utility model discloses a simple structure's robot setting can realize leaching the pile up neatly of dregs of a meal pocket in very little space, and the robot all is the mechanical type drive simultaneously, and the explosion-proof nature is high, consequently, and the specially adapted grease mill realizes leaching the pile up neatly of dregs of a meal pocket.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic top view of a robotic palletizing system according to the present invention;

FIG. 2 is a schematic front view of the robot of FIG. 1;

FIG. 3 is a left side view of FIG. 2;

FIG. 4 is a schematic view of the structure of the pallet of FIG. 1;

wherein: 1. a bag feeding device; 10. a leached meal bag conveying mechanism; 101. a first transmission unit; 102. a second transmission unit; 11. a material storage platform;

2. a palletizing robot; 20. a base; 21. an arm; 210. a rotating shaft; 211. an arm lever; 22. a material taking claw; 220. a base; 221. a connecting shaft; 222. an L-shaped claw rod; a. a first claw bar; b. a second claw bar; 23. a height adjusting seat;

3. a pallet in-and-out device; 30. a pallet supply mechanism; 300. a pallet conveying unit; 301. a stacking tray caching unit; 31. a stacking transmission mechanism;

4. a control device; 40. a photosensor;

A. leaching meal bags; B. stacking trays; b1, a disk seat; b2, a tray body; b3, drive shaft; b4, a bearing seat; b5, a transmission gear; b6, a servo motor; b7, driving gear; and Q, a stacking area.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature. It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, the robot palletizing system for leached pulp according to the embodiment includes a bag feeding device 1; a palletizing robot 2; a pallet in-and-out device 3; and the control device 4 is communicated with the bag feeding device 1, the stacking robot 2 and the stacking tray in-out device 3.

Specifically, the bag feeding device 1 is used for conveying the packed leaching meal bag a.

The bag feeding device 1 comprises a leached pulp bag transmission mechanism 10, a storage platform 11 located between the output end of the leached pulp bag transmission mechanism 10 and the palletizing robot 2, and a driving piece (not shown in the figure, but not difficult to think) for driving the storage platform 11 to lift upwards and reset, wherein the palletizing robot 2 grabs the leached pulp bag a on the storage platform 11 when the storage platform 11 is in a lifting state.

The leached pulp bag transmission mechanism 10 comprises a first transmission unit 101 communicated with the leached pulp packer, and a second transmission unit 102 which is butted with the output end of the first transmission unit 101 and can buffer the leached pulp bag, wherein when the stock platform 11 is in a reset state, and the stock platform 11 does not detect the leached pulp bag a, the second transmission unit 102 transmits the next leached pulp bag a to the stock platform 11.

As for how to realize accurate transmission of the automatic leached pulp bags a, it depends on the control device 4, that is, two sets of photoelectric sensors 40 are disposed on the side of the stock platform 11, one set of photoelectric sensors is used for monitoring whether the stock platform 11 is in a lifting state or in a resetting state, and the other set of photoelectric sensors is used for detecting whether the leached pulp bags a on the stock platform 11 exist, that is, under the action of the control device 4, when the stock platform 11 does not have the leached pulp bags a thereon and is in the resetting state, the second transmission unit 102 will send the leached pulp bags a to the stock platform 11, so as to realize continuous supply of the leached pulp bags a.

As shown in fig. 2 and 3, the palletizing robot 2 includes a seat 20, an arm 21, a pick-up claw 22, a height adjusting seat 23, a first driver (not shown, but not conceivable) for driving the pick-up claw 22 to pick up the bag, and a second driver (not shown, but not conceivable) for driving the arm 21 to move.

In this example, the seat 20 is vertically extended, the height adjusting seat 23 is vertically slidably provided on the seat 20, and the end of the arm 21 remote from the pickup claw 22 is rotatably provided on the adjusting seat 23 by a vertically extended shaft. The up-and-down movement of the arm 21 is to realize multi-layer stacking on the stacking tray.

The arm 21 comprises two arm rods 211 which are rotatably connected around a rotating shaft 210 extending in the vertical direction, wherein the movement of the arm 21 can drive the material taking claw to swing within the range of 0-180 degrees in the direction parallel to the horizontal plane.

The material taking claw 22 includes a base 220 disposed at the output end of the arm 21, a connecting shaft 221 disposed at two opposite sides of the base 220 and capable of rotating around its axis, a plurality of L-shaped claw rods 222 spaced along the length direction of the connecting shaft 221 and disposed on the connecting shaft 221, and a driving member (i.e., the first driver) for driving the connecting shaft 221 to rotate, wherein the notch regions of the L-shaped claw rods 222 disposed on the connecting shafts 221 at two sides are respectively disposed toward the inside of the base 220, and the driving member may be implemented in a conventional manner of gear engagement or chain wheel or belt wheel, which will not be described in detail herein.

As for the second driver, it mainly drives the arm 211 to rotate in the horizontal direction, specifically, the arrangement of the rotating joint is adopted, and the swinging of the arm 211 is realized by the rotation of the rotating joint, which is also a mechanical transmission, and it belongs to common knowledge, and it is not explained in detail here.

The L-shaped claw rods 222 include a first claw rod a having one end fixed to the connecting shaft, and a second claw rod b connected to the other end of the first claw rod a, when the leached meal bag a is grabbed, the L-shaped claw rods 222 on both sides extend into the bottom of the leached meal bag a from the second support rod b, and the plurality of L-shaped claw rods 222 and the base 220 form a material fetching region.

Specifically, the first claw rod a and the second claw rod b are arranged perpendicularly.

A plurality of L-shaped claw bars 222 positioned on the two connecting shafts 221 are symmetrically distributed.

Meanwhile, the two second claw rods b are far away from the end part of the first claw rod a, and can be arranged in a mutually abutting mode or arranged at intervals when the leached meal bag A is grabbed.

A pallet entry and exit device 3 comprises a pallet supply mechanism 30 and a pallet transfer mechanism 31.

The stacking transmission mechanism 31 is used for transmitting the stacked trays after stacking to the stacking area Q, the stacking tray supply mechanism 30 comprises a stacking tray transmission unit 300 and a stacking tray cache unit 301, when the stacking trays on the stacking transmission mechanism 31 are stacked, the stacking tray cache unit 301 transmits the non-stacked stacking trays to the stacking transmission mechanism 31, and the stacking robot 2 grabs the leached meal bags a from the material storage platform 11 and transfers the leached meal bags a to the stacking trays on the stacking transmission mechanism 31 for stacking.

Here, by means of the actuation of the control device 4, a continuous supply and transport of the pallets can be achieved. Specifically, a set of photoelectric sensors 40 is arranged at the feeding end of the palletizing and conveying mechanism 31, and is used for monitoring whether a pallet is at the feeding end of the palletizing and conveying mechanism 31, when the pallet is at the feeding end of the palletizing and conveying mechanism 31, the palletizing robot 2 grabs the leached pulp bags a from the material storage platform 11 and transfers the leached pulp bags a to the pallet on the palletizing and conveying mechanism 31 for palletizing, when the photoelectric sensors detect the pallet, the palletizing robot 2 is in a non-working state at the moment, until the pallet cache unit 301 supplies a new pallet to the feeding end of the palletizing and conveying mechanism 31, the palletizing robot 2 continues to work, and the leached pulp bags a are grabbed from the material storage platform 11 and transferred to the pallet on the palletizing and conveying mechanism 31 for palletizing.

In this example, the direction in which the first conveying unit 101 conveys the leached pulp bag a is parallel to the direction in which the pallet conveying unit 30 conveys the pallet B, and both the leached pulp bag a and the pallet B are transmitted to the palletizing robot 2; the direction of the leached meal bag A transmitted by the first transmission unit 101 is perpendicular to the direction of the stacking tray after the stacking transmission mechanism 31 transmits the stacks. The layout makes the occupied space more reasonable.

Referring to fig. 4, the pallet B includes a tray B1, a tray B2 rotatably disposed on a tray B1 with a rotation cycle of 90 °. The purpose of rotation is to realize the stacking of a plurality of layers of leached pulp bags on a stacking tray by matching with a robot.

Specifically, a driving shaft B3 is arranged at the bottom of the tray body B2, a bearing seat B4 is formed on the tray seat B1, the driving shaft B3 is rotatably arranged on the bearing seat B4, the palletizing tray B further comprises a transmission gear B5 arranged on the driving shaft B3 and extending out of the lower end part of the bearing seat B4, a servo motor B6 arranged on the tray seat B1 and a driving gear B7 meshed with the transmission gear B5.

In conclusion, the robot stacking system is developed specially for stacking leached meal in an oil factory after being packaged by a packaging machine, and has the following advantages:

(1) the stacking efficiency is high, the movement is simple, the mechanical arm can grab and place the meal bag only and basically moves horizontally, and the general rotation angle is lower than 90 degrees.

(2) The structure and the work flow are simple, no visual recognition system is provided, the stacked materials are bagged dregs, the size and the weight are the same, the system does not need to recognize the overall dimension, the volume and the weight of the materials, a grabbing point on a dreg bag does not need to be found, and a placing point on the stacking tray is relatively fixed.

(3) The system occupies small area and needs small space for operation.

(4) The explosion-proof nature is high, has avoided the safety risk.

The present invention has been described in detail, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the same, and the scope of the present invention is not limited thereto, and the present invention is not limited to the above-mentioned embodiments, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.

Claims (10)

1. A robotic stacking system for leached meal, comprising:

the bag feeding device is used for conveying the packed leaching meal bags;

the stacking robot comprises a base, an arm rotationally connected with the base, a material taking claw, a first driver for driving the material taking claw to grab a material bag, and a second driver for driving the arm to move;

the stacking tray in-and-out device comprises a stacking tray supply mechanism and a stacking transmission mechanism;

and a control device for controlling the operation of the motor,

the method is characterized in that:

the material taking claw comprises a base arranged at the output end part of the arm, connecting shafts arranged at two opposite sides of the base and capable of rotating around the axis direction of the base, a plurality of L-shaped claw rods distributed on the connecting shafts at intervals along the length direction of the connecting shafts, and a driving part for driving the connecting shafts to rotate, wherein notch areas of the L-shaped claw rods on the connecting shafts at two sides are respectively arranged towards the inside of the base;

the arm comprises two arm rods which are rotatably connected around a rotating shaft extending in the vertical direction, wherein the movement of the arm can drive the material taking claw to swing within the range of 0-180 degrees in the direction parallel to the horizontal plane.

2. The robotic palletizing system for leached meal according to claim 1, wherein: and the plurality of L-shaped clamping claw rods positioned on the two connecting shafts are symmetrically or alternatively distributed.

3. The robotic palletizing system for leached meal according to claim 1, wherein: the first claw rod and the second claw rod are vertically arranged.

4. The robotic palletizing system for leached meal according to claim 1, wherein: the bag feeding device comprises a leached pulp bag transmission mechanism, a storage platform and a driving piece, wherein the output end of the leached pulp bag transmission mechanism is located between the leached pulp bag transmission mechanism and the stacking robot, the driving piece is used for driving the storage platform to lift upwards and reset, the stacking robot is arranged in the state that the storage platform is lifted, and the material taking claw grabs the leached pulp bag on the storage platform.

5. The robotic palletizing system for leached meal according to claim 4, wherein: the leached pulp pocket transmission mechanism comprises a first transmission unit communicated with the leached pulp packaging machine, and a second transmission unit which is in butt joint with the output end part of the first transmission unit and can buffer the leached pulp pocket, wherein when the stock platform is in a reset state, and the stock platform does not detect the leached pulp pocket, the second transmission unit transmits the next leached pulp pocket to the stock platform.

6. The robotic palletizing system for leached meal according to claim 5, wherein: the stacking conveying mechanism is used for conveying stacked trays after stacking is completed to a stacking area, the stacking tray supply mechanism comprises a stacking tray conveying unit and a stacking tray caching unit, when the stacking conveying mechanism completes stacking, the stacking tray caching unit conveys unstacked stacking trays to the stacking conveying mechanism, and the stacking robot grabs leached pulp bags from the material storage platform to convey the leached pulp bags to the stacking tray on the stacking conveying mechanism and performs stacking.

7. The robotic palletizing system for leached meal according to claim 6, wherein: the direction of the leached meal bags transmitted by the first transmission unit is parallel to the direction of the pallet transmitted by the pallet transmission unit, and the leached meal bags and the pallet are both transmitted to the palletizing robot; the direction of the first transmission unit for transmitting the leached meal bags is perpendicular to the direction of the stacking tray after the stacking transmission mechanism transmits and stacks the meal bags.

8. Robot palletizing system of leached meals according to any of claims 1 to 7, characterised in that: the stacking tray comprises a tray seat and a tray body which is rotationally arranged on the tray seat by taking 90 degrees as a rotation period.

9. The robotic palletizing system for leached meal according to claim 8, wherein: the stacker crane is characterized in that a driving shaft is arranged at the bottom of the tray body, a bearing seat is formed on the tray seat, the driving shaft is rotatably arranged on the bearing seat, the stacker crane further comprises a transmission gear, a servo motor and a driving gear, wherein the transmission gear is arranged on the driving shaft and extends out of the lower end part of the bearing seat, the servo motor is arranged on the tray seat, and the driving gear is meshed with the transmission gear.

10. The robotic palletizing system for leached meal according to claim 1, wherein: the base extend from top to bottom along the vertical direction, the palletizing robot further comprises a height adjusting base which is arranged on the base in a vertically sliding mode, and the end portion, far away from the material taking claw, of the arm is rotatably arranged on the adjusting base through a rotating shaft extending in the vertical direction.

Images