The stacking manipulator is suitable for the packaging and stacking of finished products of various shapes such as cartons, bags, cans, boxes and bottles in chemical, beverage, food, beer, plastic and air conditioning production enterprises and consists of three main parts: the actuating system, the driving mechanism and the control system. The hand of the machine is therefore the part used to hold the workpiece (or tool) in place. Then, depending on the shape, size, quality, material and operational requirements of the object to be gripped, it has a variety of structural forms, making it easy for the user to use and work with. In addition, its high degree of automation (fully automatic flattening, fully automatic bag rotation, automatic pallet supply, fully automatic layering and grouping); all bag openings facing inwards, the stacking manipulator is beautiful and firm; in particular, low energy consumption, low running costs, saving labour input; stacking manipulator the equipment can be adapted to various materials and sizes of pallets; modular design, reducing equipment costs and high equipment stability.
In fact, the stacking manipulator can perform various rotations (oscillations), movements or synthetic movements in order to achieve the specified movement and thus change the position and attitude of the object held. (e.g. lifting, extension and rotation of the motion mechanism) are called degrees of freedom of the stacking robot. At this point, the main focus is on gripping objects in any position at work, requiring six degrees of freedom adjustment. Degree of freedom adjustment is a key parameter in robot design. In particular, the greater its degrees of freedom, the greater the flexibility of the stacking robot, the more functional it is and the more complex the stacking robot's structure. Usually, a dedicated stacking robot with 2 or 3 degrees of freedom is sufficient. In this way, therefore, the control system can perform specific movements by controlling the motors of each degree of freedom of the stacking robot. At the same time, the stacking robot system receives feedback from the sensors, creating a stable closed-loop control. The core of its control system usually consists of a micro-controller or a micro-control chip such as a DSP, which can be programmed to achieve the required functions.