Joint-type medium-duty intelligent control palletizing robot

The utility model discloses a joint-type medium-duty intelligent control palletizing robot which comprises a base seat (1), a waist portion mechanism (2), a big arm mechanism, a small arm mechanism, a wrist mechanism, a tail end performing mechanism, a buffering balance device (11), a big arm limiting photoelectric sensor (13), a small arm limiting photoelectric sensor (12), a big arm and small arm speed measurement direct current motor (37), a waist portion speed and limiting photoelectric sensor (16), a servo driving device (20), a control cabinet (38) and a demonstrating device (23). The waist portion mechanism is connected with the base seat. The big arm mechanism is connected with the waist portion mechanism. A big arm is connected with a small arm. The tail end performing mechanism is connected with a wrist (5). The joint-type medium-duty intelligent control palletizing robot has the advantages of being large in loading capacity, steady in transmission, sensitive in control, convenient to operate, low in noise, simple in structure, reasonable in design and reliable in grasp, and speed of the palletizing robot is easy to control.