Manipulator for carton packaging production equipment

Abstract

The invention discloses a manipulator for carton packaging production equipment, and relates to the technical field of manipulators. The paperboard bonding device comprises a manipulator mechanism and a feeding lifting table, a feeding plate is fixedly mounted at the lifting end of the feeding lifting table, a plurality of paperboards are stacked on the top of the feeding plate, bonding positions are placed on the tops of the paperboards, bearing tables are fixedly mounted on the two sides of the feeding lifting table, and the bearing tables are fixedly mounted on the two sides of the feeding lifting table. Second lifting arms are fixedly mounted at the tops of the bearing tables correspondingly, and second horizontal telescopic arms are fixedly mounted at the telescopic ends of the second lifting arms correspondingly. By arranging the manipulator mechanism, a first horizontal telescopic arm drives a movable inserting plate and a fixed inserting plate to be inserted into a gap, the movable inserting plate moves upwards to drive a paperboard to be gradually opened, the paperboard is pushed by an L-shaped supporting inserting plate to move to the center position, the positioning procedure is omitted, and the bonding position is away from a lower side plate of the paperboard; and a large stapler can conveniently nail a bonding part, and automatic unfolding and nailing fixation of the paperboard are realized.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more specifically to a robotic arm used in cardboard box packaging production equipment. Background Technology

[0002] As an important part of the modern logistics and packaging industry, the production process of cardboard boxes involves multiple stages and precise technological processes, such as raw material preparation, design and plate making, printing, crease cutting and slotting, gluing and forming, etc. Box gluing and forming is the process of folding cut cardboard into cardboard boxes. The gluing equipment uses an automatic gluing and folding mechanism to first apply glue to the edges of the cardboard, and then fold the cardboard according to the predetermined creases to form the shape of the cardboard box, so that the cardboard boxes are firmly glued together.

[0003] To ensure structural strength, some large cardboard boxes undergo secondary fixation of the glued parts using a large stapler after gluing and molding. During this process, the placement of the cardboard box, its movement during staplering, and the unloading after staplering all require manual assistance, which can lead to problems such as personnel safety accidents, staple position deviations, and insufficient staple strength. Therefore, a robotic arm for cardboard box packaging production equipment is proposed. Summary of the Invention

[0004] The purpose of this invention is to address the problem that, during the secondary stapling process of some large cardboard boxes, the placement of the boxes, the movement of the boxes during stapling, and the unloading after stapling all require manual assistance, which can lead to personnel safety accidents, stapling position deviations, and insufficient stapling strength. This invention provides a robotic arm for cardboard box packaging production equipment.

[0005] To achieve the above objectives, the present invention specifically adopts the following technical solution: A robotic arm for a carton packaging production equipment includes a robotic arm mechanism and a feeding lifting platform. A feeding plate is fixedly installed on the lifting end of the feeding lifting platform. Multiple cardboards are stacked on the top of the feeding plate, and each cardboard has an adhesive joint on its top. Furthermore, a support platform is fixedly installed on both sides of the feeding lifting platform, and a second lifting arm is fixedly installed on the top of the support platform. A second horizontal telescopic arm is fixedly installed on the telescopic end of the second lifting arm, and the telescopic ends of the two second horizontal telescopic arms face the cardboard and are fixedly installed with L-shaped support plates.

[0006] Furthermore, a standard unit for detecting the standardity of the cardboard opening shape is provided on the side wall of the suspension plate. The standard unit includes two vertically arranged second linear modules that are fixedly installed on both sides of the suspension plate. A second moving end is driven and installed on one side of each of the two second linear modules. A horizontally arranged height limiter is fixedly installed on one side of each of the two second moving ends. The height limiter is located above the movable insert plate.

[0007] Specifically, the robotic arm mechanism is used to grab, open, and transfer the cardboard to the workstation of a large stapler for staple fixing. The robotic arm mechanism includes a rotary table disposed on one side of the loading lifting platform. A first lifting arm is fixedly installed on the top of the rotating end of the rotary table. A first horizontal telescopic arm is fixedly installed on the lifting end of the first lifting arm. A vertically arranged suspension plate is fixedly installed on the telescopic end of the first horizontal telescopic arm. A vertically arranged first linear module is fixedly installed on one side of the suspension plate. A first moving end is driven and installed on one side of the first linear module. A movable insert is fixedly installed on one side of the bottom of the first moving end. A fixed insert is fixedly installed on one side of the bottom of the suspension plate. The fixed insert and the movable insert are symmetrically arranged.

[0008] Specifically, a first assembly plate is fixedly installed on the top of the loading lifting platform, and two vertically arranged first limiting angle rods are fixedly installed on the top of the first assembly plate.

[0009] Furthermore, a reset spring rod, a baffle, and a limiting slide are fixedly installed on the top of the movable insert plate and the bottom of the fixed insert plate. A pressure plate is fixedly installed on the telescopic end of the reset spring rod. The two pressure plates are slidably connected to the two limiting slides respectively. The baffle is located between the pressure plate and the reset spring rod.

[0010] Furthermore, horizontally arranged leveling frames are fixedly installed on both sides of the height restriction frame, and vertically arranged adjusting slide rails are fixedly installed at one end of each leveling frame. Adjusting sliders are slidably installed inside each adjusting slide rail. Vertically arranged adjusting sliding holes are opened on one side of each adjusting slide rail. Threaded grooves are opened on the side wall of each adjusting slider. The position of the threaded grooves corresponds to the position of the adjusting sliding holes. A positioning knob is provided on one side of each adjusting slide rail. One end of the positioning knob passes through the adjusting sliding hole and is screwed into the inside of the threaded groove. A horizontally arranged laser emitter and laser receiver are fixedly installed on one side of each of the two adjusting sliders.

[0011] Furthermore, a discharge lifting platform is provided on the rotary table away from the loading lifting platform. A discharge plate is fixedly installed on the lifting end of the discharge lifting platform, and two second assembly plates are fixedly installed on the top of the discharge lifting platform. Two vertically arranged second limiting angle rods are fixedly installed on the top of each of the second assembly plates.

[0012] Furthermore, the top of the feeding plate is provided with multiple placement slots, and each placement slot contains a binding rope.

[0013] The beneficial effects of this invention are as follows: 1. This invention, by setting up a robotic arm mechanism, enables the first horizontal telescopic arm to drive the suspension plate to move the movable insert plate and the fixed insert plate into the gap. The movable insert plate moves upward, causing the cardboard to gradually open into a rectangle. The cardboard is pushed by the L-shaped support insert plates on both sides and moves to the center position, eliminating the positioning process. The bonding point is away from the lower side plate of the cardboard, which makes it convenient for large staplers to nail the bonding point, realizing the automatic unfolding and nailing of the cardboard. 2. The present invention sets up L-shaped support plates, so that the second lifting arms on both sides adjust the height of the second horizontal telescopic arms, so that the L-shaped support plates on both sides are aligned with the seams on both sides of the uppermost cardboard and the second cardboard, and then the second horizontal telescopic arms drive the L-shaped support plates to insert into the seams, lifting the uppermost cardboard so that it can be identified and grasped by the robotic arm mechanism. 3. By setting a standard unit, the present invention allows the maximum height of the second moving end on the second linear module to be set in advance according to the rectangular height of the cardboard after it is unfolded. This allows the second moving end to drive the height limiting frame to the specified height in advance, thereby limiting the maximum height of the movable insert plate and preventing the movable insert plate from being raised too much, which would cause the upper and lower side plates of the cardboard to deform after it is unfolded, affecting the structure of the cardboard itself and the nailing effect. 4. By setting up a laser emitter and a laser receiver, if the opening degree of the movable insert and the fixed insert is insufficient, the L-shaped support inserts on both sides will abut against the two sides of the cardboard to ensure the standard shape of the cardboard after it is unfolded. If it is over-opened, the upper side plate of the cardboard will be an upward convex arc surface. At this time, the laser receiver detects that the cardboard is over-opened and drives the movable insert to adjust its height to ensure the standard shape of the cardboard after it is unfolded. 5. By setting pressure plates, after the movable insert plate and the fixed insert plate are inserted into the gap between the upper and lower side plates of the cardboard, the two pressure plates will move away from the movable insert plate and the fixed insert plate by a short distance with the help of the skid-shaped structure at their front ends. In this way, the two pressure plates will cooperate with the movable insert plate and the fixed insert plate to clamp the two sides of the cardboard, thereby preventing the cardboard from slipping off the movable insert plate and the fixed insert plate during the process of transferring it from the loading lifting platform to the nailing station. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the robotic arm mechanism of the present invention; Figure 3 This is a three-dimensional structural diagram of the combination of the suspension plate and the movable insert plate of the present invention; Figure 4 This is a three-dimensional structural diagram of the cooperation between the movable insert plate and the fixed insert plate of the present invention; Figure 5 This is a three-dimensional structural diagram of the cooperation between the pressure plate and the limiting slide plate of the present invention; Figure 6 This is a schematic diagram of the three-dimensional structure of the standard unit of the present invention; Figure 7 This is the present invention. Figure 6 Schematic diagram of the structure at point A in the middle; Figure 8 This is a three-dimensional structural diagram of the material lifting platform of the present invention; Figure 9 This is a three-dimensional structural diagram of the material unloading lifting platform of the present invention; Reference numerals: 1. Rotary table; 2. First lifting arm; 3. First horizontal telescopic arm; 4. Suspension plate; 5. First linear module; 6. First moving end; 7. Movable insert plate; 8. Fixed insert plate; 9. Loading lifting platform; 10. Loading plate; 11. Second linear module; 12. Second moving end; 13. Height limit frame; 14. Leveling frame; 15. Adjusting slide rail; 1501. Adjusting slide hole; 16. Adjusting slider; 17. Positioning knob; 18. Laser emitter; 9. Laser receiver; 20. Unloading lifting platform; 21. Unloading plate; 2101. Placement slot; 22. First assembly plate; 23. First limiting angle rod; 24. Second assembly plate; 25. Second limiting angle rod; 26. Support platform; 27. Second lifting arm; 28. Second horizontal telescopic arm; 29. ​​L-shaped support plate; 30. Binding rope; 31. Reset spring rod; 32. Pressure plate; 33. Baffle; 34. Limiting slide plate; 35. Cardboard; 3501. Adhesive joint. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0016] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0017] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. In addition, the terms "first," "second," etc. are used only to distinguish the descriptions and are not to be understood as indicating or implying relative importance.

[0018] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0019] like Figures 1 to 9 As shown, a robotic arm for cardboard box packaging production equipment includes a robotic arm mechanism and a loading lifting platform 9, as... Figure 1 , Figure 8 As shown, a feeding plate 10 is fixedly installed on the lifting end of the feeding lifting platform 9. Multiple cardboards 35 are stacked on the top of the feeding plate 10. Each cardboard 35 has an adhesive joint 3501 on its top. Specifically, a support platform 26 is fixedly installed on both sides of the feeding lifting platform 9. A second lifting arm 27 is fixedly installed on the top of each support platform 26. A second horizontal telescopic arm 28 is fixedly installed on the telescopic end of each second lifting arm 27. The telescopic ends of the two second horizontal telescopic arms 28 face the cardboard 35 and are fixedly installed with L-shaped support plates 29.

[0020] In this embodiment, the first lifting arm 2, the first horizontal telescopic arm 3, the second lifting arm 27, and the second horizontal telescopic arm 28 can all be large electric push rod mechanisms commonly found in the prior art.

[0021] More specifically, when the robotic arm used in the carton packaging production equipment is working, the operator first stacks multiple cardboard 35s sequentially on the feeding plate 10 of the feeding lifting platform 9. The second lifting arms 27 on both sides adjust the height of the second horizontal telescopic arms 28 so that the L-shaped support plates 29 on both sides are aligned with the seams on both sides of the top cardboard 35 and the second cardboard 35, respectively. Then, the second horizontal telescopic arms 28 drive the L-shaped support plates 29 to insert into the seams, lifting the top cardboard 35 so that it can be identified and grasped by the robotic arm mechanism.

[0022] The four side walls of the suspension plate are equipped with standard units for detecting the standard accuracy of the cardboard's 35-fold open shape, such as... Figure 3 , Figure 6 As shown, specifically, the standard unit includes two vertically arranged second linear modules 11 that are fixedly installed on both sides of the suspension plate 4. A second moving end 12 is driven and installed on one side of each of the two second linear modules 11. A horizontally arranged height limiter 13 is fixedly installed on one side of each of the two second moving ends 12. The height limiter 13 is located above the movable insert plate 7.

[0023] In this embodiment, both the first linear module 5 and the second linear module 11 can be common linear actuators in the prior art, such as screw thread sleeves, belts and pulleys, chains and sprockets, etc. The first moving end 6 and the second moving end 12, which serve as the driving end, move linearly through the threaded guiding action or meshing action. In addition to electrical energy, components such as cylinders and hydraulic rods can also be used as power sources. Both the first linear module 5 and the second linear module 11 are equipped with self-locking structures. The first linear module 5 and the second linear module 11 in this embodiment can adopt technical solutions including but not limited to the above, depending on the actual situation.

[0024] More specifically, by setting a standard unit, the maximum height of the second moving end 12 on the second straight module 11 can be set in advance according to the rectangular height of the cardboard 35 after it is unfolded. This allows the second moving end 12 to drive the height limiting frame 13 to move to the specified height in advance, thereby limiting the maximum height of the movable insert 7. This prevents the movable insert 7 from being raised too much, which would cause the upper and lower side panels of the cardboard 35 to deform after it is unfolded, affecting the structure of the cardboard 35 itself and the nailing effect.

[0025] The robotic arm mechanism is used to grab, open, and transfer the cardboard 35 to the large stapler station for staplering, such as... Figure 2 , Figure 3 As shown, specifically, the robotic arm mechanism includes a rotary table 1 disposed on one side of the loading lifting platform 9. A first lifting arm 2 is fixedly installed on the top of the rotating end of the rotary table 1. A first horizontal telescopic arm 3 is fixedly installed on the lifting end of the first lifting arm 2. A vertically arranged suspension plate 4 is fixedly installed on the telescopic end of the first horizontal telescopic arm 3. A vertically arranged first linear module 5 is fixedly installed on one side of the suspension plate 4. A first moving end 6 is driven and installed on one side of the first linear module 5. A movable insert plate 7 is fixedly installed on one side of the bottom of the first moving end 6. A fixed insert plate 8 is fixedly installed on one side of the bottom of the suspension plate 4. The fixed insert plate 8 and the movable insert plate 7 are symmetrically arranged.

[0026] In this embodiment, the rotary table 1 is driven by a servo motor and consists of a fixed base and a drive end. The fixed base is fixed to the ground or platform, and the drive disk is rotated inside the fixed base. The drive disk rotates inside the fixed base through a servo motor, gearbox or transmission mechanism.

[0027] More specifically, by setting up a robotic arm mechanism, after the topmost cardboard 35 is lifted, the rotary table 1 drives the first lifting arm 2 and the first horizontal telescopic arm 3 to turn towards the cardboard 35. The first lifting arm 2 lifts and lowers, aligning the combined movable insert 7 and fixed insert 8 with the gap between the upper and lower side panels of the lifted cardboard 35. At this time, the cardboard 35 is in a folded state. Then, the first horizontal telescopic arm 3 drives the suspension plate 4 to insert the movable insert 7 and fixed insert 8 into the gap and contact the upper and lower side panels of the cardboard 35 respectively. The first linear module 5 drives the first moving end 6 to move the movable insert 7 upward, thus driving... As the cardboard 35 gradually unfolds into a rectangle, the upper and lower side plates of the cardboard 35 slide relative to the movable insert plate 7 and the fixed insert plate 8. At this time, the L-shaped support insert plates 29 on both sides move towards the cardboard 35 simultaneously, so that the rectangular cardboard 35 continues to slide relative to the movable insert plate 7 and the fixed insert plate 8 due to the push of the L-shaped support insert plates 29 on both sides. This moves the cardboard 35 to the center position, thereby eliminating the need for subsequent stapler positioning. The upper gluing point 3501 is away from the lower side plate of the cardboard 35, which makes it convenient for large staplers to staple the gluing point 3501, realizing the automatic unfolding and staple fixing of the cardboard 35.

[0028] like Figure 8 As shown, specifically, a first assembly plate 22 is fixedly installed on the top of the loading lifting platform 9, and two vertically set first limiting angle rods 23 are fixedly installed on the top of the first assembly plate 22.

[0029] In this embodiment, the top of the first assembly plate 22 and the second assembly plate 24 are provided with uniformly arranged assembly holes. The first limiting angle rod 23 and the second assembly plate 24 are installed on the first assembly plate 22 and the second assembly plate 24 by fastening bolts and assembly holes.

[0030] More specifically, by setting the first limiting angle rod 23, the first limiting angle rod 23, which is fixed by bolts, can be adjusted in position according to the size of the cardboard 35, so that the two first limiting angle rods 23 are on the side of the cardboard 35 away from the robot arm mechanism, blocking the two top corners of the cardboard 35. When the movable insert plate 7 and the fixed insert plate 8 are inserted into the gap of the cardboard 35, the cardboard 35 is intercepted to prevent it from slipping off the L-shaped support insert plate 29 under the action of friction.

[0031] like Figure 4 , Figure 5As shown, a reset spring rod 31, a baffle 33, and a limiting slide plate 34 are fixedly installed on the top of the movable insert plate 7 and the bottom of the fixed insert plate 8. Specifically, a pressure plate 32 is fixedly installed on the telescopic end of the reset spring rod 31. The two pressure plates 32 are slidably connected to the two limiting slide plates 34 respectively. The baffle 33 is located between the pressure plate 32 and the reset spring rod 31.

[0032] In this embodiment, the end of the pressure plate 32 facing the cardboard 35 is shaped like a skid, and the reset spring rod 31 uses a low-stiffness spring inside.

[0033] More specifically, by setting pressure plates 32, after the movable insert plate 7 and the fixed insert plate 8 are inserted into the gap between the upper and lower side plates of the cardboard 35, the two pressure plates 32 will move away from the movable insert plate 7 and the fixed insert plate 8 by a short distance using the skid-shaped structure at their front ends. This allows the two pressure plates 32 to cooperate with the movable insert plate 7 and the fixed insert plate 8 to clamp the two sides of the cardboard 35, thereby preventing the cardboard 35 from slipping off the movable insert plate 7 and the fixed insert plate 8 during the process of transferring it from the loading lifting platform 9 to the nailing station.

[0034] like Figure 6 , Figure 7 As shown, horizontally arranged leveling frames 14 are fixedly installed on both sides of the height restriction frame 13. Specifically, a vertically arranged adjusting slide rail 15 is fixedly installed at one end of each leveling frame 14. An adjusting slider 16 is slidably installed inside each adjusting slide rail 15. A vertically arranged adjusting sliding hole 1501 is opened on one side of each adjusting slide rail 15. A threaded groove is opened on the side wall of the adjusting slider 16. The position of the threaded groove corresponds to the position of the adjusting sliding hole 1501. A positioning knob 17 is provided on one side of each adjusting slide rail 15. One end of the positioning knob 17 passes through the adjusting sliding hole 1501 and is screwed into the inside of the threaded groove. A horizontally arranged laser emitter 18 and a laser receiver 19 are fixedly installed on one side of each of the two adjusting sliders 16.

[0035] More specifically, by setting up a laser emitter 18 and a laser receiver 19, after the cardboard 35 is unfolded into a rectangle, the height of the laser emitter 18 and the laser receiver 19 is consistent with the standard height of the upper side panel of the cardboard 35. If the movable insert 7 and the fixed insert 8 are not fully opened, the L-shaped support inserts 29 on both sides will simultaneously abut against the two sides of the bottom of the cardboard 35, making its sides right angled, thereby ensuring the standard shape of the unfolded cardboard 35. If the movable insert 7 and the fixed insert 8 are over-opened, the upper side panel of the cardboard 35 will become an upwardly convex arc surface. At this time, the laser emitted by the laser emitter 18 towards the laser receiver 19 will be blocked by the arc surface and will not be received by the laser receiver 19, thus detecting that the cardboard 35 is over-opened. The first moving end 6 drives the movable insert 7 to lower its height, further ensuring the standard shape of the unfolded cardboard 35.

[0036] like Figure 1 , Figure 9 As shown, a material unloading lifting platform 20 is provided on the rotary table 1 away from the material loading lifting platform 9. Specifically, a material unloading plate 21 is fixedly installed on the lifting end of the material unloading lifting platform 20, and two second assembly plates 24 are fixedly installed on the top of the material unloading lifting platform 20. Two vertically arranged second limit angle rods 25 are fixedly installed on the top of each of the second assembly plates 24.

[0037] In this embodiment, the loading lifting platform 9 and the unloading lifting platform 20 are common linear lifting mechanisms in the prior art, such as lifting platforms driven by power components such as electric push rods, hydraulic rods, cylinders, and linear modules, or cross scissor lifting mechanisms driven by electric, pneumatic, or hydraulic pressure.

[0038] More specifically, by setting up the unloading lifting platform 20, when the unfolded shape of the cardboard 35 meets the standard, the first lifting arm 2 lifts the cardboard 35 upwards until it is above the top of the first limit angle rod 23. Then, the rotary table 1 drives the cardboard 35 to turn towards the large stapler. With the extension and retraction of the first horizontal telescopic arm 3, the stapler inserts a row of evenly distributed reinforcing nails on the gluing point 3501. Afterwards, the rotary table 1 drives the cardboard 35 to continue rotating above the unloading lifting platform 20 and lowers its height so that the cardboard 35... Once inside the four second limiting angle rods 25, the movable insert plate 7 resets, causing the cardboard 35 to fold automatically. The first horizontal telescopic arm 3 retracts, causing the movable insert plate 7, fixed insert plate 8, pressure plate 32, etc., to detach from the cardboard 35. The cardboard 35 is blocked by the second limiting angle rods 25 and stops on the unloading plate 21, completing the unloading. Finally, the unloading lifting platform 20 drives the unloading plate 21 to descend by one unit distance, and the loading lifting platform 9 drives the loading plate 10 to lift the cardboard 35 by one unit distance, starting the next round of nailing reinforcement.

[0039] like Figure 9 As shown, specifically, the top of the feeding plate 21 is provided with multiple placement slots 2101, and each placement slot 2101 contains a binding rope 30.

[0040] More specifically, by setting up the placement slot 2101, once the cardboard 35 falling on the feed plate 21 is stacked to a sufficient quantity, the binding rope 30 located in the placement slot 2101 will automatically be at the bottom of the cardboard 35. At this time, the workers can lift both ends of the binding rope 30 to bind the cardboard 35, and after taking out the bound cardboard 35, continue to put the binding rope 30 into the placement slot 2101, making the binding of the cardboard 35 faster and more convenient.

[0041] In summary: Before unfolding: First, stack multiple cardboards 35 on the loading plate 10 of the loading lifting platform 9. Adjust the height of the second horizontal telescopic arm 28 on both sides of the second lifting arm 27 so that the L-shaped support plates 29 on both sides are aligned with the seams on both sides of the top cardboard 35 and the second cardboard 35 respectively. Then, the second horizontal telescopic arm 28 drives the L-shaped support plates 29 to insert into the seams and lift the top cardboard 35. When unfolded: the rotary table 1 drives the first lifting arm 2 and the first horizontal telescopic arm 3 to turn towards the cardboard 35. The first lifting arm 2 lifts and lowers, so that the movable insert 7 and the fixed insert 8 in the combined state are aligned with the gap between the upper and lower side plates of the lifted cardboard 35. At this time, the cardboard 35 is in a folded state. Then, the first horizontal telescopic arm 3 drives the suspension plate 4 to insert the movable insert 7 and the fixed insert 8 into the gap and contact the upper and lower side plates of the cardboard 35 respectively. The first linear module 5 drives the first moving end 6 to move the movable insert 7 upward, causing the cardboard 35 to gradually open into a rectangle. The upper and lower side plates of the cardboard 35 slide relative to the movable insert 7 and the fixed insert 8. At this time, the L-shaped support inserts 29 on both sides move towards the cardboard 35 simultaneously, so that the rectangular cardboard 35 continues to slide relative to the movable insert 7 and the fixed insert 8 due to the push of the L-shaped support inserts 29 on both sides, so that the cardboard 35 moves to the center position. After unfolding: When the cardboard 35 unfolds into a rectangle, the height of the laser emitter 18 and the laser receiver 19 is consistent with the standard height of the upper side panel of the cardboard 35. If the movable insert 7 and the fixed insert 8 are not fully open, the L-shaped support inserts 29 on both sides will simultaneously abut against the two sides of the bottom of the cardboard 35, making its sides right angled, thus ensuring the standard shape of the unfolded cardboard 35. If the movable insert 7 and the fixed insert 8 are over-opened, the upper side panel of the cardboard 35 will form an upward-convex arc surface. At this time, the laser emitted by the laser emitter 18 towards the laser receiver 19 will be blocked by the arc surface and will not be received by the laser receiver 19, thus detecting that the cardboard 35 is over-unfolded. The first moving end 6 drives the movable insert 7 to lower its height. When the unfolded shape of the cardboard 35 meets the standard, the first lifting arm 2 drives the cardboard 35 to rise upwards. The cardboard 35 is moved to a position above the top of the first limiting angle bar 23. Then, the rotary table 1 drives the cardboard 35 to turn towards the large stapler. With the extension and retraction of the first horizontal telescopic arm 3, the stapler applies a row of evenly distributed reinforcing nails to the bonding area 3501. Afterward, the rotary table 1 drives the cardboard 35 to continue rotating above the unloading lifting platform 20 and lowers its height so that the cardboard 35 enters the four second limiting angle bars 25. The movable insert 7 resets, causing the cardboard 35 to fold automatically. The first horizontal telescopic arm 3 retracts, causing the movable insert 7, fixed insert 8, pressure plate 32, etc., to detach from the cardboard 35. The cardboard 35 is blocked by the second limiting angle bar 25 and stops on the unloading plate 21, completing the unloading. Finally, the unloading lifting platform 20 drives the unloading plate 21 to descend by one unit distance, and the loading lifting platform 9 drives the loading plate 10 to lift the cardboard 35 by one unit distance, starting the next round of nailing reinforcement.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A robotic arm for cardboard box packaging production equipment, characterized in that, It includes a robotic arm mechanism and a loading lifting platform (9). The lifting end of the loading lifting platform (9) is fixedly installed with a loading plate (10). Multiple cardboards (35) are stacked on the top of the loading plate (10). Each cardboard (35) has an adhesive joint (3501) on its top. The robotic arm mechanism is used to grab, open and transfer the cardboard (35) to the large stapler station for staple fixing. The robotic arm mechanism includes a rotating table (1) set on one side of the loading lifting platform (9). A first lifting arm (2) is fixedly installed on the top of the rotating end of the rotating table (1). A first horizontal telescopic arm (3) is fixedly installed on the lifting end of the first lifting arm (2). A vertically set hanging plate (4) is fixedly installed on the telescopic end of the first horizontal telescopic arm (3). A vertically set first straight module (5) is fixedly installed on one side of the hanging plate (4). A first moving end (6) is driven to be installed on one side of the first straight module (5). A movable insert plate (7) is fixedly installed on one side of the bottom of the first moving end (6). A fixed insert plate (8) is fixedly installed on one side of the bottom of the hanging plate (4). The fixed insert plate (8) and the movable insert plate (7) are symmetrically arranged. A standard unit for detecting the standardity of the opening shape of the cardboard (35) is provided on the side wall of the hanging plate (4).

2. The robotic arm for cardboard box packaging production equipment according to claim 1, characterized in that, The standard unit includes two vertically arranged second linear modules (11) fixedly installed on both sides of the suspension plate (4). A second moving end (12) is driven and installed on one side of each of the two second linear modules (11). A horizontally arranged height limiter (13) is fixedly installed on one side of each of the two second moving ends (12). The height limiter (13) is located above the movable insert plate (7).

3. The robotic arm for cardboard box packaging production equipment according to claim 2, characterized in that, Both sides of the height restriction frame (13) are fixedly installed with horizontally arranged leveling frames (14). One end of each leveling frame (14) is fixedly installed with a vertically arranged adjusting slide rail (15). An adjusting slider (16) is slidably installed inside each adjusting slide rail (15). A vertically arranged adjusting slide hole (1501) is opened on one side of each adjusting slide rail (15). A threaded groove is opened on the side wall of the adjusting slider (16). The position of the threaded groove corresponds to the position of the adjusting slide hole (1501). A positioning knob (17) is provided on one side of each adjusting slide rail (15). One end of the positioning knob (17) passes through the adjusting slide hole (1501) and is screwed into the inside of the threaded groove. A horizontally arranged laser emitter (18) and a laser receiver (19) are fixedly installed on one side of each of the two adjusting sliders (16).

4. The robotic arm for cardboard box packaging production equipment according to claim 1, characterized in that, The rotary table (1) is located away from the loading lifting platform (9) and is provided with a unloading lifting platform (20). The lifting end of the unloading lifting platform (20) is fixedly installed with a unloading plate (21).

5. A robotic arm for cardboard box packaging production equipment according to claim 4, characterized in that, The top of the loading lifting platform (9) is fixedly installed with a first assembly plate (22), and the top of the first assembly plate (22) is fixedly installed with two vertically arranged first limiting angle rods (23). The top of the unloading lifting platform (20) is fixedly installed with two second assembly plates (24), and the top of each of the second assembly plates (24) is fixedly installed with two vertically arranged second limiting angle rods (25).

6. A robotic arm for cardboard box packaging production equipment according to claim 4, characterized in that, The top of the feeding plate (21) is provided with multiple placement slots (2101), and each placement slot (2101) contains a binding rope (30).

7. A robotic arm for cardboard box packaging production equipment according to claim 1, characterized in that, Both sides of the feeding lifting platform (9) are fixedly installed with support platforms (26), and the top of the support platforms (26) is fixedly installed with second lifting arms (27). The telescopic ends of the second lifting arms (27) are fixedly installed with second horizontal telescopic arms (28). The telescopic ends of the two second horizontal telescopic arms (28) face the cardboard (35) and are fixedly installed with L-shaped support plates (29).

8. A robotic arm for cardboard box packaging production equipment according to claim 1, characterized in that, The top of the movable insert (7) and the bottom of the fixed insert (8) are both fixedly installed with a reset spring rod (31), a baffle (33) and a limiting slide plate (34). The telescopic ends of the reset spring rod (31) are fixedly installed with pressure plates (32). The two pressure plates (32) are slidably connected to the two limiting slide plates (34) respectively. The baffle (33) is located between the pressure plate (32) and the reset spring rod (31).

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