A special fixture for a robotic arm that integrates functions of picking, unpacking, and packing

Abstract

The present invention discloses a special fixture for a robotic arm that integrates functions of picking, opening boxes, and packing boxes. It includes a fixture main body. A base is provided at the bottom of the fixture main body, a top plate is provided above the base, and a suction cup is provided below the base. Unboxing mechanisms are provided on both side walls of the fixture main body, which can rotate and clamp the cardboard box sucked by the suction cup to drive the flat cardboard box to open. A clamping mechanism is provided on one side of the unboxing mechanism, which can clamp and release the material. A bottom plate push plate is also provided on the base, which can push downward after the clamping mechanism and the suction cup release the material into the cardboard box and push the material away from this fixture. The present invention provides a special fixture for a robotic arm that integrates functions of picking, opening boxes, and packing boxes. It provides a clamping mechanism to assist the suction cup in transferring materials, which is not affected by the surface roughness of the items. It also helps to open the cardboard box by providing an unboxing mechanism, thus saving other unboxing processes and improving the production efficiency of industrialization and industrialization.

Description

Technical Field

[0001] The present invention relates to the technical field of special fixtures for robotic arms, and particularly to a special fixture for robotic arms that integrates functions of picking, unpacking, and packing boxes. Background Art

[0002] For robotic arm fixtures, most of them are still mainly suction cup fixtures at present. Such fixtures rely on the strong suction of the suction cups to transfer items. However, no matter how strong the suction of the suction cups is, there will inevitably be some items with rough surfaces, which will cause the suction of the suction cups to decrease, thus affecting the success rate of the suction cups in transferring materials. Secondly, the current robotic arm fixtures generally lack an unpacking mechanism. When unpacking is required, other machinery or manual cooperation is still needed, which is not conducive to high-efficiency industrial operation. The present invention provides a special fixture for robotic arms that integrates functions of picking, unpacking, and packing boxes. It provides a clamping mechanism to assist the suction cups in transferring materials, which is not affected by the surface roughness of the items. It also helps to open the cardboard box by providing an unpacking mechanism, thus saving other unpacking processes and improving the production efficiency of industrialization. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a special fixture for robotic arms that integrates functions of picking, unpacking, and packing boxes to solve the technical problems mentioned in the background art.

[0004] To solve the technical problems, the present invention is implemented by adopting the following technical solutions:

[0005] A special fixture for robotic arms that integrates functions of picking, unpacking, and packing boxes, which includes a fixture main body. A base is provided at the bottom of the fixture main body. Above the base, there is a top plate for connecting with the robotic arm. Below the base, there are suction cups for sucking cardboard boxes or materials. Unpacking mechanisms are provided on both side walls of the fixture main body, which can rotate and clamp the cardboard boxes sucked by the suction cups to drive the flat cardboard boxes to open. On one side of the unpacking mechanism, there is a clamping mechanism, which can clamp and release the materials. A bottom plate pusher is also provided on the base, which can push downward after the clamping mechanism and the suction cups release the materials into the cardboard box and push the materials away from this fixture.

[0006] Further improvements are as follows. The unpacking mechanism includes a rotary shaft seat, a rotary cylinder (or a rotary motor), a rotary arm, and a rotary clamping plate. Rotary shaft seats are installed on both sides of the base. A rotary cylinder is installed on one side of the rotary shaft seat. The output rotating shaft of the rotary cylinder passes through the rotary shaft seat and is fixedly connected to the rotary arm. A rotary clamping plate is connected to the outside of the rotary arm. The rotary clamping plates on both sides can perform a rotary clamping action under the action of the rotary cylinder to help open a flat cardboard box. A notch is formed on the top plate. When the rotary clamping plate returns to its original position after unpacking, it just fits into the notch. The clamping mechanism includes a longitudinal lifting mechanism, a transverse sliding mechanism, and a connecting rod driving mechanism that provides power for the transverse sliding mechanism. The longitudinal lifting mechanism includes a lifting seat, a lifting cylinder, and a lifting slide rod. A lifting cylinder is installed on the outside of the lifting seat. A lifting slide rod is slidably installed in the lifting cylinder. The output end of the lifting slide rod is connected to a material clamping plate. The transverse sliding mechanism includes a translation seat, a guide slider, and a guide rail. The translation seat is located at the upper end of the lifting seat and is perpendicular to the lifting seat. A guide slider is provided at the upper end of the translation seat. The top plate is provided with a guide rail at a position corresponding to the guide slider that can slidably cooperate with the guide slider. The connecting rod driving mechanism includes a middle rotating shaft, a three-pronged rotating rod, a connecting rod driving cylinder, a left connecting rod, and a right connecting rod. The middle rotating shaft is fixed below the top plate and is used as a rotating shaft for the three-pronged rotating rod. A hinge ear is provided at one end of the translation seat. One arm of the three-pronged rotating rod is hinged to the hinge ear of the left translation seat through the left connecting rod. The other arm of the three-pronged rotating rod is hinged to the hinge ear of the right translation seat through the right connecting rod. The third arm of the three-pronged rotating rod is hinged to the output shaft of the connecting rod driving cylinder. By driving the connecting rod driving cylinder to drive the three-pronged rotating rod to rotate, the connecting rod is driven to rotate, and finally the translation seats on both sides slide left and right to control the clamping and release of the material clamping plates on both sides. The bottom plate push plate includes a push plate main body and a push plate cylinder. The push plate main body is located below the base. The push plate cylinder is provided above the base. The output end of the push plate cylinder passes through the base and is fixedly connected to the push plate main body to realize the pushing, pulling, lifting of the push plate main body.

[0007] Further improvements are as follows. The output rotating shaft includes a cylinder rotating shaft and a rotating arm rotating shaft. The cylinder rotating shaft and the rotating arm rotating shaft are connected by a coupling. The rotating arm rotating shaft passes through the rotary shaft seat and is connected to the rotary shaft seat through a bearing. A square shaft sleeve is provided on the outside of the rotating arm rotating shaft. The square shaft sleeve rotates as the rotary cylinder drives the rotating arm rotating shaft to rotate. A right-angle clamping plate is formed at one end of the rotary arm. The right-angle clamping plate is fixedly connected to the square shaft sleeve.

[0008] Further improvements are as follows. A cylinder seat is provided on one side of the rotary shaft seat. The rotary cylinder is installed on the cylinder seat.

[0009] Further improvements are as follows. The rotary clamping plate and the rotary arm are arranged at a right angle.

[0010] Further improvement lies in that the output end of the lifting sliding rod is connected with a lifting plate, and the material clamping plate is connected to the bottom of the lifting plate.

[0011] Further improvement lies in that the three-fork rotating rod includes a left rotating rod, a right rotating rod and a driving rotating rod. The left rotating rod and the right rotating rod are coaxially arranged, and the driving rotating rod is perpendicularly arranged with respect to the left rotating rod and the right rotating rod.

[0012] Further improvement lies in that a square groove is provided on the push plate body for installing a suction cup on the base. A push plate guide rod is also connected to the push plate body. The push plate guide rod passes through the base to provide guidance and limitation for the lifting of the push plate body, preventing the bottom plate push plate from shaking when pushing the material.

[0013] Further improvement lies in that the upper end of the lifting sliding rod extends out of the lifting cylinder. When the translation seat is driven by the connecting rod driving mechanism to move inward, it can act as a limiting rod to prevent excessive inward translation.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] (1) The present invention provides a special fixture for a robotic arm that integrates functions of picking, opening boxes, and packing boxes. By providing a clamping mechanism to assist the suction cup in transferring materials, it is not affected by the surface roughness of the items. It also provides an opening mechanism to help open the carton, thus saving other box-opening processes and improving the production efficiency of industrialization and industrialization.

[0016] (2) The present invention ingeniously combines the connecting rod driving mechanism, the longitudinal lifting mechanism and the transverse sliding mechanism. By using the driving of the connecting rod, a driving member drives the movement of the two translation seats on both sides, thereby driving the material clamping plates on both sides to clamp the material. The structure is simple but very practical, and it runs more stably and more labor-saving.

[0017] (3) The present invention unfolds the flat carton by using the rotating clamping plates that rotate and clamp on both sides, which can eliminate the need for additional box-opening machines and save the production costs of enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 : Schematic diagram of the overall structure decomposition of the special fixture for the robotic arm of the present invention;

[0019] Figure 2 : Schematic diagram of the box-opening mechanism, bottom plate push plate and base structure of the special fixture for the robotic arm of the present invention;

[0020] Figure 3 : Schematic diagram of the clamping mechanism of the special fixture for the robotic arm of the present invention;

[0021] Figure 4 : Schematic diagram of the box-opening mechanism, base and suction cup structure of the special robotic arm of the present invention;

[0022] Figure 5 : Schematic exploded view of the clamping mechanism of the special fixture for the robotic arm of the present invention;

[0023] Figure 6 : Schematic view of the push plate structure of the bottom plate of the special fixture for the robotic arm of the present invention;

[0024] Figure 7 : Exploded view of the components in the unpacking mechanism on the left side of the special fixture for the robotic arm of the present invention;

[0025] Figure 8 : Schematic view of the rotation direction of the unpacking mechanism of the special fixture for the robotic arm of the present invention;

[0026] Figure 9 : Schematic view of the three - pronged rotating rod structure in the special fixture for the robotic arm of the present invention;

[0027] Figure 10 : Schematic view of the completion of unpacking of the special fixture for the robotic arm of the present invention;

[0028] Figure 11 : Schematic view of the structure of the special fixture for the robotic arm installed on the robotic arm.

[0029] In the figure: fixture main body 1, base 2, top plate 3, notch 301, bottom plate push plate 4, rotary shaft seat 5, rotary cylinder 6, rotary arm 7, rotary clamping plate 8, lifting seat 9, lifting cylinder 10, lifting slide rod 11, material clamping plate 12, translation seat 13, hinge ear 131, guide slider 14, guide rail 15, middle rotating shaft 16, three - pronged rotating rod 17, left rotating rod 171, right rotating rod 172, driving rotating rod 173, connecting rod driving cylinder 18, left connecting rod 19, right connecting rod 20, push plate main body 401, square groove 402, push plate cylinder 403, push plate guide rod 404, cylinder rotating shaft 21, rotating arm rotating shaft 22, coupling 23, square shaft sleeve 24, right - angle clamping plate 71, cylinder seat 25, lifting plate 26, cardboard box 27, suction cup 28, piston rod 29. Detailed implementation manners

[0030] Next, in combination with the accompanying drawings and specific implementation manners, the present invention will be further described. It should be noted that, on the premise of no conflict, any combination of the following described embodiments or technical features can form a new embodiment.

[0031] Reference Figures 1 to 11 :

[0032] Embodiment 1: Reference Figures 1 - 5, the present invention discloses a special fixture for a robotic arm that integrates functions of picking, opening boxes, and packing. This fixture is installed on the robotic arm and is used as a robotic arm fixture to pick and transfer materials. It includes a fixture main body 1. The fixture main body 1 is a frame structure with a cavity formed inside for installing components. A base 2 is provided at the bottom of the fixture main body 1. Above the base 2, there is a top plate 3 for installing and connecting with the robotic arm. Below the base 2, there are suction cups 28 for sucking cardboard boxes 27 or materials. There are multiple suction cups 28, and each suction cup 28's suction and release actions are controlled by its respective cylinder (or air pipe) controlled by a main board. On both side walls of the fixture main body 1, there is an unpacking mechanism. The unpacking mechanism can rotate and clamp the cardboard box 27 sucked by the suction cup 28 to drive the flat cardboard box 27 to open. On one side of the unpacking mechanism, there is a clamping mechanism that can clamp and release materials. Above, the unpacking mechanism and the clamping mechanism are symmetrically arranged on both sides of the fixture main body 1. On the base 2, there is also a bottom plate push plate 4. After the unpacking mechanism opens the cardboard box 27, and the clamping mechanism and the suction cup 28 release the materials into the cardboard box 27, the bottom plate push plate 4 can push downward and accurately push the materials away from this fixture. Different from traditional robotic arm fixtures, this special fixture for a robotic arm is provided with an unpacking mechanism, eliminating the need to additionally install a separate unpacking device, which can save production costs and improve production efficiency.

[0033] Continue to refer to Figures 1 - 5 , specifically, as a further supplement to Embodiment 1, the unpacking mechanism includes a rotating shaft seat 5, a rotating cylinder 6 (or a rotating motor), a rotating arm 7, and a rotating clamping plate 8. Rotating shaft seats 5 are installed on both sides of the base 2. Preferably, the rotating shaft seats 5 are installed at the edge parts inside the fixture main body 1. On one side of the rotating shaft seat 5, a rotating cylinder 6 is installed. Specifically, the rotating shaft seat 5 is a double-support seat body. There is a rotating hole on the rotating shaft seat 5. The output rotating shaft of the rotating cylinder 6 passes through and is installed at the rotating hole of the rotating shaft seat 5 through a bearing. Among them, a section of the output rotating shaft between the two seat bodies of the rotating shaft seat 5 is fixedly connected to the rotating arm 7. The outside of the rotating arm 7 is connected with a rotating clamping plate 8. The two rotating clamping plates 8 on both sides can perform rotating clamping actions around their respective rotating shafts under the action of the rotating cylinder 6 (the left rotating clamping plate rotates counterclockwise, and the right rotating clamping plate rotates clockwise) to help the flat cardboard box 27 open. In addition, in order to increase the action radius of the rotating clamping plate 8, a notch 301 is opened on the top plate 3. When the rotating clamping plate 8 is in the reset state, the top of the rotating clamping plate 8 just fits into this notch 301; in this way, the rotating clamping plate 8 is not limited inside the fixture main body 1 or below the top plate 3. The longer rotating clamping plate 8 has a longer working radius and can open larger cardboard boxes 27.

[0034] Specifically, as a further supplement to Embodiment 1, the clamping mechanism includes a longitudinal lifting mechanism, a transverse sliding mechanism, and a link driving mechanism that provides power to the transverse sliding mechanism. The longitudinal lifting mechanism includes a lifting seat 9, a lifting cylinder 10, and a lifting slide rod 11. The lifting seat 9 is located on the left and right side surfaces of the fixture body 1. The lifting cylinder 10 is installed on the outer side of the lifting seat 9, and a lifting slide rod 11 (or a lifting push rod, which is pushed up and down by the cylinder and can be driven by the piston rod 29 of the cylinder or other pushing methods, refer to Figure 5) The output end of the lifting slide bar 11 is connected with a material clamping plate 12. The material clamping plate 12 is flat and extends downward to the lower part of the suction cup 28. Preferably, the material clamping plate 12 is a polygonal clamping plate. Among them, one side close to the rotating clamping plate 8 is provided with an inclined surface, which can avoid the downward rotation of the rotating clamping plate 8. The transverse sliding mechanism includes a translation seat 13, a guide slider 14 and a guide rail 15. The translation seat 13 is located at the upper end of the lifting seat 9 and is perpendicular to the lifting seat 9. Here, the translation seat 13 is directly fixedly installed on the top of the lifting seat 9, on the inner side of the fixture body 1. A guide slider 14 is arranged at the upper end of the translation seat 13. The top plate 3 is provided with a guide rail 15 at the position corresponding to the guide slider 14, which can be slidably matched with the guide slider 14. Here, preferably, the guide rail 15 and the guide slider 14 are in a concave-convex matching manner and are provided with chamfers to prevent the guide slider 14 from falling during the sliding process. It should be understood that the longitudinal lifting mechanism and the transverse sliding mechanism are both hung on the top plate 3 of the fixture body 1 by the engagement of the guide rail 15 and the guide slider 14. The link driving mechanism includes a middle rotating shaft 16, a three-pronged rotating rod 17, a link driving cylinder 18, a left link 19 and a right link 20. The middle rotating shaft 16 is fixed under the top plate 3 and is used as a rotating shaft for the three-pronged rotating rod 17. The three-pronged rotating rod 17 is provided with a rotating hole and three arms. During assembly, a nut or an anti-falling collar also needs to be sleeved under the middle rotating shaft 16 to prevent the three-pronged rotating rod 17 from disengaging from the middle rotating shaft 16. One end of each of the two translation seats 13 located on both sides is provided with a hinge ear 131 facing each other, and the hinge ear 131 is provided with a hinge hole. Each of the three arms of the three-pronged rotating rod 17 is provided with a hinge hole. The left arm of the three-pronged rotating rod 17 on the left is hinged with the left link 19, and the left link 19 is hinged with the hinge ear 131 of the left translation seat 13 on the left, so as to form a left hinge link. The right arm of the three-pronged rotating rod 17 on the right is hinged with the right link 20, and the right link 20 is hinged with the hinge ear 131 of the right translation seat 13 on the right, so as to form a right hinge link. The third arm of the three-pronged rotating rod 17 is hinged with the output shaft of the link driving cylinder 18. When the output shaft of the link driving cylinder 18 extends outwards, the three-pronged rotating rod 17 rotates counterclockwise. The arms on both sides of the three-pronged rotating rod 17 drive the left link 19 and the right link 20 to perform a twisting action, thereby pulling the two translation seats 13 on the left and right towards the middle, so as to drive the material clamping plate 12 to complete the clamping action on the material. When the output shaft of the link driving cylinder 18 retracts inwards and drives the three-pronged rotating rod 17 to rotate clockwise, the translation seats 13 that were previously pulled towards the middle are given an outward pulling force by the left link 19 and the right link 20, so as to force the translation seats 13 to slide outwards to the left, thereby completing the release of the material. By driving the link driving cylinder 18 to drive the three-pronged rotating rod 17 to rotate, the link is driven to rotate, and finally the two translation seats 13 on both sides slide left and right to control the clamping and release of the two material clamping plates 12;Similarly, by controlling the lifting cylinder 10 to control the extension and retraction of the lifting slide bar 11, the up and down stroke of the material clamping plate 12 can be controlled. The bottom plate push plate 4 includes a push plate main body 401 and a push plate cylinder 403. The push plate main body 401 is located below the base 2, and the push plate cylinder 403 is arranged above the base 2. The output end of the push plate cylinder 403 passes through the base 2 and is fixedly connected to the push plate main body 401 to realize the push-pull lifting of the push plate main body 401. Preferably, the push plate main body 401 is arranged parallel to the base 2, and a plurality of square grooves 402 are arranged on the push plate main body 401 for installing the suction cups 28.;

[0035] During use, first, the link drive cylinder 18 drives the translation seats 13 on both sides to slide outwards. Then, the lifting cylinder 10 controls the lifting slide bar 11 to extend downwards, thereby controlling the material clamping plate 12 to move downwards, so that it can extend into a certain box to clamp the material. Then, the link drive mechanism drives the translation seats 13 to retract inwards, thereby driving the material clamping plate 12 to clamp the material (the stroke of the lifting slide bar 11 can be controlled by the lengths of the internal slide bar and the piston rod). Then, the lifting slide bar 11 is retracted by a part of the stroke. By operating like this, the material is not easily shaken or dropped due to too long a lever arm. Of course, at this time, the suction cups 28 also adsorb the surface of the material. The suction cups are the main adsorption force for sucking the material, and the material clamping plate 12 is more used as an auxiliary clamp to prevent the adsorption force of the suction cups 28 from being insufficient. When the material is clamped, and then in cooperation with the transfer of the robotic arm, after reaching the designated position (such as above the opening of the cardboard box 27), the lifting slide bar 11 extends out, and the material clamping plate 12 extends downwards to put the material into the designated position. Then, in cooperation with the link drive mechanism, the translation seats 13 are driven to open outwards, driving the material clamping plate 12 to open outwards, thereby releasing the material. At this time, the suction cups 28 release the suction force. Finally, in cooperation with the bottom plate push plate 4, the material is pushed downwards to prevent some of the suction cups 28 from not being fully released. Otherwise, when some of the suction cups 28 still have suction force, when the robotic arm drives this fixture to rise, it is easy to lift the material again. If the material is a fragile item, it is easy to break. Of course, at this time, there is also a concern, that is, whether the violent downward push of the bottom plate push plate 4 will damage individual suction cups 28. It should be understood that here it is not to let the bottom plate push plate 4 push the entire material away and release it, but to prevent some suction cups from lifting the material because they still have suction force. Compared with the damage of valuable materials, the slight damage caused by some suction cups being forced to separate is less of a loss.

[0036] Example 2: Refer to Figure 7, on the basis of Embodiment 1, Embodiment 1 provides an embodiment in which the output rotating shaft of the rotary cylinder 6 is directly fixedly connected to the rotating arm. During actual operation, the rotary cylinder 6 is likely to be unable to exert the maximum rotational torque output due to the overly long output rotating shaft. Moreover, it is not easy to assemble the overly long output rotating shaft within the limited fixture body 1. Here, the output rotating shaft includes a cylinder rotating shaft 21 and a rotating arm rotating shaft 22. The cylinder rotating shaft 21 and the rotating arm rotating shaft 22 are connected by a coupling 23. The rotating arm rotating shaft 22 passes through the rotating shaft seat 5 and is connected to the rotating shaft seat 5 through a bearing. A square shaft sleeve 24 is sleeved outside the rotating arm rotating shaft 22. The square shaft sleeve 24 rotates as the rotary cylinder 6 drives the rotation of the rotating arm rotating shaft 22. The rotating arm rotating shaft 22 is a rotating shaft with a square column in the middle and circular columns on both sides, which facilitates the insertion of the square shaft sleeve 24. One end of the rotating arm 7 is formed with a right-angle clamping plate 71. The right-angle clamping plate 71 is fixedly connected to the square shaft sleeve 24. The square shaft sleeve 24 cooperates with the right-angle clamping plate 71. Compared with directly connecting the circular rotating shaft to the rotating arm 7, the power transmission is more direct and the generated torque will be stronger. Specifically, reinforcing ribs are also provided at the lower ends of the rotating clamping plate 8 and the rotating arm 7 to reinforce the rotating swing arm.

[0037] Specifically, when the rotary cylinder 6 rotates and outputs, a strong anti-torque support point is required. To reinforce the rotary cylinder 6, a cylinder seat 25 is provided on the base 2 and on one side of the rotating shaft seat 5. The rotary cylinder 6 is installed on the cylinder seat 25.

[0038] Specifically, the rotating clamping plate 8 and the rotating arm 7 are arranged at a right angle. If they are directly arranged coaxially, when the rotary cylinder 6 rotates, it is very difficult for the rotating clamping plate 8 to rotate outward to the edge of the specified carton 27 and may be blocked by the base 2. By setting the rotating clamping plate 8 and the rotating arm 7 at a right angle, the rotating arm 7 extends horizontally into the fixture body 1 from the rotating arm rotating shaft 22, while the rotating clamping plate 8 is perpendicular to the rotating arm 7 in the vertical direction. During rotation, the rotating arm 7 drives the rotating clamping plate 8 to rotate outward. The distance from the rotating arm rotating shaft 22 to the edge of the base 2 is just offset by the rotating arm 7. At this time, the rotating clamping plate 8 can rotate to a downward vertical state. As an embodiment of subsequent improvement, a slot can also be opened on the base 2 to allow the rotating clamping plate 8 to open a smaller-sized carton 27.

[0039] Specifically, the output end of the lifting slide rod 11 is connected to a lifting plate 26, and the material clamping plate 12 is connected to the bottom of the lifting plate 26. If the lifting slide rod 11 is directly connected to the material clamping plate 12, it will not be stable enough.

[0040] Reference Figure 9, specifically, the three - pronged rotating rod 17 includes a left - rotating rod 171, a right - rotating rod 172, and a driving rotating rod 173 (i.e., the three arms mentioned above). The left - rotating rod 171 and the right - rotating rod 172 are coaxially arranged. Generally speaking, the left - rotating rod 171 and the right - rotating rod 172 are in the horizontal direction. When reset, they are just on the same axis as the translation base 13. The driving rotating rod 173 is perpendicular to the left - rotating rod 171 and the right - rotating rod 172, and the driving rotating rod 173 is directly hinged to the output shaft of the inner connecting - rod driving cylinder 18.

[0041] Specifically, a square groove 402 is provided on the push - plate main body 401 for the base 2 to install the suction cup 28. A push - plate guide rod 404 is also connected to the push - plate main body 401. The push - plate guide rod 404 passes through the base 2 to provide guidance and limit for the lifting of the push - plate main body 401, preventing the bottom - plate push - plate 4 from shaking when pushing the material. A guide pin is also provided at the position where the push - plate guide rod 404 passes through the base 2. The guide pin can provide limit and lubrication for the push - plate guide rod 404, and can also prevent the push - plate guide rod 404 from damaging the base 2.

[0042] Specifically, the upper end of the lifting slide rod 11 extends out of the lifting cylinder 10. When the translation base 13 is driven by the connecting - rod driving mechanism to move inward, it can act as a limit rod to prevent excessive inward translation. Or a limit block can be provided at the upper end of the lifting cylinder 10. The difference between this embodiment and the lifting slide rod 11 extending out of the top of the lifting cylinder 10 is that the stroke of the lifting slide rod 11 will not be as long because it can only move inside the lifting cylinder 10. If the lifting slide rod 11 extends out of the bottom of the lifting cylinder 10, its height can reach the upper level of the top plate 3, and thus a lot of stroke can be increased, which helps the material clamping plate 12 to reach deeper into the carton 27 to clamp the material.

[0043] It should be understood that the various action mechanisms of the present invention are classified into five linear motion mechanisms and three rotational mechanisms:

[0044] 1. Five linear motion mechanisms:

[0045] (1) Linear motion mechanisms 1 and 2: The longitudinal lifting mechanisms located on the two outer sides of the fixture main body 1, which rely on the lifting cylinder 10 to drive the lifting slide rod 11 to drive the lifting motion of the material clamping plate 12.

[0046] (2) Linear motion mechanisms 3 and 4: The transverse sliding mechanisms located below the two inner sides of the fixture main body 1, which rely on the translation base 13 being driven by the connecting - rod driving mechanism to slide horizontally inward / outward.

[0047] (3) Linear motion mechanism 5: The bottom plate push plate 4 located below the base 2 is driven by the push plate cylinder 403 and is also equipped with a push plate guide rod 404 to guide and limit, reducing shaking. Finally, after unpacking, clamping, and releasing the material, the material is pushed away from this fixture by the push of this bottom plate push plate 4.

[0048] 2. Three rotating mechanisms:

[0049] (1) Rotating mechanisms 1 and 2: The unpacking mechanism located on both outer sides of the fixture body 1, relying on the rotation of the rotating cylinder 6, drives the rotating arm 7 and the rotating clamping plate 8 to rotate outwards, finally forcing the flat cardboard box 27 to be clamped and opened.

[0050] (2) Rotating mechanism 3: The three-pronged rotating rod 17 located on the link drive mechanism rotates counterclockwise or clockwise under the drive of the link drive cylinder 18, thereby driving the rotation of the left link 19 and the right link 20, and finally driving the horizontal lateral sliding of the two side translation seats 13 (relying on the slide rails and guide sliders 14).

[0051] The steps of clamping and releasing the material of the present invention are as follows (refer to the attached drawings):

[0052] The first step: The link drive mechanism drives the two side translation seats 13 to extend outwards with the assistance of the guide sliders 14 of the guide rail 15, thereby driving the material clamping plate 12 to extend outwards.

[0053] The second step: The main board controls the suction cup 28 to suck the material through the main cylinder.

[0054] The third step: The lifting cylinder 10 drives the lifting slide rod 11 to extend downwards, thereby driving the material clamping plate 12 to extend downwards to the two outer sides of the material.

[0055] The fourth step: The link drive mechanism drives the two side translation seats 13 to retract inwards, thereby driving the material clamping plate 12 to clamp inwards to clamp the material (auxiliary clamping).

[0056] The fifth step: The suction cup 28 releases the material and puts it into the cardboard box 27.

[0057] The sixth step: The bottom plate push plate 4 is pushed out to push the material away from this fixture.

[0058] The seventh step: The bottom plate push plate 4 retracts to its original state.

[0059] The eighth step: The link drive mechanism drives the two side material clamping plates 12 to extend outwards.

[0060] The ninth step: The lifting cylinder 10 drives the lifting slide rod 11 to retract upwards, driving the material clamping plate 12 to return to its original position.

[0061] The above embodiments are only preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention fall within the scope of protection required by the present invention.

Claims

1. A special fixture for a robotic arm that integrates functions of picking, opening boxes, and packing. It includes a fixture main body, a base is provided at the bottom of the fixture main body, a top plate for connecting with the robotic arm is provided above the base, and a suction cup for sucking cartons or materials is provided below the base. It is characterized in that: On both side walls of the fixture body, there is an unpacking mechanism which can rotate and clamp the cardboard box sucked by the suction cup to drive the flat cardboard box to open. On one side of the unpacking mechanism, there is a clamping mechanism which can clamp and release the material. On the base, there is also a bottom plate push plate which can push downward and push the material away from this fixture after the clamping mechanism and the suction cup release the material into the cardboard box. The unpacking mechanism includes a rotary shaft seat, a rotary cylinder, a rotary arm and a rotary clamping plate. Rotary shaft seats are installed on both sides of the base. On one side of the rotary shaft seat, a rotary cylinder is installed. The output rotating shaft of the rotary cylinder passes through the rotary shaft seat and is fixedly connected with the rotary arm. The outer side of the rotary arm is connected with a rotary clamping plate. The rotary clamping plates on both sides can perform a rotary clamping action under the action of the rotary cylinder to help the flat cardboard box open. There is a notch on the top plate. When the rotary clamping plate returns to its original position after unpacking, it just fits into this notch. The clamping mechanism includes a longitudinal lifting mechanism, a transverse sliding mechanism and a connecting rod driving mechanism for providing power to the transverse sliding mechanism. The longitudinal lifting mechanism includes a lifting seat, a lifting cylinder and a lifting slide rod. The lifting cylinder is installed on the outer side of the lifting seat. The lifting slide rod is slidably installed in the lifting cylinder. The output end of the lifting slide rod is connected with a material clamping plate. The transverse sliding mechanism includes a translation seat, a guide slider and a guide rail. The translation seat is located at the upper end of the lifting seat and is perpendicular to the lifting seat. A guide slider is arranged at the upper end of the translation seat. The top plate is provided with a guide rail at the position corresponding to the guide slider which can be slidably matched with the guide slider. The connecting rod driving mechanism includes a middle rotating shaft, a three-fork rotating rod, a connecting rod driving cylinder, a left connecting rod and a right connecting rod. The middle rotating shaft is fixed under the top plate and is used as a rotating shaft for the three-fork rotating rod. One end of the translation seat is provided with a hinge ear. One arm of the three-fork rotating rod is hinged with the hinge ear of the left translation seat through the left connecting rod. The other arm of the three-fork rotating rod is hinged with the hinge ear of the right translation seat through the right connecting rod. The third arm of the three-fork rotating rod is hinged with the output shaft of the connecting rod driving cylinder. By driving the connecting rod driving cylinder to rotate, the three-fork rotating rod is driven to rotate, thereby driving the connecting rod to rotate. Finally, the translation seats on both sides slide left and right to control the clamping and release of the material clamping plates on both sides. The bottom plate push plate includes a push plate body and a push plate cylinder. The push plate body is located under the base. The push plate cylinder is arranged above the base. The output end of the push plate cylinder passes through the base and is fixedly connected with the push plate body to realize the push-pull lifting of the push plate body. The output rotating shaft includes a cylinder rotating shaft and a rotating arm rotating shaft. The cylinder rotating shaft and the rotating arm rotating shaft are connected by a coupling. Among them, the rotating arm rotating shaft passes through the rotary shaft seat and is connected with the rotary shaft seat through a bearing. A square shaft sleeve is arranged on the outer side of the rotating arm rotating shaft. The square shaft sleeve rotates as the rotating cylinder drives the rotating arm rotating shaft to rotate. One end of the rotary arm forms a right-angle clamping plate which is fixedly connected with the square shaft sleeve. On one side of the rotary shaft seat, there is a cylinder seat. The rotary cylinder is installed on the cylinder seat.

2. The special fixture for a robotic arm integrating functions of picking, unpacking, and packing, as described in claim 1, is characterized in that: The rotary clamping plate and the rotary arm are arranged at a right angle.

3. The special fixture for the robotic arm integrating functions of picking, unpacking and packing, as described in claim 1, is characterized in that: The output end of the lifting slide bar is connected with a lifting plate, and the material clamping plate is connected to the bottom of the lifting plate.

4. The special fixture for a robotic arm integrating functions of picking, opening boxes, and packing boxes as claimed in claim 1, wherein: The three-fork rotating rod includes a left rotating rod, a right rotating rod and a driving rotating rod. The left rotating rod and the right rotating rod are coaxially arranged, and the driving rotating rod is vertically arranged with respect to the left rotating rod and the right rotating rod.

5. The special fixture for robotic arm integrating functions of picking, unpacking, and packing, as described in claim 1, is characterized in that: The push plate body is provided with a square groove for installing a suction cup on the base. The push plate body is also connected with a push plate guide rod. The push plate guide rod passes through the base to provide guidance and limitation for the lifting of the push plate body, preventing the bottom plate push plate from shaking when pushing the material.

6. A special fixture for a robotic arm that integrates the functions of picking, opening boxes, and packing boxes, as described in any one of claims 1 or 3, characterized in that: The upper end of the lifting slide bar extends out of the lifting cylinder. When the translation seat is driven by the connecting rod driving mechanism to move inward, it can act as a limiting rod to prevent excessive inward translation.

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