Robotic arm and box stack feeding device

Abstract

The present application discloses a robotic arm and a box stack feeding device. The robotic arm includes an arm body, a first suction cup, and a supporting claw. The arm body includes an arm body and a mounting base provided at the first end of the arm body. The first suction cup is provided on the mounting base, and the first suction cup is configured to adsorb the box stack by suction. The supporting claw is rotatably provided on the mounting base. The supporting claw is configured to rotate in a direction close to the box stack after the first suction cup adsorbs the box stack to support the box stack, thereby improving the stability of the robotic arm in transporting the box stack. After the first suction cup adsorbs the box stack, the supporting claw rotates in a direction close to the first suction cup to support the box stack, effectively preventing the box stack from falling off during transport, thereby improving the stability of transport. In the process of the first suction cup adsorbing the box stack, the supporting claw is away from the first suction cup to effectively prevent the supporting claw from affecting the first suction cup adsorbing the box stack, thereby ensuring the efficient operation of the production line and improving production efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of material conveying, and in particular to a robotic arm and a box stack feeding device. Background Art

[0002] The packaging machines of related technologies operate at high speeds. Therefore, to ensure a regular supply of box stacks, operators must frequently and repeatedly load and unload the stacks. This increases the operator's workload and can lead to the stacks falling due to errors during loading. Furthermore, when unloading the stacks onto the conveyor, operators can also make mistakes, causing the stacks to be misplaced, leading to conveyor belt irregularities or equipment downtime.

[0003] It should be noted that the statements in this background technology section only provide background technology related to this application and do not necessarily constitute prior art. Summary of the Invention

[0004] The present application provides a robotic arm and a box stack feeding device to improve the stability of transportation.

[0005] In a first aspect, the present application provides a robotic arm comprising an arm body, a first suction cup, and a supporting claw. The arm body comprises an arm body and a mounting base disposed at a first end of the arm body. The first suction cup is disposed on the mounting base, and the first suction cup is configured to absorb an object by suction. The supporting claw is rotatably disposed on the mounting base. The supporting claw is configured to rotate toward the first suction cup after the first suction cup absorbs the object to support the object.

[0006] In some embodiments, the article includes an outer packaging and contents disposed inside and wrapped by the outer packaging. The robotic arm further includes a second suction cup. The second suction cup is disposed on the supporting claw. The second suction cup is configured to absorb the outer packaging when the supporting claw rotates to contact the article.

[0007] In some embodiments, the suction force of the second suction cup is smaller than the suction force of the first suction cup. When the first suction cup releases the item, the second suction cup is configured to suck the outer packaging to separate the content from the outer packaging.

[0008] In some embodiments, the arm body includes a plurality of arm segments that are rotatably connected in sequence.

[0009] In some embodiments, the claw includes a support rod and a supporting portion. The first end of the support rod is rotatably connected to the mounting base. The supporting portion is disposed at the second end of the support rod and extends toward the first suction cup. The support rod is configured to rotate toward the first suction cup after the first suction cup has attracted the object, causing the supporting portion to engage with the bottom of the object and support the object.

[0010] In some embodiments, the robotic arm further includes a first detection member connected to the supporting claw to detect the position of the supporting claw. The first detection member is configured to stop the supporting claw from rotating when detecting that the supporting claw rotates to contact an object.

[0011] A second aspect of the present application provides a cassette stack feeding device comprising a loading platform, a conveying platform, and the aforementioned robotic arm. The articles include a cassette stack and an outer packaging wrapping around the cassette stack. The loading platform is used to place multiple articles to be conveyed. The robotic arm is configured to transfer the cassette stack to the conveying platform, which is used to convey the cassette stack.

[0012] In some embodiments, the box stack feeding device further includes a cutting device. The cutting device is configured to cut the outer packaging. The robotic arm further includes a second suction cup. The second suction cup is disposed on the supporting claw. The second suction cup is configured to absorb the outer packaging when the supporting claw rotates to contact the article. The robotic arm is configured to first transfer the article to the cutting device so that the cutting device cuts the outer packaging to separate the outer packaging from the box stack, and then transfer the box stack to the feed table.

[0013] In some embodiments, the cutting device is configured to cut a side of the outer packaging away from the supporting claws, so that the outer packaging falls down after being cut and is sucked by the first suction cup and the second suction cup.

[0014] In some embodiments, the cassette stack feeding device further includes a recovery device. The robotic arm is configured to, after transferring the cassette stack to the feed platform, drive the outer packaging to the recovery device. The second suction cup is configured to release suction force after the robotic arm reaches the recovery device, allowing the outer packaging to fall into the recovery device.

[0015] In some embodiments, the robotic arm further comprises a controller configured to control the movement of the robotic arm according to the labels of the plurality of objects on the loading platform.

[0016] In some embodiments, the robotic arm further includes a second detection member. The controller is signal-connected to the second detection member. The second detection member is configured to detect whether a cassette stack is present at a designated location when the robotic arm arrives at the designated location according to the label. The controller is configured to control the movement of the robotic arm based on the detection result of the second detection member.

[0017] In some embodiments, the robot arm is configured to rotate the supporting claws away from the cassette stack when lowering the cassette stack so as to separate the supporting claws from the cassette stack.

[0018] Based on the technical solution provided in this application, a robotic arm includes an arm body, a first suction cup, and a supporting claw. The arm body includes an arm body and a mounting base disposed at a first end of the arm body. The first suction cup is disposed on the mounting base and is configured to attract a stack of cassettes through suction. The supporting claw is rotatably disposed on the mounting base. The supporting claw is configured to rotate toward the stack to support the stack after the first suction cup attracts the stack. The suction force of the first suction cup and the supporting force of the supporting claw cooperate to improve the stability of the robotic arm in transporting the stack of cassettes. After the first suction cup attracts the stack of cassettes, the supporting claw rotates toward the first suction cup to support the stack of cassettes. This ensures that the stack of cassettes is simultaneously affected by the suction force of the first suction cup and the support of the supporting claw during transport, effectively preventing the stack of cassettes from falling off during transport and thereby improving transport stability. While the first suction cup attracts the stack of cassettes, the supporting claw moves away from the first suction cup to effectively prevent the supporting claw from interfering with the first suction cup's attraction to the stack of cassettes, thereby ensuring the efficient operation of the production line and improving production efficiency.

[0019] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 This is an overall schematic diagram of the feeding device according to an embodiment of the present application.

[0022] Figure 2 for Figure 1 Schematic diagram of the box stack wrapped in outer packaging.

[0023] Figure 3 for Figure 1 Schematic diagram of the robotic arm in .

[0024] Figure 4 for Figure 1 Schematic diagram of the robotic arm sucking the box stack.

[0025] Figure 5 for Figure 1 Schematic diagram of the numbering of the box stack on the loading platform in.

[0026] Figure 6 for Figure 4 Schematic diagram of the box stack being supported by the claws after the box stack is adsorbed.

[0027] Figure 7 for Figure 1 Schematic diagram of the robotic arm transporting the box stack to the cutting device.

[0028] Figure 8 This is a schematic diagram of the outer packaging skin wrapped around the box stack before it is cut.

[0029] Figure 9 This is a schematic diagram of the outer packaging skin wrapped around the box stack after being cut.

[0030] Figure 10 for Figure 1 Schematic diagram of the robotic arm lowering the box stack onto the feed table.

[0031] Figure 11 for Figure 1 Schematic diagram of the robotic arm transferring the outer packaging to the recycling device.

[0032] In the picture:

[0033] 100. Robotic arm; 1. Arm body; 11. Arm body; 12. Mounting seat; 2. First suction cup; 3. Rotating base; 4. Supporting claw; 41. Supporting rod; 42. Supporting part; 5. Second detection part; 6. Second suction cup; 200. Loading platform; 300. Feeding platform; 400. Cutting device; 500. Recycling device; A. Box stack; B. Outer packaging. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0035] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. Technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, technology, methods and equipment should be considered as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0036] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be subsequently positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device may also be positioned in other different ways, and the spatially relative descriptions used herein are interpreted accordingly.

[0037] like Figure 1 As shown, the feeding device of some embodiments includes a loading platform 200, a feeding platform 300 and a robotic arm 100. The loading platform 200 is used to store items. Figure 2 As shown, the article includes an outer packaging B and contents disposed in and wrapped by the outer packaging B. The conveyor 300 is used to convey the contents, and the robot arm 100 is used to move the article onto the conveyor 300. Specifically, the article may be a stack of boxes A, and the contents are a plurality of stacked boxes. The stack of boxes is wrapped and sealed circumferentially by the outer packaging B to prevent the plurality of boxes from spreading out. Specifically, as shown in FIG. Figure 2 As shown, the top, bottom, left and right sides of the box stack are wrapped.

[0038] like Figure 3 As shown, the present application provides a robotic arm, comprising an arm body 1, a first suction cup 2, and a supporting claw 4. The arm body 1 comprises an arm body 11 and a mounting base 12 provided at the first end of the arm body 11. The first suction cup 2 is provided on the mounting base 12, and the first suction cup 2 is configured to adsorb the box stack A by suction. The supporting claw 4 is rotatably provided on the mounting base 12. The supporting claw 4 is configured to rotate toward the direction close to the box stack A after the first suction cup 2 adsorbs the box stack A to support the box stack A. The adsorption force of the first suction cup 2 and the supporting force of the supporting claw 4 cooperate to improve the stability of the robotic arm in transporting the box stack A.

[0039] After the first suction cup 2 absorbs the box stack A, the supporting claw 4 rotates toward the first suction cup 2 to support the box stack A. In this way, the box stack A is simultaneously subjected to the suction force of the first suction cup 2 and the support of the supporting claw 4 during the transfer process, effectively preventing the box stack A from falling off during the transfer process, thereby improving the stability of the transfer.

[0040] When the first suction cup 2 is sucking the box stack A, the claw 4 is away from the first suction cup 2 to effectively prevent the claw 4 from affecting the first suction cup 2 in sucking the box stack A, thereby ensuring the efficient operation of the production line and improving production efficiency.

[0041] The mounting base 12 is a plate-shaped component, and the first suction cup 2 and the supporting claw 4 are respectively arranged at different positions on the mounting base 12 so that the supporting claw 4 will not interfere with the first suction cup 2 when rotating. Figure 3 As shown, the mounting base 12 is a square plate, the first suction cup 2 is arranged at one end of the square plate, and the supporting claw 4 is relatively arranged at the other end of the square plate.

[0042] Furthermore, the number of the first suction cups 2 is configured to be multiple to increase the suction force and reduce the risk of the cassette stack A being accidentally separated.

[0043] In some embodiments, as Figure 3 As shown, the robotic arm further includes a second suction cup 6. The second suction cup 6 is disposed on the supporting claw 4. The second suction cup 6 is configured to attract the outer packaging B when the supporting claw 4 rotates to contact the item. Specifically, referring to 6 , the first suction cup 2 provides a suction force in the opposite direction of gravity to lift the box stack A. When the supporting claw 4 supports the box stack A, the second suction cup 6 provides a suction force in a direction angled with the suction force of the first suction cup 2 to attract the outer packaging B.

[0044] In some embodiments, the direction of the adsorption force of the second suction cup 6 is horizontal.

[0045] In some embodiments, the suction force of the second suction cup 6 is less than that of the first suction cup 2. When the first suction cup 2 releases the box stack, the second suction cup 6 is configured to attract the outer packaging B to separate the box stack A from the outer packaging B. Specifically, the second suction cup 6 is configured to generate a suction force comparable to the weight of the outer packaging B. This configuration ensures that the suction force of the second suction cup 6 does not affect the lowering of the box stack A, while ensuring that the box stack A can be separated from the outer packaging B, thereby improving the efficiency of the robot arm in transferring the box stack A.

[0046] In some embodiments, reference Figure 3 The arm body 11 includes a plurality of arm segments that are rotatably connected in sequence. The arm segment near the first end of the arm body 11 is connected to the mounting base 12. The robotic arm also includes a rotating base 3. The arm segment near the second end of the arm body 11 is rotatably connected to the rotating base 3. The rotating base 3 and the plurality of arm segments provide the robotic arm with a greater range and degrees of freedom, enabling the robotic arm to meet a wider range of operational requirements.

[0047] In some embodiments, reference Figure 3The claw 4 includes a supporting rod 41 and a supporting portion 42. The first end of the supporting rod 41 is rotatably connected to the mounting seat 12. The supporting portion 42 is provided at the second end of the supporting rod 41, and the supporting portion 42 extends in a direction approaching the first suction cup 2. The supporting rod 41 is configured to rotate in a direction approaching the first suction cup 2 after the first suction cup 2 absorbs the article and causes the supporting portion 42 to engage with the bottom of the article and support the article. Specifically, before the supporting rod 41 rotates to support the box sheet stack A, the supporting rod 41 is substantially parallel to the inner surface of the mounting seat 12 and spaced apart (see Figure 6 (dashed line in the figure). After the first suction cup 2 attracts and lifts the cassette stack A, the support rod 41 rotates 90° clockwise to position the support portion 42 below the cassette stack A to provide support. Furthermore, the position of the support portion 42 on the support rod 41 is adjustable to accommodate cassette stacks A of varying sizes. For example, when the cassette stack A is smaller, the support portion 42 can be adjusted toward the first end of the support rod 41 so that it can still engage with the cassette stack A.

[0048] like Figure 3 As shown, the claw 4 includes two support rods 41 arranged in parallel and spaced apart. Each end of the support rod 41 is provided with a supporting portion 42. The second suction cup 6 is provided in the gap between the two support rods 41. Specifically, the claw 4 also includes a connecting rod connecting the two support rods 41, and the second suction cup 6 is provided on the connecting rod.

[0049] In some embodiments, the robotic arm further includes a first detection member. The first detection member is connected to the supporting claw 4 to detect the position of the supporting claw 4. The first detection member is configured to stop the supporting claw 4 from rotating when it detects that the supporting claw 4 rotates to contact the box stack A. Specifically, the robotic arm further includes a controller, which is used to control the rotation of the supporting rod 41. The first detection member includes a micro switch, which is connected to the controller signal. When the supporting rod 41 rotates to contact the box stack A, the micro switch is triggered, and the controller receives the signal of the micro switch and stops the supporting rod 41 from rotating. By providing the micro switch, the sensitivity of the control is improved.

[0050] In some embodiments, the controller is further configured to control the suction force of the first suction cup 2 and the second suction cup 6. Specifically, when sucking the box stack A, the controller first controls the first suction cup 2 to generate suction force to suck the box stack A, then controls the multiple arm segments to rotate to lift the box stack A, controls the support rod 41 to rotate to support the box stack A from below, and controls the second suction cup 6 to generate suction force to suck the outer packaging skin B.

[0051] The present application also provides a box stack feeding device, comprising a loading platform 200, a feed platform 300, and the robotic arm 100 as described above. The loading platform 200 is used to place multiple box stacks A to be transported. The robotic arm 100 is configured to transfer the box stack A on the loading platform 200 to the feed platform 300. The feed platform 300 is used to transport the box stack A to the next process. Specifically, after the robotic arm 100 transfers the box stack A to a specified height above the feed platform 300, it rotates the supporting claw 4 to disengage from the box stack A, and then reduces the adsorption force of the first suction cup 2, so that the box stack can fall smoothly onto the feed platform A. Through this feeding device, the transfer of multiple box stacks A can be achieved reliably and efficiently, and by programming the motion trajectory of the robotic arm, multiple box stacks A can be neatly placed on the feed platform 300, thereby reducing the possibility of manual operation errors and improving production efficiency.

[0052] In some embodiments, reference Figure 7 The box stack feeding device further includes a cutting device 400. The cutting device 400 is used to cut the outer packaging skin B wrapped around the side of the box stack A. The robot arm 100 is configured to first transfer the box stack A to the cutting device 400 so that the cutting device 400 cuts the outer packaging skin B to separate the outer packaging skin B from the box stack A, and then transfer the box stack A to the feeding platform 300. After the outer packaging skin B is cut, as shown in FIG. Figure 9 As shown, a part of it hangs down, and the remaining part is sucked by the two suction cups and does not separate from the outer packaging skin B. And under the joint action of the first suction cup 2 and the second suction cup 6, the box sheet stack A will not loosen.

[0053] In some embodiments, as Figure 11 As shown, the carton stack feeding device also includes a recovery device 500. The robotic arm 100 is configured to, after transferring the carton stack A to the feed platform 300, drive the outer packaging B to the recovery device 500. The second suction cup 6 is configured to eliminate its suction force after the robotic arm 100 reaches the recovery device 500, allowing the outer packaging B to fall into the recovery device 500. Specifically, when lowering the carton stack A, the suction force of the first suction cup 2 may not completely disappear, but rather retain a small suction force, ensuring that the outer packaging B is suctioned in both directions. This prevents the outer packaging B from falling due to the suction force of only the second suction cup 6, thereby preventing it from being recovered.

[0054] In some embodiments, the cutting device 400 is configured to cut the side of the outer packaging skin B away from the claw 4, so that the outer packaging skin B is cut and hangs down and is sucked by the first suction cup 2 and the second suction cup 6. Figure 9 (The cassette stack A is hidden in the figure) and Figure 11The cut outer packaging B hangs down on both sides of the box sheet stack A. The hanging part near the support rod 41 is longer, and the height of the end is close to the height of the recovery device 500. When the outer packaging B needs to be recovered, the adsorption force of the two suction cups 6 only needs to be reduced or eliminated, and the outer packaging B can fall smoothly into the recovery device 500.

[0055] In some embodiments, the outer packaging B may be kraft paper, which can better bind the box stack.

[0056] In some embodiments, the controller is further configured to label the plurality of cassette stacks A on the loading platform 200 and control the movement of the robot arm 100. Specifically, the operator can use the controller to make the robot arm 100 reach a designated position for transfer work, thereby improving controllability.

[0057] In some embodiments, the controller numbers the plurality of carton stacks A in sequence and controls the robot arm 100 to transport the carton stacks A one by one in the order of the numbers. Figure 5 The controller marks the corresponding placement positions of the multiple box stacks A on the loading platform 200 in sequence, and then controls the robot arm 100 to transfer them in sequence. For example, the robot arm first reaches position S1 for transfer, and then reaches position S2 for transfer in sequence.

[0058] In some embodiments, the robotic arm further includes a second detection member 5. The controller is connected to the second detection member 5 by signal. The second detection member 5 is configured to detect whether there is a box stack A at the designated position when the robotic arm 100 arrives at the designated position according to the label. The controller is configured to control the movement of the robotic arm 100 according to the detection result of the second detection member 5. Specifically, the second detection member 5 is a photoelectric switch. For example, when the robotic arm 100 arrives at position S1, if the photoelectric switch detects that there is no box stack A here, the controller controls the robotic arm to arrive at position S2 in sequence. If the photoelectric switch detects that there is a box stack A here, the transfer is carried out; if the photoelectric switch detects that there is still no box stack A here, the controller continues to control the robotic arm to arrive at position S3 for detection.

[0059] In some embodiments, reference Figure 10 The robot arm 100 is further configured to rotate the supporting claw 4 away from the carton stack A when lowering the carton stack A so as to separate the supporting claw 4 from the carton stack A. Specifically, when the supporting claw 4 rotates 90° counterclockwise to reduce or eliminate the suction force of the first suction cup 2, the carton stack A can fall freely without being hindered by the supporting claw 4.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present application can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present application. They should all be included in the scope of the technical solution for protection requested in this application.

Claims

1. A robotic arm, characterized in that: include: An arm body (1) comprises an arm body (11) and a mounting seat (12) arranged at a first end of the arm body (11), wherein the mounting seat (12) is a plate-shaped component; a first suction cup (2), the first suction cup (2) being arranged on the mounting seat (12), and the first suction cup (2) being configured to absorb an object by suction; as well as A supporting claw (4), the supporting claw (4) is rotatably arranged on the mounting seat (12), the supporting claw (4) is configured to rotate in a direction close to the first suction cup (2) to support the item after the first suction cup (2) absorbs the item, the item includes an outer packaging skin (B) and contents arranged on the inner side of the outer packaging skin and wrapped by the outer packaging skin, the robotic arm also includes a second suction cup (6), the second suction cup (6) is arranged on the supporting claw (4), the second suction cup (6) is configured to absorb the outer packaging skin (B) when the supporting claw (4) rotates to contact the item, the absorption force of the second suction cup (6) is less than the absorption force of the first suction cup (2), and when the first suction cup (2) releases the item, the second suction cup (6) is configured to absorb the outer packaging skin (B) to separate the contents from the outer packaging skin (B).

2. The robotic arm according to claim 1, wherein: The arm body (11) comprises a plurality of arm segments that are rotatably connected in sequence.

3. The robotic arm according to claim 1, wherein: The supporting claw (4) includes a supporting rod (41) and a supporting portion (42), wherein the first end of the supporting rod (41) is rotatably connected to the mounting seat (12), and the supporting portion (42) is arranged at the second end of the supporting rod (41), and the supporting portion (42) extends in a direction close to the first suction cup (2). The supporting rod (41) is configured to rotate in a direction close to the first suction cup (2) after the first suction cup (2) absorbs the object and enables the supporting portion (42) to engage with the bottom of the object and support the object.

4. The robotic arm according to claim 1, wherein: The robotic arm further comprises a first detection member connected to the supporting claw (4) to detect the position of the supporting claw (4), and the first detection member is configured to stop the rotation of the supporting claw (4) when detecting that the supporting claw (4) rotates to contact the object.

5. A box stack feeding device, characterized in that: The invention comprises a loading platform (200), a feeding platform (300) and a robot arm (100) as claimed in any one of claims 1 to 4, wherein the articles comprise a box stack (A) and an outer packaging skin (B) wrapped around the peripheral side of the box stack (A), the loading platform (200) is used to place a plurality of the articles to be transported, the robot arm (100) is configured to transfer the box stack (A) to the feeding platform (300), and the feeding platform (300) is used to transport the box stack (A).

6. The cassette stack feeding device according to claim 5, characterized in that: The box stack feeding device further comprises a cutting device (400), wherein the cutting device (400) is used for cutting the outer packaging skin (B); the robotic arm further comprises a second suction cup (6), wherein the second suction cup (6) is arranged on the supporting claw (4), and the second suction cup (6) is configured to absorb the outer packaging skin (B) when the supporting claw (4) rotates to contact the article; the robotic arm (100) is configured to first transfer the article to the cutting device (400) so that the cutting device (400) cuts the outer packaging skin (B) to separate the outer packaging skin (B) from the box stack (A), and then transfer the box stack (A) to the feeding platform (300).

7. The cassette stack feeding device according to claim 6, characterized in that: The cutting device (400) is configured to cut the side of the outer packaging skin (B) away from the supporting claw (4), so that the outer packaging skin (B) falls after being cut and is sucked by the first suction cup (2) and the second suction cup (6).

8. The cassette stack feeding device according to claim 6, characterized in that: The box stack feeding device further comprises a recovery device (500), the robot arm (100) being configured to drive the outer packaging skin (B) to move to the recovery device (500) after transferring the box stack (A) to the feeding platform (300), and the second suction cup (6) being configured to eliminate the adsorption force after the robot arm (100) moves to the recovery device (500) so that the outer packaging skin (B) falls into the recovery device (500).

9. The cassette stack feeding device according to claim 5, characterized in that: The robotic arm further comprises a controller, wherein the controller is configured to control the movement of the robotic arm (100) according to the labels of the plurality of items on the loading platform (200).

10. The cassette stack feeding device according to claim 9, characterized in that: The robotic arm further comprises a second detection member (5), the controller being connected to the second detection member (5) by signal, the second detection member (5) being configured to detect whether the box stack (A) is present at the designated position when the robotic arm (100) reaches the designated position according to the label, and the controller being configured to control the movement of the robotic arm (100) according to the detection result of the second detection member (5).

11. The cassette stack feeding device according to claim 5, characterized in that: The robot arm (100) is configured to rotate the supporting claw (4) in a direction away from the box stack (A) when lowering the box stack (A) so as to separate the supporting claw (4) from the box stack (A).

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