A manipulator for carton packaging production equipment

Abstract

The present invention discloses a manipulator for carton packaging production equipment, which relates to the field of cardboard handling technology, including a six-axis manipulator body, a clamp detachably mounted on the working end of the six-axis manipulator body, the clamp comprising a positioning frame detachably fixed to the working end of the six-axis manipulator body, a left clamping arm and a right clamping arm symmetrically and slidably mounted on both sides of the positioning frame, and a first driving device for driving the left clamping arm and the right clamping arm to move relative to or away from each other; the left clamping arm comprises a left sliding part, a left clamping part and a left driving part; the left sliding part is slidably mounted on one side of the positioning frame, and the left clamping part comprises a plurality of thin plates whose length sides are hinged to each other. Under the premise of taking into account the safety during the handling process, the present invention not only reduces the gap between two carton board stacks in the same column, but also avoids the risk of the carton board stack skewing or tipping due to collision with the next layer of carton board stack when placing the right carton board stack.

Description

Technical Field

[0001] The invention relates to the technical field of cardboard handling, in particular to a manipulator used in carton packaging production equipment. Background Art

[0002] A large number of carton boards are needed in product packaging. In the packaging workshop, an automatic packaging machine can be used to open the folded carton boards and pack the products, such as beer, cola and other products. In order to improve the packaging efficiency, the carton boards used for packaging enter the automatic packaging machine in a stacked form of unit thickness, that is, multiple carton board stacks are stacked to a certain height and then transported to the conveyor belt of the automatic packaging machine.

[0003] When the carton board is stacked Figure 1 When stacking in the manner shown, that is, when there are two carton board stacks side by side in a row, when the left carton board stack is placed, since there is no carton board stack on the right, the clamping arm in the prior art will release the left clamping arm and the right clamping arm after the bottom surface of the carton board stack contacts the next carton board stack when placing the left carton board stack; but when placing the right carton board stack, due to the obstruction of the left carton board stack at this time, in order to reduce the gap between the two carton board stacks, that is, the gap between the two carton board stacks in the same row, when placing the right carton board stack, the prior art will directly release the right carton board stack after the top surface of the right carton board stack is flush with the left carton board stack, so that the right carton board stack falls freely and contacts the next carton board stack. In this process, the right carton board stack collides with the next carton board stack, which is prone to tilting or tipping, and there is a certain safety hazard. Summary of the invention

[0004] The object of the present invention is to provide a robot for carton packaging production equipment to solve the problems raised in the above background technology.

[0005] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0006] A manipulator for carton packaging production equipment provided by the present invention comprises a six-axis manipulator body, a gripper is detachably mounted on the working end of the six-axis manipulator body, the gripper comprises a positioning frame detachably fixed to the working end of the six-axis manipulator body, a left gripper arm and a right gripper arm symmetrically and slidably mounted on both sides of the positioning frame, and a first driving device for driving the left gripper arm and the right gripper arm to move relative to or away from each other;

[0007] The left clamping arm includes a left sliding part, a left clamping part and a left driving part; the left sliding part is slidably assembled on one side of the positioning frame, the left clamping part includes several thin plates with their length sides hinged to each other, one end of the thin plate is provided with a connecting component slidably assembled on the sliding part, and the left clamping part can be driven by the left driving part to switch between a first form and a second form. When the left clamping part is in the first form, adjacent thin plates are flipped along their hinge joints to form a wavy shape. When the left clamping part is in the second form, adjacent thin plates are flipped along their hinge joints to form a plate shape; the right clamping arm includes a right sliding part, a right clamping part and a right driving part; the right sliding part is slidably assembled on the other side of the positioning frame, the right clamping part includes a positioning vertical plate vertically welded to the bottom of the right sliding part, and a clamping vertical plate slidably assembled horizontally on the side of the positioning vertical plate close to the left clamping part. When the left clamping part switches from the first form to the second form, the right driving part is used to drive the clamping vertical plate to move towards the left clamping part; when the left clamping part switches from the first form to the first form, the right driving part is used to drive the clamping vertical plate to move away from the positioning vertical plate.

[0008] Further, two sides inside the positioning frame are symmetrically provided with sliding grooves, the left clamping arm and the right clamping arm are symmetrically and slidably assembled at both ends between a pair of sliding grooves. The first driving device includes a first rotating shaft and a sliding rod respectively arranged in the pair of sliding grooves and passing through the left clamping arm and the right clamping arm. Both ends of the first rotating shaft are respectively provided with a first thread and a second thread with opposite threads. The first thread and the second thread are respectively in threaded cooperation with the left clamping arm and the right clamping arm. One end of the first rotating shaft passes through the positioning frame and is fixedly connected to the output end of the first motor on the positioning frame;

[0009] The left sliding part is slidably adapted between the pair of sliding grooves and is located at one end of the first sliding groove. One end of the left sliding part is provided with a through hole for the sliding rod to pass through, and the other end of the left sliding part is provided with a first internal thread hole for the screw rod to pass through and be adapted to the first thread; the right sliding part is slidably adapted between the pair of sliding grooves and is located at the other end of the first sliding groove. One end of the right sliding part is provided with a through hole for the sliding rod to pass through, and the other end of the right sliding part is provided with a second internal thread hole for the screw rod to pass through and be adapted to the second thread.

[0010] Further, the left clamping part further includes a hinge shaft. Rolling wheels are evenly arranged along the length direction of the hinge shaft, and the hinge shaft between adjacent rolling wheels forms a hinge interval; hinge parts are evenly arranged on the length side walls of the thin plates, and the hinge parts of adjacent thin plates are mutually misaligned and hinged in the hinge interval of the hinge shaft. The radius of the rolling wheel is greater than the thickness of the thin plate.

[0011] Furthermore, the connecting component includes a fixing piece clamped at one end of the thin plate, and a driving column is vertically arranged on the top of the fixing pieces at both ends, and a swinging piece is vertically arranged on the top of the other fixing pieces except the fixing pieces at both ends, and the swinging piece includes a first columnar portion vertically fixed to the middle part of the fixing piece, a second columnar portion vertically connected to the top end of the first columnar portion, and a third columnar portion vertically connected to the second columnar portion away from the other end of the first columnar portion. When the left clamping portion is in the first form, the central axis of the third columnar portion is located in the plane of the central axis of the hinge shaft passing through the side of the left clamping portion away from the right clamping portion; the left sliding portion is vertically penetrated by a strip-shaped through groove along its length direction, and the driving column is fixedly connected to a main driving block that slidably cooperates with the left sliding portion through the strip-shaped through groove, and the third columnar portion of the swinging piece is rotatably connected to a secondary driving block that slidably cooperates with the left sliding portion, and a torsion spring is arranged between the third columnar portion and the secondary driving block; the left driving portion is used to drive the two main driving blocks to move relative to or away from each other.

[0012] Furthermore, inclined surfaces are symmetrically arranged on both sides of the two ends of the fixing member, and when the left clamping portion is in the first form, the inclined surfaces of two adjacent fixing members are in contact with each other.

[0013] Furthermore, the left driving part includes a supporting side plate symmetrically fixed on the top of the left sliding part at both ends of the strip-shaped through groove, and a second driving shaft is rotatably arranged between a pair of supporting side plates and passes through the two main driving blocks, and the second driving shaft is respectively provided with a third thread and a fourth thread with opposite threads, and the third thread and the fourth thread are respectively matched with the corresponding main driving block threads, and one end of the second driving shaft is fixedly connected to the second driving motor.

[0014] Furthermore, a movable groove is provided through the middle position of the positioning vertical plate, and a movable block slidably adapted in the movable groove is provided on the clamping vertical plate. The right driving part includes an electric telescopic rod, which is fixed to the side of the positioning vertical plate away from the clamping vertical plate through a fixed rib plate, and the output end of the electric telescopic rod is fixedly connected to the movable block.

[0015] Furthermore, an anti-falling plate is vertically arranged at the bottom end of the vertical plate close to the clamping vertical plate.

[0016] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0017] Under the premise of taking into account the safety during transportation, the present invention not only reduces the gap between two carton board stacks in the same row, but also avoids the risk of the carton board stack being skewed or tipped over due to collision with the next layer of carton board stack when the right carton board stack is placed.

[0018] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings of the specification, which form a part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0020] Figure 1 is a schematic diagram of the gripper placing a stack of cardboard boxes in the prior art;

[0021] Figure 2 is a schematic diagram of the overall structure of the present invention;

[0022] Figure 3 is a schematic diagram of the gripper structure of the present invention;

[0023] Figure 4 is a schematic diagram of the left gripper arm structure of the present invention;

[0024] Figure 5 is Figure 4 a partial structure schematic diagram at position A of

[0025] Figure 6 is a schematic diagram of the hinge shaft structure of the present invention;

[0026] Figure 7 is a front view structure schematic diagram of the first form of the left gripper arm of the present invention;

[0027] Figure 8 is a front view structure schematic diagram of the second form of the left gripper arm of the present invention;

[0028] Figure 9 is Figure 8 a partial structure schematic diagram at position B of

[0029] Figure 10 is a first perspective structure schematic diagram of the right gripper arm of the present invention;

[0030] Figure 11 is a second perspective structure schematic diagram of the right gripper arm of the present invention;

[0031] Figure 12 is a schematic diagram of the internal structure of the positioning frame;

[0032] Figure 13 is a schematic diagram of the structure during the operation of the present invention.

[0033] In the figure:

[0034] 1000, six-axis robot manipulator body;

[0035] 100, positioning frame; 110, chute;

[0036] 200, Left clamping arm; 210, Left sliding part; 211, Strip-shaped through groove; 220, Left clamping part; 221, Thin plate; 221a, Hinge part; 222, Hinge shaft; 223, Rolling wheel; 224, Hinge interval; 230, Left driving part; 231, Support side plate; 232, Second driving shaft; 233, Second motor; 240, Connecting part; 241, Fixing part; 241a, Inclined surface; 242, Driving column; 243, Swing part; 243a, First columnar part; 243b, Second columnar part; 243c, Third columnar part; 244, Main driving block; 245, Sub-driving block;

[0037] 300, Right clamping arm; 310, Right sliding part; 320, Right clamping part; 321, Positioning vertical plate; 321a, Moving groove; 321b, Anti-falling plate; 322, Clamping vertical plate; 322a, Moving block; 330, Right driving part;

[0038] 400, First driving device; 410, First rotating shaft; 420, Slide bar; 430, First motor;

[0039] 500, Limiting plate. Detailed implementation manner

[0040] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0041] Please refer to Figures 1 - 13 , the present invention provides a manipulator for carton packaging production equipment, including a six-axis manipulator body 100. A gripper is detachably installed at the working end of the six-axis manipulator body 100. The gripper includes a positioning frame 100 detachably fixed to the working end of the six-axis manipulator body 100, a left clamping arm 200 and a right clamping arm 300 symmetrically and slidably assembled on both sides of the positioning frame 100, and a first driving device 400 for driving the left clamping arm 200 and the right clamping arm 300 to move relatively or away from each other.

[0042] During use, the working end of the six-axis manipulator body 100 drives the gripper to move, and the left clamping arm 200 and the right clamping arm 300 of the gripper are used to clamp and transfer the stack of carton boards to the conveyor belt of the automatic packaging machine in sequence.

[0043] In the prior art, in order to improve the packaging efficiency, the cardboard boxes for packaging usually enter the automatic packaging machine in the form of a stack with a unit thickness, that is, after multiple stacks of cardboard boxes are stacked to a certain height, they are conveyed to the conveyor belt of the automatic packaging machine.

[0044] When the stacks of cardboard boxes are stacked in the Figure 1 shown manner, that is, when there are two stacks of cardboard boxes side by side in a column, when the prior art gripper places the left stack of cardboard boxes, since there is no stack of cardboard boxes on the right side, at this time, when placing the left stack of cardboard boxes, the left gripper arm 200 and the right gripper arm 300 are released after the bottom surface of the stack of cardboard boxes contacts the next layer of the stack of cardboard boxes; however, when placing the stack of cardboard boxes on the right side, due to the obstruction of the stack of cardboard boxes on the left side at this time, in order to reduce the gap between the two stacks of cardboard boxes, that is, the gap between the two stacks of cardboard boxes in the same column, in the prior art, when placing the stack of cardboard boxes on the right side, after the stack of cardboard boxes on the right side is flush with the top surface of the stack of cardboard boxes on the left side, the stack of cardboard boxes on the right side is directly released, and the stack of cardboard boxes on the right side freely falls to contact the next layer of the stack of cardboard boxes. During this process, the stack of cardboard boxes on the right side is likely to be skewed when colliding with the next layer of the stack of cardboard boxes, and there is also a certain safety hazard. The reason for the above placement is that in order to ensure the stability of clamping, the left gripper arm 200 and the right gripper arm 300 usually have a thickness, and due to the existence of the thickness of the left gripper arm 200 directly above, if the stack of cardboard boxes on the right side is released after contacting the next layer when placing the stack of cardboard boxes on the right side, at this time, there is a large gap between the two stacks of cardboard boxes in the same column.

[0045] To solve this problem, the left clamping arm 200 includes a left sliding part 210, a left clamping part 220, and a left driving part 230; the left sliding part 210 is slidably assembled on one side of the positioning frame 100, and the left clamping part 220 includes a plurality of thin plates 221 whose length sides are hinged to each other. One end of the thin plate 221 is provided with a connecting component 240 slidably assembled on the sliding part, and the left clamping part 220 can be driven by the left driving part 230 to switch between a first form and a second form. When the left clamping part 220 is in the first form, adjacent thin plates 221 are flipped along their hinge joints to form a wavy shape. When the left clamping part 220 is in the second form, adjacent thin plates 221 are flipped along their hinge joints to form a plate shape; the right clamping arm 300 includes a right sliding part 310, a right clamping part 320, and a right driving part 330; the right sliding part 310 is slidably assembled on the other side of the positioning frame 100, and the right clamping part 320 includes a positioning vertical plate 321 vertically welded to the bottom of the right sliding part 310, and a clamping vertical plate 322 slidably assembled horizontally on the side of the positioning vertical plate 321 close to the left clamping part 220. When the left clamping part 220 switches from the first form to the second form, the right driving part 330 is used to drive the clamping vertical plate 322 to move towards the left clamping part 220; when the left clamping part 220 switches from the first form to the first form, the right driving part 330 is used to drive the clamping vertical plate 322 to move away from the positioning vertical plate 321.

[0046] As Figure 13 shown, during the process of the gripper gripping the cardboard stack of the carton, the left clamping part 220 forms a first form under the drive of the left driving part 230, that is, a plurality of thin plates 221 form a wavy shape, and a plurality of left clamping surfaces for linear clamping are formed at the hinge joints of the plurality of thin plates 221 close to the right clamping part; the right clamping part 320, under the drive of the right driving part 330, makes the clamping vertical plate 322 closely adhere to the positioning vertical plate 321, and the positioning vertical plate 321 forms a right clamping surface. During clamping, the left clamping surface and the right clamping surface move relatively to complete the clamping of the cardboard stack of the carton. During this clamping process, the wavy shape formed by the plurality of thin plates 221 can significantly improve the bending resistance and prevent the left clamping part 220 from bending when the left clamping part 220 is stressed during clamping, affecting the clamping stability; when placing the cardboard stack on the right side of the carton, the cardboard stack on the right side of the carton can be moved into contact with the next layer and then the clamping is released. When releasing the clamping, the left driving part 230 and the right driving part 330 can be started synchronously. After the left driving part 230 is started, it drives the left clamping part 220 to switch from the first form to the second form, that is, a plurality of thin plates 221 switch from a wavy shape to a plate shape. After the right driving part 330 is started, it drives the clamping vertical plate 322 to move towards the left clamping part 220, so that the cardboard stack on the right side of the carton moves towards the cardboard stack on the left side. When the left clamping part 220 forms the second form, as Figure 8As shown, the left clamping arm 200 and the right clamping arm 300 are directly moved out. At this time, the gap between the left carton board stack and the right carton board stack is only slightly larger than the thickness of the thin plate 221. Under the premise of taking into account the safety during transportation, not only the gap between the two carton board stacks in the same row is reduced, but also the risk of the carton board stack tilting or tipping over due to the collision with the next layer of carton board stack when placing the right carton board stack is avoided.

[0047] like Figure 3 and Figure 13 As shown, in this specific embodiment, the two sides of the positioning frame 100 are symmetrically provided with slide grooves 110, and the left clamping arm 200 and the right clamping arm 300 are symmetrically and slidably assembled at the two ends between the pair of slide grooves 110. The first driving device 400 includes a first rotating shaft 410 and a sliding rod 420 respectively arranged in the pair of slide grooves 110 and passing through the left clamping arm 200 and the right clamping arm 300. The two ends of the first rotating shaft 410 are respectively provided with a first thread and a second thread with opposite threads, and the first thread and the second thread are respectively threadedly matched with the left clamping arm 200 and the right clamping arm 300. One end of the first rotating shaft 410 passes through the positioning frame 100 and is fixedly connected to the output end of the first motor 430 on the positioning frame 100. Based on the above design, the first motor 430 drives the first rotating shaft 410 to rotate. When the first driving shaft rotates, the first thread and the second thread on the first driving shaft respectively cooperate with the threads of the left clamping arm 200 and the right clamping arm 300, so that the left clamping arm 200 and the right clamping arm 300 can move toward or away from each other to complete the clamping and unclamping actions.

[0048] like Figure 4 and Figure 11 As shown, more specifically, the left sliding part 210 is slidably adapted between a pair of sliding grooves 110 and is located at one end of the first sliding groove 110, a through hole is provided at one end of the left sliding part 210 for the sliding rod 420 to pass through, and a first internal thread hole is provided at the other end of the left sliding part 210 for the screw to pass through and adapted to the first thread; the right sliding part 310 is slidably adapted between a pair of sliding grooves 110 and is located at the other end of the first sliding groove 110, a through hole is provided at one end of the right sliding part 310 for the sliding rod 420 to pass through, and a second internal thread hole is provided at the other end of the right sliding part 310 for the screw to pass through and adapted to the second thread.

[0049] Considering that when the left clamping portion 220 is transformed from the first state to the second state, a plurality of thin plates 221 will rub against the carton board stack, which may easily damage the edge of the carton board stack. Figure 5 and Figure 6As shown, in this specific embodiment, the left clamping portion 220 further includes a hinge shaft 222. Along the length direction of the hinge shaft 222, rolling wheels 223 are uniformly arranged, and the hinge shaft 222 between adjacent rolling wheels 223 forms a hinge section 224. Along the length side wall of the thin plate 221, hinge portions 221a are uniformly arranged, and the hinge portions 221a of adjacent thin plates 221 are mutually offset and hinged in the hinge section 224 of the hinge shaft 222. The radius of the rolling wheel 223 is greater than the thickness of the thin plate 221. Based on the above design, when the left clamping portion 220 is converted from the first form to the second form, the hinge shaft 222 can rotate to reduce the friction on the cardboard stack through the rolling wheels 223.

[0050] As Figure 5 and Figure 9As shown, in this specific embodiment, the connecting component 240 includes a fixing member 241 clamped at one end of the thin plate 221. Driving columns 242 are vertically arranged on the tops of the fixing members 241 at both ends. Swinging members 243 are vertically arranged on the tops of the other fixing members 241 except those at both ends. The swinging member 243 includes a first columnar portion 243a vertically fixed in the middle of the fixing member 241, a second columnar portion 243b vertically connected to the top end of the first columnar portion 243a, and a third columnar portion 243c vertically connected to the other end of the second columnar portion 243b away from the first columnar portion 243a. When the left clamping portion 220 is in the first form, the central axis of the third columnar portion 243c is located in the plane of the central axis of the hinge axis 222 on the side of the left clamping portion 220 away from the right clamping portion 320; a strip-shaped through groove 211 is vertically formed through the left sliding portion 210 along its length direction. The driving column 242 passes through the strip-shaped through groove 211 and is fixedly connected with a main driving block 244 slidably matched with the left sliding portion 210. The third columnar portion 243c of the swinging member 243 passes through the strip-shaped through groove 211 and is rotatably connected with a sub-driving block 245 slidably matched with the left sliding portion 210, and a torsion spring (not shown) is arranged between the third columnar portion 243c and the sub-driving block 245; the left driving portion 230 is used to drive the two main driving blocks 244 to move relatively or away from each other. Based on the above design, during use, when the left clamping portion 220 is transformed from the second form to the first form, the left driving portion 230 can drive the two main driving blocks 244 to move relatively, and the distance between the thin plates 221 at both ends is reduced. Under the action of the torsion spring, the third columnar portion 243c of the swinging member 243 rotates, so that the spaced hinge axes 222 move towards the right clamping arm, and several thin plates 221 deflect around their hinge axes 222 and gradually transform towards the first form. When the left clamping portion 220 is transformed from the first form to the second form, the left driving portion 230 can drive the two main driving blocks 244 to move relatively, and the distance between the thin plates 221 at both ends is increased. At this time, the torsion spring is twisted and compressed, and the third columnar portion 243c of the swinging member 243 rotates, so that the spaced hinge axes 222 move away from the right clamping arm, and several thin plates 221 deflect around their hinge axes 222 and gradually transform towards the second form.

[0051] As Figure 4 shown, in this specific embodiment, a limiting plate 500 is further arranged at the bottom of the left sliding portion 210. When the left clamping portion 220 is in the second form, the thin plate 221 is closely attached to the limiting plate 500.

[0052] As Figure 5As shown in the figure, in this specific embodiment, inclined surfaces 241a are symmetrically arranged on both sides of the two ends of the fixing member 241. When the left clamping portion 220 is in the first form, the inclined surfaces 241a of two adjacent fixing members 241 abut against each other. Based on the above design, through the abutment of the inclined surfaces 241a of the fixing member 241, the stability of the left clamping portion 220 in the first form is significantly improved. Further, the bending resistance of the left clamping portion 220 is improved.

[0053] As Figure 9 shown, specifically, the left driving portion 230 includes support side plates 231 symmetrically fixed on the top of the left sliding portion 210 at both ends of the strip-shaped through groove 211. A second driving shaft 232 passing through the two main driving blocks 244 is rotatably arranged between a pair of support side plates 231. The second driving shaft 232 is respectively provided with a third thread and a fourth thread with opposite threads. The third thread and the fourth thread are respectively in threaded cooperation with the corresponding main driving blocks 244. One end of the second driving shaft 232 is fixedly connected with a second motor 233. Based on the above design, when the second motor 233 drives the second driving shaft 232 to rotate, through the threaded cooperation relationship between the third thread and the fourth thread on the second driving shaft 232 and the corresponding main driving blocks 244, the two main driving blocks 244 can be driven to complete the actions of moving relatively or away from each other.

[0054] As Figure 11 shown, in this specific embodiment, a movable groove 321a is formed through the middle position of the positioning vertical plate 321. A movable block 322a slidably adapted to the movable groove 321a is arranged on the clamping vertical plate 322. The right driving portion 330 includes an electric telescopic rod. The electric telescopic rod is fixed on the side of the positioning vertical plate 321 away from the clamping vertical plate 322 through a fixed rib plate. The output end of the electric telescopic rod is fixedly connected with the movable block 322a. Based on the above design, the movement of the clamping vertical plate 322 is completed through the telescopic movement of the electric telescopic rod.

[0055] Further, a fall prevention plate 321b is vertically arranged at the bottom end of the side of the positioning vertical plate 321 close to the clamping vertical plate 322. Based on the above design, during the clamping process, the fall prevention plate 321b can be located below the clamped cardboard stack, and can support the cardboard stack when the cardboard stack accidentally slides downward, avoiding potential safety hazards caused by the cardboard stack falling.

[0056] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A manipulator for carton packaging production equipment, comprising a six-axis manipulator body, and a gripper is detachably installed at the working end of the six-axis manipulator body. The gripper includes a positioning frame detachably fixed to the working end of the six-axis manipulator body, a left clamping arm and a right clamping arm symmetrically and slidably assembled on both sides of the positioning frame, and a first driving device for driving the left clamping arm and the right clamping arm to move relatively or away from each other. It is characterized in that The left clamping arm includes a left sliding part, a left clamping part and a left driving part; the left sliding part is slidably assembled on one side of the positioning frame, and the left clamping part includes several thin plates with their length sides hinged to each other. One end of the thin plate is provided with a connecting component slidably assembled on the sliding part, and the left clamping part can be driven by the left driving part to switch between a first form and a second form. When the left clamping part is in the first form, adjacent thin plates are flipped along their hinge joints to form a wavy shape. When the left clamping part is in the second form, adjacent thin plates are flipped along their hinge joints to form a plate shape; the right clamping arm includes a right sliding part, a right clamping part and a right driving part; the right sliding part is slidably assembled on the other side of the positioning frame, and the right clamping part includes a positioning vertical plate vertically welded to the bottom of the right sliding part, and a clamping vertical plate slidably assembled horizontally on the side of the positioning vertical plate close to the left clamping part. When the left clamping part switches from the first form to the second form, the right driving part is used to drive the clamping vertical plate to move towards the left clamping part; when the left clamping part switches from the second form to the first form, the right driving part is used to drive the clamping vertical plate to move away from the positioning vertical plate.

2. The manipulator for the carton packaging production equipment according to claim 1, characterized in that, Chute grooves are symmetrically arranged on both sides inside the positioning frame. The left clamping arm and the right clamping arm are symmetrically and slidably assembled at both ends between a pair of chute grooves. The first driving device includes a first rotating shaft and a slide rod respectively arranged in a pair of chute grooves and passing through the left clamping arm and the right clamping arm. The two ends of the first rotating shaft are respectively provided with a first thread and a second thread with opposite threads. The first thread and the second thread are respectively in threaded cooperation with the left clamping arm and the right clamping arm. One end of the first rotating shaft passes through the positioning frame and is fixedly connected to the output end of a first motor on the positioning frame; The left sliding part is slidably adapted between a pair of chute grooves and is located at one end of the first chute groove. One end of the left sliding part is provided with a through hole for the slide rod to pass through, and the other end of the left sliding part is provided with a first internal thread hole for a screw rod to pass through and be adapted to the first thread; the right sliding part is slidably adapted between a pair of chute grooves and is located at the other end of the first chute groove. One end of the right sliding part is provided with a through hole for the slide rod to pass through, and the other end of the right sliding part is provided with a second internal thread hole for a screw rod to pass through and be adapted to the second thread.

3. The manipulator for the carton packaging production equipment according to claim 1, characterized in that, The left clamping part further includes a hinge shaft, and rolling wheels are uniformly arranged along the length direction of the hinge shaft. The hinge shaft between adjacent rolling wheels forms a hinge interval; the length side walls of the thin plates are uniformly provided with hinge parts, and the hinge parts of adjacent thin plates are mutually misaligned and hinged in the hinge interval of the hinge shaft, and the radius of the rolling wheel is greater than the thickness of the thin plate.

4. The manipulator for carton packaging production equipment according to claim 3, wherein, The connecting component includes a fixing piece clamped at one end of the thin plate, and a driving column is vertically arranged on the top of the fixing pieces at both ends. Except for the fixing pieces at both ends, a swinging piece is vertically arranged on the top of other fixing pieces, and the swinging piece includes a first columnar portion vertically fixed to the middle part of the fixing piece, a second columnar portion vertically connected to the top end of the first columnar portion, and a third columnar portion vertically connected to the second columnar portion away from the other end of the first columnar portion. When the left clamping portion is in the first form, the central axis of the third columnar portion is located in the plane of the central axis of the hinge shaft passing through the side of the left clamping portion away from the right clamping portion; the left sliding portion is vertically penetrated by a strip-shaped through groove along its length direction, and the driving column is fixedly connected to a main driving block that slidably cooperates with the left sliding portion through the strip-shaped through groove, and the third columnar portion of the swinging piece is rotatably connected to a secondary driving block that slidably cooperates with the left sliding portion, and a torsion spring is arranged between the third columnar portion and the secondary driving block; the left driving portion is used to drive the two main driving blocks to move relative to or away from each other.

5. The manipulator for the carton packaging production equipment according to claim 4, wherein Inclined surfaces are symmetrically arranged on both sides of the two ends of the fixing member. When the left clamping portion is in the first state, the inclined surfaces of two adjacent fixing members contact each other.

6. The manipulator for the carton packaging production equipment according to claim 4, wherein, The left driving part includes a supporting side plate symmetrically fixed on the top of the left sliding part at both ends of the strip-shaped through groove, and a second driving shaft that runs through the two main driving blocks is rotatably arranged between a pair of supporting side plates, and the second driving shaft is respectively provided with a third thread and a fourth thread with opposite threads, and the third thread and the fourth thread are respectively matched with the corresponding main driving block threads, and one end of the second driving shaft is fixedly connected to the second driving motor.

7. The manipulator for the carton packaging production equipment according to claim 4, characterized in that A movable groove is provided through the middle position of the positioning vertical plate, and a movable block slidably adapted in the movable groove is provided on the clamping vertical plate. The right driving part includes an electric telescopic rod, which is fixed to the side of the positioning vertical plate away from the clamping vertical plate through a fixed rib plate, and the output end of the electric telescopic rod is fixedly connected to the movable block.

8. The manipulator for carton packaging production equipment according to claim 7, wherein, An anti-falling plate is vertically arranged at the bottom end of the positioning vertical plate close to one side of the clamping vertical plate.

Images