Packaging box conveying robot

Abstract

The application discloses a packaging box conveying mechanical arm and relates to the technical field of mechanical arms, which comprises a base, a motor-driven push rod fixedly installed on the base, a first bevel gear fixedly installed at the output end of the motor-driven push rod, a servo motor fixedly installed at the top end of the first bevel gear, a top rod fixedly installed at the output end of the servo motor, an intermediate plate fixedly installed at the end of the top rod away from the servo motor, a clamping arm mechanism installed on the side wall of the intermediate plate, two long rods slidingly installed in the intermediate plate, expansion plates fixedly installed at the ends of the long rods away from each other, and side push plates fixedly installed at the bottom ends of the expansion plates. The clamping arm mechanism clamps the packaging box, and then the packaging box is conveyed. In the conveying process of the mechanical arm, the mechanical arm passively folds and seals the cover of the packaging box, so that the production efficiency of the production line is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a packaging box conveying robotic arm. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements and functions of a human hand and arm to grasp, move objects, or manipulate tools according to a fixed program. Its key feature is that it can be programmed to perform various pre-defined tasks, and its design and performance combine the advantages of both human and robotic arms.

[0003] For example, the invention patent with publication number CN109533955A and titled "A Packaging Box Gripping Robot" includes a transmission component, an installation component, and a gripping mechanism. The transmission component includes a conveyor belt for conveying packaging boxes. The installation component includes a mounting frame, a drive motor, and a lifting rod. The mounting frame is installed adjacent to the conveyor belt. The drive motor is mounted on the mounting frame. The lifting rod is mounted on the drive motor. The gripping mechanism includes a lifting block, a gripping component, and two gripping rods.

[0004] During the production and conveying process of packaging boxes, the product usually needs to be placed into the packaging box first, and then the four flaps of the packaging box are folded up. As shown in the above patent, some existing robotic arms usually only provide gripping functions. Therefore, the production and conveying line of packaging boxes usually requires an additional production line to fold the flaps of the packaging boxes, which lengthens the entire production line and reduces production efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a packaging box conveying robot to overcome the above-mentioned shortcomings in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a packaging box conveying robot, comprising a base, on which an electric push rod is fixedly mounted; a first bevel gear is fixedly mounted at the output end of the electric push rod; a servo motor is fixedly mounted at the top end of the first bevel gear; a push rod is fixedly mounted at the output end of the servo motor; a middle plate is fixedly mounted at the end of the push rod away from the servo motor; a clamping arm mechanism is mounted on the side wall of the middle plate; two long rods are slidably mounted inside the middle plate; and each of the two long rods has an expansion joint fixedly mounted at its farthest end. The expansion plate has a side push plate fixedly installed at its bottom end; a first push plate and a second push plate are rotatably installed on the bottom ends of both sides of the expansion plate, and the first push plate and the second push plate are staggered; when the packaging box is clamped by the clamping arm mechanism, the servo motor is started, and the servo motor will drive the top rod to rotate. As the top rod rotates, the two long rods will move passively, thereby driving the two side push plates to push down the short flaps on both sides of the packaging box. At the same time, after the short flaps on both sides are pushed down, the first push plate and the second push plate will rotate toward the packaging box to push down the two long flaps of the packaging box.

[0007] Preferably, a connecting ladder block is fixedly installed between the top rod and the intermediate plate. The clamping arm mechanism includes a drive motor fixedly installed on the side wall of the connecting ladder block. A first gear is fixedly installed on the output end of the drive motor. A fixing frame is fixedly installed on the outer wall of the intermediate plate. A central shaft is rotatably installed on the side wall of the fixing frame. A second gear that meshes with the first gear is fixedly installed on the central shaft. Threaded grooves with opposite directions are opened at both ends of the central shaft. Clamping plates are threadedly installed at both ends of the central shaft. Clamping frames are fixedly installed at the ends of the two clamping plates that are close to each other.

[0008] Preferably, a connecting shaft is rotatably mounted on the connecting step block, and a second bevel gear is fixedly mounted on both ends of the connecting shaft. A third bevel gear is rotatably mounted on the intermediate plate, and two insert rods are fixedly mounted on the bottom end of the third bevel gear. Two sliding plates are slidably mounted inside the intermediate plate, and each of the two sliding plates has a groove adapted to the size of the insert rod.

[0009] Preferably, a riser and a positioning rod are fixedly installed on the two side walls of the expansion plate, a first rotating ring is rotatably installed on the positioning rod, and a second rotating ring is rotatably installed on the riser. The bottom end of the first rotating ring is fixedly installed on a first push plate, and the bottom end of the second rotating ring is fixedly connected to the second push plate. Both the first and second rotating rings are provided with ring grooves, and the bottom end of the positioning rod is fixedly connected to the side push plate.

[0010] A vertical plate is slidably mounted on the expansion plate. A strip that matches the sliding groove is fixedly installed at the bottom of the vertical plate. A side plate is fixedly installed on the side wall of the vertical plate. An abutment rod is fixedly installed on the middle plate. An inclined groove that matches the abutment rod is opened on the side plate.

[0011] Preferably, a stop rod is slidably mounted on the long rod. The stop rod is concave and has chamfers at both ends. An abutment plate is fixedly mounted on the intermediate plate. A return spring is fixedly mounted between the stop rod and the inner wall of the long rod.

[0012] Preferably, a T-shaped limiting plate is fixedly installed on the intermediate plate, and a first spring is sleeved on the limiting plate. The two ends of the first spring are fixedly connected to the intermediate plate and the expansion plate, respectively.

[0013] Preferably, the bottom end of the riser is inserted into the second push plate, wherein the second push plate has a receiving space and the bottom end of the second push plate has several through holes.

[0014] Preferably, a connecting plate is vertically slidably mounted on the inner wall of the second push plate, and a closed ball is fixedly mounted on the connecting plate.

[0015] Preferably, a vertical rod is slidably mounted on the first push plate, a floating plate is fixedly mounted at the bottom end of the vertical rod, and a second spring is fixedly mounted between the floating plate and the first push plate.

[0016] Preferably, the vertical rod is T-shaped.

[0017] In the above technical solution, the present invention provides a packaging box conveying robot, which has the following beneficial effects: as production proceeds, when the product is placed into the packaging box, the clamping arm mechanism clamps the packaging box and then conveys it. During the conveying process of the robot arm, the robot arm will passively fold and seal the packaging box, thereby improving the production efficiency of the production line. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 This is a three-dimensional structural schematic diagram provided for an embodiment of the present invention;

[0020] Figure 2 Provided for embodiments of the present invention Figure 1 Partial structural diagram;

[0021] Figure 3 Provided for embodiments of the present invention Figure 2 Partial structural diagram;

[0022] Figure 4This is a partial structural schematic diagram of the intermediate plate provided in an embodiment of the present invention;

[0023] Figure 5 Provided for embodiments of the present invention Figure 4 A schematic diagram of the structure at point A;

[0024] Figure 6 This is a partial structural diagram of the long rod provided in an embodiment of the present invention;

[0025] Figure 7 Provided for embodiments of the present invention Figure 6 A schematic diagram of the structure in the Z direction;

[0026] Figure 8 Provided for embodiments of the present invention Figure 6 A schematic diagram of the structure in the X direction;

[0027] Figure 9 Provided for embodiments of the present invention Figure 6 A schematic diagram of the structure at point B;

[0028] Figure 10 This is a partial structural schematic diagram of the second push plate provided in an embodiment of the present invention;

[0029] Figure 11 A partial structural schematic diagram of the first and second push plates provided in an embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Base; 2. Electric push rod; 31. First bevel gear; 32. Connecting shaft; 321. Second bevel gear; 33. Third bevel gear; 331. Insert rod; 34. Slide plate; 341. Slide groove; 35. Long rod; 36. Expanding plate; 361. Positioning rod; 37. First rotating ring; 371. Ring groove; 38. Side push plate; 39. First push plate; 391. Vertical rod; 392. Floating plate; 41. Servo motor; 42. Top rod; 43. Middle 44. Fixing frame; 45. Drive motor; 46. First gear; 47. Central shaft; 471. Second gear; 48. Clamping plate; 481. Clamping frame; 51. Vertical plate; 52. Side plate; 521. Inclined groove; 53. Stop rod; 54. Abutment plate; 55. Limiting plate; 56. Abutment rod; 61. Vertical tube; 62. Second rotating ring; 63. Insert strip; 64. Second push plate; 65. Sealing ball; 66. Connecting plate; 7. Packaging box body. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] Please see Figure 1-11The packaging box conveying robot includes a base 1, on which an electric push rod 2 is fixedly mounted. A first bevel gear 31 is fixedly mounted at the output end of the electric push rod 2. A servo motor 41 is fixedly mounted at the top of the first bevel gear 31. A push rod 42 is fixedly mounted at the output end of the servo motor 41. A middle plate 43 is fixedly mounted at the end of the push rod 42 away from the servo motor 41. A clamping arm mechanism is mounted on the side wall of the middle plate 43. Two long rods 35 are slidably mounted inside the middle plate 43. An expansion plate 36 is fixedly mounted at the ends of the two long rods 35 away from each other. A side plate is fixedly mounted at the bottom end of the expansion plate 36. The push plate 38 and the expansion plate 36 are respectively rotatably mounted on the bottom ends of the two sides of the first push plate 39 and the second push plate 64, which are staggered. When the packaging box is clamped by the clamping arm mechanism, the servo motor 41 is started. The servo motor 41 will drive the top rod 42 to rotate. As the top rod 42 rotates, the two long rods 35 will move passively, thereby driving the two side push plates 38 to push down the short flaps on both sides of the packaging box. At the same time, after the short flaps on both sides are pushed down, the first push plate 39 and the second push plate 64 will rotate toward the packaging box to push down the two long flaps of the packaging box.

[0034] In another embodiment of the present invention: a connecting ladder block is fixedly installed between the top rod 42 and the intermediate plate 43. The clamping arm mechanism includes a drive motor 45 fixedly installed on the side wall of the connecting ladder block. A first gear 46 is fixedly installed at the output end of the drive motor 45. A fixing frame 44 is fixedly installed on the outer wall of the intermediate plate 43. A central shaft 47 is rotatably installed on the side wall of the fixing frame 44. A second gear 471 that meshes with the first gear 46 is fixedly installed on the central shaft 47. Threaded grooves with opposite directions are opened at both ends of the central shaft 47. Clamping plates 48 are threadedly installed at both ends of the central shaft 47. Clamping frames 481 are fixedly installed at the ends of the two clamping plates 48 that are close to each other.

[0035] The process involves a drive motor 45 driving a first gear 46 to rotate, which in turn drives a second gear 471 to rotate a central shaft 47. The rotation of the central shaft 47 causes the clamping plates 48 at both ends to move closer to or further away from each other, thus causing the clamping frames 481 to clamp and release the packaging box. During the packaging box production process, the product is typically placed inside the box, and then the box flap is folded up for transport. After the product is placed inside the box, the electric push rod 2 is activated, causing it to descend and move the clamping frames 481 closer to the box. Then, the drive motor 45 is activated, causing the central shaft 47 to rotate. This causes the two clamping frames 481 to move closer together and clamp the box. Next, the electric push rod 2 is activated, causing it to rise and lift the box. Finally, the servo motor 41 is activated, causing it to drive a top rod 42 to rotate and transfer the box to another conveyor belt or collection box for transport.

[0036] In another embodiment of the present invention: a connecting shaft 32 is rotatably mounted on the connecting step block, and a second bevel gear 321 is fixedly mounted on both ends of the connecting shaft 32. A third bevel gear 33 is rotatably mounted on the intermediate plate 43, and two insert rods 331 are fixedly mounted on the bottom end of the third bevel gear 33. Two sliding plates 34 are slidably mounted inside the intermediate plate 43, and each of the two sliding plates 34 has a groove 341 that matches the size of the insert rods 331.

[0037] The middle plate 43 has an arc-shaped groove for inserting the rod 331 into the slide groove 341 and rotating with the third bevel gear 33. When the top rod 42 rotates, it will drive the connecting ladder block to move. At this time, the second bevel gear 321 on the connecting shaft 32, which is close to the first bevel gear 31, will drive the connecting shaft 32 to rotate. As the connecting shaft 32 rotates, the other end of the connecting shaft 32 will drive the third bevel gear 33 to rotate. At this time, the third bevel gear 33 will drive the insert rod 331 to rotate. Then, the insert rod 331 will drive the slide plate 34 to move through the slide groove 341, so that the two slide plates 34 move synchronously in the direction of moving closer to each other or further away from each other. As the slide plates 34 move, they will drive the two expansion plates 36 to move synchronously, so that the side push plate 38, the first push plate 39, and the second push plate 64 will fold up the multiple flaps of the packaging box.

[0038] In another embodiment of the present invention: a riser 61 and a positioning rod 361 are fixedly installed on the two side walls of the expansion plate 36, a first rotating ring 37 is rotatably installed on the positioning rod 361, a second rotating ring 62 is rotatably installed on the riser 61, the bottom end of the first rotating ring 37 is fixedly installed on the first push plate 39, the bottom end of the second rotating ring 62 is fixedly connected to the second push plate 64, and a ring groove 371 is provided on both the first rotating ring 37 and the second rotating ring 62, and the bottom end of the positioning rod 361 is fixedly connected to the side push plate 38;

[0039] A vertical plate 51 is vertically slidably installed on the expansion plate 36. An insert 63 that mates with the slide groove 341 is fixedly installed at the bottom of the vertical plate 51. A side plate 52 is fixedly installed on the side wall of the vertical plate 51. An abutment rod 56 is fixedly installed on the middle plate 43. An inclined groove 521 that mates with the abutment rod 56 is opened on the side plate 52.

[0040] When the long rod 35 drives the expansion plate 36 to move closer to the middle plate 43, the upright plate 51 will be abutted by the abutting rod 56 through the inclined groove 521 and thus move upward. At this time, the upright plate 51 will drive the insert 63 at its bottom end to move. Each insert 63 moves in each annular groove 371 to drive the first push plate 39 and the second push plate 64 to rotate respectively.

[0041] Among them, such as Figure 7 and Figure 8 As shown, the annular groove 371 includes an upper inclined side and a lower inclined side, which are staggered. (Refer to...) Figure 7 When the upright plate 51 moves the insert 63 upward, the insert 63 will abut against the upper inclined side. At this time, the second rotating ring 62 will rotate through the upper inclined side (e.g., Figure 6 (Rotating in the direction of a), at this time the second rotating ring 62 will drive the second pushing plate 64 to approach the packaging box, and the second pushing plate 64 will approach the packaging box to fold up one of the long flaps of the packaging box. Figure 7 In the middle, the bottom of the upper inclined side is offset to the right compared to the bottom of the lower inclined side, so that the insert 63 abuts against the upper inclined side during the upward movement. Figure 7 To the left, so that the second push plate 64 along Figure 6 When the middle plate 63 rotates to its highest position, the second push plate 64 has rotated 180°, and the upright plate 51 rises to its highest position. At this time, with the push of the first spring, the expansion plate 36 will move outward, and the upright plate 51 will move downward. As the upright plate 51 moves downward, the insert 63 will also move downward. (Reference...) Figure 8 The top of the upper inclined side is located to the left of the lower inclined side. As the insert 63 moves downward, the insert 63 will abut against the left side of the lower inclined side. At this time, the second rotating ring 62 will drive the second push plate 64 to continue along... Figure 6 As the second rotating plate rotates 180°, the second pushing plate 64 will rotate one revolution during one cycle of the vertical movement of the upright plate 51. At the same time, the first rotating ring 37 and the second rotating ring 62 are mirror images of each other in position. When the insert 63 drives the second pushing plate 64 to move along the direction a, the first pushing plate 39 will be driven to rotate along the direction b, so that the first pushing plate 39 and the second pushing plate 64 cooperate to fold the two long flaps of the packaging box.

[0042] In another embodiment of the present invention: a stop rod 53 is slidably mounted on the long rod 35. The stop rod 53 is concave and both ends of the stop rod 53 are chamfered. An abutment plate 54 is fixedly mounted on the middle plate 43. A return spring is fixedly mounted between the stop rod 53 and the inner wall of the long rod 35.

[0043] When the long rod 35 moves towards the middle plate 43, the long rod 35 pulls the expanding plate 36 towards the middle plate 43 via the stop rod 53. As the expanding plate 36 moves, the upright plate 51 moves upward. At this time, the first push plate 39 and the second push plate 64 will rotate. As the stop rod 53 approaches the abutment plate 54, the chamfer at one end of the stop rod 53 will abut against the abutment plate 54. At this time, the concave stop rod 53 will move into the long rod 35. At this time, the return spring will be compressed. After the stop rod 53 moves into the long rod 35, it will be unable to pull the expanding plate 36. As plate 36 continues to move, the expansion plate 36 will be pushed back to its original position by the first spring. As the expansion plate 36 is reset, the upright plate 51 will drive the insert 63 to move down. At this time, the first push plate 39 and the second push plate 64 will continue to rotate to reset. Meanwhile, as the long rod 35 extends out from the middle plate 43, the concave stop rod 53 on the long rod 35 will approach the expansion plate 36. After the chamfer on the stop rod 53 contacts the expansion plate 36, the stop rod 53 will move into the long rod 35 until one end of it passes through the expansion plate 36, which will facilitate the long rod 35 to pull the expansion plate 36 to move again.

[0044] In another embodiment of the present invention: a T-shaped limiting plate 55 is fixedly installed on the intermediate plate 43, and a first spring is sleeved on the limiting plate 55. The two ends of the first spring are fixedly connected to the intermediate plate 43 and the expansion plate 36, respectively.

[0045] When the long rod 35 moves the expansion plate 36 toward the middle plate 43, the first spring will be compressed until the stop rod 53 moves into the long rod 35. At this time, the first spring will push the expansion plate 36 to reset until the expansion plate 36 abuts against the short arm end of the T-shaped limit plate 55.

[0046] In another embodiment of the present invention: the bottom end of the riser 61 is inserted into the second push plate 64, wherein the second push plate 64 is provided with a receiving space, and the bottom end of the second push plate is provided with several through holes;

[0047] The adhesive can be introduced into the receiving space through the riser 61. When the second push plate 64 folds the cover, the bottom end of the second push plate 64 will move on the surface of the cover, thereby applying adhesive to the top of the cover. As the first push plate 39 pushes the cover to fold, when the cover pushed by the first push plate 39 approaches the cover pushed by the second push plate 64, the adhesive flowing out of the second push plate 64 will bond the two covers together.

[0048] In another embodiment of the present invention: a connecting plate 66 is vertically slidably mounted on the inner wall of the second push plate 64, and a closed ball 65 is fixedly mounted on the connecting plate 66;

[0049] The sealing ball 65 seals the through hole under its own weight and the flow of glue. When the second push plate 64 rotates to contact the folding cover, the sealing ball 65 extending from the bottom of the second push plate 64 contacts the folding cover. At this time, the sealing ball 65 will rise, thereby opening the through hole and the glue will fall. When the second push plate 64 is removed from the folding cover, the sealing ball 65 will fall and block the through hole.

[0050] In another embodiment of the present invention: a vertical rod 391 is vertically slidably mounted on the first push plate 39, a floating plate 392 is fixedly mounted at the bottom end of the vertical rod 391, and a second spring is fixedly mounted between the floating plate 392 and the first push plate 39;

[0051] Both the first push plate 39 and the second push plate 64 have an initial position. However, the initial position of the first push plate 39 is farther from the packaging box than the initial position of the second push plate 64 (i.e., the opening angle of the first push plate 39 relative to the packaging box is larger). Figure 6 When the first pushing plate 39 and the second pushing plate 64 rotate simultaneously toward the packaging box, the second pushing plate 64 will first contact its corresponding flap, causing the flap to fold up. This continues until the flap corresponding to the second pushing plate 64 is folded horizontally. Just as the second pushing plate 64 is about to leave the packaging box body 7, the first pushing plate 39 will push its corresponding flap. Simultaneously, the height of the first pushing plate 39 is higher than that of the second pushing plate 64. At this point, when the first pushing plate 39 approaches the corresponding flap, the floating plate 392 will first contact the corresponding flap, causing it to rotate horizontally. Meanwhile, the second pushing plate 64 has not yet completely left the packaging box body 7. The flap corresponding to 39 will be blocked by the second push plate 64 and cannot rotate to a horizontal position. At this time, the floating plate 392 will rise to avoid squeezing the flap corresponding to the first push plate 39 and causing damage. Until the second push plate 64 is completely removed, the floating plate 392 will be pushed down by the second spring, so that the floating plate 392 pushes the corresponding flap to rotate to a horizontal position. At this time, the flap pushed by the second push plate 64 is below, and its upper surface is coated with glue. As the flap pushed by the first push plate 39 folds down, its lower surface contacts the flap below as the floating plate 392 pushes it, so that the glue adheres the two flaps together.

[0052] In another embodiment of the present invention: the vertical rod 391 is T-shaped;

[0053] The T-shaped vertical rod 391 prevents the second spring from pushing the floating plate 392 down too much, allowing the floating plate 392 to contact the folding cover.

[0054] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A packaging box conveying robot, comprising a base (1), wherein an electric push rod (2) is fixedly mounted on the base (1), characterized in that, The output end of the electric push rod (2) is fixedly installed with a first bevel gear (31), the top end of the first bevel gear (31) is fixedly installed with a servo motor (41), the output end of the servo motor (41) is fixedly installed with a push rod (42), the end of the push rod (42) away from the servo motor (41) is fixedly installed with a middle plate (43), the side wall of the middle plate (43) is installed with a clamping arm mechanism, two long rods (35) are slidably installed inside the middle plate (43), the ends of the two long rods (35) away from each other are fixedly installed with an expansion plate (36), and the bottom end of the expansion plate (36) is fixedly installed with a side push plate (38). The bottom ends of the two sides of the expansion plate (36) are respectively rotatably mounted with a first push plate (39) and a second push plate (64), and the first push plate (39) and the second push plate (64) are arranged alternately. After the packaging box is clamped by the clamping arm mechanism, the servo motor (41) is started. The servo motor (41) will drive the top rod (42) to rotate. As the top rod (42) rotates, the two long rods (35) will move passively, thereby driving the two side push plates (38) to push down the short flaps on both sides of the packaging box. At the same time, after the short flaps on both sides are pushed down, the first push plate (39) and the second push plate (64) will rotate towards the packaging box to push down the two long flaps of the packaging box. A connecting ladder block is fixedly installed between the top rod (42) and the intermediate plate (43); A connecting shaft (32) is rotatably mounted on the connecting step block. A second bevel gear (321) is fixedly mounted on both ends of the connecting shaft (32). A third bevel gear (33) is rotatably mounted on the intermediate plate (43). Two insert rods (331) are fixedly mounted on the bottom end of the third bevel gear (33). Two sliding plates (34) are slidably mounted inside the intermediate plate (43). Each of the two sliding plates (34) has a groove (341) that matches the size of the insert rod (331). The two side walls of the expansion plate (36) are respectively fixedly installed with a riser (61) and a positioning rod (361). A first rotating ring (37) is rotatably installed on the positioning rod (361), and a second rotating ring (62) is rotatably installed on the riser (61). The bottom end of the first rotating ring (37) is fixedly installed with a first push plate (39), and the bottom end of the second rotating ring (62) is fixedly connected with a second push plate (64). Both the first rotating ring (37) and the second rotating ring (62) are provided with ring grooves (371). The bottom end of the positioning rod (361) is fixedly connected with a side push plate (38). A vertical plate (51) is vertically slidably installed on the expansion plate (36). A strip (63) that cooperates with the sliding groove (341) is fixedly installed at the bottom end of the vertical plate (51). A side plate (52) is fixedly installed on the side wall of the vertical plate (51). An abutment rod (56) is fixedly installed on the middle plate (43). An inclined groove (521) that cooperates with the abutment rod (56) is opened on the side plate (52).

2. The packaging box conveying robot according to claim 1, characterized in that, The clamping arm mechanism includes a drive motor (45) fixedly installed on the side wall of the connecting ladder block. A first gear (46) is fixedly installed at the output end of the drive motor (45). A fixed frame (44) is fixedly installed on the outer wall of the intermediate plate (43). A central shaft (47) is rotatably installed on the side wall of the fixed frame (44). A second gear (471) that meshes with the first gear (46) is fixedly installed on the central shaft (47). Threaded grooves with opposite directions are opened at both ends of the central shaft (47). Clamping plates (48) are threadedly installed at both ends of the central shaft (47). Clamping frames (481) are fixedly installed at the ends of the two clamping plates (48) that are close to each other.

3. The packaging box conveying robot according to claim 1, characterized in that, A stop rod (53) is slidably installed on the long rod (35). The stop rod (53) is concave and has chamfers at both ends. An abutment plate (54) is fixedly installed on the intermediate plate (43). A return spring is fixedly installed between the stop rod (53) and the inner wall of the long rod (35).

4. The packaging box conveying robot according to claim 3, characterized in that, A T-shaped limiting plate (55) is fixedly installed on the intermediate plate (43). A first spring is sleeved on the limiting plate (55), and the two ends of the first spring are fixedly connected to the intermediate plate (43) and the expansion plate (36) respectively.

5. The packaging box conveying robot according to claim 4, characterized in that, The bottom end of the riser (61) is inserted into the second push plate (64), wherein the second push plate (64) is provided with a receiving space, and the bottom end of the second push plate (64) is provided with several through holes.

6. The packaging box conveying robot according to claim 1, characterized in that, A connecting plate (66) is vertically slidably installed on the inner wall of the second push plate (64), and a closed ball (65) is fixedly installed on the connecting plate (66).

7. The packaging box conveying robot according to claim 1, characterized in that, A vertical rod (391) is vertically slidably mounted on the first push plate (39), and a floating plate (392) is fixedly mounted at the bottom end of the vertical rod (391). A second spring is fixedly mounted between the floating plate (392) and the first push plate (39).

8. The packaging box conveying robot according to claim 7, characterized in that, The vertical rod (391) is T-shaped.

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