A sofa packaging clamping mechanical arm

Abstract

The present invention relates to the technical field of robotic arms, and in particular to a robotic arm for clamping and packaging sofas. It includes a robotic arm, and further includes: an adaptation mechanism, the robotic arm is used to drive the adaptation mechanism to rotate; the adaptation mechanism includes: a clamping plate, a plurality of U-shaped frames and a flexible rail, when the clamping plate swings, it is used to change the positions of the plurality of U-shaped frames, and a flexible rail is commonly hinged inside the plurality of U-shaped frames, and the change of the positions of the plurality of U-shaped frames is used to change the shape of the flexible rail. Through the design of the adaptation mechanism, when the robotic arm clamps the sofa, the U-shaped frames can move according to the shape of the sofa, and then the flexible rail changes its shape. When the driving mechanism controls the winding mechanism to wind and package the sofa, the winding mechanism can move along the trajectory of the flexible rail, so that the winding mechanism can wind and package sofas of different shapes.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a robotic arm for clamping and packaging sofas. Background Art

[0002] As a key component of automation and robotics technologies, robotic arms are playing an increasingly important role in industries such as manufacturing, logistics, healthcare, and food processing. With the integration of precision manufacturing technologies and artificial intelligence, the flexibility, precision, and intelligence level of robotic arms have been significantly improved.

[0003] After the production of a sofa is completed, it needs to be wrapped with a film to protect the sofa and prevent it from being damaged during subsequent transportation. In the prior art, the sofa is usually manually carried to the packaging location for film wrapping, which is time-consuming and laborious. Therefore, a robotic arm is used to carry and package the sofa. However, due to the various shapes of sofas, ordinary robotic arms can only clamp sofas of a single shape, and the practicality is poor. Summary of the Invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present invention provides a robotic arm for clamping and packaging sofas, which can clamp and package sofas of different shapes.

[0005] The technical solution is as follows: A robotic arm for clamping and packaging sofas includes a robotic arm, and further includes:

[0006] An adaptation mechanism, the robotic arm is used to drive the adaptation mechanism to rotate;

[0007] The adaptation mechanism includes: clamping plates, a plurality of U-shaped frames, and a flexible rail. When the clamping plates swing, they are used to change the positions of the plurality of U-shaped frames. A flexible rail is commonly hinged inside the plurality of U-shaped frames, and the change in the positions of the plurality of U-shaped frames is used to change the shape of the flexible rail;

[0008] A winding mechanism, the winding mechanism is used to wind a film around the sofa, and the change in the shape of the flexible rail is used to enable the winding mechanism to perform a curvilinear motion to adapt to the shape of the sofa;

[0009] A driving mechanism, the driving mechanism is used to control the winding mechanism to move along the flexible rail.

[0010] Preferably, the adaptation mechanism further includes: a sliding shaft, the sliding shaft is slidably connected in the soft rail, the rectangular frame A is fixedly connected to the robotic arm, several C-shaped frames are slidably connected to the bottom of the rectangular frame A, a first elastic member is provided between several C-shaped frames and the rectangular frame A, an electric push rod is installed on the rectangular frame A, the telescopic end of the electric push rod is fixedly connected to a rectangular frame B, a U-shaped frame is fixedly connected to the bottom of the rectangular frame A, a guiding frame is hinged to the U-shaped frame, the rectangular frame B is inserted into the guiding frame and slides within the guiding frame, and the bottom of the guiding frame is fixedly connected to the top of the clamping plate.

[0011] Preferably, the adaptation mechanism further includes: a cross plate, the cross plate is provided on the top of the rectangular frame A, the guiding columns are symmetrically and fixedly connected to the top of the rectangular frame A, the guiding columns are slidably connected to the cross plate in a penetrating manner, a second elastic member is provided between the guiding columns and the cross plate, several uniformly distributed elastic wedge-shaped blocks are fixedly connected to the bottom of the cross plate, and several limiting grooves for cooperating with several elastic wedge-shaped blocks are provided on several C-shaped frames.

[0012] Preferably, the adaptation mechanism further includes: an air pump, the air pump is installed on the top of the rectangular frame A, the output end of the air pump is communicated with a C-shaped pipe, several uniformly distributed air delivery hoses A are communicated with the C-shaped pipe, elastic telescopic rods A are fixedly connected to the bottoms of several C-shaped frames, and one end of each air delivery hose A far from the C-shaped pipe is communicated with the inner cavity of the elastic telescopic rod A.

[0013] Preferably, the adaptation mechanism further includes: several air delivery hoses B, several uniformly distributed air delivery hoses B are communicated with the C-shaped pipe, cavities are provided in several C-shaped frames, one end of each air delivery hose B far from the C-shaped pipe penetrates several C-shaped frames and is communicated with the cavity, a solenoid valve A is installed on the C-shaped pipe, L-shaped pipes communicated with the cavity are fixedly connected to one side of several C-shaped frames in a penetrating manner, elastic telescopic rods B are fixedly connected to the bottoms of several C-shaped frames, one end of the L-shaped pipe far from the C-shaped frame is communicated with the inner cavity of the elastic telescopic rod B, clamping blocks are hinged to the telescopic ends of the elastic telescopic rod B and the elastic telescopic rod A, rollers are rotatably connected to the clamping blocks, and third elastic members are provided between the clamping blocks and the telescopic ends of the elastic telescopic rod B and the elastic telescopic rod A.

[0014] Preferably, the winding mechanism includes: an exhaust pipe, the exhaust pipe is communicated with the elastic telescopic rod A, a plugging plate A is slidably connected in the exhaust pipe in a penetrating manner, a fourth elastic member is provided between the plugging plate A and the exhaust pipe, a trapezoidal block is provided on the lower side of the rectangular frame A, and a protruding shaft for cooperating with the trapezoidal block is fixedly connected to the top of the plugging plate A.

[0015] Preferably, the winding mechanism further includes: a fixing frame, the fixing frame is fixedly connected to the outer wall of each of the U-shaped frames, a sealing plate B is slidably connected in the fixing frame, fifth elastic members are arranged between both sides of the sealing plate B and the fixing frame, through holes corresponding to the sealing plate B and communicating with the cavity are formed in each of the U-shaped frames, a cross bar is fixedly connected to one side of the sealing plate B, and a lever cooperating with the cross bar is arranged below the rectangular frame A.

[0016] Preferably, the winding mechanism further includes: a U-shaped rod, the U-shaped rod is slidably connected to the rectangular frame A, sliding shafts are symmetrically and fixedly connected to one side of the horizontal plate, V-shaped grooves cooperating with the sliding shafts are symmetrically formed in the U-shaped rod, elastic telescopic rods C are symmetrically and fixedly connected to the bottom of the U-shaped rod, an elastic locking block is slidably connected through the outer wall of the fixed end of the elastic telescopic rod C in a penetrating manner, an inclined surface is formed at the bottom end of the elastic locking block, and a locking groove cooperating with the elastic locking block is formed in the telescopic end of the elastic telescopic rod C.

[0017] Preferably, the driving mechanism includes: a gantry guide rail, the gantry guide rail is installed at the bottom of the rectangular frame A, the sliding shaft is clamped into the gantry guide rail and slides in the gantry guide rail, a guide wheel is rotatably connected to one side of the sliding shaft through a support plate, the guide wheel is clamped into the soft rail and slides in the soft rail, a connecting plate is rotatably connected to the bottom of the sliding shaft, the trapezoidal block is fixedly connected to the bottom of the connecting plate, the lever is rotatably connected to the top of the connecting plate, a sixth elastic member is arranged between the lever and the connecting plate, a slide rail is installed at the bottom of the rectangular frame A, a vertical rod cooperating with the elastic telescopic rod C is slidably connected in the slide rail, the connecting plate is slidably connected to the vertical rod, and a solenoid valve B is installed on the U-shaped pipe.

[0018] Preferably, the winding mechanism further includes: a film winding machine, and the film winding machine is installed at the bottom of the sliding shaft.

[0019] The present invention has the following advantages:

[0020] 1. Through the design of the adaptation mechanism of the present invention, when the robotic arm clamps the sofa, the U-shaped frame can move according to the shape of the sofa, thereby changing the shape of the soft rail. When the driving mechanism controls the winding mechanism to wind and package the sofa, the winding mechanism can move along the trajectory of the soft rail, so that the winding mechanism can wind and package sofas of different shapes.

[0021] 2. Through the design of the trapezoidal block and the sealing plate B of the present invention, when the winding mechanism winds and packages the sofa, the elastic telescopic rod A can be contracted and reset to prevent interference between the film winding machine and the elastic telescopic rod A. Through the design of the lever and the cross bar, interference between the film winding machine and the elastic telescopic rod B can be prevented. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the adaptation mechanism of the present invention;

[0024] Figure 3 This is a schematic diagram of the installation of the electric push rod of the present invention;

[0025] Figure 4 It is a schematic diagram of the installation of the horizontal plate of the present invention;

[0026] Figure 5 This is a schematic diagram of the installation of the elastic telescopic rod B of the present invention;

[0027] Figure 6 It is a schematic diagram of the installation of the exhaust pipe of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the winding mechanism of the present invention;

[0029] Figure 8 It is a schematic diagram of the installation of the lever of the present invention;

[0030] Fig. 9 This is a schematic diagram of the installation of the elastic locking block of the present invention;

[0031] Fig.10 It is a structural schematic diagram of the driving mechanism of the present invention;

[0032] Fig.11 It is a schematic diagram of the installation of the guide wheel of the present invention.

[0033] Among them, the above-mentioned drawings include the following reference numerals: 1 - robotic arm, 2 - adaptation mechanism, 201 - clamping plate, 202 - C-shaped frame, 203 - flexible rail, 204 - sliding shaft, 205 - rectangular frame A, 206 - electric push rod, 207 - rectangular frame B, 208 - U-shaped frame, 209 - guiding frame, 210 - horizontal plate, 211 - guiding column, 212 - elastic wedge block, 213 - air pump, 214 - C-shaped pipe, 215 - air delivery hose A, 216 - air delivery hose B, 217 - solenoid valve A, 218 - L-shaped pipe, 219 - elastic telescopic rod B, 220 - elastic telescopic rod A, 221 - clamping block, 3 - winding mechanism, 301 - exhaust pipe, 302 - sealing plate A, 303 - trapezoidal block, 304 - fixing frame, 305 - sealing plate B, 306 - cross bar, 307 - lever, 308 - C-shaped rod, 309 - sliding shaft, 310 - elastic telescopic rod C, 311 - elastic locking block, 4 - driving mechanism, 401 - gantry guide rail, 402 - guide wheel, 403 - slide rail, 404 - connecting plate, 405 - vertical rod, 406 - solenoid valve B, 100 - film wrapping machine. Detailed implementation mode

[0034] The following describes the implementation mode of the present invention with reference to the drawings.

[0035] Embodiment 1

[0036] A clamping robotic arm for sofa packaging, as Figure 1-Figure 11 shown, includes a robotic arm 1, and also includes:

[0037] An adaptation mechanism 2, the robotic arm 1 is used to drive the adaptation mechanism 2 to rotate;

[0038] The adaptation mechanism 2 includes: a clamping plate 201, four C-shaped frames 202 and a flexible rail 203. When the clamping plate 201 swings, it is used to change the positions of the four C-shaped frames 202. The inner top walls of the four C-shaped frames 202 are jointly hinged with a flexible rail 203. Changing the positions of the four C-shaped frames 202 is used to change the shape of the flexible rail 203;

[0039] A winding mechanism 3, the winding mechanism 3 is used to wind the film around the sofa. Changing the shape of the flexible rail 203 is used to make the winding mechanism 3 move in a curve to adapt to the shape of the sofa;

[0040] A driving mechanism 4, the driving mechanism 4 is used to control the winding mechanism 3 to move along the flexible rail 203.

[0041] The adaptation mechanism 2 further includes: a sliding shaft 204, the sliding shaft 204 is slidably connected within a soft rail 203, a rectangular frame A205 is fixedly connected to the robotic arm 1, four U-shaped frames 202 are slidably connected to the bottom of the rectangular frame A205, a first elastic member is provided between the four U-shaped frames 202 and the rectangular frame A205, the first elastic member is a compression spring, an electric push rod 206 is installed on the rectangular frame A205, the telescopic end of the electric push rod 206 is fixedly connected to a rectangular frame B207, a U-shaped frame 208 is fixedly connected to the bottom of the rectangular frame A205, a guiding frame 209 is hinged to the U-shaped frame 208, the rectangular frame B207 is inserted into the guiding frame 209 and slides within the guiding frame 209, the bottom of the guiding frame 209 is fixedly connected to the top of the clamping plate 201, the telescopic end of the electric push rod 206 extending or contracting can cause the clamping plate 201 to swing.

[0042] The adaptation mechanism 2 further includes: a cross plate 210, a cross plate 210 is provided at the top of the rectangular frame A205, guiding columns 211 are symmetrically and fixedly connected to the top of the rectangular frame A205, the guiding columns 211 penetrate and are slidably connected to the cross plate 210, a second elastic member is provided between the guiding columns 211 and the cross plate 210, the second elastic member is a compression spring, four evenly distributed elastic wedge-shaped blocks 212 are fixedly connected to the bottom of the cross plate 210, the four elastic wedge-shaped blocks 212 are arranged in one-to-one correspondence with the four U-shaped frames 202, a number of limiting grooves for cooperating with the four elastic wedge-shaped blocks 212 are formed on each of the four U-shaped frames 202, and the four elastic wedge-shaped blocks 212 are used to limit the positions of the four U-shaped frames 202.

[0043] The adaptation mechanism 2 further includes: an air pump 213, an air pump 213 is installed on the top of the rectangular frame A205, the output end of the air pump 213 is communicated with a U-shaped pipe 214, four evenly distributed air delivery hoses A215 are communicated with the U-shaped pipe 214, the four air delivery hoses A215 are arranged in one-to-one correspondence with the four U-shaped frames 202, elastic telescopic rods A220 are fixedly connected to the bottoms of the four U-shaped frames 202, and the ends of the four air delivery hoses A215 far from the U-shaped pipe 214 are respectively communicated with the inner cavities of the elastic telescopic rods A220.

[0044] The adaptation mechanism 2 further includes: four air delivery hoses B216. On one side of the U-shaped pipe 214 away from the four air delivery hoses A215, four evenly distributed air delivery hoses B216 are connected. Cavities are provided in each of the four U-shaped frames 202. One end of each of the four air delivery hoses B216 away from the U-shaped pipe 214 penetrates through the four U-shaped frames 202 and is connected to the cavity. An electromagnetic valve A217 is installed on the U-shaped pipe 214. L-shaped pipes 218 communicating with the cavity are fixedly connected through one side of each of the four U-shaped frames 202. Elastic telescopic rods B219 are fixedly connected to the bottom ends of the four U-shaped frames 202. One end of the L-shaped pipe 218 away from the U-shaped frame 202 communicates with the inner cavity of the elastic telescopic rod B219. Clamping blocks 221 are hinged to the telescopic ends of the elastic telescopic rod B219 and the elastic telescopic rod A220. Rollers are rotatably connected to the clamping blocks 221. Third elastic members are provided between the clamping blocks 221 and the telescopic ends of the elastic telescopic rod B219 and the elastic telescopic rod A220. The third elastic member is a torsion spring.

[0045] The winding mechanism 3 includes: an exhaust pipe 301. The top of the elastic telescopic rod A220 communicates with the exhaust pipe 301. A plugging plate A302 is slidably connected through the exhaust pipe 301. A fourth elastic member is provided between the plugging plate A302 and the exhaust pipe 301. The fourth elastic member is a return spring. A trapezoidal block 303 is provided on the lower side of the rectangular frame A205. A protruding shaft used in cooperation with the trapezoidal block 303 is fixedly connected to the top of the plugging plate A302. When the trapezoidal block 303 moves, the plugging plate A302 can be moved.

[0046] The winding mechanism 3 further includes: a fixed frame 304. Fixed frames 304 are fixedly connected to the outer walls of the four U-shaped frames 202. A plugging plate B305 is slidably connected in the fixed frame 304. Fifth elastic members are provided between both sides of the plugging plate B305 and the fixed frame 304. The fifth elastic member is a return spring. Through holes corresponding to the plugging plate B305 and communicating with the cavity are provided on each of the four U-shaped frames 202. A cross bar 306 is fixedly connected to one side of the plugging plate B305. A lever 307 used in cooperation with the cross bar 306 is provided on the lower side of the rectangular frame A205.

[0047] The winding mechanism 3 further includes: a U-shaped rod 308. A U-shaped rod 308 is slidably connected to the rectangular frame A205. Slide shafts 309 are symmetrically fixedly connected to one side of the horizontal plate 210. V-shaped grooves used in cooperation with the slide shafts 309 are symmetrically provided on the U-shaped rod 308. Elastic telescopic rods C310 are symmetrically fixedly connected to the bottom of the U-shaped rod 308. Elastic locking blocks 311 are slidably connected through the outer walls of the fixed ends of the elastic telescopic rods C310. An inclined surface is provided at the bottom end of the elastic locking block 311. The elastic locking block 311 is used to limit the position of the elastic telescopic rod C310. Locking grooves used in cooperation with the elastic locking block 311 are provided on the telescopic ends of the elastic telescopic rods C310.

[0048] Initially, the clamping plate 201 is in an inclined state, the first elastic member is in a released state, and the solenoid valve A217 is in a closed state. When it is necessary to clamp and package the sofa, the robotic arm 1 and the air pump 213 are started. The air pump 213 transports air through the U-shaped pipe 214 and the four air delivery hoses A215 to the inner cavity of the elastic telescopic rod A220. The telescopic end of the elastic telescopic rod A220 extends, so that the clamping block 221 on the elastic telescopic rod A220 and the bottom center line of the rectangular frame A205 are in the same vertical plane. Since the solenoid valve A217 is in a closed state at this time, the air generated by the air pump 213 cannot enter the inner cavity of the elastic telescopic rod B219, and the telescopic end of the elastic telescopic rod B219 will not move. The robotic arm 1 drives the clamping plate 201 and the U-shaped frame 202 to move to the sofa through the rectangular frame A205. At this time, the clamping plate 201 is located on one side of the sofa, the U-shaped frame 202 is located outside the sofa, and the rectangular frame A205 is located above the sofa. The corner of the clamping block 221 is at the same horizontal plane as the bottom surface of the sofa. The electric push rod 206 is started, and the telescopic end of the electric push rod 206 extends to drive the rectangular frame B207 to move horizontally. The rectangular frame B207 squeezes the inner wall of the guide frame 209, causing the guide frame 209 to rotate around the connection of the U-shaped frame 208. The guide frame 209 drives the clamping plate 201 to swing and push the side of the sofa, so that the sofa moves to the side close to the elastic telescopic rod A220. It should be noted that the sofa has two states. One is that the two long side surfaces of the sofa are in a flat state, and the other is that the two long side surfaces of the sofa are in a curved state. Among them, when the two long side surfaces of the sofa are flat, during the process of the clamping plate 201 pushing the sofa, the sofa comes into contact with the clamping blocks 221 on the four elastic telescopic rods A220 after moving. At this time, the rollers on the clamping blocks 221 can reduce the friction between the clamping blocks 221 and the sofa, thereby preventing the sofa from being damaged. When the sofa fits with the vertical plane of the clamping block 221, the sofa squeezes the clamping block 221, and then the four U-shaped frames 202 slide horizontally synchronously;When the two long side surfaces of the sofa are in a curved state, the clamping plate 201 contacts the curved part of the sofa when pushing the sofa. Since the side surface of the sofa is in a curved state, the contact times between the sofa and the clamping block 221 on the elastic telescopic rod A220 are different after the sofa moves. And after the clamping block 221 contacts the side surface of the sofa, it first rotates around the connection of the elastic telescopic rod A220, and then drives the corresponding U-shaped frame 202 to move. At this time, the third elastic member between the clamping block 221 and the elastic telescopic rod A220 is stressed and contracts, so that the clamping block 221 can fit the surface of the sofa, thereby stably clamping the sofa. At this time, the moving distances of the four U-shaped frames 202 are different, and the moving distances of the four U-shaped frames 202 driving the elastic telescopic rod B219 are also different. Open the solenoid valve A217, so that the air in the U-shaped pipe 214 can enter the four air delivery hoses B216 and enter the inner cavity of the elastic telescopic rod B219, so that the telescopic end of the elastic telescopic rod B219 drives the clamping block 221 on it to move. After the clamping block 221 moves, it fits the other side of the sofa and rotates around the connection of the elastic telescopic rod B219. The third elastic member between the clamping block 221 and the elastic telescopic rod B219 contracts. At this time, the elastic telescopic rod B219 and the elastic telescopic rod A220 drive the clamping blocks 221 on them to clamp the sofa respectively. Through the above steps, sofas of different shapes can be adapted to achieve stable clamping.;

[0049] When the four U-shaped frames 202 slide horizontally, the limiting grooves on them extrude the inclined surfaces of the corresponding elastic wedge blocks 212. Due to the large elastic force of the second elastic member, the cross plate 210 will not move. At this time, the elastic wedge blocks 212 are stressed and continuously contract and slide upward until the four U-shaped frames 202 stop sliding horizontally. The elastic wedge blocks 212 are released and respectively snap into several limiting grooves of the four U-shaped frames 202 to limit the four U-shaped frames 202 and make the four U-shaped frames 202 stop moving. Then the telescopic end of the electric push rod 206 contracts and resets, so that the clamping plate 201 swings and resets away from the sofa, facilitating subsequent work.

[0050] Embodiment 2

[0051] As Figure 1-Figure 11As shown in the figure, the driving mechanism 4 includes: a gantry guide rail 401, the gantry guide rail 401 is installed at the bottom of the rectangular frame A205, the sliding shaft 204 is snapped into the gantry guide rail 401 and slides within the gantry guide rail 401. A guide wheel 402 is rotatably connected to one side of the sliding shaft 204 through a support plate. The guide wheel 402 is snapped into the flexible rail 203 and slides within the flexible rail 203. The guide wheel 402 can drive the sliding shaft 204 to rotate according to the shape of the flexible rail 203. The bottom of the sliding shaft 204 is rotatably connected to an adapter plate 404. The trapezoidal block 303 is fixedly connected to the bottom of the adapter plate 404. The lever 307 is rotatably connected to the top of the adapter plate 404. A sixth elastic member is provided between the lever 307 and the adapter plate 404. The sixth elastic member is a torsion spring. A slide rail 403 is installed at the bottom of the rectangular frame A205. A vertical rod 405 that cooperates with the elastic telescopic rod C310 is slidably connected within the slide rail 403. The adapter plate 404 is slidably connected to the vertical rod 405. An electromagnetic valve B406 is installed on the U-shaped pipe 214.

[0052] The winding mechanism 3 further includes: a film winder 100, and the film winder 100 is installed at the bottom of the sliding shaft 204.

[0053] Initially, the solenoid valve B406 is in the closed state. When the four U-shaped frames 202 move, they drive the flexible rail 203 to change its shape, making the trajectory of the flexible rail 203 consistent with the curve of the sofa. Then, the gantry guide rail 401 is started, and the gantry guide rail 401 drives the sliding shaft 204 to slide leftward along the flexible rail 203. The sliding shaft 204 drives the guide wheel 402, the connecting plate 404 and the film winding machine 100 to move. It should be noted that the inner ring surface of the film winding machine 100 is much larger than the vertical cross-section of the sofa. The guide wheel 402 can drive the sliding shaft 204 to rotate by contacting the inner wall of the flexible rail 203, and then the sliding shaft 204 drives the film winding machine 100 to rotate, making the orientation of the film winding machine 100 consistent with the curve of the sofa to prevent the film winding machine 100 from colliding with the surface of the sofa. When the connecting plate 404 moves, it drives the trapezoidal block 303 to move horizontally through the vertical rod 405. When the trapezoidal block 303 moves, it contacts and presses against the protruding shaft on the right-side blocking plate A302. The protruding shaft slides along the inclined surface of the trapezoidal block 303 under the extrusion and drives the blocking plate A302 to slide. The fourth elastic member between the blocking plate A302 and the exhaust pipe 301 is stressed and extends. When the protruding shaft on the blocking plate A302 contacts the horizontal plane of the trapezoidal block 303, the blocking plate A302 slides to completely withdraw from the inner wall of the exhaust pipe 301, no longer blocks the exhaust pipe 301, and allows the gas in the inner cavity of the corresponding elastic telescopic rod A220 to be discharged through the exhaust pipe 301. It should be noted that the exhaust speed of the exhaust pipe 301 is much greater than the speed at which the air generated by the air pump 213 enters the inner cavity of the elastic telescopic rod A220. The telescopic end of the elastic telescopic rod A220 contracts and resets, and the elastic telescopic rod A220 drives the clamping block 221 on it to move away from the sofa, so that the right-side elastic telescopic rod A220 avoids the film winding machine 100. At the same time, the connecting plate 404 drives the lever 307 to contact and press against the nearest cross bar 306. Since the elastic force of the sixth elastic member is greater than that of the fifth elastic member, at this time, the cross bar 306 is stressed and drives the corresponding blocking plate B305 to slide horizontally. When the blocking plate B305 slides, it makes the fifth elastic member extend or contract. After the blocking plate B305 slides, it no longer blocks the through hole of the corresponding U-shaped frame 202. At this time, the telescopic end of the elastic telescopic rod B219 drives the clamping block 221 on it to reset and move away from the sofa. The air in the inner cavity of the elastic telescopic rod B219 enters the cavity of the U-shaped frame 202 through the L-shaped pipe 218 and is discharged through the through hole, so that the right-side elastic telescopic rod B219 avoids the film winding machine 100. The remaining elastic telescopic rods B219 and the elastic telescopic rods A220 respectively drive the clamping blocks 221 on them to stably clamp the sofa. After the connecting plate 404 continues to move, it drives the trapezoidal block 303 away from the protruding shaft on the blocking plate A302. After the protruding shaft is released from the restriction, the blocking plate A302 can slide. The fourth elastic member contracts and drives the blocking plate A302 to slide back to its original position, and the blocking plate A302 blocks the exhaust pipe 301 again. At this time, the air generated by the air pump 213 accumulates again in the inner cavity of the elastic telescopic rod A220.Furthermore, the telescopic end of the elastic telescopic rod A220 drives the clamping block 221 thereon to clamp the sofa. At the same time, the fifth elastic member contracts to the limit, so that the cross bar 306 and the plugging plate B305 cannot move. At this time, the cross bar 306 applies a force to the lever 307 to make the lever 307 rotate around the connection point of the connecting plate 404. The sixth elastic member between the lever 307 and the connecting plate 404 is stressed and contracts. After the lever 307 rotates, it no longer contacts and crosses the cross bar 306, so that the cross bar 306 can move. The fifth elastic member releases or contracts and resets to drive the plugging plate B305 to slide and reset. After the plugging plate B305 slides, it covers the through hole of the corresponding U-shaped frame 202 again. The air generated by the air pump 213 accumulates again in the inner cavity of the elastic telescopic rod B219. Furthermore, the telescopic end of the elastic telescopic rod B219 drives the clamping block 221 thereon to clamp the sofa. At this time, the film wrapping machine 100 has passed over the rightmost elastic telescopic rod B219 and the elastic telescopic rod A220. After the connecting plate 404 continues to move, the remaining elastic telescopic rods B219 and the elastic telescopic rod A220 achieve the above effects until the film wrapping machine 100 passes over the leftmost elastic telescopic rod B219 and the elastic telescopic rod A220. At this time, the film wrapping machine 100 has completed the film wrapping work on the sofa, and the vertical rod 405 contacts and presses against the telescopic end of the left elastic telescopic rod C310. The telescopic end of the elastic telescopic rod C310 presses against the inclined surface of the elastic locking block 311. Due to the large elastic force of the elastic locking block 311, the elastic locking block 311 will not脱离 the locking groove of the elastic telescopic rod C310. Furthermore, the elastic telescopic rod C310 drives the U-shaped rod 308 to slide. The V-shaped groove on the U-shaped rod 308 presses against the two sliding shafts 309, so that the two sliding shafts 309 drive the cross plate 210 to lift upward. At this time, the second elastic member between the cross plate 210 and the guide post 211 is stressed and contracts. The cross plate 210 drives the four elastic wedge blocks 212 away from the limiting grooves of the four U-shaped frames 202. The first elastic member contracts to drive the four U-shaped frames 202 to reset. At the same time, the air pump 213 is closed and the solenoid valve B406 is opened. Furthermore, the air in the inner cavities of the elastic telescopic rod B219 and the elastic telescopic rod A220 is discharged. The elastic telescopic rod B219 and the elastic telescopic rod A220 drive the clamping blocks 221 thereon to reset respectively. When the side wall of the U-shaped rod 308 contacts the rectangular frame A205, the U-shaped rod 308 cannot move any further. At this time, the extrusion force applied by the elastic telescopic rod C310 to the elastic locking block 311 is greater than the elastic force of the elastic locking block 311. The elastic locking block 311 is stressed and contracts to脱离 the locking groove of the elastic telescopic rod C310 and contacts the surface of the telescopic end of the elastic telescopic rod C310. Furthermore, the U-shaped rod 308 can move. At this time, the second elastic member releases to drive the cross plate 210 to descend. The cross plate 210 drives the two sliding shafts 309 to descend. The two sliding shafts 309 press against the V-shaped groove on the U-shaped rod 308. Furthermore, the U-shaped rod 308 slides and resets. At this time, the telescopic end of the elastic telescopic rod C310 is blocked by the vertical rod 405 and cannot move.The telescopic end of the elastic telescopic rod C310 is retracted again, thereby completing the clamping and packaging work of the sofa.

[0054] When the sofa needs to be packaged and clamped again, the gantry guide rail 401 is started to drive the sliding shaft 204 to move to the left to continue to achieve the same effect as the above steps.

[0055] The above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications, improvements and substitutions can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A sofa packaging clamping robot arm, comprising a robot arm (1), characterized in that: It further includes: An adaptation mechanism (2), and the robotic arm (1) is used to drive the adaptation mechanism (2) to rotate; The adaptation mechanism (2) includes: a clamping plate (201), a plurality of U-shaped frames (202) and a flexible rail (203). When the clamping plate (201) swings, it is used to change the positions of the plurality of U-shaped frames (202). A flexible rail (203) is commonly hinged inside the plurality of U-shaped frames (202). Changing the positions of the plurality of U-shaped frames (202) is used to change the shape of the flexible rail (203); A winding mechanism (3), and the winding mechanism (3) is used to wind a film around a sofa. Changing the shape of the flexible rail (203) is used to enable the winding mechanism (3) to perform a curvilinear motion to adapt to the shape of the sofa; A driving mechanism (4), and the driving mechanism (4) is used to control the winding mechanism (3) to move along the flexible rail (203); The adaptation mechanism (2) further includes: a sliding shaft (204). The flexible rail (203) is slidably connected with the sliding shaft (204). A rectangular frame A (205) is fixedly connected to the robotic arm (1). The plurality of U-shaped frames (202) are slidably connected to the bottom of the rectangular frame A (205). A first elastic member is arranged between the plurality of U-shaped frames (202) and the rectangular frame A (205). An electric push rod (206) is installed on the rectangular frame A (205). The telescopic end of the electric push rod (206) is fixedly connected with a rectangular frame B (207). A U-shaped frame (208) is fixedly connected to the bottom of the rectangular frame A (205). A guiding frame (209) is hinged on the U-shaped frame (208). The rectangular frame B (207) is inserted into the guiding frame (209) and slides inside the guiding frame (209). The bottom of the guiding frame (209) is fixedly connected to the top of the clamping plate (201); The adaptation mechanism (2) further includes: a cross plate (210). The cross plate (210) is arranged on the top of the rectangular frame A (205). Guide columns (211) are symmetrically and fixedly connected to the top of the rectangular frame A (205). The guide columns (211) penetrate and are slidably connected with the cross plate (210). A second elastic member is arranged between the guide columns (211) and the cross plate (210). A plurality of uniformly distributed elastic wedge-shaped blocks (212) are fixedly connected to the bottom of the cross plate (210). A plurality of limiting grooves for cooperating with the plurality of elastic wedge-shaped blocks (212) are formed on each of the plurality of U-shaped frames (202); The adaptation mechanism (2) further includes: an air pump (213). The air pump (213) is installed on the top of the rectangular frame A (205). The output end of the air pump (213) is communicated with a U-shaped pipe (214). A plurality of uniformly distributed air delivery hoses A (215) are communicated with the U-shaped pipe (214). Elastic telescopic rods A (220) are fixedly connected to the bottoms of the plurality of U-shaped frames (202). One end of each of the plurality of air delivery hoses A (215) far from the U-shaped pipe (214) is communicated with the inner cavity of the elastic telescopic rod A (220); The adaptation mechanism (2) further includes: a plurality of air delivery hoses B (216). A plurality of uniformly distributed air delivery hoses B (216) are communicated with the U-shaped pipe (214). Cavities are formed in a plurality of the U-shaped frames (202). One end of each of the plurality of air delivery hoses B (216) far from the U-shaped pipe (214) penetrates through the plurality of U-shaped frames (202) and is communicated with the cavity. An electromagnetic valve A (217) is installed on the U-shaped pipe (214). L-shaped pipes (218) communicated with the cavity are fixedly connected to one side of each of the plurality of U-shaped frames (202) in a penetrating manner. Elastic telescopic rods B (219) are fixedly connected to the bottom ends of the plurality of U-shaped frames (202). One end of the L-shaped pipe (218) far from the U-shaped frame (202) is communicated with the inner cavity of the elastic telescopic rod B (219). Clamping blocks (221) are hinged to the telescopic ends of the elastic telescopic rod B (219) and the elastic telescopic rod A (220). A roller is rotatably connected to the clamping block (221). Third elastic members are arranged between the clamping block (221) and the telescopic ends of the elastic telescopic rod B (219) and the elastic telescopic rod A (220).

2. A sofa packaging clamping robot arm according to claim 1, characterized in that: The winding mechanism (3) includes: an exhaust pipe (301). The exhaust pipe (301) is communicated with the elastic telescopic rod A (220). A plugging plate A (302) is slidably connected to the exhaust pipe (301) in a penetrating manner. A fourth elastic member is arranged between the plugging plate A (302) and the exhaust pipe (301). A trapezoidal block (303) is arranged on the lower side of the rectangular frame A (205). A protruding shaft matched with the trapezoidal block (303) is fixedly connected to the top of the plugging plate A (302).

3. A sofa packaging clamping robot arm according to claim 2, characterized in that: The winding mechanism (3) further includes: a fixing frame (304). The fixing frame (304) is fixedly connected to the outer walls of the plurality of U-shaped frames (202). A plugging plate B (305) is slidably connected to the fixing frame (304). Fifth elastic members are arranged between both sides of the plugging plate B (305) and the fixing frame (304). Through holes corresponding to the plugging plate B (305) and communicated with the cavity are formed in the plurality of U-shaped frames (202). A cross bar (306) is fixedly connected to one side of the plugging plate B (305). A lever (307) matched with the cross bar (306) is arranged on the lower side of the rectangular frame A (205).

4. The sofa packaging clamping robot arm according to claim 3, characterized in that: The winding mechanism (3) further includes: a U-shaped rod (308), the U-shaped rod (308) is slidably connected to the rectangular frame A (205), on one side of the cross plate (210), sliding shafts (309) are symmetrically fixedly connected, on the U-shaped rod (308), V-shaped grooves used in cooperation with the sliding shafts (309) are symmetrically formed, at the bottom of the U-shaped rod (308), elastic telescopic rods C (310) are symmetrically fixedly connected, the outer wall of the fixed end of the elastic telescopic rod C (310) is slidably connected in a penetrating manner with an elastic locking block (311), the bottom end of the elastic locking block (311) is provided with an inclined surface, and on the telescopic end of the elastic telescopic rod C (310), a locking groove used in cooperation with the elastic locking block (311) is formed.

5. The sofa packaging clamping robot arm according to claim 4, characterized in that: The driving mechanism (4) includes: a gantry guide rail (401), the gantry guide rail (401) is installed at the bottom of the rectangular frame A (205), the sliding shaft (204) is clamped into the gantry guide rail (401) and slides in the gantry guide rail (401), on one side of the sliding shaft (204), a guide wheel (402) is rotatably connected through a support plate, the guide wheel (402) is clamped into the soft rail (203) and slides in the soft rail (203), at the bottom of the sliding shaft (204), an adapter plate (404) is rotatably connected, the trapezoidal block (303) is fixedly connected to the bottom of the adapter plate (404), a shift lever (307) is rotatably connected to the top of the adapter plate (404), a sixth elastic member is arranged between the shift lever (307) and the adapter plate (404), at the bottom of the rectangular frame A (205), a slide rail (403) is installed, a vertical rod (405) used in cooperation with the elastic telescopic rod C (310) is slidably connected in the slide rail (403), the adapter plate (404) is slidably connected to the vertical rod (405), and a solenoid valve B (406) is installed on the U-shaped pipe (214).

6. The sofa packaging clamping robot arm according to claim 5, characterized in that: The winding mechanism (3) further includes: a film winder (100), and the film winder (100) is installed at the bottom of the sliding shaft (204).

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