Manipulator for carton packaging production equipment

Abstract

The manipulator for the carton packaging production equipment comprises a fixing plate, a motor is arranged at the bottom of the fixing plate, a first rotating column is arranged at the top of the fixing plate, the bottom of the first rotating column is connected with the motor through a conveying shaft, and a second rotating column is arranged at the top of the first rotating column; a third rotating column is arranged at the top of the second rotating column, a first rotating arm is arranged at the top of the third rotating column, a connecting rod is arranged on the other side of the first rotating arm, a second rotating arm is arranged on the side, away from the first rotating arm, of the connecting rod, and a fourth rotating column is arranged at the end, away from the connecting rod, of the bottom of the second rotating arm. A first air cylinder is arranged at the bottom of the fourth rotating column, a first air rod matched with the first air cylinder is arranged in the first air cylinder, the first air rod penetrates through the first air cylinder, a second air cylinder is arranged at the bottom of the first air rod, and a second air rod matched with the second air cylinder is arranged in the second air cylinder; and the box body is kept not to deviate under other acting forces after being clamped.

Description

Technical Field

[0001] The present invention relates to the technical field of carton production equipment, and 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. Automatic packaging machines can be used in packaging workshops to open folded carton boards and pack products, such as beer, cola and other products. In order to improve 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. When the carton board stacks are stacked, they are picked up and stacked by a robot. The existing robot cannot adjust the angle of the clamped carton board stack during the picking process. When the carton board stack moves to the next layer of stacked carton board stacks after clamping, it will be skewed or tipped due to angle deviation, which brings great inconvenience to subsequent operations.

[0003] To sum up, how can it be a technical problem that needs to be solved urgently. Summary of the invention

[0004] The technical task of the present invention is to provide a robot for carton packaging production equipment to solve the above problems in view of the above shortcomings.

[0005] The technical solution of the present invention is achieved in this way: A manipulator for carton packaging production equipment, comprising a fixed plate, a motor is provided at the bottom of the fixed plate, a rotating column 1 is provided at the top of the fixed plate, the bottom of the rotating column 1 is connected to the motor through a conveying shaft, a rotating column 2 is provided at the top of the rotating column 1, a rotating column 3 is provided at the top of the rotating column 2, a rotary arm 1 is provided at the top of the rotating column 3, a connecting rod is provided at the other side of the rotary arm 1, a rotary arm 2 is provided at the side of the connecting rod away from the rotary arm 1, a rotating column 4 is provided at the end of the bottom of the rotary arm 2 away from the connecting rod, a first cylinder is provided at the bottom of the rotary column 4, a first gas rod is provided in the first cylinder to match, the first gas rod runs through the first cylinder, a second cylinder is provided at the bottom of the first gas rod, a second gas rod is provided in the second cylinder to match, a clamping part is provided at the bottom of the second gas rod, symmetrical clamping plates are provided on both sides of the lower part of the clamping part, corresponding sides of the clamping plate are provided with a plurality of hemispherical suction balls, a cavity base is provided at the bottom of the clamping plate, and auxiliary mechanisms are provided on both sides of the bottom of the cavity base.

[0006] Preferably, the auxiliary mechanism includes a connecting column, which passes through the bottom of the cavity base. A turntable is provided at the bottom of the connecting column, and a V-shaped adjusting block is provided at the bottom of the turntable. Insert shafts are inserted at both ends of the outer side of the bottom of the V-shaped adjusting block, and a limiting wheel is provided at the bottom of the insert shaft; a spring connector 2 is provided on one end of the top side of the V-shaped adjusting block close to the turntable, a spring connector 1 is provided at the inner outer end of the bottom of the cavity base, and a spring 1 is provided between the spring connector 1 and the spring connector 2; a limiting rod is provided at the center position of the outer side of the bottom of the cavity base.

[0007] Preferably, a cross frame is provided between the first cylinder and two sides of the rotating column, the hemispherical suction ball is made of rubber material, and a plurality of particles are provided on the surface of the hemispherical suction ball.

[0008] Preferably, the clamping part includes an inverted U-shaped clamping plate, the second gas rod passes through the inverted U-shaped clamping plate, a side tooth column is provided at the center of the bottom groove of the inverted U-shaped clamping plate, the bottom of the second gas rod passes through the inverted U-shaped clamping plate and is fixedly connected with the top center of the side tooth column; transfer blocks are provided on both sides of the side tooth column, and side gear teeth meshing with the side gear column are provided on the inner side of the transfer blocks; a group of clamps are provided on the side of the transfer block away from the side gear teeth, and the lower part of the clamps is fixed to the top center of the clamping plates arranged on both sides below.

[0009] Preferably, an angle rotation plate is provided in the middle part between the clamps, an inner shaft one is inserted into the side of the angle rotation plate away from the clamp, and both ends of the inner shaft one are fixed on both sides of the groove of the inverted U-shaped clamp; an inner shaft two is inserted into the side of the transfer connecting block close to the side gear teeth, and both ends of the inner shaft two are fixed on both sides of the groove of the inverted U-shaped clamp.

[0010] Preferably, a clamp is provided at the center of both sides of the top of the inverted U-shaped clamp, and support plates are provided on both sides of the upper part of the clamp, and the side edges of the support plates are respectively fixed at the center of the side edges of the second cylinder, and the upper part of the clamp is fixedly connected to the support plates through a shaft rod.

[0011] Preferably, the clamping plates are composed of a plurality of fault columns, each of which is connected to each other, a plurality of through holes are arranged on the inner side of the fault columns, and the hemispherical suction balls are respectively located at the corresponding through holes.

[0012] Preferably, a driver is provided on one side of the fault column near the through hole, one end of the driver is connected to a shaft, the shaft passes through the clamping plate, a gear 1 is provided on the outer end of the shaft, a gear 2 meshing with the gear 1 is provided on one side of the gear 1 and located at the through hole, an inner wall of the gear 2 is provided with an internal thread, a threaded rod matching the internal thread is inserted in the middle of the gear 2, and the threaded rod passes through the clamping plate; a push plate is provided on the inner end of the threaded rod located inside the fault column, a notch 1 is provided at both ends of the push plate on the side away from the threaded rod, an adjusting member 1 is provided in the notch 1, a notch 2 is provided at both ends of the adjusting member 1, and an adjusting member 2 is provided in the notch 2; a limiting disk is provided on both ends of the adjusting member 2 on the side away from the adjusting member 1, a push rod is provided on the side of the limiting disk away from the adjusting member 2, the push rod passes through the through hole, an outer plate is provided at the outer end of the push rod, and the hemispherical suction balls are respectively fixed on the corresponding outer plates.

[0013] Preferably, a fixed cross column is provided on one side of the fault column away from the push plate, the push rods pass through the fixed cross column, and a spring 2 is sleeved on the push rod between the fixed cross column and the limit plate.

[0014] Preferably, the top and bottom of the middle part of the adjusting member 1 are provided with embedding grooves, and the slot 1 is connected to the middle part of the embedding groove through the connecting shaft 1; the slot 2 is connected to the middle part of the adjusting member 2 through the connecting shaft 2.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are: 1. Auxiliary mechanisms are arranged on both sides of the bottom of the clamping plate. When the clamping plate clamps the conveyed box, the auxiliary mechanisms on both sides of the lower part will automatically adjust the angle according to the box and adjust the surface of the box to avoid the angle deviation of the box during transportation, which will affect the subsequent operation of the box. At the same time, as the driving mechanism inside the clamping plates on both sides runs, the contact surface of the box clamped in the middle will be automatically adjusted to prevent the box from being deflected under other forces after being clamped, so that the box can be conveniently stacked on the box below after being clamped, and keep it horizontal with the box below.

[0016] 2. Several hemispherical suction balls with adjustable angles are arranged on the inner sides of the clamping plates on both sides. These suction balls can be adjusted according to the different rotation angles of the sides of the box. Several particles are arranged on the surface of the hemispherical suction balls, so that when the box is placed, it will be affected by friction, increase resistance, provide a buffering effect for the falling material, and avoid rushing down and hitting the box placed on the next layer when falling, effectively avoiding the direct collision between the two contacting boxes, and preventing the box on the next layer from tilting or tipping.

[0017] 3. The movable angle of each hemispherical suction ball is different, and can be automatically adjusted according to the box or material surface to maintain close contact between the clamping part and the material contact surface, improve the firmness of the clamping, maintain the stability of the clamping movement, and at the same time, keep the box and the material from angular deviation during the clamping movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a schematic diagram of the overall structure according to an embodiment of the present invention; Figure 2 is a schematic diagram of the structure of a second cylinder end according to an embodiment of the present invention; Figure 3 is a schematic diagram of the structure of the clamping portion end according to an embodiment of the present invention; Figure 4 is a schematic diagram of the structure of the back end of the clamping plate according to an embodiment of the present invention; Figure 5 is a schematic diagram of the structure of the driving mechanism end according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of one end of an adjusting member according to an embodiment of the present invention; Figure 7 is a schematic diagram of the structure of the clamping plate end according to an embodiment of the present invention; Figure 8 is a schematic diagram of the auxiliary mechanism end structure according to an embodiment of the present invention; Fig. 9 2 is a schematic diagram of a V-shaped regulating block end structure according to an embodiment of the present invention.

[0020] In the figure: 1. Fixed plate; 2. Motor; 3. Rotating column 1; 4. Rotating column 2; 5. Rotating column 3; 6. Swing arm 1; 7. Connecting rod; 8. Swing arm 2; 9. Rotating column 4; 10. First cylinder; 11. First gas rod; 12. Second cylinder; 13. Second gas rod; 14. Clamping plate; 15. Hemispherical suction ball; 16. Cavity base; 17. Connecting column; 18. Turntable; 19. V-shaped adjustment block; 20. Insert shaft; 21. Limiting wheel; 22. Spring connector 2; 23. Spring connector 1; 24. Spring 1; 25. Limit rod; 26, cross frame; 27, inverted U-shaped clamp; 28, side tooth column; 29, transfer connecting block; 30, side gear; 31, clamp; 32, angle rotating plate; 33, inner shaft one; 34, inner shaft two; 35, clamp; 36, support plate; 37, through hole; 38, gear one; 39, gear two; 40, threaded rod; 41, push plate; 42, notch one; 43, adjusting piece one; 44, notch two; 45, adjusting piece two; 46, limit plate; 47, push rod; 48, outer plate; 49, fixed cross column; 50, spring two. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0023] According to an embodiment of the present invention, Figure 1-9 Shown in: The present invention provides a manipulator for carton packaging production equipment, comprising a fixed plate 1, a motor 2 is provided at the bottom of the fixed plate 1, a rotating column 3 is provided at the top of the fixed plate 1, the bottom of the rotating column 3 is connected to the motor 2 through a conveying shaft, a rotating column 4 is provided at the top of the rotating column 3, a rotating column 3 5 is provided at the top of the rotating column 3 5, a rotary arm 6 is provided at the top of the rotary arm 6, a connecting rod 7 is provided at the other side of the rotary arm 6, a rotary arm 2 8 is provided at the side of the connecting rod 7 away from the rotary arm 1 6, and a rotating column 4 9 is provided at the end of the bottom of the rotary arm 2 8 away from the connecting rod 7. A first air cylinder 10 is provided at the bottom of the rotating column 49, a first air cylinder 10 is provided with a matching first air rod 11, the first air rod 11 runs through the first air cylinder 10, a second air cylinder 12 is provided at the bottom of the first air rod 11, a second air rod 13 is provided with a matching second air rod 13 in the second cylinder 12, a clamping portion is provided at the bottom of the second air rod 13, symmetrical clamping plates 14 are provided on both sides of the lower part of the clamping portion, corresponding sides of the clamping plates 14 are provided with a number of hemispherical suction balls 15, a cavity base 16 is provided at the bottom of the clamping plate 14, and auxiliary mechanisms are provided on both sides of the bottom of the cavity base 16.

[0024] The manipulator is installed on an external device and driven to operate through an external connection. The manipulator clamps the box that needs to be clamped. After clamping the box, when moving, the clamped box is adjusted by the hemispherical suction ball 15 in contact with the box to maintain the firmness of the clamping. At the same time, the box will not be deflected by the external force during the clamping operation, thereby maintaining the stability of the box during movement.

[0025] The auxiliary mechanism includes a connecting column 17, which runs through the bottom of the cavity base 16. A turntable 18 is provided at the bottom of the connecting column 17. A V-shaped adjusting block 19 is provided at the bottom of the turntable 18. Insertion shafts 20 are inserted at both ends of the bottom outer side of the V-shaped adjusting block 19. A limiting wheel 21 is provided at the bottom of the insertion shaft 20. A spring connector 22 is provided at one end of the top side of the V-shaped adjusting block 19 close to the turntable 18. A spring connector 23 is provided at the inner outer end of the bottom of the cavity base 16. A spring 24 is provided between 23 and the spring connector 22; a limit rod 25 is provided at the center of the bottom outer side of the cavity base 16, a cross frame 26 is provided between the first cylinder 10 and the side of the rotating column 24, the hemispherical suction ball 15 is made of rubber material, and a plurality of particles are provided on the surface of the hemispherical suction ball 15, the clamping part includes an inverted U-shaped clamping plate 27, the second gas rod 13 passes through the inverted U-shaped clamping plate 27, and a side tooth column 28 is provided at the center of the bottom groove of the inverted U-shaped clamping plate 27, and the bottom of the second gas rod 13 The part passes through the inverted U-shaped clamping plate 27 and is fixedly connected with the top center of the side tooth column 28. The side tooth column 28 is provided with a transfer block 29 on both sides. The inner side of the transfer block 29 is provided with a side gear 30 meshing with the side gear column 28. The transfer block 29 is provided with a group of clamps 31 on the side away from the side gear 30. The lower part of the clamp 31 is fixed to the top center of the clamping plate 14 arranged on the two sides below. An angle rotation plate 32 is provided in the middle between the clamps 31. The angle rotation plate 32 is inserted with a side away from the clamp 31. An inner shaft 33, both ends of which are fixed on both sides of the groove of the inverted U-shaped clamp 27, an inner shaft 2 34 is inserted on one side of the transfer block 29 close to the side gear 30, and both ends of the inner shaft 2 34 are fixed on both sides of the groove of the inverted U-shaped clamp 27, a clamp 35 is provided at the center of both sides of the top of the inverted U-shaped clamp 27, and support plates 36 are provided on both sides of the upper part of the clamp 35, and the side edges of the support plates 36 are respectively fixed at the center of the side edges of the second cylinder 12, and the upper part of the clamp 35 is fixedly connected to the support plate 36 through a shaft.

[0026] In addition, the clamping plate 14 is composed of a plurality of fault columns, each of which is connected to each other. The inner side of the fault column is provided with a plurality of through holes 37, and the hemispherical suction balls 15 are respectively located at the corresponding through holes 37. A driver is provided on the side of the fault column close to the through holes 37, and one end of the driver is connected to a shaft, and the shaft passes through the clamping plate 14. A gear 1 38 is provided at the outer end of the shaft, and a meshing gear 2 39 is provided on one side of the gear 1 38 and located at the through hole 37. The inner wall of the gear 2 39 is provided with an internal thread, and a threaded rod 40 matching the internal thread is inserted in the middle of the gear 2 39. The threaded rod 40 passes through the clamping plate 14, and a push plate 41 is provided on the inner end of the threaded rod 40 located inside the fault column. A notch 1 42 is provided at both ends of the push plate 41 on the side away from the threaded rod 40, and an adjusting member 1 43 is provided in the notch 1 42. The two ends of the adjusting member 1 43 are provided with a slot 2 44, and the slot 2 44 is provided with an adjusting member 2 45. The two ends of the adjusting member 2 45 away from the adjusting member 1 43 are provided with a limit plate 46, and the side of the limit plate 46 away from the adjusting member 2 45 is provided with a push rod 47, and the push rod 47 passes through the through hole 37. The outer end of the push rod 47 is provided with an outer plate 48, and the hemispherical suction ball 15 is respectively fixed on the corresponding outer plate 48. A fixed cross column 49 is provided on one side of the column away from the push plate 41, and the push rod 47 passes through the fixed cross column 49. A spring 2 50 is sleeved on the push rod 47 between the fixed cross column 49 and the limit plate 46. Embedding grooves are provided at the top and bottom of the middle part of the adjusting member 1 43, and the slot 1 42 is connected to the middle part of the embedding groove through the connecting shaft 1, and the slot 2 44 is connected to the middle part of the adjusting member 2 45 through the connecting shaft 2.

[0027] The clamping plate 14 is composed of a plurality of superimposed fault columns, the interior of the fault columns is a cavity structure, and the driving mechanism is located in the cavity structure. When the driving mechanism is running, it will move against the connected outer plate 48, and the movement of the outer plate 48 is driven separately, and the angle adjustment of the hemispherical suction ball 15 on the side is controlled separately, so that the contact surface of the clamped material can be automatically adjusted according to the demand to maintain the tightness of the clamping.

[0028] Detailed usage and function of this embodiment: When clamping, the second cylinder 12 and the second gas rod 13 are driven to generate telescopic movement, and the second gas rod 13 drives the side tooth column 28 to move up and down. The gear teeth on both sides of the side tooth column 28 will drive the meshing transfer block 29 to move. After the transfer block 29 moves, it will drive the clamp 31. Under the limiting cooperation of the angle rotating plate 32, the two clamping plates 14 will move to the middle at the same time, so that the clamping plates 14 on both sides clamp the material, and then the robot picks it up and places it at the required position. After the clamping plate 14 clamps the material, the surface of the material will be in close contact with the hemispherical suction ball 15, wherein the driver inside the fault column drives the connected gear 1 38 to rotate through the driver, and the gear 1 38 drives the gear 2 39 meshing with the side to rotate. Since the inner wall of the gear 2 39 is set as an internal thread, the threaded rod 40 passes through the internal thread. At the same time, the side of the gear 2 39 is connected to the side of the clamping plate 14, so the gear 2 39 rotates in the original position. In this way, when the gear 2 39 rotates, the internal internal thread will drive the middle interlaced The threaded rod 40 moves, and after the threaded rod 40 passes through the clamping plate 14, it will push the push plate 41 to move inward, and the two ends of the side of the push plate 41 will push the adjusting member 1 43 forward, and the adjusting member 1 43 will push the adjusting member 2 45 connected at the two ends of the side forward, and the adjusting member 2 45 will push the push rod 47 to pass through the clamping plate 14, and the push rod 47 pushes the outer plate 48 at the outer end to push the clamped material, and presses the hemispherical suction ball 15 to press the surface of the material. Since the hemispherical suction balls 15 are connected separately, the clamping tightness can be automatically adjusted according to the flatness of the material surface.

[0029] When the material is clamped, as the clamping plate 14 moves toward the middle, the limiting wheels 21 on both sides of the bottom of the cavity base 16 will automatically rotate with the positive corners of the side of the box, and the limiting wheels 21 will automatically adjust the middle box to keep the clamping angle of the box vertical and the horizontal state of the box, avoiding the displacement and rotation of the material and the box during the clamping and movement. In this way, after the box is clamped, when it is extracted and placed on the next layer of accumulated boxes, it can maintain the flatness with the next layer of boxes, preventing the accumulation of inclined angles from causing skewness or tipping. At the same time, during the clamping process, if the box always keeps the angle unchanged and is placed in the next program for processing and production, the trouble caused by subsequent processing can be reduced.

[0030] After the material and the box body are clamped, the hemispherical suction ball 15 on the inner side of the clamping plate 14 will clamp and suck the side of the box body, and the particles on the surface of the hemispherical suction ball 15 will increase the friction. When the clamped material and the box body are placed, friction will be generated between the material and the surface of the box body and the surface of the hemispherical suction ball 15. This will increase the resistance to falling materials, provide a buffering resistance for falling materials, and reduce the sliding force of the materials falling in a straight line. In addition, since the activities of the hemispherical suction ball 15 are all controlled separately, the contact points between the hemispherical suction ball 15 and the material will increase, and the path of material discharge will become tortuous.

[0031] Through the above specific implementations, those skilled in the art can easily implement the present invention. However, it should be understood that the present invention is not limited to the above specific implementations. On the basis of the disclosed implementations, those skilled in the art can arbitrarily combine different technical features to achieve different technical solutions.

Claims

1. A robot for carton packaging production equipment, characterized in that: The invention comprises a fixing plate (1), wherein a motor (2) is provided at the bottom of the fixing plate (1), a rotating column (3) is provided at the top of the fixing plate (1), the bottom of the rotating column (3) is connected to the motor (2) via a conveying shaft, a rotating column (4) is provided at the top of the rotating column (3), a rotating column (5) is provided at the top of the rotating column (4), a rotating arm (6) is provided at the top of the rotating column (5), a connecting rod (7) is provided at the other side of the rotating arm (6), a rotating arm (8) is provided at the side of the connecting rod (7) away from the rotating arm (6), a rotating column (9) is provided at the end of the bottom of the rotating arm (8) away from the connecting rod (7), and the rotating column (9) is provided at the end of the rotating arm (8) away from the connecting rod (7). 9) is provided at the bottom of a first air cylinder (10), a first air rod (11) is provided in the first air cylinder (10), the first air rod (11) runs through the first air cylinder (10), a second air cylinder (12) is provided at the bottom of the first air rod (11), a second air rod (13) is provided in the second air cylinder (12), a clamping portion is provided at the bottom of the second air rod (13), symmetrical clamping plates (14) are provided on both sides of the lower part of the clamping portion, a plurality of hemispherical suction balls (15) are provided on the corresponding sides of the clamping plate (14), a cavity base (16) is provided at the bottom of the clamping plate (14), and auxiliary mechanisms are provided on both sides of the bottom of the cavity base (16).

2. The robot for carton packaging production equipment according to claim 1 is characterized in that: The auxiliary mechanism comprises a connecting column (17), the connecting column (17) passing through the bottom of the cavity base (16), a rotating disk (18) being provided at the bottom of the connecting column (17), a V-shaped adjusting block (19) being provided at the bottom of the rotating disk (18), an inserting shaft (20) being inserted at both ends of the outer side of the bottom of the V-shaped adjusting block (19), and a limiting wheel (21) being provided at the bottom of each inserting shaft (20); A spring connector 2 (22) is provided at one end of the top side of the V-shaped adjustment block (19) close to the rotating disk (18), a spring connector 1 (23) is provided at the inner outer end of the bottom of the cavity base (16), and a spring 1 (24) is provided between the spring connector 1 (23) and the spring connector 2 (22); A limiting rod (25) is provided at the center position of the outer side of the bottom of the cavity base (16).

3. The robot for carton packaging production equipment according to claim 1, characterized in that: A cross frame (26) is provided between the first cylinder (10) and the second side of the rotating column (4). The hemispherical suction ball (15) is made of rubber material, and a plurality of particles are provided on the surface of the hemispherical suction ball (15).

4. The robot for carton packaging production equipment according to claim 1, characterized in that: The clamping portion comprises an inverted U-shaped clamping plate (27), the second gas rod (13) passes through the inverted U-shaped clamping plate (27), a side tooth column (28) is provided at the center of the bottom groove of the inverted U-shaped clamping plate (27), and the bottom of the second gas rod (13) passes through the inverted U-shaped clamping plate (27) and is fixedly connected to the top center of the side tooth column (28); Both sides of the side tooth column (28) are provided with transfer blocks (29), and the inner sides of the transfer blocks (29) are provided with side gear teeth (30) meshing with the side tooth column (28); A group of clamps (31) are provided on one side of the transfer connecting block (29) away from the side gear teeth (30), and the lower part of the clamps (31) is fixed to the top center of the clamping plates (14) provided on the lower two sides.

5. The robot for carton packaging production equipment according to claim 4, characterized in that: An angle rotation plate (32) is provided at the middle of each of the clamps (31), an inner shaft (33) is inserted through the side of the angle rotation plate (32) away from the clamp (31), and both ends of the inner shaft (33) are fixed to two sides of the groove of the inverted U-shaped clamp (27); A second inner shaft (34) is inserted into one side of the transfer connecting block (29) close to the side gear (30), and two ends of the second inner shaft (34) are fixed to two sides of the groove of the inverted U-shaped clamping plate (27).

6. The robot for carton packaging production equipment according to claim 5, characterized in that: Clamps (35) are provided at the centers of both sides of the top of the inverted U-shaped clamp (27), and support plates (36) are provided at both sides of the upper part of the clamp (35), and the side edges of the support plates (36) are respectively fixed at the centers of the side edges of the second cylinder (12), and the upper part of the clamp (35) is fixedly connected to the support plates (36) via a shaft rod.

7. The robot for carton packaging production equipment according to claim 1, characterized in that: The clamping plates (14) are composed of a plurality of fault columns, each of which is connected to each other, and a plurality of through holes (37) are provided on the inner side of each fault column, and the hemispherical suction balls (15) are respectively located at corresponding through holes (37).

8. The robot for carton packaging production equipment according to claim 7, characterized in that: A driver is provided on one side of the fault column near the through hole (37), one end of the driver is connected to a shaft, the shaft passes through the clamping plate (14), the outer end of the shaft is provided with a gear 1 (38), one side of the gear 1 (38) and located at the through hole (37) is provided with a meshing gear 2 (39), the inner wall of the gear 2 (39) is provided with an internal thread, a threaded rod (40) matching the internal thread is inserted in the middle of the gear 2 (39), and the threaded rod (40) passes through the clamping plate (14); A push plate (41) is provided on one side of the inner end of the threaded rod (40) located inside the fault column, and a notch (42) is provided on both ends of the push plate (41) on the side away from the threaded rod (40), and an adjusting member (43) is provided in the notch (42), and a notch (44) is provided at both ends of the adjusting member (43), and an adjusting member (45) is provided in the notch (44); Limit plates (46) are provided at both ends of the side of the second adjusting member (45) away from the first adjusting member (43); a push rod (47) is provided at the side of the limit plate (46) away from the second adjusting member (45); the push rod (47) passes through the through hole (37); an outer plate (48) is provided at the outer end of the push rod (47); and the hemispherical suction balls (15) are respectively fixed on the corresponding outer plates (48).

9. The robot for carton packaging production equipment according to claim 8, characterized in that: A fixed cross column (49) is provided on one side of the fault column away from the push plate (41), the push rod (47) passes through the fixed cross column (49), and a spring 2 (50) is sleeved on the push rod (47) between the fixed cross column (49) and the limit plate (46).

10. The robot for carton packaging production equipment according to claim 9, characterized in that: The middle top and bottom of the adjusting member 1 (43) are both provided with embedding grooves, and the slot 1 (42) is connected to the middle of the embedding groove via a connecting shaft 1; The second notch (44) is connected to the middle part of the second adjusting member (45) via the second connecting shaft.

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