A gripping robot for packaging box production

Abstract

The present invention relates to the field of grasping robot technology, and specifically discloses a grasping robot for packaging box production, comprising a robot body, a grasping component arranged on the robot body, the grasping component comprising a fixed frame, a pair of clamping cylinders arranged on the fixed frame, a clamping plate fixedly connected to the end of the clamping cylinder, a workpiece arranged between the pair of clamping plates; an anti-falling component is arranged at the side end of the clamping plate, the anti-falling component comprises a plurality of rollers evenly distributed, a groove is provided at the side end of the clamping plate, a plurality of rollers are rotatably connected to the inner wall of the groove, a rotating drum is arranged at the bottom of the clamping plate, and a baffle is fixedly connected to the outer end of the rotating drum. The grasping robot for packaging box production provided by the present invention is provided with a plurality of rollers, and when the packaging box starts to slide downward, the plurality of rollers are rotated during the sliding process, so that the driving rotating drum rotates with the baffle instantly, thereby making the baffle in a horizontal state, preventing the packaging box from sliding, and achieving the purpose of preventing the packaging box from falling.

Description

Technical Field

[0001] The invention relates to the technical field of grasping robots, and in particular to a grasping robot used for packaging box production. Background Art

[0002] A grasping robot is a robot that is specifically designed to grasp objects from one place and carry them to another. It usually has a flexible end effector (such as a mechanical claw, suction cup, finger, etc.) and an advanced perception system, and can perform tasks such as grasping, carrying, stacking, and sorting objects in various environments.

[0003] The existing publication number is CN202011001852.4, which is a robot that can track and grasp dynamic targets. It increases the clamping range of the clamp by setting up a movable clamping frame structure, and can also be adjusted to different angles, so as to clamp objects of different shapes more tightly; however, this robot still has shortcomings. The opening and closing of the clamping parts are realized by motors or cylinders (mechanisms used by common grasping robots). When grasping the workpiece, it is sometimes difficult to control the grasping force due to the limitations of the workpiece itself. For example, when grasping some packaging boxes with softer materials, in order to avoid squeezing them, the pressure usually cannot be too high, which leads to the risk of slipping if the packaging box is collided during transportation, which is easy to damage the packaging box; not only that, when encountering a circuit failure or power outage, the packaging box is also easy to slip, so an anti-slip structure needs to be set. Summary of the invention

[0004] The object of the present invention is to provide a grasping robot for packaging box production to solve the above-mentioned deficiencies in the prior art.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A grasping robot for packaging box production, comprising a robot body, a grasping component disposed on the robot body, the grasping component comprising a fixing frame, a pair of clamping cylinders disposed on the fixing frame, a clamping plate fixedly connected to the end of the clamping cylinder, and a workpiece disposed between the pair of clamping plates;

[0007] The side end of the clamping plate is provided with an anti-falling component, and the anti-falling component includes a plurality of evenly distributed rollers. The side end of the clamping plate is provided with a groove, and the plurality of rollers are rotatably connected to the inner wall of the groove. The bottom of the clamping plate is provided with a rotating drum, and the outer end of the rotating drum is fixedly connected to a baffle.

[0008] The eccentric roller is provided with a trigger component. When the workpiece slides down, it drives the multiple rollers to rotate, and the baffle is driven to rotate through the trigger component to prevent the workpiece from falling.

[0009] Furthermore, the inner wall of the groove is rotatably connected to a plurality of first rotating shafts, each of which is fixedly sleeved with a belt ring, a transmission belt is sleeved on an adjacent upper and lower pair of belt rings, and a traction member is fixedly wrapped around the outer end of the first rotating shaft at the bottom.

[0010] Furthermore, the trigger component includes a push plate fixedly connected to the outer end of the eccentric roller, a movable groove is provided at the bottom of the clamping plate, the inner wall of the movable groove is rotatably connected to a second rotating shaft, an elastic member is sleeved on the second rotating shaft, and the elastic member is in a compressed state in an initial state, a first guide groove is provided at the bottom of the groove, the first guide groove is slidably connected to a limiting plate, and the end of the traction member is fixedly connected to the limiting plate.

[0011] Furthermore, a lifting component is provided at the bottom of the clamping plate, and the lifting component includes an inclined plate provided at the bottom of the clamping plate. When a pair of the clamping plates are close to each other, the workpiece is pushed up to a first height by the inclined plate.

[0012] Furthermore, the lifting component also includes a driving plate, the inclined plate is provided with a second guide groove, the driving plate slides on the top surface of the inclined plate through the second guide groove, the inclined plate is provided with a special-shaped groove, a conductive member is arranged in the special-shaped groove, the side end of the driving rod is fixedly connected with the driving rod, the top of the driving rod is connected to the conductive member, the outer end of the inclined plate is fixedly connected with a fixed plate, and during the movement of the driving plate, the inclined plate is driven to rotate through the fixed plate to push the workpiece up to the second height.

[0013] Furthermore, the top surface of the inclined plate includes a planar portion and an arc-shaped portion, and the special-shaped grooves are arranged on the planar portion and the arc-shaped portion.

[0014] Furthermore, the conductive member includes a chain and a plurality of balls movably nested on the chain, the balls roll in the special-shaped grooves, and the balls located at the front end push the fixed plate to rotate.

[0015] Furthermore, the clamping plate is provided with an inclined plate drooping part, the clamping plate is slidably connected with a pulling plate, the bottom of the pulling plate is fixedly connected with a pulling rope, the clamping plate is rotatably connected with a rotating plate, and the inclined plate is fixedly connected with a resisting plate. When the workpiece rises to the second height, the pulling plate is pushed to rise, so that the resisting plate loses the resistance of the rotating plate, and the inclined plate is in a drooping state under the action of gravity.

[0016] Optionally, the clamping plate is further provided with an inclined plate resetting component, and the rotating plate includes a plate body and a one-way plate, and the plate body and the one-way plate are rotationally connected.

[0017] Optionally, the baffle has a telescopic structure, including a hollow plate, the inner wall of the hollow plate is slidably connected to a pressure plate, and a support spring is fixedly connected between the inner wall of the hollow plate and the pressure plate. When the workpiece falls and the baffle is not fully unfolded, it will shrink when it touches the workpiece, reducing the extrusion of the baffle on the workpiece.

[0018] In the above technical solution, the grabbing robot for packaging box production provided by the present invention has the following beneficial effects:

[0019] By setting multiple rollers, when the packaging box starts to slide downward, the multiple rollers rotate during the sliding process, so that the driving drum rotates with the baffle plate instantly, thereby making the baffle plate horizontal, preventing the packaging box from sliding and achieving the purpose of preventing the packaging box from falling. Moreover, by setting a driving plate and an inclined plate, the driving plate rotates with the inclined plate during the sliding process of the workpiece on the inclined plate, thereby achieving the purpose of further lifting the packaging box, and finally achieving the purpose of keeping a certain distance between the position of the packaging box and the baffle plate when clamping, thereby extending the time for the packaging box to fall on the baffle plate, providing ample time for the baffle plate to rotate, and improving the efficiency of the device in intercepting the falling workpiece.

[0020] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0021] This application document provides an overview of various implementations or examples of the technology described in the present disclosure, and is not a comprehensive disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application 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 recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0023] Figure 1 This is a schematic diagram of the overall side view structure provided by the first embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the top view of the structure of the grabbing component provided in the first embodiment of the present invention;

[0025] Figure 3 A schematic diagram of the oblique side structure of a grabbing component provided in Embodiment 1 of the present invention;

[0026] Figure 4 A schematic diagram of the front view structure of the clamping plate provided in the first embodiment of the present invention;

[0027] Figure 5A schematic diagram of the oblique side structure of the clamping plate provided in the first embodiment of the present invention;

[0028] Figure 6 The first embodiment of the present invention provides Figure 5 A schematic diagram of the enlarged structure at point A;

[0029] Figure 7 The first embodiment of the present invention provides Figure 5 A schematic diagram of the enlarged structure at B;

[0030] Figure 8 A schematic diagram of the structure of a trigger component provided in Embodiment 1 of the present invention;

[0031] Fig. 9 A schematic diagram of the structure of a lifting component provided in Embodiment 1 of the present invention;

[0032] Fig.10 A schematic diagram of the structure of a conductive member provided in Embodiment 1 of the present invention;

[0033] Fig.11 A schematic diagram showing a demonstration of an inclined plate lifting a workpiece provided in the first embodiment of the present invention;

[0034] Fig.12 A schematic diagram of the internal structure of a baffle provided in Embodiment 2 of the present invention;

[0035] Fig.13 This is a schematic diagram of the structure of the inclined plate reset component provided in Example 3 of the present invention.

[0036] Description of reference numerals:

[0037] 1. Robot body; 2. Grasping component; 21. Fixing frame; 22. Clamping cylinder; 23. Clamping plate; 3. Anti-falling component; 31. Roller; 32. Groove; 33. Drum; 34. Baffle; 341. Hollow plate; 342. Press plate; 343. Support spring; 35. First rotating shaft; 36. Belt ring; 37. Transmission belt; 4. Trigger component; 41. Push piece; 42. Movable groove; 43. Second rotating shaft; 44. Elastic member; 45 , limit plate; 46, traction part; 5, lifting part; 51, inclined plate; 511, flat part; 512, arc-shaped part; 52, driving plate; 53, special-shaped groove; 54, conductive part; 541, chain; 542, ball; 55, driving rod; 56, fixed plate; 57, sliding shaft; 6, inclined plate hanging part; 61, pulling plate; 62, pulling rope; 63, rotating plate; 64, abutment plate; 7, inclined plate resetting part; 71, plate body; 72, one-way plate. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0039] Embodiment 1

[0040] See also Figure 1-4 A grasping robot for packaging box production includes a robot body 1, a grasping component 2 is arranged on the robot body 1, and the grasping component 2 includes a fixing frame 21, a pair of clamping cylinders 22 are arranged on the fixing frame 21, and the ends of the clamping cylinders 22 are fixedly connected with clamping plates 23, and a workpiece is arranged between the pair of clamping plates 23;

[0041] The side end of the clamping plate 23 is provided with an anti-falling component 3, and the anti-falling component 3 includes a plurality of evenly distributed rollers 31. The side end of the clamping plate 23 is provided with a groove 32, and the plurality of rollers 31 are rotatably connected to the inner wall of the groove 32. The bottom of the clamping plate 23 is provided with a rotating drum 33, and the outer end of the rotating drum 33 is fixedly connected to a baffle 34.

[0042] The eccentric roller is provided with a trigger component 4. When the workpiece slides down, it drives the multiple rollers 31 to rotate, and the baffle 34 is driven to rotate through the trigger component 4 to prevent the workpiece from falling.

[0043] Initially, the workpiece is on the conveyor belt, and the controller controls the grasping robot to grasp the workpiece.

[0044] Specifically, the robot body 1 is controlled by a controller and can complete multi-angle rotation. It is responsible for moving the grasping component 2 freely. The clamping cylinder 22 is electrically connected to the controller. When the clamping cylinder 22 is turned on, a pair of clamping plates 23 can be driven to approach each other. When the clamping force is unstable, the packaging box (whose weight in this case is 0.1-1 kg) is at risk of slipping.

[0045] The packaging box starts to slide downward, and during the sliding process, multiple rollers 31 rotate. The rotation of the rollers 31 unlocks the trigger component 4, and the driving drum 33 rotates the baffle 34 instantly, so that the baffle 34 is horizontal, preventing the packaging box from sliding. At this time, the clamping force can be slightly increased.

[0046] See also Figure 5-6In an embodiment further provided by the present invention, the inner wall of the groove 32 is rotatably connected to a plurality of first rotating shafts 35, each of which is fixedly sleeved with a belt ring 36, and a transmission belt 37 is sleeved on an adjacent upper and lower pair of belt rings 36, and a traction member 46 is fixedly wrapped around the outer end of the first rotating shaft 35 at the bottom.

[0047] A pair of adjacent belt loops 36 are transmission-connected to an external transmission belt 37 , and the traction member 46 is a traction rope.

[0048] See also Figure 7-8 The trigger component 4 includes a push piece 41 fixedly connected to the outer end of the eccentric roller, a movable groove 42 is provided at the bottom of the clamping plate 23, and the inner wall of the movable groove 42 is rotatably connected to a second rotating shaft 43, and an elastic member 44 is sleeved on the second rotating shaft 43. The elastic member 44 is a torsion spring with a slightly larger elastic force. One end of the torsion spring is fixedly connected to the second rotating shaft 43, and the other end is fixedly connected to the inner wall of the movable groove 42. The elastic member 44 is in a compressed state in the initial state, and a first guide groove is provided at the bottom of the groove 32. The first guide groove is slidably connected to a limit plate 45, and the end of the traction member 46 is fixedly connected to the limit plate 45.

[0049] Specifically, a return spring may be provided between the limiting plate 45 and the first guide groove.

[0050] When the workpiece (packing box) starts to slide, it causes the multiple rollers 31 located above to rotate, and through the belt ring 36 and the transmission belt 37, the rollers 31 at the back also start to rotate, so that the moment the workpiece slides, it can cause the last roller 31 to rotate, causing it to pull the external traction member 46 to make the limit plate 45 slide in the first guide groove. When the push piece 41 loses the obstruction of the limit plate 45, it is affected by the elastic force of the elastic member 44 and quickly causes the rotating drum 33 to rotate, so that the baffle 34 is lifted upward, thereby blocking the workpiece and preventing it from falling.

[0051] See also Figure 9-11 In an embodiment further provided by the present invention, a lifting component 5 is provided at the bottom of the clamping plate 23, and the lifting component 5 includes an inclined plate 51 provided at the bottom of the clamping plate 23. When a pair of the clamping plates 23 are close to each other, the inclined plate 51 pushes the workpiece up to a first height.

[0052] By providing a pair of inclined plates 51 , when the pair of clamping plates 23 approach each other, the workpiece will be lifted along the inclined surface of the inclined plates 51 .

[0053] The lifting component 5 also includes a driving plate 52, and a second guide groove is provided on the inclined plate 51. The driving plate 52 slides on the top surface of the inclined plate 51 through the second guide groove. The inclined plate 51 is provided with a special-shaped groove 53, and a conductive member 54 is arranged in the special-shaped groove 53. The side end of the driving rod 55 is fixedly connected with the driving rod 55, and the top of the driving rod 55 is connected to the conductive member 54. The outer end of the inclined plate 51 is fixedly connected with a fixed plate 56. During the movement of the driving plate 52, the inclined plate 51 is driven to rotate through the fixed plate 56 to push the workpiece up to the second height.

[0054] By setting the driving plate 52, the workpiece pushes the driving plate 52 to slide during the process of rising along the inclined surface, and the driving rod 55 can move the conductive member 54 through the driving rod 55. During the movement of the conductive member 54, the fixed plate 56 will continue to be pushed to rotate. The fixed plate 56 is fixed to the inclined plate 51, so that the inclined plate 51 also starts to rotate, thereby achieving the purpose of further lifting the workpiece, and finally achieving the purpose of a certain distance between the position of the workpiece and the baffle 34 when clamping, extending the time for the workpiece to fall on the baffle 34, providing sufficient time for the baffle 34 to rotate, and improving the efficiency of the device in intercepting the falling workpiece.

[0055] Attached Fig.11 In the figure, H represents that the workpiece is lifted a distance further by rotating the inclined plate 51 than when the workpiece slides from the inclined plate 51 to the highest point; point P represents that when the inclined plate 51 is rotated to this angle as shown by the arrow in the figure, the workpiece is just separated from the driving plate 52, and the bottom of the workpiece is just higher than the top of the driving plate 52, and the driving plate 52 will not hinder the clamping of the workpiece.

[0056] Moreover, even if the baffle 34 does not have time to rotate to the horizontal distance, the elastic force of the torsion spring can generate sufficient squeezing force on the workpiece, so that the workpiece is stuck between a pair of baffles 34, and the workpiece can be prevented from falling.

[0057] The top surface of the inclined plate 51 includes a flat portion 511 and an arc portion 512, and the special-shaped groove 53 is arranged on the flat portion 511 and the arc portion 512. The end of the inclined plate 51 is rotatably connected with a sliding shaft to convert sliding friction into rolling friction, which can reduce the resistance of the workpiece 51 entering the inclined plate 51 from the conveyor belt.

[0058] The transmission member 54 includes a chain 541 and a plurality of balls 542 movably embedded in the chain 541 . The balls 542 roll in the special-shaped grooves 53 . The balls 542 at the front end push the fixed plate 56 to rotate.

[0059] The chain 541 is made of metal material, and the ball 542 is embedded in the special-shaped groove 53 and cannot be separated from the special-shaped groove 53. The cross-section of the special-shaped groove 53 is an incomplete circular hole. The top of the ball 542 protrudes out of the special-shaped groove 53, which can push the fixed plate 56 to move. Since the chain 541 can be deformed freely, the direction of the driving force of the driving rod 55 can be changed between the flat portion 511 and the arc-shaped portion 512. Especially in the arc-shaped portion 512, this change of direction occurs continuously, so that the process of pushing the fixed plate 56 to rotate is sufficiently stable.

[0060] By providing the ball bearings 542 , the resistance of the conductive member 54 sliding in the special-shaped groove 53 can be reduced through the rolling of the ball bearings 542 .

[0061] In the solution further provided by the present invention, a slant plate drooping part 6 is provided on the clamping plate 23, a pulling plate 61 is slidably connected to the clamping plate 23, a pulling rope 62 is fixedly connected to the bottom of the pulling plate 61, a rotating plate 63 is rotatably connected to the clamping plate 23, and a resisting plate 64 is fixedly connected to the slant plate 51. When the workpiece rises to the second height, the pulling plate 61 is pushed to rise, so that the resisting plate 64 loses the resistance of the rotating plate 63, and the slant plate 51 is in a drooping state under the action of gravity.

[0062] Specifically, a reset member may be provided between the pulling plate 61 and the clamping plate 23 , and the reset member may be an elastic rope.

[0063] To facilitate stacking, the inclined plate 51 can be lowered after clamping. When the inclined plate 51 rises to the second height, it will push the pull plate 61 up. The pull plate 61 pulls the rotating plate 63 to rotate through the pulling rope 62. The stop plate 64 loses the obstruction of the rotating plate 63. Since the center of gravity of the inclined surface is biased to the left, the inclined plate 51 can automatically sag under the action of gravity. When the inclined plate 51 sags, the inclined surface is parallel to the side of the clamping plate 23, thereby completing the purpose of the inclined plate 51 sagging, and will not hinder the inclined plate 51 from falling. (This is a normal situation, the workpiece has not slipped down)

[0064] Embodiment 2

[0065] See also Fig.12 The difference between the second embodiment and the first embodiment is that the following technical features are added:

[0066] The baffle 34 has a telescopic structure, including a hollow plate 341, the inner wall of the hollow plate 341 is slidably connected to a pressure plate 342, and a support spring 343 is fixedly connected between the inner wall of the hollow plate 341 and the pressure plate 342. When the workpiece falls and the baffle 34 is not fully unfolded, it will shrink when it touches the workpiece, reducing the squeezing of the baffle 34 on the workpiece.

[0067] For some workpieces made of slightly softer materials, in order to prevent them from being squeezed or causing irreversible indentations, the baffle 34 can be set to a telescopic structure. When the pressure plate 342 has not been fully extended, it means that the bottom of the workpiece has left the position of the baffle 34. At this time, it needs to be stopped, which depends on the elastic force of the torsion spring. However, since the torsion spring has a large elastic force (the larger the elastic force of the torsion spring, the faster the baffle 34 rotates and the higher the efficiency of intercepting the workpiece), the elastic force of the torsion spring can be buffered by the support spring 343, so that the clamping force on the workpiece is sufficient but will not damage the workpiece.

[0068] Embodiment 3

[0069] See also Fig.13 The difference between Example 3 and Example 1 is that the following technical features are added: In the solution further provided by the present invention, a slant plate reset component 7 is also provided on the clamping plate 23, and the rotating plate 63 includes a plate body 71 and a one-way plate 72, and the plate body 71 and the one-way plate 72 are rotationally connected.

[0070] After each stacking, the pulling plate 61 descends, and the rotating plate 63 also rotates to the initial position. At this time, the inclined plate 51 can be rotated (the robot body 1 is controlled to push a pair of inclined plates 51 to rotate respectively). When the inclined plate 51 rotates, the one-way plate 72 can be pushed open. After being pushed open, the one-way plate 72 automatically resets. Due to the obstruction of the plate body 71, the one-way plate 72 can only rotate to the level with the plate body 71, thereby preventing the inclined plate 51 from sagging and starting the subsequent clamping work.

[0071] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that 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 above 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 grasping robot for packaging box production, comprising a robot body (1), characterized in that: The robot body (1) is provided with a gripping component (2), the gripping component (2) comprising a fixing frame (21), a pair of clamping cylinders (22) being provided on the fixing frame (21), one end of the clamping cylinder (22) being electrically connected to a controller, the controller being responsible for the extension and retraction of the clamping cylinder (22), the end of the clamping cylinder (22) being fixedly connected to a clamping plate (23), a workpiece being provided between the pair of clamping plates (23); An anti-falling component (3) is provided at the side end of the clamping plate (23), and the anti-falling component (3) comprises a plurality of evenly distributed rotating rollers (31). A groove (32) is provided at the side end of the clamping plate (23), and the plurality of rotating rollers (31) are rotatably connected to the inner wall of the groove (32). A rotating drum (33) is provided at the bottom of the clamping plate (23), and a baffle (34) is fixedly connected to the outer end of the rotating drum (33); The rotating drum (33) is provided with a trigger component (4), and when the workpiece slides down, it drives the plurality of rollers (31) to rotate, and the trigger component (4) drives the baffle (34) to rotate, thereby preventing the workpiece from falling.

2. The grasping robot for packaging box production according to claim 1, characterized in that: The inner wall of the groove (32) is rotatably connected to a plurality of first rotating shafts (35), each of the first rotating shafts (35) is fixedly sleeved with a belt ring (36), a transmission belt (37) is sleeved on an adjacent upper and lower pair of the belt rings (36), and a traction member (46) is fixedly wound around the outer end of the first rotating shaft (35) at the bottom, and one end of the traction member (46) is connected to the trigger component (4).

3. The grasping robot for packaging box production according to claim 2, characterized in that: The trigger component (4) comprises a push piece (41) fixedly connected to the outer end of the rotating cylinder (33); a movable groove (42) is provided at the bottom of the clamping plate (23); a second rotating shaft (43) is rotatably connected to the inner wall of the movable groove (42); an elastic member (44) is sleeved on the second rotating shaft (43); the elastic member (44) is in a compressed state in an initial state; a first guide groove is provided at the bottom of the groove (32); the first guide groove is slidably connected to a limit plate (45); and an end of the traction member (46) is fixedly connected to the limit plate (45).

4. The grasping robot for packaging box production according to claim 3, characterized in that: A lifting component (5) is provided at the bottom of the clamping plate (23), and the lifting component (5) comprises an inclined plate (51) provided at the bottom of the clamping plate (23). When a pair of the clamping plates (23) are brought close to each other, the inclined plate (51) pushes the workpiece up to a first height.

5. The grasping robot for packaging box production according to claim 4, characterized in that: The lifting component (5) further comprises a driving plate (52), the inclined plate (51) being provided with a second guide groove, the driving plate (52) sliding on the top surface of the inclined plate (51) through the second guide groove, the inclined plate (51) being provided with a special-shaped groove (53), a conductive member (54) being arranged in the special-shaped groove (53), a driving rod (55) being fixedly connected to the side end of the driving plate (52), the top of the driving rod (55) being connected to the conductive member (54), and a fixed plate (56) being fixedly connected to the outer end of the inclined plate (51), and during the movement of the driving plate (52), the inclined plate (51) is driven to rotate through the fixed plate (56), thereby pushing the workpiece up to a second height.

6. The grasping robot for packaging box production according to claim 5, characterized in that: The top surface of the inclined plate (51) comprises a plane portion (511) and an arc-shaped portion (512), and the special-shaped groove (53) is arranged on the plane portion (511) and the arc-shaped portion (512).

7. The grasping robot for packaging box production according to claim 6, characterized in that: The conductive member (54) comprises a chain (541) and a plurality of balls (542) movably nested in the chain (541); the balls (542) roll in the special-shaped grooves (53); the balls (542) located at the front end push the fixed plate (56) to rotate.

8. The grasping robot for packaging box production according to claim 7, characterized in that: The clamping plate (23) is provided with an inclined plate drooping component (6), the inclined plate drooping component (6) comprising a pulling plate (61) slidably connected to the clamping plate (23), a pulling rope (62) being fixedly connected to the bottom of the pulling plate (61), a rotating plate (63) being rotatably connected to the clamping plate (23), and a resisting plate (64) being fixedly connected to the inclined plate (51). When the workpiece rises to the second height, the pulling plate (61) is pushed upward, so that the resisting plate (64) loses the resistance of the rotating plate (63), and the inclined plate (51) is in a drooping state under the action of gravity.

9. The grasping robot for packaging box production according to claim 8, characterized in that: The rotating plate (63) is also provided with an inclined plate reset component (7), wherein the inclined plate reset component (7) comprises a plate body (71) and a one-way plate (72), and the plate body (71) and the one-way plate (72) are rotationally connected.

10. The grasping robot for packaging box production according to claim 9, characterized in that: The baffle (34) has a telescopic structure, comprising a hollow plate (341), the inner wall of the hollow plate (341) being slidably connected to a pressure plate (342), and a support spring (343) being fixedly connected between the inner wall of the hollow plate (341) and the pressure plate (342); when the workpiece falls and the baffle (34) is not fully extended, it will contract when it touches the workpiece, thereby reducing the pressure of the baffle (34) on the workpiece.

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