Automatic boxing robot

Abstract

The invention belongs to the technical field of automatic equipment, and particularly relates to an automatic boxing robot which comprises a first conveying table, a second conveying table is installed on one side of the first conveying table, a mechanical arm is arranged on the side edge of the second conveying table, and a first rectangular plate is rotationally arranged at the end of the mechanical arm. A plurality of vacuum suction cups are arranged on the side edge of the first rectangular plate, a coiled foam sheet is arranged at the upper end of the second conveying table, the end of the foam sheet is clamped by a clamping assembly, the clamping assembly comprises two fourth cylindrical wheels arranged at the lower end of the foam sheet in a sliding mode, and two rotating first cylindrical wheels are arranged on one side of the first rectangular plate. The first cylindrical wheel is driven to clamp the foam pieces, the foam pieces are located on the side edge of the to-be-boxed object, then the mechanical arm is driven to drive the to-be-boxed object to enable the foam pieces to abut against the side edge of the box, and the problems that during boxing, the foam pieces are likely to be stacked together, the positions of the foam pieces need to be continuously adjusted, and operation is complex are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of automated equipment, in particular to an automated box packing robot. Background Art

[0002] Automation refers to the process in which machinery, equipment, systems or processes achieve the desired goals through automatic detection, information processing, analysis and judgment, manipulation and control in accordance with human requirements without or with few direct human participation. Automation technology is widely used in industry, agriculture, military, scientific research, transportation, commerce, medical care, services and family. The use of automation technology can not only liberate people from heavy physical labor, part of mental labor and harsh and dangerous working environments, but also expand the functions of human organs and greatly improve labor productivity. In modern assembly line production, automated packaging equipment is a common automation equipment.

[0003] A patent application with publication number CN107892020A discloses an automated packing device, in which a first motor is fixedly connected to one side of the inner wall of a top box, and the output shaft of the first motor is fixedly connected to a rotating shaft, both ends of the rotating shaft are fixedly connected to gears, both sides of the bottom of the top box are fixedly connected to fixed plates, and one side of the two fixed plates is respectively fixedly connected to a motor box and a fixed box through a first slider, a slide groove matched with the slider is provided on one side of the fixed plate, the tops of the motor box and the fixed box are fixedly connected to a rack meshing with the gear, a second motor is fixedly connected to the inner wall of the motor box, the output shaft of the second motor is fixedly connected to a screw shaft, one end of the screw shaft is rotatably connected to the fixed box through a turntable, a mobile frame is threadedly connected to the surface of the screw shaft, the motor box and the fixed box are slidably connected to the mobile frame through a sliding rod, and the bottom of the mobile frame is fixedly connected to a first hydraulic rod, so that the equipment has the function of three-axis coordinate movement, and can load materials into every position in the box, with a wide range of applications, greatly improving the efficiency of packing.

[0004] In the above-mentioned prior art, when fragile items are packed, when multiple individually packaged fragile items need to be packed in a large box, it is necessary to lay cushioning materials, such as foam sheets, on the inner side walls of the box. During transportation, even if impacted, the foam sheets can disperse and absorb the impact energy, thereby protecting the fragile items from damage. Before packing, laying foam sheets on the inner side walls of the box in advance may cause the foam sheets to pile up during subsequent packing, and the position of the foam sheets needs to be constantly adjusted. During the automatic packing process, constant adjustments are required, which is cumbersome. To this end, the present invention provides an automatic packing robot. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an automated packing robot described in the present invention comprises a first conveying platform, a second conveying platform is installed on one side of the first conveying platform, a robotic arm is provided on the side of the second conveying platform, a first rectangular plate is rotatably provided on the end of the robotic arm, a plurality of vacuum suction cups are provided on the side of the first rectangular plate, a rolled foam sheet is provided on the upper end of the second conveying platform, the end of the foam sheet is clamped by a clamping assembly, the clamping assembly comprises two fourth cylindrical wheels slidably provided on the lower end of the foam sheet, and two rotating first cylindrical wheels are provided on one side of the first rectangular plate.

[0007] Preferably, a first L-shaped block is provided at both ends of the foam sheet, a third rectangular strip is fixedly connected to the lower end of the first L-shaped block, a fourth rectangular strip is slidably provided on the side of the third rectangular strip, the fourth cylindrical wheel is rotatably provided between the two fourth rectangular strips, a support frame is fixedly connected to the lower end of the third rectangular strip, and the support frame is fixedly connected to the side of the second conveying platform.

[0008] Preferably, a second rectangular plate is fixedly connected to one side of the first rectangular plate, a first rectangular hole is opened in the middle of the second rectangular plate, first rectangular blocks are fixedly connected to both sides of the second rectangular plate, and the first cylindrical wheel is rotatably arranged between the two first rectangular blocks.

[0009] Preferably, second rectangular holes are respectively opened on both sides of the middle part of the first rectangular block, Z-shaped blocks are respectively slidably arranged inside the second rectangular holes, the first cylindrical wheels are respectively rotatably arranged between two opposite Z-shaped blocks, the Z-shaped block is fixedly connected to one side of the second rectangular hole through a spring, a bevel block is respectively fixedly connected to one side of the Z-shaped block, and a third rectangular block is respectively fixedly connected to the position of the bevel block at the lower end of the fourth rectangular strip.

[0010] Preferably, both ends of the fourth cylindrical wheel close to the third rectangular bar are rotatably connected to the second connecting rods, the second connecting rod is rotatably connected to the side corresponding to the fourth cylindrical wheel with a cylindrical block, the cylindrical blocks are slidably arranged on the side of the fourth rectangular bar, the second connecting rod is rotatably connected to the third connecting rod at one end away from the fourth cylindrical wheel, the third connecting rod is rotatably connected to the cylindrical wheel at one end away from the second connecting rod through damping rotation, the cylindrical wheel can rotate along one side of the third rectangular bar, both ends of the cylindrical wheel are rotatably connected to the second rectangular blocks, and the second rectangular blocks are slidably arranged on one side of the third rectangular bar.

[0011] Preferably, the upper ends of the first L-shaped blocks are rotatably provided with first connecting rods through torsion springs, the rolled foam sheet can be installed between the two first connecting rods, the lower ends of the rolled foam sheet are rotatably provided with second cylindrical wheels, the second cylindrical wheels are rotatably provided between the two first L-shaped blocks, and two third cylindrical wheels are rotatably provided between the two first L-shaped blocks on a side away from the rolled foam sheet.

[0012] Preferably, a fifth rectangular bar is fixedly connected to one opposite side of the lower end of the third rectangular bar, a second L-shaped block is slidably provided on one opposite side of the fifth rectangular bar, and a steel wire is fixedly connected between two of the second L-shaped blocks.

[0013] Preferably, two diagonal positions of the second conveying platform are respectively provided with unpacking components, and the unpacking components include an L-shaped plate, the upper end of the L-shaped plate is fixedly connected to the output end of the first electric telescopic rod, the end of the first electric telescopic rod away from the L-shaped plate is fixedly connected to the output end of the second electric telescopic rod, the end of the second electric telescopic rod away from the first electric telescopic rod is fixedly connected to the output end of the third electric telescopic rod, and the third electric telescopic rod is fixedly connected to the side of the second conveying platform through a connecting plate.

[0014] Preferably, two baffles are slidably provided on the upper end of the first conveying platform, and a plurality of balls are rotatably provided on opposite sides of the baffles.

[0015] Preferably, a fourth conveying platform is arranged on the side of the second conveying platform away from the first conveying platform, and a third conveying platform is arranged on the side of the second conveying platform away from the robot arm.

[0016] The beneficial effects of the present invention are as follows: 1. An automated packing robot described in the present invention drives the vacuum suction cup at the lower end of the first rectangular plate to absorb the items to be packed by the mechanical arm, then drives the fourth cylindrical wheel to pull the foam sheet downward, and then the first cylindrical wheel clamps the foam sheet so that the foam sheet is located on the side of the items to be packed, and then the cutting knife can be driven to cut the foam sheet, and then the mechanical arm is driven to drive the items to be packed and the foam sheet clamped on the side to be placed in the box, and the items to be packed press the foam sheet against the side of the box, which solves the problem of needing to lay foam sheets on the inner side wall of the box in advance before packing, which may cause the foam sheets to pile up during subsequent packing, and the need to constantly adjust the position of the foam sheets during the automatic packing process, which is relatively cumbersome.

[0017] 2. An automated packing robot described in the present invention drives the fourth rectangular bar to move downward, thereby driving the cylindrical rotating wheel on one side to rotate along one side of the third rectangular bar. Since the cylindrical rotating wheel and the third connecting rod are connected by a damping connection, there is a large resistance. When the cylindrical rotating wheel rotates, the connection point between the third connecting rod and the second connecting rod is driven to rotate downward, so that the two fourth cylindrical wheels are close to each other, and the end of the foam sheet in the middle is clamped. After the end of the foam sheet is pulled to the middle of the first cylindrical wheel, the third rectangular block is driven downward at the same time until the third rectangular block contacts the hypotenuse block and is driven along the hypotenuse of the hypotenuse block. The sliding simultaneously drives the hypotenuse block to slide to both sides. At the same time, the hypotenuse block slides in the second rectangular hole through the Z-shaped block and squeezes the spring. The Z-shaped block drives the third A cylindrical wheel moves to both sides at the same time so that the end of the foam sheet can be located in the middle of the two first cylindrical wheels, and then the fourth rectangular strip is driven to slide upward, driving the fourth cylindrical wheel to slide upward, and at the same time driving the cylindrical rotating wheel to rotate in the opposite direction along one side of the third rectangular strip, driving the rotation point between the third connecting rod and the second connecting rod to move upward, driving the fourth cylindrical wheel on one side away from the fourth cylindrical wheel on the other side, and will not clamp the foam sheet in the middle when sliding upward, and at the same time the fourth rectangular strip drives the third rectangular block to move upward, and the third rectangular block moves away from the bevel block, and at the same time the spring releases its elastic force, driving the first cylindrical wheel to slide toward the middle at the same time through the Z-shaped block, clamping the foam sheet in the middle, and then driving the first cylindrical wheel to rotate to move the foam sheet to the side of the item to be packed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Figure 1 is a three-dimensional diagram of the first embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the robotic arm; Figure 3 This is a schematic diagram of the explosion on one side of the first column wheel; Figure 4 It is a schematic diagram of the location of the foam sheet; Figure 5 This is a schematic diagram of the position of the fourth column wheel; Figure 6 is a schematic diagram of the position of the first connecting rod; Figure 7 It is a schematic diagram of the position of the steel wire; Figure 8 It is a schematic diagram of the location of the L-shaped plate; Fig. 9 is a schematic diagram of the baffle position; In the figure: 1, first conveying platform; 11, baffle; 111, ball bearing; 2, robot arm; 21, first rectangular plate; 211, vacuum suction cup; 22, second rectangular plate; 221, first rectangular hole; 23, first rectangular block; 231, second rectangular hole; 232, Z-shaped block; 233, spring; 234, bevel block; 24, first cylindrical wheel; 3, second conveying platform; 4, foam sheet; 41, first L-shaped block; 411, first connecting rod; 412, second cylindrical wheel; 413, third cylindrical wheel; 42, first Three rectangular bars; 421, fourth rectangular bar; 422, fourth cylindrical wheel; 423, second connecting rod; 424, cylindrical block; 425, third connecting rod; 426, cylindrical rotating wheel; 427, second rectangular block; 428, third rectangular block; 43, supporting frame; 44, fifth rectangular bar; 441, second L-shaped block; 442, steel wire; 5, third conveying platform; 6, fourth conveying platform; 7, L-shaped plate; 71, first electric telescopic rod; 72, second electric telescopic rod; 73, third electric telescopic rod; 74, connecting plate. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0021] Embodiment 1: Figure 1-Figure 5 As shown, an automated packing robot described in an embodiment of the present invention comprises a first conveying platform 1, a second conveying platform 3 is installed on one side of the first conveying platform 1, a robotic arm 2 is provided on the side of the second conveying platform 3, a first rectangular plate 21 is rotatably provided on the end of the robotic arm 2, a plurality of vacuum suction cups 211 are provided on the side of the first rectangular plate 21, a rolled foam sheet 4 is provided on the upper end of the second conveying platform 3, the end of the foam sheet 4 is clamped by a clamping assembly, the clamping assembly comprises two fourth cylindrical wheels 422 slidably provided on the lower end of the foam sheet 4, and two rotating first cylindrical wheels 24 are provided on one side of the first rectangular plate 21.

[0022] Specifically, when packing multiple fragile items, it is necessary to lay cushioning materials on the side walls of the box to protect the fragile items in the box during subsequent transportation. In the prior art, cushioning materials are generally laid on the side walls of the box before packing, and then the box is placed on an assembly line for automatic packing. During the packing process, the cushioning materials on the side walls may pile up together and fail to provide protection. When using the packing robot, the box is placed on the upper end of the second conveying platform 3, and the items to be packed are placed on the upper end of the first conveying platform 1. The rear driving robot arm 2 drives the first rectangular plate 21 to approach the upper end of the object to be packed, until the vacuum suction cup 211 contacts and adsorbs the object to be packed, and then drives the robot arm 2 to move the object to be packed to the upper end of the second conveying platform 3, located at the lower end of the foam sheet 4, and pulls out the end of the rolled foam sheet 4 in advance and places it between the fourth cylindrical wheel 422, and then drives the fourth cylindrical wheel 422 to pull downward until the end of the foam sheet 4 is pulled between the two first cylindrical wheels 24, and then drives the first cylindrical wheel 24 to clamp the end of the foam sheet 4, and drives The first cylindrical wheel 24 is driven to rotate to drive the foam sheet 4 to move downward to the side of the item to be packed, and then the mechanical arm 2 is driven to move the item to be packed and the clamped foam sheet 4 into the box, so that the foam sheet 4 is located on the side wall of the box, and then the first cylindrical wheel 24 is driven to rotate to completely separate the foam sheet 4 from the first cylindrical wheel 24, and so on to place multiple items to be packed in the box in sequence, and the vacuum suction cup 211 at the lower end of the first rectangular plate 21 is driven by the mechanical arm 2 to absorb the item to be packed, and then the fourth cylindrical wheel 422 is driven to drive the foam sheet 4 Pull it downward, and then the first cylindrical wheel 24 will clamp the foam sheet 4 so that the foam sheet 4 is located on the side of the item to be packed. Then the cutting knife can be driven to cut the foam sheet 4, and then the mechanical arm 2 is driven to drive the item to be packed and the foam sheet 4 clamped on the side to be placed in the box. The item to be packed will press the foam sheet 4 against the side of the box, which solves the problem of needing to lay the foam sheet 4 on the inner side wall of the box in advance before packing. The subsequent packing may cause the foam sheets 4 to pile up, and the position of the foam sheet 4 needs to be constantly adjusted during the automatic packing process, which is a cumbersome problem.

[0023] like Figure 4 As shown, a first L-shaped block 41 is provided at both ends of the foam sheet 4, a third rectangular strip 42 is fixedly connected to the lower end of the first L-shaped block 41, a fourth rectangular strip 421 is slidingly provided on the side of the third rectangular strip 42, a fourth cylindrical wheel 422 is rotatably provided between the two fourth rectangular strips 421, a support frame 43 is fixedly connected to the lower end of the third rectangular strip 42, and the support frame 43 is fixedly connected to the side of the second conveying platform 3.

[0024] Specifically, when the end of the foam sheet 4 is pulled to the side of the item to be packed, the fourth rectangular bar 421 is driven to drive the fourth cylindrical wheel 422 to pull the end of the foam sheet 4 clamped in the middle downward until the end of the foam sheet 4 is pulled between the first cylindrical wheel 24, and then the subsequent packing work is carried out.

[0025] like Figure 3 As shown, a second rectangular plate 22 is fixedly connected to one side of the first rectangular plate 21 , a first rectangular hole 221 is opened in the middle of the second rectangular plate 22 , first rectangular blocks 23 are fixedly connected to both sides of the second rectangular plate 22 , and a first cylindrical wheel 24 is rotatably disposed between the two first rectangular blocks 23 .

[0026] Specifically, after the fourth cylindrical wheel 422 pulls the end of the foam sheet 4 clamped in the middle downward to between the first cylindrical wheels 24, the two first cylindrical wheels 24 are then driven to slide in the middle of the two first rectangular blocks 23 to clamp the foam sheet 4 in the middle, and then the first cylindrical wheel 24 is driven to rotate to move the foam sheet 4 downward until the foam sheet 4 is completely located on the side of the item to be packed, and then the foam sheet 4 between the fourth cylindrical wheel 422 and the first cylindrical wheel 24 is cut off, and then packing can be carried out.

[0027] like Figure 3 , Figure 5 As shown, second rectangular holes 231 are respectively opened on both sides of the middle of the first rectangular block 23, and Z-shaped blocks 232 are slidably arranged inside the second rectangular holes 231. The first cylindrical wheel 24 is rotatably arranged between the two opposite Z-shaped blocks 232. The Z-shaped block 232 is fixedly connected to one side of the second rectangular hole 231 through a spring 233, and a bevel block 234 is respectively fixedly connected to one side of the Z-shaped block 232. The third rectangular block 428 is respectively fixedly connected to the position of the bevel block 234 at the lower end of the fourth rectangular strip 421.

[0028] Specifically, by driving the fourth rectangular bar 421, the end of the foam sheet 4 clamped in the middle of the fourth cylindrical wheel 422 is driven to move downward, and at the same time, the third rectangular block 428 is driven to move downward until the third rectangular block 428 contacts the bevel block 234 and is driven along the bevel of the bevel block 234, sliding and driving the bevel block 234 to slide to both sides. At the same time, the bevel block 234 slides in the second rectangular hole 231 through the Z-shaped block 232 and squeezes the spring 233. The Z-shaped block 232 drives the first cylindrical wheels 24 on both sides to move to both sides at the same time, so that the ends of the foam sheet 4 can be located in the middle of the two first cylindrical wheels 24. Then, the fourth rectangular bar 421 drives the third rectangular block 428 to move upward, and the third rectangular block 428 is away from the bevel block 234. At the same time, the spring 233 releases the elastic force, and drives the first cylindrical wheel 24 to slide to the middle at the same time through the Z-shaped block 232, clamping the foam sheet 4 in the middle, and then driving the first cylindrical wheel 24 to rotate to move the foam sheet 4 to the side of the item to be packed.

[0029] like Figure 5 As shown, the second connecting rod 423 is rotatably connected to the two ends of the fourth cylindrical wheel 422 close to the third rectangular bar 42, and the second connecting rod 423 is rotatably connected to the cylindrical block 424 corresponding to the side of the fourth cylindrical wheel 422. The cylindrical blocks 424 are slidably set on the side of the fourth rectangular bar 421. The second connecting rod 423 is rotatably connected to the third connecting rod 425 at one end away from the fourth cylindrical wheel 422. The third connecting rod 425 is rotatably connected to the cylindrical rotating wheel 426 at one end away from the second connecting rod 423 through damping. The cylindrical rotating wheel 426 can rotate along one side of the third rectangular bar 42, and the second rectangular blocks 427 are slidably set on one side of the third rectangular bar 42.

[0030] Specifically, when the fourth rectangular strip 421 is driven to move downward, the cylindrical rotating wheel 426 on one side is driven to rotate along one side of the third rectangular strip 42. Since the cylindrical rotating wheel 426 and the third connecting rod 425 are connected by a damping connection, there is a large resistance. When the cylindrical rotating wheel 426 rotates, the connection point between the third connecting rod 425 and the second connecting rod 423 is driven to rotate downward, and at the same time, the fourth cylindrical wheel 422 on one side is driven to approach the fourth cylindrical wheel 422 on the other side, clamping the end of the middle foam sheet 4. After clamping, the belt The end of the foam sheet 4 is moved downward, and after the end of the foam sheet 4 is pulled to the middle of the first cylindrical wheel 24, the fourth rectangular strip 421 is driven to slide upward, driving the fourth cylindrical wheel 422 to slide upward, and at the same time driving the cylindrical rotating wheel 426 to rotate in the opposite direction along one side of the third rectangular strip 42, driving the rotation point between the third connecting rod 425 and the second connecting rod 423 to move upward, driving the fourth cylindrical wheel 422 on one side away from the fourth cylindrical wheel 422 on the other side, and will not clamp the foam sheet 4 in the middle when sliding upward.

[0031] like Figure 6 As shown, the upper ends of the first L-shaped blocks 41 are rotatably provided with first connecting rods 411 through torsion springs, the rolled foam sheet 4 can be installed between the two first connecting rods 411, the lower ends of the rolled foam sheet 4 are rotatably provided with second cylindrical wheels 412, the second cylindrical wheels 412 are rotatably provided between the two first L-shaped blocks 41, and two third cylindrical wheels 413 are rotatably provided between the two first L-shaped blocks 41 on the side away from the rolled foam sheet 4.

[0032] Specifically, when the thickness of the rolled foam sheet 4 becomes smaller, the first connecting rod 411 drives the rolled foam sheet 4 to rotate toward the second cylindrical wheel 412, so that the rolled foam sheet 4 is always in contact with the second cylindrical wheel 412 to prevent the rolled foam sheet 4 from loosening, and the third cylindrical wheel 413 clamps the pulled foam sheet 4 to keep the foam sheet 4 in a straight state at all times.

[0033] like Figure 7As shown, the fifth rectangular bar 44 is fixedly connected to the opposite side of the lower end of the third rectangular bar 42 , and the second L-shaped block 441 is slidably arranged on the opposite side of the fifth rectangular bar 44 , and a steel wire 442 is fixedly connected between the two second L-shaped blocks 441 .

[0034] Specifically, when the foam sheet 4 is pulled to the side of the item to be packed, the second L-shaped block 441 is driven to drive the steel wire 442 to slide toward the side close to the foam sheet 4, and the steel wire 442 is heated by powering on until the steel wire 442 contacts the foam sheet 4, and the foam sheet 4 is cut. Subsequently, the item to be packed and the foam sheet 4 on the side can be placed in the box, and the packing work can be carried out continuously by continuously cutting the foam sheet 4.

[0035] like Figure 8 As shown, unpacking components are respectively provided at two diagonal positions of the second conveying platform 3, and the unpacking components include an L-shaped plate 7, an upper end of the L-shaped plate 7 is fixedly connected to the output end of a first electric telescopic rod 71, an end of the first electric telescopic rod 71 away from the L-shaped plate 7 is fixedly connected to the output end of a second electric telescopic rod 72, an end of the second electric telescopic rod 72 away from the first electric telescopic rod 71 is fixedly connected to the output end of a third electric telescopic rod 73, and the third electric telescopic rod 73 is fixedly connected to the side of the second conveying platform 3 through a connecting plate 74.

[0036] Specifically, since cover plates are provided at the four corners of the upper end of the box, during the packing process, the third electric telescopic rod 73 is driven to drive the two L-shaped plates 7 diagonally arranged on the second conveying platform 3 to move upward, and then the first electric telescopic rod 71 and the second electric telescopic rod 72 are driven to extend and retract so that the L-shaped plates 7 are located inside the upper end of the box, and then the third electric telescopic rod 73 is driven to drive the L-shaped plates 7 to move downward, so that the L-shaped plates 7 are located at the diagonal positions on both sides of the cover plate on the upper end of the box, and then the first electric telescopic rod 71 and the second electric telescopic rod 72 are driven to extend and retract through the L-shaped plates 7 to drive the cover plates on the upper end of the box to rotate toward the outside of the box respectively. During the packing process, the cover plates on the upper end of the box are prevented from rotating inward, making the packing process smoother.

[0037] Embodiment 2: Fig. 9 As shown, compared with Example 1, another embodiment of the present invention is: two baffles 11 are slidably provided on the upper end of the first conveying platform 1, and a plurality of balls 111 are rotatably provided on opposite sides of the baffles 11.

[0038] Specifically, after placing the items to be packed on the upper end of the first conveyor platform 1, the baffles 11 on both sides are driven to move toward the middle at the same time until the balls 111 contact the two sides of the items to be packed. This allows the items to be packed to be located in the middle of the first conveyor platform 1, so that the first rectangular plate 21 drives the vacuum suction cup 211 to adsorb the middle of the upper end of the items to be packed each time. When the first conveyor platform 1 is driven to transport the items to be packed, the balls 111 on both sides are driven to rotate to prevent friction on the two sides of the items to be packed.

[0039] like Figure 1 As shown, a fourth conveying platform 6 is provided on the side of the second conveying platform 3 away from the first conveying platform 1 , and a third conveying platform 5 is provided on the side of the second conveying platform 3 away from the robot arm 2 .

[0040] Specifically, the third conveyor platform 5 is used to convey a number of boxes to the upper end of the second conveyor platform 3, and then carry out the boxing work in sequence. After the boxing is completed, the boxes are conveyed to the upper end of the fourth conveyor platform 6, and then the subsequent box sealing work is carried out.

[0041] Working principle: after placing the items to be boxed on the upper end of the first conveyor platform 1, the baffles 11 on both sides are driven to move toward the middle at the same time until the balls 111 contact the two sides of the items to be boxed, so that the items to be boxed are located in the middle of the first conveyor platform 1, and the third conveyor platform 5 is driven to convey several boxes to the upper end of the second conveyor platform 3, and the two L-shaped plates 7 diagonally arranged on the second conveyor platform 3 are driven to move upward by driving the third electric telescopic rod 73, and then the first electric telescopic rod 71 and the second electric telescopic rod 72 are driven to extend and retract so that the L-shaped plate 7 is located inside the upper end of the box, and then the third electric telescopic rod 73 is driven to extend and retract. The movable telescopic rod 73 drives the L-shaped plate 7 to move downward, so that the L-shaped plate 7 is located at the diagonal positions on both sides of the upper cover plate of the box, and then drives the first electric telescopic rod 71 and the second electric telescopic rod 72 to extend and retract through the L-shaped plate 7 to drive the upper cover plate of the box to rotate toward the outside of the box respectively. During the packing process, the upper cover plate of the box is prevented from rotating inward, and then the mechanical arm 2 is driven to drive the first rectangular plate 21 to approach the upper end of the object to be packed, until the vacuum suction cup 211 contacts and adsorbs the object to be packed, and then the mechanical arm 2 is driven to move the object to be packed to the upper end of the second conveying platform 3; The end of the foam sheet 4 is pulled out in advance and placed between the fourth cylindrical wheels 422. When the fourth rectangular strip 421 is driven to move downward, the cylindrical rotating wheel 426 on one side is driven to rotate along one side of the third rectangular strip 42. Since the cylindrical rotating wheel 426 and the third connecting rod 425 are connected by a damping connection, there is a large resistance. When the cylindrical rotating wheel 426 rotates, the connection point between the third connecting rod 425 and the second connecting rod 423 is driven to rotate downward, and at the same time, the fourth cylindrical wheel 422 on one side is driven to approach the fourth cylindrical wheel 422 on the other side, so as to clamp the end of the foam sheet 4 in the middle. After that, the end of the foam sheet 4 is driven to move downward, and at the same time, the third rectangular block 428 is driven to move downward until the third rectangular block 428 contacts the bevel block 234 and is driven along the bevel of the bevel block 234, sliding and driving the bevel block 234 to slide to both sides. At the same time, the bevel block 234 slides in the second rectangular hole 231 through the Z-shaped block 232 and squeezes the spring 233. The Z-shaped block 232 drives the first cylindrical wheels 24 on both sides to move to both sides at the same time, so that the end of the foam sheet 4 can be located in the middle of the two first cylindrical wheels 24, and the end of the foam sheet 4 is pulled to the first cylindrical wheel 24. After that, the fourth rectangular strip 421 is driven to slide upward, driving the fourth cylindrical wheel 422 to slide upward, and at the same time driving the cylindrical rotating wheel 426 to rotate in the opposite direction along one side of the third rectangular strip 42, driving the rotation point between the third connecting rod 425 and the second connecting rod 423 to move upward, driving the fourth cylindrical wheel 422 on one side away from the fourth cylindrical wheel 422 on the other side, and when sliding upward, it will not clamp the foam sheet 4 in the middle, and when the fourth rectangular strip 421 drives the third rectangular block 428 to move upward, the third rectangular block 428 is away from the bevel block 234, and the spring 233 is released. The elastic force drives the first cylindrical wheel 24 to slide toward the middle at the same time through the Z-shaped block 232 to clamp the foam sheet 4 in the middle, and then drives the first cylindrical wheel 24 to rotate to move the foam sheet 4 to the side of the items to be packed, and then drives the second L-shaped block 441 to drive the steel wire 442 to slide toward the side close to the foam sheet 4, and heats the steel wire 442 by powering on until the steel wire 442 contacts the foam sheet 4, and the foam sheet 4 is cut, and then the items to be packed and the foam sheets 4 on the sides can be placed in the box, and the packing work can be carried out continuously by continuously cutting the foam sheets 4; Then, the robot arm 2 is driven to place the items to be packed and the foam sheets 4 clamped on the side into the box. The items to be packed press the foam sheets 4 against the sides of the box, which solves the problem of needing to lay the foam sheets 4 on the inner side walls of the box in advance before packing. The subsequent packing may cause the foam sheets 4 to pile up together, and the position of the foam sheets 4 needs to be constantly adjusted during the automatic packing process, which is a rather cumbersome problem. After the packing is completed, the box is conveyed to the upper end of the fourth conveyor platform 6, and then the subsequent sealing work is carried out.

[0042] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automated box packing robot, comprising a first conveying platform (1), a second conveying platform (3) being installed on one side of the first conveying platform (1), a mechanical arm (2) being provided on the side of the second conveying platform (3), a first rectangular plate (21) being rotatably provided at the end of the mechanical arm (2), a plurality of vacuum suction cups (211) being provided on the side of the first rectangular plate (21), a rolled foam sheet (4) being provided on the upper end of the second conveying platform (3), the end of the foam sheet (4) being clamped by a clamping assembly, characterized in that: The clamping assembly comprises two fourth cylindrical wheels (422) slidably arranged at the lower end of the foam sheet (4), and two rotatable first cylindrical wheels (24) are arranged on one side of the first rectangular plate (21).

2. The automatic packing robot according to claim 1, characterized in that: The foam sheet (4) is provided with a first L-shaped block (41) at both ends, a third rectangular strip (42) is fixedly connected to the lower end of the first L-shaped block (41), a fourth rectangular strip (421) is slidably arranged on the side of the third rectangular strip (42), the fourth cylindrical wheel (422) is rotatably arranged between the two fourth rectangular strips (421), a support frame (43) is fixedly connected to the lower end of the third rectangular strip (42), and the support frame (43) is fixedly connected to the side of the second conveying platform (3).

3. The automatic packing robot according to claim 2, characterized in that: A second rectangular plate (22) is fixedly connected to one side of the first rectangular plate (21), a first rectangular hole (221) is provided in the middle of the second rectangular plate (22), first rectangular blocks (23) are fixedly connected to two sides of the second rectangular plate (22), and the first cylindrical wheel (24) is rotatably arranged between the two first rectangular blocks (23).

4. The automatic packing robot according to claim 3, characterized in that: Second rectangular holes (231) are respectively opened on both sides of the middle of the first rectangular block (23), a Z-shaped block (232) is slidably arranged inside the second rectangular hole (231), the first cylindrical wheel (24) is rotatably arranged between two opposite Z-shaped blocks (232), the Z-shaped block (232) is fixedly connected to one side of the inside of the second rectangular hole (231) via a spring (233), a bevel block (234) is respectively fixedly connected to one side of the Z-shaped block (232), and a third rectangular block (428) is respectively fixedly connected to the position of the bevel block (234) at the lower end of the fourth rectangular strip (421).

5. The automatic packing robot according to claim 4, characterized in that: The second connecting rods (423) are rotatably connected to the second connecting rods (423) at both ends of the fourth cylindrical wheel (422) near the third rectangular strip (42); the second connecting rod (423) is rotatably connected to a cylindrical block (424) corresponding to the side of the fourth cylindrical wheel (422); the cylindrical blocks (424) are slidably arranged on the side of the fourth rectangular strip (421); the end of the second connecting rod (423) away from the fourth cylindrical wheel (422) is rotatably connected to the third connecting rod (425); the end of the third connecting rod (425) away from the second connecting rod (423) is rotatably connected to a cylindrical rotating wheel (426) through damping rotation; the cylindrical rotating wheel (426) can rotate along the side of the third rectangular strip (42); the second rectangular blocks (427) are slidably arranged on the side of the third rectangular strip (42).

6. The automatic packing robot according to claim 5, characterized in that: The upper ends of the first L-shaped blocks (41) are rotatably provided with first connecting rods (411) via torsion springs; the rolled foam sheet (4) can be mounted between the two first connecting rods (411); the lower ends of the rolled foam sheet (4) are rotatably provided with second cylindrical wheels (412); the second cylindrical wheels (412) are rotatably provided between the two first L-shaped blocks (41); and two third cylindrical wheels (413) are rotatably provided between the two first L-shaped blocks (41) on a side away from the rolled foam sheet (4).

7. The automatic packing robot according to claim 6, characterized in that: A fifth rectangular bar (44) is fixedly connected to one side opposite the lower end of the third rectangular bar (42), a second L-shaped block (441) is slidably arranged on one side opposite the fifth rectangular bar (44), and a steel wire (442) is fixedly connected between the two second L-shaped blocks (441).

8. The automatic packing robot according to claim 1, characterized in that: Two diagonal positions of the second conveying platform (3) are respectively provided with unpacking components, the unpacking components comprising an L-shaped plate (7), the upper end of the L-shaped plate (7) being fixedly connected to the output end of a first electric telescopic rod (71), the end of the first electric telescopic rod (71) away from the L-shaped plate (7) being fixedly connected to the output end of a second electric telescopic rod (72), the end of the second electric telescopic rod (72) away from the first electric telescopic rod (71) being fixedly connected to the output end of a third electric telescopic rod (73), and the third electric telescopic rod (73) being fixedly connected to the side of the second conveying platform (3) via a connecting plate (74).

9. The automatic packing robot according to claim 1, characterized in that: Two baffles (11) are slidably provided at the upper end of the first conveying platform (1), and a plurality of balls (111) are rotatably provided on opposite sides of the baffles (11).

10. The automatic packing robot according to claim 1, characterized in that: A fourth conveying platform (6) is arranged on the side of the second conveying platform (3) away from the first conveying platform (1), and a third conveying platform (5) is arranged on the side of the second conveying platform (3) away from the robot arm (2).

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