Packaging robot for self-adaptive grabbing of flexible materials

Abstract

The invention relates to the technical field of product packaging, and discloses a flexible material self-adaptive grabbing packaging robot which comprises a fixing base, a grabbing body and a discharging body, the left side of the top of the fixing base is fixedly connected with fixing plates, a conveying body is arranged above the left side of the fixing base, and the front side and the rear side of the conveying body are both fixedly connected with the fixing plates; the right side of the top of the fixing base is fixedly connected with the conveying main body, the sealing main body is arranged on the outer side of the right end of the conveying main body, and the fixing base, the fixing plate, the conveying main body, the hydraulic telescopic main body, the fixing column, the grabbing main body, the conveying main body, the discharging main body, the sealing main body, an electric telescopic rod and a baffle are arranged; the grabbing main body can be pushed through the hydraulic telescopic main body and the fixing column to grab the packaged flexible materials upwards, then the packaged flexible materials are conveyed into a packaging box through the discharging main body, the packaging box is limited through the fixing plate, the packaging box is prevented from moving, and packaging of the packaged flexible materials is more stable.

Description

Technical Field

[0001] The present invention relates to the technical field of product packaging, and particularly to a packaging robot for adaptively grasping flexible materials. Background Art

[0002] Packaging refers to the general name of containers, materials, auxiliaries, etc. used according to certain technical methods in order to protect products during the circulation process, facilitate storage and transportation, and promote sales. When packaging, in order to improve the packaging efficiency, usually the materials to be packaged are directly grasped by a packaging robot and placed into a packaging box, and then the packaging robot seals the packaging box to complete the packaging.

[0003] When a traditional packaging robot is used, it usually directly grasps the materials and then puts them into the packaging box. At this time, the flexible materials are relatively soft by themselves and cannot adapt to the flexible materials during grasping, resulting in easy detachment of the flexible materials during grasping and unstable grasping. Therefore, we propose a packaging robot for adaptively grasping flexible materials to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a packaging robot for adaptively grasping flexible materials to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A packaging robot for adaptively grasping flexible materials, including a fixed seat, a grasping main body, and a discharging main body. A fixing plate is fixedly connected to the left side of the top of the fixed seat. A conveying main body is arranged above the left side of the fixed seat. Fixing plates are fixedly connected to both the front and rear sides of the conveying main body. A conveying main body is fixedly connected to the right side of the top of the fixed seat. A sealing main body is arranged outside the right end of the conveying main body. A discharging main body is arranged outside the left end of the conveying main body. The conveying main body and the sealing main body are both fixedly connected to the right side of the top of the fixed seat. A hydraulic telescopic main body is fixedly connected to the central position of the fixed seat. A fixed column is fixedly connected to the telescopic end of the hydraulic telescopic main body. A grasping main body is installed outside the fixed column. One side of the grasping main body is arranged on the right side of the conveying main body.

[0006] Preferably, the grasping main body includes an electric rotating main body, a cross plate, an object detection main body, a support rod, an object supporting main body, and a limiting main body. The fixed column is installed inside the electric rotating main body. Support rods are fixedly connected to both the front and rear sides of the top of the electric rotating main body. An object supporting main body is fixedly connected to the top of the support rod. A limiting main body is installed on the top of the object supporting main body. A cross plate is fixedly connected to the top of the fixed column. An object detection main body is fixedly connected to the end of the cross plate far from the fixed column. The object detection main body is arranged above the conveying main body.

[0007] Preferably, the object-carrying main body includes a support plate, a flat plate, a sliding rod, a return spring, and a bottom plate. The bottom of the support plate is fixedly connected to the support rod. On one side of the support plate away from the support rod, uniformly distributed limiting grooves are formed. A sliding rod penetrates through the limiting grooves formed in the support plate. Two sliding rods are fixed to the bottom of the flat plate as a group, and two sliding rods are fixed to the top of the bottom plate as a group. A return spring is arranged on the outer side of the sliding rod for positioning. The bottom of the return spring is arranged in the limiting groove formed in the support plate, and the top of the return spring is in contact with the flat plate. A limiting main body is arranged on the right side of the flat plate, and a discharging main body is arranged on the right side of the fixed column.

[0008] Preferably, the support plates are uniformly arranged above the inside of the conveying main body, and the flat plates are uniformly arranged above the inside of the conveying main body.

[0009] Preferably, the limiting main body includes a limiting plate, a mounting plate, a rubber plate, a clamping ball, and a clamping rod. The bottom of the limiting plate is fixed to the top of the support plate. A mounting plate is arranged inside the side of the limiting plate close to the flat plate. Rubber plates are installed on the outer sides of the front and rear sides of the mounting plate. Vertically arranged and uniformly distributed deformation grooves are formed inside the side of the rubber plate away from the mounting plate. Mounting grooves are formed at both the upper and lower ends of the rubber plate. Clamping balls are arranged in the mounting grooves formed in the rubber plate. A fixing groove is formed in the rubber plate. A uniformly distributed clamping rod is fixedly connected to one side of the mounting plate. The clamping rod is arranged in the fixing groove formed in the rubber plate. Card slots are formed in both the upper and lower sides inside the limiting plate. The clamping balls are arranged in the card slots formed in the limiting plate.

[0010] Preferably, the discharging main body includes side plates, a support plate, a vertical plate, and a mounting main body. Two side plates are fixedly connected to the top of the fixed seat as a group. A support plate is fixedly connected to one side of the side plates. A vertical plate is fixedly connected to the top of the support plate. A mounting main body is installed on the top of the vertical plate. The mounting main body includes a mounting frame, rollers, an insertion plate, a fixing block, a rubber block, and a limiting ball. Uniformly distributed rollers are rotatably connected inside the mounting frame. The mounting frame is arranged obliquely. A vertically arranged and horizontally distributed insertion plate is fixedly connected to the bottom of the mounting frame. Fixing blocks with inclined upper and lower sides are fixedly connected to the right side of the insertion plate. A rubber block is fixedly connected to the upper part inside the fixing block. A limiting ball is installed on the top of the rubber block. An L-shaped groove is formed inside the top of the vertical plate. The insertion plate and the mounting frame are both arranged in the L-shaped groove formed in the vertical plate. A positioning groove is formed in the inner wall of the top of one side of the L-shaped groove formed in the vertical plate. The limiting ball is arranged in the positioning groove formed in the vertical plate.

[0011] Preferably, the width of the mounting frame is smaller than the distance between two support plates. The mounting frame is arranged above the conveying main body, and the side plates are arranged on the front and rear sides of the conveying main body.

[0012] Preferably, electric telescopic rods are fixedly connected to both the front and rear sides of the sealing main body, and a baffle is installed on the top of the electric telescopic rod, and the baffle is arranged on the front side of the sealing main body.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] 1. By providing the fixed seat, fixed plate, conveying main body, hydraulic telescopic main body, fixed column, grasping main body, conveying main body, discharging main body, sealing main body, electric telescopic rod and baffle, the hydraulic telescopic main body and the fixed column can be used to push the grasping main body to grasp the flexible material for packaging upward, and then it is sent into the packing box through the discharging main body. When the flexible material for packaging enters the packing box, the packing box is limited by the fixed plate to prevent the packing box from moving, so that the packaging of the flexible material is more stable;

[0015] 2. By providing the hydraulic telescopic main body, fixed column, electric rotating main body, cross plate, object detection main body, support rod, tray, limiting groove, flat plate, sliding rod, return spring, bottom plate, limiting plate, mounting plate, rubber plate, deformation groove, clamping ball, clamping rod, mounting groove, fixing groove and clamping groove, the flexible material for packaging can be detected under the action of the object detection main body. Then, the hydraulic telescopic main body drives the fixed column, electric rotating main body, cross plate and tray to move upward, and the flexible material for packaging is grasped by the tray. At this time, the flexible material for packaging pushes the flat plate downward, while the flat plate not arranged under the flexible material for packaging cannot fall under the action of the return spring. The flat plates are arranged around the flexible material for packaging to prevent the flexible material for packaging from falling off during the rotation of the electric rotating main body, realizing self-adaptation and making the grasping more stable. Under the action of the baffle and the rubber plate, the flexible material for packaging is limited to prevent the flexible material for packaging from falling off, and at the same time, the flexible material for packaging is buffered to make the grasping of the flexible material for packaging more stable. When the rubber plate ages, the rubber plate and the mounting plate are directly removed and replaced. The rubber plate is limited by the clamping rod clamped into the fixing groove opened on the rubber plate to prevent the rubber plate from moving. At the same time, the clamping ball is installed into the mounting groove opened on the rubber plate, so as to replace only the rubber plate, reducing material waste. During installation, the rubber plate pushes the clamping ball into the clamping groove opened on the limiting plate by its own elastic force to limit the rubber plate;

[0016] 3. Through the provided side plates, support plates, vertical plates, L-shaped grooves, positioning grooves, mounting frames, rollers, insertion plates, fixing blocks, rubber blocks, and limit balls, the mounting frame can be supported under the action of the side plates, support plates, and vertical plates. When the pallet moves the packaged flexible material onto the mounting frame, the packaged flexible material contacts the rollers in the inclined mounting frame. Subsequently, the packaged flexible material moves obliquely downward under its own weight and enters the packing box. During the maintenance of the rollers, directly push the mounting frame upward to the left. The mounting frame drives the fixing block to move through the insertion plate, and the fixing block drives the limit ball to leave the positioning groove opened on the vertical plate, then remove the mounting frame to maintain the rollers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the overall combination of the present invention;

[0018] Figure 2 is a schematic installation structure diagram of the baffle in the present invention;

[0019] Figure 3 is a schematic structure diagram of the grasping in the present invention;

[0020] Figure 4 is a schematic structure diagram of the object-carrying main body in the present invention;

[0021] Figure 5 is a schematic installation structure diagram of the sliding rod in the present invention;

[0022] Figure 6 is a schematic assembly structure diagram of the mounting plate in the present invention;

[0023] Figure 7 is a schematic assembly structure diagram of the rubber plate in the present invention;

[0024] Figure 8 is a schematic structure diagram of the rubber block in the present invention;

[0025] Figure 9 is a schematic cooperation structure diagram of the rubber plate and the limiting plate in the present invention;

[0026] Figure 10 is a schematic structure diagram of the unloading main body in the present invention;

[0027] Figure 11 is a schematic assembly structure diagram of the mounting main body in the present invention;

[0028] Figure 12 is a schematic installation structure diagram of the limit ball in the present invention.

[0029] In the figure: 1. Fixed seat; 2. Fixed plate; 3. Conveyor main body; 4. Hydraulic telescopic main body; 5. Fixed column; 6. Gripping main body; 61. Electric rotating main body; 62. Horizontal plate; 63. Object detection main body; 64. Support rod; 65. Object supporting main body; 651. Support plate; 652. Limit groove; 653. Flat plate; 654. Slide bar; 655. Return spring; 656. Bottom plate; 66. Limiting main body; 661. Limiting plate; 662. Mounting plate; 663. Rubber plate; 664. Deformation groove; 665. Ball; 666. Rod; 667. Mounting groove; 668. Fixed groove; 669. Card slot; 7. Conveying main body; 8. Unloading main body; 81. Side plate; 82. Support plate; 83. Vertical plate; 84. L-shaped groove; 85. Positioning groove; 86. Mounting main body; 861. Mounting frame; 862. Roller; 863. Insertion plate; 864. Fixed block; 865. Rubber block; 866. Limit ball; 9. Sealing main body; 10. Electric telescopic rod; 11. Baffle plate. Detailed implementation mode

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0031] Please refer to Figures 1 to 12 , in the embodiment of the present invention, a flexible material adaptive grasping packaging robot includes a fixed seat 1, a grasping main body 6 and an unloading main body 8. A fixed plate 2 is fixedly connected to the left side of the top of the fixed seat 1. A conveyor main body 3 is arranged above the left side of the fixed seat 1. Fixed plates 2 are fixedly connected to both the front and rear sides of the conveyor main body 3. A conveying main body 7 is fixedly connected to the right side of the top of the fixed seat 1. A sealing main body 9 is arranged outside the right end of the conveying main body 7. An unloading main body 8 is arranged outside the left end of the conveying main body 7. The conveying main body 7 and the sealing main body 9 are both fixedly connected to the right side of the top of the fixed seat 1. A hydraulic telescopic main body 4 is fixedly connected to the central position of the fixed seat 1. A fixed column 5 is fixedly connected to the telescopic end of the hydraulic telescopic main body 4. A grasping main body 6 is installed outside the fixed column 5. One side of the grasping main body 6 is arranged on the right side of the conveyor main body 3. Through this setting, the hydraulic telescopic main body 4 and the fixed column 5 can push the grasping main body 6 to grasp the flexible material for packaging upward, and then send it into the packing box through the unloading main body 8. When the flexible material for packaging enters the packing box, the packing box is limited by the fixed plate 2 to prevent the packing box from moving, making the packaging of the flexible material more stable.

[0032] As a further embodiment of the above invention: The grasping body 6 includes an electric rotating body 61, a horizontal plate 62, an object detection body 63, a support rod 64, an object supporting body 65 and a limiting body 66. A fixed column 5 is installed in the electric rotating body 61. Both the front and rear sides of the top of the electric rotating body 61 are fixedly connected with support rods 64. The top of the support rod 64 is fixedly connected with an object supporting body 65. A limiting body 66 is installed on the top of the object supporting body 65. The top of the fixed column 5 is fixedly connected with a horizontal plate 62. One end of the horizontal plate 62 away from the fixed column 5 is fixedly connected with an object detection body 63. The object detection body 63 is arranged above the conveying body 3. The object supporting body 65 includes a support plate 651, a flat plate 653, a sliding rod 654, a return spring 655 and a bottom plate 656. The bottom of the support plate 651 is fixedly connected with the support rod 64. A uniformly distributed limiting groove 652 is formed inside one side of the support plate 651 away from the support rod 64. A sliding rod 654 is arranged through the limiting groove 652 formed in the support plate 651. Two sliding rods 654 are fixed at the bottom of the flat plate 653 as a group. Two sliding rods 654 are fixedly connected to the top of the bottom plate 656 as a group. A return spring 655 is arranged on the outer side of the positioning of the sliding rod 654. The bottom of the return spring 655 is arranged in the limiting groove 652 formed in the support plate 651. The top of the return spring 655 is in contact with the flat plate 653. A limiting body 66 is arranged on the right side of the flat plate 653. A discharging body 8 is arranged on the right side of the fixed column 5. The support plates 651 are uniformly arranged above the inside of the conveying body 3. The flat plates 653 are uniformly arranged above the inside of the conveying body 3. Through this setting, the flexible materials in the package can be detected under the action of the object detection body 63. Then, the hydraulic telescopic body 4 drives the fixed column 5, the electric rotating body 61, the horizontal plate 62 and the support plate 651 to move upward. The flexible materials in the package are grasped through the support plate 651. At this time, the flexible materials in the package push the flat plate 653 downward. However, the flat plate 653 not arranged under the flexible materials in the package cannot fall under the action of the return spring 655 and is arranged around the flexible materials in the package. During the rotation of the electric rotating body 61, the flexible materials in the package are prevented from falling off, making the grasping more stable.

[0033] As a further embodiment of the above invention: The limiting body 66 includes a limiting plate 661, a mounting plate 662, a rubber plate 663, a clamping ball 665 and a clamping rod 666. The bottom of the limiting plate 661 is fixed to the top of the supporting plate 651. A mounting plate 662 is arranged inside the side of the limiting plate 661 close to the flat plate 653. Rubber plates 663 are mounted on the outer sides of the front and rear sides of the mounting plate 662. Deformation grooves 664 which are longitudinally arranged and evenly distributed up and down are formed inside the sides of the rubber plates 663 away from the mounting plate 662. Mounting grooves 667 are formed at both the upper and lower ends of the rubber plates 663. Clamping balls 665 are arranged inside the mounting grooves 667 formed by the rubber plates 663. Fixing grooves 668 are formed inside the rubber plates 663. A clamping rod 666 which is evenly distributed is fixedly connected to one side of the mounting plate 662. The clamping rod 666 is arranged inside the fixing groove 668 formed by the rubber plate 663. Clamping grooves 669 are formed at both the upper and lower sides inside the limiting plate 661. The clamping balls 665 are arranged inside the clamping grooves 669 formed by the limiting plate 661. Through this setting, under the action of the baffle 11 and the rubber plate 663, the flexible materials in the package are limited, preventing the flexible materials in the package from falling off. At the same time, the flexible materials in the package are buffered, making the grasping of the flexible materials in the package more stable. When the rubber plate 663 ages, the rubber plate 663 and the mounting plate 662 are directly removed and replaced. The rubber plate 663 is limited by the clamping rod 666 clamped into the fixing groove 668 formed by the rubber plate 663 to prevent the rubber plate 663 from moving. At the same time, the clamping balls 665 are loaded into the mounting grooves 667 formed by the rubber plate 663, so as to only replace the rubber plate 663, reducing material waste. During installation, the rubber plate 663 pushes the clamping balls 665 into the clamping grooves 669 formed by the limiting plate 661 through its own elastic force, so as to limit the rubber plate 663.

[0034] As a further embodiment of the above invention: The discharging main body 8 includes side plates 81, support plates 82, vertical plates 83 and mounting main bodies 86. Two side plates 81 are fixedly connected to the top of the fixed seat 1 as a group. One side of the side plate 81 is fixedly connected with a support plate 82. The top of the support plate 82 is fixedly connected with a vertical plate 83. The mounting main body 86 is installed on the top of the vertical plate 83. The mounting main body 86 includes a mounting frame 861, rollers 862, insertion plates 863, fixing blocks 864, rubber blocks 865 and limiting balls 866. Rollers 862 evenly distributed are rotatably connected inside the mounting frame 861. The mounting frame 861 is inclined. The bottom of the mounting frame 861 is fixedly connected with vertically arranged and horizontally distributed insertion plates 863. The right side of the insertion plate 863 is fixedly connected with fixing blocks 864 with inclined upper and lower sides. Inside the upper part of the fixing block 864, a rubber block 865 is fixedly connected. The limiting ball 866 is installed on the top of the rubber block 865. An L-shaped groove 84 is opened inside the top of the vertical plate 83. The insertion plate 863 and the mounting frame 861 are both arranged inside the L-shaped groove 84 opened by the vertical plate 83. A positioning groove 85 is opened on the inner wall of the top of one side of the L-shaped groove 84 opened by the vertical plate 83. The limiting ball 866 is arranged inside the positioning groove 85 opened by the vertical plate 83. The width of the mounting frame 861 is smaller than the distance between the two supporting plates 651. The mounting frame 861 is arranged above the conveying main body 7. The side plates 81 are arranged on the front and rear sides of the conveying main body 7. Electric telescopic rods 10 are fixedly connected to both the front and rear sides of the sealing main body 9. A baffle 11 is installed on the top of the electric telescopic rod 10. The baffle 11 is arranged on the front side of the sealing main body 9. Through this setting, the mounting frame 861 can be supported under the action of the side plates 81, the support plates 82 and the vertical plates 83. When the flexible material of the package is moved onto the mounting frame 861 by the supporting plate 651, the flexible material of the package contacts the rollers 862 inside the inclined mounting frame 861. Then, the flexible material of the package moves obliquely downward under its own weight and enters the packing box. When maintaining the rollers 862, directly push the mounting frame 861 towards the upper left. The mounting frame 861 drives the fixing block 864 to move through the insertion plate 863. The fixing block 864 drives the limiting ball 866 to leave the positioning groove 85 opened by the vertical plate 83, and the mounting frame 861 is removed to maintain the rollers 862.

[0035] During specific implementation: When this packaging robot is in use, first, the power is turned on, and the conveying main body 3 is started through an external controller. The conveying main body 3 drives the flexible materials to be packaged to move to the right through multiple conveyor belts. At this time, through the object detection main body 63, after detecting the flexible packaged materials, a signal is transmitted into the external controller, and the hydraulic telescopic main body 4 is controlled by the external controller to extend. The hydraulic telescopic main body 4 pushes the fixed column 5 upward through the telescopic end, and the fixed column 5 drives the electric rotating main body 61 upward. The electric rotating main body 61 drives the pallet 651 upward through the support rod 64. During the upward movement of the pallet 651, the flat plate 653 contacts the bottom of the flexible packaged materials. When the flexible packaged materials push the flat plate 653 downward, the flat plate 653 pushes the bottom plate 656 downward through the slide rod 654, and the return spring 655 is compressed under force. At the same time, the flat plate 653 that does not contact the flexible packaged materials will not move downward. In this way, it is arranged around the materials of the flexible packaging to limit the flexible packaged materials until the bottom of the flat plate 653 fits with the pallet 651 and cannot move. As the mobile end of the hydraulic telescopic main body 4 extends, the pallet 651 is pushed away from the conveying main body 3. Then, the electric rotating main body 61 is started through the external controller, and the electric rotating main body 61 rotates 180°, moving the pallet 651 above the installation frame 861. At this time, the hydraulic telescopic main body 4 is controlled by the external controller to contract, thereby driving the pallet 651 to move downward. At this time, the pallet 651 moves to the side of the installation frame 861. Because the installation frame 861 is inclined, the flexible packaged materials first contact the left side of the installation frame 861 until the pallet 651 moves below the installation frame 861. At this time, the bottom of the flexible packaged materials completely contacts the rollers 862 provided on the installation frame 861. Under the action of gravity, the flexible packaged materials move in the lower right direction, and the rollers 862 roll to assist the movement of the flexible packaging materials until the flexible packaging materials move into the packaging box. At this time, the packaging box is limited by the baffle 11 and cannot move to the right, preventing the packaging box from moving to the right due to the inertia of the flexible packaging materials, making the flexible packaged materials enter the packaging box more accurately. After that, the external controller controls the pallet 651 to reset. After an appropriate amount of flexible packaged materials are loaded into the packaging box, the external controller controls the electric telescopic rod 10 to extend, and the electric telescopic rod 10 drives the baffle 11 to move above the packaging box. Then, the conveying main body 7 is controlled to start, and the conveying main body 7 drives the packaging box into the sealing main body 9. The sealing main body 9 drives the cardboard around the top of the packaging box to fold through the manipulator, and finally seals the top of the packaging box with tape, and the packaging box is sent out through the conveying main body 7. When packaging flexible packaged materials with a larger volume, because the volume of the flexible packaged materials is larger, the conveying main body 3 will contact the rubber plate 663 when conveying the flexible packaged materials. The rubber plate 663 buffers the flexible packaged materials and at the same time prevents the flexible packaging materials from falling off. When the rubber plate 663 ages, directly drag the rubber plate 663 through the deformation groove 664,The rubber plate 663 drives the mounting plate 662 to move. At the same time, the rubber plate 663 drives the clamping ball 665 to leave the clamping groove 669 opened in the limiting plate 661. Then, the clamping ball 665 is taken out from the rubber plate 663, and the rubber plate 663 is moved to the left and right sides, and the rubber plate 663 is removed from both sides of the mounting plate 662. Then, a new rubber plate 663 is inserted into both sides of the mounting plate 662. At this time, the clamping rod 666 is inserted into the fixing groove 668 opened in the rubber plate 663 to limit the rubber plate 663 and prevent the rubber plate 663 from falling off from both sides of the mounting plate 662. Then, the clamping ball 665 is inserted into the mounting groove 667 opened in the rubber plate 663. After that, the rubber plate 663 and the mounting plate 662 are inserted into the limiting plate 661. At this time, the clamping ball 665 is inserted into the clamping groove 669 opened in the limiting plate 661 under the action of the elasticity of the rubber plate 663 itself to limit the rubber plate 663 and prevent the rubber plate 663 from falling off. When the bearing of the roller 862 is worn, the mounting frame 861 is pushed upward to the left. At this time, the mounting frame 861 drives the fixing block 864 to move through the inserting plate 863, and the limiting ball 866 pushes the rubber block 865 to deform until the fixing block 864 moves to a suitable position. After that, the mounting frame 861 is moved upward, and the mounting frame 861 drives the fixing block 864 to move upward through the inserting plate 863. The mounting frame 861 is removed, and then the roller 862 is maintained. After the maintenance is completed, the inserting plate 863 and the fixing block 864 are reinstalled into the L-shaped groove 84 opened in the vertical plate 83. After that, the mounting frame 861 is pushed downward to the right, and the mounting frame 861 drives the fixing block 864 to move through the inserting plate 863, so that the clamping ball 665 is inserted into the positioning groove 85 opened in the vertical plate 83 to limit the fixing block 864, thereby limiting the inserting plate 863 and the mounting frame 861.

[0036] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. An encapsulation robot for adaptively grasping flexible materials, comprising a fixed seat (1), a grasping main body (6) and a discharging main body (8), characterized in that: On the left side of the top of the fixed seat (1), there is a fixed plate (2) fixedly connected. Above the left side of the fixed seat (1), there is a conveying main body (3). On both the front and rear sides of the conveying main body (3), there are fixed plates (2) fixedly connected. On the right side of the top of the fixed seat (1), there is a conveying main body (7). On the outer side of the right end of the conveying main body (7), there is a sealing main body (9). On the outer side of the left end of the conveying main body (7), there is a discharging main body (8). Both the conveying main body (7) and the sealing main body (9) are fixedly connected to the right side of the top of the fixed seat (1). At the central position of the fixed seat (1), there is a hydraulic telescopic main body (4) fixedly connected. The telescopic end of the hydraulic telescopic main body (4) is fixedly connected with a fixed column (5). On the outer side of the fixed column (5), there is a grasping main body (6) installed. One side of the grasping main body (6) is arranged on the right side of the conveying main body (3).

2. The encapsulation robot for adaptively grasping flexible materials according to claim 1, wherein: The grasping main body (6) includes an electric rotating main body (61), a cross plate (62), an object detection main body (63), a support rod (64), an object supporting main body (65), and a limiting main body (66). The fixed column (5) is installed inside the electric rotating main body (61). On both the front and rear sides of the top of the electric rotating main body (61), there are support rods (64) fixedly connected. The top of the support rod (64) is fixedly connected with an object supporting main body (65). On the top of the object supporting main body (65), there is a limiting main body (66) installed. The top of the fixed column (5) is fixedly connected with a cross plate (62). At the end of the cross plate (62) far from the fixed column (5), there is an object detection main body (63) fixedly connected. The object detection main body (63) is arranged above the conveying main body (3).

3. The encapsulation robot for adaptively grasping flexible materials according to claim 2, wherein: The object supporting main body (65) includes a support plate (651), a flat plate (653), a sliding rod (654), a return spring (655), and a bottom plate (656). The bottom of the support plate (651) is fixedly connected with the support rod (64). On one side of the support plate (651) far from the support rod (64), uniformly distributed limiting grooves (652) are opened. The sliding rod (654) is arranged through the limiting grooves (652) opened in the support plate (651). Two sliding rods (654) are fixed in a group at the bottom of the flat plate (653). Two sliding rods (654) are fixed in a group at the top of the bottom plate (656). A return spring (655) is arranged on the outer side of the positioning of the sliding rod (654). The bottom of the return spring (655) is arranged in the limiting grooves (652) opened in the support plate (651). The top of the return spring (655) is in contact with the flat plate (653). On the right side of the flat plate (653), there is a limiting main body (66). On the right side of the fixed column (5), there is a discharging main body (8).

4. The encapsulation robot for adaptively grasping flexible materials according to claim 3, wherein: The support plates (651) are uniformly arranged above the inside of the conveying main body (3). The flat plates (653) are uniformly arranged above the inside of the conveying main body (3).

5. The encapsulation robot for adaptively grasping flexible materials according to claim 3, wherein: The limiting main body (66) includes a limiting plate (661), a mounting plate (662), a rubber plate (663), a clamping ball (665) and a clamping rod (666). The bottom of the limiting plate (661) is fixed to the top of the support plate (651). An installation plate (662) is arranged inside one side of the limiting plate (661) close to the flat plate (653). Rubber plates (663) are installed on the outer sides of the front and rear sides of the installation plate (662). Deformation grooves (664) which are longitudinally arranged and evenly distributed up and down are formed inside the side of the rubber plate (663) away from the installation plate (662). Installation grooves (667) are formed at both the upper and lower ends of the rubber plate (663). Clamping balls (665) are arranged inside the installation grooves (667) formed in the rubber plate (663). A fixing groove (668) is formed inside the rubber plate (663). A clamping rod (666) which is evenly distributed is fixedly connected to one side of the installation plate (662). The clamping rod (666) is arranged inside the fixing groove (668) formed in the rubber plate (663). Clamping grooves (669) are formed at both the upper and lower sides inside the limiting plate (661). The clamping balls (665) are arranged inside the clamping grooves (669) formed in the limiting plate (661).

6. The encapsulation robot for adaptively grasping flexible materials according to claim 3, characterized in that: The discharging main body (8) includes side plates (81), support plates (82), vertical plates (83) and an installation main body (86). Two side plates (81) are fixedly connected to the top of the fixed seat (1) as a group. A support plate (82) is fixedly connected to one side of the side plate (81). A vertical plate (83) is fixedly connected to the top of the support plate (82). An installation main body (86) is installed on the top of the vertical plate (83). The installation main body (86) includes an installation frame (861), rollers (862), insertion plates (863), fixing blocks (864), rubber blocks (865) and limiting balls (866). Rollers (862) which are evenly distributed are rotatably connected inside the installation frame (861). The installation frame (861) is inclined. A vertically arranged and horizontally distributed insertion plate (863) is fixedly connected to the bottom of the installation frame (861). Fixing blocks (864) with inclined upper and lower sides are fixedly connected to the right side of the insertion plate (863). A rubber block (865) is fixedly connected to the upper part inside the fixing block (864). A limiting ball (866) is installed on the top of the rubber block (865). An L-shaped groove (84) is formed inside the top of the vertical plate (83). The insertion plate (863) and the installation frame (861) are both arranged inside the L-shaped groove (84) formed in the vertical plate (83). A positioning groove (85) is formed on the inner wall of the top of one side of the L-shaped groove (84) formed in the vertical plate (83). The limiting ball (866) is arranged inside the positioning groove (85) formed in the vertical plate (83).

7. The encapsulation robot for adaptively grasping flexible materials according to claim 6, characterized in that: The width of the installation frame (861) is less than the distance between the two support plates (651). The installation frame (861) is arranged above the conveying main body (7). The side plates (81) are arranged on the front and rear sides of the conveying main body (7).

8. The encapsulation robot for adaptively grasping flexible materials according to claim 1, wherein: Both the front and rear sides of the sealing main body (9) are fixedly connected with electric telescopic rods (10), and a baffle (11) is installed at the top of the electric telescopic rods (10). The baffle (11) is arranged on the front side of the sealing main body (9).

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