A finished urea automatic packaging and transfer robotic arm

Abstract

The present invention discloses a finished product urea automatic packaging and transportation robot arm, comprising a main body and a gripping plate, and further comprising: two gripping clamps, which are relatively arranged and movably connected at the bottom of the gripping plate; two first shovel plates, which are relatively arranged and movably connected at the bottom of the gripping plate and are cross-shapedly distributed between the two gripping clamps; a second shovel plate, which is fixedly arranged at the upper end of the gripping clamps; and a driving assembly, which is used to first drive the two first shovel plates to approach each other, and then drive the two gripping clamps to approach each other to clamp the packaging box. The present invention is driven by the driving assembly, so that the first shovel plates first approach each other to push the two side covers folded on the inside of the packaging box down and fold them inward, and then the second shovel plates push the other two side covers folded on the outside down and fold them inward during the process of the gripping clamps clamping the packaging box. In this way, the gripping plate can fold the cover plates on the top of the packaging box in sequence during the process of gripping the packaging box, thereby optimizing the packaging and transportation process and facilitating the gripping and transportation of the robot arm.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a robotic arm for automatic boxing and transporting finished urea. Background Art

[0002] Finished urea needs to be packaged after production. After loading into the packaging box, a palletizing robot or other automated palletizing equipment is needed to stack the packaged products into neat stacks for storage or transportation. The robotic arm is an important industrial robot used in this process. The existing robotic arm can basically meet daily use needs, but there are still some shortcomings that need to be improved.

[0003] Patent document CN222906952U disclosed a packaging box palletizing device for dairy product production on the announcement date of May 27, 2025, which relates to the field of dairy product production technology. The key points of its technical solution are that the linkage mechanism includes a first motor and a second motor, and the mounting ends of the first motor and the second motor are both connected to the mounting seat, the output end of the first motor is connected to the first screw, the outer surface of the first screw is threadedly connected to the first threaded seat, and the output end of the second motor is connected to the second screw. The effect is that the first screw and the second screw can be driven to rotate by controlling the first motor and the second motor, and the first threaded seat and the second threaded seat can be driven to move, and the first gear can be driven to rotate, and the protective plate can be driven to rotate. When the clamping mechanism clamps the packaging box to move, there is always a protective plate under the packaging box to protect it, thereby solving the problem that due to changes in the accuracy of the force sensor, the clamping mechanism is too loose, which will cause the packaging box to fall from the air, causing the dairy products inside to be destroyed, causing large economic losses.

[0004] As in the above patent, when transporting packaging boxes or boxes, the packaging boxes are usually cardboard boxes with an open top and bendable covers on each side. After the packaging box receives the material, the side covers need to be folded inward to close the top of the packaging box. When the new packaging box receives the material, the side covers are usually in an upright state, which is not convenient for the robot to directly transport it. Therefore, there is an urgent need for an automatic boxing and transfer robot arm for finished urea to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a finished urea automatic boxing and transporting robot arm to solve the above-mentioned shortcomings in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A finished product urea automatic packaging and transfer robot arm comprises a main body and a grabbing plate, which is movably arranged on the main body, and further comprises: two grabbing clamps, which are arranged opposite to each other and movably connected to the lower side of the grabbing plate; two first shovel plates, which are arranged opposite to each other and movably connected to the lower side of the grabbing plate and are distributed in a cross shape between the two grabbing clamps; a second shovel plate, which is fixedly arranged on the upper end of the grabbing clamps; and a driving component, which is used to first drive the two first shovel plates to approach each other, and then drive the two grabbing clamps to approach each other to clamp the packaging box, and the first shovel plates and the second shovel plates successively push down the side covers of the packaging box during this process.

[0008] Preferably, a first suspension rod is movably provided on the grabbing plate, and the lower end of the first suspension rod is fixedly connected to the first shovel plate. A second suspension rod is also movably provided on the grabbing plate, and the lower end of the second suspension rod is fixedly connected to the second shovel plate.

[0009] Preferably, the driving assembly includes two first driving shafts and two second driving shafts that are rotatably connected in the grabbing plate and are evenly alternately arranged around the circumference. A first nut fixedly connected to the first boom is threadedly sleeved on the first driving shaft, and a second nut fixedly connected to the second boom is threadedly sleeved on the second driving shaft. A rotating bin that is transmission-connected to the first driving shaft and the second driving shaft is rotatably provided in the grabbing plate, and a motor that drives the rotating bin to rotate is provided on the grabbing plate.

[0010] Preferably, a first arc-shaped rack is provided on the bottom surface of the rotating bin, a first bevel gear matching the first arc-shaped rack is synchronously rotated on the first drive shaft, a second bevel gear matching the first arc-shaped rack is coaxially fixedly connected to the second drive shaft, and the first arc-shaped rack is independently engaged with the first bevel gear and the second bevel gear for transmission.

[0011] Preferably, a glue spraying port is provided on the side wall at the lower end of the first boom, a cavity is provided inside the first boom, a feed pipe connected to the cavity is provided on the side wall of the first boom, a piston block is movably provided in the cavity, and the piston block is linked to the movement of the first boom through a linkage assembly.

[0012] Preferably, the linkage assembly includes a threaded shaft rotatably arranged in the first boom, the threaded shaft is threadedly connected to the piston block, a linkage gear is coaxially fixedly connected to the threaded shaft, and a linkage rack meshing with the linkage gear is provided on the inner wall of the first boom passing through the grabbing plate.

[0013] Preferably, a second arc-shaped rack matching the first bevel gear and the second bevel gear is provided on the top surface of the rotating warehouse. The rotating warehouse can be raised and lowered, and the rotation of the rotating warehouse is linked to achieve that at both ends of the lifting stroke of the rotating warehouse, the first bevel gear switches to engage and transmit the first arc-shaped rack or the second arc-shaped rack.

[0014] Preferably, the output end of the motor is coaxially connected to a synchronous shaft, and a sleeve sleeved on the synchronous shaft is fixedly provided at the center of the rotating chamber.

[0015] Preferably, the outer wall of the rotating bin is provided with a sliding pin, and the inner wall of the grabbing plate is provided with a sliding groove matching the sliding pin, and the sliding groove includes a high zone and a low zone that are cyclically connected.

[0016] Preferably, the second drive shaft can be axially elastically movable relative to the first bevel gear, a protrusion is provided at one end of the second drive shaft away from the center of the rotating chamber, an extrusion strip matching the protrusion is provided in the rotating chamber, and at the lower end of the lifting stroke of the rotating chamber, the protrusion and the extrusion strip are arranged at corresponding heights.

[0017] In the above technical solution, the beneficial effects of the present invention are:

[0018] The finished urea automatic packaging and transfer robot arm is provided with a first shovel plate and a second shovel plate. Under the drive of the driving component, the first shovel plates first move closer to each other to push down the two side covers folded on the inside of the packaging box and fold them inward. Then, the second shovel plate pushes down the other two side covers folded on the outside and folds them inward while the clamp is clamping the packaging box. In this way, the grab plate can fold the cover plates on the top of the packaging box in sequence while grabbing the packaging box, optimizes the packaging and transfer process, and facilitates the grabbing and handling of the robot arm.

[0019] 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.

[0020] This application document provides an overview of various implementations or examples of the technology described in this disclosure, and is not a comprehensive disclosure of the full scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 A schematic diagram of the overall structure provided by an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of a grabbing plate and its structure provided in an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of a front cross-sectional structure of a grabbing plate provided in an embodiment of the present invention;

[0025] Figure 4 The embodiment of the present invention provides Figure 3 Schematic diagram of the enlarged structure at A in the middle;

[0026] Figure 5 The embodiment of the present invention provides Figure 3 Schematic diagram of the enlarged structure at B in the middle;

[0027] Figure 6 A schematic side cross-sectional structural diagram of a grabbing plate provided in an embodiment of the present invention;

[0028] Figure 7 The embodiment of the present invention provides Figure 6 Schematic diagram of the enlarged structure at C in the middle;

[0029] Figure 8 A schematic diagram of a top cross-sectional structure of a grabbing plate provided in an embodiment of the present invention;

[0030] Figure 9 A schematic diagram of a front cross-sectional structure of a sliding groove provided in an embodiment of the present invention;

[0031] Figure 10 A schematic side cross-sectional structural diagram of a sliding groove provided in an embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 1. Main body; 2. Grabbing plate; 3. Grabbing clamp; 4. First shovel plate; 5. Second shovel plate; 6. First suspension rod; 7. Second suspension rod; 8. First drive shaft; 9. Second drive shaft; 10. First screw sleeve; 11. Second screw sleeve; 12. Rotating chamber; 13. Motor; 14. First arc-shaped rack; 15. First bevel gear; 16. Second bevel gear; 17. Glue spraying port; 18. Cavity; 19. Feeding pipe; 20. Piston block; 21. Threaded shaft; 22. Bump; 23. Linkage gear; 24. Linkage rack; 25. Second arc-shaped rack; 26. Synchronous shaft; 27. Sleeve; 28. Sliding pin; 29. ​​Sliding groove; 30. Extrusion strip. DETAILED DESCRIPTION

[0034] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying 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.

[0035] See also Figure 1-10The embodiment of the present invention provides a finished urea automatic packaging and transportation robot arm, which includes a main body 1 and a grabbing plate 2, which is movably arranged on the main body 1, and also includes: two grabbing clamps 3, which are arranged opposite to each other and movably connected to the lower side of the grabbing plate 2; two first shovel plates 4, which are arranged opposite to each other and movably connected to the lower side of the grabbing plate 2, and are distributed in a cross shape between the two grabbing clamps 3; a second shovel plate 5, which is fixedly arranged at the upper end of the grabbing clamps 3; a driving component, which is used to first drive the two first shovel plates 4 to approach each other, and then drive the two grabbing clamps 3 to approach each other to clamp the packaging box, and the first shovel plate 4 and the second shovel plate 5 successively push down the side covers of the packaging box during this process.

[0036] Specifically, the main body 1 is a rotatable and foldable articulated arm structure, and the grabbing plate 2 is connected to the moving end of the main body 1, and the grabbing plate 2 is kept horizontal for movement; the main body 1 is controlled by a servo system, and the grabbing plate 2 can be moved to switch the pick-up and placement stations; the gripping clamp 3 is L-shaped, with the lower ends bent close together, and the edge is set in a shovel shape, which is convenient for shoveling into the bottom of the packaging box and then used to lift the packaging box; the first shovel plate 4 and the second shovel plate 5 are both set horizontally, the height of the first shovel plate 4 is lower than the second shovel plate 5, and the height difference is preferably set by 5-10mm; the first shovel plate 4 and the second shovel plate 5 each correspond to one side of the packaging box, and the width does not exceed the horizontal dimension of the corresponding side of the packaging box; the two first shovel plates 4 move relative to each other, and the two second shovel plates The plates 5 also move relative to each other under the drive of the grippers 3, and the movement trajectories of the two groups of shovel plates are cross-shaped; the distance between the second shovel plate 5 and the lower end of the grippers 3 matches the height of the corresponding side of the package box after the top is closed; the first shovel plate 4 corresponds to the inner side after the top cover of the package box is folded inward, which is usually the short side of the package box, and the second shovel plate 5 corresponds to the outer side after the top cover of the package box is folded inward, which is usually the long side of the package box; it can be seen from actual use that the short side of the package box is folded inward first, and then the long side is folded inward to completely close the top, and the driving component drives the first shovel plate 4 and the second shovel plate 5 to move successively in the above order; the top cover of the package box is connected with creases. In actual use of this technical solution, under the drive of the driving component, the first shovel plates 4 first move closer to each other to push down the two side covers folded on the inside of the packaging box and fold them inward, and then the second shovel plate 5 pushes down the other two side covers folded on the outside and folds them inward during the process of clamping the packaging box with the clamp 3. In this way, the grabbing plate 2 folds the cover plates on the top of the packaging box in sequence during the process of grabbing the packaging box, optimizes the packaging transfer process, and facilitates the grabbing and handling of the robot.

[0037] Compared with the prior art, the embodiment of the present invention proposes an automatic packaging and transportation robot arm for finished urea, which is equipped with a first shovel plate 4 and a second shovel plate 5. Under the drive of the driving component, the first shovel plates 4 first move closer to each other to push down the two side covers folded on the inside of the packaging box and fold them inward. Then, the second shovel plate 5 pushes down the other two side covers folded on the outside and folds them inward while the gripper 3 clamps the packaging box. In this way, the gripper 2 folds the cover on the top of the packaging box in sequence during the process of grabbing the packaging box, thereby optimizing the packaging and transportation process and facilitating the grabbing and transportation of the robot.

[0038] As the preferred technical solution of this embodiment, a first suspension rod 6 is movably provided on the grabbing plate 2, and the lower end of the first suspension rod 6 is fixedly connected to the first shovel plate 4. A second suspension rod 7 is also movably provided on the grabbing plate 2, and the lower end of the second suspension rod 7 is fixedly connected to the second shovel plate 5. Specifically, the first suspension rod 6 and the second suspension rod 7 are both movably provided through the bottom of the grabbing plate 2.

[0039] As the preferred technical solution of this embodiment, the driving assembly includes two first driving shafts 8 and two second driving shafts 9 that are rotatably connected in the grabbing disc 2 and are evenly arranged alternately around the circumference. The first driving shaft 8 is threadedly sleeved with a first screw sleeve 10 fixedly connected to the first suspension rod 6, and the second driving shaft 9 is threadedly sleeved with a second screw sleeve 11 fixedly connected to the second suspension rod 7. A rotating bin 12 that is transmission-connected to each of the first driving shaft 8 and the second driving shaft 9 is rotatably provided in the grabbing disc 2, and a motor 13 that drives the rotating bin 12 to rotate is provided on the grabbing disc 2. Specifically, the two first driving shafts 8 are coaxial and collinear and arranged oppositely, and the two second driving shafts 9 are coaxial and collinear and arranged oppositely; the first screw sleeve 10 is in the first suspension rod. The rod 6 only moves axially under the restriction of the grabbing plate 2, thereby generating a threaded transmission with the rotation of the first drive shaft 8. The second screw sleeve 11 and the second suspension rod 7 only move axially under the restriction of the grabbing plate 2, thereby generating a threaded transmission with the rotation of the second drive shaft 9; the rotating bin 12 is in the shape of a rotating body, coaxial with the grabbing plate 2, with an open bottom but an inwardly extending edge protrusion, the first drive shaft 8 and the second drive shaft 9 are both arranged in the rotating bin 12, but their positions relative to the grabbing plate 2 remain unchanged; the motor 13 is controlled by the servo system, and the motor 13 drives the rotating bin 12 to rotate, thereby linking the first drive shaft 8 and the second drive shaft 9 to rotate, thereby realizing the activity control of the gripper 3 and the first shovel plate 4.

[0040] As a preferred technical solution of this embodiment, a first arc-shaped rack 14 is provided on the inner bottom surface of the rotating warehouse 12, a first bevel gear 15 matching the first arc-shaped rack 14 is coaxially fixedly connected to the first driving shaft 8, and a second bevel gear 16 matching the first arc-shaped rack 14 is provided on the second driving shaft 9 for synchronous rotation. The first arc-shaped rack 14 is independently engaged with the first bevel gear 15 and the second bevel gear 16 for transmission. Specifically, the first bevel gear 15 is provided on one end of the first driving shaft 8 close to the inner wall of the rotating warehouse 12, and the second bevel gear 16 is provided on the inner bottom surface of the rotating warehouse 12. It is arranged at one end of the second drive shaft 9 close to the inner wall of the rotating warehouse 12; the curvature of the first arc-shaped rack 14 is preferably 70°-80°. In other words, the first arc-shaped rack 14 will not engage with the first bevel gear 15 and the second bevel gear 16 at the same time, and there is a gap in the switching engagement process; the center of the first arc-shaped rack 14 coincides with the axis of the rotating warehouse 12, and the first arc-shaped rack 14 is engaged with the first bevel gear 15 and the second bevel gear 16 in turn for transmission, thereby linking the two first shovel plates 4 to move closer to each other first, and then the two second shovel plates 5 move closer to each other.

[0041] In another embodiment proposed by the present invention, a glue spraying port 17 is provided on the side wall of the lower end of the first hanger 6, a cavity 18 is provided in the first hanger 6, and a feed pipe 19 connected to the cavity 18 is provided on the side wall of the first hanger 6. A piston block 20 is movably provided in the cavity 18, and the piston block 20 is linked to the movement of the first hanger 6 through a linkage assembly. Specifically, after the second shovel plate 5 pushes down the corresponding side cover of the packaging box, the lower end of the first hanger 6 is in the gap between the two side covers. At this time, the glue spraying port 17 corresponds to the edge where the two side covers are close to each other; the cavity 18 is used for temporarily storing colloid, and the feed pipe 19 is used to connect to an external colloid delivery pipeline, and to supply flowing colloid to the cavity 18 in a one-way manner, and the flowing colloid no longer flows back to the supply pipe. The material pipe 19; the piston block 20 controls the suction function in the cavity 18; a one-way valve is provided at the lower end of the cavity 18 near the glue spray port 17, which only conducts the fluid inside the cavity 18 to the glue spray port 17; the movable linkage of the piston block 20 and the first boom 6 is specifically as follows: when the first boom 6 approaches the center of the grabbing plate 2, the piston block 20 rises, and when the first boom 6 approaches the edge of the grabbing plate 2, the piston block 20 descends, that is, when the first shovel plate 4 pushes down the packaging box cover on the corresponding side and retreats, the glue sprayed out of the glue spray port 17 adheres to the edges of the folding cover plates on the two long sides of the packaging box. After the first boom 6 leaves the gap between the two folding cover plates, the edges of the folding cover plates on the two long sides can be fitted and adhered, thereby realizing automatic sealing of the packaging box.

[0042] As the preferred technical solution of this embodiment, the linkage assembly includes a threaded shaft 21 rotatably arranged in the first boom 6, the threaded shaft 21 is threadedly connected to the piston block 20, and a linkage gear 23 is coaxially fixedly connected to the threaded shaft 21. The first boom 6 passes through the inner wall of the grabbing plate 2 and is provided with a linkage rack 24 that meshes with the linkage gear 23. Specifically, the threaded shaft 21 is arranged vertically; the grabbing plate 2 is provided with a through groove matching the first boom 6, and a linkage rack 24 is concave on one side of the inner wall of the through groove. A part of the linkage gear 23 movably extends out of the side wall of the first boom 6 and meshes with the linkage rack 24. Therefore, during the movement of the first boom 6, the linkage gear 23 is meshed with the linkage rack 24 for transmission, and the linkage threaded shaft 21 rotates. The rotation of the threaded shaft 21 drives the piston block 20 to rise and fall through the threaded feed transmission. Further, in the above transmission direction, when the first boom 6 approaches the center of the grabbing plate 2, the piston block 20 rises, and when the first boom 6 approaches the edge of the grabbing plate 2, the piston block 20 falls.

[0043] In another embodiment proposed by the present invention, a second arc-shaped rack 25 matching the first bevel gear 15 and the second bevel gear 16 is provided on the top surface of the rotating bin 12. The rotating bin 12 can be raised and lowered, and the rotation of the rotating bin 12 is linked to achieve this. At both ends of the lifting stroke of the rotating bin 12, the first bevel gear 15 switches the meshing transmission to the first arc-shaped rack 14 or the second arc-shaped rack 25. Specifically, in order to ensure the adhesion of the cover plates on the long sides of both sides of the packaging box, it is necessary to keep the second shovel plate 5 pressing and limiting the cover plates on the long sides during the retraction of the first shovel plate 4. The second arc-shaped rack 25 independently transmits the first bevel gear 15 and the second bevel gear 16 in sequence; the lifting and lowering activities of the rotating warehouse 12 are used to switch the corresponding height transmission of the first bevel gear 15 and the first arc-shaped rack 14 or the second arc-shaped rack 25, and at the same time, the second bevel gear 16 is consistent with the first bevel gear 15; the center of the second arc-shaped rack 25 coincides with the axis of the rotating warehouse 12, and is arranged correspondingly to the first arc-shaped rack 14 up and down, and the curvature setting of the second arc-shaped rack 25 is consistent with the first arc-shaped rack 14; the linkage relationship between the lifting and lowering of the rotating warehouse 12 and its rotation is that the rotating warehouse 12 performs lifting and lowering activities alternately every time it rotates, and each lifting and lowering satisfies the complete transmission of the first bevel gear 15 and the first arc-shaped rack 14 or the second arc-shaped rack 25, and the same is true for the second bevel gear 16. When the lifting mechanism 12 is lifted, the first gear 15 and the second gear 16 are in the state of being lifted and lowered, so that the lifting mechanism 12 can be lifted and lowered, thereby making the two first shovel plates 4 move closer together first, and then the two second shovel plates 5 move closer together, ensuring that the side covers on the top of the packaging box are folded inward in sequence; when the packaging box is released, the motor 13 drives the rotating warehouse 12 to rotate again, and the rotating warehouse 12 is switched to the lowest end of the lifting stroke at this time, then the first gear 15 and the second gear 16 are in the state of being lifted and lowered, thereby making the two first shovel plates 4 move away from each other first, and then the second shovel plates 5 move away from each other again, ensuring that the glue coating on the first shovel plate 4 is carried out under the condition that the second shovel plate 5 keeps pressing the limit long side cover.

[0044] As the preferred technical solution of this embodiment, the output end of the motor 13 is coaxially connected to a synchronization shaft 26, and a sleeve 27 is fixedly provided at the center of the rotating bin 12 and is sleeved on the synchronization shaft 26. Specifically, the synchronization shaft 26 may preferably be a polygonal column, and the sleeve 27 is matched with it, thereby maintaining synchronous rotation without affecting the axial lifting and lowering movement of the rotating bin 12.

[0045] As the preferred technical solution of this embodiment, a sliding pin 28 is provided on the outer wall of the rotating bin 12, and a sliding groove 29 matching the sliding pin 28 is provided on the inner wall of the grabbing plate 2. The sliding groove 29 includes a high zone and a low zone that are cyclically connected. Specifically, the sliding groove 29 is composed of two semi-ring grooves with upper and lower height differences, and a small range of smooth transition is set at the splicing position. The semi-ring on the higher side is the high zone of the sliding groove 29, and the semi-ring on the lower side is the low zone of the sliding groove 29. Under the rotation of the rotating bin 12, the sliding pin 28 slides in the sliding groove 29 to realize the alternating lifting and lowering of the rotating bin 12 every half circle.

[0046] In another embodiment proposed by the present invention, the second driving shaft 9 can be axially elastically movably arranged relative to the first bevel gear 15, and a protrusion 22 is provided at one end of the second driving shaft 9 away from the center of the rotating warehouse 12, and an extrusion bar 30 matching the protrusion 22 is provided in the rotating warehouse 12. At the lower end of the lifting stroke of the rotating warehouse 12, the protrusion 22 and the extrusion bar 30 are arranged in corresponding heights. Specifically, two supports are fixedly provided on the inner bottom surface of the grabbing plate 2 to rotatably support the second driving shaft 9, and a spring is provided in the support corresponding to the second driving shaft 9 close to the center of the grabbing plate 2 to abut this end of the second driving shaft 9, thereby keeping the second driving shaft 9 away from the center of the grabbing plate 2; a key block is provided on the inner ring of the first bevel gear 15, and a matching keyway is provided on the second driving shaft 9; at the lower end of the lifting stroke of the rotating warehouse 12, that is, the first bevel gear 15 and the second bevel gear 16 are meshed with the second bevel gear 16 at corresponding heights. The arc rack 25, and in the interval between the second arc rack 25 alternately meshing with the first bevel gear 15 and the second bevel gear 16, the protrusion 22 is abutted against the extrusion bar 30, so that the second drive shaft 9 moves axially toward the center of the grabbing plate 2, that is, after the second arc rack 25 engages and transmits the first bevel gear 15, the two first shovel plates 4 slide away from the top of the packaging box, and the second arc rack 25 has not yet started to transmit the second bevel gear 16, the two second shovel plates 5 have not started to move and keep pressing the cover plate of the long side of the packaging box. At this time, the protrusion 22 is abutted against the extrusion bar 30, forcing the second drive shaft 9 to resist the elastic force and move axially a short distance close to the center of the grabbing plate 2, that is, the two second shovel plates 5 are close to each other, which pushes the folding cover plates on the long sides of the packaging box close together, thereby ensuring that the colloid of the cover plate is in close contact with the edge, further ensuring bonding.

[0047] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A finished urea automatic packing and transporting robot arm, comprising a main body (1) and a grabbing plate (2), wherein the grabbing plate (2) is movably arranged on the main body (1), and is characterized in that: Also includes: Two gripping clamps (3) are arranged opposite to each other and are movably connected to the lower side of the gripping plate (2); Two first shovel plates (4) are arranged opposite to each other, movably connected to the lower side of the grabbing plate (2), and arranged in a cross shape between the two grabbing clamps (3); A second shovel plate (5) fixedly arranged on the upper end of the gripping clamp (3); A driving assembly is used to first drive the two first shovel plates (4) to approach each other, and then drive the two grippers (3) to approach each other to clamp the packaging box, and the first shovel plate (4) and the second shovel plate (5) successively push down the side covers of the packaging box during this process; A first suspension rod (6) is movably provided on the grabbing plate (2), and the lower end of the first suspension rod (6) is fixedly connected to the first shoveling plate (4). A second suspension rod (7) is also movably provided on the grabbing plate (2), and the lower end of the second suspension rod (7) is fixedly connected to the second shoveling plate (5). The driving assembly comprises two first driving shafts (8) and two second driving shafts (9) which are rotatably connected in the grabbing disc (2) and are evenly and alternately arranged around the circumference; a first screw sleeve (10) fixedly connected to the first suspension rod (6) is threadedly sleeved on the first driving shaft (8); a second screw sleeve (11) fixedly connected to the second suspension rod (7) is threadedly sleeved on the second driving shaft (9); a rotating bin (12) which is transmission-connected to the first driving shaft (8) and the second driving shaft (9) is rotatably provided in the grabbing disc (2); and a motor (13) for driving the rotating bin (12) to rotate is provided on the grabbing disc (2); A first arc-shaped rack (14) is provided on the inner bottom surface of the rotating bin (12); a first bevel gear (15) matching the first arc-shaped rack (14) is coaxially fixedly connected to the first driving shaft (8); a second bevel gear (16) matching the first arc-shaped rack (14) is synchronously rotated on the second driving shaft (9); the first arc-shaped rack (14) is independently meshed with the first bevel gear (15) and the second bevel gear (16) for transmission.

2. The finished urea automatic packaging and transportation robot arm according to claim 1, characterized in that: A glue spraying port (17) is provided on the side wall at the lower end of the first suspension rod (6), a cavity (18) is provided in the first suspension rod (6), a feeding pipe (19) connected to the cavity (18) is provided on the side wall of the first suspension rod (6), a piston block (20) is movably provided in the cavity (18), and the piston block (20) is linked to the movement of the first suspension rod (6) through a linkage assembly.

3. The finished urea automatic boxing and transporting robot arm according to claim 2 is characterized in that: The linkage assembly comprises a threaded shaft (21) rotatably arranged in the first suspension rod (6), the threaded shaft (21) being threadedly connected to the piston block (20), a linkage gear (23) being coaxially fixedly connected to the threaded shaft (21), and a linkage rack (24) meshing with the linkage gear (23) being provided on the inner wall of the first suspension rod (6) penetrating the grabbing plate (2).

4. The finished urea automatic boxing and transporting robot arm according to claim 1 is characterized in that: The top surface of the rotating bin (12) is provided with a second arc-shaped rack (25) matching the first bevel gear (15) and the second bevel gear (16). The rotating bin (12) can be raised and lowered, and the rotation of the rotating bin (12) is linked to achieve that at both ends of the lifting stroke of the rotating bin (12), the first bevel gear (15) switches to mesh with the first arc-shaped rack (14) or the second arc-shaped rack (25).

5. The finished urea automatic packaging and transportation robot arm according to claim 4 is characterized in that: The output end of the motor (13) is coaxially connected to a synchronous shaft (26), and a sleeve (27) sleeved on the synchronous shaft (26) is fixedly provided at the center of the rotating bin (12).

6. The finished urea automatic boxing and transporting robot arm according to claim 5, characterized in that: The outer wall of the rotating bin (12) is provided with a sliding pin (28), and the inner wall of the grabbing plate (2) is provided with a sliding groove (29) matching the sliding pin (28), and the sliding groove (29) includes a high zone and a low zone that are cyclically connected.

7. The finished urea automatic packaging and transportation robot arm according to claim 4, characterized in that: The second drive shaft (9) can be axially elastically movable relative to the first bevel gear (15), and a protrusion (22) is provided at one end of the second drive shaft (9) away from the center of the rotating chamber (12). An extrusion strip (30) matching the protrusion (22) is provided in the rotating chamber (12), and at the lower end of the lifting stroke of the rotating chamber (12), the protrusion (22) and the extrusion strip (30) are arranged at corresponding heights.

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