Movable grabbing and sub-packaging robot

Abstract

The invention relates to the technical field of robots, and discloses a movable grabbing and subpackaging robot which comprises a movable platform, a mechanical arm used for grabbing materials is installed on the top face of the movable platform, a control cabinet is installed at the rear end of the top face of the movable platform, and a touch display screen is arranged at the top of the control cabinet. A rotary table is installed on the top face of the movable platform in an embedded mode, the rotary table is connected with the top face of the movable platform through a bearing, a plurality of first through grooves located below the rotary table are formed in the right end of the top of the movable platform in a penetrating mode, and a plurality of containing grooves used for containing material boxes are evenly formed in the top face of the rotary table at equal angles. According to the movable grabbing and subpackaging robot, full-process automation of material grabbing, classified subpackaging, full-box discharging and empty-box supplementing is achieved, the problems that an existing grabbing robot lacks a coherent operation mechanism, needs frequent manual intervention, and is low in efficiency and high in cost are solved, the operation coherence and the production efficiency are improved, and the movable grabbing and subpackaging robot is suitable for the multi-material classified subpackaging scene.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a mobile grasping and packaging robot. Background Technology

[0002] Robots are intelligent devices that integrate technologies from multiple disciplines such as mechatronics, materials science, and artificial intelligence. They can be commanded by humans or act autonomously according to preset programs or AI principles. Their core role is to assist or replace humans in completing various tasks. In industrial production, robots are widely used to replace humans in the task of quickly grasping and packaging materials. However, existing grasping robots still have certain shortcomings, such as: The "Highly Integrated Indoor and Outdoor Mobile Grabbing Robot" with application number CN202020893647.2 can only perform a single grasping function in the material handling process. It lacks a continuous sorting, unloading and replenishment mechanism. After the material is grasped and packed, it is difficult to take out the full box. It requires frequent manual replacement of the box, which is not only inefficient but also increases labor costs. Moreover, in the scenario of sorting and packing multiple materials, it is difficult to achieve automated switching and continuous operation, which cannot meet the needs of high-efficiency production. In view of this, and in response to the above problems, we conducted in-depth research and proposed a mobile grasping and packaging robot. Summary of the Invention

[0003] The purpose of this invention is to provide a mobile gripping and packaging robot to solve the problems mentioned in the background art, such as the lack of a continuous packaging, unloading and replenishment mechanism of existing gripping robots, the need for frequent manual replacement of material boxes, low efficiency and high cost.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a mobile gripping and packaging robot, comprising a mobile platform, wherein a robotic arm for gripping materials is mounted on the top surface of the mobile platform; A control cabinet is installed at the rear of the top surface of the mobile platform, and a touch screen is installed on the top of the control cabinet. A turntable is embedded in the top surface of the mobile platform and connected to the top surface of the mobile platform by bearings. Multiple first through slots are opened through the top right end of the mobile platform and located below the turntable. Multiple receiving slots for placing material boxes are evenly opened at equal angles on the top surface of the turntable, and each receiving slot is connected to the bottom surface of the turntable through a second through slot. A discharge channel is fixedly installed on the rear side of the top surface of the mobile platform. The mobile platform is equipped with a drive mechanism for rotating the turntable and a unloading mechanism for unloading. The top surface of the mobile platform is equipped with a loading mechanism for loading materials, and the loading mechanism and the unloading mechanism are connected by a transmission mechanism.

[0005] The above technical solution facilitates the full automation of material grabbing, sorting and packaging, unloading of full boxes and replenishment of empty boxes, without the need for frequent manual intervention, thus improving the continuity and efficiency of operations.

[0006] As a preferred embodiment of the present invention, protective frames are installed on both the front and rear sides of the mobile platform, and a lidar is installed on the front end of the mobile platform.

[0007] By adopting the above technical solution, it is easy to identify objects in front of the mobile platform through lidar, play an obstacle avoidance role in local path planning, improve operational safety, and the protective frame can protect the mobile platform and the components above it.

[0008] As a preferred technical solution of the present invention, the driving mechanism includes a first motor fixedly installed on the top surface of the mobile platform. A driving gear is coaxially fixedly installed on the shaft end of the first motor, and the driving gear passes through the opening opened on the top of the mobile platform. An end face gear is meshed with the top of the driving gear, and the end face gear is fixedly embedded in the bottom of the turntable.

[0009] By adopting the above technical solution, the first motor can drive the drive gear to rotate after starting. Through the meshing transmission between the drive gear and the end face gear, the turntable can be driven to rotate smoothly, meeting the needs of continuous operation of multiple material boxes.

[0010] As a preferred embodiment of the present invention, the feeding mechanism includes an electric push rod fixedly installed on the bottom surface of the mobile platform. A lifting plate is fixedly installed at the output end of the electric push rod. A plurality of mounting frames are evenly installed on the bottom surface of the lifting plate, each located below the first through slot. The length and width of the mounting frames are smaller than the length and width of the first through slot. Each mounting frame is equipped with a mounting shaft. The mounting shaft passes through the two side walls of the mounting frame through bearings. A feeding roller is fixedly installed on the surface of the mounting shaft, and the feeding roller can move through the first through slot.

[0011] The above technical solution facilitates the movement of the lifting plate up and down via an electric push rod, thereby driving the unloading roller through the first and second through slots to lift the full box of material, preparing for subsequent unloading.

[0012] As a preferred embodiment of the present invention, the feeding mechanism further includes a second motor fixedly installed on the top surface of the lifting plate. The shaft end of the second motor is keyed to a rotating shaft, and the rotating shaft passes through a fixing block via a bearing. The fixing block is fixed to the top surface of the lifting plate, and multiple fixing blocks are provided. Multiple bevel gear sets are evenly installed on the surface of the rotating shaft, and the number of bevel gear sets is the same as the number of mounting frames. A rotating rod is installed on the lower left side of the mounting frame via a bearing, and the left end of the rotating rod is fixedly connected to the bevel gear set. The rotating rod and the mounting shaft are connected by a first chain transmission device.

[0013] By adopting the above technical solution, after the second motor starts, it can drive the discharge roller to rotate through the linkage of the rotating shaft, bevel gear set, rotating rod and the first chain transmission device, so as to transport the full box of material to the discharge channel and complete the unloading.

[0014] As a preferred embodiment of the present invention, the feeding mechanism includes a storage frame fixedly installed on the right rear end of the top surface of the mobile platform by a bracket. A flat plate is provided below the storage frame, and a discharge frame is fixedly installed on the left end of the flat plate. The discharge frame is located above the first through groove. A feeding frame is provided between the storage frame and the flat plate, and the bottom surface of the feeding frame is laterally slidably connected to the top surface of the flat plate. A sliding plate is fixedly installed on the rear side of the feeding frame, and the sliding plate is slidably connected to a through groove on the flat plate. A lead screw is laterally threaded through the sliding plate, and the lead screw is threadedly connected to the sliding plate. The left end of the lead screw is connected to the rear side of the discharge frame by a bearing, and a fixing seat is sleeved on the surface of the lead screw. The fixing seat is fixedly installed on the rear end of the bottom surface of the flat plate, and the lead screw is connected to the fixing seat by a bearing.

[0015] By adopting the above technical solution, the lead screw can drive the slide plate to slide along the slide groove when it rotates, thereby driving the feeding frame to move on the plate and pushing the empty material box in the storage frame to the unloading frame to realize empty box loading.

[0016] As a preferred embodiment of the present invention, the transmission mechanism includes a vertical plate fixedly installed on the bottom surface of the mobile platform. A transmission rod is horizontally arranged through the vertical plate and connected to the vertical plate by a bearing. The transmission rod also passes through the rear side wall of the mobile platform through the bearing. A transmission gear is coaxially fixedly installed at the front end of the transmission rod and meshes with a rack fixedly installed on the rear side of the lifting plate. The rear end of the transmission rod is connected to the rear end of the lead screw through a second chain transmission device.

[0017] By adopting the above technical solution, it is convenient for the lifting plate to move up and down, thereby driving the rack to move synchronously. Through the meshing transmission between the rack and the transmission gear, the transmission rod is driven to rotate, and then the lead screw is driven to rotate through the second chain transmission device, thus realizing the linkage between the unloading mechanism and the loading mechanism.

[0018] As a preferred embodiment of the present invention, the distance from the bottom surface of the storage frame to the top surface of the flat plate is greater than the height of a single material box and less than the height of two material boxes stacked together.

[0019] By adopting the above technical solution, it is easy to limit the empty boxes in the storage box to fall into the feeding box one at a time, avoid multiple boxes stacking and jamming, and ensure the orderliness of the feeding process.

[0020] As a preferred embodiment of the present invention, two telescopic rods are symmetrically installed on the rear side of the storage frame, and a baffle is fixedly installed at the rear end of the telescopic rod. A tension spring is sleeved on the outer side of the telescopic rod, and the front end of the tension spring is fixedly connected to the rear side of the storage frame, and the rear end of the tension spring is fixedly connected to the rear interior of the baffle. The front end face of the baffle is in movable contact with the rear side of the feeding frame, and the inner bottom surface of the baffle is coplanar with the top surface of the feeding frame.

[0021] By adopting the above technical solution, when the feeding frame moves, the baffle can block the material box in the storage frame under the action of the tension spring and the telescopic rod, so as to prevent the material box from falling to the top surface of the plate in advance and ensure that the feeding is carried out in an orderly manner.

[0022] Compared with the prior art, the beneficial effects of the present invention are: the mobile gripping and packaging robot realizes full-process automation of material gripping, classification and packaging, full box unloading and empty box replenishment, solves the problems of existing gripping robots lacking a continuous operation mechanism, requiring frequent manual intervention, low efficiency and high cost, improves operation continuity and production efficiency, and is suitable for multi-material classification and packaging scenarios. 1. Achieve fully automated operation: Integrate material grabbing, sorting and packaging, full box unloading and empty box replenishment functions, without frequent manual intervention. A closed-loop operation is formed from material grabbing to empty box replenishment, which greatly reduces the manual participation links, reduces labor costs, avoids efficiency fluctuations caused by manual operation, and improves the overall operation continuity and production efficiency. 2. Multi-material classification and packaging and continuous operation capability: The top surface of the turntable is equipped with multiple receiving slots at equal angles, which can hold multiple material boxes at the same time. With the help of the drive mechanism, the turntable can rotate smoothly and quickly switch between different material boxes for multi-material classification and packaging. After the full material box rotates to the unloading station, it can be unloaded and empty boxes can be replenished immediately without stopping the machine to wait, meeting the needs of efficient continuous production. 3. Highly efficient and coordinated unloading and loading: The unloading and loading mechanisms are linked through the transmission mechanism. During the up and down movement of the lifting plate, the feeding frame is driven to push the empty box, so that the unloading and loading actions are closely connected. There is no need to control the loading action separately, which simplifies the control logic, shortens the operation cycle, and further improves the operation efficiency. 4. Improved operational safety and stability: The mobile platform is equipped with a lidar at the front end, which can identify objects in front and avoid obstacles. The protective frames on the front and rear sides can effectively protect the equipment and components, reducing the risk of collision during operation. The material feeding roller lifts the material box to fall, avoiding damage from direct impact. The design of the storage frame and baffle ensures that the empty boxes fall and are pushed in an orderly manner, preventing the boxes from stacking and jamming, and ensuring stable operation. 5. Convenient operation and strong adaptability: The touch screen of the control cabinet makes it easy for staff to set parameters, start operations and monitor status. The operation is simple and intuitive. The mobile platform can be flexibly moved to different work areas. The robotic arm can be adapted to the gripping of different types of materials. It is suitable for a variety of industrial production scenarios, improving the versatility and practicality of the equipment. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the exploded connection structure between the mobile platform and the turntable of the present invention; Figure 3 This is a schematic diagram of the cross-sectional structure of the mobile platform of the present invention; Figure 4 This is a schematic diagram of the connection structure between the drive gear and the end face gear of the present invention; Figure 5 This is a schematic diagram of the cross-sectional connection structure between the mobile platform and the electric push rod of the present invention; Figure 6 This is a schematic diagram of the connection structure between the lifting plate and the mounting frame of the present invention; Figure 7 This is a schematic diagram of the connection structure between the flat plate and the feeding frame of the present invention; Figure 8 This is a schematic diagram of the cross-sectional structure of the storage frame and the feeding frame of the present invention; Figure 9 This is a schematic diagram of the connection structure between the sliding plate and the slide groove of the present invention; Figure 10 This is a schematic diagram of the connection structure between the second chain drive device of the present invention and the lead screw and drive rod.

[0024] In the diagram: 1. Mobile platform; 2. Robotic arm; 3. Control cabinet; 4. Turntable; 5. First through channel; 6. Receiving channel; 7. Second through channel; 8. Discharge channel; 9. First motor; 10. Drive gear; 11. Through port; 12. End face gear; 13. Electric push rod; 14. Lifting plate; 15. Mounting frame; 16. Mounting shaft; 17. Feeding roller; 18. Second motor; 19. Rotating shaft; 20. Fixed block; 21. Bevel gear set; 22. Rotating rod; 23. First chain drive device; 24. Storage frame; 25. Flat plate; 26. Feeding frame; 27. Feeding frame; 28. Slide plate; 29. ​​Slide groove; 30. Lead screw; 31. Fixed seat; 32. Vertical plate; 33. Transmission rod; 34. Transmission gear; 35. Rack; 36. Second chain drive device; 37. Telescopic rod; 38. Baffle; 39. Tension spring. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figure 1 - Figure 10 The technical solution of this invention is as follows: A mobile grasping and packaging robot includes a mobile platform 1, which can be a Clearpath Husky indoor and outdoor mobile unmanned vehicle. A robotic arm 2 for grasping materials is mounted on the top surface of the mobile platform 1. The robotic arm 2 can be a UR5 collaborative robotic arm. A video probe for identifying materials is mounted on the robotic arm 2. A control cabinet 3 is mounted on the rear end of the top surface of the mobile platform 1, and a touch screen is installed on the top of the control cabinet 3. A turntable 4 is embedded in the top surface of the mobile platform 1, and the turntable 4 is connected to the top surface of the mobile platform 1 via bearings. Multiple positions are formed through the top right end of the mobile platform 1. Below the turntable 4, there is a first through groove 5. The top surface of the turntable 4 is evenly provided with multiple receiving grooves 6 for placing material boxes. Each receiving groove 6 is connected to the bottom surface of the turntable 4 through a second through groove 7. The second through groove 7 has the same structural shape as the first through groove 5, and the number of second through grooves 7 in each receiving groove 6 is equal to the number of first through grooves 5. A discharge channel 8 is fixedly installed on the rear side of the top surface of the moving platform 1. The interior of the moving platform 1 is provided with a drive mechanism for rotating the turntable 4 and a unloading mechanism for unloading. The top surface of the moving platform 1 is provided with a loading mechanism for loading materials, and the loading mechanism and the unloading mechanism are connected through a transmission mechanism.

[0027] Protective frames are installed on both the front and rear sides of the mobile platform 1, and a lidar is installed at the front of the mobile platform 1 to facilitate the identification of objects in front of the vehicle, play an obstacle avoidance role in local path planning, and improve safety.

[0028] The drive mechanism includes a first motor 9 fixedly installed on the top surface of the mobile platform 1. A drive gear 10 is coaxially fixedly installed on the shaft end of the first motor 9, and the drive gear 10 passes through the opening 11 at the top of the mobile platform 1. An end face gear 12 is meshed with the top of the drive gear 10, and the end face gear 12 is fixedly embedded in the bottom of the turntable 4.

[0029] The unloading mechanism includes an electric push rod 13 fixedly installed on the bottom surface of the mobile platform 1. A lifting plate 14 is fixedly installed at the output end of the electric push rod 13. Multiple mounting brackets 15 are evenly installed on the bottom surface of the lifting plate 14, which are located below the first through groove 5. The length and width of the mounting brackets 15 are smaller than the length and width of the first through groove 5. Each mounting bracket 15 is equipped with a mounting shaft 16. The mounting shaft 16 passes through the two side walls of the mounting bracket 15 through bearings. A unloading roller 17 is fixedly installed on the surface of the mounting shaft 16. The unloading roller 17 can move through the first through groove 5.

[0030] The unloading mechanism also includes a second motor 18 fixedly installed on the top surface of the lifting plate 14. The shaft end of the second motor 18 is keyed to a rotating shaft 19, and the rotating shaft 19 passes through a fixing block 20 through a bearing. The fixing block 20 is fixed to the top surface of the lifting plate 14, and multiple fixing blocks 20 are provided. Multiple bevel gear sets 21 are evenly installed on the surface of the rotating shaft 19, and the number of bevel gear sets 21 is the same as the number of mounting frames 15. A rotating rod 22 is installed on the lower left side of the mounting frame 15 through a bearing, and the left end of the rotating rod 22 is fixedly connected to the bevel gear set 21. The rotating rod 22 and the mounting shaft 16 are connected by a first chain transmission device 23.

[0031] The feeding mechanism includes a storage frame 24 fixedly mounted on the right rear end of the top surface of the mobile platform 1 via a bracket. A plate 25 is provided below the storage frame 24, and a discharge frame 26 is fixedly mounted on the left end of the plate 25, with the discharge frame 26 located above the first through groove 5. A feeding frame 27 is provided between the storage frame 24 and the plate 25, and the bottom surface of the feeding frame 27 is laterally slidably connected to the top surface of the plate 25. The distance from the bottom surface of the storage frame 24 to the top surface of the plate 25 is greater than the height of a single material box but less than the height of two material boxes. The height of the stacked boxes is such that a sliding plate 28 is fixedly installed on the rear side of the feeding frame 27, and the sliding plate 28 is slidably connected to the sliding groove 29 that runs through the plate 25. A lead screw 30 is horizontally installed on the sliding plate 28, and the lead screw 30 is threadedly connected to the sliding plate 28. The left end of the lead screw 30 is connected to the rear side of the unloading frame 26 through a bearing, and a fixing seat 31 is sleeved on the surface of the lead screw 30. The fixing seat 31 is fixedly installed on the rear end of the bottom surface of the plate 25, and the lead screw 30 is connected to the fixing seat 31 through a bearing.

[0032] The transmission mechanism includes a vertical plate 32 fixedly installed on the bottom surface of the mobile platform 1. A transmission rod 33 is horizontally arranged through the vertical plate 32 and connected to the vertical plate 32 by a bearing. The transmission rod 33 passes through the rear side wall of the mobile platform 1 through the bearing. A transmission gear 34 is coaxially fixedly installed at the front end of the transmission rod 33 and meshes with a rack 35 fixedly installed on the rear side of the lifting plate 14. The rear end of the transmission rod 33 is connected to the rear end of the lead screw 30 through a second chain transmission device 36.

[0033] Two telescopic rods 37 are symmetrically installed on the rear side of the storage frame 24, and a baffle 38 is fixedly installed at the rear end of the telescopic rod 37. A tension spring 39 is sleeved on the outer side of the telescopic rod 37, and the front end of the tension spring 39 is fixedly connected to the rear side of the storage frame 24, and the rear end of the tension spring 39 is fixedly connected to the rear interior of the baffle 38. The front end of the baffle 38 is in movable contact with the rear side of the feeding frame 27, and the inner bottom surface of the baffle 38 is coplanar with the top surface of the feeding frame 27.

[0034] Working principle: When in use, the material box for holding the material is placed in the receiving slot 6 on the top of the turntable 4. The moving platform 1 moves to the side of the material to be packaged. The material is grabbed by the robotic arm 2 and classified according to the material type and placed in the material box in the different receiving slot 6 to realize the packaging of the material. When one of the bins is full, the first motor 9 is started to make the drive gear 10 rotate, which causes the end face gear 12 that meshes with the drive gear 10 to drive the turntable 4 to rotate, thereby rotating the full bin to the loading and unloading station area near the discharge channel 8. At this time, the second through groove 7 of the receiving groove 6 where the full bin is located is aligned with the first through groove 5. The electric push rod 13 is activated to drive the lifting plate 14 to move upward, so that the mounting frame 15 and the unloading roller 17 move upward synchronously and pass through the first through groove 5 and the second through groove 7 in sequence, thereby lifting the full box upward and moving the full box out of the receiving groove 6. Then, the second motor 18 is driven to rotate the rotating shaft 19, which drives the rotating rod 22 to rotate synchronously through the rotation of the bevel gear set 21. When the rotating rod 22 rotates, it drives the mounting shaft 16 and the unloading roller 17 to rotate through the first chain transmission device 23. Thus, the full box lifted upward moves into the discharge channel 8 under the action of the rotation of the unloading roller 17, realizing the unloading of the full box. As the lifting plate 14 moves upward, it drives the rack 35 to move upward synchronously. This causes the transmission gear 34, which meshes with the rack 35, to drive the transmission rod 33 to rotate synchronously. This causes the lead screw 30 to rotate via the second chain transmission device 36. When the lead screw 30 rotates, it drives the slide plate 28 to slide forward along the slide groove 29. This causes the slide plate 28 to drive the feeding frame 27 to move forward synchronously, thereby pushing the bottommost stacked material box in the storage frame 24 located in the feeding frame 27 forward. As the feeding frame 27 moves forward, the baffle 38 is pulled forward by the tension spring 39. This baffle 38 blocks the material box in the storage frame 24 from falling onto the top surface of the plate 25. When the unloading roller 17 rotates to unload, the material box conveyed by the feeding frame 27 has not yet been conveyed to the top of the unloading frame 26. After the full material box is unloaded, the electric push rod 13 drives the lifting plate 14 to move upward continuously, so that the unloading roller 17 moves upward into the unloading frame 26. At this time, the feeding frame 27, which continues to move forward, pushes the material box inside to the top of the unloading frame 26, and then falls through the unloading frame 26 to the top of the unloading roller 17. Then, the electric push rod 13 drives the lifting plate 14 to move downward, so that the material box is placed in the receiving groove 6 to realize the loading. The unloading roller 17 lifts the material box to avoid the material box falling directly and causing impact damage. At the same time, the rack 35 moves downward with the lifting plate 14, thereby causing the feeding frame 27 to move backward and contact the baffle 38, causing the baffle 38 to move backward and stretch the tension spring 39. After the feeding frame 27 moves downward to below the storage frame 24, the material box in the storage frame 24 falls down. At this time, the bottommost material box is located inside the feeding frame 27 for subsequent material feeding.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile gripping and packaging robot, comprising a mobile platform (1), wherein a robotic arm (2) for gripping materials is mounted on the top surface of the mobile platform (1), characterized in that: The top rear end of the mobile platform (1) is equipped with a control cabinet (3), and the top of the control cabinet (3) is equipped with a touch screen. The top surface of the mobile platform (1) is embedded with a turntable (4), and the turntable (4) is connected to the top surface of the mobile platform (1) through a bearing. The top right end of the mobile platform (1) is provided with multiple first through slots (5) located below the turntable (4). The top surface of the turntable (4) is provided with multiple receiving slots (6) for placing material boxes at equal angles. Each receiving slot (6) is connected to the bottom surface of the turntable (4) through a second through slot (7). The rear side of the top surface of the mobile platform (1) is fixedly equipped with a discharge channel (8). The mobile platform (1) is equipped with a drive mechanism for rotating the turntable (4) and a unloading mechanism for unloading. The top surface of the mobile platform (1) is equipped with a loading mechanism for loading, and the loading mechanism and the unloading mechanism are connected by a transmission mechanism.

2. The mobile grasping and packaging robot according to claim 1, characterized in that, The mobile platform (1) is equipped with protective frames on both the front and rear sides, and a laser radar is installed at the front end of the mobile platform (1).

3. A mobile grasping and packaging robot according to claim 1, characterized in that, The drive mechanism includes a first motor (9) fixedly installed on the top surface of the mobile platform (1). A drive gear (10) is fixedly installed on the shaft end of the first motor (9) on the same axis. The drive gear (10) passes through the opening (11) at the top of the mobile platform (1). The top of the drive gear (10) is meshed with an end face gear (12), and the end face gear (12) is fixedly embedded in the bottom of the turntable (4).

4. A mobile grasping and packaging robot according to claim 1, characterized in that, The feeding mechanism includes an electric push rod (13) fixedly installed on the bottom surface of the mobile platform (1). A lifting plate (14) is fixedly installed at the output end of the electric push rod (13). Multiple mounting frames (15) are evenly installed on the bottom surface of the lifting plate (14) and are located below the first through groove (5). The length and width of the mounting frame (15) are smaller than the length and width of the first through groove (5). Each mounting frame (15) is equipped with a mounting shaft (16). The mounting shaft (16) passes through the two side walls of the mounting frame (15) through the bearing. A feeding roller (17) is fixedly installed on the surface of the mounting shaft (16). The feeding roller (17) can move through the first through groove (5).

5. A mobile grasping and packaging robot according to claim 4, characterized in that, The feeding mechanism also includes a second motor (18) fixedly installed on the top surface of the lifting plate (14). The shaft end of the second motor (18) is keyed to a rotating shaft (19), and the rotating shaft (19) passes through a fixed block (20) through a bearing. The fixed block (20) is fixed to the top surface of the lifting plate (14), and there are multiple fixed blocks (20). Multiple bevel gear sets (21) are evenly installed on the surface of the rotating shaft (19), and the number of bevel gear sets (21) is the same as the number of mounting frames (15). A rotating rod (22) is installed on the lower left side of the mounting frame (15) through a bearing, and the left end of the rotating rod (22) is fixedly connected to the bevel gear set (21). The rotating rod (22) and the mounting shaft (16) are connected by a first chain transmission device (23).

6. A mobile grasping and packaging robot according to claim 4, characterized in that, The feeding mechanism includes a storage frame (24) fixedly installed on the right rear end of the top surface of the mobile platform (1) by a bracket. A plate (25) is provided below the storage frame (24), and a discharge frame (26) is fixedly installed on the left end of the plate (25). The discharge frame (26) is located above the first through groove (5). A feeding frame (27) is provided between the storage frame (24) and the plate (25), and the bottom surface of the feeding frame (27) is laterally slidably connected to the top surface of the plate (25). The rear side of the feeding frame (27) is fixedly installed with... There is a slide plate (28), and the slide plate (28) is slidably connected to the slide groove (29) that is opened through the plate (25). A lead screw (30) is horizontally arranged through the slide plate (28), and the lead screw (30) is threadedly connected to the slide plate (28). The left end of the lead screw (30) is connected to the rear side of the feeding frame (26) through a bearing. A fixing seat (31) is sleeved on the surface of the lead screw (30). The fixing seat (31) is fixedly installed on the rear end of the bottom surface of the plate (25), and the lead screw (30) and the fixing seat (31) are connected through a bearing.

7. A mobile grasping and packaging robot according to claim 6, characterized in that, The transmission mechanism includes a vertical plate (32) fixedly installed on the inner bottom surface of the mobile platform (1). A transmission rod (33) is horizontally arranged through the vertical plate (32), and the transmission rod (33) is connected to the vertical plate (32) through a bearing. The transmission rod (33) passes through the rear side wall of the mobile platform (1) through the bearing. A transmission gear (34) is coaxially fixedly installed at the front end of the transmission rod (33), and the transmission gear (34) meshes with a rack (35) fixedly installed on the rear side of the lifting plate (14). The rear end of the transmission rod (33) is connected to the rear end of the lead screw (30) through a second chain transmission device (36).

8. A mobile grasping and packaging robot according to claim 6, characterized in that, The distance from the bottom surface of the storage box (24) to the top surface of the flat plate (25) is greater than the height of a single material box and less than the height of two material boxes stacked together.

9. A mobile grasping and packaging robot according to claim 6, characterized in that, Two telescopic rods (37) are symmetrically installed on the rear side of the storage frame (24), and a baffle (38) is fixedly installed at the rear end of the telescopic rod (37). A tension spring (39) is sleeved on the outer side of the telescopic rod (37), and the front end of the tension spring (39) is fixedly connected to the rear side of the storage frame (24), and the rear end of the tension spring (39) is fixedly connected to the rear interior of the baffle (38). The front end of the baffle (38) is in movable contact with the rear side of the feeding frame (27), and the inner bottom surface of the baffle (38) is coplanar with the top surface of the feeding frame (27).

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