Mask rubber band storage loading and unloading mechanical arm

Abstract

The application discloses a mask rubber band storage loading and unloading mechanical arm and relates to the technical field of loading and unloading mechanical arms. The mask rubber band storage loading and unloading mechanical arm comprises a robot and a loading and unloading claw arm. The front end of the robot is connected with a mounting seat, and the mounting seat is connected with the loading and unloading claw arm. The mask rubber band storage loading and unloading mechanical arm drives two grabbing mechanisms to clamp and grab the packaging box for mask rubber band storage through a driving mechanism. The packaging box is grabbed and then rotated through a steering mechanism to rotate the angle between the grabbing mechanism and the loading and unloading claw arm. The robot drives the loading and unloading claw arm to adjust the position of the packaging box. The loading and unloading are convenient according to the position of the stacking and placing. Meanwhile, the shifting mechanism is used to pull the grabbing mechanism on the supporting plate. The grabbing mechanism can release the packaging box in the non-open state, and then the packaging box is regularly placed to prevent deviation. The mechanical arm can load and unload and carry the packaging box for storing mask rubber bands in multiple scenes.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading robotic arms, specifically a loading and unloading robotic arm for storing elastic bands for face masks. Background Technology

[0002] Elastic bands are a key component of face masks, primarily used to secure the mask to the ears or head, ensuring a snug fit and comfort. When storing face mask elastic bands in warehouses, they are typically packaged in bags or boxes to ensure moisture protection, dust prevention, and structural integrity during transportation and storage. When using cardboard boxes for storing face mask elastic bands, robotic arms are used for loading, unloading, and moving the boxes, replacing heavy manual handling.

[0003] Existing robotic arms typically handle loading and unloading of warehouse packaging boxes by grabbing them and placing them in designated locations for stacking. However, after grabbing the boxes, it is difficult to adjust their orientation. Furthermore, when stacking boxes side-by-side horizontally, against a wall or storage shelf, or in confined spaces, the conventional robotic arm gripping mechanism requires opening. This not only causes misalignment during loading and unloading but also makes it difficult for the gripping mechanism to fully open due to limitations imposed by the storage environment. Consequently, conventional robotic arms struggle to achieve the desired orderly loading and unloading of packaging boxes used for storing elastic bands for face masks in various scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm for loading and unloading elastic bands for mask storage, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm for storing elastic bands for face masks, comprising a robot and a loading and unloading claw arm, wherein the front end of the robot is connected to a mounting base, and the loading and unloading claw arm is docked on the mounting base;

[0006] The loading and unloading claw arm is equipped with a steering mechanism and a drive mechanism. The drive mechanism is equipped with two sets of gripping mechanisms for holding the packaging boxes. The drive mechanism is used to drive the two sets of gripping mechanisms to adjust the gripping angle. The steering mechanism can adjust the steering of the drive mechanism to change the gripping position of the gripping mechanism. It can be used to grip the packaging boxes from different angles and to stack the packaging boxes at different placement angles.

[0007] The drive mechanism is also equipped with a displacement mechanism for driving one of the gripping mechanisms to retract and move away along the outer wall of the packaging box. By using the displacement mechanism to pull one of the gripping mechanisms back, the two sets of gripping mechanisms can release the packaging box without opening.

[0008] Preferably, the steering mechanism includes a connecting cover hinged to the front end of the loading and unloading claw arm, one side of which is integrally formed with a horizontal plate, and a linkage arm is hinged between the side of the loading and unloading claw arm and the end of the horizontal plate.

[0009] An electric push rod is movably connected between the side of the loading and unloading claw arm and the hinge shaft at the end of the horizontal plate. The connecting cover can be rotated 90° by pushing and pulling the horizontal plate through the electric push rod.

[0010] Preferably, the drive mechanism includes a baffle plate docked to one side of the connecting cover, a support plate provided at one end of the baffle plate, a drive motor installed at the center of the baffle plate, and a turntable with two symmetrical guide wheels on its surface docked at the output end of the drive motor.

[0011] The connecting cover has slots on the upper and lower sides, and an upper pull rod and a lower pull rod slide in the slots on the upper and lower sides respectively. The upper pull rod and the lower pull rod are pushed and pulled by two guide wheels on the turntable respectively.

[0012] Preferably, a right-angle frame is fixed to one end of the pull-down rod guide connecting cover, and a support plate slides on the side edge of the right-angle frame away from the pull-down rod. A pin is fixed to one end of the pull-down rod guide connecting cover and one end of the support plate.

[0013] Preferably, the gripping mechanism includes a transmission column movably connected by a bearing housing, and the bearing housing is symmetrically installed on the baffle and the support plate respectively. The transmission column includes a cylindrical shaft and a prismatic shaft arranged coaxially. The prismatic shaft is fitted with a sleeve, and the sleeve is inserted into the bearing housing.

[0014] A middle jaw plate is connected between the cylindrical shafts of two adjacent transmission columns. A shift frame is fixed on the circumferential side of the middle jaw plate near the end of one of the transmission columns. The shift frame drives the middle jaw plate to rotate by moving the shift pin.

[0015] Preferably, a torsion spring is connected between the sleeve and the middle jaw plate, a lower jaw plate is mated to the prism shaft located on the lower side of the middle jaw plate, and an upper jaw plate with a right-angle structure slides on the prism shaft located on the upper side of the middle jaw plate.

[0016] When the torsion spring is in its extended state, the middle claw plate is staggered with the parallel lower and upper claw plates. When the middle claw plate rotates and the torsion spring drives the lower and upper claw plates to first adhere to and abut against the outer wall of the packaging box, the elastic contraction of the torsion spring enables the middle claw plate to then adhere to and abut against the outer wall of the packaging box.

[0017] Preferably, the inner side of the support plate and the baffle away from the support plate is connected to a rotatable cam by a tension spring, and a gear plate is fixed on the rotation axis of the cam;

[0018] The baffle and support plate are also rotatably connected to a drive tooth plate that meshes with the toothed disc. The drive tooth plate has an extension arm, and the middle claw plate can drive the drive tooth plate to rotate when it rotates and squeezes the extension arm.

[0019] Magnets of the same polarity are installed on the top of the prism shaft that fits into the upper claw plate and at the tail end of the upper claw plate.

[0020] Preferably, a slide block is vertically fixed to the side of the support plate, and a groove plate that slides with the support plate is fixed to the lower end of the slide block.

[0021] Preferably, the shifting mechanism includes a guide frame vertically mounted on one side of the baffle, and a slide block is slidably connected along the outer side of the guide frame.

[0022] Preferably, a servo motor is installed at one end of the guide frame, and a lead screw is connected to the output end of the servo motor. The lead screw is threadedly connected to the slide on the side of the support plate.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: The robotic arm for storing elastic bands for masks drives two gripping mechanisms to clamp and grasp the packaging boxes for storing elastic bands for masks through a drive mechanism. After the packaging box is grasped, the angle between the gripping mechanism and the loading and unloading claw arm is rotated by a steering mechanism, which enables the robot to drive the loading and unloading claw arm to adjust the orientation of the packaging box, so as to facilitate loading and unloading according to the stacking position. At the same time, the gripping mechanism on the support plate is pulled by the displacement mechanism, which enables the gripping mechanism to release the packaging box without opening, thereby making the packaging box neatly placed to prevent displacement. This allows the robotic arm to perform loading, unloading and handling of packaging boxes storing elastic bands for masks in multiple scenarios. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the two gripping mechanisms of the present invention gripping a packaging box;

[0025] Figure 2 This is a three-dimensional structural diagram of the gripping mechanism on the support plate of the present invention retracting away from the packaging box;

[0026] Figure 3 This is a three-dimensional structural diagram of the linkage between the steering mechanism, driving mechanism, gripping mechanism and displacement mechanism of the present invention;

[0027] Figure 4 This is a three-dimensional structural schematic diagram of the driving mechanism of the present invention;

[0028] Figure 5 This is a three-dimensional structural diagram of the gripping mechanism on the traction support plate of the displacement mechanism of the present invention, showing its retraction movement.

[0029] Figure 6 This is a three-dimensional structural diagram of the linkage between the driving mechanism, gripping mechanism and displacement mechanism of the present invention;

[0030] Figure 7 This is a three-dimensional structural diagram of the gripping mechanism of the present invention;

[0031] Figure 8 This is a three-dimensional structural diagram of the present invention, showing the separation of the loading / unloading claw arm, connecting cover, and baffle.

[0032] Figure 9 This is a three-dimensional cross-sectional schematic diagram of the cam of the present invention rotating on the baffle and the support plate;

[0033] Figure 10 This is a schematic diagram of the three-dimensional structure of the present invention, showing the separation of the support plate and the right-angle frame;

[0034] Figure 11 This is a first three-dimensional structural diagram of the two gripping mechanisms of the present invention for stacking and unloading packaging boxes.

[0035] Figure 12 This is a schematic diagram of the second three-dimensional structure of the present invention, showing the two gripping mechanisms for stacking and unloading packaging boxes.

[0036] In the diagram: 1. Robot; 101. Mounting base; 2. Loading / unloading claw arm; 3. Steering mechanism; 301. Connecting cover; 302. Linkage arm; 303. Electric push rod; 4. Drive mechanism; 401. Baffle; 402. Support plate; 4021. Slide; 403. Drive motor; 404. Turntable; 405. Upper pull rod; 406. Lower pull rod; 407. Right-angle frame; 408. Support plate; 5. Gripping mechanism; 501. Transmission column; 502. Torsion spring; 503. Middle claw plate; 504. Lower claw plate; 505. Upper claw plate; 506. Cam; 507. Tension spring; 508. Gear plate; 509. Drive gear plate; 6. Shifting mechanism; 601. Guide frame; 602. Servo motor; 603. Lead screw. Detailed Implementation

[0037] 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Please see Figures 1-3 , Figure 5 and Figure 8The present invention provides a technical solution: a robotic arm for storing elastic bands for face masks, comprising a robot 1 and a loading and unloading claw arm 2. The front end of the robot 1 is connected to a mounting base 101, and the loading and unloading claw arm 2 is docked on the mounting base 101. The loading and unloading claw arm 2 is provided with a steering mechanism 3 and a drive mechanism 4. The drive mechanism 4 is provided with two sets of gripping mechanisms 5 for clamping packaging boxes. The drive mechanism 4 is used to drive the two sets of gripping mechanisms 5 to adjust the gripping angle. By adjusting the steering of the drive mechanism 4 through the steering mechanism 3, the gripping mechanism 5 can change the gripping position. It can be used to grip packaging boxes from different angles and to stack packaging boxes at different placement angles.

[0039] The steering mechanism 3 includes a connecting cover 301 hinged to the front end of the loading and unloading claw arm 2. A horizontal plate is integrally formed on one side of the connecting cover 301. A linkage arm 302 is hinged between the side of the loading and unloading claw arm 2 and the end of the horizontal plate. An electric push rod 303 is movably connected between the hinge shaft of the side of the loading and unloading claw arm 2 and the end of the horizontal plate. The connecting cover 301 is turned 90° by pushing and pulling the horizontal plate through the electric push rod 303.

[0040] Robot 1 consists of a base, a main arm that rotates on the base, and a secondary arm that rotates at the front end of the main arm. The front end of the secondary arm drives the mounting base 101 to deflect at an angle. The lines connecting the end hinge shaft of the horizontal plate, the center hinge shaft of the linkage arm 302, the docking hinge shaft between the linkage arm 302 and the loading / unloading claw arm 2, and the front hinge shaft of the loading / unloading claw arm 2 form a parallelogram structure.

[0041] In this embodiment, since the connecting lines between the hinge shaft at the end of the horizontal plate, the central hinge shaft of the linkage arm 302, the hinge shaft connecting the linkage arm 302 and the loading / unloading claw arm 2, and the hinge shaft at the front end of the loading / unloading claw arm 2 form a parallelogram structure, when the electric push rod 303 is driven to push and pull the horizontal plate, the linkage arm 302 will deflect at an angle between the side of the loading / unloading claw arm 2 and the connecting cover 301. Therefore, the connecting cover 301 can drive the drive mechanism 4 and the gripping mechanism 5 to perform a controllable horizontal angle deflection operation at the front end of the loading / unloading claw arm 2. At the same time, the robot 1 can complete the orientation adjustment by driving the main arm to rotate horizontally through the base of the robot 1. The robot 1 can complete a large range of elevation angle adjustment by adjusting the elevation angle of the main arm on the base and the elevation angle of the auxiliary arm at the upper end of the main arm. Then, the loading / unloading claw arm 2 can be deflected by driving the auxiliary arm to achieve a small angle of deflection adjustment, which facilitates precise control of the loading / unloading claw arm 2 to achieve horizontal movement. This is the prior art and will not be elaborated on here.

[0042] Please see Figures 3-10The drive mechanism 4 includes a baffle 401 docked to one side of the connecting cover 301. A support plate 402 is provided at one end of the baffle 401. A drive motor 403 is installed at the center of the baffle 401. The output end of the drive motor 403 is docked to a turntable 404 with two symmetrical guide wheels on its surface. The upper and lower sides of the connecting cover 301 are provided with slots. An upper pull rod 405 and a lower pull rod 406 slide in the slots on the upper and lower sides respectively. The upper pull rod 405 and the lower pull rod 406 are pushed and pulled by the two guide wheels on the turntable 404 respectively. The upper pull rod 405 and the lower pull rod 406 are provided with strip grooves that dock with the guide wheels. When the guide wheels rotate with the turntable 404, they can push and pull the upper pull rod 405 and the lower pull rod 406 along the strip grooves. A guide seat is installed on the baffle 401. The sides of the upper pull rod 405 and the lower pull rod 406 are fixed with guide rails that move along the guide seat to prevent deviation.

[0043] A right-angle frame 407 is fixed to one end of the pull rod 406 leading to the connecting cover 301. A support plate 408 slides on the side edge of the right-angle frame 407 away from the pull rod 406. A pin is fixed to one end of the pull rod 405 leading to the connecting cover 301 and one end of the support plate 408.

[0044] In this embodiment, when the drive motor 403 inside the connecting cover 301 is driven, the drive motor 403 can drive the turntable 404 to rotate back and forth. The rotating turntable 404 can push and pull the upper pull rod 405 and the lower pull rod 406 through the guide wheels with symmetrical surfaces. The pushed and pulled upper pull rod 405 and lower pull rod 406 can move laterally in a straight line along the guide seat through the guide rail. Since the rotating turntable 404 can push and pull the lower pull rod 406 through the guide wheels, the right angle frame 407 can drive the support plate 408 to adjust the lateral position.

[0045] Please see Figure 3 , Figures 5-7 and Figure 9 The gripping mechanism 5 includes a transmission column 501 movably connected by a bearing seat, and the bearing seats are symmetrically installed on the baffle 401 and the support plate 402 respectively. The transmission column 501 includes a cylindrical shaft and a prismatic shaft arranged colinearly. The prismatic shaft is fitted with a sleeve, and the sleeve is inserted into the bearing seat. A middle claw plate 503 is connected between the cylindrical shafts of two adjacent transmission columns 501. A dial frame is fixed on the circumferential side of the middle claw plate 503 near the end of one of the transmission columns 501. The dial frame drives the middle claw plate 503 to rotate by moving the dial pin.

[0046] A torsion spring 502 connects the sleeve and the middle claw plate 503. A lower claw plate 504 is connected to the prism shaft on the lower side of the middle claw plate 503. An upper claw plate 505 with a right-angle structure slides on the prism shaft on the upper side of the middle claw plate 503. When the torsion spring 502 is extended, the middle claw plate 503 is staggered with the parallel lower claw plate 504 and upper claw plate 505. When the middle claw plate 503 rotates and the torsion spring 502 drives the lower claw plate 504 and upper claw plate 505 to first adhere to and abut against the outer wall of the packaging box, the elastic contraction of the torsion spring 502 can make the middle claw plate 503 then adhere to and abut against the outer wall of the packaging box.

[0047] In this embodiment, when the drive mechanism 4 drives the upper pull rod 405 and the lower pull rod 406 to reciprocate, the pin at one end of the upper pull rod 405 can drive one of the middle jaw plates 503 to rotate by pressing the dial frame. The right-angle frame 407 on the lower pull rod 406 can drive the pin to press the dial frame through the side sliding support plate 408, thereby driving the other middle jaw plate 503 to rotate. By utilizing the opposite movement between the upper pull rod 405 and the lower pull rod 406, the two middle jaw plates 503 can achieve clamping operations that bring them closer together or clamping them further apart.

[0048] When the pusher frame is pressed by the pusher pin at one end of the upper pull rod 405 and the pusher pin at one end of the support plate 408, the two middle claw plates 503 will rotate around the cylindrical shaft of the transmission column 501. When the two middle claw plates 503 rotate towards each other, the middle claw plates 503 will drive the sleeve to rotate through the torsion spring 502. As a result, the sleeve will drive the lower claw plate 504 and the upper claw plate 505 to deflect closer to the outer wall of the packaging box. When the lower claw plate 504 and the upper claw plate 505 abut against and fit against the outer wall of the packaging box, the middle claw plate 503, which is offset from the lower claw plate 504 and the upper claw plate 505, will continue to be pushed by the upper pull rod 405 and the lower pull rod 406, so that the middle claw plate 503 continues to rotate until it is pressed against the outer wall of the packaging box before stopping.

[0049] When the lower jaw plate 504 and the upper jaw plate 505 first abut against the packaging box while the middle jaw plate 503 has not yet abutted against the packaging box, the torsion spring 502 is elastically compressed by the continuously rotating middle jaw plate 503, which enables the lower jaw plate 504 and the upper jaw plate 505 to continuously press against the lower and upper sides of the outer wall of the packaging box. When the middle jaw plate 503 rotates to the position of clamping the middle of the outer side of the packaging box, the lower jaw plate 504 and the upper jaw plate 505 will stop increasing the clamping pressure.

[0050] Please see Figure 9The inner side of the support plate 402 and the baffle 401 away from the support plate 402 is connected to a rotatable cam 506 by a tension spring 507. A gear disk 508 is fixed on the rotation axis of the cam 506. A drive gear plate 509 that meshes with the gear disk 508 is also rotatably connected to the baffle 401 and the support plate 402. The drive gear plate 509 has an extension arm. When the middle claw plate 503 rotates and squeezes the extension arm, it can drive the drive gear plate 509 to rotate.

[0051] Please see Figures 5-7 The top of the prism shaft that is sleeved with the upper claw plate 505 and the tail end of the upper claw plate 505 are both equipped with magnets of the same polarity. The repulsive effect of the magnets of the same polarity enables the upper claw plate 505 to reset towards the bearing seat.

[0052] In this embodiment, when the middle claw plate 503 drives the lower claw plate 504 and the upper claw plate 505 to abut against the outer wall of the packaging box first through the torsion spring 502, the continuously rotating middle claw plate 503 squeezes the extension arm of the drive tooth plate 509, so that the drive tooth plate 509 can mesh with the toothed disk 508 in the positive direction when rotating. At this time, the toothed disk 508 will drive the cam 506 to deflect upward and stretch the tension spring 507. When the deflected cam 506 pushes the upper edge of the baffle 401 and the support plate 402 upward, the cam 506 will squeeze the right-angled upper claw plate 505, so that the right-angled upper claw plate 505 moves upward along the prism axis of the transmission column 501 until the right-angled upper claw plate 505 moves upward and latches onto the corner side of the top of the packaging box.

[0053] Conversely, when the middle jaw plate 503 reverses and gradually moves away from the drive tooth plate 509, the upper jaw plate 505 has the ability to reset towards the bearing seat by means of the repulsive force between the magnets of the same polarity through the reset traction of the cam 506 by the tension spring 507, and the tail end of the upper jaw plate 505 can be reset and moved down along the prism axis.

[0054] It should be noted that when the upper pull rod 405 and the lower pull rod 406 pull the two middle claw plates 503 to rotate and open, the torsion spring 502 can gradually reduce the clamping force of the lower claw plate 504 and the upper claw plate 505 on the packaging box by utilizing the reset action. When the two middle claw plates 503 are opened and reset to the initial angle, the lower claw plate 504 and the upper claw plate 505 will detach from the outer wall of the packaging box. At this time, the repulsive action of the two magnets of the same polarity can cause the lower claw plate 505, which is resetting downward, to apply pressure from the top of the packaging box, thereby enabling the positioning and correction of the packaging box in the warehouse stacking, and preventing the loading and unloading robot arm from causing collisions and displacement of the packaging box when it is far away from the stacked packaging box.

[0055] Please see Figures 3-8 and Figure 10A slide block 4021 is vertically fixed to the side of the support plate 402. A groove plate that slides with the support plate 408 is fixed to the lower end of the slide block 4021. The top surface of the support plate 408 is flush with the top surface of the right angle frame 407.

[0056] The drive mechanism 4 is also equipped with a displacement mechanism 6 for driving one of the gripping mechanisms 5 to retract and move away along the outer wall of the packaging box. By pulling one of the gripping mechanisms 5 back through the displacement mechanism 6, the two sets of gripping mechanisms 5 can release the packaging box without opening. The displacement mechanism 6 includes a guide frame 601 vertically installed on one side of the baffle 401, and a slide block 4021 slidingly connected along the outer side of the guide frame 601. A servo motor 602 is installed at one end of the guide frame 601, and a lead screw 603 is connected to the output end of the servo motor 602. The lead screw 603 is threadedly connected to the slide block 4021 on the side of the support plate 402.

[0057] The slide 4021 has a U-shaped slot on the side near the right angle frame 407. When the right angle frame 407 is close to the slide 4021, the support plate 402 and the slide 4021 can slide along the outer side of the guide frame 601, and the support plate 408 slides along the right angle frame 407. At the same time, the slide 4021 can avoid the right angle frame 407 by using the U-shaped slot.

[0058] In this embodiment, when the servo motor 602 drives the lead screw 603 to rotate forward, causing the lead screw 603 to engage with the slide block 4021 via threaded transmission, the slide block 4021 will drive the support plate 402 to slide along the outer side of the guide frame 601. At this time, the slide block 4021 and the support plate 402 can pull one of the gripping mechanisms 5 to retract along the guide frame 601. During this movement, the sliding of the support plate 408 along the right-angle frame 407 can always limit the position of the middle claw plate 503. At this time, the gripping mechanism 5 The middle claw plate 503, lower claw plate 504 and upper claw plate 505 can be retracted and moved away along the outer wall of the packaging box to ensure that the two gripping mechanisms 5 can release the packaging box even without resetting and opening. The shifting mechanism 6 is used to pull and move the gripping mechanism 5 on the support plate 402, so that the other gripping mechanism 5 can resist and squeeze the side of the packaging box, which is convenient for placing two adjacent packaging boxes tightly together, ensuring that the robotic arm can quickly load, unload and transport the packaging box storing the elastic band of the mask.

[0059] When packaging boxes containing elastic bands for masks are stacked in multiple layers and horizontally stacked on the same layer, the shifting mechanism 6 pulls the gripping mechanism 5 on the support plate 402, allowing the gripping mechanism 5 to release the packaging box without opening. This facilitates the orderly transportation of the horizontally stacked packaging boxes using transport equipment (see reference). Figure 11 );

[0060] When boxes containing elastic bands for face masks are stacked on storage shelves or against walls in storage areas, the shifting mechanism 6 pulls the gripping mechanism 5 on the support plate 402, allowing the gripping mechanism 5 to release the boxes without opening, facilitating the neat placement of the boxes against the storage shelves or walls (see reference). Figure 12 );

[0061] The shifting mechanism 6 pulls the gripping mechanism 5 on the support plate 402, and the robot 1 pulls the loading and unloading claw arm 2, enabling the loading and unloading claw arm 2 to load and unload boxes in a confined space.

[0062] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. 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 robotic arm for storing elastic bands for face masks, comprising a robot (1) and a loading / unloading claw arm (2), wherein the front end of the robot (1) is connected to a mounting base (101), and the loading / unloading claw arm (2) is docked on the mounting base (101); characterized in that: The loading and unloading claw arm (2) is provided with a steering mechanism (3) and a driving mechanism (4). The driving mechanism (4) is provided with two sets of gripping mechanisms (5) for clamping the packaging box. The driving mechanism (4) is used to drive the two sets of gripping mechanisms (5) to adjust the clamping angle. By adjusting the steering of the driving mechanism (4) through the steering mechanism (3), the gripping mechanism (5) can change the gripping position. It can be used to grip the packaging box from different angles and stack the packaging box at different placement angles. The drive mechanism (4) is also provided with a displacement mechanism (6) for driving one of the gripping mechanisms (5) to retract and move away along the outer wall of the packaging box. By using the displacement mechanism (6) to pull one of the gripping mechanisms (5) back, the two sets of gripping mechanisms (5) can release the packaging box without opening.

2. The robotic arm for storing and unloading elastic bands for face masks according to claim 1, characterized in that: The steering mechanism (3) includes a connecting cover (301) hinged to the front end of the loading and unloading claw arm (2). A horizontal plate is integrally formed on one side of the connecting cover (301), and a linkage arm (302) is hinged between the side of the loading and unloading claw arm (2) and the end of the horizontal plate. An electric push rod (303) is movably connected between the side of the loading and unloading claw arm (2) and the hinge shaft at the end of the horizontal plate. The connecting cover (301) is rotated 90° by pushing and pulling the horizontal plate through the electric push rod (303).

3. The robotic arm for storing and unloading elastic bands for face masks according to claim 2, characterized in that: The drive mechanism (4) includes a baffle (401) docked on one side of the connecting cover (301), a support plate (402) is provided at one end of the baffle (401), a drive motor (403) is installed at the center of the baffle (401), and a turntable (404) with two symmetrical guide wheels on its surface is docked at the output end of the drive motor (403). The connecting cover (301) has slots on the upper and lower sides, and an upper pull rod (405) and a lower pull rod (406) slide in the slots on the upper and lower sides respectively. The upper pull rod (405) and the lower pull rod (406) are pushed and pulled by two guide wheels on the turntable (404).

4. The robotic arm for storing and unloading elastic bands for face masks according to claim 3, characterized in that: One end of the pull rod (406) leading out of the connecting cover (301) is fixed with a right angle frame (407), and a support plate (408) slides on the side edge of the right angle frame (407) away from the pull rod (406). One end of the pull rod (405) leading out of the connecting cover (301) and one end of the support plate (408) are both fixed with pins.

5. The robotic arm for storing and unloading elastic bands for face masks according to claim 3, characterized in that: The gripping mechanism (5) includes a transmission column (501) movably connected by a bearing housing, and the bearing housing is symmetrically installed on the baffle (401) and the support plate (402) respectively. The transmission column (501) includes a cylindrical shaft and a prismatic shaft arranged in a collinear manner. The prismatic shaft is fitted with a sleeve, and the sleeve is inserted into the bearing housing. A middle jaw plate (503) is connected between the cylindrical shafts of two adjacent transmission columns (501). A dial frame is fixed on the circumferential side of the middle jaw plate (503) near the end of one of the transmission columns (501). The dial frame drives the middle jaw plate (503) to rotate by moving the dial pin.

6. The robotic arm for storing and unloading elastic bands for face masks according to claim 5, characterized in that: A torsion spring (502) is connected between the sleeve and the middle jaw plate (503). A lower jaw plate (504) is connected to the prism shaft on the lower side of the middle jaw plate (503). An upper jaw plate (505) with a right-angle structure slides on the prism shaft on the upper side of the middle jaw plate (503). When the torsion spring (502) is in the extended state, the middle claw plate (503) is staggered with the parallel lower claw plate (504) and upper claw plate (505). When the middle claw plate (503) rotates and the torsion spring (502) drives the lower claw plate (504) and upper claw plate (505) to first adhere to and abut against the outer wall of the packaging box, the elastic contraction of the torsion spring (502) can make the middle claw plate (503) then adhere to and abut against the outer wall of the packaging box.

7. A robotic arm for storing and unloading elastic bands for face masks according to claim 5, characterized in that: The inner side of the support plate (402) and the baffle (401) away from the support plate (402) is connected to a rotatable cam (506) by a tension spring (507), and a gear plate (508) is fixed on the rotation axis of the cam (506). The baffle (401) and the support plate (402) are also rotatably connected to a drive tooth plate (509) that meshes with the toothed disc (508). The drive tooth plate (509) has an extension arm. When the middle claw plate (503) rotates and squeezes the extension arm, it can drive the drive tooth plate (509) to rotate. Magnets of the same polarity are installed on the top of the prism shaft that is fitted with the upper claw plate (505) and the tail end of the upper claw plate (505).

8. The robotic arm for storing and unloading elastic bands for face masks according to claim 3, characterized in that: The side of the support plate (402) is vertically fixed with a slide (4021), and the lower end of the slide (4021) is fixed with a groove plate that slides with the support plate (408).

9. A robotic arm for storing and unloading elastic bands for face masks according to claim 8, characterized in that: The shifting mechanism (6) includes a guide frame (601) vertically mounted on one side of the baffle (401), and a slide (4021) slidingly connected along the outer side of the guide frame (601).

10. A robotic arm for storing and unloading elastic bands for face masks according to claim 9, characterized in that: A servo motor (602) is installed at one end of the guide frame (601), and a lead screw (603) is connected to the output end of the servo motor (602). The lead screw (603) is threadedly connected to the slide (4021) on the side of the support plate (402).

Images