Intelligent mechanical hand for carton production and processing

Abstract

The present application relates to a kind of intelligent manipulator for carton production processing, it is related to carton stacking technology field, including manipulator, manipulator is used to stack carton into goods stack, manipulator is provided with top fixed component, side fixed component and bottom fixed component, top fixed component is located in the execution end of manipulator, side fixed component is located in the bottom of top fixed component, bottom fixed component is located in the bottom of side fixed component;Four corner distribution suction disc structure with adjustable position is adopted, discard the top center single-point adsorption mode in prior art, adsorption stress point is acted on carton top four corner positions, adsorption force can be evenly dispersed, to avoid the local stress concentration generated by adsorption operation from root, to form stable reliable outer layer protection to the agricultural products, food inside, and four suction discs can be flexibly adjusted installation position, can adjust adsorption spacing according to different length-width specifications of food, agricultural product carton, substantially improve general operation ability.

Description

Technical Field

[0001] This invention relates to the field of paper box palletizing technology, specifically to an intelligent robotic arm for paper box production and processing. Background Technology

[0002] In the agricultural and food packaging sector, cardboard boxes, as common loading containers, typically rely on automated palletizing robots to improve efficiency in the later stages of production and processing. Currently, these robots primarily use end effectors, such as suction cups or devices combining side clamps and bottom supports, to grasp, transport, and stack cardboard boxes systematically from the production line to the pallet location. Existing technologies have largely achieved automated handling and basic stacking structure construction, meeting the initial needs of large-scale warehousing and transportation.

[0003] However, existing robotic arms exhibit problems in palletizing operations, directly impacting packaging safety and logistics efficiency. Firstly, when using top suction, the suction cup typically acts on the center of the cardboard box's top surface, precisely where the flap opening is located. This area, held together only by tape, lacks structural strength, making the cardboard box prone to breakage or delamination under suction force, posing a risk to the protection of the packaged agricultural products or food. Secondly, when using side clamps and bottom trays, the device's own physical thickness intervenes in the gaps between cardboard boxes during palletizing, resulting in gaps in the stacked goods and a loose overall structure. This not only reduces pallet space utilization and increases logistics costs but also easily causes the stack to tilt or even collapse during storage and transportation, posing a threat to both cargo safety and the operating environment. Therefore, a dedicated solution is urgently needed to avoid packaging damage and achieve tight, stable palletizing. Summary of the Invention

[0004] A smart robotic arm for paper box production and processing includes a robotic arm for stacking paper boxes into a stack. The robotic arm is equipped with a top fixing component, a side fixing component and a bottom fixing component. The top fixing component is located at the execution end of the robotic arm, the side fixing component is located at the bottom of the top fixing component and the bottom fixing component is located at the bottom of the side fixing component. The top-fixed component includes a support frame that is fixedly connected to the actuator end of the robot arm. The support frame is a hollow box with an open bottom. Four suction cups are arranged in a rectangular array inside the support frame. The suction cups are used to adsorb paper boxes. The side-fixing component includes two symmetrically fixed electric push rods connected to the lower surface of the top of the support frame. The telescopic shaft of the electric push rod faces downward. The bottom of the electric push rod is provided with a side plate and a guide rod. The side plate near the cardboard box is covered with a non-slip textured rubber layer, and the side plate away from the cardboard box is fixedly connected with an airbag. The bottom support includes a base plate located at the bottom of the side plate, and multiple sets of rollers are provided on the base plate.

[0005] Furthermore, the top-fixing component also includes four guide grooves arranged in a rectangular array on the side wall of the support frame. Two opposite guide grooves are set as a group, and the two groups of guide grooves are staggered vertically. Four connecting rods are arranged in a rectangular staggered pattern on the support frame. Two opposite connecting rods are set as a group, and the two groups of connecting rods are staggered vertically. The two groups of guide grooves correspond to the two groups of connecting rods. The two ends of the two connecting rods in the same group are slidably connected to the two guide grooves in the corresponding group. Four suction cups are located at overlapping positions between the four connecting rods. The four suction cups are slidably connected to the two staggered connecting rods in the two groups. One end of the two connecting rods in the same group extends out of the corresponding guide groove. The ends of the two connecting rods in the same group that extend out of the guide groove are threadedly connected to a reciprocating screw. Both ends of the reciprocating screw are rotatably connected to the outer wall of the support frame. Two servo motors are set on the support frame. The output shaft ends of the two servo motors are fixedly connected to the end of a reciprocating screw. The two servo motors are fixedly connected to the outer wall of the support frame.

[0006] Furthermore, two threaded grooves with opposite directions are symmetrically opened on the reciprocating lead screw. The two connecting rods on the same reciprocating lead screw are respectively connected to the two threaded grooves. The bottom suction end of the suction cup protrudes from the lower surface of the support frame. The suction cup and servo motor are both electrically connected to the control system of the robot.

[0007] Furthermore, the side-fixing component also includes a support plate fixedly connected to the telescopic shaft ends of the two electric push rods. An air pump is installed on the side of the support plate away from the cardboard box. The side of the airbag away from the side plate is fixedly connected to the side of the support plate away from the air pump. The inflation and deflation ends of the air pump are connected to the inside of the airbag. Four guide rods are slidably connected in a rectangular array on the support plate. All four guide rods extend into the airbag and are fixedly connected to the side plate. Each of the four guide rods is fitted with a tension spring. The two ends of the tension spring are fixedly connected to the side of the support plate away from the airbag and the end of the guide rod away from the airbag, respectively.

[0008] Furthermore, the electric push rod and air pump are both electrically connected to the control system of the robotic arm, and the air pump is used to inflate and deflate the airbag.

[0009] Furthermore, a rubber airtight pad is provided at the connection point between the guide rod and the support plate to ensure the airtightness inside the airbag.

[0010] Furthermore, the base support component also includes a shifting groove opened at the bottom of the support plate. The base support is slidably connected to the shifting groove. Multiple slots are opened on the top surface of the base support. A toothed rod is fixedly connected to the wall of one of the slots in the middle. A support rod is fixedly connected to the side of the support plate away from the airbag. A second servo motor is installed on the bottom surface of the support rod. The output shaft end of the second servo motor faces downward. A gear is fixedly connected to the output shaft end of the second servo motor. Multiple sets of rollers are located in the remaining slots without toothed rods. The rollers are rotatably connected to the slot walls. The rollers are arranged in a straight line along the length direction in the slots.

[0011] Furthermore, the top surface of the roller protrudes from the top surface of the base, and the rack and gear mesh with each other.

[0012] Compared with the prior art, the beneficial effects of the present invention are: Employing an adjustable four-corner suction cup structure, this design abandons the single-point suction method at the top center of existing technologies. The suction force is applied to the four corners of the top of the cardboard box, ensuring even distribution of the suction force. This avoids localized stress concentration during the suction process, thus providing a stable and reliable outer layer of protection for the packaged agricultural products and food. Furthermore, the four suction cups can be flexibly adjusted in position, allowing for adjustments to the suction spacing based on the different lengths and widths of food and agricultural product cardboard boxes, significantly improving versatility in general operations.

[0013] By using a C-shaped constraint structure to engage only one side of the cardboard box, unlike the traditional all-around wrap-around side clamp structure, the mechanism body does not encircle and occupy the space around the cardboard box. Moreover, each structure is positioned so as not to interfere with the position of each cardboard box on the stack. Structurally, this avoids the problem of the constraint structure's own thickness interfering with the cardboard box stacking gap. Furthermore, as the cardboard box is smoothly placed, the airbag and side plate provide flexible pushing, generating a uniform and gentle lateral thrust. This smoothly pushes the cardboard box to be stacked towards the adjacent cardboard boxes on the same layer, ensuring that adjacent cardboard boxes on the same layer fit tightly together. This achieves a dense and compact stack, solving the core defects of traditional cardboard box stacking such as large gaps and loose structure. Attached Figure Description

[0014] Figure 1 This is a schematic diagram showing the positions of the robotic arm, stack, and other structures of the present invention; Figure 2 This is a schematic diagram showing the positions of the support frame, cardboard box, and other structures of the present invention; Figure 3 This is a schematic diagram showing the positions of the support frame, guide groove, and other structures of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle; Figure 5 For the present invention Figure 3 Enlarged view of point B in the middle; Figure 6This is a schematic diagram showing the positions of the side panels, base, and other structures of the present invention; Figure 7 This is an exploded view of the suction cup, support frame, and other structures of the present invention; Figure 8 This is an exploded view of the support plate, airbag, and other structures of the present invention; Figure 9 This is a schematic diagram showing the positions of the roller shaft, toothed rod, and other structures of the present invention.

[0015] In the picture: 11. Robotic arm; 12. Cardboard box; 13. Stack of goods; 21. Support frame; 22. Guide groove; 23. Connecting rod; 24. Suction cup; 25. Reciprocating lead screw; 26. Servo motor one; 27. Electric push rod; 28. Support plate; 29. ​​Air pump; 210. Airbag; 211. Side plate; 212. Guide rod; 213. Tension spring; 214. Transfer groove; 215. Base support; 216. Slot; 217. Roller; 218. Support rod; 219. Servo motor two; 220. Gear; 221. Tooth rack. Detailed Implementation

[0016] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0017] Reference Figures 1 to 9 As shown, an intelligent robotic arm for paper box production and processing includes a robotic arm 11, which is used to stack paper boxes 12 into stacks 13.

[0018] The robotic arm 11 is a known technology and will not be described in detail here. The robotic arm 11 is operated by a control system.

[0019] The cardboard box 12 contains agricultural products and food. As a known prior art technology, the cardboard box 12 has the following characteristics: the cardboard box 12 has a rectangular parallelepiped structure, and its top has a double-leaf flip-top structure that can be opened and closed, serving as the only opening end of the cardboard box 12. The opening and closing portion of the top of the cardboard box 12 is sealed and fixed by wrapping and adhesive with an external adhesive tape. In existing palletizing and handling technologies, suction cups 24 are used to adhere and fix the center position of the top of the cardboard box 12, i.e., the opening and closing portion of the cardboard box 12 sealed with tape.

[0020] Among them, the stack 13 is formed by arranging and stacking multiple cardboard boxes 12. The overall stack shape is regular and square, and the stack body is a regular cuboid shape with flat and neat side walls. Multiple cardboard boxes 12 are stacked and arranged in an alternating manner. When stacking, each cardboard box 12 is closely attached to each other and arranged close together. The side walls of the cardboard boxes 12 abut against each other to minimize the gaps and gaps between the cardboard boxes 12.

[0021] The robot arm 11 is equipped with a top fixing component, a side fixing component, and a bottom fixing component. The top fixing component is located at the execution end of the robot arm 11, the side fixing component is located at the bottom of the top fixing component, and the bottom fixing component is located at the bottom of the side fixing component.

[0022] The top securing component is used to provide adjustable four-corner positioning suction at the top of the cardboard box 12.

[0023] The top-fixed component includes a support frame 21 fixedly connected to the execution end of the robot arm 11. The support frame 21 is a hollow box with an open bottom. Four suction cups 24 are arranged in a rectangular array inside the support frame 21. The suction cups 24 are used to adsorb the paper box 12.

[0024] The top-fixing component also includes four guide grooves 22 arranged in a rectangular array on the side wall of the support frame 21. Two opposite guide grooves 22 are set as a group, and the two groups of guide grooves 22 are staggered vertically. Four connecting rods 23 are arranged in a rectangular staggered pattern on the support frame 21. Two opposite connecting rods 23 are set as a group, and the two groups of connecting rods 23 are staggered vertically. The two groups of guide grooves 22 are corresponding to the two groups of connecting rods 23. The two ends of the two connecting rods 23 in the same group are slidably connected to the two guide grooves 22 in the corresponding group. Four suction cups 24 are respectively located between the four connecting rods 23 and are staggered. At the overlapping position, the four suction cups 24 are slidably connected to two connecting rods 23 in two sets that are staggered vertically and intersecting. One end of each of the two connecting rods 23 in the same set passes through the corresponding guide groove 22. The ends of the two connecting rods 23 in the same set that pass through the guide groove 22 are threadedly connected to a reciprocating screw 25. Both ends of the reciprocating screw 25 are rotatably connected to the outer wall of the support frame 21. Two servo motors 26 are provided on the support frame 21. The output shaft ends of the two servo motors 26 are fixedly connected to the end of a reciprocating screw 25. The two servo motors 26 are fixedly connected to the outer wall of the support frame 21.

[0025] Among them, the reciprocating lead screw 25 has two threaded grooves with opposite directions, and the two connecting rods 23 on the same reciprocating lead screw 25 are respectively connected to the two threaded grooves.

[0026] Wherein: the bottom suction end of the suction cup 24 protrudes from the lower surface of the support frame 21.

[0027] Among them, suction cup 24 and servo motor 26 are electrically connected to the control system of robot arm 11.

[0028] Side fasteners are used to provide adjustable flexible support on the side walls of the cardboard box 12.

[0029] The side fixing component includes two electric push rods 27 that are symmetrically fixed to the lower surface of the top of the support frame 21. The telescopic shaft of the electric push rods 27 faces downward. The bottom of the electric push rods 27 is provided with a side plate 211 and a guide rod 212. The side plate 211 near the cardboard box 12 is covered with a rubber layer with anti-slip texture, and the side plate 211 away from the cardboard box 12 is fixedly connected to an airbag 210.

[0030] The side-fixing component also includes a support plate 28 fixedly connected to the telescopic shaft ends of the two electric push rods 27. An air pump 29 is installed on the side of the support plate 28 away from the cardboard box 12. The side of the airbag 210 away from the side plate 211 is fixedly connected to the side of the support plate 28 away from the air pump 29. The inflation and deflation ends of the air pump 29 are connected to the inside of the airbag 210. Four guide rods 212 are slidably connected in a rectangular array on the support plate 28. All four guide rods 212 extend into the airbag 210 and are fixedly connected to the side plate 211. Each of the four guide rods 212 is fitted with a tension spring 213. The two ends of the tension spring 213 are fixedly connected to the side of the support plate 28 away from the airbag 210 and the end of the guide rod 212 away from the airbag 210, respectively.

[0031] Among them, the electric push rod 27 and the air pump 29 are both electrically connected to the control system of the robot arm 11.

[0032] Among them, the air pump 29 is used to inflate and deflate the airbag 210.

[0033] Among them, a rubber airtight pad is provided at the connection position between the guide rod 212 and the support plate 28 to ensure the airtightness of the airbag 210.

[0034] The bottom support component provides adjustable bottom support at the bottom of the cardboard box 12.

[0035] The bottom support component includes a bottom support 215 disposed at the bottom of the side plate 211, and multiple sets of rollers 217 are disposed on the bottom support 215.

[0036] The base support also includes a shift groove 214 at the bottom of the support plate 28. The base support 215 is slidably connected to the shift groove 214. The top surface of the base support 215 has multiple slots 216. A toothed rod 221 is fixedly connected to the wall of one of the slots 216 in the middle. A support rod 218 is fixedly connected to the side of the support plate 28 away from the airbag 210. A servo motor 219 is installed on the bottom surface of the support rod 218. The output shaft end of the servo motor 219 faces downward. A gear 220 is fixedly connected to the output shaft end of the servo motor 219. Multiple sets of rollers 217 are located in the remaining slots 216 without toothed rods 221. The rollers 217 are rotatably connected to the wall of the slot 216. The rollers 217 are arranged in a straight line along the length direction in the slots 216.

[0037] Among them, the top surface of roller 217 protrudes from the top surface of base 215.

[0038] Among them, the side of the base 215 away from the guide rod 212 is set as an inclined surface.

[0039] Among them, the rack 221 and the gear 220 mesh with each other.

[0040] When the robotic arm 11 does not need to perform the palletizing operation of the cardboard box 12, the state of each structure is as follows: At this time, the four connecting rods 23 are respectively located at the ends of the corresponding reciprocating lead screw 25 and guide groove 22. That is, the distance between the four suction cups 24 is at its maximum. The servo motor 26 and suction cups 24 have not yet been started by the control system of the robot arm 11, and the suction cups 24 have not yet adsorbed the paper box 12. The telescopic shaft of the electric push rod 27 is fully retracted. At this time, the support plate 28 is at its highest position on the support frame 21. The air pump 29 has not been started by the control system of the robot arm 11. The air bag 210 has not been inflated. The air bag 210 is fully retracted, thereby driving the side plate 211 to the side close to the support plate 28. The tension spring 213 has not undergone elastic deformation. The bottom support 215 has not extended from the transfer groove 214. The gear 220 is engaged at the end of the rack 221 near the inclined surface of the bottom support 215.

[0041] When it is necessary to stack the cardboard box 12, that is, when the robotic arm 11 needs to stack the cardboard box 12 on the stack 13, the working process is as follows: At this time, the control system of the robotic arm 11 adjusts the position of the four suction cups 24 according to the size of the paper box 12 being stacked, so that the four suction cups 24 correspond to the four top corners of the paper box 12.

[0042] It should be noted that this adjustment is universal for 12-stacked cartons of the same batch, meaning that only one adjustment is needed for 12-stacked cartons of the same specifications in the same batch.

[0043] At this time, the control system of the robotic arm 11 controls the two servo motors 26 to operate, causing the output shafts of the servo motors 26 to rotate. During the rotation of the output shafts of the servo motors 26, the output shaft ends of the servo motors 26 drive the corresponding reciprocating screw 25 to rotate. While the reciprocating screw 25 is rotating, it tends to drive the threaded connecting rod 23 to deflect along the thread direction. However, since the connecting rod 23 is slidably limited by the guide groove 22, the connecting rod 23 can only move linearly within the guide groove 22. Therefore, the rotation of the reciprocating screw 25 causes the connecting rod 23 to move linearly along the axial direction of the guide groove 22.

[0044] Furthermore, since the same reciprocating screw 25 is connected to two connecting rods 23 through two opposite threads, the two connecting rods 23 can move linearly towards or away from each other at equal distances on a single reciprocating screw 25. Under the control of the rotation of the two servo motors 26, the four connecting rods 23 can move at equal distances in pairs, that is, the four connecting rods 23 can move to form rectangles of different sizes. The four suction cups 24 located at the overlapping and intersecting parts of the four connecting rods 23 become the four corner positions of the variable rectangle formed by the four connecting rods 23. At this time, under the rotation control of the two servo motors 26, the four suction cups 24 are adjusted to fit the four corner positions of the top surface of the paper box 12.

[0045] After completion, under the drive of the control system, the actuator of the robot arm 11 moves the support frame 21 to the top position of the paper box 12, and makes the suction end of the suction cup 24 abut against the top surface of the paper box 12. At this time, the control system drives the suction cup 24 to run, so that the four suction cups 24 respectively suction the four corners of the top of the paper box 12. At this time, the paper box 12 is suctioned to the actuator of the robot arm 11 by the negative pressure of the four suction cups 24, and then the robot arm 11 can drive the paper box 12 to move and stack.

[0046] After completion, the control system drives the robot arm 11 to move upward and suspend it in the air. Then, it drives the electric push rod 27 to run, so that the telescopic shaft of the electric push rod 27 extends downward. As the telescopic shaft of the electric push rod 27 extends, the bottom support 215 is driven downward by the electric push rod 27 through the support plate 28 until the bottom support 215 moves to the bottom of the cardboard box 12. At this time, the extension of the telescopic shaft of the electric push rod 27 is paused. The control system drives servo motor 219 to operate. As servo motor 219 operates, its output shaft drives gear 220 to rotate. During this rotation, gear 220 meshes with rack 221, causing rack 221 to move. This causes rack 221 to slide base 215 towards the paper box 12 within the transfer groove 214 until base 215 is directly below the paper box 12. At this point, servo motor 219 stops, fixing base 215 in its position directly below the paper box 12. Then, the telescopic shaft of electric push rod 27 extends upwards, moving base 215 upwards until the multiple rollers 217 on base 215 contact the bottom surface of the paper box 12. At this point, electric push rod 27 stops. This effectively fixes the height of support plate 28 and base 215.

[0047] After completion, the control system drives the air pump 29 to operate, inflating the airbag 210. Since the airbag 210 is slidably connected to the support plate 28 via the guide rod 212, under the guidance of the guide rod 212, the airbag 210 can only expand linearly towards the side plate 211. Thus, the airbag 210 expands and pushes the side plate 211 towards the cardboard box 12 until the anti-slip rubber layer of the side plate 211 adheres to and abuts against the side wall of the cardboard box 12. At this point, the air pump 29 stops inflating the airbag 210, thereby fixing and limiting the position of the side plate 211 against the cardboard box 12. During this process, the guide rod 212 moves synchronously towards the cardboard box 12 along with the side plate 211, that is, the guide rod 212 slides on the support plate 28 towards the side plate 211, thereby causing the tension spring 213 to undergo elastic deformation.

[0048] At this point, the top of the cardboard box 12 is held in place by four suction cups 24 at its four corners, while the bottom of the cardboard box 12 is supported by the bottom support 215 via rollers 217. The side walls of the cardboard box 12 are held in place by the anti-slip rubber layer of the side panels 211. This forms a "U"-shaped constraint on the cardboard box 12. However, this limiting method does not completely enclose and limit the cardboard box 12; instead, it leaves a notch on one side. The side of the cardboard box 12 corresponding to this notch is used to be stacked on the stack 13, that is, to be placed in close contact with the other cardboard boxes 12 stacked on the stack 13. This also ensures that the positions of the electric push rod 27, support plate 28, and other structures do not interfere with the stacked cardboard boxes 12 on the stack 13.

[0049] At this time, driven by the control system of the robot arm 11, the actuator of the robot arm 11 moves the cardboard box 12 to the stacking position on the stack 13, and makes the unconstrained notch side of the cardboard box 12 face the horizontal position to be stacked. At this time, the robot arm 11 places the lower surface of the base 215 on the top surface of the cardboard box 12 that has been stacked in the next layer. Then the control system drives the servo motor 219 to run. The servo motor 219 rotates, thereby driving the base 215 to be pulled away from the transfer slot 214 away from the cardboard box 12. During this process, the roller 217 rolls at the bottom of the cardboard box 12, so that the removal of the bottom support 215 does not affect the cardboard box 12 being fixed by the suction cup 24. When the transfer groove 214 is completely removed from the bottom of the cardboard box 12, the cardboard box 12 held by the suction cup 24 is suspended on the lower layer of the stack 13. Then, the robot arm 11 controls the cardboard box 12 to move down to fit with the lower layer, eliminating the gap between it and the lower layer. After completion, the control system releases the suction cup 24 from the cardboard box 12. At the same time, the control system can start the air pump 29 to inflate the air bag 210, so that the side plate 211 applies a pushing force to the cardboard box 12 in the direction of the stack 13, so that the cardboard box 12 fits tightly with the adjacent cardboard boxes 12 on the stack 13, eliminating the gaps between the cardboard boxes 12 on the stack 13.

[0050] After completion, the control system drives the air pump 29 to discharge the gas in the airbag 210. Under the elastic reset action of the tension spring 213, the airbag 210 is pulled and contracted, and the side plate 211 is pulled away from the cardboard box 12. At this time, the cardboard box 12 is no longer interfered with by the suction cup 24, the bottom support 215, and the side plate 211. Then, under the control of the control system, the robot arm 11 moves the support frame 21, support plate 28 and other structures on the execution end out of the stack 13 area, and then performs the stacking of the remaining cardboard boxes 12.

[0051] In summary, the following beneficial effects can be achieved during the stacking process of the robotic arm 11 on the cardboard boxes 12: The structure employs four corner suction cups 24 with adjustable positions, abandoning the single-point adsorption method at the top center of the existing technology. The adsorption force is applied to the four corners of the top of the cardboard box 12, which can evenly distribute the adsorption force and avoid local stress concentration during adsorption operations. This forms a stable and reliable outer layer of protection for the agricultural products and food inside. Furthermore, the installation position of the four suction cups 24 can be flexibly adjusted, and the adsorption spacing can be adjusted according to the different length and width specifications of the food and agricultural product cardboard boxes 12, which greatly improves the versatility of operations.

[0052] By using a C-shaped constraint structure to engage only one side of the cardboard box 12, unlike the traditional all-around wrap-around side clamp structure, the main body of the mechanism does not surround and occupy the space around the cardboard box 12. Moreover, each structure is located in a position that does not interfere with the position of each cardboard box 12 on the stack 13. Structurally, this avoids the problem of the thickness of the constraint structure itself interfering with the stacking gap of the cardboard boxes 12. Furthermore, while the cardboard box 12 is smoothly placed, it is gently pushed by the airbag 210 and the side plate 211 to generate a uniform and gentle lateral thrust, which smoothly pushes the cardboard box 12 to be stacked towards the adjacent cardboard boxes 12 on the same layer, so that the adjacent cardboard boxes 12 on the same layer fit together tightly, making the stack 13 dense and compact. This solves the core defects of traditional cardboard box 12 stacking gaps and loose structure.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An intelligent robotic arm for paper box production and processing, comprising a robotic arm (11) for stacking paper boxes (12) into stacks (13), characterized in that: The robot (11) is provided with a top fixing component, a side fixing component and a bottom fixing component. The top fixing component is located at the execution end of the robot (11), the side fixing component is located at the bottom of the top fixing component, and the bottom fixing component is located at the bottom of the side fixing component. The top-fixed component includes a support frame (21) fixedly connected to the execution end of the robot (11). The support frame (21) is a hollow box with an open bottom. Four suction cups (24) are arranged in a rectangular array inside the support frame (21). The suction cups (24) are used to adsorb the paper box (12). The side-fixing component includes two electric push rods (27) that are symmetrically fixed to the lower surface of the top of the support frame (21). The telescopic shaft of the electric push rod (27) faces downward. A side plate (211) is provided at the bottom of the electric push rod (27). The side plate (211) near the cardboard box (12) is covered with a rubber layer with anti-slip texture. An airbag (210) is fixedly connected to the side plate (211) away from the cardboard box (12). The bottom support component includes a bottom support (215) disposed at the bottom of the side plate (211), and multiple sets of rollers (217) are disposed on the bottom support (215).

2. The intelligent robotic arm for paper box production and processing according to claim 1, characterized in that: The top-fixing component also includes four guide grooves (22) arranged in a rectangular array on the side wall of the support frame (21). Two opposite guide grooves (22) are set as a group, and the two groups of guide grooves (22) are arranged vertically and staggered. Four connecting rods (23) are arranged in a rectangular staggered pattern on the support frame (21). Two opposite connecting rods (23) are set as a group, and the two groups of connecting rods (23) are arranged vertically and staggered. The two groups of guide grooves (22) are corresponding to the two groups of connecting rods (23). The two ends of the two connecting rods (23) in the same group are slidably connected to the two guide grooves (22) in the corresponding group. The four suction cups (24) are located between the four connecting rods (23) and are staggered and superimposed on each other. At the overlapping position, the four suction cups (24) are slidably connected to the two connecting rods (23) in the two groups that are staggered and intersecting. One end of each of the two connecting rods (23) in the same group passes through the corresponding guide groove (22). The ends of the two connecting rods (23) in the same group that pass through the guide groove (22) are threaded together to a reciprocating screw (25). Both ends of the reciprocating screw (25) are rotatably connected to the outer wall of the support frame (21). Two servo motors (26) are provided on the support frame (21). The output shaft ends of the two servo motors (26) are fixedly connected to the end of a reciprocating screw (25). The two servo motors (26) are fixedly connected to the outer wall of the support frame (21).

3. The intelligent robotic arm for paper box production and processing according to claim 2, characterized in that: Two threaded grooves with opposite directions are symmetrically opened on the reciprocating screw (25). Two connecting rods (23) on the same reciprocating screw (25) are connected to the two threaded grooves respectively. The bottom suction end of the suction cup (24) protrudes from the lower surface of the support frame (21). The suction cup (24) and the servo motor (26) are electrically connected to the control system of the robot (11).

4. The intelligent robotic arm for paper box production and processing according to claim 1, characterized in that: The side-fixing component also includes a support plate (28) fixedly connected to the telescopic shaft ends of the two electric push rods (27). An air pump (29) is installed on the side of the support plate (28) away from the cardboard box (12). The side of the airbag (210) away from the side plate (211) is fixedly connected to the side of the support plate (28) away from the air pump (29). The inflation and deflation ends of the air pump (29) are connected to the inside of the airbag (210). Four guide rods (212) are slidably connected in a rectangular array on the support plate (28). All four guide rods (212) extend into the airbag (210) and are fixedly connected to the side plate (211). Each of the four guide rods (212) is fitted with a tension spring (213). The two ends of the tension spring (213) are fixedly connected to the side of the support plate (28) away from the airbag (210) and the end of the guide rod (212) away from the airbag (210), respectively.

5. The intelligent robotic arm for paper box production and processing according to claim 4, characterized in that: The electric push rod (27) and the air pump (29) are both electrically connected to the control system of the robot (11). The air pump (29) is used to inflate and deflate the airbag (210).

6. The intelligent robotic arm for paper box production and processing according to claim 4, characterized in that: A rubber airtight pad is provided at the connection position between the guide rod (212) and the support plate (28) to ensure the airtightness of the airbag (210).

7. The intelligent robotic arm for paper box production and processing according to claim 1, characterized in that: The bottom support component also includes a shift groove (214) opened at the bottom of the support plate (28). The bottom support (215) is slidably connected to the shift groove (214). The top surface of the bottom support (215) is provided with multiple slots (216). A toothed rod (221) is fixedly connected to the wall of one of the slots (216) in the middle. A support rod (218) is fixedly connected to the side of the support plate (28) away from the airbag (210). A second servo motor (219) is installed on the bottom surface of the support rod (218). The output shaft end of the second servo motor (219) faces downward. A gear (220) is fixedly connected to the output shaft end of the second servo motor (219). Multiple sets of rollers (217) are respectively located in the remaining slots (216) without toothed rods (221). The rollers (217) are rotatably connected to the wall of the slot (216). The rollers (217) are arranged in a straight line along the length direction in the slots (216).

8. The intelligent robotic arm for paper box production and processing according to claim 1, characterized in that: The top surface of the roller (217) protrudes from the top surface of the base (215), and the rack (221) meshes with the gear (220).

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