Automatic loading equipment for box type packaging products based on mechanical arm

Abstract

The utility model belongs to the technical field of automatic loading equipment, and particularly relates to box type packaging product automatic loading equipment based on a mechanical arm. The conveying and buffering mechanism is installed on the chassis walking mechanism and used for conveying and buffering goods, and the mechanical arm stacking mechanism is installed on the chassis walking mechanism and used for clamping the goods and stacking the goods into a compartment. According to the mechanical arm stacking mechanism, the pushing air cylinder and movable pushing plate clamping design is adopted, a plurality of cargoes are sequentially arranged through the stacking electric conveying carrier rollers, stacking of multiple box bodies or large-size heavy-load box bodies at a time is achieved, the application range of the stacked box bodies is enlarged, the loading efficiency is improved, and the mechanical arm stacking mechanism is suitable for large-scale production. The problem that in the prior art, the stacking efficiency is not high due to the stacking mode that a suction cup is adopted to suck one box at a time is solved. Meanwhile, the top space of the container can be fully filled, the space utilization rate of the container is maximized, and meanwhile the risk that the container body collapses and is damaged in the transportation process is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic loading equipment, and in particular relates to automatic loading equipment for box packaging products based on a manipulator. Background Art

[0002] At present, many companies have different demands for loading equipment, and most companies use trucks to transport box-packed products. For closed spaces such as containers, the loading of box-packed products mainly relies on manual or forklift pallet loading, which has high labor costs, poor safety, and low efficiency.

[0003] The mobile loading equipment based on manipulators on the market are mainly small-load manipulators, which can only grab one light and small box at a time for palletizing. For a single large-mass and large-sized box (such as wine boxes, frozen fish boxes), it cannot meet the palletizing needs. Moreover, although this single-box palletizing mode has a high degree of automation and reduces labor costs, it has low work efficiency and cannot meet the current domestic demand for efficient loading. At the same time, the existing manipulator grabs the goods with a vacuum suction cup, and the grabbing position is above the box. This method cannot completely fill the top space of the container, which reduces the space utilization of the box, and there is a risk of the box collapsing and being damaged during transportation. Utility Model Content

[0004] The purpose of the utility model is to overcome the defects in the prior art of using a vacuum suction cup to suck the box body, which reduces the utilization space of the box body, is unstable in suction, can only palletize a single box at a time, and has low efficiency, and to provide an automatic loading equipment for box packaging products based on a robot that can palletize multiple boxes at a time, has high palletizing efficiency, and has stable clamping.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A robot-based automatic loading equipment for box packaging products, comprising a chassis running mechanism, a conveying and caching mechanism installed on the chassis running mechanism for conveying and caching goods, and a robot stacking mechanism installed on the chassis running mechanism for clamping goods and stacking them in a carriage;

[0007] The manipulator stacking mechanism comprises:

[0008] A mechanical arm, the fixed end of which is mounted on the chassis walking mechanism, and the output end of which is mounted with a fixture frame;

[0009] A plurality of electric palletizing conveying rollers are arranged in parallel on the fixture frame;

[0010] At least one push cylinder, a fixed end of which is fixedly mounted on the fixture frame, and a telescopic end of the push cylinder is connected to the movable push plate;

[0011] The extending direction of the movable push plate is consistent with the conveying direction of the electric conveying roller, and is arranged on one side of the clamp frame. The pushing cylinder drives the movable push plate to push the goods out in a direction perpendicular to the conveying direction of the goods.

[0012] Furthermore, the robot stacking mechanism further comprises a first flip baffle assembly arranged at the head end of the fixture frame;

[0013] The first flip baffle assembly includes a primary telescopic module and a secondary flip module installed on the clamp frame, the telescopic end of the primary telescopic module is connected to the secondary flip module; the primary telescopic module drives the secondary flip module to extend or retract along the cargo conveying direction.

[0014] Furthermore, the secondary flip module includes a support plate slidingly connected to the side of the clamp frame, a first flip baffle hinged to the support plate, and at least one first flip cylinder installed on the support plate; when the first flip cylinder is in an extended state, the first flip baffle is in a horizontal position, and when the first flip cylinder is in a retracted state, the first flip baffle is in a vertical position.

[0015] Furthermore, the primary telescopic module comprises a primary telescopic cylinder mounted on the clamp frame, and a telescopic end of the primary telescopic cylinder is connected to the support plate.

[0016] Further, the robot stacking mechanism also includes an end stopper assembly arranged at the end of the fixture frame;

[0017] The end baffle assembly includes at least one first baffle cylinder with a fixed end fixedly mounted at the end of the clamp frame, a first baffle connected to the telescopic end of the first baffle cylinder, and a guide rod mounted between the first baffle and the end of the clamp frame.

[0018] Furthermore, the transport buffer mechanism comprises:

[0019] A conveyor frame installed on the chassis walking mechanism;

[0020] A plurality of buffer electric conveying rollers are arranged in parallel on the conveying frame;

[0021] A side positioning push plate assembly is installed at the head end of the conveyor frame and is used to locate the position and orientation of the goods;

[0022] A second flip baffle assembly is installed on the end of the conveying frame to prevent the goods from sliding down;

[0023] A fixed rib is arranged on one side of the conveyor frame and is used for limiting the position and guiding the goods.

[0024] Furthermore, the side positioning push plate assembly includes a fixed positioning side plate fixedly installed on one side of the conveying frame, a positioning cylinder installed on the fixed positioning side plate, and a movable positioning side plate connected to the telescopic end of the positioning cylinder; after the goods enter the cache electric conveying roller, the positioning cylinder drives the movable positioning side plate to push the goods to the side of the fixed positioning side plate.

[0025] Furthermore, when the goods are transported from the transport buffer mechanism to the robot stacking mechanism, the first flip baffle assembly and the second flip baffle assembly cooperate with each other and are both in a horizontal posture state.

[0026] Furthermore, the chassis traveling mechanism comprises a frame, a plurality of steering wheels and supporting universal wheels installed on the lower end surface of the frame, and a swinging suspension installed on the frame.

[0027] Furthermore, a laser radar for navigation data collection and a control cabinet for control commands are also installed on the frame.

[0028] The beneficial effects of the automatic loading equipment for box packaging products based on a manipulator of the utility model are:

[0029] The automatic loading equipment of the utility model adopts a push cylinder and a movable push plate clamping design at the end, and uses the stacking electric conveying roller to arrange multiple goods in sequence, realizing the stacking of multiple boxes or large-volume heavy-load boxes at a time, expanding the application range of the stacking boxes, and also improving the loading efficiency, solving the problem of low stacking efficiency in the existing technology of using a suction cup to suck a box at a time. At the same time, the clamping method of the utility model can completely fill the top space of the container, maximize the space utilization of the container, and avoid the risk of box collapse and damage during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] Figure 1 It is a three-dimensional diagram of the automatic loading equipment of the embodiment of the utility model.

[0032] Figure 2 It is a structural schematic diagram of a manipulator stacking mechanism of an embodiment of the utility model.

[0033] Figure 3 It is a partial structural schematic diagram of the manipulator stacking mechanism of the embodiment of the utility model.

[0034] Figure 4 It is a structural schematic diagram of the first flip baffle assembly of an embodiment of the utility model.

[0035] Figure 5 It is a structural schematic diagram of the end baffle assembly of an embodiment of the utility model.

[0036] Figure 6 It is a structural schematic diagram of the conveying buffer mechanism of an embodiment of the utility model.

[0037] Figure 7 It is an installation diagram of a chassis traveling mechanism and a control cabinet according to an embodiment of the utility model.

[0038] Figure 8 It is a structural schematic diagram of the chassis walking mechanism of an embodiment of the utility model.

[0039] In the figure: 1. chassis walking mechanism, 11. frame, 12. steering wheel, 13. supporting universal wheel, 14. swing suspension, 2. conveying and caching mechanism, 21. conveying frame, 22. caching electric conveying roller, 23. side positioning push plate assembly, 231. fixed positioning side plate, 232. positioning cylinder, 233. movable positioning side plate, 24. second flip baffle assembly, 25. fixed baffle, 3. manipulator stacking mechanism, 31. mechanical arm, 32. fixture frame , 33. Palletizing electric conveyor roller, 34. Push cylinder, 35. Movable push plate, 36. First flip baffle assembly, 361. First telescopic module, 3611. First telescopic cylinder, 362. Secondary flip module, 3621. Support plate, 3622. First flip baffle, 3623. First flip cylinder, 37. End baffle assembly, 371. First baffle cylinder, 372. First baffle, 373. Guide rod, 4. Laser radar, 5. Control cabinet. DETAILED DESCRIPTION

[0040] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0041] like Figure 1-Figure 8 The utility model shown is a specific embodiment of a robot-based automatic loading device for box-type packaging products, comprising a chassis running mechanism 1, a conveying and caching mechanism 2 installed on the chassis running mechanism 1 for conveying and caching goods, and a robot stacking mechanism 3 installed on the chassis running mechanism 1 for clamping goods and stacking them into a carriage.

[0042] In this embodiment, the manipulator stacking mechanism 3 includes a manipulator arm 31, a fixture frame 32, a stacking electric conveying roller 33, a push cylinder 34, and a movable push plate 35. The fixed end of the manipulator arm 31 is installed on the chassis walking mechanism 1, and the output end is installed with a fixture frame 32; a number of stacking electric conveying rollers 33 are arranged in parallel on the fixture frame 32 to drive the transportation of goods and realize the caching of multiple goods on the fixture frame 32. At least one push cylinder 34 is fixedly installed on the fixture frame 32 at a fixed end, and the telescopic end of the push cylinder 34 is connected to the movable push plate 35. The extension direction of the movable push plate 35 is consistent with the conveying direction of the electric conveying roller and is arranged on one side of the fixture frame 32. The push cylinder 34 drives the movable push plate 35 to push the goods out perpendicular to the direction of goods conveying. In this embodiment, the pushing direction of the goods is set to the X-axis direction, the pushing direction of the push cylinder 34 is set to the Y-axis direction, and the up and down direction of the automatic loading equipment is set to the Z-axis direction. Figure 3 shown.

[0043] As an implementation method, there are two push cylinders 34. When in use, the push cylinders 34 are started to push the goods out from one side of the clamp frame 32 and onto the carriage or other loading platform. Multiple goods or larger cargo boxes are pushed into the carriage or other loading platforms at one time through the longer movable push plate 35. The automatic loading equipment of the utility model adopts a push cylinder 34 and a movable push plate 35 clamping design at the end, and uses the stacking electric conveying roller 33 to arrange multiple goods in sequence, so as to achieve the stacking of multiple boxes or large-volume heavy-load boxes at a time, expand the scope of application of the stacking boxes, and improve the loading efficiency, solving the problem of low stacking efficiency in the prior art of using a suction cup to suck up one box at a time. The automatic loading equipment of the utility model can stack multiple boxes of goods at a time, and during the loading process, the goods can be continuously transported to the conveying buffer mechanism 2, and the loading and cargo transportation are carried out alternately, which reduces the waiting time and has high loading efficiency.

[0044] See also Figure 3 The manipulator stacking mechanism 3 also includes a first flip baffle assembly 36 arranged at the head end of the clamp frame 32; the first flip baffle assembly 36 includes a primary telescopic module 361 and a secondary flip module 362 installed on the clamp frame 32, and the telescopic end of the primary telescopic module 361 is connected to the secondary flip module 362; the primary telescopic module 361 drives the secondary flip module 362 to extend or retract along the direction of cargo conveying.

[0045] It needs to be further explained that if Figure 4As shown, the secondary flip module 362 includes a support plate 3621 slidably connected to the side of the clamp frame 32, a first flip baffle 3622 hinged to the support plate 3621, and at least one first flip cylinder 3623 installed on the support plate 3621; when the first flip cylinder 3623 is in an extended state, the first flip baffle 3622 is in a horizontal position, and when the first flip cylinder 3623 is in a retracted state, the first flip baffle 3622 is in a vertical position. The primary telescopic module 361 includes a primary telescopic cylinder 3611 installed on the clamp frame 32, and the telescopic end of the primary telescopic cylinder 3611 is connected to the support plate 3621.

[0046] Among them, the first flip baffle assembly 36 drives the secondary flip module 362 through the first-level telescopic module 361 to realize the overall telescopic function, and the state conversion of the horizontal posture and the vertical posture of the first flip baffle 362 is realized under the action of the secondary flip module 362. Under the coupling action of the first-level telescopic module 361 and the secondary flip module 362, the first flip baffle 3622 is realized. The four state changes of horizontal extension, horizontal retraction, vertical extension and vertical retraction are realized. When the manipulator stacking mechanism 3 is docked with the conveying buffer mechanism 2, the first flip baffle 3622 is in a horizontal posture. When the manipulator stacking mechanism 3 stacks and transports the goods, the first flip baffle 3622 is in a vertical posture, that is, the Z-axis direction.

[0047] like Figure 5 As shown, the manipulator stacking mechanism 3 also includes an end baffle assembly 37 arranged at the end of the clamp frame 32; the end baffle assembly 37 includes at least one first baffle cylinder 371 whose fixed end is fixedly installed at the end of the clamp frame 32, a first baffle 372 connected to the telescopic end of the first baffle cylinder 371, and a guide rod 373 installed at the first baffle 372 and the end of the clamp frame 32. The end baffle assembly 37 is provided to prevent the box from falling from one end of the clamp frame 32 on the one hand, and on the other hand, the position of the first baffle 372 can be adjusted by the first baffle cylinder 371 according to the size of the box, so as to be suitable for conveying and stacking boxes of different sizes.

[0048] The conveying buffer mechanism 2 includes a conveying frame 21 installed on the chassis walking mechanism 1, a plurality of buffer electric conveying rollers 22, a side positioning push plate assembly 23, a second flip baffle assembly 24 and a fixed side guard 25, wherein the plurality of buffer electric conveying rollers 22 are arranged in parallel on the conveying frame 21, the side positioning push plate assembly 23 is installed at the head end of the conveying frame 21, and is used to locate the position and orientation of the goods, the second flip baffle assembly 24 is installed at the end of the conveying frame 21, and is used to prevent the goods from sliding off, and the fixed side guard 25 is arranged on one side of the conveying frame 21, and is used to limit and guide the position of the goods.

[0049] As an embodiment, the side positioning push plate assembly 23 includes a fixed positioning side plate 231 fixedly installed on one side of the conveying frame 21, a positioning cylinder 232 installed on the fixed positioning side plate 231, and a movable positioning side plate 233 connected to the telescopic end of the positioning cylinder 232; after the goods enter the cache electric conveying roller 22, the positioning cylinder 232 drives the movable positioning side plate 233 to push the goods to the side of the fixed positioning side plate 231, and the side positioning push plate assembly 23 positions the box conveyed by the conveying chain to the position of the fixed positioning side plate 231 on one side through the linkage contraction of the positioning cylinder 232 and the double guide shaft, ensuring that the positions of all boxes on the conveying cache mechanism 2 in the X-axis direction are consistent. When a box is conveyed to the conveying cache mechanism 2, the second flip baffle assembly 24 will be restored to the vertical baffle state from the horizontal open state under the drive of the cylinder, ensuring that all boxes in place will not fall from one end of the conveying frame 21 when the cache electric conveying roller 22 conveys the rear end box.

[0050] It should be further explained that the second flip baffle assembly 24 in this embodiment has the same structure as the first flip baffle assembly 36, and the specific structure of the second flip baffle assembly 24 will not be described in detail here. When the goods are transported from the conveying buffer mechanism 2 to the manipulator stacking mechanism 3, the first flip baffle assembly 36 and the second flip baffle assembly 24 cooperate with each other and are both in a horizontal posture state.

[0051] See also Figure 7 and Figure 8 The chassis travel mechanism 1 in this embodiment includes a frame 11, a plurality of steering wheels 12 and supporting universal wheels 13 installed on the lower end surface of the frame 11, and a swing-type suspension 14 installed on the frame 11. As an implementation mode, identical wheels are installed at diagonally opposite corners of the frame 11, one diagonally opposite corner is installed with a steering wheel 12, and the other diagonally opposite corner is installed with a supporting universal wheel 13. The coupling drive of the two diagonally opposite steering wheels 12 can realize the forward and backward travel, left and right translation and steering of the whole vehicle. The setting of the chassis swing-type suspension 14 can realize that when the chassis is traveling and steering, the two steering wheels 12 and the two supporting universal wheels 13 touch the ground at the same time and are evenly stressed, thereby ensuring the positioning accuracy of the chassis.

[0052] As an implementation method, a laser radar 4 and a control cabinet 5 for controlling command output are also installed on the frame 11. When the equipment is automatically navigating, the laser radar 4 is used to collect navigation data, specifically measuring the position and size of the corrugated plates on both sides of the container and the front box, and transmitting them to the computer on the control cabinet 5 for data processing, and then sending instructions to the steering wheel 12 for position adjustment to ensure that the vehicle corrects its deviation and realizes automatic navigation. Compared with the complex four-wheel independent suspension system, the swing suspension 14 chassis used in this embodiment can greatly reduce the economic cost while meeting the positioning and navigation accuracy. At the same time, the navigation mechanism of the double steering wheel 12 plus the laser radar 4 has lower economic cost and higher positioning accuracy than the four-wheel Mecanum wheel drive method while meeting the positioning accuracy of ±10mm.

[0053] The use process of the above-mentioned automatic loading equipment for box packaging products based on manipulators is as follows:

[0054] See also Figure 1 , flip the second flip baffle assembly 24 to a horizontal state, extend the first flip baffle assembly 36 and flip it to a horizontal state, and then move the robotic arm to dock the clamp frame 32 at the end of the robotic arm with the conveying cache mechanism 2. During docking, the first flip baffle 3622 of the first flip baffle assembly 36 is inserted into the position below the cache electric conveying roller 22 of the conveying cache mechanism 2, and the stacking electric conveying roller 33 and the cache electric conveying roller 22 rotate at the same time, and the goods are transported from the conveying cache mechanism 2 to the stacking electric conveying roller 33 corresponding to the movable push plate 35 connected to the end of the robotic arm 31, thereby completing the handover of the box goods.

[0055] After the first flip baffle 3622 at the end of the robotic arm 31 moves horizontally out from under the cache electric conveyor roller 22 of the conveying cache mechanism 2, the first flip baffle 3622 changes from a horizontally extended state to a vertically retracted state, and the first baffle 372 of the end baffle assembly 37 is also retracted together to clamp the box. To ensure that the caching and stacking of the box are carried out simultaneously and improve the efficiency of cargo stacking, at the same time as the first flip baffle 3622 changes from a horizontally extended state to a vertically retracted state, the flip baffle of the second flip baffle assembly 24 also changes from a horizontally extended state to a vertically retracted state, and then the robotic arm 31 transports the cargo on the palletizing electric conveyor roller 33 at the end to the designated palletizing position, the first flip baffle 3622 of the first flip baffle assembly 36 and the first baffle 372 of the end baffle assembly 37 are both opened vertically, and the pushing cylinder 34 is started to stack the cargo from the palletizing electric conveyor roller 33 to the designated position, completing a palletizing task, and realizing automatic palletizing of multiple boxes in this cycle.

[0056] In the palletizing production line, the automatic loading equipment of this embodiment is located at the forefront of the automated conveyor line, which can make the process from the delivery of box-type packaged products to the loading process completely continuous, eliminating the intermediate process such as forklift pallet transfer, saving time, high efficiency and high safety. The automatic loading equipment can be applied to the loading of box-type packaged products of different sizes and weights, and can realize the horizontal and vertical reversal loading of goods, and can accurately put the goods into the truck compartment, so that the goods are neatly stacked in the truck compartment. It can realize the full automatic loading of box-type packaged products, reduce labor costs, and can stack multiple boxes of goods at a time. During the loading process, the goods can be continuously transported to the cache component, and the loading and cargo transportation are carried out alternately, which reduces the waiting time and has high loading efficiency. The automatic loading equipment of the utility model has a compact structure and strong adaptability, and can be used for the loading of most container trucks.

[0057] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. An automatic loading device for box packaging products based on a robot, characterized in that: It comprises a chassis running mechanism (1), a conveying and caching mechanism (2) installed on the chassis running mechanism (1) for conveying and caching goods, and a manipulator stacking mechanism (3) installed on the chassis running mechanism (1) for clamping goods and stacking them in a carriage; The robot stacking mechanism (3) comprises: A mechanical arm (31), the fixed end of which is mounted on the chassis walking mechanism (1), and the output end of which is mounted with a fixture frame (32); A plurality of electric palletizing conveying rollers (33) are arranged in parallel on the clamp frame (32); At least one pushing cylinder (34), the fixed end of which is fixedly mounted on the clamp frame (32), and the telescopic end of the pushing cylinder (34) is connected to the movable pushing plate (35); The movable push plate (35) extends in the same direction as the conveying direction of the electric conveying roller and is arranged on one side of the clamp frame (32). The pushing cylinder (34) drives the movable push plate (35) to push the goods out in a direction perpendicular to the direction of goods conveying.

2. According to claim 1, the automatic loading equipment for box packaging products based on a robot is characterized by: The robot stacking mechanism (3) further comprises a first flip baffle assembly (36) arranged at the front end of the clamp frame (32); The first flip baffle assembly (36) comprises a primary telescopic module (361) and a secondary flip module (362) mounted on the clamp frame (32); the telescopic end of the primary telescopic module (361) is connected to the secondary flip module (362); the primary telescopic module (361) drives the secondary flip module (362) to extend or retract along the direction of cargo conveying via a telescopic cylinder (3611).

3. The automatic loading equipment for box packaging products based on a robot according to claim 2 is characterized in that: The secondary flip module (362) includes a support plate (3621) slidably connected to the side of the clamp frame (32), a first flip baffle (3622) hinged to the support plate (3621), and at least one first flip cylinder (3623) installed on the support plate (3621); when the first flip cylinder (3623) is in an extended state, the first flip baffle (3622) is in a horizontal position, and when the first flip cylinder (3623) is in a retracted state, the first flip baffle (3622) is in a vertical position.

4. The automatic loading equipment for box packaging products based on a robot according to claim 3 is characterized by: The primary telescopic module (361) comprises a primary telescopic cylinder (3611) mounted on the clamp frame (32), and the telescopic end of the primary telescopic cylinder (3611) is connected to the support plate (3621).

5. The automatic loading equipment for box packaging products based on a robot according to claim 1 is characterized in that: The robot stacking mechanism (3) further comprises an end baffle assembly (37) arranged at the end of the clamp frame (32); The end baffle assembly (37) comprises at least one first baffle cylinder (371) whose fixed end is fixedly mounted at the end of the clamp frame (32), a first baffle (372) connected to the telescopic end of the first baffle cylinder (371), and a guide rod (373) mounted between the first baffle (372) and the end of the clamp frame (32).

6. The automatic loading equipment for box packaging products based on a robot according to claim 2 is characterized in that: The conveying buffer mechanism (2) comprises: A conveying frame (21) mounted on the chassis walking mechanism (1); A plurality of buffer electric conveying rollers (22) are arranged in parallel on the conveying frame (21); A side positioning push plate assembly (23), installed at the head end of the conveying frame (21), for positioning the position and orientation of the goods; A second flip baffle assembly (24), mounted on the end of the conveying frame (21), for preventing goods from sliding off; A fixed rib (25) is arranged on one side of the conveying frame (21) and is used to limit the position and guide the goods.

7. The automatic loading equipment for box packaging products based on a robot according to claim 6 is characterized by: The side positioning push plate assembly (23) comprises a fixed positioning side plate (231) fixedly mounted on one side of the conveying frame (21), a positioning cylinder (232) mounted on the fixed positioning side plate (231), and a movable positioning side plate (233) connected to the telescopic end of the positioning cylinder (232); after the goods enter the cache electric conveying roller (22), the positioning cylinder (232) drives the movable positioning side plate (233) to push the goods to the side of the fixed positioning side plate (231).

8. The automatic loading equipment for box packaging products based on a robot according to claim 7 is characterized in that: When the goods are transported from the transport buffer mechanism (2) to the robot stacking mechanism (3), the first flip baffle assembly (36) and the second flip baffle assembly (24) cooperate with each other and are both in a horizontal posture state.

9. The automatic loading equipment for box packaging products based on a robot according to claim 1 is characterized by: The chassis walking mechanism (1) comprises a frame (11), a plurality of steering wheels (12) and supporting universal wheels (13) mounted on the lower end surface of the frame (11), and a swing-type suspension (14) mounted on the frame (11).

10. The automatic loading equipment for box packaging products based on a robot according to claim 9, characterized in that: The frame (11) is also equipped with a laser radar (4) for collecting navigation data and a control cabinet (5) for outputting control instructions.

Images