Boxing manipulator and automatic assembly system

Abstract

The utility model relates to the technical field of automatic boxing equipment, in particular to a boxing manipulator and an automatic assembling system, and the boxing manipulator comprises a cross beam part, a first vertical plate and a second vertical plate. The same ends, in the first direction, of the first vertical plate and the second vertical plate are connected with the cross beam part, the first vertical plate and the second vertical plate are oppositely arranged in a spaced mode in the second direction, and the first direction intersects with the second direction. The end, away from the cross beam part, of the first vertical plate and / or the second vertical plate is provided with a bearing part which can stretch out and retract towards the position between the first vertical plate and the second vertical plate relative to the bearing part. According to the encasement manipulator and the automatic assembly system provided by the invention, the situation that the space of the clamping jaw needs to be opened in the process of picking up the to-be-picked object by an existing manipulator is effectively avoided, so that the encasement manipulator can smoothly pick and place the object in a narrow space.

Description

Technical Field

[0001] The present application relates to the technical field of automated box packing equipment, and in particular to a box packing robot and an automated assembly system. Background Art

[0002] There are two main methods for packing and crating existing products. The first relies on manual packing, which is costly and inefficient. The second method uses robotic grippers to pick up pallets and place them into the packaging box. Conventional grippers open to pick up pallets, but within the limited width of the packaging box, the grippers are difficult to open and remove. This requires sufficient space within the box for the grippers to operate, which not only reduces space utilization but also requires filling the box with fillers, increasing packaging costs. Utility Model Content

[0003] The purpose of this application is to provide a packing robot and an automated assembly system to solve, to a certain extent, the existing technical problem of relying on manual packing and boxing, which has high labor costs; the robot gripper grasps the pallet and puts it into the box, while the existing gripper is difficult to open and take out the pallet in the limited width box space by opening it.

[0004] According to a first aspect of the present application, there is provided a box packing robot, comprising a crossbeam, a first upright plate, and a second upright plate, wherein the first upright plate and the second upright plate are connected to the crossbeam at the same end in a first direction, and the first upright plate and the second upright plate are arranged opposite to each other and spaced apart in a second direction, wherein the first direction intersects the second direction;

[0005] One end of the first vertical plate and / or the second vertical plate away from the crossbeam portion is provided with a supporting portion that can extend and retract relative to itself toward between the first vertical plate and the second vertical plate.

[0006] Preferably, both the first riser and the second riser are riser assemblies;

[0007] The vertical plate assembly includes a vertical plate body extending along the first direction and the supporting portion. A first end of the vertical plate body in the first direction is connected to the crossbeam portion, and the supporting portion is provided at a second end of the vertical plate body.

[0008] Preferably, the vertical plate assembly further comprises a driving portion provided on the crossbeam portion;

[0009] The vertical plate body includes a first sliding arm and a second sliding arm, the first sliding arm and the second sliding arm are arranged opposite to each other along a third direction, and the first ends of the first sliding arm and the second sliding arm are respectively connected to the driving part in a transmission manner, and the third direction intersects a plane defined by the first direction and the second direction;

[0010] The two ends of the supporting portion in the third direction are respectively transmission-connected to the second ends of the first slide arm and the second slide arm, so that the supporting portion can be controlled to extend and retract relative to the vertical plate body during the process of the driving portion driving the first slide arm and the second slide arm to approach and move away from each other along the third direction.

[0011] Preferably, the supporting portion includes a supporting body, a first hinge arm and a second hinge arm, one end of the supporting body in the third direction and the first sliding arm are respectively hinged to the two ends of the first hinge arm, and the other end of the supporting body in the third direction and the second sliding arm are respectively hinged to the two ends of the second hinge arm.

[0012] Preferably, the supporting portion further includes a first clamping spring and a second clamping spring, the first clamping spring connecting the first sliding arm and the first hinge shaft arm, and the second clamping spring connecting the second sliding arm and the second hinge shaft arm;

[0013] When the first clamping spring and the second clamping spring are in an uncompressed state, the supporting portion is in an extended state under the action of both the first clamping spring and the second clamping spring.

[0014] Preferably, the vertical plate assembly further comprises a limiting block piece, the limiting block piece is fixedly connected to the cross beam portion, and the limiting block piece is arranged between the first sliding arm and the second sliding arm;

[0015] The dimension of the limiting blocking piece in the third direction is equal to the dimension of the supporting body in the third direction.

[0016] Preferably, the vertical plate assembly further comprises a slide rail portion, a first slider and a second slider;

[0017] The slide rail portion extends along the third direction, and the slide rail portion is fixedly disposed on the beam portion;

[0018] The first slider and the second slider are respectively slidably connected to the slide rail portion, the first slider is transmission-connected to the driving portion via the first slider, and the second slider is transmission-connected to the driving portion via the second slider.

[0019] Preferably, the slide rail portion includes a first slide rail and a second slide rail both extending along the third direction, and the first slide rail and the second slide rail are staggered in the second direction.

[0020] Preferably, the crossbeam portion includes a crossbeam body and a drive placement portion, the crossbeam body extends along the second direction, the drive placement portions are fixedly provided at both ends of the crossbeam body in the second direction, and the drive placement portions are provided on a side of the crossbeam body facing the supporting portion;

[0021] The first vertical plate and the second vertical plate are both arranged between the two driving placement parts, and the driving part is arranged on a side of the driving placement part facing away from the first vertical plate and the second vertical plate.

[0022] According to the second aspect of the present application, an automated assembly system is provided, comprising the cartoning robot described in any of the above technical solutions, and thus having all the beneficial technical effects of the cartoning robot, which will not be described in detail here.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] The packing robot provided by the present application connects the same end of the first vertical plate and the second vertical plate in the first direction to the crossbeam portion respectively, and makes the first vertical plate and the second vertical plate opposite to each other and spaced apart in the second direction. In this way, the space between the first vertical plate and the second vertical plate can be used to accommodate the object to be picked up, so that when the packing robot picks up the object to be picked up, the packing robot can move so that the first vertical plate and the second vertical plate can be arranged on both sides of the object to be picked up in the second direction, so as to limit the object to be picked up; and by arranging a supporting portion that can extend and retract relative to itself between the first vertical plate and the second vertical plate at one end of the first vertical plate and / or the second vertical plate away from the crossbeam portion; when the packing robot clamps the object to be picked up, it can realize the picking action by extending the supporting portion to support the bottom of the object to be picked up; when the packing robot releases the object to be picked up, it can realize the action of releasing the object to be picked up by retracting the supporting portion. In this way, during the process of the packing robot picking up and releasing the objects to be picked up, the distance between the first vertical plate and the second vertical plate in the second direction always remains unchanged, effectively avoiding the need for the current robot to open the gripper space when picking up the objects to be picked up, so that the packing robot can smoothly pick up and place items in a narrow space.

[0025] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art of the present application, the drawings needed to be used in the description of the specific embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0027] Figure 1 An exploded structural schematic view of the boxing manipulator provided for the embodiments of the present application is shown in FIG. 1.

[0028] Figure 2 An axonometric structural schematic view of the boxing manipulator provided for the embodiments of the present application is shown in FIG. 2.

[0029] Figure 3 An axonometric structural schematic view of the boxing manipulator provided for the embodiments of the present application is shown in FIG. 2. Figure 2 An enlarged structural schematic view of the boxing manipulator at A provided for the embodiments of the present application is shown in FIG. 3.

[0030] Figure 4 An axonometric structural schematic view of the boxing manipulator provided for the embodiments of the present application is shown in FIG. 2.

[0031] Figure 5 A front view structural schematic view of the boxing manipulator provided for the embodiments of the present application is shown in FIG. 5.

[0032] Reference signs:

[0033] 10 - first vertical plate; 20 - second vertical plate;

[0034] 1 - vertical plate assembly; 11 - first sliding arm; 12 - second sliding arm; 13 - driving part; 131 - driving body; 132 - driving seat; 141 - first sliding block; 1411 - first sliding part; 1412 - first corner connecting part; 1413 - first driving joint; 142 - second sliding block; 1421 - second sliding part; 1422 - second corner connecting part; 1423 - second driving joint; 151 - first sliding rail; 152 - second sliding rail; 16 - limiting baffle;

[0035] 3 - bearing part; 30 - bearing body; 31 - first hinge shaft rotary arm; 32 - second hinge shaft rotary arm; 331 - first clasp spring;

[0036] 4 - cross beam part; 41 - cross beam body; 411 - main cross beam; 412 - first guide support beam; 413 - second guide support beam; 42 - driving arrangement part;

[0037] F1 - first direction; F2 - second direction; F3 - third direction. DETAILED DESCRIPTION

[0038] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0039] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application.

[0040] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0041] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0043] Refer to the following Figures 1 to 5 The present invention describes a packing robot and an automated assembly system according to some embodiments of the present application.

[0044] See also Figures 1 to 5 As shown, an embodiment of the first aspect of the present application provides a box packing robot, which includes a crossbeam portion 4, a first upright plate 10, and a second upright plate 20. The first upright plate 10 and the second upright plate 20 are connected to the crossbeam portion 4 at the same end in a first direction F1, and the first upright plate 10 and the second upright plate 20 are arranged opposite each other and spaced apart along a second direction F2, with the first direction F1 intersecting the second direction F2. A supporting portion 3 is provided at one end of the first upright plate 10 and / or the second upright plate 20, remote from the crossbeam portion 4, and can extend and retract relative to the first upright plate 10 and the second upright plate 20.

[0045] According to the packing robot provided by the above technical features, the same end of the first vertical plate 10 and the second vertical plate 20 in the first direction F1 are respectively connected to the cross beam portion 4, and the first vertical plate 10 and the second vertical plate 20 are arranged opposite to each other and spaced apart in the second direction F2. In this way, the space between the first vertical plate and the second vertical plate can be used to accommodate the objects to be picked up, so that when the packing robot picks up the objects to be picked up, the packing robot can move so that the first vertical plate 10 and the second vertical plate 20 are arranged on both sides of the objects to be picked up in the second direction F2, so as to facilitate the limitation of the objects to be picked up; and by arranging a supporting portion 3 at the end of the first vertical plate 10 and / or the second vertical plate 20 away from the cross beam portion 4, which can extend and retract relative to itself between the first vertical plate 10 and the second vertical plate 20. When the packing robot grips an object, it can extend the support portion 3 to support the bottom of the object. When the packing robot releases the object, it can retract the support portion 3 to release the object. In this way, the size of the packing robot in the second direction F2 remains unchanged during the process of picking up and releasing the object. This effectively avoids the need to open the gripper when picking up the object, allowing the packing robot to smoothly pick up and place objects in a narrow space.

[0046] like Figures 1 to 5 As shown, F1 shown in the figure may be an example of the first direction F1, and F2 shown in the figure may be an example of the second direction F2. For ease of description, the direction intersecting the plane defined by the first direction F1 and the second direction F2 is defined as a third direction F3, and F3 shown in the figure may be an example of this third direction F3. Preferably, any two of the first direction F1, the second direction F2, and the third direction F3 are perpendicular to each other to accommodate most square packaging boxes today.

[0047] Preferably, both the first vertical plate 10 and the second vertical plate 20 are vertical plate components 1. Specifically, Figures 1 to 5 As shown, the vertical plate assembly 1 may include a vertical plate body extending along the first direction F1 and the above-mentioned supporting portion 3, the first end of the vertical plate body in the first direction F1 is connected to the crossbeam portion 4, and the supporting portion 3 is arranged at the second end of the vertical plate body. In this way, both the first vertical plate 10 and the second vertical plate 20 are provided with the above-mentioned supporting portion 3, which can effectively improve the stability of the packing robot in picking up the objects to be picked up.

[0048] Preferably, if Figure 1 、 Figure 2 、 Figure 4As shown, the vertical plate assembly 1 may include a driving portion 13 disposed on the crossbeam portion 4. The vertical plate body may include a first sliding arm 11 and a second sliding arm 12, the first sliding arm 11 and the second sliding arm 12 being disposed opposite to each other along a third direction F3, and the first ends of the first sliding arm 11 and the second sliding arm 12 are respectively in transmission connection with the driving portion 13. The two ends of the above-mentioned supporting part 3 in the third direction F3 are respectively connected to the second ends of the first slide arm 11 and the second slide arm 12. In the process of the driving part 13 driving the first slide arm 11 and the second slide arm 12 to approach and move away from each other along the third direction F3, the supporting part 3 is controlled to extend and retract relative to the vertical plate body. In this way, the driving part 13 is connected to the first slide arm 11 and the second slide arm 12, and the first slide arm 11 and the second slide arm 12 are respectively connected to the two ends of the supporting part 3 in the third direction F3, so that the power of the driving part 13 is transmitted to the supporting part 3 through the first slide arm 11 and the second slide arm 12. In this way, the power device that drives the supporting part 3 to extend / retract is effectively set on the beam part 4, thereby effectively compressing the space occupied by the lower end of the cartoning robot, so that the cartoning robot can adapt to the narrow space.

[0049] Preferably, if Figures 2 to 4 As shown, the supporting portion 3 may include a supporting body 30, a first hinge arm 31 and a second hinge arm 32, one end of the supporting body 30 in the third direction F3 and the first sliding arm 11 are respectively hinged to the two ends of the first hinge arm 31, and the other end of the supporting body 30 in the third direction F3 and the second sliding arm 12 are respectively hinged to the two ends of the second hinge arm 32. In this way, when the driving portion 13 drives the first sliding arm 11 and the second sliding arm 12 to approach each other along the third direction F3, the first hinge arm 3 1 and the second hinge arm 32 can rotate between the first vertical plate 10 and the second vertical plate 20, thereby driving the supporting body 30 to extend between the first vertical plate 10 and the second vertical plate 20; correspondingly, when the driving part 13 drives the first sliding arm 11 and the second sliding arm 12 to move away from each other along the third direction F3, the first hinge arm 31 and the second hinge arm 32 can rotate in a direction parallel to the first vertical plate 10, thereby driving the supporting body 30 to align with the first vertical plate 10 and the second vertical plate 20, so as to achieve the above-mentioned retraction action.

[0050] Preferably, if Figure 3 As shown, the supporting portion 3 may further include a first retaining spring 331, which connects the first sliding arm 11 and the first hinge arm 31. When the first retaining spring 331 is in an uncompressed state, the portion of the first retaining spring 331 connected to the first sliding arm 11 and the portion of the first retaining spring 331 connected to the first hinge arm 31 are perpendicular to each other. In other words, when the first retaining spring 331 is in an uncompressed state, the supporting portion 3 is in an extended state under the action of the first retaining spring 331.

[0051] Similarly, the supporting portion 3 may further include a second retaining spring that connects the second sliding arm 12 and the second hinge arm 32. When the second retaining spring is in an uncompressed state, the portion of the second retaining spring connected to the second sliding arm 12 and the portion of the second retaining spring connected to the second hinge arm 32 are perpendicular to each other. In other words, when the second retaining spring is in an uncompressed state, the supporting portion 3 is in an extended state under the action of the second retaining spring.

[0052] In this way, the first retaining spring 331 and the second retaining spring are arranged on the supporting part 3, so that the supporting part 3 can remain in the state of being extended relative to the vertical plate body when not driven by external force. In this way, when the driving force applied by the driving part 13 to the first slide arm 11 and the second slide arm 12 does not reach the predetermined value, it is difficult for the supporting part 3 to trigger the retraction action, which can effectively ensure the supporting stability of the supporting part 3, effectively avoid the phenomenon of the supporting part 3 being retracted due to the swinging of the vertical plate body under working conditions such as vibration / shaking, and effectively reduce the probability of the object to be picked up falling off.

[0053] Preferably, if Figure 1 and Figure 2 As shown, the vertical plate assembly 1 may further include a stopper 16 fixedly connected to the crossbeam 4 and disposed between the first slide arm 11 and the second slide arm 12. The dimension of the stopper 16 in the third direction F3 is equal to the dimension of the support body 30 in the third direction F3. In this way, the maximum distance between the first slide arm 11 and the second slide arm 12 and their proximity to each other along the third direction F3 is limited, thereby effectively preventing the first slide arm 11 and the second slide arm 12 from approaching each other too closely and causing bending damage to the support body 30.

[0054] In an embodiment, Figure 1 and Figure 4 As shown, the vertical plate assembly 1 may further include a slide rail portion, a first slider 141 and a second slider 142. Specifically, the slide rail portion extends along the third direction F3, and the slide rail portion is fixedly arranged on the crossbeam portion 4. The first slider 141 and the second slider 142 are respectively slidably connected to the slide rail portion, and the first slide arm 11 is connected to the driving portion 13 via the first slider 141, and the second slide arm 12 is connected to the driving portion 13 via the second slider 142. In this way, on the one hand, the smoothness of the movement of the first slide arm 11 and the second slide arm 12 driven by the driving portion 13 is ensured; on the other hand, the accuracy of the movement trajectory of the first slide arm 11 and the second slide arm 12 is ensured, thereby ensuring the stability of the vertical plate assembly 1 during the process of picking up / releasing the object to be picked up.

[0055] Preferably, if Figure 1As shown, the slide rail portion may include a first slide rail 151 and a second slide rail 152 both extending along a third direction F3. The first slide rail 151 and the second slide rail 152 are staggered in the second direction F2 to ensure the sliding travel range of the first slide arm 11 and the second slide arm 12.

[0056] Preferably, if Figure 1 As shown, the crossbeam portion 4 may include a crossbeam body, which may include a main crossbeam 411, a first guide beam 412, and a second guide beam 413. The main crossbeam 411 extends along the second direction F2, and the first guide beam 412 and the second guide beam 413 are provided at both ends of the main crossbeam 411 in the third direction F3. Both the first guide beam 412 and the second guide beam 413 extend along the third direction F3. The first slide rail 151 may be fixed to the first guide beam 412, and the second slide rail 152 may be fixed to the second guide beam 413.

[0057] Preferably, if Figure 1 and Figure 4 As shown, the first guide support beam 412 and the second guide support beam 413 are arranged side by side and at intervals on the main crossbeam 411, so that the above-mentioned first sliding arm 11 and the second sliding arm 12 can be connected to the first slider 141 and the second slider 142 respectively through the gap formed between the first guide support beam 412 and the second guide support beam 413.

[0058] Alternatively, as Figure 1 As shown, the above-mentioned first slider 141 may include a first sliding portion 1411 and a first corner connection portion 1412 fixedly connected to each other, the first sliding portion 1411 is slidably connected to the above-mentioned first slide rail 151, the first corner connection portion 1412 may be arranged in the gap formed between the above-mentioned first guide support beam 412 and the second guide support beam 413, and the first corner connection portion 1412 may connect the first sliding portion 1411 and the above-mentioned first slide arm 11.

[0059] Similarly, if Figure 1 As shown, the second slider 142 may include a second sliding portion 1421 and a second corner connection portion 1422 fixedly connected to each other, the second sliding portion 1421 being slidably connected to the second slide rail 152, the second corner connection portion 1422 may also be arranged in the gap formed between the first guide support beam 412 and the second guide support beam 413, and the second corner connection portion 1422 may connect the second sliding portion 1421 and the second slide arm 12.

[0060] Preferably, if Figure 1As shown, the crossbeam portion 4 further includes a drive placement portion 42, which is fixedly mounted at both ends of the main crossbeam 411 in the second direction F2. The drive placement portion 42 is disposed on the side of the crossbeam body 41 facing the supporting portion 3. The first vertical plate 10 and the second vertical plate 20 are both disposed between the two drive placement portions 42, and the drive portion 13 is disposed on the side of the drive placement portion 42 facing away from the first vertical plate 10 and the second vertical plate 20, so as to prevent the drive portion 13 from occupying the space between the first vertical plate 10 and the second vertical plate 20, thereby preventing the drive portion 13 from occupying the space for picking up objects.

[0061] Preferably, if Figure 1 As shown, the drive housing 42 can be located on the main crossbeam 411 between the first guide beam 412 and the second guide beam 413. The stop plate can be fixed to the drive housing 42. This facilitates the placement of the stop plate and allows the drive unit 13 to utilize the space below the first guide beam 412, further reducing space occupied by the packing robot.

[0062] Alternatively, as Figure 1 As shown, the driving portion 13 may include a driving body 131 and a driving seat 132 connected to each other, and the driving body 131 is connected to the driving seating portion 42 via the driving seat 132 .

[0063] Preferably, if Figure 1 、 Figure 2 and Figure 4 As shown, the driving body 131 extends along the third direction F3. The first slider 141 may further include a first driving joint 1413, and the second slider 142 may further include a second driving joint 1423. The first driving joint 1413 and the second driving joint 1423 are respectively disposed at both ends of the driving body 131 in the third direction F3. The driving body 131 is connected to the first sliding portion 1411 and the second sliding portion 1421 via the first driving joint 1413 and the second driving joint 1423, respectively.

[0064] Optionally, the driving body 131 may be a dual-axis cylinder, a dual-axis reverse cylinder, etc., but is not limited thereto. As long as it can drive the first sliding arm 11 and the second sliding arm 12 toward and away from each other, the driving body 131 may also be other bidirectional linear driving devices.

[0065] Optionally, not shown in the figure, the driving body may include a single-axis cylinder, a driving gear, a driving rack and a transmission rack, the driving rack and the transmission rack are arranged in parallel, the driving gear is arranged between the driving rack and the transmission rack, and the driving rack and the transmission rack are both engaged with the driving gear, the single-axis cylinder is connected to the driving rack, and one of the first slide arm and the second slide arm is connected to the transmission rack. In this way, when the single-axis cylinder drives the driving rack to move in a straight line, the driving rack can drive the driving gear to rotate, and transmit the torque to the transmission rack through the driving gear, thereby driving the first slide arm or the second slide arm connected to the transmission rack to move in a straight line.

[0066] The embodiment of the second aspect of the present application further provides an automated assembly system, comprising the cartoning robot described in any of the above embodiments, and thus having all the beneficial technical effects of the cartoning robot, which will not be described in detail here.

[0067] Preferably, although not shown in the figures, the automated assembly system may further include a moving device, which may be connected to the main beam 411 to drive the packing robot to move.

[0068] Optionally, the mobile device may be detachably connected to the main beam 411 (eg, bolted, etc.) to facilitate replacement of different types of manipulators by the mobile device.

[0069] Optionally, the above-mentioned moving device can be a robotic arm, a crane, etc.

[0070] Based on the features described above, Figures 1 to 5 The following describes the working principle of the packing robot in detail:

[0071] Picking: Place the object to be picked up at the picking station and position it. Drive the moving device to move the packing robot to the top of the picking station. Control the driving unit 13 to drive the supporting part 3 to retract relative to the vertical plate assembly. The moving device drives the packing robot to fall, so that the first vertical plate 10 and the second vertical plate 20 are arranged on both sides of the object to be picked up in the second direction F2, and the position of the supporting part 3 in the first direction F1 is lower than the bottom of the object to be picked up. Control the driving unit 13 to drive the supporting part 3 to extend relative to the vertical plate assembly.

[0072] Transfer and packing, control the mobile device to lift the packing robot and transfer it to the top of the packaging box, control the packing robot to descend so that the objects to be picked up enter the packaging box, control the driving part 13 to drive the supporting part 3 to retract the relative plate assembly 1, and lift the packing robot away from the packaging box to complete the packing action.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A packing robot, characterized in that: The invention comprises a crossbeam portion, a first vertical plate and a second vertical plate, wherein the first vertical plate and the second vertical plate are connected to the crossbeam portion at the same end in the first direction, and the first vertical plate and the second vertical plate are opposite to each other and spaced apart along the second direction, and the first direction intersects the second direction; One end of the first vertical plate and / or the second vertical plate away from the crossbeam portion is provided with a supporting portion that can extend and retract relative to itself toward between the first vertical plate and the second vertical plate.

2. The packing robot according to claim 1, characterized in that: The first riser and the second riser are both riser assemblies; The vertical plate assembly includes a vertical plate body extending along the first direction and the supporting portion. A first end of the vertical plate body in the first direction is connected to the crossbeam portion, and the supporting portion is provided at a second end of the vertical plate body.

3. The packing robot according to claim 2, characterized in that: The vertical plate assembly further includes a driving portion provided on the crossbeam portion; The vertical plate body includes a first sliding arm and a second sliding arm, the first sliding arm and the second sliding arm are arranged opposite to each other along a third direction, and the first ends of the first sliding arm and the second sliding arm are respectively connected to the driving part in a transmission manner, and the third direction intersects a plane defined by the first direction and the second direction; The two ends of the supporting portion in the third direction are respectively transmission-connected to the second ends of the first slide arm and the second slide arm, so that the supporting portion can be controlled to extend and retract relative to the vertical plate body during the process of the driving portion driving the first slide arm and the second slide arm to approach and move away from each other along the third direction.

4. The packing robot according to claim 3, characterized in that: The supporting part includes a supporting body, a first hinge arm and a second hinge arm, one end of the supporting body in the third direction and the first sliding arm are respectively hinged to the two ends of the first hinge arm, and the other end of the supporting body in the third direction and the second sliding arm are respectively hinged to the two ends of the second hinge arm.

5. The packing robot according to claim 4, characterized in that: The supporting portion further includes a first clamping spring and a second clamping spring, the first clamping spring connecting the first sliding arm and the first hinge shaft arm, and the second clamping spring connecting the second sliding arm and the second hinge shaft arm; When the first clamping spring and the second clamping spring are in an uncompressed state, the supporting portion is in an extended state under the action of both the first clamping spring and the second clamping spring.

6. The packing robot according to claim 4, characterized in that: The vertical plate assembly further includes a limit block piece, which is fixedly connected to the crossbeam portion and is disposed between the first sliding arm and the second sliding arm; The dimension of the limiting blocking piece in the third direction is equal to the dimension of the supporting body in the third direction.

7. The packing robot according to claim 3, characterized in that: The vertical plate assembly further includes a slide rail portion, a first slider and a second slider; The slide rail portion extends along the third direction, and the slide rail portion is fixedly disposed on the beam portion; The first slider and the second slider are respectively slidably connected to the slide rail portion, the first slider is transmission-connected to the driving portion via the first slider, and the second slider is transmission-connected to the driving portion via the second slider.

8. The packing robot according to claim 7, characterized in that: The slide rail portion includes a first slide rail and a second slide rail both extending along the third direction, and the first slide rail and the second slide rail are staggered in the second direction.

9. The packing robot according to any one of claims 3 to 8, characterized in that: The crossbeam portion includes a crossbeam body and a drive placement portion, the crossbeam body extends along the second direction, the drive placement portions are fixedly provided at both ends of the crossbeam body in the second direction, and the drive placement portions are provided on a side of the crossbeam body facing the supporting portion; The first vertical plate and the second vertical plate are both arranged between the two driving placement parts, and the driving part is arranged on a side of the driving placement part facing away from the first vertical plate and the second vertical plate.

10. An automated assembly system, characterized in that: A box packing robot comprising the box packing robot according to any one of claims 1 to 9.

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