Transfer manipulator of color box assembling machine

Abstract

The transfer mechanical arm of the color box assembling machine comprises a supporting stand column, a rotary supporting plate and a mechanical arm clamping arm, a first mechanical arm is arranged at the top of the supporting stand column, a second mechanical arm is arranged at the top end of the first mechanical arm, and a third mechanical arm is arranged at the top end of the second mechanical arm. A second horizontal joint is arranged at the other end of the third mechanical arm, a fourth servo motor is installed at the top of the second horizontal joint, a rotary supporting plate is installed at the output end of the fourth servo motor, a clamping motor is arranged at one end of the rotary supporting plate, and the output end of the clamping motor extends into an open groove in the inner side of the rotary supporting plate and is connected with a lead screw; manipulator clamping arms are installed at the two ends of the lead screw. A multi-joint mechanical arm structure is adopted, the mechanical arm can accurately rotate and position in multiple dimensions through cooperative driving of the first servo motor, the second servo motor, the third servo motor and the fourth servo motor, and therefore the grabbing and transferring requirements of color boxes of different sizes and shapes are met.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of colour box assembling machine, specifically to a transfer manipulator of colour box assembling machine. BACKGROUND

[0002] In the modern packaging industry, as a common packaging form, colour boxes are widely used in many fields such as food, cosmetics, electronic products, etc. With the continuous growth of market demand and the increasing requirement for product packaging quality, the automation degree and work efficiency of colour box assembling machine have become the focus of enterprises. During the colour box assembling process, the transfer manipulator is the key equipment for accurate handling and assembling of colour box parts.

[0003] At present, the existing colour box assembling machine transfer manipulator on the market has many shortcomings. The traditional transfer manipulator mostly adopts single joint or fixed structure, with limited movement flexibility and range. When facing colour boxes of different sizes and shapes, it is difficult to perform accurate grabbing and transfer operation, resulting in low production efficiency and unable to meet diversified production needs. Moreover, due to the limitation of its structure, for some complex assembly processes, it cannot accurately place the colour box at the specified position, affecting the quality and precision of colour box assembly. SUMMARY

[0004] The utility model aims at providing a transfer manipulator of colour box assembling machine to solve the problems raised in the above background.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a transfer manipulator of colour box assembling machine, comprising a support column, a rotary support plate and a manipulator clamping arm, the top of the support column is provided with a mechanical arm one, the top end of the mechanical arm one is provided with a mechanical arm two, the top end of the mechanical arm two is provided with a mechanical arm three, and one end of the mechanical arm one is provided with a horizontal joint one, the top of the horizontal joint one is installed with a servo motor one, the output end of the servo motor one is fixedly connected with the support column, both ends of the mechanical arm one are respectively provided with a rotary joint two and a rotary joint three, and the outer sides of the rotary joint two and the rotary joint three are respectively installed with a servo motor two and a servo motor three, the servo motor two and the servo motor three are respectively fixedly connected with the rotary joint one and the rotary joint four provided at one end of the mechanical arm one and the mechanical arm three, the other end of the mechanical arm three is provided with a horizontal joint two, and the top of the horizontal joint two is installed with a servo motor four, the output end of the servo motor four is installed with a rotary support plate.

[0006] A support arm is provided on one side of the rotating support plate, and the other end of the support arm is fixedly connected to the movable ring provided on the outer side of the horizontal joint. A clamping motor is provided at one end of the rotating support plate, and the output end of the clamping motor extends into the slot on the inner side of the rotating support plate and is connected to a lead screw. Both ends of the lead screw are equipped with robotic grippers. The inner sides of the two robotic grippers are detachably equipped with clamping plates through mounting seats. Rubber anti-slip teeth are evenly provided on the inner side of the clamping plates.

[0007] Preferably, a connecting block is provided on the outer side of the clamping plate via a spring rod assembly, and a connecting groove for accommodating the connecting block is provided on the inner side of the mounting base. Pressure sensors are installed at the connection points between the spring rod assembly and the clamping plate.

[0008] Preferably, locking screws are installed on the outer side of the robotic arm gripper, and a handwheel is provided at one end of the locking screw, while the other end of the locking screw extends into the interior of the connecting groove and abuts against the connecting block.

[0009] Preferably, the two ends of the lead screw are provided with a first threaded post and a second threaded post with opposite thread directions, and the connection between the robotic arm and the lead screw is provided with a threaded hole for the first threaded post and the second threaded post to pass through.

[0010] Preferably, the inner wall of the rotating support plate is provided with a strip-shaped groove, and the top ends of the two robotic arm grippers are each provided with a slider extending into the strip-shaped groove.

[0011] Preferably, an annular groove is provided on the outer side of the second horizontal joint, and rollers extending into the annular groove are uniformly installed on the inner wall of the movable ring.

[0012] Preferably, the side wall of the supporting column is equipped with a controller via a bracket.

[0013] This utility model relates to a transfer robot for a color box assembly machine, which has significant advantages over the prior art, specifically in the following aspects:

[0014] 1. High flexibility and wide range of motion:

[0015] This invention employs a multi-joint robotic arm structure, including robotic arm one, robotic arm two, and robotic arm three, as well as multiple rotary and horizontal joints. This design enables the robotic arm to possess high flexibility and a wide range of motion. Through the coordinated drive of servo motor one, servo motor two, servo motor three, and servo motor four, the robotic arm can perform precise rotation and positioning in multiple dimensions, thereby adapting to the grasping and transfer needs of color boxes of different sizes and shapes. Compared with traditional single-joint or fixed-structure robotic arms, this invention can significantly improve production efficiency and adapt to various production scenarios.

[0016] 2. Removable and replaceable clamp design:

[0017] The gripper arms feature detachable clamps on their inner sides, allowing users to select the appropriate clamp based on the characteristics of different boxes. This design not only improves the versatility of the robotic arm but also reduces equipment adjustment time required when changing to different types of boxes. Furthermore, the evenly spaced rubber anti-slip teeth on the inner side of the clamps effectively prevent the boxes from slipping during gripping, ensuring stability and safety during handling.

[0018] 3. The compensation and buffering function of the spring rod assembly:

[0019] A connecting block is installed on the outside of the clamping plate via a spring rod assembly. The spring rod assembly can compensate for the wear of the clamping plate through its own elastic deformation, so that the clamping fixture always maintains a stable clamping force. At the same time, the spring rod assembly also acts as a buffer, avoiding direct rigid contact between the clamping plate and the workpiece, effectively preventing scratches, indentations or deformation of the color box surface, and improving product quality.

[0020] 4. Intelligent monitoring of pressure sensors:

[0021] A pressure sensor is installed at the connection between the spring rod assembly and the clamping plate to monitor the clamping force in real time. By analyzing and processing the pressure sensor data through the controller, precise control of the clamping force can be achieved, ensuring that the clamping force is neither too large nor too small, further improving the level of intelligence and safety of operation.

[0022] 5. Smooth rotation of the rotating support plate:

[0023] A support arm is provided on one side of the rotating support plate, and the other end of the support arm is fixedly connected to a movable ring on the outer side of the horizontal joint. The movable ring and support arm not only improve the overall strength of the structure, but also make the rotating support plate more stable during rotation, reducing the displacement or damage of the color box caused by vibration, and improving the stability and reliability of the handling process.

[0024] 6. Precise adjustment of the threaded column:

[0025] The lead screw has two threaded posts, one with opposite thread directions, at both ends, and threaded holes are provided at the connection between the robotic arm and the lead screw. This design allows the spacing of the robotic arm's gripper arms to be precisely adjusted via the threaded posts, adapting to different sizes of color boxes and improving the robotic arm's adaptability and flexibility.

[0026] 7. Design of strip-shaped grooves and sliders:

[0027] The inner wall of the rotating support plate is provided with strip-shaped grooves, and the top of the robotic arm gripper is provided with a slider extending into the strip-shaped grooves. This design further enhances the stability of the robotic arm gripper on the rotating support plate, ensuring that the robotic arm gripper will not shift or fall off under high-speed movement or heavy load conditions.

[0028] 8. The shock absorption effect of the annular groove and rollers:

[0029] An annular groove is provided on the outer side of the second horizontal joint, and rollers extending into the annular groove are evenly installed on the inner wall of the movable ring. This design not only improves the rotational flexibility of the movable ring, but also provides good shock absorption, further enhancing the smoothness of the robot's operation and its service life.

[0030] In summary, this utility model significantly improves the flexibility, stability, and intelligence of the transfer robot of the color box assembly machine through technological innovations such as the multi-joint robotic arm structure, the detachable and replaceable clamping plate design, the compensation and buffering effect of the spring rod assembly, the intelligent monitoring of the pressure sensor, the smooth rotation of the rotating support plate, the precise adjustment of the threaded column, the design of the strip-shaped slide and the slider, and the shock absorption effect of the annular groove and the roller, thereby effectively improving production efficiency and product quality. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0033] Figure 2 This is a schematic diagram of the robotic gripper arm structure of this utility model;

[0034] Figure 3 This is a schematic diagram of the clamping plate installation structure of this utility model;

[0035] Figure 4 This is a schematic diagram of the movable ring structure of this utility model;

[0036] In the diagram: 1. Support column; 2. Controller; 3. Horizontal joint one; 4. Servo motor one; 5. Robotic arm one; 6. Servo motor two; 7. Robotic arm two; 8. Servo motor three; 9. Robotic arm three; 10. Rotary joint one; 11. Rotary joint two; 12. Rotary joint three; 13. Rotary joint four; 14. Servo motor four; 15. Horizontal joint two; 16. Movable ring; 17. Support arm; 18. Rotary support plate; 19. Robotic arm gripper; 20. Locking screw; 21. Clamping motor; 22. Strip groove; 23. Lead screw; 24. Threaded post one; 25. Threaded post two; 26. Clamping plate; 27. Roller; 28. Annular groove; 29. ​​Slider; 30. Threaded hole; 31. Spring rod assembly; 32. Pressure sensor; 33. Rubber anti-slip teeth; 34. Slot; 35. Connecting block; 36. Connecting groove; 37. Mounting base. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0038] Please see Figures 1-4 This utility model provides an embodiment of a transfer robot for a color box assembly machine, comprising a support column 1, a rotating support plate 18, and a robot gripper arm 19. A controller 2 is mounted on the side wall of the support column 1 via a bracket. A robot arm 5 is mounted on the top of the support column 1, a robot arm 7 is mounted at the top of the robot arm 5, and a robot arm 9 is mounted at the top of the robot arm 7. A horizontal joint 3 is mounted at one end of the robot arm 5, and a servo motor 4 is mounted on the top of the horizontal joint 3. The output end of the servo motor 4 is fixedly connected to the support column 1. The robotic arm 5 has a rotary joint 2 11 and a rotary joint 3 12 at its two ends, and a servo motor 2 6 and a servo motor 3 8 are respectively installed on the outer side of the rotary joint 2 11 and the rotary joint 3 12. The servo motor 2 6 and the servo motor 3 8 are fixedly connected to the rotary joint 10 and the rotary joint 4 13 at one end of the robotic arm 5 and the robotic arm 3 9, respectively. The other end of the robotic arm 3 9 has a horizontal joint 2 15, and a servo motor 4 14 is installed on the top of the horizontal joint 2 15. A rotary support plate 18 is installed on the output end of the servo motor 4 14.

[0039] Support column 1: Serves as the base of the entire robotic arm, providing stable support. A controller 2 is mounted on the side wall of support column 1 via a bracket, used to control the movement of the entire robotic arm.

[0040] Robotic arm 1 5: Installed on top of support column 1, with robotic arm 2 7 connected to the top of robotic arm 1 5.

[0041] Robotic arm 2 7: mounted on the top of robotic arm 1 5, and robotic arm 3 9 is further connected to the top of robotic arm 2 7.

[0042] Horizontal joint 3: Located at one end of robotic arm 5, with servo motor 4 mounted on top of horizontal joint 3. The output end of servo motor 4 is fixedly connected to support column 1 and is used to drive the horizontal rotation of robotic arm 5.

[0043] Rotary joint 2 11 and rotary joint 3 12: These are respectively located at both ends of robotic arm 1 5. Servo motor 2 6 and servo motor 3 8 are respectively mounted on the outer side of rotary joint 2 11 and rotary joint 3 12. Servo motor 2 6 and servo motor 3 8 are fixedly connected to rotary joint 1 10 and rotary joint 4 13 located at one end of robotic arm 1 5 and robotic arm 3 9, respectively, and are used to drive the rotation of robotic arm 1 5 and robotic arm 3 9.

[0044] Horizontal joint 2 15: Located at the other end of robotic arm 3 9, with servo motor 4 14 mounted on top of horizontal joint 2 15. A rotating support plate 18 is mounted on the output end of servo motor 4 14.

[0045] Rotating support plate 18: Installed at the output end of servo motor 14, used to support and rotate the robotic arm gripper 19.

[0046] Robotic gripper arm 19: mounted on rotating support plate 18, used for gripping and transferring color boxes.

[0047] A support arm 17 is provided on one side of the rotating support plate 18. The other end of the support arm 17 is fixedly connected to the movable ring 16 provided on the outer side of the horizontal joint 15. An annular groove 28 is provided on the outer side of the horizontal joint 15, and rollers 27 extending into the annular groove 28 are evenly installed on the inner wall of the movable ring 16.

[0048] The rotating support plate 18 is a fundamental component of this device, and its material is preferably high-strength steel to ensure sufficient load-bearing capacity. The rotating support plate 18 has a rotating shaft hole at its center for connection with the drive mechanism to realize the rotation function.

[0049] One end of the support arm 17 is fixedly connected to one side edge of the rotating support plate 18. The support arm 17 is preferably made of high-strength steel, and its length and cross-sectional shape are designed according to the load-bearing requirements and structural stability. The other end of the support arm 17 is fixedly connected to the movable ring 16.

[0050] Horizontal joint 2 15 is located near the other end of support arm 17, and has an annular groove 28 on its outer side. The material of horizontal joint 2 15 is preferably a wear-resistant material, such as high-carbon steel or alloy steel. The design of horizontal joint 2 15 allows it to rotate horizontally to adapt to different working postures.

[0051] The movable ring 16 is fixedly connected to the other end of the support arm 17 and is connected to the outer side of the horizontal joint 15 through the connecting hole 20. The movable ring 16 is preferably made of a lightweight, high-strength alloy, such as aluminum alloy. The inner wall of the movable ring 16 has several mounting holes 21 evenly distributed for mounting rollers 27.

[0052] Roller 27 is fixed to the inner wall of movable ring 16 through mounting hole 21, and the extension of roller 27 enters the interior of annular groove 28. Roller 27 is preferably made of wear-resistant polymer material, such as polyurethane. The design of roller 27 allows it to roll within annular groove 28, thereby reducing friction between movable ring 16 and horizontal joint 15, improving the overall strength of the structure, and making the rotating support plate more stable during rotation.

[0053] A clamping motor 21 is provided at one end of the rotating support plate 18. The output end of the clamping motor 21 extends into the slot 34 on the inner side of the rotating support plate 18 and is connected to a lead screw 23. Both ends of the lead screw 23 are equipped with robotic grippers 19. Both ends of the lead screw 23 are provided with threaded post 1 24 and threaded post 25 with opposite thread directions. The connection between the robotic gripper 19 and the lead screw 23 is provided with threaded holes 30 for threaded post 1 24 and threaded post 25 to pass through.

[0054] The output end of the clamping motor 21 extends into the slot 34 inside the rotating support plate 18 via a transmission device. The slot 34 is designed to accommodate the lead screw 23 and its related components, while ensuring the smoothness and accuracy of the lead screw 23 during movement. The lead screw 23 uses a high-precision thread to ensure the movement accuracy of the robotic arm 19.

[0055] Robotic gripper arms 19 are mounted on both ends of the lead screw 23. The robotic gripper arms 19 are made of lightweight alloy material, featuring high strength and lightweight characteristics. The design of the robotic gripper arms 19 enables them to flexibly grip objects of various shapes and sizes.

[0056] The two ends of the lead screw 23 are respectively provided with threaded post 1 24 and threaded post 25 with opposite thread directions. The opposite thread directions of threaded post 1 24 and threaded post 25 enable the robotic arm 19 to move inward or outward synchronously when the lead screw 23 rotates, thereby realizing the function of clamping and releasing objects.

[0057] A threaded hole 30 is provided at the connection between the robotic arm gripper 19 and the lead screw 23. The diameter of the threaded hole 30 matches the size of the threaded post 24 and the threaded post 25, ensuring that the threaded post 24 and the threaded post 25 can pass through smoothly and be fixed. The design of the threaded hole 30 also takes into account wear resistance and fatigue resistance to ensure that it will not loosen or wear after long-term use.

[0058] Both robotic arm grippers 19 have detachable clamping plates 26 mounted on their inner sides via mounting bases 37. The inner sides of the clamping plates 26 are evenly provided with rubber anti-slip teeth 33.

[0059] A connecting block 35 is provided on the outer side of the clamping plate 26 via the spring rod assembly 31, and a connecting groove 36 for accommodating the connecting block 35 is provided on the inner side of the mounting base 37. Pressure sensors 32 are installed at the connection points between the spring rod assembly 31 and the clamping plate 26.

[0060] Locking screws 20 are installed on the outer side of the robotic arm gripper 19. One end of the locking screw 20 is equipped with a handwheel, and the other end of the locking screw 20 extends into the interior of the connecting groove 36 and abuts against the connecting block 35.

[0061] The inner wall of the rotating support plate 18 is provided with a strip-shaped groove 22, and the top of each of the two robotic arm grippers 19 is provided with a slider 29 extending into the strip-shaped groove 22.

[0062] Clamping plates 26 are detachably mounted on the inner sides of the two robotic arm grippers 19 via mounting bases 37. Rubber anti-slip teeth 33 are evenly arranged on the inner side of the clamping plates 26. These rubber anti-slip teeth 33 can effectively increase the friction when gripping objects and prevent objects from slipping.

[0063] A connecting block 35 is provided on the outer side of the clamping plate 26 via a spring rod assembly 31. One end of the spring rod assembly 31 is fixed to the clamping plate 26, and the other end is connected to the connecting block 35. A connecting groove 36 for accommodating the connecting block 35 is provided on the inner side of the mounting base 37. Pressure sensors 32 are installed at the connection points between the spring rod assembly 31 and the clamping plate 26 to monitor the pressure applied to the object during clamping in real time, ensuring that the clamping force is appropriate and avoiding damage to the object.

[0064] Locking screws 20 are installed on the outer side of the robotic arm gripper 19. One end of each locking screw 20 has a handwheel, allowing the operator to adjust its position by rotating the handwheel. The other end of the locking screw 20 extends into the connecting groove 36 and abuts against the connecting block 35. By adjusting the locking screws 20, the position of the connecting block 35 within the connecting groove 36 can be controlled, thereby adjusting the clamping force of the clamping plate 26.

[0065] The inner wall of the rotating support plate 18 is provided with a strip-shaped groove 22. The top of each of the two robotic arm grippers 19 is provided with a slider 29 extending into the strip-shaped groove 22. The slider 29 can slide within the strip-shaped groove 22, so that the robotic arm grippers 19 can open and close under the drive of the rotating support plate 18, realizing the function of gripping and releasing objects.

[0066] Pressure sensor 32: The pressure sensor 32 installed at the connection between the spring rod assembly 31 and the clamping plate 26 can monitor the clamping force in real time and feed the data back to the control system to ensure the safety and reliability of the clamping process.

[0067] When this application embodiment is used,

[0068] System startup and self-test: Turn on the power to the entire color box assembly machine and transfer robot. Controller 2 performs a self-test on each component, checking whether servo motor 1 4, servo motor 2 6, servo motor 3 8, servo motor 4 14, and clamping motor 21 are working properly. At the same time, check whether pressure sensor 32 can accurately transmit data, ensuring that the joints move smoothly and that components such as lead screw 23 do not jam.

[0069] Clamping plate selection and installation: Select a suitable clamping plate 26 according to the characteristics of the color box, install it on the inside of the robotic arm 19 through the mounting base 37, and adjust the locking screw 20 by rotating the handwheel to fix the connecting block 35 in the connecting groove 36, ensuring that the clamping plate 26 is installed firmly.

[0070] Color box grabbing stage

[0071] Robotic Arm Positioning - Controller 2 controls servo motor 4 to start, driving horizontal joint 3 to rotate, causing robotic arm 5 to rotate horizontally to the approximate area where the color box is located. - Simultaneously, controller 2 controls servo motors 6 and 8 to drive rotary joints 11 and 12 respectively, causing robotic arms 5 and 9 to rotate, adjusting robotic arms 7 and 9 to the appropriate angle, moving the rotating support plate 18 and robotic gripper arm 19 directly above the color box. - If necessary, controller 2 controls servo motor 14 to drive horizontal joint 15 to rotate, further adjusting the horizontal angle of the rotating support plate 18, so that the robotic gripper arm 19 is accurately aligned with the color box.

[0072] Arm opening and closing adjustment: Controller 2 starts clamping motor 21, which drives lead screw 23 to rotate. Since the threaded post 1 24 and threaded post 25 at both ends of lead screw 23 have opposite thread directions, the threaded holes 30 on the robotic arm clamping arms 19 engage with the threaded posts, causing the two robotic arm clamping arms 19 to move outward synchronously along lead screw 23, increasing the clamping arm distance until the color box can be accommodated. Simultaneously, slider 29 slides within strip-shaped groove 22, ensuring the stability of the clamping arm movement.

[0073] Descending and gripping: The robotic arm continues to adjust its position so that the robotic gripper arm 19 descends to a suitable height and places the color box between the two clamping plates 26.

[0074] Clamping the color box: Controller 2 controls the clamping motor 21 to reverse, the lead screw 23 to rotate in the opposite direction, and the two robotic arms 19 move inward synchronously, with the clamping plate 26 gradually approaching the color box. When the clamping plate 26 contacts the color box, the pressure sensor 32 begins to monitor the clamping force in real time and feeds the data back to controller 2. Controller 2 precisely controls the rotation of the clamping motor 21 according to the preset clamping force parameters, so that the clamping plate 26 applies a suitable clamping force to the color box. The rubber anti-slip teeth 33 increase the friction and prevent the color box from slipping. At the same time, the spring rod assembly 31 acts as a buffer to avoid damage caused by rigid contact between the clamping plate 26 and the color box.

[0075] Color box transfer stage

[0076] Robotic arm movement: Controller 2 controls servo motors 4, 6, 8, and 14 to work together, enabling robotic arms 5, 7, and 9 to rotate and move along a preset path and angle, transferring the grasped color box to the designated assembly position. During the movement, the rollers 27 on the inner wall of the movable ring 16 roll within the annular groove 28 on the outer side of the horizontal joint 15, reducing friction and ensuring smooth rotation of the rotating support plate 18, preventing the color box from shifting position due to vibration.

[0077] Real-time monitoring and adjustment: During the transfer process, pressure sensor 32 continuously monitors the clamping force. If the clamping force changes due to vibration or other reasons, controller 2 will promptly adjust the rotation of clamping motor 21 to ensure stable clamping force. Simultaneously, controller 2 monitors the operating status of each servo motor and the position of the robotic arm in real time to ensure the color box is accurately transferred to the target location.

[0078] Color box placement stage

[0079] Position adjustment: When the robotic arm moves the color box above the assembly position, the controller 2 controls each servo motor to fine-tune the position and angle of the robotic arm so that the color box is precisely aligned with the assembly position.

[0080] Release the color box: The controller 2 controls the clamping motor 21 to rotate in the forward direction, and the lead screw 23 rotates to make the two robotic arm clamps 19 move outward synchronously. The clamping plate 26 gradually releases the color box and places the color box in the assembly position.

[0081] Robotic arm reset: After the color box is placed, controller 2 controls each servo motor to drive the robotic arm back to the initial position, preparing for the next grabbing and transfer of color boxes.

[0082] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A transfer robot of a carton assembly machine, comprising a support column (1), a rotating support plate (18) and a robot gripper arm (19), characterized in that: The top of the support column (1) is provided with a mechanical arm one (5), the top end of the mechanical arm one (5) is provided with a mechanical arm two (7), the top end of the mechanical arm two (7) is provided with a mechanical arm three (9), and one end of the mechanical arm one (5) is provided with a horizontal joint one (3), the top of the horizontal joint one (3) is installed with a servo motor one (4), the output end of the servo motor one (4) is fixedly connected with the support column (1), both ends of the mechanical arm one (5) are provided with a rotating joint two (11) and a rotating joint three (12), and the outer sides of the rotating joint two (11) and the rotating joint three (12) are respectively installed with a servo motor two (6) and a servo motor three (8), the servo motor two (6) and the servo motor three (8) are fixedly connected with the rotating joint one (10) and the rotating joint four (13) provided at one end of the mechanical arm one (5) and the mechanical arm three (9) respectively, the other end of the mechanical arm three (9) is provided with a horizontal joint two (15), and the top of the horizontal joint two (15) is installed with a servo motor four (14), the output end of the servo motor four (14) is installed with a rotating support plate (18); One side of the rotating support plate (18) is provided with a support arm (17), the other end of the support arm (17) is fixedly connected with a movable ring (16) provided outside the horizontal joint two (15), and one end of the rotating support plate (18) is provided with a clamping motor (21), the output end of the clamping motor (21) extends to the inside of the slot (34) on the inside of the rotating support plate (18) and is connected with a lead screw (23), both ends of the lead screw (23) are installed with a mechanical hand clamping arm (19), the inside of the two mechanical hand clamping arms (19) is detachably installed with a clamping plate (26) through a mounting seat (37), and the inside of the clamping plate (26) is uniformly provided with rubber anti-skid teeth (33).

2. The transfer robot of a carton packer according to claim 1, characterized in that: The outside of the clamping plate (26) is provided with a connecting block (35) through a spring rod assembly (31), and the inside of the mounting seat (37) is provided with a connecting groove (36) for accommodating the connecting block (35), and the connecting part of the spring rod assembly (31) and the clamping plate (26) is installed with a pressure sensor (32).

3. The transfer robot of a carton packer according to claim 1, wherein: The outside of the mechanical hand clamping arm (19) is installed with a locking screw (20), and one end of the locking screw (20) is provided with a hand wheel, and the other end of the locking screw (20) extends to the inside of the connecting groove (36) and abuts against the connecting block (35).

4. The transfer robot of a carton packer according to claim 1, wherein: Both ends of the lead screw (23) are provided with a threaded column one (24) and a threaded column two (25) with opposite thread directions, and the connecting part of the mechanical hand clamping arm (19) and the lead screw (23) is provided with a threaded hole (30) for the threaded column one (24) and the threaded column two (25) to pass through.

5. The transfer robot of a carton packer according to claim 1, wherein: The inner wall of the rotating support plate (18) is provided with a strip-shaped sliding groove (22), and the top end of the two mechanical hand clamping arms (19) is provided with a sliding block (29) extending into the strip-shaped sliding groove (22).

6. A transfer robot for a carton packer according to claim 1, wherein: The outer side of the horizontal joint two (15) is provided with an annular groove (28), and the inner wall of the movable ring (16) is uniformly provided with a roller (27) extending into the annular groove (28).

7. The transfer robot of a carton packer according to claim 1, wherein: The side wall of the support column (1) is provided with a controller (2) through a support.

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