An automatic case blank gripping hand and an automatic case blank loading robot

Abstract

The utility model discloses an automatic upper box blank gripper and automatic upper box blank robot, automatic upper box blank gripper including gripper body, sucking disc subassembly, push -and -pull mechanism and hooking area cutter subassembly, sucking disc subassembly sets up in the lower end surface of gripper body, and the sliding block subassembly slidingly sets up on the gripper body, and the hooking area cutter subassembly sets up on the sliding block subassembly, and the sliding block subassembly is connected with push -and -pull mechanism, and push -and -pull mechanism sets up on the gripper body, is used for driving the back and forth movement of sliding block subassembly. The utility model can realize the automatic fetching of whole bale box blank and reduce the labor intensity, improve production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of packaging machinery technology, specifically to an automatic box blank feeder and an automatic box blank feeder robot. Background Technology

[0002] In existing general industries, multi-joint robots equipped with various types of grippers are frequently used to pick up or pick up materials for boxing, packaging, or placement in designated locations, replacing manual labor. Due to the significant diversity of materials in general industries, varying greatly in size and shape, targeted grippers are needed to adapt to the specific materials being handled. Currently, in general industries, the supply or addition of carton blanks to main equipment such as carton packing machines is mostly done manually by workers or using simple conveyor equipment to deliver bundles of carton blanks to the carton packing machine, with workers then manually assisting in adding more blanks. The process involves transferring bundles (typically 20 boxes per bundle) of carton blanks from a transfer pallet to the carton packing machine's blank rack, cutting and removing two strapping straps, operating the corresponding parts, and then continuing production after loading. This method, relying on manual or semi-manual labor, involves workers frequently bending or squatting, resulting in low efficiency, increased physical exertion, and a risk of occupational diseases over time, impacting worker health. This approach can no longer meet workers' growing demands for higher quality work. Therefore, there is an urgent need to develop a gripper that can be mounted on articulated robots, is structurally sound, highly efficient, and widely adaptable to address this problem. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic box-loading gripper and an automatic box-loading robot to realize the automatic gripping and loading of whole bundles of box blanks, reduce labor intensity, and improve production efficiency.

[0004] The technical solution adopted by this utility model is: An automatic blank loading gripper includes a gripper body, a suction cup assembly, a push-pull mechanism, and a hook-and-cutter assembly. The suction cup assembly is disposed on the lower end face of the gripper body, the slider assembly is slidably disposed on the gripper body, the hook-and-cutter assembly is disposed on the slider assembly, and the slider assembly is connected to the push-pull mechanism, which is disposed on the gripper body and is used to drive the slider assembly to move back and forth.

[0005] Preferably, there are two sets of hook-and-cutter assemblies and two sets of slider assemblies. The two slider assemblies are symmetrically arranged on the gripper body, and the two sets of hook-and-cutter assemblies are respectively arranged opposite to each other on the two slider assemblies. The slider assembly includes a slider, a guide rod arranged longitudinally on the gripper body, the slider being mounted on the guide rod, and the slider being connected to a push-pull mechanism, which drives the slider to move back and forth along the guide rod.

[0006] Preferably, the slider assembly and the hook-and-cutter assembly are arranged on the centerline of the gripper body; The suction cup assembly includes multiple vacuum suction cups mounted on the gripper body. The multiple vacuum suction cups are divided into two groups and are respectively arranged on both sides of the centerline of the slider assembly and the hook-and-cutter assembly.

[0007] Preferably, the push-pull mechanism includes an ejector cylinder, which is mounted on the gripper body, and the movable end of the ejector cylinder is connected to the slider assembly.

[0008] Preferably, the hook and belt cutter assembly includes a cutter pressure plate cylinder, a pressure plate, a hook and belt plate, and a cutter. The hook and belt plate is horizontally arranged on the slider assembly along the longitudinal direction, and the cutter pressure plate cylinder is vertically arranged on the slider assembly. The pressure plate is connected to the movable end of the cutter pressure plate cylinder and is located directly above the hook and belt plate. The cutter is located on one side of the pressure plate and is fixedly connected to the pressure plate. The cutter is staggered with the hook and belt plate below.

[0009] Preferably, a protective plate is provided on one side of the cutter, and the protective plate is connected to the slider assembly.

[0010] Preferably, the slider assembly is equipped with a cable tie detection photoelectric sensor to detect whether there is a cable tie on the hook plate; the gripper body is equipped with a vision camera or an independent bracket above the working area is equipped with a vision camera.

[0011] Preferably, the outer ring of the gripper body is provided with a collision safety frame, the collision safety frame is connected to the gripper body by a strong magnet, and a collision switch is connected between the gripper body and the collision safety frame.

[0012] Preferably, the gripper body includes a body frame and a gripper flange for connecting to the robot body. The body frame includes two gripper longitudinal beams and a gripper transverse beam. The two ends of the gripper transverse beam are respectively connected to the middle of the two gripper longitudinal beams. The gripper flange is disposed on the gripper transverse beam. A guide rod connecting plate is connected between the two ends of the two gripper longitudinal beams. The slider assembly includes a slider, a guide rod on the main frame, the slider being mounted on the guide rod and able to move back and forth along the guide rod, the guide rod being arranged longitudinally between two gripper beams, and the two ends of the guide rod being connected to the guide rod connecting plates at both ends respectively.

[0013] An automatic box-loading robot includes an automatic box-loading gripper, a control system, and a robot body. The robot body is connected to the gripper body of the automatic box-loading gripper via a gripper flange. A vision camera is provided on the gripper body or above the working area. The control system is connected to the robot body, the automatic box-loading gripper, and the vision camera.

[0014] The beneficial effects of this utility model are: This invention uses a suction cup assembly to grab and transfer the entire bundle of box blanks to the box blank storage of the box opener, and uses a hook and cutter assembly to hook up and cut the binding straps of the entire bundle of box blanks, thereby realizing automatic grabbing and feeding of the entire bundle of box blanks, reducing labor intensity and improving production efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the automatic blank loading gripper in an embodiment of this utility model.

[0016] Figure 2 yes Figure 1 A-direction view.

[0017] Figure 3 This is a schematic diagram of the slider assembly in an embodiment of this utility model.

[0018] Figure 4 This is a schematic diagram of the automatic blank loading gripper grasping the blank in an embodiment of this utility model.

[0019] In the diagram: 1-Box blank; 2-Bundling strap; 3-Grab body; 4-First vacuum interface; 5-Second vacuum interface; 1-1-Collision switch; 1-2-Switch bracket; 1-3-Grab flange; 1-4-Grab longitudinal beam; 1-5-Extension bracket; 1-6-Ejection cylinder; 1-7-Ejection cylinder tailstock; 1-8-Transition vacuum tube structure; 1-9-Safety frame bracket; 1-10-Powerful magnet; 1-11-Collision safety frame; 1-12-Vacuum inlet pipe connector; 1-13-Vacuum pipe; 2-1-Vacuum suction cup; 2-2-Guide rod pressure plate; 2-3-Grip beam; 2-4-Air blowing connector; 2-5-Guide rod connecting plate; 2-6-Guide rod; 3-1-Cutter pressure plate cylinder; 3-2-Slider; 3-3-Pressure plate; 3-4-Hook plate; 3-5-Cutter; 3-6-Protective plate; 3-7-Detection bracket; 3-8-Cable tie detection photoelectric sensor. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0021] In the description of this utility model, it should be understood that if terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0023] Example 1 An automatic blank loading gripper includes a gripper body, a suction cup assembly, a push-pull mechanism, and a hook-and-cutter assembly. The suction cup assembly is disposed on the lower end face of the gripper body, the slider assembly is slidably disposed on the gripper body, the hook-and-cutter assembly is disposed on the slider assembly, and the slider assembly is connected to the push-pull mechanism, which is disposed on the gripper body and is used to drive the slider assembly to move back and forth.

[0024] Furthermore, there are two sets of hook-and-cutter assemblies and two sets of slider assemblies. The two slider assemblies are symmetrically arranged on the gripper body, and the two sets of hook-and-cutter assemblies are respectively arranged on the two slider assemblies. The two sets of hook-and-cutter assemblies are also relatively symmetrically arranged. The slider assembly includes a slider 3-2, and a guide rod 2-6 is arranged longitudinally on the gripper body. The slider is set on the guide rod and is connected to a push-pull mechanism. The push-pull mechanism drives the slider to move back and forth along the guide rod.

[0025] Furthermore, the slider assembly and the hook-and-cutter assembly are arranged on the centerline of the gripper body; The suction cup assembly includes multiple vacuum suction cups mounted on the gripper body. The multiple vacuum suction cups are divided into two groups and are symmetrically arranged on both sides of the centerline where the slider assembly and hook-and-cutter assembly are located on the gripper body.

[0026] Furthermore, the push-pull mechanism includes an ejector cylinder, which is mounted on the gripper body. The movable end of the ejector cylinder is connected to the slider of the slider assembly. The ejector cylinder can drive the slider to move back and forth along the guide rod.

[0027] Example 2 Based on Example 1, the hook and strip cutter assembly is further defined, resulting in Example 2 having even better performance.

[0028] The hook and strap cutter assembly includes a cutter pressure plate cylinder 3-1, a pressure plate 3-3, a hook and strap plate 3-4, and a cutter 3-5. The hook and strap plate 3-4 is horizontally mounted on the slider assembly along the longitudinal direction. The cutter pressure plate cylinder is vertically mounted on the slider of the slider assembly. The pressure plate is connected to the movable end of the cutter pressure plate cylinder and is positioned directly above the hook and strap plate. The cutter is positioned on one side of the pressure plate and is fixedly connected to the pressure plate. The cutter is staggered from the hook and strap plate below. When the cutter pressure plate cylinder extends, it drives the cutter and the pressure plate to move towards the hook and strap plate. The pressure plate presses down on the strapping on the hook and strap plate, while the cutter moves down to cut the strapping from one side of the hook and strap plate. When the cutter pressure plate cylinder retracts, it drives the cutter and the pressure plate to move upward towards the hook and strap plate, and the pressure plate disengages from the hook and strap plate.

[0029] Furthermore, a protective plate 3-6 is provided on one side of the cutter, and the protective plate is connected to the slider assembly.

[0030] Furthermore, the slider assembly is equipped with cable tie detection photoelectric sensor 3-8, which is used to detect whether there is a cable tie on the hook plate (that is, to detect whether the hook plate has successfully hooked the cable tie).

[0031] Furthermore, the cable tie detection photoelectric sensor is mounted on the slider assembly via the detection bracket 3-7, and the cable tie detection photoelectric sensor 3-8 is mounted above the hook plate; a vision camera is mounted on the gripper body or on an independent bracket above the working area.

[0032] Furthermore, slider 3-2 is directly fitted onto a pair of guide rods 2-6, and the tail sections of a pair of ejector cylinders 1-6 are respectively fitted onto ejector cylinder tailstocks 1-7, equipped with nuts for locking and limiting. The heads are mounted on slider 3-2 via their own pins. Hook plates 3-4 are bolted to the bottom of slider 3-2. When ejector cylinders 1-6 extend, hook plates 3-4 can hook the strapping tape. During the strapping tape hooking process, the strapping tape detection photoelectric sensor 3-8, bolted to the detection bracket 3-7, will detect the strapping tape and send a success signal to the control system. If no signal is received, it indicates that the strapping tape hooking has failed, and the system completes the transfer and rejection of the entire bundle of blanks. A protective plate 3-6, bolted to the side of slider 3-2, provides safety protection when the cutter 3-5 extends. The cutter pressure plate cylinder 3-1 is bolted to the slider 3-2, and the bottom is bolted to the pressure plate 3-3. The cutter 3-5 is also bolted to the side of the pressure plate 3-3. When the cutter pressure plate cylinder 3-1 extends, the cutter 3-5 cuts the strapping that has been hooked on the hook plate 3-4 and clamps one end of the strapping. Driven by the robot, the strapping can be pulled out and placed into the designated recycling station.

[0033] Furthermore, the outer ring of the gripper body is provided with a collision safety frame 1-11, which is connected to the gripper body by a strong magnet 1-10. A collision switch 1-1 is connected between the gripper body and the collision safety frame. The collision safety frame 1-11 and the collision switch 1-1 connected thereto serve as safety components.

[0034] Furthermore, the gripper body includes a body frame and a gripper flange for connecting to the robot body. The body frame includes two gripper longitudinal beams 1-4 and a gripper crossbeam 2-3. The two ends of the gripper crossbeam are respectively connected to the middle of the two gripper longitudinal beams 1-4. The gripper flange is set on the gripper crossbeam. A guide rod connecting plate 2-5 is connected between the two ends of the two gripper longitudinal beams. The slider assembly includes a slider, a guide rod on the main frame, the slider being mounted on the guide rod and able to move back and forth along the guide rod, the guide rod being arranged longitudinally between two gripper beams, and the two ends of the guide rod being connected to the guide rod connecting plates at both ends respectively.

[0035] Furthermore, there are two guide rods, and a guide rod pressure plate 2-2 is connected between the middle of the two guide rods. The guide rod pressure plate is connected to the gripper beam.

[0036] Furthermore, some vacuum suction cups are directly connected to the main frame, while others are connected to the main frame via an extension bracket. The extension bracket helps to avoid other components, allowing the vacuum suction cups to be distributed throughout the body and ensuring a more even distribution of force during gripping.

[0037] An automatic box-loading robot includes an automatic box-loading gripper, a control system, and a robot body. The robot body is connected to the gripper body of the automatic box-loading gripper via a gripper flange. A vision camera is provided on the gripper body or above the working area. The control system is connected to the robot body, the automatic box-loading gripper, and the vision camera.

[0038] The control system is connected to the suction cup assembly, push-pull mechanism, hook and cable cutter assembly, and cable tie detection photoelectric sensor.

[0039] The gripper body is equipped with a vision camera or an independent bracket above the working area. The vision camera is used to acquire images and identify and determine the box blank and its position in the image.

[0040] The working process of this utility model is as follows: Step 1: The robot body drives the automatic box-loading gripper to move to the storage area for the whole bundle of box blanks; Step 2: Identify the specific location of the entire bundle of blanks using a vision camera; Step 3: A whole bundle of box blanks is gripped by the suction cup assembly. The push-pull mechanism drives the hook and cutter assembly to move through the slider assembly to hook the strapping on the whole bundle of box blanks. The photoelectric sensor determines whether the strapping has been hooked. Step 4: After moving the grabbed bundle of box blanks to the designated position on the box opener, the strapping is cut by the hook and cutter assembly, and the cut strapping is clamped and moved to the strapping recycling point.

[0041] The working principle of this utility model: like Figure 4 As shown, the automatic box blank loading gripper is mounted on the articulated robot via gripper flange 1-3. A vacuum source is connected to the first and second vacuum interfaces via vacuum pipes. Ten suction cups are used to grip the entire bundle of box blanks. Compressed air via a solenoid valve is connected to the ejector cylinder 1-6 and the cutter pressure plate cylinder 3-1 via air pipes. The ejector cylinder 1-6 extends during its stroke to hook the strapping tape, while the cutter pressure plate cylinder extends to cut the strapping tape and clamp one end of the cut tape. Successful hooking is detected during the strapping tape hooking process. When the automatic box blank loading gripper works in conjunction with a vision camera, it can accurately position the gripper, determine the orientation of the box blank, judge the box blank specifications, and determine the position of the strapping tape. It can also reject non-compliant box blanks, ensuring the stability of the gripper's gripping and the effectiveness of the automatic box blank loading.

[0042] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the automatic blank loading gripper of this utility model comprises, but is not limited to, a pair of collision switches 1-1, a pair of switch brackets 1-2, gripper flanges 1-3, a pair of gripper longitudinal beams 1-4, four extension brackets 1-5, a pair of ejection cylinders 1-6, a pair of ejection cylinder tailstocks 1-7, four transition vacuum tube structures 1-8, four safety frame brackets 1-9, four powerful magnets 1-10, collision safety frame 1-11, a pair of vacuum inlet pipe connectors 1-12, vacuum pipes 1-13, ten vacuum suction cups 2-1, guide rod pressure plates 2-2, gripper crossbeams 2-3, air blowing connectors 2-4, a pair of guide rod connecting plates 2-5, a pair of guide rods 2-6, a pair of cutter pressure plate cylinders 3-1, a pair of sliders 3-2, a pair of pressure plates 3-3, a pair of hook plates 3-4, a pair of cutters 3-5, a pair of protective plates 3-6, a pair of detection brackets 3-7, and a pair of cable tie detection photoelectric eyes 3-8.

[0043] The main body comprises a gripper flange 1-3, a pair of gripper longitudinal beams 1-4, a guide rod pressure plate 2-2, a gripper crossbeam 2-3, a pair of guide rod connecting plates 2-5, and a pair of guide rods 2-6. The gripper flange 1-3 is directly fixed to the gripper crossbeam 2-3 with bolts for connecting the gripper to the robot. The two ends of the pair of guide rods 2-6 are fixed to the pair of guide rod connecting plates 2-5 with bolts, and the middle is pressed against the gripper crossbeam 2-3 by the guide rod pressure plate 2-2 and locked with bolts. The two ends of the pair of guide rod connecting plates 2-5 are respectively fixed to the two ends of the pair of gripper longitudinal beams 1-4 with bolts, forming a structurally stable gripper main body assembly.

[0044] The suction cup assembly includes four vacuum suction cups 2-1 at both ends, which are directly locked onto four extension brackets 1-5 by nuts. The four extension brackets 1-5 are respectively fixed to the outer sides of the two gripper longitudinal beams 1-4 by bolts to expand the position of the vacuum suction cups. There are six vacuum suction cups 2-1 in the middle position, in groups of three, which are installed on the lower side of the two gripper longitudinal beams 1-4. The outer suction cups are connected to each other by vacuum pipes 1-13. The external vacuum source is connected to a pair of gripper longitudinal beams 1-4 with hollow structure through a pair of vacuum inlet pipe connectors 1-12 to ensure vacuum conduction of all vacuum suction cups of the gripper, so as to grasp the bundled box blanks.

[0045] The safety components include a pair of collision switches 1-1, which are bolted to the collision safety frame 1-11 and one of the gripper beams 1-4 via a pair of switch brackets 1-2. Four powerful magnets 1-10 are bolted to the collision safety frame 1-11. Four safety frame brackets 1-9 are bolted to the pair of gripper beams 1-4 and are attracted to the safety frame brackets 1-9 by the powerful magnets 1-10, thus connecting the collision safety frame 1-11 to the gripper. When the robot drives the gripper and encounters an obstacle, the collision safety frame 1-11 will shift relative to the gripper body. At this time, the collision switches 1-1 will send an alarm signal to the control system.

[0046] The slider assembly consists of a pair of cutting and pressing cylinders 3-1, a pair of sliders 3-2, a pair of pressing plates 3-3, a pair of hook plates 3-4, a pair of cutters 3-5, a pair of protective plates 3-6, a pair of detection brackets 3-7, and a pair of cable tie detection photoelectric sensors 3-8. Slider 3-2 is directly fitted onto a pair of guide rods 2-6. The tail sections of the pair of ejection cylinders 1-6 are respectively fitted onto ejection cylinder tail seats 1-7, with nuts for locking and limiting. The heads are mounted on slider 3-2 via their own pins. Hook plates 3-4 are bolted to the bottom of the sliders. When the ejection cylinders 1-6 extend, the hook plates 3-4 can hook the cable ties. During the hooking process, the cable tie detection photoelectric sensors 3-8, bolted to the detection brackets 3-7, will detect the cable tie and send a success signal to the control system. If no signal is received, it indicates that the hooking of the cable tie has failed, and the system completes the transfer and rejection of the entire bundle of blanks. A protective plate 3-6, bolted to the side of the slider 3-2, provides safety protection when the cutter 3-5 extends. A cutter pressure plate cylinder 3-1, bolted to the slider 3-2, has a pressure plate 3-3 bolted to its bottom. The cutter 3-5 is also bolted to the side of the pressure plate 3-3. When the cutter pressure plate cylinder 3-1 extends, the cutter 3-5 cuts the strapping already hooked on the hook plate 3-4 and clamps one end of the strapping. Driven by the robot, the strapping can be pulled out and placed into the designated recycling station.

[0047] In summary: 1. The gripper body is lightweight and has a universal interface, allowing it to be mounted on various articulated robots by matching different flange interfaces; 2. It is multifunctional and highly efficient. Equipped with a vision camera, the gripper can quickly and simultaneously perform all functions, including gripping and positioning, strapping detection, double strapping cutting, and retrieval; 3. The basic gripper model contains 10 suction cups and has an expansion function, effectively preventing detachment and other abnormalities during the gripping of box blanks, resulting in higher stability and reliability; 4. The gripper can handle various common box blank specifications larger than the body's external dimensions without requiring size adjustments, offering wide adaptability and adjustment-free advantages; 5. The gripper's automatic safety anti-collision frame, when mounted on a safety-certified collaborative articulated robot, provides a collision alarm function, allowing for open operation and high safety; 6. This gripper can perform all functions, including gripping, placing, removing, and retrieval of strapping from bundles of various sizes of box blanks.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0049] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. An automatic blank loading gripper, characterized in that: It includes a gripper body, a suction cup assembly, a push-pull mechanism, and a hook-and-cutter assembly. The suction cup assembly is located on the lower end face of the gripper body, the slider assembly is slidably mounted on the gripper body, the hook-and-cutter assembly is mounted on the slider assembly, and the slider assembly is connected to the push-pull mechanism, which is mounted on the gripper body and is used to drive the slider assembly to move back and forth.

2. The automatic blank loading gripper as described in claim 1, characterized in that: There are two sets of hook-and-cutter assemblies and two sets of slider assemblies. The two slider assemblies are symmetrically arranged on the gripper body, and the two sets of hook-and-cutter assemblies are respectively arranged opposite to the two slider assemblies. The slider assembly includes a slider (3-2), a guide rod (2-6) arranged longitudinally on the gripper body, the slider being mounted on the guide rod, the slider being connected to a push-pull mechanism, and the push-pull mechanism driving the slider to move back and forth along the guide rod.

3. The automatic blank loading gripper as described in claim 2, characterized in that: The slider assembly and the hook-and-cutter assembly are arranged on the centerline of the gripper body; The suction cup assembly includes multiple vacuum suction cups mounted on the gripper body. The multiple vacuum suction cups are divided into two groups and are respectively arranged on both sides of the centerline where the slider assembly and the hook-and-cutter assembly are located on the gripper body.

4. The automatic blank loading gripper as described in claim 1, characterized in that: The push-pull mechanism includes an ejector cylinder, which is mounted on the gripper body and the movable end of the ejector cylinder is connected to the slider assembly.

5. The automatic blank loading gripper as described in any one of claims 1-4, characterized in that: The hook-and-belt cutter assembly includes a cutter pressure plate cylinder (3-1), a pressure plate (3-3), a hook-and-belt plate (3-4), and a cutter (3-5). The hook-and-belt plate (3-4) is horizontally mounted on the slider assembly along the longitudinal direction. The cutter pressure plate cylinder is vertically mounted on the slider assembly. The pressure plate is connected to the movable end of the cutter pressure plate cylinder and is positioned directly above the hook-and-belt plate. The cutter is positioned on one side of the pressure plate and is staggered from the hook-and-belt plate below.

6. The automatic blank loading gripper as described in claim 5, characterized in that: A protective plate (3-6) is provided on one side of the cutter, and the protective plate is connected to the slider assembly.

7. The automatic blank loading gripper as described in claim 5, characterized in that: The slider assembly is equipped with a cable tie detection photoelectric sensor (3-8) to detect whether there is a cable tie on the hook plate; the gripper body is equipped with a vision camera or a vision camera is installed above the working area.

8. The automatic blank loading gripper as described in claim 1, characterized in that: The outer ring of the gripper body is provided with a collision safety frame (1-11). The collision safety frame is connected to the gripper body through a strong magnet (1-10). A collision switch (1-1) is connected between the gripper body and the collision safety frame.

9. The automatic blank loading gripper as described in claim 1, characterized in that: The gripper body includes a body frame and a gripper flange for connecting to the robot body. The body frame includes two gripper longitudinal beams (1-4) and a gripper transverse beam (2-3). The two ends of the gripper transverse beam are respectively connected to the middle of the two gripper longitudinal beams (1-4). The gripper flange is set on the gripper transverse beam. A guide rod connecting plate (2-5) is connected between the two ends of the two gripper longitudinal beams. The slider assembly includes a slider, a guide rod on the main frame, the slider being mounted on the guide rod and able to move back and forth along the guide rod, the guide rod being arranged longitudinally between two gripper beams, and the two ends of the guide rod being connected to the guide rod connecting plates at both ends respectively.

10. An automatic box loading robot, characterized in that: The system includes a control system, a robot body, and an automatic blank loading gripper as described in any one of claims 1-9. The robot body is connected to the gripper body of the automatic blank loading gripper via a gripper flange. A vision camera is provided on the gripper body or above the working area. The control system is connected to the robot body, the automatic blank loading gripper, and the vision camera.

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