CN118770645A - A mechanical arm for handling cardboard - Google Patents

Abstract

The present invention provides a robot for cardboard handling, including a robot body, a clamping mechanism installed at the output end of the robot body, a binding mechanism provided on one side of the robot body, and the clamping mechanism including: a connecting plate, the connecting plate is installed at the output end of the robot body; a fixed plate a, a plurality of fixed plates a are arranged at the bottom of the connecting plate; a connecting shaft, the connecting shaft is installed on the fixed plate a; a swing arm, the swing arm is rotatably arranged on the connecting shaft. The present invention drives the screw b to rotate by rotating the driving member e, drives the two moving frames to leave, and the rotating driving member g drives the two guide plates to leave, at which time the plastic belt leaves the guide groove and the moving groove; the rotating driving member h drives the unwinding shaft to reel the plastic belt, and drives the plastic belt locking sleeve to the outside of the duty group; the heating plate in the clamping block b heats and fuses the two plastic belts, and then binds the plastic belt to the outside of the cardboard group.

Description

A mechanical arm for handling cardboard

Technical Field

The invention relates to the technical field of cardboard handling robots, and in particular to a cardboard handling robot.

Background Art

In the production and processing of cardboard, the transportation of cardboard is an important and relatively simple link in the production. Cardboard will be stacked on a pallet during the production process, and the stacked cardboard on the pallet needs to be transported away. In the prior art, there are two ways to transport the stacked cardboard. The first is to transport it manually, but the operation is cumbersome and reduces the efficiency of transportation. The second is to transport it by a robot.

Chinese patent application No. 2021233500475 discloses a robot for grasping cardboard production, including a robot arm and a top fixed plate, the top fixed plate is connected to the robot arm, sliding plates are respectively installed on the bottom outer wall of the top fixed plate, a fixed bottom plate is installed on the outer wall of the sliding plate on one side away from the top fixed plate, spring sensing components are respectively installed on the bottom outer wall of the fixed bottom plate, and the spring sensing components are located on both sides of the fixed bottom plate, a dovetail bottom plate is installed on one side wall of the sliding plate, an adjustment plate is installed on one side wall of the dovetail bottom plate, a cover plate is installed on the top outer wall of the adjustment plate, and an adjusting screw is installed on the adjustment plate through a deep groove ball bearing.

The above-mentioned robot can grab and carry cardboard. After production, the laminated cardboard needs to be bundled to maintain its stability. The above-mentioned robot device cannot bundle the laminated cardboard. Therefore, we propose a robot for carrying cardboard.

Summary of the invention

The purpose of the present invention is to address the deficiencies in the prior art and to provide a cardboard handling robot, which drives the screw b to rotate through a rotating driving member e, drives the two moving frames to leave, and the rotating driving member g drives the two guide plates to leave, at which time the plastic belt leaves the guide groove and the moving groove; the rotating driving member h drives the unwinding shaft to reel the plastic belt, and drives the plastic belt locking sleeve to the outside of the duty group; the heating plate in the clamping block b heats and fuses the two plastic belts, and then bundles the plastic belts to the outside of the cardboard group.

To achieve the above object, the present invention provides the following technical solutions:

A robot for handling cardboard, comprising a robot body, a clamping mechanism installed at the output end of the robot body, a binding mechanism provided on one side of the robot body, the clamping mechanism comprising: a connecting plate, the connecting plate being installed at the output end of the robot body; a fixed plate a, a plurality of fixed plates a being arranged at the bottom of the connecting plate; a connecting shaft, the connecting shaft being installed on the fixed plate a; a swing arm, the swing arm being rotatably arranged on the connecting shaft; a mounting plate, the mounting plate being installed between two of the swing arms; a clamping jaw assembly, the clamping jaw assembly being installed on the mounting plate; a driving assembly, the driving assembly being installed at the bottom of the connecting plate; an extrusion and leveling assembly, the extrusion and leveling assembly being installed at the bottom of the connecting plate.

The driving assembly includes: a fixed block, which is installed at the bottom of the connecting plate; a linear driving member a, which is installed on the fixed block; a U-shaped block, which is installed at the output end of the linear driving member a; a sliding rod, which is installed in the U-shaped block, and a groove is provided in the swing arm, and the sliding rod slides in the groove.

The clamping jaw assembly includes: a mounting block, which is mounted on the mounting plate; a linear driving member b, which is mounted on the mounting block; a moving frame, which is mounted on the output end of the linear driving member b; a round rod, a plurality of the round rods are mounted on the moving frame, and the round rods pass through the mounting block; and a clamping plate, which is mounted on the round rods.

A rotating shaft is rotatably provided inside the clamping plate, a separating plate is provided at the bottom of the rotating shaft, a sprocket is installed on the rotating shaft, a chain is provided on the outer side of the sprocket, a rotating driving member a is installed on one of the round rods, a driving wheel is installed at the output end of the rotating driving member a, a driven wheel is installed on the top of one of the rotating shafts, and the driving wheel and the driven wheel are driven by a belt.

The extrusion and leveling assembly includes: a rotary driving member b, which is installed at the bottom of the connecting plate and has a slide groove in the connecting plate; a screw a, which is installed at the output end of the rotary driving member b; a moving block, which is threadedly connected to the screw a; a moving rod, which is installed on the moving block and slides in the slide groove; a linear driving member c, which is installed at the bottom of the moving block; and an L-shaped pressure plate, which is installed at the output end of the linear driving member c.

The binding mechanism includes: a box body, which is arranged on the ground; a rotating driving member e, which is installed on the box body; a screw b, which is installed at the output end of the rotating driving member e; a guide rod, which is arranged in the box body; a moving block, two of which are slidably arranged on the guide rod, and the moving block is threadedly connected with the screw b; a moving frame, two of which are installed on the moving block, and a moving groove is provided in the moving frame; a guide assembly, which is installed on the box body; a moving assembly, which is arranged in the box body; and a hot pressing assembly, which is arranged in the box body.

The guide assembly includes: a fixed plate b, the fixed plate b is mounted on the box body; a rotating driving member f, the rotating driving member f is mounted on the fixed plate b; a swing block, the swing block is mounted on the output end of the rotating driving member f; and a rotating driving member g, the rotating driving member g is mounted on the swing block;

A rotating rod, two of which are rotatably arranged on the swing block; a guide plate, which is mounted on the rotating rod, and a guide groove is provided in the guide plate; a gear c, which is mounted on the rotating rod, and two of which are meshed.

The motion component includes: a linear drive member e, which is arranged in the box body; an L-shaped plate a, which is installed at the output end of the linear drive member e; a linear drive member d, which is installed on the L-shaped plate a; a lifting frame, which is installed at the output end of the linear drive member d; a rotating drive member h, which is installed on the lifting frame; a reel, which is installed at the output end of the rotating drive member h; a rotating drive member j, which is installed on the lifting frame; a driving wheel, which is installed at the output end of the rotating drive member j; and a square tube, which is installed on the lifting frame.

The ironing assembly includes: a linear driving member k, which is arranged in the box; an L-shaped plate b, which is installed on the output end of the linear driving member k; a linear driving member m, which is installed on the L-shaped plate b; a clamping cylinder a, which is installed on the output end of the linear driving member m, and a clamping block a is installed on the output end of the clamping cylinder a.

A linear drive member n is installed on the box body, a clamping cylinder b is installed at the output end of the linear drive member n, a clamping block b is installed at the output end of the clamping cylinder b, and a heating plate is arranged inside the clamping block b.

The beneficial effects of the present invention are:

(1) The present invention drives the screw b to rotate by the rotating driving member e, drives the two moving frames to leave, and the rotating driving member g drives the two guide plates to leave, at which time the plastic tape leaves the guide groove and the moving groove; the rotating driving member h drives the unwinding shaft to reel the plastic tape, and drives the plastic tape locking sleeve to the outside of the duty group; the heating plate in the clamping block b heats and fuses the two plastic tapes, and then bundles the plastic tapes to the outside of the cardboard group.

(2) The present invention drives the gripper mechanism to move through the robot body, and places the cardboard group on the moving block, wherein one of the moving frames is located outside the gripper mechanism, and the other moving frame is located between two L-shaped pressure plates. The cardboard group is located on the moving block so that the cardboard group can be aligned up and down, and the rotating driving member f drives the swing block to rotate, driving the guide plate to move above the moving frame, at which time the guide groove corresponds to the position of the moving groove.

(3) The present invention drives the driving wheel to rotate by rotating the driving member j, drives the plastic belt to be transmitted upward along the square tube, and slides along the moving groove, the guide groove, and the moving groove until the plastic belt leaks out from under the moving block, drives the clamping cylinder a to move to the outside of the plastic belt, drives the clamping block a to clamp the plastic belt, drives the square tube to move so that it is close to the clamping block a, so that the two plastic belts are close to each other, and drives the clamping cylinder b to move so that the two clamping blocks b clamp the two plastic belts from both sides.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a schematic diagram of the overall structure of the present invention;

FIG2 is a schematic diagram of the structure of the clamping mechanism of the present invention;

FIG3 is a schematic diagram of an extrusion and flattening assembly according to the present invention from a first angle;

FIG4 is a schematic diagram of the extrusion and flattening assembly of the present invention from a second angle;

FIG5 is a schematic diagram of some parts of the clamping mechanism of the present invention from a first angle;

FIG6 is a schematic diagram of the structure of the swing arm of the present invention;

FIG7 is a schematic diagram of some parts of the clamping mechanism of the present invention from a second angle;

FIG8 is an enlarged schematic diagram of point A in FIG7 of the present invention;

FIG9 is a schematic diagram of the structure of the binding mechanism of the present invention;

FIG10 is a schematic diagram of the structure of the guide plate of the present invention;

FIG11 is a schematic diagram of the structure of the motion slot of the present invention;

FIG12 is a schematic diagram of the structure of the moving assembly and the ironing assembly of the present invention;

FIG13 is a schematic diagram of the structure of the motion assembly of the present invention;

FIG. 14 is a schematic diagram of the structure of the ironing assembly of the present invention.

The accompanying drawings of the present application are as follows: 1. robot body; 2. gripper mechanism; 201. connecting plate; 2011. slideway; 202. fixing plate a; 203. connecting shaft; 204. swing arm; 2041. groove; 205. mounting plate; 21. gripper assembly; 211. mounting block; 212. linear drive member b; 213. motion frame; 214. round rod; 215. clamping plate; 216. rotating shaft; 217. separation plate; 218. sprocket; 2 19. Chain; 22. Driving assembly; 220. Rotating driving member a; 2201. Driving wheel; 2202. Driven wheel; 221. Fixed block; 222. Linear driving member a; 223. U-shaped block; 224. Sliding rod; 23. Extrusion and leveling assembly; 231. Rotating driving member b; 232. Screw a; 233. Moving block; 234. Moving rod; 235. Linear driving member c; 236. L-shaped pressing plate; 3. Binding mechanism; 301. Box ; 302, rotary drive member e; 303, screw rod b; 304, guide rod; 305, motion block; 306, mobile frame; 3061, motion groove; 31, guide assembly; 311, fixed plate b; 312, rotary drive member f; 313, swing block; 314, rotary drive member g; 315, rotating rod; 316, guide plate; 3161, guide groove; 317, gear c; 32, motion assembly; 321, linear drive member e; 322, L shaped plate a; 323, linear drive member d; 324, lifting frame; 325, rotary drive member h; 326, unwinding shaft; 327, rotary drive member j; 328, driving wheel; 329, square tube; 33, ironing assembly; 331, linear drive member k; 332, L-shaped plate b; 333, linear drive member m; 334, clamping cylinder a; 3341, clamping block a; 335, linear drive member n; 336, clamping cylinder b; 3361, clamping block b.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

Embodiment 1: As shown in FIGS. 1 to 14 , this embodiment provides a cardboard handling robot, including a robot body 1, a gripper mechanism 2 is installed at the output end of the robot body 1, the robot body 1 is a prior art, the robot body 1 can drive the gripper mechanism 2 to rise, fall, rotate, etc., and drive the gripper mechanism 2 to move freely; a tray is provided on one side of the robot body 1, and a plurality of stacked cardboards are provided on the tray;

As shown in Figures 1 to 8, the gripper mechanism 2 includes: a connecting plate 201, which is installed on the output end of the robot body 1; a fixed plate a202, and a plurality of fixed plates a202 are arranged at the bottom of the connecting plate 201; a connecting shaft 203, which is installed on the fixed plate a202; a swing arm 204, which is rotatably arranged on the connecting shaft 203; a mounting plate 205, which is installed between two swing arms 204; a gripper assembly 21, which is installed on the mounting plate 205; a driving assembly 22, which is installed at the bottom of the connecting plate 201; and an extrusion and leveling assembly 23, which is installed at the bottom of the connecting plate 201.

The driving assembly 22 includes: a fixed block 221, which is installed at the bottom of the connecting plate 201; a linear driving member a222, which is installed on the fixed block 221; a U-shaped block 223, which is installed at the output end of the linear driving member a222; a sliding rod 224, which is installed in the U-shaped block 223, and a groove 2041 is opened in the swing arm 204, and the sliding rod 224 slides in the groove 2041.

The clamping jaw assembly 21 includes: a mounting block 211, the mounting block 211 is mounted on the mounting plate 205; a linear driving member b212, the linear driving member b212 is mounted on the mounting block 211; a moving frame 213, the moving frame 213 is mounted on the output end of the linear driving member b212; a round rod 214, a plurality of round rods 214 are mounted on the moving frame 213, and the round rods 214 pass through the mounting block 211; a clamping plate 215, and the clamping plate 215 is mounted on the round rod 214.

A rotating shaft 216 is rotatably provided in the clamping plate 215, a separating plate 217 is provided at the bottom of the rotating shaft 216, a sprocket 218 is installed on the rotating shaft 216, a chain 219 is sleeved on the outer side of the sprocket 218, a rotating driving member a220 is installed on one of the round rods 214, a driving wheel 2201 is installed on the output end of the rotating driving member a220, a driven wheel 2202 is installed on the top of one of the rotating shafts 216, and the driving wheel 2201 and the driven wheel 2202 are driven by a belt. It should be noted that: a chamfer is provided on the outer side of the separating plate 217 to facilitate insertion into the gap between the cardboards from the side;

In this embodiment, the robot body 1 drives the clamping mechanism 2 to move to the outside of the stacked cardboard, and the clamping plate 215 is located outside the stacked cardboard. The linear driving member b212 drives the clamping plates 215 on both sides to move and clamp the stacked cardboard; the rotating driving member a220 drives the driving wheel 2201 to rotate, and drives the rotating shaft 216 to rotate through the belt, driving the separating plate 217 to insert into the gap between the stacked cardboards from the side;

The extrusion and leveling assembly 23 includes: a rotating driving member b231, which is installed at the bottom of the connecting plate 201, and a slide groove 2011 is opened in the connecting plate 201; a screw a232, which is installed at the output end of the rotating driving member b231; a moving block 233, which is threadedly connected to the screw a232; a moving rod 234, which is installed on the moving block 233, and the moving rod 234 slides in the slide groove 2011; a linear driving member c235, which is installed at the bottom of the moving block 233; and an L-shaped pressure plate 236, which is installed at the output end of the linear driving member c235.

In this embodiment, the linear drive member c235 drives the L-shaped pressing plate 236 to move downward and press on the stacked cardboard. At this time, there are multiple stacked cardboards (hereinafter referred to as cardboard groups) between the L-shaped pressing plate 236 and the separation plate 217, so as to clamp the cardboard group. The robot body 1 drives the clamping mechanism 2 to move and drive the cardboard group to move.

The rotary driving member b231 drives the screw a232 to rotate, and according to the principle of screw transmission, drives the moving block 233 to move, adjusts the position of the L-shaped pressing plate 236, and extrude and flatten different positions of the cardboard group.

Embodiment 2: As shown in FIG9 to FIG14, the components identical or corresponding to those in Embodiment 1 are marked with the corresponding reference numerals in Embodiment 1. For the sake of simplicity, only the differences from Embodiment 1 are described below. The differences between Embodiment 2 and Embodiment 1 are as follows:

As shown in FIGS. 9 to 14 , a binding mechanism 3 is provided on one side of the robot body 1 in this embodiment; the binding mechanism 3 comprises: a box body 301, which is arranged on the ground; a rotating driving member e302, which is installed on the box body 301; a screw b303, which is installed on the output end of the rotating driving member e302; a guide rod 304, which is arranged in the box body 301; a moving block 305, which is slidingly arranged on the guide rod 304, and the moving block 305 is threadedly connected with the screw b303; a moving frame 306, which is installed on the moving block 305, and a moving groove 3061 is provided in the moving frame 306; a guide assembly 31, which is installed on the box body 301; a moving assembly 32, which is arranged in the box body 301; and a hot pressing assembly 33, which is arranged in the box body 301.

As shown in Figures 9 to 14, the guide assembly 31 includes: a fixed plate b311, which is installed on the box body 301; a rotating driving member f312, which is installed on the fixed plate b311; a swing block 313, which is installed on the output end of the rotating driving member f312; a rotating driving member g314, which is installed on the swing block 313; a rotating rod 315, two rotating rods 315 are rotatably arranged on the swing block 313; a guide plate 316, which is installed on the rotating rod 315, and a guide groove 3161 is opened in the guide plate 316; a gear c317, which is installed on the rotating rod 315, and the two gears c317 are meshed.

In this embodiment, in the initial state, the two guide plates 316 are together, the two moving frames 306 are also together, the guide plate 316 is away from the moving frame 306, the robot body 1 drives the clamping mechanism 2 to move, and the cardboard group is placed on the moving block 305, one of the moving frames 306 is located outside the clamping mechanism 2, and the other moving frame 306 is located between the two L-shaped pressing plates 236. The cardboard group is located on the moving block 305 so that the cardboard group can be aligned up and down, and the rotating driving member f312 drives the swing block 313 to rotate, driving the guide plate 316 to move to the top of the moving frame 306, at this time, the guide groove 3161 corresponds to the position of the moving groove 3061;

As shown in Figures 12 and 13, the motion component 32 includes: a linear drive member e321, which is arranged in the box body 301; an L-shaped plate a322, which is installed on the output end of the linear drive member e321; a linear drive member d323, which is installed on the L-shaped plate a322; a lifting frame 324, which is installed on the output end of the linear drive member d323; a rotating drive member h325, which is installed on the lifting frame 324; a reel 326, which is installed on the output end of the rotating drive member h325; a rotating drive member j327, which is installed on the lifting frame 324; a driving wheel 328, which is installed on the output end of the rotating drive member j327; and a square tube 329, which is installed on the lifting frame 324.

In the initial state, the square tube 329 corresponds to the position of the motion groove 3061, the unwinding shaft 326 is wound with a plastic tape roll, the output end of the plastic tape roll is located in the square tube 329, and the driving wheel 328 is pressed on the plastic tape roll, and the rotating driving member j327 drives the driving wheel 328 to rotate, driving the plastic tape to be transmitted upward along the square tube 329, and the plastic tape slides along the motion groove 3061, the guide groove 3161, and the motion groove 3061 until the plastic tape leaks out from under the motion block 305;

As shown in Figures 12 to 14, the ironing component 33 includes: a linear driving member k331, which is arranged in the box body 301; an L-shaped plate b332, which is installed on the output end of the linear driving member k331; a linear driving member m333, which is installed on the L-shaped plate b332; a clamping cylinder a334, which is installed on the output end of the linear driving member m333, and a clamping block a3341 is installed at the output end of the clamping cylinder a334, and a blade is provided in the clamping block a3341.

A linear drive component n335 is installed on the box body 301, a clamping cylinder b336 is installed on the output end of the linear drive component n335, a clamping block b3361 is installed on the output end of the clamping cylinder b336, and a heating plate is arranged inside the clamping block b3361.

In this embodiment, the clamping cylinder a334 is driven to move to the outside of the plastic belt, the clamping block a3341 is driven to clamp the plastic belt (to limit one end of the plastic belt), the square tube 329 is driven to move so that it is close to the clamping block a3341, so that the two plastic belts are close to each other, and the clamping cylinder b336 is driven to move so that the two clamping blocks b3361 clamp the two plastic belts from both sides;

In this embodiment, the rotary drive member e302 drives the screw rod b303 to rotate, driving the two moving frames 306 to leave, and the rotary drive member g314 drives the two guide plates 316 to leave, and the plastic belt leaves the guide groove 3161 and the moving groove 3061;

The rotating driving member h325 drives the unwinding shaft 326 to reel the plastic tape, and drives the plastic tape locking sleeve to the outside of the duty group; the heating plate in the clamping block b3361 heats and fuses the two plastic tapes, and then the plastic tapes are tied to the outside of the cardboard group;

Drive the clamping cylinder a334 to move, and drive the blade in the clamping block a3341 to cut off the excess fusion end of the plastic tape.

Embodiment 3: This embodiment provides a method for using a cardboard handling robot, comprising the following steps:

Step 1, clamping process: the robot body 1 drives the clamping mechanism 2 to move to the outside of the stacked cardboard, the clamping plate 215 is located outside the stacked cardboard, and the linear driving member b212 drives the clamping plates 215 on both sides to move and clamp the stacked cardboard; the rotary driving member a220 drives the driving wheel 2201 to rotate, and drives the rotating shaft 216 to rotate through the belt, driving the separating plate 217 to insert into the gap between the stacked cardboards from the side;

Step 2, extrusion and flattening process: the linear driving member c235 drives the L-shaped pressing plate 236 to move downward and press on the stacked cardboard. At this time, there are multiple stacked cardboards (hereinafter referred to as cardboard groups) between the L-shaped pressing plate 236 and the separation plate 217, so as to clamp the cardboard group. The robot body 1 drives the clamping mechanism 2 to move and drive the cardboard group to move;

The rotating driving member b231 drives the screw a232 to rotate, and according to the principle of screw transmission, drives the moving block 233 to move, adjusts the position of the L-shaped pressing plate 236, and squeezes and flattens different positions of the paperboard group;

Step 3, material discharge guiding process: in the initial state, the two guide plates 316 are together, the two mobile racks 306 are also together, the guide plate 316 is away from the mobile rack 306, the robot body 1 drives the clamping mechanism 2 to move, and puts the cardboard group on the moving block 305, one of the mobile racks 306 is located outside the clamping mechanism 2, and the other mobile rack 306 is located between the two L-shaped pressing plates 236. The cardboard group is located on the moving block 305 so that the cardboard group can be aligned up and down (the cardboard group is located between the two mobile racks 306), and the rotating driving member f312 drives the swing block 313 to rotate, driving the guide plate 316 to move to the top of the mobile rack 306, at this time, the guide groove 3161 corresponds to the position of the moving groove 3061;

In the initial state, the square tube 329 corresponds to the position of the motion groove 3061, the unwinding shaft 326 is wound with a plastic tape roll, the output end of the plastic tape roll is located in the square tube 329, and the driving wheel 328 is pressed on the plastic tape roll, and the rotating driving member j327 drives the driving wheel 328 to rotate, driving the plastic tape to be transmitted upward along the square tube 329, and the plastic tape slides along the motion groove 3061, the guide groove 3161, and the motion groove 3061 until the plastic tape leaks out from under the motion block 305;

Step 4, limiting process: drive the clamping cylinder a334 to move to the outside of the plastic belt, drive the clamping block a3341 to clamp the plastic belt (limit one end of the plastic belt), drive the square tube 329 to move so that it is close to the clamping block a3341, so that the two plastic belts are close to each other, drive the clamping cylinder b336 to move, so that the two clamping blocks b3361 clamp the two plastic belts from both sides;

Step 5, bundling process: the rotating driving member e302 drives the screw rod b303 to rotate, driving the two moving frames 306 to leave, and the rotating driving member g314 drives the two guide plates 316 to leave, at which time the plastic belt leaves the guide groove 3161 and the moving groove 3061;

The rotating drive component h325 drives the unwinding shaft 326 to reel in the plastic tape, and drives the plastic tape locking sleeve to the outside of the duty group; the heating plate in the clamp block b3361 heats and fuses the two plastic tapes, and then bundles the plastic tapes to the outside of the cardboard group.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A cardboard handling robot, comprising a robot body (1), characterized in that a gripper mechanism (2) is installed at the output end of the robot body (1), a binding mechanism (3) is provided on one side of the robot body (1), and the gripper mechanism (2) comprises: A connecting plate (201), the connecting plate (201) being mounted on an output end of the robot body (1); A fixing plate a (202), wherein a plurality of fixing plates a (202) are arranged at the bottom of the connecting plate (201); A connecting shaft (203), wherein the connecting shaft (203) is mounted on the fixing plate a (202); A swing arm (204), the swing arm (204) being rotatably disposed on the connecting shaft (203); A mounting plate (205), wherein the mounting plate (205) is mounted between the two swing arms (204); A clamping jaw assembly (21), wherein the clamping jaw assembly (21) is mounted on the mounting plate (205); A driving assembly (22), wherein the driving assembly (22) is mounted on the bottom of the connecting plate (201); An extrusion and flattening component (23), wherein the extrusion and flattening component (23) is installed at the bottom of the connecting plate (201). 2. A cardboard handling robot according to claim 1, characterized in that the driving assembly (22) comprises: A fixing block (221), the fixing block (221) being installed at the bottom of the connecting plate (201); A linear driving member a (222), wherein the linear driving member a (222) is mounted on the fixing block (221); A U-shaped block (223), the U-shaped block (223) being mounted on the output end of the linear drive member a (222); A sliding rod (224) is installed in the U-shaped block (223); a groove (2041) is provided in the swing arm (204); and the sliding rod (224) slides in the groove (2041). 3. A cardboard handling robot according to claim 2, characterized in that the clamping claw assembly (21) comprises: A mounting block (211), wherein the mounting block (211) is mounted on the mounting plate (205); A linear drive member b (212), wherein the linear drive member b (212) is mounted on the mounting block (211); A motion frame (213), the motion frame (213) being mounted on an output end of the linear drive member b (212); Round rods (214), a plurality of the round rods (214) are mounted on the moving frame (213), and the round rods (214) pass through the mounting block (211); A clamping plate (215), wherein the clamping plate (215) is installed on the round rod (214). 4. A cardboard handling robot according to claim 3, characterized in that a rotating shaft (216) is rotatably provided inside the clamping plate (215), a separating plate (217) is provided at the bottom of the rotating shaft (216), a sprocket (218) is installed on the rotating shaft (216), a chain (219) is sleeved on the outer side of the sprocket (218), a rotating driving member a (220) is installed on one of the round rods (214), a driving wheel (2201) is installed at the output end of the rotating driving member a (220), a driven wheel (2202) is installed on the top of one of the rotating shafts (216), and a belt transmission is used between the driving wheel (2201) and the driven wheel (2202). 5. A cardboard handling robot according to claim 4, characterized in that the extrusion and flattening component (23) comprises: A rotating driving member b (231), wherein the rotating driving member b (231) is installed at the bottom of the connecting plate (201), and a sliding groove (2011) is provided in the connecting plate (201); A screw rod a (232), the screw rod a (232) being mounted on an output end of the rotary drive member b (231); A moving block (233), wherein the moving block (233) is threadedly connected to the screw rod a (232); A moving rod (234), wherein the moving rod (234) is mounted on the moving block (233), and the moving rod (234) slides in the sliding groove (2011); A linear driving member c (235), wherein the linear driving member c (235) is installed at the bottom of the moving block (233); An L-shaped pressing plate (236), wherein the L-shaped pressing plate (236) is installed at the output end of the linear drive member c (235). 6. A cardboard handling robot according to claim 5, characterized in that the binding mechanism (3) comprises: A box (301), wherein the box (301) is arranged on the ground; A rotating driving member e (302), wherein the rotating driving member e (302) is installed on the box body (301); A screw rod b (303), wherein the screw rod b (303) is mounted on the output end of the rotary drive member e (302); A guide rod (304), wherein the guide rod (304) is disposed in the box body (301); A moving block (305), wherein two moving blocks (305) are slidably disposed on the guide rod (304), and the moving blocks (305) are threadedly connected to the screw rod b (303); A moving frame (306), two of the moving frames (306) are mounted on the moving block (305), and a moving slot (3061) is provided in the moving frame (306); A guide assembly (31), wherein the guide assembly (31) is mounted on the box body (301); A motion component (32), wherein the motion component (32) is disposed in the box (301); A hot pressing component (33), wherein the hot pressing component (33) is arranged in the box body (301). 7. A cardboard handling robot according to claim 6, characterized in that the guide assembly (31) comprises: A fixing plate b (311), wherein the fixing plate b (311) is installed on the box body (301); A rotating driving member f (312), wherein the rotating driving member f (312) is mounted on the fixing plate b (311); A swing block (313), the swing block (313) being mounted on an output end of the rotary drive member f (312); A rotating driving member g (314), wherein the rotating driving member g (314) is mounted on the swing block (313); Rotating rods (315), two rotating rods (315) are rotatably disposed on the swing block (313); A guide plate (316), wherein the guide plate (316) is mounted on the rotating rod (315), and a guide groove (3161) is formed in the guide plate (316); Gear c (317), the gear c (317) is installed on the rotating rod (315), and the two gears c (317) are meshed. 8. A cardboard handling robot according to claim 7, characterized in that the motion component (32) comprises: A linear driving member e (321), wherein the linear driving member e (321) is disposed in the box body (301); An L-shaped plate a (322), the L-shaped plate a (322) being mounted on the output end of the linear drive member e (321); A linear driving member d (323), wherein the linear driving member d (323) is mounted on the L-shaped plate a (322); A lifting frame (324), the lifting frame (324) being installed at the output end of the linear drive member d (323); A rotating driving member h (325), wherein the rotating driving member h (325) is mounted on the lifting frame (324); An unwinding shaft (326), the unwinding shaft (326) being mounted on the output end of the rotating driving member h (325); A rotating driving member j (327), wherein the rotating driving member j (327) is installed on the lifting frame (324); A driving wheel (328), the driving wheel (328) being mounted on an output end of the rotating driving member j (327); A square tube (329), wherein the square tube (329) is installed on the lifting frame (324). 9. A cardboard handling robot according to claim 8, characterized in that the ironing component (33) comprises: A linear driving member k (331), wherein the linear driving member k (331) is disposed in the box body (301); An L-shaped plate b (332), the L-shaped plate b (332) being mounted on the output end of the linear drive member k (331); A linear drive member m (333), wherein the linear drive member m (333) is mounted on the L-shaped plate b (332); A clamping cylinder a (334), wherein the clamping cylinder a (334) is installed at the output end of the linear drive member m (333), and a clamping block a (3341) is installed at the output end of the clamping cylinder a (334). 10. A cardboard handling robot according to claim 9, characterized in that a linear drive member n (335) is installed on the box body (301), a clamping cylinder b (336) is installed at the output end of the linear drive member n (335), a clamping block b (3361) is installed at the output end of the clamping cylinder b (336), and a heating plate is provided inside the clamping block b (3361).