CN117799896A

CN117799896A - Packing carton conveying manipulator

Info

Publication number: CN117799896A
Application number: CN202410182275.5A
Authority: CN
Inventors: 江胜; 史国成; 范宇; 庞蒙蒙
Original assignee: Suqian Xiangheng Packaging Co ltd
Current assignee: Suqian Xiangheng Packaging Co ltd
Priority date: 2024-02-19
Filing date: 2024-02-19
Publication date: 2024-04-02

Abstract

The invention discloses a packaging box conveying manipulator, which relates to the technical field of manipulators and comprises a base, wherein an electric push rod is fixedly arranged on the base, a first bevel gear is fixedly arranged at the output end of the electric push rod, a servo motor is fixedly arranged at the top end of the first bevel gear, a push rod is fixedly arranged at the output end of the servo motor, an intermediate plate is fixedly arranged at one end of the push rod far away from the servo motor, a clamping arm mechanism is arranged on the side wall of the intermediate plate, two long rods are slidably arranged in the intermediate plate, an expansion plate is fixedly arranged at one ends of the two long rods far away from each other, and a side push plate is fixedly arranged at the bottom end of the expansion plate. The clamping arm mechanism clamps the packing box and then carries out conveying, and the mechanical arm passively folds and seals the folding cover of the packing box in the conveying process of the mechanical arm, so that the production efficiency of the production line is improved.

Description

Packing carton conveying manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a packaging box conveying manipulator.

Background

A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The device is characterized in that various expected operations can be completed through programming, and the device has the advantages of both a human body and a mechanical mobile phone in terms of structure and performance;

the invention patent with the publication number of CN109533955A and the name of a packing box grabbing manipulator comprises a transmission assembly, an installation assembly and a grabbing mechanism, wherein the transmission assembly comprises a conveying belt, the conveying belt is used for conveying a packing box, the installation assembly comprises a mounting frame body, a driving motor and a lifting rod, the mounting frame body is adjacent to the conveying belt and is installed, the driving motor is installed on the mounting frame body, the lifting rod is installed on the driving motor, and the grabbing mechanism comprises a lifting block, a grabbing assembly and two grabbing rods.

In the process of producing and conveying the packaging box, products are usually required to be filled into the packaging box, then four folding covers of the packaging box are folded, the existing part of manipulator is provided with the function of grabbing and clamping as shown in the patent, and therefore an additional production line is usually required for producing and conveying the packaging box to fold the folding covers of the packaging box, so that the whole production line is prolonged, and the production efficiency is reduced.

Disclosure of Invention

The invention aims to provide a packaging box conveying manipulator which solves the defects in the prior art.

In order to achieve the above object, the present invention provides the following technical solutions: the packaging box conveying manipulator comprises a base, wherein an electric push rod is fixedly arranged on the base, a first bevel gear is fixedly arranged at the output end of the electric push rod, a servo motor is fixedly arranged at the top end of the first bevel gear, a push rod is fixedly arranged at the output end of the servo motor, a middle plate is fixedly arranged at one end of the push rod, which is far away from the servo motor, a clamping arm mechanism is arranged on the side wall of the middle plate, two long rods are slidably arranged in the middle plate, a spreading plate is fixedly arranged at one ends, which are far away from each other, of the long rods, and a side push plate is fixedly arranged at the bottom end of the spreading plate; the bottom ends of two sides of the expansion plate are respectively provided with a first pushing plate and a second pushing plate in a rotating way, and the first pushing plates and the second pushing plates are arranged in a staggered way; when the packing box is clamped by the clamping arm mechanism, the servo motor is started to drive the ejector rod to rotate, and the two long rods are driven to move along with the rotation of the ejector rod, so that the two side pushing plates are driven to push down the two side short folding covers of the packing box, and simultaneously after the two side short folding covers are pushed down, the first pushing plate and the second pushing plate rotate towards the packing box to push down the two long folding covers of the packing box.

Preferably, a connecting ladder block is fixedly installed between the ejector rod and the middle plate, the clamping arm mechanism comprises a driving motor fixedly installed on the side wall of the connecting ladder block, a first gear is fixedly installed at the output end of the driving motor, a fixed frame is fixedly installed on the outer wall of the middle plate, a middle shaft is rotatably installed on the side wall of the fixed frame, a second gear meshed with the first gear is fixedly installed on the middle shaft, thread grooves with opposite directions are respectively formed in two ends of the middle shaft, clamping plates are respectively installed at two ends of the middle shaft in a threaded mode, and clamping frames are fixedly installed at one ends, close to each other, of the clamping plates.

Preferably, the connecting ladder block is rotatably provided with a connecting shaft, two ends of the connecting shaft are fixedly provided with second bevel gears, the middle plate is rotatably provided with a third bevel gear, the bottom end of the third bevel gear is fixedly provided with two inserted bars, the middle plate is internally provided with two sliding plates in a sliding manner, and the sliding plates are provided with sliding grooves matched with the inserted bars in size.

Preferably, two side walls of the expansion plate are respectively and fixedly provided with a vertical pipe and a positioning rod, the positioning rod is rotatably provided with a first swivel, the vertical pipe is rotatably provided with a second swivel, the bottom end of the first swivel is fixedly provided with a first pushing plate, the bottom end of the second swivel is fixedly connected with the second pushing plate, the first swivel and the second swivel are respectively provided with a ring groove, and the bottom end of the positioning rod is fixedly connected with the side pushing plate;

the vertical slidable mounting has the riser on the expansion board, the bottom fixed mounting of riser has the cutting with spout matched with, the lateral wall fixed mounting of riser has the curb plate, fixed mounting has the butt pole on the intermediate lamella, offer on the curb plate with butt pole matched with chute.

Preferably, the long rod is provided with a stop rod in a sliding manner, the stop rod is concave, chamfer angles are arranged at two ends of the stop rod, the middle plate is fixedly provided with an abutting plate, and a reset spring is fixedly arranged between the stop rod and the inner wall of the long rod.

Preferably, the middle plate is fixedly provided with a limiting plate with a T-shaped section, the limiting plate is sleeved with a first spring, and two ends of the first spring are fixedly connected with the middle plate and the expansion plate respectively.

Preferably, the bottom end of the vertical pipe is inserted into the second pushing plate, wherein an accommodating space is arranged in the second pushing plate, and a plurality of through holes are formed in the bottom end of the second pushing plate.

Preferably, a connecting plate is vertically and slidably arranged on the inner wall of the second pushing plate, and a sealing ball is fixedly arranged on the connecting plate.

Preferably, the first pushing plate is vertically and slidably provided with a vertical rod, the bottom end of the vertical rod is fixedly provided with a floating plate, and a second spring is fixedly arranged between the floating plate and the first pushing plate.

Preferably, the vertical rod is T-shaped.

In the technical scheme, the invention provides a packaging box conveying manipulator, which has the following beneficial effects: along with the production, after the product is put into the packing carton, the arm clamping mechanism clamps the packing carton, carries afterwards, and at the in-process that the arm carried, the arm will be passive carries out folding closing cap to the packing carton book lid to improve the production efficiency of production line.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

Fig. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of the structure of FIG. 1 according to an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of the structure of FIG. 2 according to an embodiment of the present invention;

FIG. 4 is a schematic view of a portion of a middle plate according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the structure shown in FIG. 4A according to an embodiment of the present invention;

FIG. 6 is a schematic view of a portion of a long rod according to an embodiment of the present invention;

FIG. 7 is a schematic view of the Z-direction structure of FIG. 6 according to an embodiment of the present invention;

FIG. 8 is a schematic view of the structure of the X direction of FIG. 6 according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of the structure at B in FIG. 6 according to an embodiment of the present invention;

fig. 10 is a schematic view of a part of the structure of a second pushing plate according to an embodiment of the present invention;

fig. 11 is a schematic view of a part of structures of a first pushing plate and a second pushing plate according to an embodiment of the present invention.

Reference numerals illustrate:

1. a base; 2. an electric push rod; 31. a first bevel gear; 32. a connecting shaft; 321. a second bevel gear; 33. a third bevel gear; 331. a rod; 34. a slide plate; 341. a chute; 35. a long rod; 36. expanding a plate; 361. a positioning rod; 37. a first swivel; 371. a ring groove; 38. a side push plate; 39. a first push plate; 391. a vertical rod; 392. a floating plate; 41. a servo motor; 42. a push rod; 43. an intermediate plate; 44. a fixed frame; 45. a driving motor; 46. a first gear; 47. a center shaft; 471. a second gear; 48. a clamping plate; 481. a clamping frame; 51. a vertical plate; 52. a side plate; 521. a chute; 53. a stop rod; 54. an abutting plate; 55. a limiting plate; 56. a butt joint rod; 61. a riser; 62. a second swivel; 63. cutting; 64. a second pushing plate; 65. a sealing ball; 66. a connecting plate; 7. and (3) a packaging box body.

Detailed Description

In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.

Referring to fig. 1-11, the package box conveying manipulator comprises a base 1, an electric push rod 2 is fixedly installed on the base 1, a first bevel gear 31 is fixedly installed at the output end of the electric push rod 2, a servo motor 41 is fixedly installed at the top end of the first bevel gear 31, a push rod 42 is fixedly installed at the output end of the servo motor 41, an intermediate plate 43 is fixedly installed at one end, far away from the servo motor 41, of the push rod 42, a clamping arm mechanism is installed on the side wall of the intermediate plate 43, two long rods 35 are slidably installed in the intermediate plate 43, an expansion plate 36 is fixedly installed at one ends, far away from each other, of the two long rods 35, and a side push plate 38 is fixedly installed at the bottom end of the expansion plate 36; the bottom ends of the two sides of the expansion plate 36 are respectively provided with a first pushing plate 39 and a second pushing plate 64 in a rotating way, and the first pushing plates 39 and the second pushing plates 64 are arranged in a staggered way; when the package is clamped by the clamping arm mechanism, the servo motor 41 is started at this time, the servo motor 41 drives the ejector rod 42 to rotate, and the two long rods 35 are driven to move passively along with the rotation of the ejector rod 42, so that the two side pushing plates 38 are driven to push down the two side short folding covers of the package, and simultaneously after the two side short folding covers are pushed down, the first pushing plate 39 and the second pushing plate 64 rotate towards the package to push down the two long folding covers of the package.

In another embodiment of the invention: a connecting ladder block is fixedly arranged between the ejector rod 42 and the middle plate 43, the clamping arm mechanism comprises a driving motor 45 fixedly arranged on the side wall of the connecting ladder block, a first gear 46 is fixedly arranged at the output end of the driving motor 45, a fixed frame 44 is fixedly arranged on the outer wall of the middle plate 43, a middle shaft 47 is rotatably arranged on the side wall of the fixed frame 44, a second gear 471 meshed with the first gear 46 is fixedly arranged on the middle shaft 47, thread grooves with opposite directions are respectively formed at two ends of the middle shaft 47, clamping plates 48 are respectively arranged at two ends of the middle shaft 47 in a threaded manner, and clamping frames 481 are respectively fixedly arranged at one ends, close to each other, of the two clamping plates 48;

the first gear 46 is driven by the driving motor 45 to rotate, the first gear 46 drives the middle shaft 47 to rotate through the second gear 471, the clamping plates 48 at two ends are driven to move towards or away from each other along with the rotation of the middle shaft 47, so that the clamping frames 481 are driven to clamp and release the package, in the production process of the package, a product is usually required to be placed in the package, then the folding covers of the package are folded for conveying, after the product is placed in the package, the electric push rod 2 is started, at the moment, the electric push rod 2 descends to drive the clamping frames 481 to be close to the package, then the driving motor 45 is started, the driving motor 45 drives the middle shaft 47 to rotate, at the moment, the middle shaft 47 drives the two clamping frames 481 to clamp the package, then the electric push rod 2 is started, the electric push rod 2 ascends to drive the package to ascend, and then the servo motor 41 is started again to drive the push rod 42 to rotate to convey the package to other conveyor belts or the collection boxes.

In another embodiment of the invention: the connecting ladder block is rotatably provided with a connecting shaft 32, two ends of the connecting shaft 32 are fixedly provided with a second bevel gear 321, a middle plate 43 is rotatably provided with a third bevel gear 33, the bottom end of the third bevel gear 33 is fixedly provided with two inserted bars 331, two sliding plates 34 are slidably arranged in the middle plate 43, and sliding grooves 341 matched with the inserted bars 331 in size are formed in the two sliding plates 34;

wherein, the middle plate 43 is provided with a curved slot for inserting the inserting rod 331 into the sliding slot 341 and rotating along with the third bevel gear 33, when the ejector rod 42 rotates, the ejector rod 42 drives the connecting ladder block to move, at this time, the second bevel gear 321 on the connecting shaft 32 near the first bevel gear 31 drives the connecting shaft 32 to rotate, at this time, the other end of the connecting shaft 32 drives the third bevel gear 33 to rotate along with the rotation of the connecting shaft 32, at this time, the third bevel gear 33 drives the inserting rod 331 to rotate, at this time, the inserting rod 331 drives the sliding plate 34 to move through the sliding slot 341, so that the two sliding plates 34 synchronously move along with the movement of the sliding plate 34, and the two expansion plates 36 synchronously move, so that the side pushing plates 38, the first pushing plate 39 and the second pushing plate 64 fold a plurality of folding covers of the packaging box.

In another embodiment of the invention: the two side walls of the expansion plate 36 are respectively and fixedly provided with a vertical pipe 61 and a positioning rod 361, a first rotating ring 37 is rotatably arranged on the positioning rod 361, a second rotating ring 62 is rotatably arranged on the vertical pipe 61, the bottom end of the first rotating ring 37 is fixedly arranged on the first pushing plate 39, the bottom end of the second rotating ring 62 is fixedly connected with the second pushing plate 64, annular grooves 371 are formed in the first rotating ring 37 and the second rotating ring 62, and the bottom end of the positioning rod 361 is fixedly connected with the side pushing plate 38;

a vertical plate 51 is vertically and slidably arranged on the expansion plate 36, an inserting strip 63 matched with a sliding groove 341 is fixedly arranged at the bottom end of the vertical plate 51, a side plate 52 is fixedly arranged on the side wall of the vertical plate 51, a supporting rod 56 is fixedly arranged on the middle plate 43, and a chute 521 matched with the supporting rod 56 is arranged on the side plate 52;

when the long rod 35 drives the expansion plate 36 to move in the direction of approaching the middle plate 43, the vertical plate 51 is abutted by the abutting rod 56 through the chute 521 to move upwards, and at the moment, the vertical plate 51 drives the cutting 63 at the bottom end of the vertical plate to move, and each cutting 63 moves in each annular groove 371 to drive the first pushing plate 39 and the second pushing plate 64 to rotate respectively;

wherein, as shown in fig. 7 and 8, the ring groove 371 includes an upper oblique side and a lower oblique side, and the upper oblique side and the lower oblique side are staggered, referring to fig. 7, when the vertical plate 51 drives the cutting 63 to move upward, the cutting 63 will abut against the upper oblique side, the second rotating ring 62 will rotate by the upper oblique side (as in the direction of a in fig. 6), the second rotating ring 62 will bring the second push plate 64 close to the pack, the second push plate 64 will approach the pack to fold one of the long flaps of the pack, wherein, in fig. 7, the bottommost end of the upper oblique side is offset to the right from the bottommost end of the lower oblique side, so that the cutting 63 abuts against the left side of fig. 7 during the upward movement, so that the second push plate 64 rotates in the direction of a in fig. 6, and after the cutting 63 moves up to the topmost end, the second push plate 64 has rotated 180 °, at the same time, the vertical plate 51 rises to the highest position, at this time, as the first spring pushes, the expansion plate 36 moves outwards, at this time, the vertical plate 51 moves downwards, the cutting 63 moves downwards as the vertical plate 51 moves downwards, at this time, referring to fig. 8, the topmost end of the upper sloping edge is positioned on the left of the lower sloping edge, when the cutting 63 moves downwards, the cutting 63 abuts against the left of the lower sloping edge, at this time, the second rotating ring 62 drives the second pushing plate 64 to continue to rotate along the direction a in fig. 6, so that the second rotating plate rotates 180 degrees, therefore, the second pushing plate 64 also rotates one circle in one cycle of the vertical plate 51 moving upwards and downwards, at this time, the first rotating ring 37 and the second rotating ring 62 are arranged in a position mirror image, when the cutting 63 drives the second pushing plate 64 to move along the direction a, the first pushing plate 39 is driven to rotate along the direction b, so that the first push plate 39 and the second push plate 64 cooperate to fold the two long flaps of the packet.

In another embodiment of the invention: the long rod 35 is provided with a stop rod 53 in a sliding manner, the stop rod 53 is concave, both ends of the stop rod 53 are provided with chamfers, the middle plate 43 is fixedly provided with an abutting plate 54, and a return spring is fixedly arranged between the stop rod 53 and the inner wall of the long rod 35;

when the long rod 35 moves towards the middle plate 43, the long rod 35 pulls the expansion plate 36 towards the middle plate 43 through the stop rod 53 on the long rod 35, the vertical plate 51 moves upwards along with the movement of the expansion plate 36, the first pushing plate 39 and the second pushing plate 64 rotate, the chamfer at one end of the stop rod 53 is abutted against the abutting plate 54 along with the stop rod 53 approaching the abutting plate 54, the 'concave' stop rod 53 moves into the long rod 35, the return spring is compressed, the stop rod 53 moves into the long rod 35, the expansion plate 36 cannot be pulled to move continuously, the expansion plate 36 is pushed to be reset by the first spring, the vertical plate 51 moves the cutting 63 downwards along with the reset of the expansion plate 36, the first pushing plate 39 and the second pushing plate 64 rotate continuously to reset along with the extension rod 35 extending out of the middle plate 43, the 'concave' stop rod 53 on the long rod 35 approaches the expansion plate 36, the chamfer at this moment and the stop rod 53 moves into the long rod 35 once, and the expansion plate 36 moves downwards along with the stop rod 53 contacting the inner chamfer at this moment, and the expansion plate 35 moves downwards until the expansion plate 35 moves downwards.

In another embodiment of the invention: a limiting plate 55 with a T-shaped section is fixedly arranged on the middle plate 43, a first spring is sleeved on the limiting plate 55, and two ends of the first spring are fixedly connected with the middle plate 43 and the expansion plate 36 respectively;

when the long rod 35 drives the expansion plate 36 to move towards the middle plate 43, the first spring is compressed until the stop rod 53 moves into the long rod 35, and at this time, the first spring pushes the expansion plate 36 to reset until the expansion plate 36 abuts against the short arm end of the T-shaped limiting plate 55.

In another embodiment of the invention: the bottom end of the vertical pipe 61 is inserted into the second pushing plate 64, wherein the second pushing plate 64 is internally provided with an accommodating space, and the bottom end of the second pushing plate is provided with a plurality of through holes;

when the second pushing plate 64 folds the folded cover, the bottom end of the second pushing plate 64 moves on the surface of the folded cover, so that the glue is smeared above the folded cover, and when the first pushing plate 39 pushes the folded cover to fold, the glue flowing out of the second pushing plate 64 adheres between the two folded covers as the folded cover pushed by the first pushing plate 39 approaches the folded cover pushed by the second pushing plate 64.

In another embodiment of the invention: a connecting plate 66 is vertically and slidably arranged on the inner wall of the second pushing plate 64, and a sealing ball 65 is fixedly arranged on the connecting plate 66;

wherein the sealing ball 65 seals the through hole under the self gravity and the flow of the glue, and when the second pushing plate 64 rotates to contact the folding cover, the part of the sealing ball 65 extending out of the bottom end of the second pushing plate 64 contacts the folding cover, at this time, the sealing ball 65 will rise, thereby opening the through hole, the glue will fall, and when the second pushing plate 64 is separated from the folding cover, the sealing ball 65 will fall, thereby blocking the through hole.

In another embodiment of the invention: a vertical rod 391 is vertically and slidably arranged on the first pushing plate 39, a floating plate 392 is fixedly arranged at the bottom end of the vertical rod 391, and a second spring is fixedly arranged between the floating plate 392 and the first pushing plate 39;

wherein both the first push plate 39 and the second push plate 64 are provided with an initial position, and the initial position of the first push plate 39 is farther from the pack than the initial position of the second push plate 64 (i.e. the angle at which the first push plate 39 opens with respect to the pack is larger with reference to fig. 6), when the first push plate 39 and the second push plate 64 are simultaneously rotated towards the pack, the second push plate 64 will first come into contact with its corresponding flap so that the flap is folded up until after the flap corresponding to the second push plate 64 is folded up to the horizontal, and when the second push plate 64 is about to leave the pack body 7, the first push plate 39 will push its corresponding flap while the first push plate 39 is higher than the second push plate 64, at which time when the first push plate 39 is close to the corresponding flap, the floating plate 392 will first come into contact with the corresponding flap, at this time, the folding cover will first rotate towards the horizontal direction, but at this time, the second pushing plate 64 is not completely separated, at this time, the folding cover corresponding to the first pushing plate 39 will be blocked by the second pushing plate 64 and cannot rotate to the horizontal state, at this time, the floating plate 392 will rise, so as to avoid damage caused by squeezing the folding cover corresponding to the first pushing plate 39 until the second pushing plate 64 is completely separated, at this time, the floating plate 392 will be pushed by the second spring to move downwards, so that the floating plate 392 pushes the corresponding folding cover to rotate to the horizontal state, at this time, the folding cover pushed by the second pushing plate 64 is under, and the upper surface thereof is coated with glue, the folding cover pushed by the first pushing plate 39 is folded down, and the lower surface thereof is contacted with the folding cover under the pushing of the floating plate 392, so that the glue adheres the two folding covers.

In another embodiment of the invention: the vertical rod 391 is T-shaped;

wherein the second spring does not push the floating plate 392 down too much by the T-shaped vertical bar 391 so that the floating plate 392 can be brought into contact with the flap.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the invention, which is defined by the appended claims.

Claims

1. The packaging box conveying manipulator comprises a base (1), wherein an electric push rod (2) is fixedly arranged on the base (1), the packaging box conveying manipulator is characterized in that a first bevel gear (31) is fixedly arranged at the output end of the electric push rod (2), a servo motor (41) is fixedly arranged at the top end of the first bevel gear (31), a push rod (42) is fixedly arranged at the output end of the servo motor (41), a middle plate (43) is fixedly arranged at one end, far away from the servo motor (41), of the push rod (42), a clamping arm mechanism is arranged on the side wall of the middle plate (43), two long rods (35) are slidably arranged in the middle plate (43), an expanding plate (36) is fixedly arranged at one end, far away from each other, of each long rod (35), and a side push plate (38) is fixedly arranged at the bottom end of the expanding plate (36);

the bottom ends of two sides of the expansion plate (36) are respectively provided with a first pushing plate (39) and a second pushing plate (64) in a rotating mode, and the first pushing plates (39) and the second pushing plates (64) are arranged in a staggered mode;

after the packing box is clamped by the clamping arm mechanism, the servo motor (41) is started at the moment, the servo motor (41) drives the ejector rod (42) to rotate, and along with the rotation of the ejector rod (42), the two long rods (35) are driven to move passively, so that the two side pushing plates (38) are driven to push down the two short folding covers of the packing box, and simultaneously after the two short folding covers are pushed down, the first pushing plate (39) and the second pushing plate (64) rotate towards the packing box to push down the two long folding covers of the packing box.

2. The packaging box conveying mechanical arm according to claim 1, wherein a connecting ladder block is fixedly installed between the ejector rod (42) and the middle plate (43), the clamping arm mechanism comprises a driving motor (45) fixedly installed on the side wall of the connecting ladder block, a first gear (46) is fixedly installed at the output end of the driving motor (45), a fixing frame (44) is fixedly installed on the outer wall of the middle plate (43), a middle shaft (47) is rotatably installed on the side wall of the fixing frame (44), a second gear (471) meshed with the first gear (46) is fixedly installed on the middle shaft (47), thread grooves with opposite directions are formed in two ends of the middle shaft (47) respectively, clamping plates (48) are installed at two ends of the middle shaft (47) in a threaded mode, and clamping frames (481) are fixedly installed at one ends, close to each other, of the clamping plates (48).

3. The packaging box conveying mechanical arm according to claim 2, wherein a connecting shaft (32) is rotatably installed on the connecting ladder block, a second bevel gear (321) is fixedly installed at two ends of the connecting shaft (32), a third bevel gear (33) is rotatably installed on the middle plate (43), two inserting rods (331) are fixedly installed at the bottom end of the third bevel gear (33), two sliding plates (34) are slidably installed in the middle plate (43), and sliding grooves (341) matched with the inserting rods (331) in size are formed in the two sliding plates (34).

4. The packaging box conveying mechanical arm according to claim 1, wherein two side walls of the expansion plate (36) are respectively fixedly provided with a vertical pipe (61) and a positioning rod (361), the positioning rod (361) is rotatably provided with a first rotating ring (37), the vertical pipe (61) is rotatably provided with a second rotating ring (62), the bottom end of the first rotating ring (37) is fixedly provided with a first pushing plate (39), the bottom end of the second rotating ring (62) is fixedly connected with a second pushing plate (64), annular grooves (371) are formed in the first rotating ring (37) and the second rotating ring (62), and the bottom end of the positioning rod (361) is fixedly connected with a side pushing plate (38);

vertical slidable mounting has riser (51) on expanding board (36), the bottom of riser (51) is fixed with and is matched with cutting (63) with spout (341), lateral wall fixed mounting of riser (51) has curb plate (52), fixed mounting has butt pole (56) on intermediate lamella (43), offered chute (521) with butt pole (56) matched with on curb plate (52).

5. The packaging box conveying mechanical arm according to claim 4, wherein the long rod (35) is slidably provided with a stop rod (53), the stop rod (53) is concave, chamfer angles are arranged at two ends of the stop rod (53), the middle plate (43) is fixedly provided with a butt plate (54), and a return spring is fixedly arranged between the stop rod (53) and the inner wall of the long rod (35).

6. The packaging box conveying manipulator according to claim 5, wherein a limiting plate (55) with a T-shaped cross section is fixedly arranged on the middle plate (43), a first spring is sleeved on the limiting plate (55), and two ends of the first spring are fixedly connected with the middle plate (43) and the expansion plate (36) respectively.

7. The packaging box conveying mechanical arm according to claim 6, wherein the bottom end of the vertical pipe (61) is inserted into the second pushing plate (64), an accommodating space is arranged in the second pushing plate (64), and a plurality of through holes are formed in the bottom end of the second pushing plate.

8. Pack handling manipulator according to claim 1, wherein the inner wall of the second pusher plate (64) is vertically slidably mounted with a connecting plate (66), and wherein the connecting plate (66) is fixedly mounted with a closing ball (65).

9. The packaging box conveying mechanical arm according to claim 1, wherein a vertical rod (391) is vertically and slidably arranged on the first pushing plate (39), a floating plate (392) is fixedly arranged at the bottom end of the vertical rod (391), and a second spring is fixedly arranged between the floating plate (392) and the first pushing plate (39).

10. The packet transfer robot of claim 9, wherein the vertical bar (391) is T-shaped.