CN210555711U - Robotic device for loading paper trays containing products into packaging boxes - Google Patents

Abstract

The utility model discloses a robot device for packing into packing box with paper support that contains the product, include: a frame; a servo motor disposed on the frame; a transmission mechanism driven by a servo motor; the first clamp and the second clamp are oppositely arranged at two sides of the frame and are connected with the transmission mechanism, so that the first clamp and the second clamp can be driven by the transmission mechanism to move relative to each other to adjust the distance between the first clamp and the second clamp according to the longitudinal length of the paper support; the first clamp and the second clamp have an opening state and a clamping state, the first clamp is provided with a first protruding portion, the second clamp is provided with a second protruding portion, a first opening and a second opening are formed in the paper support, and when the first clamp and the second clamp are in the clamping state, the first protruding portion and the second protruding portion are respectively inserted into the first opening and the second opening. The utility model discloses a robot device can realize the automatic vanning of not unidimensional motor.

Description

Robotic device for loading paper trays containing products into packaging boxes

Technical Field

The present invention relates to the field of packaging, and more particularly, to a robotic device for loading a paper holder containing a product, such as an electric motor, into a package.

Background

Currently, in the packaging process of the motor, one way is to fix the motor to a paper holder, and then put the paper holder containing the motor into the packaging box. Because the size of paper support is of a lot of types, at present, the hook of the lifting appliance is hung in the hanging hole on the paper support by an operator, and after boxing, the hook of the lifting appliance is manually taken down by the operator, so that the boxing process is finished, and automatic boxing is not realized.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the embodiment of the utility model provides a more efficient packaging mode utilizes a robot device to pack the not unidimensional paper that contains the motor and holds in the palm, has realized automatic vanning process.

According to an aspect of the present invention, there is provided a robot device for packing a paper tray containing a product into a packing box, particularly, the robot device comprising: a frame; a servo motor disposed on the frame; a transmission mechanism driven by the servo motor; the first clamp and the second clamp are arranged at two sides of the frame oppositely, and are connected with the transmission mechanism, so that the first clamp and the second clamp can be driven by the transmission mechanism to move relatively to each other to adjust the distance between the first clamp and the second clamp according to the longitudinal length of the paper tray to be packaged; the first clamp and the second clamp are both in an opening state and a clamping state, the first clamp is provided with a first protruding portion, the second clamp is provided with a second protruding portion, a first opening and a second opening which are opposite to each other are formed in the paper support, and when the first clamp and the second clamp are in the clamping state, the first protruding portion and the second protruding portion are respectively inserted into the first opening and the second opening.

In this way, the robot device can automatically package paper trays containing motors in different sizes, and further improves the production efficiency.

In an exemplary embodiment, the first clamp includes a fixed first outer side plate and a first inner side plate carried by a first cylinder, and the first tab is disposed on an outer surface of the first inner side plate of the first clamp; the second clamp comprises a fixed second outer side plate and a second inner side plate driven by a second cylinder, and the second protruding portion is arranged on the outer surface of the second inner side plate of the second clamp.

In this way, the lifting process of the paper tray can be more stable by the way that the outer side plate and the inner side plate are matched with each other.

In an exemplary embodiment, a first release member having elasticity is provided on a first inner side plate of the first clamp, the first release member being located above the first projection for applying a pushing force to the paper holder to facilitate disengagement of the first opening of the paper holder from the first projection when the first clamp is shifted from the clamped state to the expanded state; and a second release member having elasticity is provided on a second inner side plate of the second clamp, the second release member being located above the second projection and being configured to apply a pushing force to the paper holder to facilitate disengagement of the second opening of the paper holder from the second projection when the second clamp is shifted from the clamped state to the expanded state.

In this way, with the first and second release members, the first and second openings of the paper tray can be smoothly released from the first and second projections of the first and second inner side plates.

In an exemplary embodiment, the first release assembly is assembled in an assembly hole of a first inner side plate of the first clamp, the second release assembly is assembled in an assembly hole of a second inner side plate of the second clamp, and the first release assembly and the second release assembly each include a metal guide sleeve, a pin located in the metal guide sleeve, and a spring sleeved on the pin.

In this way, with the first and second discharge members thus configured, the first and second openings of the paper tray can be smoothly released from the first and second projections of the first and second inner side plates more effectively.

In an exemplary embodiment, a first guide plate extending outward and upward is provided at an upper portion of an outer surface of the first outer side plate of the first jig, and a second guide plate extending outward and upward is provided at an upper portion of an outer surface of the second outer side plate of the second jig.

In such a way, in the process of putting the paper support into the packaging box after being extracted, the first guide plate and the second guide plate pull the folded paper of the packaging box towards the outer side, and the four folded paper of the opening of the packaging box are prevented from being extruded with the robot device in a vertical state.

In an exemplary embodiment, the first jig is provided with a first photodetecting unit including a first photosensor provided on a first inner side plate of the first jig and a first light reflecting paper provided on a first outer side plate of the first jig in correspondence with the first photosensor; the second clamp is provided with a second photoelectric detection unit which comprises a second photoelectric sensor arranged on a second inner side plate of the second clamp and second reflective paper arranged on a second outer side plate of the second clamp corresponding to the second photoelectric sensor.

In this way, it is possible to detect whether the paper tray is correctly grasped or detached, thereby avoiding erroneous operation.

In an exemplary embodiment, the transmission mechanism includes: the gear set is connected with the output end of the servo motor; a bidirectional lead screw connected with the gear set; the first lead screw nut and the second lead screw nut are sleeved on the bidirectional lead screw; a first slide and a second slide, said first slide coupled to said first lead screw nut and to said first clamp, and said second slide coupled to said second lead screw nut and to said second clamp; and the guide rail is arranged in parallel with the bidirectional screw rod, and the first sliding block and the second sliding block are driven by the first screw nut and the second screw nut respectively to move on the guide rail so as to drive the first clamp and the second clamp to move.

In this way, the distance between the first clamp and the second clamp can be effectively adjusted according to the size of the paper tray.

In an exemplary embodiment, a first pressing plate is provided on an inner surface of the first inner side plate of the first clamp, and the first protrusion protrudes from the first pressing plate; a second pressing plate is provided on an inner surface of a second inner side plate of the second clamp, and the second protrusion protrudes from the second pressing plate.

In such a way, the paper support can be more firmly abutted against the first pressing plate and the second pressing plate in the process of being lifted, and the paper support is prevented from slipping.

In an exemplary embodiment, the first clamp includes a first cylinder bracket, the first cylinder being disposed on the first cylinder bracket, an end of a piston rod of the first cylinder being connected to the first inner side plate, and a pair of guide rods are provided between the first cylinder bracket and the first inner side plate, the pair of guide rods being located at both sides of and in parallel with the piston rod of the first cylinder, the second clamp comprises a second air cylinder bracket, the second air cylinder is arranged on the second air cylinder bracket, the end part of a piston rod of the second air cylinder is connected to the second inner side plate, and a pair of guide rods are arranged between the second cylinder bracket and the second inner side plate, are positioned on two sides of the piston rod of the second cylinder and are arranged in parallel with the piston rod of the second cylinder.

In this way, the parallel movement of the first inner side plate of the first clamp and the second inner side plate of the second clamp during movement can be ensured more stably, avoiding skewing.

In an exemplary embodiment, the number of the first releasing assemblies is three, and the three first releasing assemblies are arranged in a row; and the number of the second release assemblies is three, and the three second release assemblies are arranged in a row.

In this way, the three first release assemblies and the three second release assemblies act simultaneously, and the pushing force can be increased, so that the first opening and the second opening of the paper holder can be more effectively and smoothly released from the first protruding portion and the second protruding portion of the first inner side plate and the second inner side plate.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic front view, partially in section, of a robotic device for loading paper trays containing products into a package according to a preferred embodiment of the invention, wherein a first clamp and a second clamp are in an open state;

fig. 2 is a schematic top view, partly in section, of a robotic device for loading paper pallets containing products into a package according to a preferred embodiment of the invention, wherein a first clamp and a second clamp are in an open state;

fig. 3 is a schematic front view, partly in section, of a robotic device for loading paper trays containing products into a package according to a preferred embodiment of the invention, wherein a first clamp and a second clamp are in a clamped state;

fig. 4 is a schematic top view, partly in section, of a robotic device for loading paper pallets containing products into a package according to a preferred embodiment of the invention, wherein a first clamp and a second clamp are in a clamped state;

fig. 5 is a schematic side view, partly in section, of a robotic device for loading paper trays containing products into a package according to a preferred embodiment of the invention, wherein the first and second clamps are in a clamped state.

100: a frame; 101: a frame end plate; 102: a frame side plate; 103: mounting a plate;

200: a servo motor;

300: a transmission mechanism; 301: a gear set; 302: a bidirectional lead screw; 303: a first lead screw nut;

304: a second lead screw nut; 305: a first slider; 306: a second slider; 307: a guide rail;

308: a first bearing; 309: a second bearing;

400: a first clamp; 401: a first projecting portion; 402: a first outer panel; 403: a first inner side panel; 404: a first release assembly; 405: a first photosensor; 406: a first reflective paper;

407: a first platen; 408: a first cylinder; 409: a first guide plate; 410: a first cylinder mount; 411: a guide bar; 412: a piston rod; 413: a bolt; 414: a metal guide sleeve; 415: a pin; 416: a spring; 417: a first clamp mounting panel; 418: a first clamp mounting side plate;

500: a second clamp; 501: a second projection; 502: a second exterior plate; 503: a second inner side panel; 504: a second release assembly; 505: a second photosensor; 507: a second platen;

508: a second cylinder; 509: a second guide plate;

600: a paper holder; 601: a first opening; 602: a second opening;

700: a motor to be packaged.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Referring first to fig. 1 of the present application, fig. 1 is a partially cut-away front view schematic diagram of a robotic device for loading paper trays containing products into a package, wherein a first clamp 400 and a second clamp 500 are in an open state. The product in this example is a motor 700 to be packaged. The robot device includes: a frame 100, which can be driven by a spreader (not shown), the frame including frame end plates 101, frame side plates 102, and a mounting plate 103, the mounting plate 103 being used to connect the robot device and the spreader together, so that the robot device is driven by the spreader; a servo motor 200 provided on the frame 100; a transmission mechanism 300 driven by the servo motor 200; and a first jig 400 and a second jig 500, the first jig 400 and the second jig 500 being disposed at both sides of the frame 100 opposite to each other, the first jig 400 and the second jig 500 being connected to the driving mechanism 300 so as to be movable relative to each other by the driving mechanism 300 to adjust a distance between the first jig 400 and the second jig 500 according to a longitudinal length of the paper tray 600 to be packaged.

Still referring to fig. 1, the transmission mechanism 300 includes: a gear set 301 connected to an output terminal of the servo motor 200; a bidirectional screw 302 mounted on the frame 100 through a first bearing 308 and a second bearing 309 and connected with the gear set 301; a first lead screw nut 303 and a second lead screw nut 304, both sleeved on the bidirectional lead screw 302; a first slide 305 and a second slide 306, the first slide 305 being connected to the first lead screw nut 303 and to the first clamp 400, and the second slide 306 being connected to the second lead screw nut 304 and to the second clamp 500; and a guide rail 307, which is arranged in parallel with the bidirectional screw 302, and the first slider 305 and the second slider 306 are respectively driven by the first screw nut 303 and the second screw nut 304 to move on the guide rail 307, so as to drive the first clamp 400 and the second clamp 500 to move.

Referring now to fig. 1 and 3 of the present application, both the first clamp 400 and the second clamp 500 are shown in an open state in fig. 1 and the first clamp 400 and the second clamp 500 are shown in a clamped state in fig. 2. The first clamp 400 includes a fixed first outer side plate 402 and a first inner side plate 403 carried by a first cylinder 408, and includes a first protrusion 401, which may also be referred to as a first lug, provided on an outer surface of the first inner side plate 403 of the first clamp 400, the first protrusion 401 being mounted with a bolt 413. The first clip 400 is mounted using a first clip mounting panel 417 and a first clip mounting side panel 418. The second clamp 500 includes a fixed second outer plate 502 and a second inner plate 503 driven by a second cylinder 508, and includes a second protrusion 501, which may also be referred to as a second tab, provided on an outer surface of the second inner plate 503 of the second clamp 500. The second jig 500 is installed in the same manner as the first jig 400. A first opening 601 and a second opening 602 are formed in the paper tray 600 to be opposed to each other, and the first projection 401 and the second projection 501 are inserted into the first opening 601 and the second opening 602, respectively, when the first clamp 400 and the second clamp 500 are in the clamped state.

Still referring to fig. 1 and 3, a resilient first release member 404 is disposed on the first inner side plate 403 of the first clamp 400, and the first release member 404 is located above the first protrusion 401 for applying a pushing force to the paper holder 600 to facilitate the first opening 601 of the paper holder 600 to disengage from the first protrusion 401 when the first clamp 400 is shifted from the clamping state to the opening state. In addition, an elastic second release member 504 is disposed on the second inner side plate 503 of the second clamp 500, and the second release member 504 is located above the second protrusion 501 and is used for applying a pushing force to the paper holder 600 when the second clamp 500 is shifted from the clamping state to the opening state to facilitate the second opening 602 of the paper holder 600 to be disengaged from the second protrusion 501. Specifically, referring to FIG. 5, it is shown that the number of first release assemblies 404 is three, and likewise, the number of second release assemblies 504 is also three.

Referring to fig. 3, the first release assembly 404 may be fitted into a fitting hole of the first inner side plate 403 of the first clamp 400, the second release assembly 504 may be fitted into a fitting hole of the second inner side plate 503 of the second clamp 500, and each of the first release assembly 404 and the second release assembly 504 includes a metal guide sleeve 414, a pin 415 located in the metal guide sleeve, and a spring 416 fitted over the pin 415, wherein the metal guide sleeve 414 is, for example, a brass bushing.

It will be understood by those of ordinary skill in the art that when the first and second clamps 400 and 500 are in the open state, the first and second release assemblies 404 and 504 are in the unstressed first state, and when the first and second clamps 400 and 500 are in the clamped state, the first and second release assemblies 404 and 504 are in the compressed second state, so that when the first and second clamps 400 and 500 are transitioned from the clamped state to the open state, the first and second release assemblies 404 and 504 can release the elastic potential energy of the springs to apply a pushing force to the paper holder 600, thereby facilitating the disengagement of the first and second protrusions 401 and 501 from the first and second apertures 601 and 602 of the paper holder 600, respectively.

Referring to fig. 1, a first guide plate 409 extending outward and upward may be provided at an upper portion of an outer surface of the first outer plate 402 of the first jig 400, and a second guide plate 509 extending outward and upward may be provided at an upper portion of an outer surface of the second outer plate 502 of the second jig 500.

Referring to fig. 1, the first jig 400 may be provided with a first photo-detection unit including a first photo-sensor 405 disposed on a first inner side plate 403 of the first jig 400 and a first light reflecting paper 406 disposed on a first outer side plate 402 of the first jig 400 corresponding to the first photo-sensor 405;

referring to fig. 1, the second jig 500 may be provided with a second photo-detecting unit including a second photo-sensor 505 disposed on the second inner side plate 503 of the second jig 500 and a second light reflecting paper disposed on the second outer side plate 502 of the second jig 500 in correspondence with the second photo-sensor 505.

Referring to fig. 1 and 3, a first pressing plate 407 is provided on an inner surface of the first inner side plate 403 of the first clamp 400, and a first protrusion 401 protrudes from the first pressing plate 407; a second pressing plate 507 is provided on an inner surface of the second inner side plate 503 of the second jig 500, and a second projection 501 projects from the second pressing plate 507.

Referring to fig. 4, the first jig 400 includes a first cylinder holder 410, a first cylinder 408 provided on the first cylinder holder 410, an end of a piston rod 412 of the first cylinder 408 connected to the first inner side plate 403, and a pair of guide rods 411 provided between the first cylinder holder 410 and the first inner side plate 403, the pair of guide rods 411 being located at both sides of the piston rod 412 of the first cylinder 408 and being provided in parallel with the piston rod 412 of the first cylinder 408. The second clamp 500 includes a second cylinder holder on which a second cylinder 508 is disposed, an end of a piston rod of the second cylinder 508 being connected to the second inner side plate 503, and a pair of guide rods disposed between the second cylinder holder and the second inner side plate 503, on both sides of the piston rod of the second cylinder 508, and disposed in parallel with the piston rod of the second cylinder 508.

The following briefly introduces the action flow of the whole boxing process of the robot of the present application.

In the retracted state of the first cylinder 408 and the second cylinder 508, the first inner side plate 403 and the second inner side plate 503 are retracted inward, and the first clamp 400 and the second clamp 500 are in the open state. The first clamp 400 and the second clamp 500 are lowered to the first opening 601 and the second opening 602 of the paper tray 600, and the first cylinder 408 and the second cylinder 508 push the first inner side plate 403 and the second inner side plate 503 respectively to insert the first protrusion 401 and the second protrusion 501 into the first opening 601 and the second opening 602 respectively. The first release assembly 404 and the second release assembly 504 arranged on the first inner side plate 403 and the second inner side plate 503 have an elastic function, and when the paper tray is in an opened state, the ejection planes of the first release assembly 404 and the second release assembly 504 are flush with the outer side planes of the first protruding portion 401 and the second protruding portion 501, so that the paper tray can be smoothly ejected by the first release assembly 404 and the second release assembly 504 even when the paper tray is warped, and the paper tray 600 is prevented from being taken out when the first clamp 400 and the second clamp 500 are ejected from the packaging box.

When the first and second air cylinders 408 and 508 push the first and second inner side plates 403 and 503 outward, the first and second release assemblies 404 and 504 contact the paper holder 600 to press the paper holder 600, so as to ensure that the first and second protrusions 401 and 501 of the first and second inner side plates 403 and 503 properly enter the corresponding first and second openings 601 and 602. First projection 401 and second projection 501 may be about 2mm smaller in size than first projection 401 and second projection 501. When robotic device took paper support 600, paper support 600 was caught by first bulge 401 and second bulge 501, and is safer and more reliable than the mode of leaning on both sides board clamp to draw, can reduce the thickness of first outside board 402 and second outside board 502 simultaneously, reduces because the influence of first anchor clamps 400 and second anchor clamps 500 thickness to the vanning.

When the robot device picks up the paper tray 600 and puts the paper tray into a packing box (such as a carton, not shown in the figure), the first guide plate 409 and the second guide plate 509 arranged on the first outer side plate 402 and the second outer side plate 502 are used for shifting the folded paper of the packing box to the outside, so that the four folded paper of the opening of the packing box are prevented from being extruded with the robot device when being in a vertical state. The robotic device presses the paper holder 600 down during the pressing process by means of the first and second protrusions 401, 501 on the first and second inner side plates 403, 503 to ensure that the paper holder 600 is properly loaded into the bottom of the package.

After the boxing is completed, the first air cylinder 408 and the second air cylinder 508 for driving the first inner side plate 403 and the second inner side plate 503 are retracted, the first clamp 400 and the second clamp 500 are opened, the paper holder 600 is separated from the first clamp 400 and the second clamp 500, and meanwhile, the self elastic force of the first release assembly 404 and the second release assembly 504 on the first clamp 400 and the second clamp 500 ensures that the paper holder 600 can be released from the first bulge 401 and the second bulge 501. In particular, in actual production, the paper holder 600 is usually deformed, and it is difficult to separate the paper holder 600 from the first projecting portion 401 and the second projecting portion 501 without a reverse pushing force. The first releasing member 404 and the second releasing member 504 can effectively release the first opening 601 and the second opening 602 of the paper holder 600 from the first protrusion 401 and the second protrusion 501, and if the first releasing member 404 and the second releasing member 504 are not provided, the paper holder 600 is difficult to release from the first clamp 400 and the second clamp 500.

Meanwhile, the first and second jigs 400 and 500 are respectively provided with a photoelectric sensor and reflective paper corresponding thereto. Because the material of the paper holder 600 is different from the reflection intensity of the reflective paper, the paper holder 600 is sandwiched between the first inner side plate 403 and the first outer side plate 402 and between the second inner side plate 503 and the second outer side plate 502 during boxing, and the space between the photoelectric sensor and the corresponding reflective paper is blocked by the paper plate of the paper holder, so that the photoelectric sensor cannot receive a return signal; after boxing, when the first clamp 400 and the second clamp 500 are withdrawn, the photoelectric sensor and the corresponding reflective paper have no barrier and can receive a return signal. This characteristic is used to detect whether the paper tray 600 is properly gripped or detached.

According to the utility model discloses a robot device for packing into packing box with the paper support that contains the product has greatly improved packing efficiency, has reduced manual operation, has reduced the activity duration.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims (10)

1. A robotic device for loading paper trays containing products into a package, the robotic device comprising:

a frame (100);

a servo motor (200) disposed on the frame (100);

a transmission mechanism (300) driven by the servo motor (200); and

a first clamp (400) and a second clamp (500), the first clamp (400) and the second clamp (500) being disposed opposite to each other at both sides of the frame (100), the first clamp (400) and the second clamp (500) being connected to the transmission mechanism (300) so as to be movable relative to each other by the transmission mechanism (300) to adjust a distance between the first clamp (400) and the second clamp (500) according to a longitudinal length of a paper tray (600) to be packaged;

wherein the first clamp (400) and the second clamp (500) both have an open state and a clamped state, the first clamp (400) is provided with a first protrusion (401), the second clamp (500) is provided with a second protrusion (501), a first open hole (601) and a second open hole (602) which are opposite to each other are formed on the paper holder (600), and when the first clamp (400) and the second clamp (500) are in the clamped state, the first protrusion (401) and the second protrusion (501) are respectively inserted into the first open hole (601) and the second open hole (602).

2. A robotic device for loading paper trays containing products into packing cases, as claimed in claim 1,

the first clamp (400) comprises a fixed first outer side plate (402) and a first inner side plate (403) driven by a first cylinder (408), and the first protrusion (401) is arranged on the outer surface of the first inner side plate (403) of the first clamp (400);

the second clamp (500) comprises a fixed second outer side plate (502) and a second inner side plate (503) driven by a second air cylinder (508), and the second convex portion (501) is arranged on the outer surface of the second inner side plate (503) of the second clamp (500).

3. A robotic device for loading paper trays containing products into packing cases, as claimed in claim 2,

providing a resilient first release member (404) on a first inner side plate (403) of the first clamp (400), the first release member (404) being located above the first protrusion (401) for applying a pushing force to the paper holder (600) to facilitate disengagement of the first aperture (601) of the paper holder (600) from the first protrusion (401) when the first clamp (400) is transitioned from the clamped state to the expanded state;

and a second elastic releasing member (504) is provided on a second inner side plate (503) of the second clamp (500), the second releasing member (504) is located above the second projection (501) and is used for applying pushing force to the paper holder (600) when the second clamp (500) is changed from the clamping state to the opening state so as to promote the second opening (602) of the paper holder (600) to be disengaged from the second projection (501).

4. The robotic device for loading trays containing products into cartons as claimed in claim 3, wherein said first release assembly (404) fits into a fitting hole of a first inner side plate (403) of said first gripper (400), said second release assembly (504) fits into a fitting hole of a second inner side plate (503) of said second gripper (500), said first release assembly (404) and said second release assembly (504) each comprising a metal guide sleeve (414), a pin (415) within said metal guide sleeve, and a spring (416) fitted over said pin (415).

5. The robotic device for loading trays containing products into a carton according to any of claims 2 to 4, characterized in that a first guide plate (409) extending towards and upwards is provided at the upper part of the outer surface of the first outer side plate (402) of the first clamp (400), and a second guide plate (509) extending towards and upwards is provided at the upper part of the outer surface of the second outer side plate (502) of the second clamp (500).

6. A robotic device for loading paper trays containing products into packing cases, according to any of claims 2 to 4, characterized in that,

the first clamp (400) is provided with a first photo detection unit comprising a first photo sensor (405) arranged on a first inner side plate (403) of the first clamp (400) and a first light reflecting paper (406) arranged on a first outer side plate (402) of the first clamp (400) corresponding to the first photo sensor (405);

the second clamp (500) is provided with a second photoelectric detection unit which comprises a second photoelectric sensor (505) arranged on a second inner side plate (503) of the second clamp (500) and second reflective paper arranged on a second outer side plate (502) of the second clamp (500) corresponding to the second photoelectric sensor (505).

7. The robotic device for loading trays containing products into packages according to any of claims 1 to 4, characterized in that said transmission mechanism (300) comprises:

a gear set (301) connected with the output end of the servo motor (200);

a bidirectional threaded shaft (302) connected to said gear set (301);

a first lead screw nut (303) and a second lead screw nut (304) which are sleeved on the bidirectional lead screw (302);

a first slider (305) and a second slider (306), said first slider (305) being connected to said first lead screw nut (303) and to said first clamp (400), and said second slider (306) being connected to said second lead screw nut (304) and to said second clamp (500); and

and the guide rail (307) is arranged in parallel with the bidirectional screw (302), and the first sliding block (305) and the second sliding block (306) are driven by the first screw nut (303) and the second screw nut (304) respectively to move on the guide rail (307), so that the first clamp (400) and the second clamp (500) are driven to move.

8. A robotic device for loading trays containing products into packages according to any of claims 2 to 4, characterized in that a first presser plate (407) is provided on the inner surface of said first inner side plate (403) of said first clamp (400), said first tab (401) protruding from said first presser plate (407); a second pressing plate (507) is provided on an inner surface of a second inner side plate (503) of the second jig (500), and the second protrusion (501) protrudes from the second pressing plate (507).

9. A robotic device for loading paper trays containing products into packing cases, according to any of claims 2 to 4, characterized in that,

the first jig (400) includes a first cylinder holder (410), the first cylinder (408) is disposed on the first cylinder holder (410), an end of a piston rod (412) of the first cylinder (408) is connected to the first inner side plate (403), and a pair of guide rods (411) are disposed between the first cylinder holder (410) and the first inner side plate (403), the pair of guide rods being located at both sides of the piston rod (412) of the first cylinder (408) and disposed in parallel with the piston rod (412) of the first cylinder (408),

the second clamp (500) comprises a second cylinder holder on which the second cylinder (508) is arranged, the end of the piston rod of the second cylinder (508) being connected to the second inner side plate (503), and a pair of guide rods being arranged between the second cylinder holder and the second inner side plate (503), on both sides of the piston rod of the second cylinder (508) and in parallel with the piston rod of the second cylinder (508).

10. A robotic device for loading trays containing products into packages according to claim 3 or 4, characterized in that said first release assemblies (404) are three in number, the three first release assemblies (404) being arranged in a row; and the number of the second releasing assemblies (504) is three, and the three second releasing assemblies (504) are arranged in a row.

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