CN222181160U - An automatic loading equipment for box packaging products based on a robot - Google Patents

Abstract

The utility model belongs to the technical field of automatic loading equipment, and particularly relates to automatic loading equipment for box packaging products based on a manipulator. The utility model comprises a chassis running mechanism, a conveying buffer mechanism which is arranged on the chassis running mechanism and used for conveying buffer cargoes, and a manipulator stacking mechanism which is arranged on the chassis running mechanism and used for clamping cargoes to be stacked in a carriage. The manipulator stacking mechanism adopts a pushing cylinder and a movable pushing plate clamping design, sequentially arranges a plurality of cargoes by using the stacking electric conveying carrier roller, realizes the stacking of single multi-box bodies or large-volume heavy-load box bodies, expands the application range of stacking box bodies, improves the loading efficiency, and solves the problem of low stacking efficiency in the stacking mode of sucking one box body by adopting a sucker in the prior art. Meanwhile, the top space of the container can be fully filled, the space utilization rate of the container is maximized, and the risk of collapse damage of the container body in the transportation process is avoided.

Description

Automatic loading equipment for box packaging products based on mechanical arm

Technical Field

The utility model belongs to the technical field of automatic loading equipment, and particularly relates to automatic loading equipment for box packaging products based on a manipulator.

Background

At present, a plurality of enterprises have different demands on loading equipment, and most enterprises use trucks to transport box packaging products. In the enclosure space such as container, the loading of case class packing product mainly relies on the manual work or carries out the loading through the mode of fork truck tray, and this kind of mode cost of labor is high, and the security is poor, and is inefficiency moreover.

The mobile loading equipment based on the manipulator on the market mainly comprises a small-load manipulator, only one box body with light weight and small volume can be grabbed at a time to stack, and the stacking requirement cannot be met for a single box body with large weight and large size (such as a wine box and a frozen fish box). In addition, the single-box stacking mode has the advantages that the automation degree is high, the labor cost is reduced, the working efficiency is low, and the current domestic high-efficiency loading requirement cannot be met. Meanwhile, the existing manipulator grabs goods in a vacuum chuck mode, the grabbing position is above the box body, the method cannot fully fill the top space of the container, the space utilization rate of the box body is reduced, and the risk of collapse damage of the box body in the transportation process exists.

Disclosure of utility model

The utility model aims to overcome the defects that the box body is sucked in a vacuum chuck mode in the prior art, the utilization space of the box body is reduced, the suction is unstable, the box body can be stacked only once and only once, and the efficiency is low, and provides the automatic loading equipment for box packaging products based on a mechanical arm, which can be stacked once and multiple times, has high stacking efficiency and is stable in clamping.

The technical scheme adopted for solving the technical problems is as follows:

The automatic box packing product loading equipment based on the manipulator comprises a chassis running mechanism, a conveying and buffering mechanism and a manipulator stacking mechanism, wherein the conveying and buffering mechanism is installed on the chassis running mechanism and used for conveying and buffering cargoes, and the manipulator stacking mechanism is installed on the chassis running mechanism and used for clamping cargoes to be stacked in a carriage;

The manipulator stacking mechanism comprises:

the fixed end of the mechanical arm is arranged on the chassis travelling mechanism, and the output end of the mechanical arm is provided with a clamp frame;

The stacking electric conveying carrier rollers are arranged on the clamp frame in parallel;

The fixed end of the pushing cylinder is fixedly arranged on the clamp frame, and the telescopic end of the pushing cylinder is connected with the movable push plate;

The extending direction of the movable push plate is consistent with the conveying direction of the electric conveying carrier roller, the movable push plate is arranged on one side of the clamp frame, and the pushing cylinder drives the movable push plate to push out goods along the direction perpendicular to the conveying direction of the goods.

Further, the manipulator stacking mechanism further comprises a first overturning baffle assembly arranged at the head end of the clamp frame;

The first overturning baffle plate assembly comprises a first-stage telescopic module and a second-stage overturning module which are arranged on the clamp frame, wherein the telescopic end of the first-stage telescopic module is connected with the second-stage overturning module, and the first-stage telescopic module drives the second-stage overturning module to extend or retract along the cargo conveying direction.

Further, the secondary overturning module comprises a supporting plate, a first overturning baffle and at least one first overturning cylinder, wherein the supporting plate is connected with the side face of the clamp frame in a sliding mode, the first overturning baffle is hinged to the supporting plate, the first overturning cylinder is installed on the supporting plate, when the first overturning cylinder is in an extending state, the first overturning baffle is in a horizontal pose state, and when the first overturning cylinder is in a contracting state, the first overturning baffle is in a vertical pose state.

Further, the primary telescopic module comprises a primary telescopic cylinder installed on the clamp frame, and the telescopic end of the primary telescopic cylinder is connected with the support plate.

Further, the manipulator palletizing mechanism further comprises an end baffle assembly arranged at the tail end of the clamp frame;

The end baffle assembly comprises at least one first baffle cylinder, a first baffle and a guide rod, wherein the fixed end of the first baffle cylinder is fixedly arranged at the tail end of the clamp frame, the first baffle is connected with the telescopic end of the first baffle cylinder, and the guide rod is arranged at the tail end of the first baffle and the clamp frame.

Further, the transport buffer mechanism includes:

A conveying frame arranged on the chassis travelling mechanism;

the buffer electric conveying carrier rollers are arranged on the conveying frame in parallel;

The side positioning push plate assembly is arranged at the head end of the conveying frame and is used for positioning the position and the azimuth of the goods;

The second overturning baffle assembly is arranged at the tail end of the conveying frame and used for blocking cargoes from sliding off;

the fixed flange is arranged on one side of the conveying frame and used for limiting and guiding the position of the goods.

Further, the side positioning push plate assembly comprises a fixed positioning side plate fixedly arranged on one side of the conveying frame, a positioning air cylinder arranged on the fixed positioning side plate and a movable positioning side plate connected with the telescopic end of the positioning air cylinder, wherein after goods enter the buffer electric conveying carrier roller, the positioning air cylinder drives the movable positioning side plate to push the goods to the side of the fixed positioning side plate.

Further, when goods are conveyed from the conveying buffer mechanism to the manipulator stacking mechanism, the first overturning baffle plate assembly and the second overturning baffle plate assembly are matched with each other and are in a horizontal posture state.

Further, the chassis travelling mechanism comprises a frame, a plurality of steering wheels and supporting universal wheels which are arranged on the lower end face of the frame, and a swinging type suspension which is arranged on the frame.

Furthermore, a laser radar for collecting navigation data and a control cabinet for controlling commands are also arranged on the frame.

The automatic loading device for the box packaging products based on the mechanical arm has the beneficial effects that:

The tail end of the automatic loading equipment adopts a pushing cylinder and a movable pushing plate clamping design, and a plurality of cargoes are sequentially arranged by using the stacking electric conveying carrier roller, so that the stacking of single multi-box bodies or large-volume heavy-load box bodies is realized, the application range of stacking box bodies is enlarged, the loading efficiency is improved, and the problem of low stacking efficiency in the prior art due to a stacking mode of sucking one box body by a sucker at a time is solved. Meanwhile, the clamping type container can fully fill the top space of the container, maximize the space utilization rate of the container, and avoid the risk of collapse and damage of the container body in the transportation process.

Drawings

The utility model will be described in further detail with reference to the drawings and the detailed description.

Fig. 1 is a perspective view of an automatic loading apparatus according to an embodiment of the present utility model.

Fig. 2 is a schematic structural view of a manipulator palletizing mechanism according to an embodiment of the present utility model.

Fig. 3 is a schematic view of a part of a manipulator palletizing mechanism according to an embodiment of the present utility model.

Fig. 4 is a schematic structural view of a first inversion baffle assembly according to an embodiment of the utility model.

Fig. 5 is a schematic view of the structure of an end shield assembly according to an embodiment of the present utility model.

Fig. 6 is a schematic structural diagram of a conveying buffer mechanism according to an embodiment of the present utility model.

Fig. 7 is an installation diagram of a chassis walking mechanism and a control cabinet according to an embodiment of the present utility model.

Fig. 8 is a schematic structural view of a chassis running mechanism according to an embodiment of the present utility model.

In the figure, 1, a chassis running mechanism, 11, a frame, 12, steering wheels, 13, supporting universal wheels, 14, a swinging type suspension, 2, a conveying buffer mechanism, 21, a conveying frame, 22, a buffer electric conveying idler, 23, a side positioning push plate assembly, 231, a fixed positioning side plate, 232, a positioning cylinder, 233, a movable positioning side plate, 24, a second turnover baffle assembly, 25, a fixed flange, 3, a manipulator stacking mechanism, 31, a mechanical arm, 32, a clamp frame, 33, a stacking electric conveying idler, 34, a pushing cylinder, 35, a movable push plate, 36, a first turnover baffle assembly, 361, a first-stage telescopic module, 3611, a first-stage telescopic cylinder, 362, a second-stage turnover module, 3621, a supporting plate, 3622, a first turnover baffle, 3623, a first turnover cylinder, 37, a tail end baffle assembly, 371, a first baffle cylinder, 372, a first baffle, 373, a guide rod, 4, a laser radar, 5 and a control cabinet.

Detailed Description

The utility model will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the utility model and therefore show only the structures which are relevant to the utility model.

The specific embodiment of the automatic loading equipment for the box packaging products based on the manipulator, which is shown in fig. 1-8, comprises a chassis running mechanism 1, a conveying buffer mechanism 2 which is arranged on the chassis running mechanism 1 and is used for conveying buffer cargoes, and a manipulator stacking mechanism 3 which is arranged on the chassis running mechanism 1 and is used for clamping cargoes to be stacked in a carriage.

In this embodiment, the manipulator palletizing mechanism 3 includes a manipulator arm 31, a clamp frame 32, palletizing electric conveying rollers 33, a pushing cylinder 34, a movable push plate 35, and the like. The mechanical arm 31 is fixed on the chassis running mechanism 1, the clamp frame 32 is arranged at the output end, the stacking electric conveying carrier rollers 33 are arranged on the clamp frame 32 in parallel and used for driving goods to be conveyed, a plurality of goods are buffered on the clamp frame 32, at least one pushing cylinder 34 is fixedly arranged on the clamp frame 32 at the fixed end, the telescopic end of the pushing cylinder 34 is connected with the movable pushing plate 35, the extending direction of the movable pushing plate 35 is consistent with the conveying direction of the electric conveying carrier rollers, the mechanical arm is arranged on one side of the clamp frame 32, the pushing cylinder 34 drives the movable pushing plate 35 to push the goods along the direction perpendicular to the conveying direction of the goods, in the embodiment, the goods pushing direction is set to be the X-axis direction, the pushing direction of the pushing cylinder 34 is set to be the Y-axis direction, and the up-down direction of the automatic loading equipment is set to be the Z-axis direction, as shown in fig. 3.

As one implementation mode, when the automatic loading device is used, the number of the pushing cylinders 34 is two, the pushing cylinders 34 are started to push cargoes to push out from one side of the clamp frame 32 to be pushed onto a carriage or other loading platforms, a plurality of cargoes or cargoes box bodies with larger volume are pushed into the carriage or other loading platforms at one time through the longer movable pushing plates 35, the tail end of the automatic loading device adopts the pushing cylinders 34 and the movable pushing plates 35 to clamp and pick up the cargoes, the cargoes are sequentially arranged by using the stacking electric conveying carrier rollers 33, the stacking of single multi-box bodies or large-volume heavy-load box bodies is realized, the application range of stacking box bodies is enlarged, the loading efficiency is also improved, and the problem that the stacking efficiency is low in the prior art due to the fact that a sucker is used for sucking one box body at one time is solved. The automatic loading equipment can stack multiple cargoes at one time, and in the loading process, the cargoes can be continuously conveyed to the conveying buffer mechanism 2, and the loading and the cargo conveying are alternately carried out, so that the waiting time is reduced, and the loading efficiency is high.

Referring to fig. 3, the manipulator stacking mechanism 3 further includes a first overturning baffle assembly 36 disposed at a head end of the fixture frame 32, the first overturning baffle assembly 36 includes a first-stage telescopic module 361 and a second-stage overturning module 362 mounted on the fixture frame 32, a telescopic end of the first-stage telescopic module 361 is connected with the second-stage overturning module 362, and the first-stage telescopic module 361 drives the second-stage overturning module 362 to extend or retract along the cargo conveying direction.

It should be further noted that, as shown in fig. 4, the secondary turning module 362 includes a support plate 3621 slidably connected to a side of the clamp frame 32, a first turning baffle 3622 hinged to the support plate 3621, and at least one first turning cylinder 3623 mounted on the support plate 3621, where the first turning baffle 3622 is in a horizontal posture when the first turning cylinder 3623 is in an extended state, and the first turning baffle 3622 is in a vertical posture when the first turning cylinder 3623 is in a contracted state. The primary expansion module 361 includes a primary expansion cylinder 3611 mounted on the clamp frame 32, and an expansion end of the primary expansion cylinder 3611 is connected with a support plate 3621.

The first overturning baffle assembly 36 drives the second overturning module 362 through the first-stage telescopic module 361 to achieve the overall telescopic function, the state conversion of the horizontal posture and the vertical posture of the first overturning baffle 3622 is achieved under the action of the second-stage overturning module 362, the change of the four states of horizontal extension, horizontal retraction, vertical extension and vertical retraction of the first overturning baffle 3622 is achieved under the coupling action of the first-stage telescopic module 361 and the second-stage overturning module 362, when the manipulator stacking mechanism 3 is in butt joint with the conveying buffer mechanism 2, the first overturning baffle 3622 is in the horizontal posture, and when the manipulator stacking mechanism 3 stacks and transports cargoes, the first overturning baffle 3622 is in the vertical posture, namely the Z-axis direction.

As shown in fig. 5, the manipulator palletizing mechanism 3 further comprises an end baffle assembly 37 arranged at the end of the clamp frame 32, wherein the end baffle assembly 37 comprises at least one first baffle cylinder 371 fixedly arranged at the end of the clamp frame 32, a first baffle 372 connected with the telescopic end of the first baffle cylinder 371, and a guide rod 373 arranged at the ends of the first baffle 372 and the clamp frame 32. The end baffle assembly 37 is arranged to prevent the box from falling from one end of the clamp frame 32, and the position of the first baffle 372 can be adjusted by the first baffle cylinder 371 according to the size of the box, so that the conveying and stacking of boxes with different sizes can be realized.

The conveying buffer mechanism 2 comprises a conveying frame 21, a plurality of buffer electric conveying carrier rollers 22, side edge positioning push plate assemblies 23, a second overturning baffle assembly 24 and a fixed baffle 25 which are arranged on the chassis travelling mechanism 1, wherein the buffer electric conveying carrier rollers 22 are arranged on the conveying frame 21 in parallel, the side edge positioning push plate assemblies 23 are arranged at the head end of the conveying frame 21 and used for positioning the position and the azimuth of goods, the second overturning baffle assembly 24 is arranged at the tail end of the conveying frame 21 and used for blocking the goods to slide down, and the fixed baffle 25 is arranged on one side of the conveying frame 21 and used for limiting and guiding the position of the goods.

As one implementation mode, the side positioning push plate assembly 23 comprises a fixed positioning side plate 231 fixedly arranged on one side of the conveying frame 21, a positioning cylinder 232 arranged on the fixed positioning side plate 231 and a movable positioning side plate 233 connected with the telescopic end of the positioning cylinder 232, after goods enter the buffer electric conveying carrier roller 22, the positioning cylinder 232 drives the movable positioning side plate 233 to push the goods to the fixed positioning side plate 231 side, the side positioning push plate assembly 23 contracts through the linkage of the positioning cylinder 232 and the double guide shafts to position the boxes conveyed by the conveying chain to the fixed positioning side plate 231 on one side, the positions of all boxes on the conveying buffer mechanism 2 in the X-axis direction are consistent, when the boxes are conveyed to the conveying buffer mechanism 2, the second overturning baffle assembly 24 can recover to a vertical baffle state from a horizontal opening state under the driving of the cylinder, and the boxes in place are prevented from falling from one end of the conveying frame 21 when the buffer electric conveying carrier roller 22 conveys the rear-end boxes.

It should be further noted that the second inversion baffle assembly 24 in this embodiment has the same structure as the first inversion baffle assembly 36, and the specific structure of the second inversion baffle assembly 24 will not be described in detail herein. When the goods are conveyed from the conveying buffer mechanism 2 to the manipulator stacking mechanism 3, the first overturning baffle assembly 36 and the second overturning baffle assembly 24 are matched with each other, and are in a horizontal posture state.

Referring to fig. 7 and 8, the chassis running mechanism 1 in the present embodiment includes a frame 11, a plurality of steering wheels 12 and supporting universal wheels 13 mounted on a lower end surface of the frame 11, and a swing type suspension 14 mounted on the frame 11. As an implementation mode, the same wheels are installed on the diagonal angle of the frame 11, one diagonal angle is provided with the steering wheel 12, the other diagonal angle is provided with the supporting universal wheel 13, the front and back walking, the left and right translation and the steering of the whole vehicle can be realized through the coupling driving of the two steering wheels 12 installed on the diagonal angle, and when the chassis swinging type suspension 14 is arranged, the chassis walking and the steering can be realized, the two steering wheels 12 and the two supporting universal wheels 13 are simultaneously grounded and stressed uniformly, so that the positioning precision of the chassis is ensured.

As an embodiment, the rack 11 is further provided with a laser radar 4 and a control cabinet 5 for controlling instruction output. When the device automatically navigates and walks, the laser radar 4 is used for acquiring navigation data, specifically measuring the position sizes of the corrugated plates at the two sides of the container and the front end box, transmitting the position sizes to a computer on the control cabinet 5 for data processing, and then transmitting an instruction to the steering wheel 12 for position adjustment, so that the vehicle is ensured to rectify and walk, and the automatic navigation and walk are realized. Compared with a complex four-wheel independent suspension system, the swing type suspension 14 chassis adopted in the embodiment can meet the positioning and navigation precision and simultaneously can greatly reduce the economic cost. Meanwhile, the navigation mechanism with the double steering wheels 12 and the laser radar 4 meets the positioning precision of +/-10 mm, and compared with a four-wheel Mecanum wheel driving mode, the navigation mechanism has the advantages of lower economic cost and higher positioning precision.

The using process of the automatic box packing product loading equipment based on the manipulator is as follows:

referring to fig. 1, the second overturning baffle assembly 24 is overturned to a horizontal state, the first overturning baffle assembly 36 extends out and overturns to the horizontal state, the clamp frame 32 at the tail end of the mechanical arm is in butt joint with the conveying buffer mechanism 2 by the mobile mechanical arm, the first overturning baffle 3622 of the first overturning baffle assembly 36 is inserted into a position below the buffer electric conveying idler 22 of the conveying buffer mechanism 2 during butt joint, the electric conveying idler 33 and the buffer electric conveying idler 22 rotate simultaneously, and goods are conveyed to the corresponding electric conveying idler 33 of the stacker by the conveying buffer mechanism 2, and the goods handover of the box body is completed.

Then, after the first turning baffle 3622 at the tail end of the mechanical arm 31 is horizontally moved out from the lower part of the buffer electric conveying carrier roller 22 of the conveying buffer mechanism 2, the first turning baffle 3622 is changed from a horizontal extending state to a vertical retracting state, the first baffles 372 of the tail end baffle assembly 37 are also retracted together to clamp the box body, in order to ensure that the buffer and the stacking of the box body are simultaneously carried out, the cargo stacking efficiency is improved, the turning baffle of the second turning baffle assembly 24 is also changed from the horizontal extending state to the vertical retracting state while the first turning baffle 3622 is changed from the horizontal extending state to the vertical retracting state, then the mechanical arm 31 carries the cargoes on the tail end of the electric conveying carrier roller 33 to a specified stacking position, the first turning baffle 3622 of the first turning baffle assembly 36 and the first baffles 372 of the tail end baffle assembly 37 are both vertically opened, the pushing cylinder 34 is started to stack the cargoes from the electric conveying carrier roller 33 to the specified position, and the multi-box body automatic stacking is completed in such a circulating manner.

In the pile up neatly production line, the automatic loading equipment of this embodiment is located the front end of automatic transfer chain, can make case class packing product follow warehouse-out to loading process complete succession, has removed intermediate processes such as fork truck tray transportation from, and is time-saving high-efficient, the security is high. The automatic loading equipment can be suitable for loading of box packaging products with different sizes and different weights, can realize loading of cargoes in a horizontal-vertical reversing mode, can accurately put cargoes into a boxcar, and enables cargoes to be orderly stacked in the boxcar. The full-automatic loading of the packaged products of the boxes can be realized, the labor cost is reduced, the multi-box goods can be piled up once, in the loading process, the goods can be continuously conveyed to the buffer assembly, the loading and the goods conveying are alternately carried out, the waiting time is reduced, the loading efficiency is high, the automatic loading equipment is compact in structure and high in adaptability, and the automatic loading equipment can be used for loading of most container trucks.

It should be understood that the above-described specific embodiments are only for explaining the present utility model and are not intended to limit the present utility model. Obvious variations or modifications which extend from the spirit of the present utility model are within the scope of the present utility model.

Claims (10)

1. The automatic box packaging product loading equipment based on the mechanical arm is characterized by comprising a chassis running mechanism (1), a conveying and buffering mechanism (2) arranged on the chassis running mechanism (1) for conveying and buffering cargoes and a mechanical arm stacking mechanism (3) arranged on the chassis running mechanism (1) and used for stacking cargoes into a carriage;

the manipulator stacking mechanism (3) comprises:

The mechanical arm (31) is provided with a fixed end which is arranged on the chassis travelling mechanism (1), and the output end is provided with a clamp frame (32);

a plurality of stacking electric conveying carrier rollers (33) are arranged on the clamp frame (32) in parallel;

The fixed end of the pushing cylinder (34) is fixedly arranged on the clamp frame (32), and the telescopic end of the pushing cylinder (34) is connected with the movable push plate (35);

The extending direction of the movable push plate (35) is consistent with the conveying direction of the electric conveying carrier roller, the movable push plate is arranged on one side of the clamp frame (32), and the pushing cylinder (34) drives the movable push plate (35) to push out cargoes along the direction perpendicular to the conveying direction of the cargoes.

2. The automatic loading device for packaged products of boxes based on the manipulator of claim 1, wherein the manipulator stacking mechanism (3) further comprises a first turnover baffle assembly (36) arranged at the head end of the clamp frame (32);

The first overturning baffle assembly (36) comprises a first-stage telescopic module (361) and a second-stage overturning module (362) which are arranged on the clamp frame (32), the telescopic end of the first-stage telescopic module (361) is connected with the second-stage overturning module (362), and the first-stage telescopic module (361) drives the second-stage overturning module (362) to extend or retract along the cargo conveying direction through a telescopic cylinder (3611).

3. The automatic loading device for packaged products of boxes based on a manipulator of claim 2, wherein the secondary overturning module (362) comprises a supporting plate (3621) slidingly connected with the side surface of the clamp frame (32), a first overturning baffle (3622) hinged with the supporting plate (3621) and at least one first overturning cylinder (3623) mounted on the supporting plate (3621), when the first overturning cylinder (3623) is in an extended state, the first overturning baffle (3622) is in a horizontal pose state, and when the first overturning cylinder (3623) is in a contracted state, the first overturning baffle (3622) is in a vertical pose state.

4. The automated case packaging product loading device based on a manipulator according to claim 3, wherein the primary expansion module (361) comprises a primary expansion cylinder (3611) mounted on the clamp frame (32), and an expansion end of the primary expansion cylinder (3611) is connected with the support plate (3621).

5. The automatic loading device for packaged products of boxes based on mechanical arm according to claim 1, characterized in that said mechanical arm palletizing mechanism (3) further comprises an end baffle assembly (37) arranged at the end of said clamp frame (32);

The end baffle assembly (37) comprises at least one first baffle cylinder (371) with a fixed end fixedly mounted at the tail end of the clamp frame (32), a first baffle (372) connected with a telescopic end of the first baffle cylinder (371), and a guide rod (373) mounted at the tail ends of the first baffle (372) and the clamp frame (32).

6. The automatic loading device for packaged products of boxes based on a manipulator according to claim 2, wherein said delivery buffer mechanism (2) comprises:

a conveying frame (21) arranged on the chassis travelling mechanism (1);

a plurality of buffer electric conveying carrier rollers (22) which are arranged on the conveying frame (21) in parallel;

the side positioning push plate assembly (23) is arranged at the head end of the conveying frame (21) and is used for positioning the position and the orientation of cargoes;

A second inversion baffle assembly (24) mounted on the end of the carriage (21) for blocking the sliding of the goods;

And the fixed flange (25) is arranged on one side of the conveying frame (21) and used for limiting and guiding the position of the goods.

7. The automatic loading device for packaging products of boxes based on the mechanical arm of claim 6, wherein the side positioning push plate assembly (23) comprises a fixed positioning side plate (231) fixedly arranged on one side of the conveying frame (21), a positioning air cylinder (232) arranged on the fixed positioning side plate (231), and a movable positioning side plate (233) connected with the telescopic end of the positioning air cylinder (232), wherein after goods enter the buffer electric conveying carrier roller (22), the positioning air cylinder (232) drives the movable positioning side plate (233) to push the goods to the side of the fixed positioning side plate (231).

8. The automated case packaging product loading apparatus according to claim 7, wherein the first and second inversion baffle assemblies (36, 24) are mated with each other in a horizontal posture when the goods are transferred from the transfer buffer mechanism (2) to the robot palletizing mechanism (3).

9. The automatic loading device for the packaged products of the boxes based on the manipulator of claim 1, wherein the chassis traveling mechanism (1) comprises a frame (11), a plurality of steering wheels (12) and supporting universal wheels (13) which are arranged on the lower end surface of the frame (11), and a swinging type suspension (14) which is arranged on the frame (11).

10. The automatic loading device for the packaged products of the boxes based on the manipulator of claim 9, wherein the frame (11) is further provided with a laser radar (4) for collecting navigation data and a control cabinet (5) for controlling instruction output.