A fully automatic packaging machine and working method

Abstract

The present invention relates to the technical field of corrugated cardboard automatic packaging equipment, and specifically discloses a full-automatic packaging machine and a working method. A moving grasping and folding packaging device I is installed on an adjustable displacement device I, and a moving grasping and folding packaging device II is installed on an adjustable displacement device II. The integrated suction cup mechanism of the moving grasping and folding packaging device I adsorbs corrugated board I, and the integrated suction cup mechanism of the moving grasping and folding packaging device II adsorbs corrugated board II; a finished product component whole-tray conveying device conveys a whole-tray component, and the periphery of the whole-tray component is packaged with corrugated board I and corrugated board II; a gluing mechanism glues the connection part of corrugated board I and corrugated board II, and a pressing mechanism rolls and presses the glued part; a top cover grasping robot is connected with a top cover suction cup, and the top cover suction cup adsorbs a corrugated board top cover to the top of the whole-tray component; the present invention realizes full-automatic work, avoids manual intervention, improves the packaging stability and packaging quality of the whole-tray component, improves work efficiency, and reduces production costs and labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of corrugated board automatic packaging equipment, and specifically relates to a full-automatic packaging machine and a working method thereof. Background Art

[0002] The goods package of the whole pallet assembly is a packaging and transportation piece with a bottom pallet, which is formed by palletizing goods on a chassis. Then, the whole pallet assembly is wrapped by a strapping machine. If the wrapped whole pallet assembly is directly transported, there is a situation of collision damage. Therefore, it is necessary to install corrugated boards around and on the top of the whole pallet assembly for packaging to provide anti-collision protection for the goods. The existing corrugated board packaging of the whole pallet assembly adopts semi-automatic equipment, that is, a rack with suction cups adsorbs the corrugated board and then attaches it to the outer periphery of the whole pallet assembly. It is necessary for manual workers to bend and apply glue to the corrugated board at the corners of the whole pallet assembly, and then the rack with suction cups adsorbs the corrugated board on the other side to cover the glued part to form an outer peripheral package. Then, corner guards need to be installed at the corners to ensure the stability at the corners, and then the corrugated board top cover is covered. This method has a high degree of manual participation, reduces the uniformity of glue application and the neatness of the outer periphery of the corrugated board, the packaging quality is unstable, the packaging work efficiency is low, and the production cost is high. Therefore, it is necessary to design a full-automatic packaging machine and a working method to solve the problems of poor packaging quality, low working efficiency and high production cost of the existing semi-automatic packaging equipment for the whole pallet assembly. Summary of the Invention

[0003] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a full-automatic packaging machine and a working method thereof.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a full-automatic packaging machine, including a mobile grasping and folding packaging device one, a mobile grasping and folding packaging device two, a packaging corner guard displacement gluing and pressing device, a finished product component whole pallet transmission device, a robot top cover grasping and placing device, an adjustable displacement device one and an adjustable displacement device two. Two groups of the adjustable displacement device one are arranged oppositely, and the mobile grasping and folding packaging device one is installed on the adjustable displacement device one. Two groups of the adjustable displacement device two are arranged oppositely, and the mobile grasping and folding packaging device two is installed on the adjustable displacement device two. The mobile grasping and folding packaging device one and the mobile grasping and folding packaging device two are both provided with a corrugated board bending mechanism, an integrated suction cup mechanism, a mobile frame, a frame rotating mechanism, a frame Y-axis moving mechanism and a frame Z-axis moving mechanism. The integrated suction cup mechanism of the mobile grasping and folding packaging device one adsorbs corrugated board one, and the integrated suction cup mechanism of the mobile grasping and folding packaging device two adsorbs corrugated board two;

[0005] The finished product component whole pallet transmission device conveys the whole pallet assembly, and the corrugated board one and the corrugated board two are used for packaging the periphery of the whole pallet assembly;

[0006] On one side of the finished component whole-tray transfer device, there is a packaging corner protector displacement gluing and pressing device. The packaging corner protector displacement gluing and pressing device is provided with a gluing mechanism and a pressing mechanism. The gluing mechanism applies glue to the connection between corrugated board one and corrugated board two, and the pressing mechanism rolls and presses the glued part;

[0007] On the other side of the finished component whole-tray transfer device, there is a robot top cover grasping and placing device. The robot top cover grasping and placing device is provided with a top cover grasping robot and a top cover suction cup. The top cover grasping robot is connected to the top cover suction cup, and the top cover suction cup adsorbs the corrugated board top cover to the top of the whole-tray component.

[0008] Specifically, the frame Y-axis moving mechanism includes a Y-axis cross beam, a Y-axis moving seat, a Y-axis motor, and a Y-axis rack. The Y-axis cross beam is provided with a Y-axis rack and a Y-axis slide rail. The Y-axis slide rail is slidably connected to the Y-axis moving seat. The Y-axis motor is installed on the Y-axis moving seat. The gear on the Y-axis motor is meshed and connected to the Y-axis rack, and the Y-axis motor drives the Y-axis moving seat to move along the Y-axis cross beam;

[0009] The frame Z-axis moving mechanism includes a Z-axis longitudinal beam, a Z-axis seat, a Z-axis motor, and a Z-axis rack. The Z-axis longitudinal beam is provided with a Z-axis rack and a Z-axis slide rail. The Z-axis seat is slidably connected to the Z-axis slide rail. The Z-axis seat is fixed on the Y-axis moving seat. The Z-axis motor is installed on the Z-axis seat. The gear on the Z-axis motor is meshed and connected to the Z-axis rack, and the Z-axis motor drives the Z-axis longitudinal beam to lift.

[0010] Specifically, a motor mounting bracket of the frame rotating mechanism is installed at the bottom of the Z-axis longitudinal beam. A rotating motor is installed inside the motor mounting bracket. The motor shaft of the rotating motor is connected to a rotating shaft. The rotating shaft is connected to a frame connecting plate. The frame connecting plate is connected to a moving frame. The rotating motor drives the moving frame to flip. A corrugated board bending mechanism and an integrated suction cup mechanism are installed on the moving frame.

[0011] Specifically, the corrugated board bending mechanism includes a bending bracket, a slide table cylinder, a bending stretching cylinder, and a bending buffer press head. The bending bracket is fixed on the moving frame. A slide table cylinder is installed on the bending bracket. The rod of the slide table cylinder is installed with a bending stretching cylinder. The rod of the bending stretching cylinder is connected to a bending buffer press head mounting seat. Rotating shaft limiting grooves are provided on both sides of the bending buffer press head mounting seat. The bending buffer press head is rotatably connected to a rotating connection shaft one inside the bending buffer press head mounting seat. The upper part of the connection of the bending buffer press head is in contact with a rotating connection shaft two. Both the rotating connection shaft one and the rotating connection shaft two slide in the rotating shaft limiting grooves. The slide table cylinder and the bending buffer press cylinder drive the bending buffer press head to extend and press against the four corners of the whole-tray component to bend the corrugated board;

[0012] The integrated suction cup mechanism includes a suction cup and a suction cup cylinder. The suction cup cylinder is installed on the moving frame through a suction cup cylinder mounting seat. The rod of the suction cup cylinder is connected to a suction cup mounting plate. The suction cup is installed on the suction cup mounting plate. The suction cup adsorbs the corrugated board.

[0013] Specifically, the packaging corner displacement caulking and pressing device further includes a base frame, vertical beams, and a cross beam. The base frame is installed on the ground. Guide rails are provided on both sides of the upper part of the base frame. A moving seat is slidably connected to the guide rails. Vertical beams are fixedly connected to the moving seat. A cross beam is fixedly connected between the two vertical beams. A cross-moving connecting plate is connected to the middle of the cross beam. The cross-moving connecting plate is fixed on a lead screw nut seat. The lead screw nut seat is threadedly connected to a cross-moving lead screw. The cross-moving lead screw is connected to the motor shaft of a cross-moving motor. The cross-moving motor is installed on the base frame. The cross-moving motor drives the two vertical beams to move. Lifting slide rails and lifting racks are provided inside the vertical beams. A lifting slide seat is slidably connected to the lifting slide rails. A lifting motor is installed on the lifting slide seat. The gear on the lifting motor meshes with the lifting rack. The lifting motor controls the up and down movement of the lifting slide seat. A caulking mechanism and a pressing mechanism are installed on the lifting slide seat.

[0014] Specifically, the caulking mechanism includes a connecting seat, a caulking motor, and a glue outlet head. The glue outlet head is connected to a glue supply pipeline through a glue outlet joint. A dosing valve is installed on the glue supply pipeline of the glue outlet head. Both the glue outlet head and the dosing valve are installed on a caulking slide plate. The caulking slide plate is slidably installed on the connecting seat. A caulking motor is installed on the connecting seat. The caulking motor controls the movement of the glue outlet head through a lead screw structure;

[0015] The pressing mechanism includes a pressing cylinder, a pressing wheel, and a pressing wheel mounting seat. The pressing cylinder is installed at the bottom of the connecting seat. The cylinder rod of the pressing cylinder is connected to the pressing wheel mounting seat. The pressing wheel is rotatably connected inside the pressing wheel mounting seat. The pressing cylinder controls the pressing wheel to extend and press against the caulking part.

[0016] Specifically, the robot top cover grasping and placing device further includes a top cover grasping frame and a robot mounting seat. A robot Z-axis guide rail and a robot Z-axis rack are provided on one side of the top cover grasping frame. A robot mounting seat is slidably connected to the robot Z-axis guide rail. A robot Z-axis motor is installed on the robot mounting seat. The gear on the robot Z-axis motor meshes with the robot Z-axis rack. The robot Z-axis motor drives the robot mounting seat to move up and down along the top cover grasping frame;

[0017] A top cover grasping robot is installed on the robot mounting seat. A visual monitoring probe is provided on the top cover grasping robot. A top cover suction cup bottom plate is installed at the front end of the robotic arm of the top cover grasping robot. The top cover suction cup bottom plate is installed on a top cover suction cup frame. A top cover suction cup mounting plate is installed at the front of the top cover suction cup frame. A top cover suction cup is installed on the top cover suction cup mounting plate. The top cover grasping robot controls the flipping of the top cover suction cup frame and the top cover suction cup.

[0018] Specifically, the adjustable displacement device 1 is provided with a gantry 1. The top of the gantry 1 is an X-axis cross beam 1. An X-axis moving seat 1 is slidably connected to the X-axis cross beam 1. A Y-axis cross beam is installed on the X-axis moving seat 1. An X-axis motor 1 is installed on the X-axis moving seat 1. The X-axis motor 1 drives the X-axis moving seat 1 to move along the X-axis cross beam 1 through a gear and rack structure;

[0019] The second adjustable displacement device is provided with a second gantry, the top of the second gantry is a second X-axis beam, the second X-axis beam is slidably connected to the second X-axis moving seat, the second X-axis beam is installed on the second X-axis moving seat, the second X-axis motor is installed on the second X-axis moving seat, and the second X-axis motor drives the second X-axis moving seat to move along the second X-axis beam through a gear rack structure.

[0020] Specifically, the finished component whole-pallet transmission device includes a conveying chain plate, a conveying frame and a conveying motor. The conveying frame is installed on the ground. An active roller shaft and a driven roller shaft are installed at both ends of the conveying frame. The conveying chain plate is connected between the active roller shaft and the driven roller shaft. One end of the active roller shaft is connected to the conveying motor. The conveying motor is installed on the conveying frame, and the conveying motor drives the conveying chain plate to move.

[0021] A working method of a fully automatic packaging machine comprises the following steps:

[0022] S1. The whole pallet component with the pallet at the bottom completed by the strapping machine is manually or automatically transferred to the conveyor chain plate origin of the finished component whole pallet transmission device, and the detection device of the finished component whole pallet transmission device gives the system the command of "the component to be packaged has been placed";

[0023] S2. The system of the finished component pallet transmission device gives a command to the power device, and the transmission motor starts to transmit, stops after reaching the specified position, and waits for the next command;

[0024] S3. Give the system command through the detection device, and the mobile grabbing folding packaging device 1 and the adjustable displacement device start to operate, and execute 'displacement grabbing material - integrated suction cup mechanism adsorbs corrugated board and flips - displacement to the specified position - start packaging - corrugated board bending mechanism performs corner folding action', and the corrugated board bending mechanism returns to the origin and waits;

[0025] S4, the command is given to the packaging corner protection displacement gluing and pressing device, the gluing mechanism starts to work, runs from the origin position to the waiting position, the module performs the coating action from bottom to top through programming control, and reaches the top packaging corner protection displacement gluing and pressing device waiting here, without returning to the origin;

[0026] S5, programming gives working commands to the mobile grabbing folding packaging device II and the adjustable displacement device II, the mobile grabbing folding packaging device II and the adjustable displacement device II execute 'displacement grabbing material - integrated suction cup mechanism adsorbs corrugated board and flips - displacement to the specified position - start packaging - corrugated board bending mechanism performs corner folding action', the pressing mechanism of the packaging corner displacement gluing and pressing device starts to execute the command 'top waiting position - displacement to the working position - cylinder extends - motor module drives the pressing part to glue - completed';

[0027] S6, the mobile grabbing folding packaging device 1, the adjustable displacement device 1 and the mobile grabbing folding packaging device 2, the adjustable displacement device 2 have finished working and returned to the original position to wait;

[0028] S7, the placement action of the top cover. The top cover grasping robot grasps the top cover of the finished corrugated board through the position given by vision. After the grasping and adsorption are completed, the top cover grasping robot starts to move to the top cover placement position through servo power, adjusts the placement angle through visual control, and places the corrugated board top cover outside the previously made package. The top cover grasping robot returns to the origin and waits for the next action;

[0029] S8. Program the command to the finished component pallet conveying device to transport the whole pallet of packaged corrugated boards to the end of the finished component pallet conveying device to wait for the final strapping process.

[0030] The present invention has the following beneficial effects:

[0031] The fully automatic packaging machine and working method designed in the present invention integrates loading and unloading, adsorption and installation of corrugated boards on four sides of the whole pallet assembly, bending, gluing and pressing, and top cover placement into an automated packaging equipment, which realizes fully automatic operation, avoids manual intervention, improves the packaging stability and packaging quality of the whole pallet assembly, improves work efficiency, saves the use of corner guards, and reduces production costs and labor costs; the overall structure of the equipment is compact, and the operation is stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of a fully automatic packaging machine.

[0033] Figure 2 This is a schematic diagram of the structure of a mobile grabbing folding packaging device. Figure 1 .

[0034] Figure 3 This is a schematic diagram of the structure of a mobile grabbing folding packaging device. Figure 2 .

[0035] Figure 4 It is a structural schematic diagram of a corrugated board bending mechanism and an integrated suction cup mechanism installed on a mobile frame.

[0036] Figure 5 This is a schematic diagram of the structure of the corrugated board bending mechanism. Figure 1 .

[0037] Figure 6 This is a schematic diagram of the structure of the corrugated board bending mechanism. Figure 2 .

[0038] Figure 7 It is a structural schematic diagram of an integrated suction cup mechanism.

[0039] Figure 8It is a schematic structural diagram of a packaging corner displacement gluing and pressing device.

[0040] Figure 9 It is a schematic structural diagram of the installation structure of the gluing mechanism and the pressing mechanism.

[0041] Figure 10 It is a schematic structural diagram of the gluing mechanism.

[0042] Figure 11 It is a schematic structural diagram of the pressing mechanism.

[0043] Figure 12 It is a schematic structural diagram of the finished product component whole-tray transmission device.

[0044] Figure 13 It is a schematic structural diagram of the robot top cover grasping and placing device Figure 1 .

[0045] Figure 14 It is a schematic structural diagram of the robot top cover grasping and placing device Figure 2 .

[0046] Figure 15 It is a schematic structural diagram of the installation structure of the top cover suction cup.

[0047] Figure 16 It is a schematic structural diagram of the top cover suction cup mounting plate Figure 1 .

[0048] Figure 17 It is a schematic structural diagram of the top cover suction cup mounting plate Figure 2 .

[0049] In the figure: 1 - Mobile grasping and folding packaging device one, 1.1 - Corrugated bending mechanism, 1.2 - Integrated suction cup mechanism, 1.3 - Mobile frame, 1.4 - Frame rotation mechanism, 1.5 - Frame Y-axis movement mechanism, 1.6 - Frame Z-axis movement mechanism,

[0050] 1.1.1 - Bending bracket, 1.1.2 - Slide table cylinder, 1.1.3 - Bending stretching cylinder, 1.1.4 - Bending buffer pressing mounting seat, 1.1.5 - Bending buffer pressing head, 1.1.6 - Rotating connection shaft one, 1.1.7 - Rotating connection shaft two, 1.1.8 - Rotating shaft limiting groove, 1.2.1 - Suction cup, 1.2.2 - Suction cup mounting seat, 1.2.3 - Suction cup cylinder, 1.2.4 - Suction cup cylinder mounting seat, 1.4.1 - Rotating motor, 1.4.2 - Motor mounting frame, 1.4.3 - Rotating shaft, 1.4.4 - Frame connecting plate, 1.5.1 - Y-axis cross beam, 1.5.2 - Y-axis moving seat, 1.5.3 - Y-axis motor, 1.5.4 - Y-axis rack, 1.6.1 - Z-axis longitudinal beam, 1.6.2 - Z-axis seat, 1.6.3 - Z-axis motor, 1.6.4 - Z-axis rack;

[0051] 2 - Mobile Grabbing and Folding Packaging Device II

[0052] 3 - Packaging Corner Protector Displacement Gluing and Pressing Device, 3.1 - Gluing Mechanism, 3.2 - Pressing Mechanism, 3.3 - Base Frame, 3.4 - Moving Seat, 3.5 - Vertical Beam, 3.6 - Transverse Movement Motor, 3.7 - Transverse Movement Motor, 3.8 - Transverse Movement Lead Screw, 3.9 - Nut Block, 3.10 - Transverse Movement Connecting Plate, 3.11 - Lifting Slide Seat, 3.12 - Lifting Slide Rail

[0053] 3.1.1 - Connecting Seat, 3.1.2 - Gluing Motor, 3.1.3 - Glue Outlet Joint, 3.1.4 - Glue Outlet Nozzle, 3.1.5 - Dosage Valve, 3.2.1 - Pressing Cylinder, 3.2.2 - Pressing Wheel, 3.2.3 - Pressing Wheel Mounting Seat

[0054] 4 - Finished Product Component Whole Tray Transmission Device, 4.1 - Conveyor Chain Plate, 4.2 - Conveyor Frame, 4.3 - Conveyor Motor

[0055] 5 - Robot Top Cover Grabbing and Placing Device, 5.1 - Top Cover Grabbing Robot, 5.2 - Top Cover Grabbing Frame, 5.3 - Robot Mounting Seat, 5.4 - Robot Z - Axis Motor, 5.5 - Robot Z - Axis Rack, 5.6 - Top Cover Suction Cup, 5.7 - Top Cover Suction Cup Frame, 5.8 - Top Cover Suction Cup Mounting Plate, 5.9 - Top Cover Suction Cup Bottom Plate

[0056] 6 - Adjustable Displacement Device I, 6.1 - Gantry I, 6.2 - X - Axis Cross Beam I, 6.3 - X - Axis Moving Seat I

[0057] 7 - Adjustable Displacement Device II, 7.1 - Gantry II, 7.2 - X - Axis Cross Beam II, 7.3 - X - Axis Moving Seat II; 7.4 - X - Axis Moving Motor II

[0058] 8 - Corrugated Board I; 9 - Corrugated Board II; 10 - Corrugated Board Top Cover Specific Embodiment

[0059] The technical solutions in the embodiments of the present invention will be further described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] Embodiment 1:

[0061] As Figures 1 - 17As shown, a fully automatic packaging machine includes a mobile grabbing and folding packaging device 1, a mobile grabbing and folding packaging device 2, a packaging corner protection displacement gluing and pressing device 3, a finished component whole tray transmission device 4, a robot top cover grabbing and placing device 5, an adjustable displacement device 1 6 and an adjustable displacement device 2 7.

[0062] A working method of a fully automatic packaging machine comprises the following steps:

[0063] S1. The whole pallet assembly with the pallet at the bottom completed by the strapping machine is manually or automatically transferred to the conveying chain plate 4.1 origin position of the finished component whole pallet transmission device 4, and the detection device of the finished component whole pallet transmission device 4 gives the system a 'command of placing the assembly to be packaged';

[0064] S2, the system of the finished component whole-tray transmission device 4 gives a command to the power device, and the conveying motor 4.3 starts to transmit, stops after reaching the specified position, and waits for the next command;

[0065] S3, the detection device gives the system command, the mobile grabbing folding packaging device 1 and the adjustable displacement device 6 start to operate, and execute 'displacement grabbing material - integrated suction cup mechanism 1.2 adsorbs corrugated board and flips - displacement to the specified position - start packaging - corrugated board bending mechanism 1.1 performs corner folding action', and the corrugated board bending mechanism 1.1 returns to the origin and waits;

[0066] S4, a command is given to the packaging corner protection displacement gluing and pressing device 3, and the gluing mechanism 3.1 starts working, running from the origin position to the waiting position, and the module performs the smearing action from bottom to top through programming control, and reaches the top packaging corner protection displacement gluing and pressing device 3 waiting here, without returning to the origin;

[0067] S5, programming gives working commands to the mobile grabbing folding packaging device 22 and the adjustable displacement device 27, the mobile grabbing folding packaging device 22 and the adjustable displacement device 27 execute 'displacement grabbing material - integrated suction cup mechanism adsorbs corrugated board and flips - displacement to the specified position - start packaging - corrugated board bending mechanism performs corner folding action', the pressing mechanism of the packaging corner displacement gluing and pressing device 3 starts to execute the command 'top waiting position - displacement to the working position - cylinder extends - motor module drives the pressing part to glue - completed';

[0068] S6, the mobile grabbing folding packaging device 1, the adjustable displacement device 1 6 and the mobile grabbing folding packaging device 2 2, the adjustable displacement device 2 7 have finished working and return to the original position to wait;

[0069] S7. Placement action of the top cover. The top cover grabbing robot 5.1 grabs the finished corrugated board top cover 10 according to the position given by vision. After the grabbing and adsorption are completed, the top cover grabbing robot 5.1 starts to displace to the top cover placement position through servo power, adjusts the placement angle through vision control, places the corrugated board top cover 10 outside the previously made package, and the top cover grabbing robot 5.1 returns to the origin to wait for the next action;

[0070] S8. Program to give commands to the finished component pallet transfer device, and convey the palletized components of the corrugated board that have been packaged to the end of the finished component pallet transfer device 4, waiting for the final strapping process.

[0071] There are two sets of adjustable displacement devices 6 opposite to each other. A mobile grabbing and folding packaging device 1 is installed on the adjustable displacement device 6. There are two sets of adjustable displacement devices 7 opposite to each other. A mobile grabbing and folding packaging device 2 is installed on the adjustable displacement device 7. The adjustable displacement device 6 and the adjustable displacement device 7 form a square frame structure as a whole. There is a placement station for the A side of the corrugated board under the adjustable displacement device 6, and the corrugated board 8 is overlapped and placed at the placement station for the A side of the corrugated board. There is a placement station for the B side of the corrugated board under the adjustable displacement device 7, and the corrugated board 9 is overlapped and placed at the placement station for the B side of the corrugated board.

[0072] Both the mobile grabbing and folding packaging device 1 and the mobile grabbing and folding packaging device 2 are provided with a corrugated board bending mechanism 1.1, an integrated suction cup mechanism 1.2, a mobile frame 1.3, a frame rotation mechanism 1.4, a frame Y-axis movement mechanism 1.5 and a frame Z-axis movement mechanism 1.6. The integrated suction cup mechanism 1.2 of the mobile grabbing and folding packaging device 1 adsorbs the corrugated board 8, and the integrated suction cup mechanism 1.2 of the mobile grabbing and folding packaging device 2 adsorbs the corrugated board 9.

[0073] As Figures 1 - 7 shown, the connection structure and specific embodiments of the mobile grabbing and folding packaging device 1, the mobile grabbing and folding packaging device 2, the adjustable displacement device 6 and the adjustable displacement device 7 are as follows:

[0074] The adjustable displacement device 6 is provided with a gantry 6.1. The top of the gantry 6.1 is an X-axis cross beam 6.2. An X-axis moving seat 6.3 is slidably connected to the X-axis cross beam 6.2. A Y-axis cross beam is installed on the X-axis moving seat 6.3. An X-axis motor 1 (not shown in the figure) is installed on the X-axis moving seat 6.3, and the X-axis motor 1 drives the X-axis moving seat 6.3 to move along the X-axis cross beam 6.2 through a gear and rack structure.

[0075] The adjustable displacement device two 7 is provided with a gantry two 7.1. The top of the gantry two 7.1 is an X-axis cross beam two 7.2. An X-axis moving seat two 7.3 is slidably connected to the X-axis cross beam two 7.2. A Y-axis cross beam is installed on the X-axis moving seat two 7.3. An X-axis motor two 7.4 is installed on the X-axis moving seat two 7.3. The X-axis motor two 7.4 drives the X-axis moving seat two 7.3 to move along the X-axis cross beam two 7.2 through a gear-rack structure.

[0076] The frame Y-axis moving mechanism 1.5 includes a Y-axis cross beam 1.5.1, a Y-axis moving seat 1.5.2, a Y-axis motor 1.5.3 and a Y-axis rack 1.5.4. A Y-axis rack 1.5.4 and a Y-axis slide rail are provided on the Y-axis cross beam 1.5.1. The Y-axis slide rail is slidably connected to the Y-axis moving seat 1.5.2. A Y-axis motor 1.5.3 is installed on the Y-axis moving seat 1.5.2. The gear on the Y-axis motor 1.5.3 is meshed with the Y-axis rack 1.5.4. The Y-axis motor 1.5.3 drives the Y-axis moving seat 1.5.2 to move along the Y-axis cross beam 1.5.1.

[0077] The frame Z-axis moving mechanism 1.6 includes a Z-axis longitudinal beam 1.6.1, a Z-axis seat 1.6.2, a Z-axis motor 1.6.3 and a Z-axis rack 1.6.4. A Z-axis rack 1.6.4 and a Z-axis slide rail are provided on the Z-axis longitudinal beam 1.6.1. The Z-axis slide rail is slidably connected to the Z-axis seat 1.6.2. The Z-axis seat 1.6.2 is fixed on the Y-axis moving seat 1.5.2. A Z-axis motor 1.6.3 is installed on the Z-axis seat 1.6.2. The gear on the Z-axis motor 1.6.3 is meshed with the Z-axis rack 1.6.4. The Z-axis motor 1.6.3 drives the Z-axis longitudinal beam 1.6.1 to lift.

[0078] The motor mounting bracket 1.4.2 of the frame rotating mechanism 1.4 is installed at the bottom of the Z-axis longitudinal beam 1.6.1. A rotating motor 1.4.1 is installed inside the motor mounting bracket 1.4.2. The motor shaft of the rotating motor 1.4.1 is connected to a rotating shaft 1.4.3. The rotating shaft 1.4.3 is connected to a frame connecting plate 1.4.4. The frame connecting plate 1.4.4 is connected to a moving frame 1.3. The rotating motor 1.4.1 drives the moving frame 1.3 to turn over. A corrugated board bending mechanism 1.1 and an integrated suction cup mechanism 1.2 are installed on the moving frame 1.3.

[0079] The corrugated board bending mechanism 1.1 includes a bending bracket 1.1.1, a slide table cylinder 1.1.2, a bending tension cylinder 1.1.3, and a bending buffer pressure head 1.1.5. The models of the slide table cylinder 1.1.2 and the bending tension cylinder 1.1.3 are HLQ25X150-S. The bending bracket 1.1.1 is fixed on the moving frame 1.3. The slide table cylinder 1.1.2 is installed on the upper part of the bending bracket 1.1.1. The bending tension cylinder 1.1.3 is installed on the cylinder rod of the slide table cylinder 1.1.2. The cylinder rod of the bending tension cylinder 1.1.3 is connected to the bending buffer pressing and mounting seat 1.1.4. The two sides of the bending buffer pressing and mounting seat 1.1.4 are provided with rotating shaft limiting grooves 1.1.8. The bending buffer pressure head 1.1.5 is rotatably connected to the bending buffer pressing and mounting seat 1.1.4 through a rotating connection shaft one 1.1.6. The upper part of the connection of the bending buffer pressure head 1.1.5 is in contact with the rotating connection shaft two 1.1.7. Both the rotating connection shaft one 1.1.6 and the rotating connection shaft two 1.1.7 slide in the rotating shaft limiting grooves 1.1.8, so as to limit the position when the cylinder controls the bending buffer pressure head 1.1.5 to extend, control the bending buffer pressure head 1.1.5 to hold against the corrugated board and turn it 90 degrees for bending. The slide table cylinder 1.1.2 and the bending tension cylinder 1.1.3 drive the bending buffer pressure head 1.1.5 to extend and press against the four corners of the whole tray assembly to bend the corrugated board.

[0080] The integrated suction cup mechanism 1.2 includes a suction cup 1.2.1 and a suction cup cylinder 1.2.3. The suction cup cylinder 1.2.3 is installed on the moving frame 1.3 through a suction cup cylinder mounting seat 1.2.4. The cylinder rod of the suction cup cylinder 1.2.3 is connected to the suction cup mounting plate 1.2.2. The suction cup 1.2.1 is installed on the suction cup mounting plate 1.2.2. The suction cup 1.2.1 adsorbs the corrugated board. The suction cup 1.2.1 adopts an integrated vacuum sponge suction cup, and the model is ZWSA20.130X240.AW.L2.

[0081] The combined working principle of the mobile grasping and folding packaging device one 1, the mobile grasping and folding packaging device two 2, the adjustable displacement device one 6, and the adjustable displacement device two 7 is as follows:

[0082] Both the corrugated board one 8 and the corrugated board two 9 are corrugated paperboards. In the packaging of corrugated paperboard liners, it is necessary to perform operations such as adsorbing, grasping, blanking, and folding the edges of the corrugated board materials according to the specified requirements. The mobile grasping and folding packaging device one 1 and the mobile grasping and folding packaging device two 2 are used to place and bend the special cardboard shapes, so that the corner protection strips that originally needed to be added to the packaging are omitted, saving labor and costs.

[0083] Vacuum adsorption gripping uses atmospheric pressure as the acting force. Between the suction cups 1.2.1 and the material, in a sealed volume, a certain amount of gas molecules are extracted by a vacuum source to reduce the pressure, creating a pressure difference inside and outside the suction cups 1.2.1. Under the action of this pressure difference, the material is adsorbed. The integrated suction cup mechanism 1.2 design can be divided into three major parts: the mechanical structure design of the suction cup, the pneumatic circuit system design, and the pneumatic control system design; after adsorbing the material, displacement actions are performed through the programming system, and it is placed on the side of the whole tray assembly, and the gripping and adsorption actions are completed.

[0084] Through the power in the three directions of the X-axis, Y-axis, and Z-axis provided by the adjustable displacement device, the frame Y-axis moving mechanism, and the frame Z-axis moving mechanism, the integrated suction cup mechanism 1.2 runs above the material to perform the material gripping action. The adsorbed material is effectively turned through the frame rotating mechanism 1.4 connected to the moving frame 1.3 to ensure parallelism with the whole tray assembly. Through the above power supply, the material is run to the corresponding position.

[0085] As a cushioning material, the corrugated cardboard cushion is not only easy to degrade, which is beneficial to environmental protection, but also can be conveniently recycled and regenerated to reduce costs. The corrugated cardboard can not only play a role in blocking the product, but also when the product is impacted by the outside world, it can absorb the impact energy through the structural setting of the corrugated cardboard cushion, extending the action time of the internal product to withstand the impact pulse, and having good cushioning performance; the material is bent through the device of the corrugated board bending mechanism 1.1 to automatically generate reliable corner guards.

[0086] As Figure 12 shown, a specific embodiment of the finished product component whole tray transmission device 4:

[0087] The finished product component whole tray transmission device 4 conveys the whole tray assembly, and the four sides of the whole tray assembly are packaged with corrugated board one 8 (two opposite faces) and corrugated board two 9 (two opposite faces).

[0088] The finished product component whole tray transmission device 4 includes a conveying chain plate 4.1, a conveying machine frame 4.2, and a conveying motor 4.3. The conveying machine frame 4.2 is installed on the ground. Active roller shafts and driven roller shafts are installed at both ends of the conveying machine frame 4.2. The conveying chain plate 4.1 is connected between the active roller shaft and the driven roller shaft. One end of the active roller shaft is connected to the conveying motor 4.3. The conveying motor 4.3 is installed on the conveying machine frame 4.2, and the conveying motor 4.3 drives the conveying chain plate 4.1 to move.

[0089] The working principle of the finished product component whole tray transmission device 4:

[0090] That is, it consists of a power device (conveyor motor 4.3), a transmission shaft, a tensioning device, sprockets, a chain, bearings, lubricants, conveyor chain plates 4.1, etc. Among them, the two main parts of the conveyor chain plate 4.1 are: a chain, which provides traction power through its reciprocating motion; and a metal plate, which serves as a carrier during the conveying process.

[0091] Its principle is mainly to use a series of chains fixed to the traction chain to provide traction force, and use a metal plate as a carrier to lead the material to be conveyed horizontally. The material is accurately fed - worked - discharged through a detection device to cooperate with the robotic arm of the packaging machine to complete corresponding actions.

[0092] Such as Figures 8 - 11 shown, a specific embodiment of the packaging corner displacement gluing and pressing device 3:

[0093] On one side of the finished product component whole - tray transmission device 4, there is a packaging corner displacement gluing and pressing device 3. The packaging corner displacement gluing and pressing device 3 is provided with a gluing mechanism 3.1, a pressing mechanism 3.2, a base frame 3.3, a moving seat 3.4, vertical beams 3.5, a cross - beam 3.6, a cross - moving motor 3.7, a cross - moving lead screw 3.8, a nut seat 3.9, a cross - moving connecting plate 3.10, a lifting slide seat 3.11, and a lifting slide rail 3.12. The gluing mechanism 3.1 applies glue to the connection between the corrugated board one 8 and the corrugated board two 9, and the pressing mechanism 3.2 rolls and presses the glued part.

[0094] The base frame 3.3 is installed on the ground. On both sides of the upper part of the base frame 3.3, there are guide rails. The moving seat 3.4 is slidably connected to the guide rails. The vertical beam 3.5 is fixedly connected to the moving seat 3.4. Between the two vertical beams 3.5, the cross - beam 3.6 is fixedly connected. In the middle of the cross - beam 3.6, the cross - moving connecting plate 3.10 is connected. The cross - moving connecting plate 3.10 is fixed to the nut seat 3.9. The nut seat 3.9 is threaded onto the cross - moving lead screw 3.8. The cross - moving lead screw 3.8 is connected to the motor shaft of the cross - moving motor 3.7. The cross - moving motor 3.7 is installed on the base frame 3.3. The cross - moving motor 3.7 drives the two vertical beams 3.5 to move. Inside the vertical beam 3.5, there are a lifting slide rail 3.12 and a lifting rack. The lifting slide seat 3.11 is slidably connected to the lifting slide rail 3.12. An elevating motor is installed on the lifting slide seat 3.11. The gear on the elevating motor meshes with the lifting rack. The elevating motor controls the up - and - down movement of the lifting slide seat 3.11. The gluing mechanism 3.1 and the pressing mechanism 3.2 are installed on the lifting slide seat 3.11.

[0095] The glue application mechanism 3.1 includes a connection base 3.1.1, a glue application motor 3.1.2, and a glue outlet head 3.1.4. The glue outlet head 3.1.4 is connected to the glue supply pipeline through a glue outlet joint 3.1.3. A dosing valve 3.1.5 is installed on the glue supply pipeline of the glue outlet head 3.1.4. The model of the dosing valve 3.1.5 is DOPAG. Both the glue outlet head 3.1.4 and the dosing valve 3.1.5 are installed on the glue application slide plate. The glue application slide plate is slidably installed on the connection base. The glue application motor 3.1.2 is installed on the connection base. The motor module of the glue application motor 3.1.2 uses the model TPA-KNR-6005C. The glue application motor 3.1.2 controls the movement of the glue outlet head 3.1.4 through a lead screw structure.

[0096] The pressing mechanism 3.2 includes a pressing cylinder 3.2.1, a pressing wheel 3.2.2, and a pressing wheel mounting seat 3.2.3. The pressing cylinder 3.2.1 is installed at the bottom of the connection base 3.1.1. The cylinder rod of the pressing cylinder 3.2.1 is connected to the pressing wheel mounting seat 3.2.3. The pressing wheel 3.2.2 is rotatably connected inside the pressing wheel mounting seat 3.2.3. The pressing wheel 3.2.2 uses a rubber-coated bearing with the model PU50x60-15-6002. The pressing cylinder 3.2.1 controls the pressing wheel 3.2.2 to extend and press against the glue application part.

[0097] The working principle of the packaging corner protection displacement glue application and pressing device 3:

[0098] When the glue application mechanism 3.1 operates, the instrument sends compressed air into the glue bottle, and then presses the glue into the tube. When the piston is in the upstroke, the piston chamber is filled with glue. When the piston pushes down the glue dropping needle, the fluid glue is pressed out from the plastic glue nozzle of the glue outlet head 3.1.4. The position of the glue application mechanism 3.1 is controlled by the motor module of the glue application motor 3.1.2.

[0099] The installed dosing valve 3.1.5 controls the amount of glue discharged; first, the glue application motor 3.1.2 will give a specific displacement value to the glue application device according to the position of the material, ensuring that the glue nozzle can apply the fluid glue to the corrugated board, and then the corresponding fluid glue is applied to the corrugated board through the displacement movement of the lifting motor.

[0100] The pressing mechanism 3.2 is a step of non-destructively compacting an object by relying on the pressing wheel 3.2.2. It adheres to the object to be compacted by the power given by the pressing cylinder 3.2.1, and performs the process of pasting and compacting two layers of corrugated boards according to the movement of the lifting motor; the horizontal movement motor 3.7 at the bottom can be switched in one key according to the size of the material, saving the trouble of manual cutting.

[0101] As Figures 13 - 17 shown, the specific embodiment of the robot top cover grasping and placing device 5:

[0102] On the other side of the finished product component whole-tray transfer device 4, there is a robot top cover grasping and placing device 5. On the side of the robot top cover grasping and placing device 5, there is a top cover placing station, where corrugated board top covers 10 are stacked. The corrugated board top covers 10 are also corrugated paperboards. The robot top cover grasping and placing device 5 is provided with a top cover grasping robot 5.1, a top cover grasping frame 5.2, a robot mounting base 5.3, a robot Z-axis motor 5.4, a robot Z-axis rack 5.5, a top cover suction cup 5.6, a top cover suction cup frame 5.7, a top cover suction cup mounting plate 5.8, and a top cover suction cup bottom plate 5.9. The top cover grasping robot 5.1 uses an Estun robot, with the model ER70B-2560. The top cover grasping robot 5.1 is connected to the top cover suction cup 5.6, and the top cover suction cup 5.6 adsorbs the corrugated board top cover 10 to the top of the whole-tray component.

[0103] On one side of the top cover grasping frame 5.2, there is a robot Z-axis guide rail and a robot Z-axis rack 5.5. The robot mounting base 5.3 is slidably connected to the robot Z-axis guide rail. A worm and gear reducer, with the model RV90-F130-114-2KW, is installed on the robot mounting base 5.3 to assist the rotation of the top cover grasping robot 5.1. The robot Z-axis motor 5.4 is installed on the robot mounting base 5.3, and the gear on the robot Z-axis motor 5.4 meshes with the robot Z-axis rack 5.5. The robot Z-axis motor 5.4 drives the robot mounting base 5.3 to move up and down along the top cover grasping frame 5.2.

[0104] The top cover grasping robot 5.1 is installed on the robot mounting base 5.3. The top cover grasping robot 5.1 is provided with a vision monitoring probe. The front end of the robotic arm of the top cover grasping robot 5.1 is installed with the top cover suction cup bottom plate 5.9. The top cover suction cup bottom plate 5.9 is installed on the top cover suction cup frame 5.7. The front part of the top cover suction cup frame 5.7 is installed with the top cover suction cup mounting plate 5.8. The top cover suction cup 5.6 is installed on the top cover suction cup mounting plate 5.8. The top cover suction cup 5.6 uses an integrated vacuum sponge suction cup, with the model ZWSA20.130X240.AW.L2. The top cover grasping robot 5.1 controls the flipping of the top cover suction cup frame 5.7 and the top cover suction cup 5.6.

[0105] The working principle of the robot top cover grasping and placing device 5:

[0106] A vision-based robot grasping system generally consists of four main steps, namely target object localization, object pose estimation, grasping detection (synthesis), and grasping planning. A system based on a convolutional neural network can generally perform the first three steps simultaneously. This system receives an image of the object as input and predicts a grasping rectangle as output. In the grasping planning stage, that is, the robotic arm finds the best path to the target. It should be able to adapt to changes in the working space and consider dynamic objects, using visual feedback.

[0107] The top cover grabbing robot 5.1 waits at the original position for grabbing materials. When the system gives a command, the top cover grabbing robot 5.1 starts to work. The robotic arm will accurately grab at the corresponding position according to the vision. Here, the material is grabbed by the top cover suction cup 5.6, and its principle is the same as that of the integrated suction cup mechanism 1.2, both relying on vacuum suction cups for negative pressure adsorption; the top cover suction cup 5.6 is lifted to a height suitable for placing materials by the top cover grabbing robot 5.1, and the top cover suction cup 5.6 adjusts its direction and angle through vision to perform the placement action on the corrugated board top cover 10 of the packaging seat.

[0108] The present invention is not limited to the above embodiments. Anyone should know that structural changes made under the inspiration of the present invention, as long as they have the same or similar technical solutions as the present invention, fall within the protection scope of the present invention.

[0109] The technologies, shapes, and structures not described in detail in the present invention are all well-known technologies.

Claims

1. A fully automatic packaging machine, characterized in that, It includes the mobile grasping and folding packaging device 1, the mobile grasping and folding packaging device 2, the packaging corner protector displacement gluing and pressing device, the finished product component whole-tray conveying device, the robot top cover grasping and placing device, the adjustable displacement device 1 and the adjustable displacement device 2. There are two sets of the adjustable displacement device 1 arranged oppositely, and the mobile grasping and folding packaging device 1 is installed on the adjustable displacement device 1. There are two sets of the adjustable displacement device 2 arranged oppositely, and the mobile grasping and folding packaging device 2 is installed on the adjustable displacement device 2. Both the mobile grasping and folding packaging device 1 and the mobile grasping and folding packaging device 2 are provided with a corrugated board bending mechanism, an integrated suction cup mechanism, a mobile frame, a frame rotation mechanism, a frame Y-axis movement mechanism and a frame Z-axis movement mechanism. The integrated suction cup mechanism of the mobile grasping and folding packaging device 1 adsorbs the corrugated board 1, and the integrated suction cup mechanism of the mobile grasping and folding packaging device 2 adsorbs the corrugated board 2; The frame Z-axis movement mechanism includes a Z-axis longitudinal beam, a Z-axis seat, a Z-axis motor and a Z-axis rack. The Z-axis longitudinal beam is provided with a Z-axis rack and a Z-axis slide rail. The Z-axis seat is slidably connected to the Z-axis slide rail. The Z-axis seat is fixed on the Y-axis movement seat. The Z-axis motor is installed on the Z-axis seat. The gear on the Z-axis motor is meshed with the Z-axis rack, and the Z-axis motor drives the Z-axis longitudinal beam to lift and lower. The motor mounting bracket of the frame rotation mechanism is installed at the bottom of the Z-axis longitudinal beam. The rotation motor is installed in the motor mounting bracket. The motor shaft of the rotation motor is connected to the rotation shaft. The rotation shaft is connected to the frame connecting plate. The frame connecting plate is connected to the mobile frame. The rotation motor drives the mobile frame to flip. The corrugated board bending mechanism and the integrated suction cup mechanism are installed on the mobile frame. The corrugated board bending mechanism includes a bending bracket, a slide table cylinder, a bending stretching cylinder and a bending buffer pressing head. The bending bracket is fixed on the mobile frame. The slide table cylinder is installed on the bending bracket. The cylinder rod of the slide table cylinder is installed with the bending stretching cylinder. The cylinder rod of the bending stretching cylinder is connected to the bending buffer pressing seat. There are rotation shaft limiting grooves on both sides of the bending buffer pressing seat. The bending buffer pressing head is rotatably connected to the bending buffer pressing seat through the rotation connecting shaft 1. The upper part of the connection of the bending buffer pressing head contacts and arranges the rotation connecting shaft 2. Both the rotation connecting shaft 1 and the rotation connecting shaft 2 slide in the rotation shaft limiting grooves. The slide table cylinder and the bending stretching cylinder drive the bending buffer pressing head to extend and top against the four corners of the whole-tray component to bend the corrugated board. The integrated suction cup mechanism includes a suction cup and a suction cup cylinder. The suction cup cylinder is installed on the mobile frame through the suction cup cylinder mounting seat. The cylinder rod of the suction cup cylinder is connected to the suction cup mounting plate. The suction cup is installed on the suction cup mounting plate. The suction cup adsorbs the corrugated board; The whole-tray component is conveyed on the finished product component whole-tray conveying device, and the corrugated board 1 and the corrugated board 2 are used for packaging around the whole-tray component; On one side of the finished product component whole-tray conveying device, there is a packaging corner protector displacement gluing and pressing device. The packaging corner protector displacement gluing and pressing device is provided with a gluing mechanism and a pressing mechanism. The gluing mechanism glues the connection part of the corrugated board 1 and the corrugated board 2, and the pressing mechanism rolls and presses the glued part; The packaging corner protector displacement caulking and pressing device further includes a base frame, vertical beams, and a cross beam. The base frame is installed on the ground. There are guide rails on both sides of the upper part of the base frame. A moving seat is slidably connected to the guide rails. A vertical beam is fixedly connected to the moving seat. A cross beam is fixedly connected between the two vertical beams. A transverse movement connecting plate is connected to the middle of the cross beam. The transverse movement connecting plate is fixed on a lead screw nut seat. The lead screw nut seat is threadedly connected to a transverse movement lead screw. The transverse movement lead screw is connected to the motor shaft of a transverse movement motor. The transverse movement motor is installed on the base frame. The transverse movement motor drives the two vertical beams to move. There are lifting slide rails and lifting racks on the inner sides of the vertical beams. A lifting slide seat is slidably connected to the lifting slide rails. A lifting motor is installed on the lifting slide seat. The gear on the lifting motor meshes with the lifting rack. The lifting motor controls the up and down movement of the lifting slide seat. A caulking mechanism and a pressing mechanism are installed on the lifting slide seat; On the other side of the finished product component whole tray transmission device, there is a robot top cover grabbing and placing device. The robot top cover grabbing and placing device is provided with a top cover grabbing robot and a top cover suction cup. The top cover grabbing robot is connected to the top cover suction cup. The top cover suction cup adsorbs the corrugated board top cover to the top of the whole tray component.

2. The fully automatic packaging machine according to claim 1, characterized in that, The frame Y-axis movement mechanism includes a Y-axis cross beam, a Y-axis moving seat, a Y-axis motor, and a Y-axis rack. There are a Y-axis rack and a Y-axis slide rail on the Y-axis cross beam. The Y-axis slide rail is slidably connected to the Y-axis moving seat. A Y-axis motor is installed on the Y-axis moving seat. The gear on the Y-axis motor meshes with the Y-axis rack. The Y-axis motor drives the Y-axis moving seat to move along the Y-axis cross beam.

3. The fully automatic packaging machine according to claim 1, characterized in that, The caulking mechanism includes a connecting seat, a caulking motor, and a glue outlet head. The glue outlet head is connected to a glue supply pipeline through a glue outlet joint. A dosing valve is installed on the glue supply pipeline of the glue outlet head. Both the glue outlet head and the dosing valve are installed on a caulking slide plate. The caulking slide plate is slidably installed on the connecting seat. A caulking motor is installed on the connecting seat. The caulking motor controls the movement of the glue outlet head through a lead screw structure; The pressing mechanism includes a pressing cylinder, a pressing wheel, and a pressing wheel mounting seat. The pressing cylinder is installed at the bottom of the connecting seat. The cylinder rod of the pressing cylinder is connected to the pressing wheel mounting seat. The pressing wheel is rotatably connected inside the pressing wheel mounting seat. The pressing cylinder controls the pressing wheel to extend and press against the caulking part.

4. The fully automatic packaging machine according to claim 1, wherein The robot top cover grabbing and placing device further includes a top cover grabbing frame and a robot mounting seat. There is a robot Z-axis guide rail and a robot Z-axis rack on one side of the top cover grabbing frame. The robot mounting seat is slidably connected to the robot Z-axis guide rail. A robot Z-axis motor is installed on the robot mounting seat. The gear on the robot Z-axis motor meshes with the robot Z-axis rack. The robot Z-axis motor drives the robot mounting seat to move up and down along the top cover grabbing frame; A top cover grabbing robot is installed on the robot mounting seat. There is a visual monitoring probe on the top cover grabbing robot. A top cover suction cup bottom plate is installed at the front end of the robotic arm of the top cover grabbing robot. The top cover suction cup bottom plate is installed on a top cover suction cup frame. A top cover suction cup mounting plate is installed at the front of the top cover suction cup frame. The top cover suction cup is installed on the top cover suction cup mounting plate. The top cover grabbing robot controls the flipping of the top cover suction cup frame and the top cover suction cup.

5. The fully automatic packaging machine according to claim 1, characterized in that, The adjustable displacement device is provided with a gantry, the top of the gantry is an X-axis beam, the X-axis beam is slidably connected to an X-axis moving seat, the X-axis moving seat is installed with a Y-axis beam, the X-axis moving seat is installed with an X-axis motor, and the X-axis motor drives the X-axis moving seat to move along the X-axis beam through a gear rack structure; The second adjustable displacement device is provided with a second gantry, the top of the second gantry is a second X-axis beam, the second X-axis beam is slidably connected to the second X-axis moving seat, the second X-axis beam is installed on the second X-axis moving seat, the second X-axis motor is installed on the second X-axis moving seat, and the second X-axis motor drives the second X-axis moving seat to move along the second X-axis beam through a gear rack structure.

6. The fully automatic packaging machine according to claim 1, characterized in that, The finished product component whole-pallet transmission device includes a conveying chain plate, a conveying frame and a conveying motor. The conveying frame is installed on the ground. An active roller shaft and a driven roller shaft are installed at both ends of the conveying frame. The conveying chain plate is connected between the active roller shaft and the driven roller shaft. One end of the active roller shaft is connected to the conveying motor. The conveying motor is installed on the conveying frame, and the conveying motor drives the conveying chain plate to move.

7. The working method of the fully automatic packaging machine according to any one of claims 1-6, characterized in that, The following steps are involved: S1. The whole pallet component with the pallet at the bottom completed by the strapping machine is manually or automatically transferred to the conveyor chain plate origin of the finished component whole pallet transmission device, and the detection device of the finished component whole pallet transmission device gives the system the command of "the component to be packaged has been placed"; S2. The system of the finished component pallet transmission device gives a command to the power device, and the transmission motor starts to transmit, stops after reaching the specified position, and waits for the next command; S3. Give the system command through the detection device, and the mobile grabbing folding packaging device 1 and the adjustable displacement device start to operate, and execute 'displacement grabbing material - integrated suction cup mechanism adsorbs corrugated board and flips - displacement to the specified position - start packaging - corrugated board bending mechanism performs corner folding action', and the corrugated board bending mechanism returns to the origin and waits; S4, the command is given to the packaging corner protection displacement gluing and pressing device, the gluing mechanism starts to work, runs from the origin position to the waiting position, and performs the smearing action from bottom to top through programming control. When it reaches the top, the packaging corner protection displacement gluing and pressing device waits here without returning to the origin; S5, programming gives working commands to the mobile grabbing folding packaging device II and the adjustable displacement device II, the mobile grabbing folding packaging device II and the adjustable displacement device II execute 'displacement grabbing material - integrated suction cup mechanism adsorbs corrugated board and flips - displacement to the specified position - start packaging - corrugated board bending mechanism performs corner folding action', the pressing mechanism of the packaging corner displacement gluing and pressing device starts to execute the command 'top waiting position - displacement to the working position - cylinder extends - motor module drives the pressing part to glue - completed'; S6, the mobile grabbing folding packaging device 1, the adjustable displacement device 1 and the mobile grabbing folding packaging device 2, the adjustable displacement device 2 have finished working and returned to the original position to wait; S7. Placement action of the top cover. The top cover grasping robot grasps the finished corrugated board top cover according to the position provided by vision. After the grasping and adsorption are completed, the top cover grasping robot starts to move to the top cover placement position through servo power, and adjusts the placement angle through vision control, then places the corrugated board top cover outside the previously made packaging. The top cover grasping robot returns to the origin to wait for the next action; S8. Program to give commands to the finished component pallet transfer device to convey the palletized components of the corrugated board that have been packaged to the end of the finished component pallet transfer device, waiting for the final strapping process.

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