Packing material feeding robot and feeding method

Abstract

The invention provides a packing material feeding robot and a feeding method.The packing material feeding robot comprises a machine body, a mechanical arm, a working head, a working table and a packing material rotating device, the mechanical arm is installed on the machine body and connected with the working head, a visual recognition device, an adhesive tearing device, a paper folding device and a grabbing device are installed on the working head, and the adhesive tearing device is used for tearing an adhesive tape; the paper folding device is used for completing the paper folding action, and the grabbing device is matched with the mechanical arm to be used for feeding the packing material subjected to the paper folding action into the filling machine; the working table is mounted on the machine body, a reciprocating feeding device, a cutting device, a paper folding baffle and a packing material reversing device are mounted on the working table, the reciprocating feeding device is used for horizontally moving packing materials on the working table, the cutting device is used for cutting off the packing materials of adhesive tape parts, and the paper folding baffle is matched with the paper folding device to fold the packing materials. The packing material reversing device can be used for rotating packing materials on the filling machine. The packaging material is automatically identified, cut, folded and marked, and is conveyed to a filling machine for splicing.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding robots, and in particular to a packaging material feeding robot and a feeding method. Background Art

[0002] Aseptic packaging is a common way to package and preserve liquid food. Liquid beverages and milk packaged by aseptic carton filling machines are very popular. They are popular in the market for their beautiful appearance, low packaging and transportation costs, and convenient eating. At present, the paper rolls in the paper bin are replaced by manually opening the paper bin door and using a paper trolley to replace the paper rolls. This method has low work efficiency.

[0003] Carton beverage packaging materials are generally stored in the silo before loading into the filling machine. The packaging materials are rolled into a tube and finally bonded with tape to prevent them from falling apart. The entire loading process includes identifying the barcode on the roll and judging whether the roll required by the filling machine is consistent with the roll loaded with tape; finding the roll head, grabbing the roll head and tearing the tape to cut the roll head. The cutting content includes tape, roll label, roll damage, etc. Find specific creases to complete the folding action, and insert the folded roll head into the filling machine; complete the precise positioning of the roll and cut the splicing position, remove the discarded roll head after cutting and store it. At present, there is no robot in the market that can complete the above operations. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an automatic packaging material feeding robot, which can automatically complete the feeding process of paper box beverage packaging materials on a filling machine.

[0005] The specific technical solution is as follows: A packaging material feeding robot includes a body, a mechanical arm, a working head, a working table, and a packaging material rotating device. The machine body is used to install the mechanical arm and the work surface; The mechanical arm is mounted on the machine body and connected to the working head, and the mechanical arm is used to control the movement of the working head between different working positions; The working head is equipped with a visual recognition device, a glue-tearing device, a paper-folding device and a gripping device. The visual recognition device is used to recognize the position of the tape on the packaging material and the barcode on the packaging material. The glue-tearing device is used to tear off the tape on the packaging material. The paper-folding device is used to cooperate with the working table to complete the paper-folding action. The gripping device cooperates with the mechanical arm to deliver the packaging material after the paper-folding action into the filling machine. The work surface is installed on the machine body, and a reciprocating feeding device, a cutting device, a paper folding baffle and a packaging material reversing device are installed on the work surface. The reciprocating feeding device is used to translate the packaging material on the work surface, the cutting device is used to cut off the packaging material of the tape part, the paper folding baffle cooperates with the paper folding device to fold the packaging material, and the packaging material reversing device can hang the packaging material vertically; The packaging material rotating device is installed on the machine body, and the packaging material rotating device can be extended and retracted on the machine body. After the packaging material rotating device is extended, it is used to rotate the packaging material on the filling machine.

[0006] Preferably, the visual recognition device is a first visual camera, which is located at the center of the working head; the glue tearing device includes a clamping plate, a first clamping jaw and a first telescopic driver installed at the end of the working head, the first telescopic driver is connected to the first clamping jaw for driving the first clamping jaw to extend and retract, and the clamping plate cooperates with the first clamping jaw to clamp the end of the packaging material; the paper folding device includes a second telescopic driver and a paper folding pressure claw, the second telescopic driver is connected to the paper folding pressure claw for driving the paper folding pressure claw to extend and retract, and the paper folding pressure claw cooperates with the paper folding baffle for folding the packaging material; the grasping device includes a third telescopic driver and a negative pressure adsorption head, the third telescopic driver is connected to the negative pressure adsorption head for driving the negative pressure adsorption head to extend and retract, and the negative pressure adsorption head is connected to the negative pressure machine through a pipeline for adsorbing the packaging material.

[0007] Preferably, the reciprocating feeding device comprises a first guide rail, a first drive motor and a second clamping jaw, wherein the second clamping jaw is mounted on the first guide rail, and the first drive motor is used to drive the second clamping jaw to perform reciprocating motion on the first guide rail.

[0008] Preferably, the origami baffle is installed below the work surface, and the origami baffle is connected to a fourth telescopic driver, and the fourth telescopic driver can drive the origami baffle to extend out of the work surface or retract below the work surface.

[0009] Preferably, the cutting device includes a second guide rail, a driver, a blade holder and a blade, the second guide rail is installed at the end of the work surface, the blade holder is installed on the second guide rail, the blade is installed on the blade holder, and the driver is used to drive the blade holder to reciprocate on the guide rail.

[0010] Preferably, the packaging material reversing device comprises a bracket and a third clamping jaw, the bracket is perpendicular to the work surface, and the third clamping jaw is installed on the bracket.

[0011] Preferably, a second visual recognition camera is installed on the machine body, and the second visual recognition camera is installed on the machine body near the packaging material rotating device.

[0012] Preferably, a fifth telescopic driver is installed on the working head, and a shift rod is installed on the fifth telescopic driver.

[0013] Preferably, a walking mechanism and a wireless signal transceiver are installed on the machine body, the walking mechanism is used to drive the machine body to move, and the wireless signal transceiver is connected to the filling machine via wireless signals.

[0014] The above-mentioned feeding method of a packaging material feeding robot comprises the following steps: S1, the packaging material loading robot is moved to the vicinity of the filling machine by the walking mechanism; S2, the second visual recognition camera identifies and determines the parking error of the packaging material loading robot and cooperates with the walking mechanism to correct the error; S3, the robot arm moves the working head to face the first visual recognition camera directly to the packaging material, the packaging material rotating device rotates the packaging material, and the first visual recognition camera searches for the adhesive tape bonding position of the packaging material; S4, after finding the adhesive tape bonding part of the packaging material, the adhesive peeling device grabs the end of the packaging material, and then the adhesive tape is torn off under the drive of the robotic arm, and then the robotic arm pulls the packaging material apart and places the packaging material part on the work surface; S5, the robot arm adjusts the position of the working head so that the first visual recognition camera on the working head faces the packaging material on the working table, and then the reciprocating feeding device moves the packaging material on the working table. At this time, the first visual recognition camera recognizes the label on the packaging material and positions the packaging material; S6, the cutting device cuts off the portion of the packaging material with the tape on it; S7, the robot arm adjusts the working head so that the paper folding device is located above the side of the paper folding baffle, and controls the paper folding device to press down to form a crease on the packaging material; S8, the grasping device of the working head grasps the packaging material, and then the robot arm drives the working head to move, pulls the packaging material vertically, and then the packaging material reversing device fixes the packaging material, and then the grasping device releases the packaging material, and then the robot arm drives the working head to the back of the packaging material, and then the grasping device grasps the back of the packaging material; S9, the robot arm drives the working head to deliver the packaging material to the loading area of ​​the filling machine, and the filling machine completes precise splicing; S10, the lever on the working head extends out, moves the cutting knife on the filling machine, cuts off the waste material head, and the grabbing device grabs the waste material head and stores it.

[0015] The beneficial effects of the present invention are: When the equipment is connected to the filling machine, it automatically completes the following process actions: identify the barcode on the coil, and determine in a closed loop whether the coil required by the filling machine is consistent with the feeding coil; find the coil head, grab the coil head and tear off the tape; cut the coil head, including tape, coil label, coil damage, etc.; find specific creases to complete the folding action; insert the folded coil head into the filling machine; complete the precise positioning of the coil and cut the splicing position; remove the discarded coil head after cutting and store it; through the above actions, the automatic loading of the packaging material is completed and the splicing requirements are met, so as to realize the full automation of the loading action and realize unmanned closed-loop production. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 This is a structural schematic diagram of Example 1; Figure 2 This is a schematic diagram of the working head structure of Example 1; Figure 3 This is a schematic diagram of the structure of the machine body and the work surface of Example 1; Figure 4 This is a schematic diagram of the reciprocating feeding device and the origami baffle structure of Example 1; Figure 5 This is a schematic diagram of the structure of the cutting device in Example 1; Figure 6 This is a schematic structural diagram of a packaging material reversing device according to Example 1; Figure 7 This is a schematic structural diagram of the packaging material rotating device of Example 1; Figure 8 This is a schematic diagram of the structure of the gas compressor and the high-pressure gas storage tank of Example 1; Fig. 9 This is a schematic diagram of the structure of Example 1 when it is linked with a filling machine; Body 1, six-axis robot arm 2, working head 3, first visual camera 30, clamping plate 31, first clamping jaw 32, first telescopic driver 33, second telescopic driver 34, paper folding pressing jaw 35, third telescopic driver 36, negative pressure adsorption head 37, fifth telescopic driver 38, lever 39, work table 4, reciprocating feeding device 5, first guide rail 51, first drive motor 52, second clamping jaw 53, cutting device 6, second guide rail 61, driver 62, blade holder 63, blade 64, paper folding baffle 7, fourth telescopic driver 71, packaging material reversing device 8, bracket 81, third clamping jaw 82, packaging material rotating device 9, second drive motor 91, third guide rail 92, mounting frame 93, third drive motor 94, rotating wheel 95, second visual camera 10, walking mechanism 11, gas compressor 12, high-pressure gas storage tank 13. DETAILED DESCRIPTION

[0017] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from this description, and those skilled in the art can make similar generalizations without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0018] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0019] Example 1 like Figure 1 As shown, a packaging material feeding robot comprises a body 1, a mechanical arm, a working head 3, a working table 4, and a packaging material rotating device 9. The mechanical arm, the working table 4, and the packaging material rotating device 9 are respectively mounted on the body 1.

[0020] The robot arm of this embodiment adopts a six-axis robot arm 2. One end of the six-axis robot arm 2 is fixed on the machine body 1, and the other end is installed with a working head 3. The six-axis robot arm 2 is used to control the movement of the working head 3 between different working positions.

[0021] like Figure 2 As shown, the working head 3 is equipped with a visual recognition device, a glue-tearing device, a paper-folding device and a gripping device. The visual recognition device of this embodiment is a first visual camera 30. The first visual camera 30 is installed at the center of the working head 3. The first visual camera 30 is used to identify the position of the tape on the packaging material and the barcode on the packaging material. The glue-tearing device includes a clamping plate 31, a first clamping claw 32 and a first telescopic driver 33. The first telescopic driver 33 is connected to the first clamping claw 32 for driving the first clamping claw 32 to extend and retract. The clamping plate 31 is installed at the end of the working head 3. The clamping plate 31 cooperates with the first clamping claw 32 to clamp the end of the packaging material. The paper-folding device is installed on the other end of the working head 3 opposite to the glue-tearing device. The paper-folding device includes a second telescopic driver 34 and a paper-folding pressure claw 35. The second telescopic driver 34 is connected to the paper-folding pressure claw 35 for driving the paper-folding pressure claw to extend and retract. The paper-folding pressure claw 35 cooperates with the work surface for folding the packaging material. The gripping device includes a third telescopic driver 36 and a negative pressure adsorption head 37. The third telescopic driver 36 is connected to the negative pressure adsorption head 37 to drive the negative pressure adsorption head to extend and retract, and the negative pressure adsorption head is connected to the negative pressure machine through a pipeline to adsorb the packaging material. The working head 3 is also equipped with a fifth telescopic driver 38, and a lever 39 is installed on the fifth telescopic driver 38.

[0022] like Figure 3 As shown, a reciprocating feeding device 5, a cutting device 6, a paper folding baffle 7 and a packaging material reversing device 8 are installed on the work surface 4.

[0023] like Figure 4 As shown, the reciprocating feeding device 5 includes a first guide rail 51, a first drive motor 52 and a second clamp 53. The second clamp 53 is installed on the first guide rail 51, and the first drive motor 52 is connected to the second clamp 53 through a transmission mechanism. The first drive motor 52 is used to drive the second clamp 53 to reciprocate on the first guide rail 51. The second clamp 53 clamps the packaging material and moves in a direction away from the filling machine under the drive of the first drive motor 52. When it moves to the end of the guide rail, the second clamp 53 releases the packaging material, returns to the starting position under the drive of the first drive motor 52, clamps the packaging material again, and moves in a direction away from the filling machine under the drive of the first drive motor 52, thereby reciprocatingly conveying the packaging material to the end away from the filling machine.

[0024] like Figure 5 As shown, the cutting device 6 is installed at one end of the work surface 4 away from the filling machine. There is a gap between the cutting device 6 and the work surface 4 for the packaging materials to pass through. The cutting device 6 includes a second guide rail 61, a driver 62, a blade holder 63 and a blade 64. The second guide rail 61 is installed at the end of the work surface 4, and the direction of the second guide rail 61 is perpendicular to the direction of travel of the packaging materials when the compound feeding device feeds. The blade holder 63 is installed on the second guide rail 61, and the blade 64 is installed on the blade holder 63. The driver 62 can drive the blade holder 63 to reciprocate on the second guide rail 61. When the reciprocating feeding device 5 delivers the packaging materials to the specified position, the driver 62 drives the blade holder 63 to drive the blade 64 to move from one end of the track to the other end of the track. At this time, the blade 64 cuts the packaging materials and removes the part of the packaging materials with tape.

[0025] like Figure 4 As shown, the folding baffle 7 is installed below the work surface 4, and the folding baffle 7 is connected to the fourth telescopic driver 71, and the fourth telescopic driver 71 can drive the folding baffle 7 to extend out of the work surface 4 or retract below the work surface 4. When the cutting device 6 cuts off the part of the packaging material with the tape, the packaging material covers the folding baffle 7, and at this time the fourth telescopic driver 71 extends the folding baffle 7, and then adjusts the working head 3 so that the folding pressing claw 35 on the working head 3 is located above the side of the folding baffle 7 close to the filling machine, and the folding pressing claw 35 is pressed down by the second telescopic driver 34 to complete the folding action.

[0026] like Figure 6As shown, the packaging material reversing device 8 is installed on the work surface 4, and the packaging material reversing device includes a bracket 81 and a third clamping jaw 82. The bracket 81 is perpendicular to the work surface 4, and the third clamping jaw 82 is installed on the bracket 81. After the folding action is completed, the third telescopic driver 36 on the working head 3 controls the negative pressure adsorption head 37 to extend and adsorb the packaging material, and lift the packaging material under the drive of the six-axis robot 2, and then the third clamping jaw 82 clamps the packaging material, and then the negative pressure adsorption head 37 releases the packaging material, and then the six-axis robot 2 moves the working head 3 to the other side of the packaging material, and then the negative pressure adsorption head 37 adsorbs the back of the packaging material to complete the reversing operation.

[0027] After the reversal is completed, the six-axis robot arm 2 drives the working head 3 to deliver the packaging material to the filling machine.

[0028] like Figure 7 As shown, the packaging material rotating device 9 is installed on the machine body 1, and the packaging material rotating device 9 is located on the side of the machine body 1 close to the filling machine. The packaging material rotating device 9 includes a second drive motor 91, a third guide rail 92, a mounting frame 93, a third drive motor 94 and a rotating wheel 95. The third guide rail 92 is installed on the machine body 1, and the mounting frame 93 is installed on the third guide rail 92. The second drive motor 91 is connected to the mounting frame 93 through a transmission mechanism. The second drive motor 91 can drive the mounting frame 93 to move back and forth on the third guide rail 92. The rotating wheel 95 is installed on the mounting frame 93, and the third drive motor 94 is connected to the rotating wheel 95 to drive the rotating wheel 95 to rotate.

[0029] The second driving motor 91 can drive the rotating wheel 95 to extend and retract. When the packaging material needs to be rotated, the second driving motor 91 can drive the rotating wheel 95 to extend and contact the packaging material on the filling machine, and the third driving motor 94 can drive the packaging material to rotate.

[0030] like Figure 8-9 As shown, a second visual camera 10 is also installed on the machine body 1 . The second visual camera 10 is located near the filling machine. In this embodiment, the second visual camera 10 is installed near the packaging material rotating device 9 .

[0031] A walking mechanism 11 and a wireless signal transceiver are also installed at the bottom of the body 1. The walking mechanism 11 is used to drive the body 1 to move.

[0032] A gas compressor 12 and a high-pressure gas storage tank 13 are also installed in the body 1. The first telescopic actuator, the second telescopic actuator, the third telescopic actuator, the fourth telescopic actuator and the fifth telescopic actuator are all cylinders. The high-pressure gas storage tank is connected to the first telescopic actuator, the second telescopic actuator, the third telescopic actuator, the fourth telescopic actuator and the fifth telescopic actuator through pipelines, respectively. The high-pressure gas storage tank is connected to the second clamp and the third clamp through a pipeline to control the opening and closing of the second clamp and the third clamp.

[0033] A packaging material loading robot loading method adopts the above-mentioned packaging material loading robot, and the specific steps are as follows: The following steps are involved: S1, when the packaging material loading robot receives a signal from the filling machine indicating that the packaging material needs to be replaced, the traveling mechanism moves the packaging material loading robot to the vicinity of the filling machine; S2, the second visual recognition camera identifies and determines the parking error of the packaging material loading robot and cooperates with the walking mechanism to correct the error; S3, the robot arm moves the working head to face the packaging material with the first visual recognition camera, and then the packaging material rotating device rotates the packaging material, and the first visual recognition camera recognizes the label on the packaging material to determine whether the packaging material on the filling machine is the required packaging material, and then the first visual recognition camera finds the adhesive tape bonding point of the packaging material; S4, after finding the adhesive tape bonding part of the packaging material, the adhesive peeling device grabs the end of the packaging material, and then the adhesive tape is torn off under the drive of the robotic arm, and then the robotic arm pulls the packaging material apart and places the packaging material part on the work surface; S5, the robot arm adjusts the position of the working head so that the first visual recognition camera on the working head faces the packaging material on the working table, and then the reciprocating feeding device moves the packaging material on the working table. At this time, the first visual recognition camera recognizes the label on the packaging material and locates the packaging material, wherein the label can be a QR code, a barcode or other recognizable pattern or structure; S6, the cutting device cuts off the portion of the packaging material with the tape on it; S7, the robot arm adjusts the working head so that the paper folding device is located above the side of the paper folding baffle, and controls the paper folding device to press down to form a crease on the packaging material; S8, the grasping device of the working head grasps the packaging material, and then the robot arm drives the working head to move, pulls the packaging material vertically, and then the packaging material reversing device fixes the packaging material, and then the grasping device releases the packaging material, and then the robot arm drives the working head to the back of the packaging material, and then the grasping device grasps the back of the packaging material; S9, the robot arm drives the working head to deliver the packaging material to the loading area of ​​the filling machine, and the filling machine completes precise splicing; S10, the lever on the working head extends out, moves the cutting knife on the filling machine, cuts off the waste material head, and the grabbing device grabs the waste material head and stores it.

[0034] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A packaging material feeding robot, characterized in that: It includes machine body, mechanical arm, working head, working table, and packaging material rotating device. The machine body is used to install the mechanical arm and the work surface; The mechanical arm is mounted on the machine body and connected to the working head, and the mechanical arm is used to control the movement of the working head between different working positions; The working head is equipped with a visual recognition device, a glue-tearing device, a paper-folding device and a gripping device. The visual recognition device is used to recognize the position of the tape on the packaging material and the barcode on the packaging material. The glue-tearing device is used to tear off the tape on the packaging material. The paper-folding device is used to cooperate with the working table to complete the paper-folding action. The gripping device cooperates with the mechanical arm to deliver the packaging material after the paper-folding action into the filling machine. The work surface is installed on the machine body, and a reciprocating feeding device, a cutting device, a paper folding baffle and a packaging material reversing device are installed on the work surface. The reciprocating feeding device is used to translate the packaging material on the work surface, the cutting device is used to cut off the packaging material of the tape part, the paper folding baffle cooperates with the paper folding device to fold the packaging material, and the packaging material reversing device can hang the packaging material vertically; The packaging material rotating device is installed on the machine body, and the packaging material rotating device can be extended and retracted on the machine body. After the packaging material rotating device is extended, it is used to rotate the packaging material on the filling machine.

2. A packaging material loading robot according to claim 1, characterized in that: The visual recognition device is a first visual camera, which is located at the center of the working head; the glue tearing device includes a clamping plate, a first clamping claw and a first telescopic driver installed at the end of the working head, the first telescopic driver is connected to the first clamping claw for driving the first clamping claw to extend and retract, and the clamping plate cooperates with the first clamping claw to clamp the end of the packaging material; the paper folding device includes a second telescopic driver and a paper folding pressure claw, the second telescopic driver is connected to the paper folding pressure claw for driving the paper folding pressure claw to extend and retract, and the paper folding pressure claw cooperates with the paper folding baffle for folding the packaging material; the grasping device includes a third telescopic driver and a negative pressure adsorption head, the third telescopic driver is connected to the negative pressure adsorption head for driving the negative pressure adsorption head to extend and retract, and the negative pressure adsorption head is connected to the negative pressure machine through a pipeline for adsorbing the packaging material.

3. The packaging material loading robot according to claim 1, characterized in that: The reciprocating feeding device comprises a first guide rail, a first driving motor and a second clamping jaw, wherein the second clamping jaw is mounted on the first guide rail, and the first driving motor is used to drive the second clamping jaw to perform reciprocating motion on the first guide rail.

4. The packaging material feeding robot according to claim 1, characterized in that: The origami baffle is installed below the work surface and is connected to a fourth telescopic driver. The fourth telescopic driver can drive the origami baffle to extend out of the work surface or retract below the work surface.

5. The packaging material loading robot according to claim 1, characterized in that: The cutting device comprises a second guide rail, a driver, a blade holder and a blade. The second guide rail is installed at the end of the work surface, the blade holder is installed on the second guide rail, the blade is installed on the blade holder, and the driver is used to drive the blade holder to reciprocate on the guide rail.

6. The packaging material feeding robot according to claim 1, characterized in that: The packaging material reversing device comprises a bracket and a third clamping jaw, the bracket is perpendicular to the work table, and the third clamping jaw is installed on the bracket.

7. The packaging material loading robot according to claim 1, characterized in that: A second visual recognition camera is installed on the machine body, and the second visual recognition camera is located on the machine body near the packaging material rotating device.

8. The packaging material loading robot according to claim 1, characterized in that: The working head is provided with a fifth telescopic driver, and the fifth telescopic driver is provided with a shifting rod.

9. A packaging material loading robot according to any one of claims 1 to 8, characterized in that: A walking mechanism and a wireless signal transceiver are installed on the machine body. The walking mechanism is used to drive the machine body to move, and the wireless signal transceiver is connected to the filling machine through wireless signals.

10. A feeding method for a packaging material feeding robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, the traveling mechanism moves the packaging material loading robot to the vicinity of the filling machine; S2, the second visual recognition camera identifies and determines the parking error of the packaging material loading robot and cooperates with the walking mechanism to correct the error; S3, the robot arm moves the working head to face the first visual recognition camera directly to the packaging material, the packaging material rotating device rotates the packaging material, and the first visual recognition camera searches for the adhesive tape bonding position of the packaging material; S4, after finding the adhesive tape bonding part of the packaging material, the adhesive peeling device grabs the end of the packaging material, and then the adhesive tape is torn off under the drive of the robotic arm, and then the robotic arm pulls the packaging material apart and places the packaging material part on the work surface; S5, the robot arm adjusts the position of the working head so that the first visual recognition camera on the working head faces the packaging material on the working table, and then the reciprocating feeding device moves the packaging material on the working table. At this time, the first visual recognition camera recognizes the label on the packaging material and positions the packaging material; S6, the cutting device cuts off the portion of the packaging material with the tape on it; S7, the robot arm adjusts the working head so that the paper folding device is located above the side of the paper folding baffle, and controls the paper folding device to press down to form a crease on the packaging material; S8, the grasping device of the working head grasps the packaging material, and then the robot arm drives the working head to move, pulls the packaging material vertically, and then the packaging material reversing device fixes the packaging material, and then the grasping device releases the packaging material, and then the robot arm drives the working head to the back of the packaging material, and then the grasping device grasps the back of the packaging material; S9, the robot arm drives the working head to deliver the packaging material to the loading area of ​​the filling machine, and the filling machine completes precise splicing; S10, the lever on the working head extends out, moves the cutting knife on the filling machine, cuts off the waste material head, and the grabbing device grabs the waste material head and stores it.

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