A packaging material loading robot and a loading method

Abstract

The present invention provides a packaging material feeding robot and a feeding method, which include a machine body, a robotic arm, a working head, a workbench surface, and a packaging material rotating device. The robotic arm is installed on the machine body and connected to the working head. A visual recognition device, a tape tearing device, an origami device, and a grasping device are installed on the working head. The tape tearing device is used to tear the tape, the origami device is used to complete the origami action, and the grasping device cooperates with the robotic arm to send the packaging material after the origami action into the filling machine; the workbench surface is installed on the machine body, and a reciprocating feeding device, a cutting device, an origami baffle, and a packaging material reversing device are installed on the workbench surface. The reciprocating feeding device is used to translate the packaging material on the workbench surface, the cutting device is used to cut off the packaging material with the tape part, the origami baffle cooperates with the origami device to fold the packaging material, and the packaging material reversing device can be used to rotate the packaging material on the filling machine. To achieve automatic identification of the tape of the packaging material, cutting of the tape, folding with marks, and sending to the filling machine for splicing.

Description

Technical Field

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

[0002] Sterile packaging is a relatively common method for packaging and preserving liquid foods at present. Liquid beverages and milk packaged by aseptic carton filling machines are already very popular. They are welcomed by the market for their beautiful appearance, low packaging and transportation costs, and convenient diet. Currently, the paper roll in the paper bin is replaced by manually opening the paper bin door and using a paper loading trolley to replace the paper roll. This method has low work efficiency.

[0003] Before the packaging materials of carton-based beverages are loaded onto the filling machine, they are generally stored in a bin. The packaging materials are rolled into a cylinder shape and finally glued with tape to prevent scattering. The entire loading process includes identifying the barcode on the rolled material and determining whether the rolled material required by the filling machine is the same as the loaded rolled material; finding the head of the rolled material, grasping the head of the material, and tearing the tape to cut the head of the material. The cutting content includes tape, rolled material label, rolled material damage, etc. Finding a specific crease to complete the paper folding action, and stuffing the folded head of the material into the filling machine; completing the precise positioning of the rolled material and cutting the splicing position, taking out the discarded head of the material after cutting and storing it. Currently, there is no robot on the market that can complete the above operations completely. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides an automatic packaging material loading robot, which can automatically complete the loading process of packaging materials of carton-based beverages onto the filling machine.

[0005] The specific technical solution is as follows: A packaging material loading robot includes a body, a robotic arm, a working head, a workbench surface, and a packaging material rotating device.

[0006] The body is used to install the robotic arm and the workbench surface.

[0007] The robotic arm is installed on the body and connected to the working head. The robotic arm is used to control the movement of the working head between different working positions.

[0008] A vision recognition device, a glue tearing device, a paper folding device, and a grasping device are installed on the working head. The vision recognition device is used to identify the position of the tape on the packaging material and the barcode on the packaging material. The glue tearing device is used to tear the tape on the packaging material. The paper folding device is used to cooperate with the workbench surface to complete the paper folding action. The grasping device cooperates with the robotic arm to send the packaging material after the paper folding action into the filling machine.

[0009] The workbench surface is installed on the machine body. A reciprocating feeding device, a cutting device, an origami baffle, and a packaging material reversing device are installed on the workbench surface. The reciprocating feeding device is used to translate the packaging material on the workbench surface. The cutting device is used to cut off the packaging material with tape. The origami baffle cooperates with the origami device to fold the packaging material. The packaging material reversing device can vertically hang the packaging material;

[0010] The packaging material rotating device is installed on the machine body. The packaging material rotating device can extend and retract on the machine body. After the packaging material rotating device extends, it is used to rotate the packaging material on the filling machine.

[0011] Preferably, the visual recognition device is a first vision camera, and the first vision camera is located at the center of the working head; the tape 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 to drive the first clamping jaw to expand and contract. The clamping plate and the first clamping jaw cooperate to clamp the end of the packaging material; the origami device includes a second telescopic driver and an origami pressing jaw. The second telescopic driver is connected to the origami pressing jaw to drive the origami pressing jaw to expand and contract. The origami pressing jaw and the origami baffle cooperate to fold the packaging material; the grasping device includes a third telescopic driver and a negative pressure suction head. The third telescopic driver is connected to the negative pressure suction head to drive the negative pressure suction head to expand and contract. The negative pressure suction head is connected to a negative pressure machine through a pipeline to adsorb the packaging material.

[0012] Preferably, the reciprocating feeding device includes a first guide rail, a first driving motor, and a second clamping jaw. The second clamping jaw is installed on the first guide rail. The first driving motor is used to drive the second clamping jaw to reciprocate on the first guide rail.

[0013] Preferably, the origami baffle is installed below the workbench surface. 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 workbench surface or retract below the workbench surface.

[0014] 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 workbench surface. The blade holder is installed on the second guide rail. The blade is installed on the blade holder. The driver is used to drive the blade holder to reciprocate on the guide rail.

[0015] Preferably, the packaging material reversing device includes a bracket and a third clamping jaw. The bracket is perpendicular to the workbench surface. The third clamping jaw is installed on the bracket.

[0016] Preferably, a second vision camera is installed on the machine body. The second vision camera is installed on the machine body near the packaging material rotating device.

[0017] Preferably, a fifth telescopic driver is installed on the working head, and a shift rod is installed on the fifth telescopic driver.

[0018] 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.

[0019] The above-mentioned feeding method of a packaging material feeding robot comprises the following steps:

[0020] S1, the traveling mechanism moves the packaging material loading robot to the vicinity of the filling machine;

[0021] 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;

[0022] 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;

[0023] 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;

[0024] 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;

[0025] S6, the cutting device cuts off the portion of the packaging material with the tape on it;

[0026] 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;

[0027] 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;

[0028] 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;

[0029] 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.

[0030] The beneficial effects of the present invention are:

[0031] When the device is docked with the filling machine, the following technological actions are automatically completed: identifying the barcodes on the coil material, and making a closed-loop judgment on whether the coil material required by the filling machine is the same as the feeding coil material; finding the head of the coil material, grasping the head and tearing the tape; cutting the head, and the cutting content includes the tape, the coil label, the damage of the coil material, etc.; finding a specific crease to complete the paper folding action; stuffing the folded head into the filling machine; completing the precise positioning of the coil material and cutting the splicing position; taking out the discarded head after cutting and storing it; through the above actions, the automatic feeding of the packaging material is completed and the splicing requirement is met, so as to realize the full automation of the feeding action and the unmanned closed-loop production. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings. Among them:

[0033] Figure 1 It is a schematic structural diagram of Embodiment 1;

[0034] Figure 2 It is a schematic structural diagram of the working head of Embodiment 1;

[0035] Figure 3 It is a schematic structural diagram of the body and the workbench surface of Embodiment 1;

[0036] Figure 4 It is a schematic structural diagram of the reciprocating feeding device and the paper folding baffle of Embodiment 1;

[0037] Figure 5 It is a schematic structural diagram of the cutting device of Embodiment 1;

[0038] Figure 6 It is a schematic structural diagram of the packaging material commutation device of Embodiment 1;

[0039] Figure 7 It is a schematic structural diagram of the packaging material rotating device of Embodiment 1;

[0040] Figure 8 It is a schematic structural diagram of the gas compressor and the high-pressure gas storage tank of Embodiment 1;

[0041] Figure 9 It is a schematic structural diagram when it is linked with the filling machine in Embodiment 1;

[0042] Machine body 1, six-axis robotic arm 2, working head 3, first vision camera 30, clamping plate 31, first clamping jaw 32, first telescopic driver 33, second telescopic driver 34, origami pressing jaw 35, third telescopic driver 36, negative pressure suction head 37, fifth telescopic driver 38, lever 39, workbench surface 4, reciprocating feeding device 5, first guide rail 51, first driving motor 52, second clamping jaw 53, cutting device 6, second guide rail 61, driver 62, blade holder 63, blade 64, origami baffle 7, fourth telescopic driver 71, packaging material commutation device 8, bracket 81, third clamping jaw 82, packaging material rotating device 9, second driving motor 91, third guide rail 92, mounting bracket 93, third driving motor 94, rotating wheel 95, second vision camera 10, traveling mechanism 11, gas compressor 12, high-pressure gas storage tank 13. Detailed implementation manners

[0043] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings of the specification. Many specific details are set forth in the following description to fully understand the present invention, but the present invention can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0044] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that can be included in at least one implementation manner of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that mutually excludes other embodiments.

[0045] Embodiment 1

[0046] As Figure 1 shown, a packaging material loading robot includes a machine body 1, a robotic arm, a working head 3, a workbench surface 4, and a packaging material rotating device 9. The robotic arm, the workbench surface 4, and the packaging material rotating device 9 are respectively installed on the machine body 1.

[0047] In this embodiment, the robotic arm uses a six-axis robotic arm 2. One end of the six-axis robotic arm 2 is fixed to the machine body 1, and the working head 3 is installed at the other end. The six-axis robotic arm 2 is used to control the movement of the working head 3 between different working positions.

[0048] As Figure 2As shown, a vision recognition device, a glue tearing device, an origami device, and a grasping device are installed on the working head 3. In this embodiment, the vision recognition device is the first vision camera 30. The first vision camera 30 is installed at the central position of the working head 3. The first vision camera 30 is used to identify the position of the tape on the packaging material and the bar code on the packaging material. The glue tearing device includes a clamping plate 31, a first jaw 32, and a first telescopic driver 33. The first telescopic driver 33 is connected to the first jaw 32 to drive the first jaw 32 to expand and contract. The clamping plate 31 is installed at the end of the working head 3. The clamping plate 31 cooperates with the first jaw 32 to clamp the end of the packaging material. The origami device is installed at the other end of the working head 3 opposite to the glue tearing device. The origami device includes a second telescopic driver 34 and an origami pressing jaw 35. The second telescopic driver 34 is connected to the origami pressing jaw 35 to drive the origami pressing jaw to expand and contract. The origami pressing jaw 35 cooperates with the workbench surface to fold the packaging material. The grasping device includes a third telescopic driver 36 and a negative pressure suction head 37. The third telescopic driver 36 is connected to the negative pressure suction head 37 to drive the negative pressure suction head to expand and contract. The negative pressure suction head is connected to a negative pressure machine through a pipeline to suck the packaging material. A fifth telescopic driver 38 is also installed on the working head 3, and a lever 39 is installed on the fifth telescopic driver 38.

[0049] As Figure 3 shown, a reciprocating feeding device 5, a cutting device 6, an origami baffle 7, and a packaging material reversing device 8 are installed on the workbench surface 4.

[0050] As Figure 4 shown, the reciprocating feeding device 5 includes a first guide rail 51, a first driving motor 52, and a second jaw 53. The second jaw 53 is installed on the first guide rail 51. The first driving motor 52 is connected to the second jaw 53 through a transmission mechanism. The first driving motor 52 is used to drive the second jaw 53 to make a reciprocating motion on the first guide rail 51. The second jaw 53 clamps the packaging material and moves away from the filling machine under the drive of the first driving motor 52. When it moves to the end of the guide rail, the second jaw 53 releases the packaging material, returns to the starting position under the drive of the first driving motor 52, clamps the packaging material again, and moves away from the filling machine under the drive of the first driving motor 52, and so on, to convey the packaging material to one end away from the filling machine.

[0051] As Figure 5As shown, the cutting device 6 is installed at one end of the workbench surface 4 away from the filling machine. There is a gap between the cutting device 6 and the workbench surface 4 for the packaging material 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 workbench surface 4, and the direction of the second guide rail 61 is perpendicular to the traveling direction of the packaging material when it is fed by the compound feeding device. The blade holder 63 is installed on the second guide rail 61, the blade 64 is installed on the blade holder 63, and the driver 62 can drive the blade holder 63 to move reciprocally on the second guide rail 61. When the reciprocating feeding device 5 feeds the packaging material to the designated 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 material and cuts off the part of the packaging material with the tape.

[0052] As Figure 4 shown, the origami baffle 7 is installed below the workbench surface 4. The origami baffle 7 is connected to the fourth telescopic driver 71, and the fourth telescopic driver 71 can drive the origami baffle 7 to extend out of the workbench surface 4 or retract below the workbench surface 4. When the cutting device 6 cuts off the part of the packaging material with the tape, the packaging material covers the origami baffle 7. At this time, the fourth telescopic driver 71 extends the origami baffle 7, and then adjusts the working head 3 so that the origami pressing claw 35 on the working head 3 is located above the side of the origami baffle 7 close to the filling machine. The origami pressing claw 35 is pressed down by the second telescopic driver 34 to complete the origami action.

[0053] As Figure 6 shown, the packaging material commutation device 8 is installed on the workbench surface 4. The packaging material commutation device includes a bracket 81 and a third clamping jaw 82. The bracket 81 is perpendicular to the workbench surface 4, and the third clamping jaw 82 is installed on the bracket 81. After the origami action is completed, the third telescopic driver 36 on the working head 3 controls the negative pressure suction head 37 to extend and adsorb the packaging material, and lifts the packaging material under the drive of the six-axis robotic arm 2. Then the third clamping jaw 82 clamps the packaging material, and then the negative pressure suction head 37 releases the packaging material. Then the six-axis robotic arm 2 moves the working head 3 to the other side of the packaging material, and then the negative pressure suction head 37 adsorbs the back of the packaging material to complete the commutation operation.

[0054] After the commutation is completed, the six-axis robotic arm 2 drives the working head 3 to send the packaging material to the filling machine.

[0055] As Figure 7As shown in the figure, 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 driving motor 91, a third guide rail 92, a mounting bracket 93, a third driving motor 94 and a rotating wheel 95. The third guide rail 92 is installed on the machine body 1, the mounting bracket 93 is installed on the third guide rail 92, the second driving motor 91 is connected to the mounting bracket 93 through a transmission mechanism, and the second driving motor 91 can drive the mounting bracket 93 to move back and forth on the third guide rail 92. The rotating wheel 95 is installed on the mounting bracket 93, and the third driving motor 94 is connected to the rotating wheel 95 for driving the rotating wheel 95 to rotate.

[0056] 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 drives the packaging material to rotate.

[0057] As Figure 8 - 9 shown in the figure, a second vision camera 10 is also installed on the machine body 1. The second vision camera 10 is located on the side close to the filling machine. In this embodiment, the second vision camera 10 is installed near the packaging material rotating device 9.

[0058] A traveling mechanism 11 and a wireless signal transceiver are also installed at the bottom of the machine body 1. The traveling mechanism 11 is used to drive the machine body 1 to move.

[0059] A gas compressor 12 and a high-pressure gas storage tank 13 are also installed inside the machine body 1. The above-mentioned first telescopic driver, second telescopic driver, third telescopic driver, fourth telescopic driver and fifth telescopic driver are all cylinders. The high-pressure gas storage tank is connected to the first telescopic driver, second telescopic driver, third telescopic driver, fourth telescopic driver and fifth telescopic driver through pipelines respectively. The high-pressure gas storage tank is connected to the second jaw and the third jaw through pipelines to control the opening and closing of the second jaw and the third jaw.

[0060] A feeding method for a packaging material feeding robot uses the above-mentioned packaging material feeding robot, and the specific steps are as follows:

[0061] It includes the following steps:

[0062] S1. When the packaging material feeding robot receives a signal from the filling machine indicating that the packaging material needs to be replaced, the traveling mechanism moves the packaging material feeding robot to the vicinity of the filling machine.

[0063] S2. The second vision recognition camera identifies and judges the docking error of the packaging material feeding robot and cooperates with the traveling mechanism to correct the error.

[0064] 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;

[0065] 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;

[0066] 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;

[0067] S6, the cutting device cuts off the portion of the packaging material with the tape on it;

[0068] 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;

[0069] 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;

[0070] 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;

[0071] 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.

[0072] 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 glue peeling device includes a clamping plate installed at the end of the working head, a first clamping jaw and a first telescopic driver, the first telescopic driver is connected to the first clamping jaw to drive 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 comprises a second telescopic driver and a paper folding pressing claw, wherein the second telescopic driver is connected to the paper folding pressing claw to drive the paper folding pressing claw to extend and retract, and the paper folding pressing claw cooperates with the paper folding baffle to fold the packaging material; 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 reversing device includes a bracket and a third clamping claw, the bracket is perpendicular to the work surface, and the third clamping claw is installed on the bracket; The packaging material rotating device is installed on the machine body, and the packaging material rotating device is located on the side of the machine body close to the filling machine. The packaging material rotating device includes a second drive motor, a third guide rail, a mounting frame, a third drive motor and a rotating wheel. The third guide rail is installed on the machine body, and the mounting frame is installed on the third guide rail. The second drive motor is connected to the mounting frame through a transmission mechanism. The second drive motor can drive the mounting frame to move back and forth on the third guide rail. The rotating wheel is installed on the mounting frame, and the third drive motor is connected to the rotating wheel to drive the rotating wheel to rotate.

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 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 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 packaging materials.

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 feeding 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: 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.

7. The packaging material feeding 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.

8. A packaging material loading robot according to any one of claims 1 to 7, 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.

9. A feeding method for a packaging material feeding robot according to any one of claims 1 to 8, 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.

Images