A packaging material feeding system and an associated feeding method

Abstract

The present invention provides a packaging material feeding system and a linkage feeding method, including a feeding robot, which is connected to a filling machine via a wireless signal. The feeding robot includes a body, a robotic arm, a working head, and a work surface. The robotic arm is mounted on the body and connected to the working head. The working head is equipped with a visual recognition device, a glue-tearing device, a paper-folding device, and a gripping device. The glue-tearing device is used to tear the tape, the paper-folding device is used to fold the packaging material, and the gripping device is used to feed the packaging material into the filling machine. The work surface is equipped with a reciprocating feeding device, a cutting device, a paper-folding baffle, and a packaging material reversing device. The reciprocating feeding device is used to translate the packaging material, the cutting device is used to cut the packaging material, and the paper-folding baffle is used to fold the packaging material. After folding, the packaging material is fed to the filling machine by the working head. The filling machine is equipped with a packaging material rotating device and a material head cutting device to automatically complete the functions of identifying the packaging tape, cutting the tape, folding the packaging material with a mark, and feeding it to the filling machine for assembly.

Description

Technical Field

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

[0002] Aseptic packaging is a common method for packaging and preserving liquid foods. Liquid beverages and milk packaged in aseptic carton filling machines are widely available, gaining popularity due to their attractive appearance, low packaging and transportation costs, and convenient consumption. Currently, paper rolls within the paper bin are replaced manually by opening the bin door and using a paper cart, a method that suffers from low efficiency.

[0003] Carton-based beverage packaging materials are typically stored in a silo before being loaded into the filling machine. The packaging material is rolled into a tube and then taped together to prevent it from unraveling. The entire loading process involves identifying the barcode on the roll and determining whether the roll required by the filling machine is consistent with the roll loaded on the belt; finding the roll head, grabbing the roll head, and cutting the tape to remove the roll head. This includes cutting tape, roll labels, and damaged rolls; finding specific creases to complete the paper folding action, and inserting the folded roll head into the filling machine; completing the precise positioning of the roll and cutting the splicing position; removing the discarded cut head and storing it. Currently, there is no robot on the market that can fully complete these operations. Summary of the Invention

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

[0005] The specific technical solution is as follows: a packaging material loading system, including a loading robot and a filling machine. The loading robot includes a body, a robotic arm, a working head, a working surface, and a walking mechanism. The filling machine is equipped with a packaging material rotating device and a material cutting device. The loading robot is connected to the filling machine via wireless signals.

[0006] The body is used to install the robotic arm and the work surface;

[0007] 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;

[0008] 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 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 work surface to complete the paper-folding action. The gripping device cooperates with the robotic arm to deliver the packaging material after the paper-folding action is completed into the filling machine.

[0009] The work surface is mounted on the machine body, and is equipped with a reciprocating feeding device, a cutting device, a paper folding baffle, and a packaging material reversing device. The reciprocating feeding device is used to translate the packaging materials on the work surface, the cutting device is used to cut off the packaging materials with adhesive tape, the paper folding baffle cooperates with the paper folding device to fold the packaging materials, and the packaging material reversing device can hang the packaging materials vertically.

[0010] The traveling mechanism can move the machine body to feed different filling machines.

[0011] 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 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.

[0012] Preferably, the reciprocating feeding device includes a first guide rail, a first drive motor and a second clamping jaw, the second clamping jaw is installed 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.

[0013] 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.

[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 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.

[0015] Preferably, the cutting device also includes an auxiliary cutting device, which includes a fourth telescopic drive and a pressure rod, a through slot is provided on the pressure rod, the fourth telescopic drive is connected to the pressure rod for controlling the lifting and lowering of the pressure rod, and the blade passes through the through slot.

[0016] Preferably, the packaging material reversing device includes 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.

[0017] 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.

[0018] The above-mentioned linkage feeding method of the packaging material feeding system includes the following steps:

[0019] S1: When the filling machine detects that the packaging material needs to be loaded, a wireless signal is sent to the loading robot, and the loading robot moves to the vicinity of the filling machine driven by the walking mechanism;

[0020] S2, the second visual recognition camera identifies and determines the docking error of the packaging material loading robot and cooperates with the walking mechanism to correct the error;

[0021] S3, the robotic arm moves the working head to face the first visual recognition device directly over the packaging material. The loading robot sends a wireless signal to the filling machine, which then controls the packaging material rotation device to rotate the packaging material. The first visual recognition device then searches for the tape bonding area on the packaging material.

[0022] S4, after finding the adhesive tape bonding point of the packaging material, the loading robot sends a wireless signal to the filling machine, which controls the packaging material rotating device to stop rotating, so that the loading robot's adhesive tearing device grabs the end of the packaging material, and then tears the tape under the drive of the robotic arm. The robotic arm then pulls the packaging material apart and places the packaging material part on the work surface;

[0023] S5, the robotic arm adjusts the position of the working head so that the first visual recognition device on the working head faces the packaging material on the work surface. The reciprocating feeding device then moves the packaging material on the work surface. At this time, the first visual recognition device recognizes the QR code on the packaging material and locates the packaging material;

[0024] S6, cutting off the portion of the packaging material with the tape on it by a cutting device;

[0025] S7, the robot arm adjusts the working head so that the paper folding device is located above the side of the paper folding baffle. At this time, the fourth telescopic actuator extends out of the paper folding baffle and controls the paper folding device to press down, forming a crease on the packaging material.

[0026] S8, the gripping device of the working head grips the packaging material, and then the robotic arm drives the working head to move, pulls the packaging material vertically, and then the packaging material reversing device fixes the packaging material. Then the gripping device releases the packaging material, and then the robotic arm drives the working head to the back of the packaging material, and then the gripping device grips the back of the packaging material;

[0027] In S9, the robotic arm drives the working head to deliver the packaging material to the loading area of the filling machine, where the filling machine completes precise splicing;

[0028] S10, after the splicing is completed, the filling machine controls the slug cutting device to cut off the slug, and the filling machine sends a wireless signal to the loading robot so that the loading robot grabs the discarded slug and stores it.

[0029] Preferably, in step S7, the folding device is controlled to press down to form a crease on the packaging material, and then the reciprocating feeding device drives the packaging material to move away from the filling machine, so that the crease of the packaging material passes under the pressure rod, so that the packaging material forms an acute angle at the crease, and then the fourth telescopic drive controls the pressure rod to press down to fold the packaging material at the crease.

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

[0031] When the equipment is docked with the filling machine, it automatically completes the following process actions: identifying the barcode on the coil, and judging in a closed loop whether the coil required by the filling machine is consistent with the loading coil; finding the coil head, grabbing the coil head and tearing off the tape; cutting the coil head, including the tape, coil label, and damaged coil; finding specific creases to complete the paper folding action; inserting the folded coil head into the filling machine; completing the precise positioning of the coil and cutting the splicing position; removing the discarded coil head after cutting and storing it; through the above actions, the automatic loading of the packaging material is completed and the splicing requirements are met, thereby realizing the full automation of the loading action and realizing unmanned closed-loop production. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] 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 those skilled in the art, other drawings can be derived from these drawings without inventive work. Among them:

[0033] Figure 1 This is a structural diagram of Example 1;

[0034] Figure 2 This is a schematic structural diagram of the working head in Example 1;

[0035] Figure 3 This is a schematic diagram of the structure of the machine body and work surface of Example 1;

[0036] Figure 4 This is a schematic diagram of the reciprocating feeding device and origami baffle structure of Example 1;

[0037] Figure 5 This is a schematic structural diagram of the cutting device in Example 1;

[0038] Figure 6 This is a schematic structural diagram of the packaging material reversing device in Example 1;

[0039] Figure 7 This is a schematic structural diagram of the gas compressor and high-pressure gas storage tank in Example 1;

[0040] Figure 8This is a structural diagram of Example 1 when linked with a filling machine;

[0041] Body 1, six-axis robotic arm 2, working head 3, first visual camera 30, clamping plate 31, first clamping jaw 32, first telescopic drive 33, second telescopic drive 34, paper folding pressure jaw 35, third telescopic drive 36, negative pressure adsorption head 37, 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, drive 62, blade holder 63, blade 64, paper folding baffle 7, fourth telescopic drive 71, packaging material reversing device 8, bracket 81, third clamping jaw 82, second visual camera 10, walking mechanism 11, gas compressor 12, high-pressure gas storage tank 13. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from the description. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0043] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0044] Example 1

[0045] like Figure 1 As shown, a packaging material feeding system includes a feeding robot and a filling machine. The feeding robot includes a body 1, a robotic arm, a working head 3, a working table 4 and a walking mechanism 11. The filling machine is equipped with a packaging material rotating device and a material head cutting device. The packaging material rotating device can rotate the reel packaging material on the filling machine, and the material head cutting device cuts off the material head of the packaging material after the packaging materials are spliced.

[0046] The packaging material loading robot comprises a body 1, a robotic arm, a working head 3 and a working table 4. The robotic arm and the working table 4 are respectively mounted on the body 1.

[0047] The robot arm of this embodiment adopts a six-axis robot arm 2. One end of the six-axis robot arm 2 is fixed to the machine body, 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.

[0048] like Figure 2 As shown, the work head 3 is equipped with a visual recognition device, a glue removal device, a paper folding device, and a gripping device. In this embodiment, the visual recognition device is a first visual camera 30. The first visual camera 30 is mounted at the center of the work head 3. It is used to identify the location of the adhesive tape on the packaging material and the barcode on the packaging material. The glue removal device includes a clamping plate 31, a first clamping jaw 32, and a first telescopic actuator 33. The first telescopic actuator 33 is connected to the first clamping jaw 32 and drives the first clamping jaw 32 to extend and retract. The clamping plate 31 is mounted at the end of the work head 3. The clamping plate 31 cooperates with the first clamping jaw 32 to clamp the end of the packaging material. The paper folding device is mounted on the other end of the work head 3 opposite the glue removal device. The paper folding device includes a second telescopic actuator 34 and a paper folding pressure jaw 35. The second telescopic actuator 34 is connected to the paper folding pressure jaw 35 to drive the paper folding pressure jaw to extend and retract. The paper folding pressure jaw 35 cooperates with the work surface to fold the packaging material. The gripping device includes a third telescopic actuator 36 and a negative pressure suction head 37. The third telescopic driver 36 is connected to the negative pressure adsorption head 37. The third telescopic driver 36 and the negative pressure adsorption head 37 are used to drive the negative pressure adsorption head to extend and retract. The negative pressure adsorption head 37 is connected to the negative pressure machine through a pipeline to adsorb packaging materials.

[0049] 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.

[0050] like Figure 4 As shown, the reciprocating feeding device 5 includes a first guide rail 51, a first drive motor 52, and a second clamping jaw 53. The second clamping jaw 53 is mounted on the first guide rail 51. The first drive motor 52 is connected to the second clamping jaw 53 via a transmission mechanism. The first drive motor 52 is used to drive the second clamping jaw 53 to reciprocate on the first guide rail 51. The second clamping jaw 53 grasps the packaging material and, driven by the first drive motor 52, moves away from the filling machine. When it reaches the end of the guide rail, the second clamping jaw 53 releases the packaging material and, driven by the first drive motor 52, returns to its starting position. It then grasps the packaging material and, driven by the first drive motor 52, moves away from the filling machine, thereby reciprocatingly feeding the packaging material toward the end away from the filling machine.

[0051] like Figure 5As shown, the cutting device 6 is installed at the end of the work surface 4 away from the filling machine. A gap exists 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. The direction of the second guide rail 61 is perpendicular to the direction of travel of the packaging materials when they are fed by the compound feeding device. 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 move the blade 64 from one end of the rail to the other end of the rail. At this time, the blade 64 cuts the packaging materials, removing the portion of the packaging materials with the tape.

[0052] The cutting device also includes an auxiliary cutting device, which includes a fifth telescopic actuator 65 and a pressure rod 66. The pressure rod 66 has a through slot 67 formed therein. The fifth telescopic actuator 65 is connected to the pressure rod 66 to control the raising and lowering of the pressure rod 66. The blade 64 passes through the through slot 67. The packaging material can pass under the pressure rod 66, which presses the packaging material against the work surface, making the blade 64 cut the packaging material more smoothly.

[0053] like Figure 4 As shown, the paper-folding baffle 7 is mounted below the work surface 4 and is connected to a fourth telescopic actuator 71, which can drive the paper-folding baffle 7 to extend above the work surface 4 or retract below the work surface 4. When the cutting device 6 cuts off the portion of the packaging material with the tape, the packaging material covers the paper-folding baffle 7. At this time, the fourth telescopic actuator 71 extends the paper-folding baffle 7, and the working head 3 is adjusted so that the paper-folding pressure jaws 35 on the working head 3 are located above the paper-folding baffle 7 on the side closest to the filling machine. The paper-folding pressure jaws 35 are then pressed downward by the second telescopic actuator 34 to complete the paper-folding operation.

[0054] like Figure 6 As shown, the packaging material reversing device 8 is mounted on the work surface 4 and 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 mounted on the bracket 81. After the paper folding operation is completed, the third telescopic actuator 36 on the working head 3 controls the negative pressure suction head 37 to extend and absorb the packaging material. Driven by the six-axis robot arm 2, the packaging material is lifted and then clamped by the third clamping jaw 82. The negative pressure suction head 37 then releases the packaging material. The six-axis robot arm 2 then moves the working head 3 to the other side of the packaging material, and the negative pressure suction head 37 then absorbs the back of the packaging material to complete the reversing operation.

[0055] After the reversal is complete, the six-axis robotic arm 2 drives the working head 3 to deliver the packaging material to the filling machine. The material rotating device on the filling machine rotates and tightens the packaging material, and the filling machine then precisely docks the material, cuts off the material head, and transmits the wireless signal to the loading robot, where the working head removes the material head and stores it.

[0056] like Figure 7 and Figure 8 As shown, a second visual camera 10 is further installed on the machine body 1. The second visual camera 10 is located on a side close to the filling machine. In this embodiment, the second visual camera 10 is installed close to the filling machine.

[0057] 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 to move.

[0058] The housing 1 also houses a gas compressor 12 and a high-pressure gas storage tank 13. The first, second, third, fourth, and fifth telescopic actuators are all pneumatic cylinders, and the high-pressure gas storage tank 13 is connected to each of these actuators via pipes. The high-pressure gas storage tank 13 is also connected to the second and third grippers via pipes, controlling their opening and closing.

[0059] A linkage feeding method for a packaging material feeding system, using the above-mentioned feeding robot and filling machine, comprises the following steps:

[0060] S1: When the filling machine detects that the packaging material needs to be loaded, a wireless signal is sent to the loading robot, and the loading robot moves to the vicinity of the filling machine driven by the walking mechanism;

[0061] S2, the second visual recognition camera identifies and determines the docking error of the packaging material loading robot and cooperates with the walking mechanism to correct the error;

[0062] S3, the robotic arm moves the working head to face the first visual recognition device directly over the packaging material. The loading robot sends a wireless signal to the filling machine, which then controls the packaging material rotation device to rotate the packaging material. The first visual recognition device then searches for the tape bonding area on the packaging material.

[0063] S4, after finding the adhesive tape bonding point of the packaging material, the loading robot sends a wireless signal to the filling machine, which controls the packaging material rotating device to stop rotating, so that the loading robot's adhesive tearing device grabs the end of the packaging material, and then tears the tape under the drive of the robotic arm. The robotic arm then pulls the packaging material apart and places the packaging material part on the work surface;

[0064] S5, the robotic arm adjusts the position of the working head so that the first visual recognition device on the working head faces the packaging material on the work surface. The reciprocating feeding device then moves the packaging material on the work surface. At this time, the first visual recognition device recognizes the QR code on the packaging material and locates the packaging material;

[0065] S6, cutting off the portion of the packaging material with the tape on it by a cutting device;

[0066] S7, the robot arm adjusts the working head so that the paper folding device is located above the side of the paper folding baffle. At this time, the fourth telescopic actuator extends the paper folding baffle and controls the paper folding device to press down, forming a crease on the packaging material. The reciprocating feeding device then drives the packaging material away from the filling machine, so that the crease of the packaging material passes under the pressure rod, forming an acute angle at the crease of the packaging material. The fourth telescopic actuator then controls the pressure rod to press down, causing the packaging material to fold at the crease to further strengthen the crease.

[0067] S8, the gripping device of the working head grips the packaging material, and then the robotic arm drives the working head to move, pulls the packaging material vertically, and then the packaging material reversing device fixes the packaging material. Then the gripping device releases the packaging material, and then the robotic arm drives the working head to the back of the packaging material, and then the gripping device grips the back of the packaging material;

[0068] In S9, the robotic arm drives the working head to deliver the packaging material to the loading area of the filling machine, where the filling machine completes precise splicing;

[0069] S10, after the splicing is completed, the filling machine controls the slug cutting device to cut off the slug, and the filling machine sends a wireless signal to the loading robot so that the loading robot grabs the discarded slug and stores it.

[0070] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. 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 system, characterized in that: It includes a loading robot and a filling machine. The loading robot includes a body, a mechanical arm, a working head, a working table and a walking mechanism. The filling machine is equipped with a packaging material rotating device and a material head cutting device. The loading robot is connected to the filling machine through wireless signals. The body is used to install the robotic 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 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 work surface to complete the paper-folding action. The gripping device cooperates with the robotic arm to deliver the packaging material after the paper-folding action is completed 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 for driving the first clamping jaw to retract, and the clamping plate cooperates with the first clamping jaw to clamp the end of the packaging material; The paper folding device is installed on the other end of the working head opposite to the glue tearing device. 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 to drive the paper folding pressure claw to extend and retract. The paper folding pressure claw cooperates with the paper folding baffle to fold the packaging material. The work surface is mounted on the machine body, and is equipped with a reciprocating feeding device, a cutting device, a paper folding baffle, and a packaging material reversing device. The reciprocating feeding device is used to translate the packaging materials on the work surface, the cutting device is used to cut off the packaging materials with adhesive tape, the paper folding baffle cooperates with the paper folding device to fold the packaging materials, and the packaging material reversing device can hang the packaging materials vertically. The cutting device is installed at one end of the work surface away from the filling machine. A gap is provided between the cutting device and the work surface for the packaging material to pass through. 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 direction of the second guide rail is perpendicular to the direction of travel of the packaging material when it is fed by the compound feeding device. The blade holder is installed on the second guide rail, and the blade is installed on the blade holder. The driver is used to drive the blade holder to reciprocate on the guide rail. The cutting device also includes an auxiliary cutting device, the auxiliary cutting device includes a fourth telescopic driver and a pressure rod, the pressure rod is provided with a through slot, the fourth telescopic driver is connected to the pressure rod for controlling the lifting of the pressure rod, and the blade passes through the through slot; The packaging material reversing device includes 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; The traveling mechanism can move the machine body to feed different filling machines.

2. A packaging material feeding system 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 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 packaging materials.

3. A packaging material feeding system according to claim 1, characterized in that: The reciprocating feeding device includes a first guide rail, a first drive motor and a second clamping jaw, wherein the second clamping jaw is installed 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.

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

5. The packaging material feeding system 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.

6. A linkage feeding method for a packaging material feeding system according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1: When the filling machine detects that the packaging material needs to be loaded, a wireless signal is sent to the loading robot, and the loading robot moves to the vicinity of the filling machine driven by the walking mechanism; S2, the second visual recognition camera identifies and determines the docking error of the packaging material loading robot and cooperates with the walking mechanism to correct the error; S3, the robotic arm moves the working head to face the first visual recognition device directly over the packaging material. The loading robot sends a wireless signal to the filling machine, which then controls the packaging material rotation device to rotate the packaging material. The first visual recognition device then searches for the tape bonding area on the packaging material. S4, after finding the adhesive tape bonding point of the packaging material, the loading robot sends a wireless signal to the filling machine, which controls the packaging material rotating device to stop rotating, so that the loading robot's adhesive tearing device grabs the end of the packaging material, and then tears the tape under the drive of the robotic arm. The robotic arm then pulls the packaging material apart and places the packaging material part on the work surface; S5, the robotic arm adjusts the position of the working head so that the first visual recognition device on the working head faces the packaging material on the work surface. The reciprocating feeding device then moves the packaging material on the work surface. At this time, the first visual recognition device recognizes the QR code on the packaging material and locates the packaging material; S6, the fourth telescopic actuator controls the pressing rod to press downward, fixing the packaging material on the work surface, and the cutting device cuts off the portion of the packaging material with the tape; S7, the robot arm adjusts the working head so that the paper folding device is located above the side of the paper folding baffle. At this time, the fourth telescopic actuator extends out of the paper folding baffle and controls the paper folding device to press down, forming a crease on the packaging material. S8, the gripping device of the working head grips the packaging material, and then the robotic arm drives the working head to move, pulls the packaging material vertically, and then the packaging material reversing device fixes the packaging material. Then the gripping device releases the packaging material, and then the robotic arm drives the working head to the back of the packaging material, and then the gripping device grips the back of the packaging material; In S9, the robotic arm drives the working head to deliver the packaging material to the loading area of the filling machine, where the filling machine completes precise splicing; S10, after the splicing is completed, the filling machine controls the slug cutting device to cut off the slug, and the filling machine sends a wireless signal to the loading robot so that the loading robot grabs the discarded slug and stores it.

7. The linkage feeding method of the packaging material feeding system according to claim 6, characterized in that: In step S7, the paper folding device is controlled to press down to form a crease on the packaging material. The reciprocating feeding device drives the packaging material to move away from the filling machine, so that the crease of the packaging material passes under the pressure rod, so that the packaging material forms an acute angle at the crease. The fourth telescopic driver then controls the pressure rod to press down to fold the packaging material at the crease.

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