Box packing method based on accurate positioning and box packing automatic operation workstation

Abstract

According to the box packing method based on accurate positioning and the automatic box packing work station, a large box is conveyed to the designated position of the box packing work station, a box cover of the large box is opened through an opening mechanism, and then a small box is conveyed to the designated position of the box packing work station through a conveying mechanism; then, the three-axle box packing positioning and moving mechanism and the box packing grabbing mechanism are matched for operation for packing; small boxes are grabbed in a mode of combining adsorption and clamping of the box packing grabbing mechanism, the small boxes are clamped by the box packing grabbing mechanism, the three-axle box packing positioning and moving mechanism accurately positions and moves to the position above large boxes, then the small boxes are clamped by the box packing grabbing mechanism for box packing, and the small boxes are packed into the large boxes. The three-axle box packing positioning and moving mechanism and the box packing grabbing mechanism are adopted to work in a matched mode, positioning and packing work of box packing is achieved, box packing work can be conducted according to various position requirements of the box packing, various modularized box packing work is achieved, and the three-axle box packing positioning and moving mechanism has the advantages of being accurate in positioning and stable and reliable in operation.

Description

Technical Field

[0001] The present invention relates to a method for operating and a system operating device for packing small boxes into large boxes, in particular to a box packing method and an automatic box packing station based on accurate positioning; the box packing method and the automatic box packing station based on accurate positioning can accurately position and pack boxes; it belongs to the technical field of packaging operations. Background Art

[0002] In order to meet the needs of modern logistics and improve the efficiency and safety of goods transportation, many items need to first pack some products into a small box and then pack multiple small boxes into a large packing box, which is beneficial for transportation and storage; however, the packing problem is a complex discrete combinatorial optimization problem, aiming to put a certain number of items into some boxes with the same capacity, so that the sum of the sizes of the items in each box does not exceed the box capacity and the number of boxes used is minimized; this is an NP-hard (non-deterministic polynomial) problem because it has no known polynomial-time algorithm to solve, usually with a large number of local extreme points, is non-differentiable, discontinuous, multi-dimensional, constrained, and highly non-linear. In actual operation, the implementation of box packing technology is crucial for protecting small-packaged products from damage during transportation. Box packing technology involves packing small-packaged products into small boxes in a certain way, then packing the small boxes into a large box through a certain combination method, and sealing the large box opening to ensure the safety and integrity of the products.

[0003] In specific operations, many of the current operations of packing small boxes into large boxes are still completed manually, with very low efficiency and difficult to meet the needs of modern logistics packaging; recently, with the improvement of the intelligent level, the automated operation of box packing has also been put into the implementation process, and there are many patent and literature reports in this regard. However, most of the existing automated box packing lines use operating robots to directly pack small boxes into large boxes and then pack the large boxes; however, this operation still has the problem of difficult accurate positioning when loading small boxes into large boxes, so enough space error needs to be left to ensure the accuracy rate of box packing. But in this way, the gap between the large box and the small box is increased, seriously affecting the stability of the small box in the large box, and thus reducing the safety of the small box in the large box. Therefore, some fillers must be used to fill the gap between the large box and the small box, which increases the workload of packing and the volume of the large box also rises significantly. Therefore, many box packings with high requirements are still completed manually, so it is very necessary to improve this.

[0004] By querying and retrieving, no literature reports with the same technical solution as this application were found, only patent literatures in related fields. The closest ones are the following several articles: 1. The invention patent with the patent publication number CN117163422A and the name "An Automatic Packaging Production Line for Heaven and Earth Covers" discloses an automatic packaging production line for heaven and earth covers, which includes a frame, a tipping hopper feeding mechanism, a large storage bin mechanism, a small storage bin mechanism, a vibrating plate conveying mechanism, a two-stage counting and blanking mechanism, a small box capping mechanism, a large box packaging mechanism, a strapping machine, a palletizing machine, a palletizing tray and several conveyor lines. The two-stage counting and blanking mechanism fills the small boxes with materials; the small box capping mechanism automatically caps the small boxes, the large box packaging mechanism loads the small boxes filled with materials into the large box and closes the box, and the strapping machine straps and fixes the large box. The palletizing machine stacks the large boxes fixed with straps onto the palletizing tray. However, what this patent adopts is that the large box box-taking module drives the box bottom to move down above a number of small box materials arranged in a rectangle and loads a number of small box materials into the box bottom, and then the push rod mechanism pushes the box bottom filled with small box materials into the large box flipping module, flips the large box and then seals the box. Such operation is similar to the box loading of small boxes, the operating mechanism is complex and prone to problems, especially it is obviously not applicable to box loading with various requirements.

[0005] 2. The utility model patent with the patent publication number CN220608758U and the name "A Device for Loading Small Boxes into Large Boxes and Palletizing Large Boxes Based on a Robot Arm" discloses a device for loading small boxes into large boxes and palletizing large boxes based on a robot arm, which includes a carton opening machine, a large box empty box discharging roller line, a box supporting and guiding mechanism, a sealing machine, a small box finished product receiving roller line, a small box arranging mechanism, a mechanical grasping and palletizing mechanism, a large box finished product receiving roller line, a first pushing mechanism, a second pushing mechanism, a palletizing roller line and a pallet. Through the box supporting and guiding mechanism, the large box empty box is supported at the opening. After the small box arranging structure arranges the small box finished products neatly, they are loaded into the large box empty box by the mechanical grasping and palletizing mechanism. The first pushing mechanism pushes the large box on the large box empty box discharging roller line to the large box finished product receiving roller line for sealing. Finally, the second pushing mechanism pushes it to the palletizing roller line, and the mechanical grasping and palletizing mechanism grabs and palletizes it onto the pallet. The small box loading into the large box of this patent adopts the conventional robot operation method, and the robot directly grabs the small boxes and loads them into the large box. This method has the problem of difficult accurate positioning.

[0006] 3. The invention patent with the patent publication number CN109515798B and the name of “An Automated Packing Equipment” discloses an automated packing equipment, including a feeding station, a processing station and a packing station arranged in sequence; wherein: the feeding station includes a feeding mechanism, a feeding drive mechanism, a rotary material distribution mechanism and a pushing mechanism; the processing station includes a rotary processing mechanism and a rotary drive mechanism; the packing station includes a packing mechanism and a carton circulation mechanism, the packing mechanism is located above one end of the rotary processing mechanism and cooperates with the rotary processing mechanism, the carton circulation mechanism includes a number of movable carton pallets, and the carton pallets correspond to the packing mechanism one by one. Although the patent also discloses a method of using a vacuum suction cup and a packing mechanism to push a large box into place, this method of pushing materials has a complex structure and is prone to jamming.

[0007] Through careful analysis of the above patents, it is found that although these patents all involve box packing technology and propose some technical improvement plans, the technical solutions proposed by these patent technologies still use robots to pack or push plates to push boxes. There are still some problems and the desired effect cannot be achieved, especially in the lack of corresponding means for accurate positioning. The problems mentioned above still exist, so it is necessary to improve them. Summary of the invention

[0008] The technical problem to be solved by the present invention is to propose a box packing method based on accurate positioning and a positioning box packing operation system device in view of the problems of inaccurate positioning, easy deviation and excessive positioning error during box packing. This box packing method based on accurate positioning can effectively solve the problems of deviation and inaccurate positioning during box packing.

[0009] The present invention is mainly achieved through the following technical solutions: a box packing method based on accurate positioning, wherein a large box is sent to the designated position of a box packing workstation, a cover of the large box is opened by an opening mechanism, and then a small box is sent to the designated position of the box packing workstation by a conveying mechanism, and then the box packing is carried out by the cooperation of a three-axis box packing positioning moving mechanism and a box packing grabbing mechanism; a small box is grabbed by a combination of adsorption and clamping of a box packing grabbing mechanism, and the small box is clamped by the box packing grabbing mechanism, and then accurately positioned and moved to the top of the large box by a three-axis box packing positioning moving mechanism, and then the small box is clamped by the box packing grabbing mechanism for box packing, and the small box is packed into the large box.

[0010] Furthermore, the operation of packing small boxes by the cooperation of the three-axis box packing positioning and moving mechanism and the box packing grasping mechanism is carried out by setting the three-axis box packing positioning and moving mechanism and the box packing grasping mechanism in the box packing workstation. Among them, the three-axis box packing positioning and moving mechanism is arranged above the small box positioning position of the box packing workstation. The three-axis box packing positioning and moving mechanism includes an X-axis moving component that moves along the X-axis direction. On the X-axis moving component, a Y-axis moving component that moves along the Y-axis direction is further arranged. On the Y-axis moving component, a Z-axis moving component that moves along the Z-axis direction is further arranged. The X-axis moving component, the Y-axis moving component, and the Z-axis moving component are combined to form a three-axis box packing positioning and moving mechanism for accurately positioning and moving along the X-axis, Y-axis, and Z-axis. At the same time, a box packing grasping mechanism is arranged on the Z-axis moving component. After the three-axis box packing positioning and moving mechanism moves in place along the X-axis direction and the Y-axis direction, the box packing grasping mechanism moves up and down along the Z-axis direction driven by the Z-axis moving component, and the box packing grasping mechanism grabs the small box or loads the small box into the large box by a combination of adsorption and clamping, realizing the cooperative operation of the three-axis box packing positioning and moving mechanism and the box packing grasping mechanism for box packing operation.

[0011] Furthermore, the operation of grasping the small box by the box packing grasping mechanism by a combination of adsorption and clamping is to set a box packing grasping mechanism composed of a box packing grasping mechanism suction cup and a box packing grasping mechanism clamping plate on the Z-axis moving component, and the box packing grasping mechanism clamping plate surrounds the box packing grasping mechanism suction cup from all four sides on the inner surface. When it is necessary to grasp the small box, when the box packing grasping mechanism moves with the three-axis box packing positioning and moving mechanism to the position above the small box positioning and placing position, the Z-axis moving component drives the box packing grasping mechanism suction cup and the box packing grasping mechanism clamping plate of the box packing grasping mechanism to move downwards, so that the box packing grasping mechanism suction cup fits on the upper surface of the small box, and the box packing grasping mechanism clamping plate is inserted on the four side surfaces of the small box. Then, the small box is sucked by vacuum. Then, the box packing grasping mechanism clamping plate surrounds the small box from all four sides and clamps the small box from all four sides to prevent the cardboard box from shaking during the rapid movement.

[0012] Further, the clamping of the small box from four sides is achieved by arranging a clamping connecting plate of the box packing and grasping mechanism above the suction connecting plate of the box packing and grasping mechanism of the suction cup of the box packing and grasping mechanism. A clamping cylinder of the box packing and grasping mechanism is fixedly installed on the upper surface of the clamping connecting plate of the box packing and grasping mechanism. The fixed plate in the clamping cylinder of the box packing and grasping mechanism and the guiding shaft connecting plate of the box packing and grasping mechanism are fixedly connected with a clamping plate of the box packing and grasping mechanism. The clamping plate of the box packing and grasping mechanism encloses the small box from four sides through the clamping cylinder of the box packing and grasping mechanism and clamps the small box from four sides when the small box needs to be clamped. At the same time, a linear bearing of the box packing and grasping mechanism is also fixedly installed on the upper surface of the clamping connecting plate of the box packing and grasping mechanism. The linear bearing of the box packing and grasping mechanism is arranged in a matching manner with the clamping cylinder of the box packing and grasping mechanism. A guiding shaft of the box packing and grasping mechanism is installed in the linear bearing of the box packing and grasping mechanism. One end of the guiding shaft of the box packing and grasping mechanism is also connected with the clamping plate of the box packing and grasping mechanism. The clamping plate of the box packing and grasping mechanism is smoothly driven by the linear bearing of the box packing and grasping mechanism in cooperation with the clamping cylinder of the box packing and grasping mechanism to clamp the small box from four sides.

[0013] Further, the accurate positioning and movement above the large box through the three-axis box packing positioning and moving mechanism means that the X-axis moving component includes a box packing X-axis guide rail and a box packing X-axis linear module mounting plate. The driving mechanism of the box packing X-axis linear module drives the slide block in the box packing X-axis linear module to move. The slide block mounting plate of the box packing X-axis linear module and the box packing X-axis moving connecting plate fixedly connected thereto move reciprocally along the X-axis. At the same time, the box packing X-axis slider connecting seat and the box packing X-axis slider fixedly connected thereto move reciprocally along the X-axis guide rail of the box packing X-axis to perform X-axis positioning and movement. A box packing Y-axis linear module of the Y-axis moving component is also fixedly installed on the box packing X-axis moving connecting plate. The driving mechanism in the box packing Y-axis linear module drives the slide block of the box packing Y-axis linear module to move. When the driving mechanism in the box packing Y-axis linear module drives the slide block of the box packing Y-axis linear module to move, the box packing Z-axis linear module and the box packing and grasping mechanism fixedly connected thereto move reciprocally along the Y-axis to perform Y-axis positioning and movement. At the same time, the other side of the slide block mounting plate of the box packing Y-axis linear module is fixedly connected with the slide block in the box packing Z-axis linear module of the Z-axis moving component. When the driving mechanism in the box packing Z-axis linear module drives the slide block in the box packing Z-axis linear module to move, the box packing and grasping mechanism fixedly connected thereto can move reciprocally along the Z-axis to perform Z-axis positioning and movement, forming accurate positioning and movement in the X-axis, Y-axis, and Z-axis. The specific position is controlled by the PLC in the control cabinet of the small box packing large box workstation.

[0014] Further, the process of packing small boxes into large boxes by the box-in-box grasping mechanism is as follows: when the PLC in the control cabinet of the small-box-to-large-box workstation sends an allowable box-grasping signal to the three-axis box-in-box positioning and moving mechanism, and the small box is conveyed by the small-box positioning conveyor line to the material-grabbing point and stops, the small-box-to-large-box workstation then controls the three-axis box-in-box positioning and moving mechanism. The driving device of the three-axis box-in-box positioning and moving mechanism moves the box-in-box grasping mechanism to directly above the small box. Then, the fixed plate of the clamping cylinder of the box-in-box grasping mechanism drives the clamping plate of the box-in-box grasping mechanism to extend, driving the four clamping plates to enclose an inner space with length and width dimensions larger than the top surface of the small box. After that, the box-in-box grasping mechanism is lowered by the Z-axis linear module driving device until the suction cup of the box-in-box grasping mechanism adsorbs to the upper surface of the small box. Then, multiple groups of clamping cylinders of the box-in-box grasping mechanism are simultaneously activated to clamp the four sides of the small box. After that, the box-in-box Z-axis linear module, the box-in-box grasping mechanism, and the small box adsorbed and clamped are lifted together. Then, the small box is moved to a specified position above the large box by the three-axis box-in-box positioning and moving mechanism. The box-in-box grasping mechanism is lowered by the Z-axis linear module driving device until the box-in-box grasping mechanism touches the upper surface of the large box. At this time, the bottom of the small box does not completely fall to the bottom of the large box. Then, the pushing cylinder of the box-in-box grasping mechanism is activated to release the clamping of the small box. While the small box is still adsorbed, the pushing cylinder fixed plate of the box-in-box grasping mechanism pushes the suction connecting plate of the box-in-box grasping mechanism, the suction cup of the box-in-box grasping mechanism, and the small box adsorbed by the suction cup downward together until the small box is completely pushed to the inner bottom of the large box. During this process, there is a sliding friction between the vertical surface of the small box being clamped and the inner side of the clamping plate of the box-in-box grasping mechanism. When the small box is completely pushed into the large box, the vertical surface of the small box also disengages from the clamping plate of the box-in-box grasping mechanism.

[0015] An automatic box packing operation workstation for implementing the above box packing method based on accurate positioning. The automatic box packing operation workstation includes a frame for the small box to large box workstation, and is characterized in that: a three-axis box packing positioning and moving mechanism and a box packing grasping mechanism are arranged on the frame of the small box to large box workstation; the three-axis box packing positioning and moving mechanism and the box packing grasping mechanism are installed at the top of the frame of the small box to large box workstation; wherein the three-axis box packing positioning and moving mechanism includes an X-axis moving component moving along the X-axis, and a Y-axis moving component moving along the Y-axis is arranged on the X-axis moving component, and a Z-axis moving component moving along the Z-axis is arranged on the Y-axis moving component. The three-axis box packing positioning and moving mechanism is formed by combining the X-axis moving component, the Y-axis moving component and the Z-axis moving component; at the same time, a box packing grasping mechanism is arranged on the Z-axis moving component. The box packing grasping mechanism includes a box packing grasping mechanism suction cup and a box packing grasping mechanism clamping plate. The box packing grasping mechanism suction cup is connected to the box packing Z-axis linear module through the box packing grasping mechanism connecting plate and can move up and down along the Z-axis; and the box packing grasping mechanism clamping plate is provided with a box packing grasping mechanism clamping cylinder. The box packing grasping mechanism clamping plate is driven by the box packing grasping mechanism clamping cylinder to clamp the small box, forming a box packing grasping mechanism combining adsorption and clamping.

[0016] Further, the three-axis box packing positioning and moving mechanism includes a box packing X-axis guide rail, a box packing X-axis slider, a box packing X-axis slider connecting seat, a box packing X-axis linear module mounting plate, a box packing X-axis linear module, a box packing X-axis linear module slide seat mounting plate, and a box packing X-axis moving connecting plate; the box packing X-axis guide rail and the box packing X-axis linear module mounting plate are respectively fixedly installed on both sides of the top of the frame of the small box to large box workstation. The box packing X-axis slider is slidably installed on the box packing X-axis guide rail. The top of the box packing X-axis slider is fixedly installed with a box packing X-axis slider connecting seat. The upper surface of the box packing X-axis slider connecting seat is fixedly connected to one end of the box packing X-axis moving connecting plate; the upper surface of the box packing X-axis linear module mounting plate is fixedly installed with the box packing X-axis linear module. The box packing X-axis linear module mounting plate serves to connect and fix to the frame of the small box to large box workstation. The slider in the box packing X-axis linear module is fixedly installed with the lower surface of the box packing X-axis linear module slide seat mounting plate. The upper surface of the box packing X-axis linear module slide seat mounting plate is fixedly connected to the other end of the box packing X-axis moving connecting plate; a box packing Y-axis linear module is also fixedly installed on the box packing X-axis moving connecting plate. The slider in the box packing Y-axis linear module is fixedly connected to one side of the box packing Y-axis linear module slide seat mounting plate. The other side of the box packing Y-axis linear module slide seat mounting plate is fixedly connected to the slider in the box packing Z-axis linear module. The end of the box packing Z-axis linear module is fixedly installed with a box packing Z-axis linear module end connecting plate. The box packing Z-axis linear module end connecting plate is fixedly connected to one end face of the box packing grasping mechanism connecting plate in the box packing grasping mechanism.

[0017] Furthermore, the case-in-case grasping mechanism includes a case-in-case grasping mechanism connecting plate, a case-in-case grasping mechanism pushing cylinder, a case-in-case grasping mechanism suction connecting plate, and a case-in-case grasping mechanism suction cup; one end face of the case-in-case grasping mechanism connecting plate is fixedly connected to the end connecting plate of the case-in-case Z-axis linear module, and the other end face is fixedly connected to the end of the rear cover in the case-in-case grasping mechanism pushing cylinder. The execution fixing plate in the case-in-case grasping mechanism pushing cylinder is fixedly connected to the case-in-case grasping mechanism suction connecting plate. A case-in-case grasping mechanism suction cup is also fixedly installed on the case-in-case grasping mechanism suction connecting plate. The ventilation hole in the case-in-case grasping mechanism suction cup is pneumatically connected to the vacuum device; the case-in-case grasping mechanism further includes a case-in-case grasping mechanism clamping connecting plate, a case-in-case grasping mechanism clamping cylinder, a case-in-case grasping mechanism linear bearing, a case-in-case grasping mechanism guiding shaft, a case-in-case grasping mechanism guiding shaft connecting plate, and a case-in-case grasping mechanism clamping plate; the upper surface of the case-in-case grasping mechanism clamping connecting plate is fixedly connected to the front cover of the case-in-case grasping mechanism pushing cylinder. A through hole is also opened at the middle position of the case-in-case grasping mechanism clamping connecting plate, and this through hole allows the guide rod of the case-in-case grasping mechanism pushing cylinder to pass through the case-in-case grasping mechanism clamping connecting plate; the upper surface of the case-in-case grasping mechanism clamping connecting plate is fixedly installed with a case-in-case grasping mechanism clamping cylinder, and the body of the case-in-case grasping mechanism clamping cylinder is fixedly connected to the case-in-case grasping mechanism clamping connecting plate; a case-in-case grasping mechanism linear bearing is also fixedly installed on the case-in-case grasping mechanism clamping connecting plate. The case-in-case grasping mechanism linear bearing is arranged in a matching manner with the case-in-case grasping mechanism clamping cylinder. The case-in-case grasping mechanism guiding shaft is slidably connected to the case-in-case grasping mechanism linear bearing. One end of the case-in-case grasping mechanism guiding shaft is also fixedly installed with a case-in-case grasping mechanism guiding shaft connecting plate. The axial sliding direction of the case-in-case grasping mechanism guiding shaft is the same as the movement direction of the piston rod of the case-in-case grasping mechanism clamping cylinder. The fixing plate in the case-in-case grasping mechanism clamping cylinder and the case-in-case grasping mechanism guiding shaft connecting plate are jointly fixedly connected with a case-in-case grasping mechanism clamping plate, and the case-in-case grasping mechanism clamping plate encloses it on all four sides to clamp the carton.

[0018] Further, a large box positioning, supporting and transferring device is arranged inside the workstation frame of the small box in large box. The large box positioning, supporting and transferring device includes a large box positioning roller line, a large box positioning roller line bracket, large box side guards, large box positioning baffles, large box positioning sensors, a large box lifting and positioning mechanism, a large box supporting mechanism, and a full large box pushing mechanism. The large box is input from the outlet of the large box buffer line to the inlet of the large box positioning roller line. The lower part of the large box positioning roller line is fixedly connected to the upper end of the large box positioning roller line bracket. The lower end of the large box positioning roller line bracket is fixedly connected to the workstation frame of the small box in large box. Adjustable-width large box side guards are also fixedly connected to both sides of the large box positioning roller line. By adjusting the large box side guards, the positioning of both sides when the large box enters can be ensured. One of the side guards is set with a partial length, and the partial length setting ensures that there is no interference in the subsequent box pushing process. A large box positioning baffle is fixedly installed at the tail end of the large box positioning roller line. When the large box is conveyed by the large box positioning roller line to the large box positioning baffle and stops, the large box is positioned in combination with the large box side guards on both sides. A large box positioning sensor is also fixed on the large box positioning baffle. After the large box positioning sensor senses the large box, the PLC in the control cabinet of the small box in large box workstation issues a positioning instruction to the large box lifting and positioning mechanism.

[0019] Further, the large box lifting and positioning mechanism includes a large box lifting and positioning bracket I, a large box lifting and positioning bracket II, a large box lifting cylinder bracket, a large box lifting cylinder, a large box lifting bottom plate, a large box lifting flange guide shaft support, and a large box lifting guide shaft. One end of the large box lifting and positioning bracket I is fixedly connected to the bottom of the large box positioning roller line. The large box lifting and positioning bracket II is fixedly connected to the other end of the large box lifting and positioning bracket I. The lower surface of the large box lifting and positioning bracket II is also fixedly connected to the large box lifting cylinder bracket. The body of the large box lifting cylinder is fixedly connected to the large box lifting cylinder bracket. Through holes are correspondingly opened in the large box lifting and positioning bracket II and the piston rod fixing plate execution part of the large box lifting cylinder, which can ensure that the cylinder diameter of the large box lifting cylinder can pass through the large box lifting and positioning bracket II when it extends. The fixing plate of the large box lifting cylinder is fixedly connected to the lower surface of the large box lifting bottom plate. The lifting of the large box lifting cylinder can drive the lifting of the large box lifting bottom plate. A large box lifting flange guide shaft support is also fixedly installed at the bottom of the large box lifting and positioning bracket II. The large box lifting guide shaft is sleeved with the large box lifting flange guide shaft support. Through holes are correspondingly opened in the large box lifting and positioning bracket II and the part of the large box lifting guide shaft in the axial direction, which can ensure that the large box lifting guide shaft can extend and pass through the large box lifting and positioning bracket II. The extending end of the large box lifting guide shaft is fixedly connected to the bottom of the large box lifting bottom plate. The setting of the large box lifting flange guide shaft support and the large box lifting guide shaft can make the large box lifting mechanism more stable during lifting. When the large box lifting cylinder lifts, it drives the lifting of the large box lifting bottom plate, and at the same time drives the large box lifting guide shaft to slide in the large box lifting flange guide shaft support.

[0020] The large box lifting and positioning mechanism further includes a large box lateral positioning cylinder, a large box lateral positioning T-shaped guide shaft support, a large box lateral positioning guide shaft, a large box lateral positioning flange guide shaft support, and a large box lateral positioning plate. On the upper surface of the large box lifting bottom plate, there are also fixedly connected a large box lateral positioning cylinder and distributed and fixedly connected large box lateral positioning T-shaped guide shaft supports. The large box lateral positioning guide shaft is fixedly sleeved and connected with the corresponding large box lateral positioning T-shaped guide shaft support. The flange on the large box lateral positioning flange guide shaft support is fixedly connected with the large box lateral positioning plate, and its guide hole is sleeved with the large box lateral positioning guide shaft. The piston rod fixing plate of the large box lateral positioning cylinder is fixedly connected with the end face of the large box lateral positioning plate. When the large box lateral positioning cylinder extends or contracts, the fixing plate of the large box lateral positioning cylinder drives the large box lateral positioning plate to move left and right. At the same time, the large box lateral positioning plate drives the large box lateral positioning flange guide shaft support to slide on the guide hole and the large box lateral positioning guide shaft. Its guide shaft and guide shaft support can make the large box lateral positioning plate more stable during the movement.

[0021] The large box supporting mechanism includes a supporting box bracket, a supporting box pillow block bearing, a supporting box rotating shaft, a lever fixing clamp, a lever, a supporting box cylinder mounting plate, a supporting box cylinder, and a supporting box rocker. One end of the supporting box bracket is fixedly installed on one side of the large box positioning roller line. The other end of the supporting box bracket is fixedly installed with the flange fixing surface of the supporting box pillow block bearing. The supporting box bracket and the shaft hole of the supporting box pillow block bearing are provided with holes at corresponding positions, and the supporting box rotating shaft can pass through the supporting box pillow block bearing and the mounting surface of the supporting box bracket at the same time. The supporting box rotating shaft also includes a supporting box rotating shaft shoulder, a supporting box rotating shaft clamping end, a supporting box rotating shaft rotating end, and a supporting box rotating shaft fixing hole. The supporting box rotating end in the supporting box rotating shaft is sleeved with the supporting box pillow block bearing. When the supporting box rotating shaft shoulder is fixed with the end face of the supporting box pillow block bearing, the supporting box rotating shaft fixing hole at the end of the supporting box rotating end will pass through the supporting box pillow block bearing and the mounting surface of the supporting box bracket and be exposed. One end of the supporting box rotating shaft clamping end is sleeved with the lever fixing clamp, and after adjusting the angle, it is clamped with the supporting box rotating shaft by a set screw. One end of the lever fixing clamp is sleeved with a lever and is fixed by a set screw.

[0022] The supporting box bracket is also fixedly installed with a supporting box cylinder mounting plate. The upper surface of the supporting box cylinder mounting plate is hinged with the rear cover of the supporting box cylinder. The Y-shaped joint on the piston rod of the supporting box cylinder is hinged with one end of the supporting box rocker. The other end of the supporting box rocker is fixedly connected with the supporting box rotating shaft fixing hole in the supporting box rotating shaft by screws.

[0023] The large full box pushing mechanism also includes a large full box pushing flange guide shaft support, a large full box pushing guide shaft, a large full box pushing plate and a large full box pushing cylinder. The flange fixing surface of the large full box pushing flange guide shaft support is fixedly connected to the lower end of the box support bracket, and holes are opened at corresponding positions of the box support bracket and the axial holes of the large full box pushing flange guide shaft support, and the large full box pushing guide shaft can pass through the large full box pushing flange guide shaft support and the mounting surface of the box support bracket at the same time; one end face of the large full box pushing guide shaft is fixedly connected to the large full box pushing plate; the front end fixing flange of the large full box pushing cylinder cylinder body is fixedly connected to the box support bracket, and the box support bracket and the large full box pushing cylinder are provided with mounting holes at corresponding axial positions, and the large full box pushing cylinder piston rod can pass through this mounting hole and extend and retract, and the end of the large full box pushing cylinder piston rod is fixedly connected to the large full box pushing plate. When the large full box pushing cylinder extends and drives the large full box pushing plate to move, it also drives the large full box pushing guide shaft to slide in the large full box pushing flange guide shaft support. The large full box pushing guide shaft and the large full box pushing flange guide shaft support make the large full box pushing plate more stable during the movement.

[0024] The beneficial effects of the above technical solution of the present invention are: The present invention adopts a three-axis box packing positioning moving mechanism for positioning, and grabs a small box and loads the small box into a large box through a combination of adsorption and clamping, which has the following advantages.

[0025] 1. The present invention adopts a combination of adsorption and clamping methods, in which the four-sided clamping not only ensures the stability of the product during rapid movement, thereby ensuring the stability of the rapidly moving product, but also facilitates the control system to accurately determine the position and distance to the box opening of the large box through the size formed by the four clamps, so as to accurately position and pack the box; 2. The present invention adopts a combination of adsorption and clamping in the grabbing fixture. During the placement process, the suction cup adsorbs the product. During the four-sided clamping process, the push cylinder of the box-in-box grabbing mechanism is set. The product is accurately placed through the guidance of the four-sided clamping plates, thereby ensuring the accuracy of product placement; 3. In the present invention, since the lower end surface of the clamping plate of the box-packing grabbing mechanism is not inside the internal space of the large box, there is no intervention of the thickness of the clamping plate of the box-packing grabbing mechanism between the outer wall of the small box and the inner wall of the large box, which ensures that the gap between the outer size of the small box and the inner size of the large box is minimized, especially when multiple small boxes are placed in the large box for many times, the shaking of the small box in the large box caused by the overlapping gaps and the waste of materials caused by the large size of the large box are avoided; 4. The present invention can assist in the adsorption of heavier products by clamping and embracing, especially when the product surface is uneven or other reasons cause the adsorption force to decrease, the auxiliary effect of the clamping and embracing method on the adsorption of products is more obvious, which can greatly improve the grasping efficiency; 5. Through the integration of multiple independent mechanisms, the present invention achieves high integration and intelligence, reduces the floor area, and facilitates transportation and debugging. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional structure schematic diagram of the overall structure of the present invention; Figure 2 is a front view of the overall structure of the present invention; Figure 3 is Figure 2 a top view structure schematic diagram of Figure 4 is Figure 2 a sectional view taken along line A of Figure 5 is a three-dimensional structure schematic diagram of the small box positioning and conveying line; Figure 6 a three-dimensional structure schematic diagram of the large box positioning and supporting box transfer device; Figure 7 is a three-dimensional structure schematic diagram of the large box lifting and positioning mechanism; Figure 8 is a front view of the large box lifting and positioning mechanism; Figure 9 is a top view structure schematic diagram of the large box lifting and positioning mechanism; Figure 10 is a three-dimensional structure schematic diagram of the large box supporting box mechanism; Figure 11 is a front view of the large box supporting box mechanism; Figure 12 is Figure 11 a view taken along line B of Figure 13 is a three-dimensional structure schematic diagram of the supporting box rotating shaft; Figure 14 is a three-dimensional structure schematic diagram of the full large box pushing box mechanism; Figure 15 is a three-dimensional structure schematic diagram of the three-axis box packing and positioning moving mechanism; Figure 16 is a front view of the three-axis box packing and positioning moving mechanism; Figure 17 is a three-dimensional structure schematic diagram of the box packing and grabbing mechanism; Figure 18 is Figure 17 a three-dimensional structure schematic diagram of the clamping plate of the box packing and grabbing mechanism hidden in Figure 19 is Figure 18 a front view of Figure 20 is Figure 19 a top view of

[0027] Attachment reference numerals: 1. Automatic operation workstation for packing boxes into boxes; 2. Frame of small-box-into-big-box workstation; 3. Three-axis positioning and moving mechanism for packing boxes into boxes; 301. X-axis moving component; 30101. X-axis guide rail for packing boxes into boxes; 30102. X-axis slider for packing boxes into boxes; 30103. X-axis slider connecting seat for packing boxes into boxes; 30104. Installation plate of X-axis linear module for packing boxes into boxes; 30105. X-axis linear module for packing boxes into boxes; 30106. Installation plate of X-axis linear module slider for packing boxes into boxes; 30107. X-axis moving connecting plate for packing boxes into boxes; 302. Y-axis moving component; 30201. Y-axis linear module for packing boxes into boxes; 30202. Installation plate of Y-axis linear module slider for packing boxes into boxes; 30203. Installation plate of Y-axis linear module slider; 303. Z-axis moving component; 30301. Z-axis linear module for packing boxes into boxes; 30302. End connecting plate of Z-axis linear module for packing boxes into boxes; 4. Gripping mechanism for packing boxes into boxes; 401. Suction cup of gripping mechanism for packing boxes into boxes; 402. Clamping plate of gripping mechanism for packing boxes into boxes; 403. Connecting plate of gripping mechanism for packing boxes into boxes; 404. Suction connecting plate of gripping mechanism for packing boxes into boxes; 405. Pushing cylinder of gripping mechanism for packing boxes into boxes; 406. Clamping connecting plate of gripping mechanism for packing boxes into boxes; 407. Clamping cylinder of gripping mechanism for packing boxes into boxes; 408. Linear bearing of gripping mechanism for packing boxes into boxes; 409. Guide shaft of gripping mechanism for packing boxes into boxes; 410. Guide shaft connecting plate of gripping mechanism for packing boxes into boxes; 5. Small-box positioning and conveying line; 501. Small-box positioning belt; 502. Side guard of positioning belt line; 503. Belt positioning edge; 504. Small-box position sensor; 505. Small-box positioning belt support; 6. Big-box positioning, box-supporting and transfer device; 601. Big-box positioning roller line; 602. Big-box positioning roller line support; 603. Big-box side guard; 604. Big-box positioning baffle; 605. Big-box positioning sensor; 606. Big-box lifting and positioning mechanism; 60601. Big-box lifting and positioning support I; 60602. Big-box lifting and positioning support II; 60603. Big-box lifting cylinder support; 60604. Big-box lifting cylinder; 60605. Big-box lifting bottom plate; 60606. Big-box lifting flange guide shaft support; 60607. Big-box lifting guide shaft; 60608. Big-box horizontal positioning cylinder; 60609. Big-box horizontal positioning T-shaped guide shaft support; 60610. Big-box horizontal positioning guide shaft; 60611. Big-box horizontal positioning flange guide shaft support; 60612. Big-box horizontal positioning plate; 607. Big-box box-supporting mechanism; 60701. Box-supporting bracket; 60702. Box-supporting bearing with seat; 60703. Box-supporting rotating shaft; 607031. Shoulder of box-supporting rotating shaft; 607032. Clamping end of box-supporting rotating shaft; 607033. Rotating end of box-supporting rotating shaft; 607034. Fixed hole of box-supporting rotating shaft; 60704. Fixed clamp for lever; 60705. Lever; 60706. Box-supporting cylinder mounting plate; 60707. Box-supporting cylinder; 60708. Box-supporting rocker; 608. Big-full-box box-pushing mechanism; 60801. Big-full-box box-pushing flange guide shaft support;60802. Large full-box pusher guide shaft; 60803. Large full-box pusher plate; 60804. Large full-box pusher cylinder; 609. Large box buffer line; 7. Large box discharge roller line; 8. Control cabinet of small-box loading large-box workstation; 9. Pneumatic control box of small-box loading large-box workstation; 10. Large box; 11. Small box; Detailed implementation mode

[0028] The present invention will be described in detail below with reference to the drawings and specific embodiments. Embodiment 1

[0029] As shown in the attached drawings, an automatic box-in-box operation workstation. The automatic box-in-box operation workstation 1 includes a small-box loading large-box workstation frame 2, on which a three-axis box-in-box positioning and moving mechanism 3 and a box-in-box grasping mechanism 4 are provided; the three-axis box-in-box positioning and moving mechanism 3 and the box-in-box grasping mechanism 4 are installed on the top of the small-box loading large-box workstation frame 2; among them, the three-axis box-in-box positioning and moving mechanism 3 includes an X-axis moving component 301 that moves along the X-axis, and on the X-axis moving component 301, there is a Y-axis moving component 302 that moves along the Y-axis direction, and on the Y-axis moving component 302, there is a Z-axis moving component 303 that moves along the Z-axis direction. The three-axis box-in-box positioning and moving mechanism 3 is formed by the combination of the X-axis moving component 301, the Y-axis moving component 302, and the Z-axis moving component 303; at the same time, a box-in-box grasping mechanism 4 is provided on the Z-axis moving component 303. The box-in-box grasping mechanism 4 includes a box-in-box grasping mechanism suction cup 401 and a box-in-box grasping mechanism clamping plate 402. The box-in-box grasping mechanism suction cup 401 is connected to the box-in-box Z-axis linear module 30301 through the box-in-box grasping mechanism connecting plate 403 and can move up and down along the Z-axis; at the same time, box-in-box grasping mechanism clamping plates 402 are respectively arranged around the box-in-box grasping mechanism connecting plate 403. The box-in-box grasping mechanism clamping plates 402 clamp the small box 11 from four sides by the box-in-box grasping mechanism clamping cylinder 407, forming a box-in-box grasping mechanism that combines adsorption and clamping. This box-in-box, through the cooperation of the three-axis box-in-box positioning and moving mechanism 3 and the box-in-box grasping mechanism 4, and the small-box grasping and pushing into the box by the combination of adsorption and clamping of the box-in-box grasping mechanism 4, can realize the rapid movement and positioning of the box-in-box, accurately perform the box-in-box operation, greatly improve the box-in-box operation efficiency, and meet the accurate box-in-box operations with various position arrangements.

[0030] Among them, as Figure 1-4As shown, the small box entrance of the small box loading into large box workstation 1 is connected with the outlet of the small box sealing machine (not shown in the figure), and the small box sealing machine transports the sealed small boxes to the small box loading into large box workstation 1 for loading into large boxes, and the large box entrance of the small box loading into large box workstation 1 is connected with the outlet of the large box opening machine (not shown in the figure), and the large box opening machine unfolds the top and bottom of the large box by suction cups or mechanical arms to form a shape suitable for packing. After the large box is formed, it is automatically placed in the conveying device, and the conveying device is also provided with a sealing mechanism, which uses hot melt adhesive or tape to seal the bottom of the carton to ensure the stability of the product during transportation. After completing the above steps, the automatic opening machine transports the empty large box that has been opened, formed and sealed to the large box entrance of the small box loading into large box workstation 1.

[0031] The small box loading into large box workstation 1 is provided with a small box loading into large box workstation frame 2, a small box positioning conveyor line 5, a large box positioning support box transfer device 6, a three-axis box loading positioning moving mechanism 3, a large box discharge roller line 7, a small box loading into large box workstation control cabinet 8 and a small box loading into large box workstation pneumatic control box 9; the small box positioning conveyor line 5 is fixedly installed in the small box loading into large box workstation frame 2, and the feeding port of the small box positioning conveyor line 5 is connected with the discharging port of a small box sealing machine (not shown in the figure), and the small box sealing machine seals the small box 11 and then conveys it to the small box positioning conveyor line 5, and after positioning on the small box positioning conveyor line 5, and the small box positioning sensor 504 senses the small box 11, the belt on the small box positioning conveyor line 5 stops conveying, and sends a signal allowing the box to be grabbed to the three-axis box loading positioning moving mechanism 3; the The large box positioning, box-holding and transfer device 6 receives the large box 10 sent from the large box unpacking machine. After the large box positioning, box-holding and transfer device 6 positions and clamps the large box 10, it uses the box-holding mechanism on its upper part to open the front and rear blades and the blades on both sides at the entrance of the large box to facilitate subsequent packing. When the above actions are completed, the controller sends a packing permission signal to the three-axis box packing positioning and moving mechanism 3; after the three-axis box packing positioning and moving mechanism 3 receives the packing signal, the three-axis box packing positioning and moving mechanism 3 starts to move to absorb and clamp the positioned small box, and then move it to the top of the large box 10 for packing; when the large box 10 is full, the box-holding mechanism of the large box positioning, box-holding and transfer device 6 is opened and the large box positioning mechanism is released. Finally, the packing pushing mechanism is started to push the packed large box from the large box discharge roller line 7 to the next workstation.

[0032] like Figure 5As shown in the figure, on the small box positioning and conveying line 5, there are also a small box positioning belt 501, a positioning belt line side guard 502, a belt positioning stop 503, a small box in-place sensor 504, and a small box positioning belt line bracket 505; the small box positioning belt 501 is a belt line, and both sides of the small box positioning belt 501 are equipped with positioning belt line side guards 502 with adjustable widths, and the positioning of both sides of the small box can be ensured by adjusting the positioning belt line side guards 502; at the end of the small box positioning belt 501, there is also a fixed connection with a belt positioning stop 503. When the small box is conveyed by the small box positioning belt 501 to the belt positioning stop 503 and stops, combined with the positioning belt line side guards 502 on both sides, the small box is positioned; on the belt positioning stop 503, there is also a fixed small box position sensor 504. After the small box position sensor 504 senses the small box, the PLC in the control cabinet 12 of the small box loading into the large box workstation issues an instruction allowing the three-axis box packing and positioning moving mechanism 3 to grab the small box; the upper end of the small box positioning belt bracket 505 is fixedly connected to the lower surface of the small box positioning belt 501, and the lower end of the small box positioning belt bracket 505 is fixedly connected to the frame 2 of the small box loading into the large box workstation.

[0033] As Figure 6-10 As shown in the figure, the large box positioning, box supporting and transferring device 6 includes a large box positioning roller line 601, a large box positioning roller line bracket 602, a large box side guard 603, a large box positioning baffle 604, a large box positioning sensor 605, a large box lifting and positioning mechanism 606, a large box supporting mechanism 607, a large full box pushing mechanism 608, and a large box buffer line 609; the large box 10 is input from the outlet of the large box buffer line 609 to the inlet of the large box positioning roller line 601. The lower part of the large box positioning roller line 601 is fixedly connected to the upper end of the large box positioning roller line bracket 602, and the lower end of the large box positioning roller line bracket 602 is fixedly connected to the frame 2 of the small box loading into the large box workstation; on both sides of the large box positioning roller line 601, there are also fixedly connected large box side guards 603 with adjustable widths, and the positioning of both sides when the large box 10 enters can be ensured by adjusting the large box side guards 603. One of the side guards is set with a partial length, and the partial length setting ensures that there is no interference in the subsequent box pushing process; at the end of the large box positioning roller line 601, there is a fixed installation of a large box positioning baffle 604. When the large box 10 is conveyed by the large box positioning roller line 601 to the large box positioning baffle 604 and stops, combined with the large box side guards 603 on both sides, the large box 10 is positioned; on the large box positioning baffle 604, there is also a fixed large box positioning sensor 605. After the large box positioning sensor 605 senses the large box 10, the PLC in the control cabinet 8 of the small box loading into the large box workstation issues a positioning instruction for the large box lifting and positioning mechanism 606.

[0034] As Figure 7As shown, the large box lifting and positioning mechanism 606 includes a large box lifting and positioning bracket I 60601, a large box lifting and positioning bracket II 60602, a large box lifting cylinder bracket 60603, a large box lifting cylinder 60604, a large box lifting bottom plate 60605, a large box lifting flange guide shaft support 60606, and a large box lifting guide shaft 60607. One end of the large box lifting and positioning bracket I 60601 is fixedly connected to the bottom of the large box positioning roller line 601, and the large box lifting and positioning bracket II 60602 is fixedly connected to the other end of the large box lifting and positioning bracket I 60601. The lower surface of the large box lifting and positioning bracket II 60602 is also fixedly connected with a large box lifting cylinder bracket 60603, and the body of the large box lifting cylinder 60604 is fixedly connected to the large box lifting cylinder bracket 60603. Through holes are correspondingly opened in the large box lifting and positioning bracket II 60602 and the piston rod fixing plate execution part of the large box lifting cylinder 60604, which can ensure that the cylinder diameter of the large box lifting cylinder 60604 can pass through the large box lifting and positioning bracket II 60602 when it extends. The fixing plate of the large box lifting cylinder 60604 is fixedly connected to the lower surface of the large box lifting bottom plate 60605, and the lifting of the large box lifting cylinder 60604 can drive the lifting of the large box lifting bottom plate 60605. The large box lifting flange guide shaft support 60606 is also fixedly installed at the bottom of the large box lifting and positioning bracket II 60602. The large box lifting guide shaft 60607 is sleeved with the large box lifting flange guide shaft support 60606. Through holes are correspondingly opened in the large box lifting and positioning bracket II 60602 and the part in the axial direction of the large box lifting guide shaft 60607, which can ensure that the large box lifting guide shaft 60607 can extend and pass through the large box lifting and positioning bracket II 60602. The extending end of the large box lifting guide shaft 60607 is fixedly connected to the bottom of the large box lifting bottom plate 60605. The setting of the large box lifting flange guide shaft support 60606 and the large box lifting guide shaft 60607 can make the large box lifting mechanism more stable during lifting. When the large box lifting cylinder 60604 lifts, it drives the lifting of the large box lifting bottom plate 60605, and at the same time drives the large box lifting guide shaft 60607 to slide in the large box lifting flange guide shaft support 60606.

[0035] As Figure 8-9As shown, the large box lifting and positioning mechanism 606 further includes a large box horizontal positioning cylinder 60608, a large box horizontal positioning T-shaped guide shaft support 60609, a large box horizontal positioning guide shaft 60610, a large box horizontal positioning flange guide shaft support 60611, and a large box horizontal positioning plate 60612; on the upper surface of the large box lifting bottom plate 60605, a large box horizontal positioning cylinder 60608 and distributed and fixedly connected large box horizontal positioning T-shaped guide shaft supports 60609 are further fixedly connected; the large box horizontal positioning guide shaft 60610 is fixedly sleeved and connected with the corresponding large box horizontal positioning T-shaped guide shaft support 60609; the flange on the large box horizontal positioning flange guide shaft support 60611 is fixedly connected with the large box horizontal positioning plate 60612, and its guide hole is sleeved with the large box horizontal positioning guide shaft 60610; the piston rod fixing plate of the large box horizontal positioning cylinder 60608 is fixedly connected with the end face of the large box horizontal positioning plate 60612. When the large box horizontal positioning cylinder 60608 extends or contracts, the fixing plate of the large box horizontal positioning cylinder 60608 drives the large box horizontal positioning plate 60612 to move left and right. At the same time, the large box horizontal positioning plate 60612 drives the large box horizontal positioning flange guide shaft support 60611 to slide on the guide hole and the large box horizontal positioning guide shaft 60610. Its guide shaft and guide shaft support can make the large box horizontal positioning plate 60612 more stable during the movement.

[0036] As Figure 10-13As shown in the figure, the large box support mechanism 607 includes a support box bracket 60701, a support box pedestal bearing 60702, a support box rotating shaft 60703, a lever fixing clamp 60704, a lever 60705, a support box cylinder mounting plate 60706, a support box cylinder 60707, and a support box rocker 60708; one end of the support box bracket 60701 is fixedly installed on one side of the large box positioning roller line 601, and the other end of the support box bracket 60701 is fixedly installed with the flange fixing surface of the support box pedestal bearing 60702. A hole is opened at the corresponding position of the shaft hole of the support box bracket 60701 and the support box pedestal bearing 60702, and the support box rotating shaft 60703 can pass through the installation surfaces of both the support box pedestal bearing 60702 and the support box bracket 60701 at the same time; the support box rotating shaft 60703 further includes a support box rotating shaft shoulder 607031, a support box rotating shaft clamping end 607032, a support box rotating shaft rotating end 607033, and a support box rotating shaft fixing hole 607034. The support box rotating shaft rotating end 607033 in the support box rotating shaft 60703 is sleeved with the support box pedestal bearing 60702. After the support box rotating shaft shoulder 607031 is fixed with the end face of the support box pedestal bearing 607032, the support box rotating shaft fixing hole 607034 at the end of the support box rotating shaft rotating end 607033 will pass through the installation surfaces of both the support box pedestal bearing 607032 and the support box bracket 60701 and be exposed; the support box rotating shaft clamping end 607032 is sleeved with one end of the lever fixing clamp 60704, and after adjusting the angle, it is clamped with the support box rotating shaft 60703 by a set screw; one end of the lever fixing clamp 60704 is sleeved with a lever 60705 and is fixed by a set screw.

[0037] A support box cylinder mounting plate 60706 is also fixedly installed on the support box bracket 60701. The upper surface of the support box cylinder mounting plate 60706 is hinged to the rear cover of the support box cylinder 60707. The Y-type joint on the piston rod of the support box cylinder 60707 is hinged to one end of the support box rocker 60708. The other end of the support box rocker 60708 is fixedly connected to the support box rotating shaft fixing hole 607034 in the support box rotating shaft 60703 by a screw.

[0038] As Figure 14As shown, the large full-box pushing mechanism 608 further includes a large full-box pushing flange guide shaft support 60801, a large full-box pushing guide shaft 60802, a large full-box pushing plate 60803, and a large full-box pushing cylinder 60804; the flange fixing surface of the large full-box pushing flange guide shaft support 60801 is fixedly connected to the lower end of the box support bracket 60701, and holes are provided at the corresponding positions of the shaft holes of the box support bracket 60701 and the large full-box pushing flange guide shaft support 60801. The large full-box pushing guide shaft 60802 can pass through the installation surfaces of both the large full-box pushing flange guide shaft support 60801 and the box support bracket 60701 at the same time; one end face of the large full-box pushing guide shaft 60802 is fixedly connected to the large full-box pushing plate 60803; the front end fixed flange of the cylinder block of the large full-box pushing cylinder 60804 is fixedly connected to the box support bracket 60701, and mounting holes are provided at the corresponding axial positions of the box support bracket 60701 and the large full-box pushing cylinder 60804. The piston rod of the large full-box pushing cylinder 60804 can pass through this mounting hole and extend and retract, and the end of the piston rod of the large full-box pushing cylinder 60804 is fixedly connected to the large full-box pushing plate 60803. When the large full-box pushing cylinder 60804 extends and drives the large full-box pushing plate 60803 to move, it also drives the large full-box pushing guide shaft 60802 to slide within the large full-box pushing flange guide shaft support 60801. The setting of the large full-box pushing guide shaft 60802 and the large full-box pushing flange guide shaft support 60801 makes the large full-box pushing plate 60803 more stable during the movement process.

[0039] As Figure 15-20As shown, the X-axis moving component 301 of the three-axis box packing positioning and moving mechanism 3 includes a box packing X-axis guide rail 30101, a box packing X-axis slider 30102, a box packing X-axis slider connecting seat 30103, a box packing X-axis linear module mounting plate 30104, a box packing X-axis linear module 30105, a box packing X-axis linear module slider mounting plate 30106, and a box packing X-axis moving connecting plate 30107; the box packing X-axis guide rail 30101 and the box packing X-axis linear module mounting plate 30104 are respectively fixedly installed on both sides of the top of the small box packing large box workstation frame 2; a box packing X-axis slider 30102 is slidably installed on the box packing X-axis guide rail 30101, a box packing X-axis slider connecting seat 30103 is fixedly installed on the top of the box packing X-axis slider 30102, and the upper surface of the box packing X-axis slider connecting seat 30103 is fixedly connected to one end of the box packing X-axis moving connecting plate 30107; the upper surface of the box packing X-axis linear module mounting plate 30104 is fixedly installed with the box packing X-axis linear module 30105, and the box packing X-axis linear module mounting plate 30104 serves to connect and fix to the small box packing large box workstation frame 2. The slider in the box packing X-axis linear module 30105 is fixedly installed on the lower surface of the box packing X-axis linear module slider mounting plate 30106, and the upper surface of the box packing X-axis linear module slider mounting plate 30106 is fixedly connected to the other end of the box packing X-axis moving connecting plate 30107. When the servo motor of the box packing X-axis linear module 30105 starts and drives its slider to move, the box packing X-axis linear module slider mounting plate 30106 and the box packing X-axis moving connecting plate 30107 fixedly connected thereto move reciprocally along the X-axis together. At the same time, the box packing X-axis slider connecting seat 30103 and the box packing X-axis slider 30102 fixedly connected thereto move reciprocally along the X-axis along the box packing X-axis guide rail 30101.

[0040] On the X-axis moving connecting plate 30107 of the box-in-box, there is also fixedly installed a box-in-box Y-axis linear module 30201 of the Y-axis moving component 302. The inner surface of the box-in-box Y-axis linear module 30201 is provided with a sliding seat. The sliding seat in the box-in-box Y-axis linear module 30201 is fixedly connected to one side of the box-in-box Y-axis linear module sliding seat mounting plate 30202. The sliding seat in the box-in-box Y-axis linear module 30201 is fixedly connected to one side of the box-in-box Y-axis linear module sliding seat mounting plate 30202. The other side of the box-in-box Y-axis linear module sliding seat mounting plate 30202 is fixedly connected to the sliding seat in the box-in-box Z-axis linear module 30301 of the Z-axis moving component 303. At the end of the box-in-box Z-axis linear module 30301, there is fixedly installed a box-in-box Z-axis linear module end connecting plate 30302. The box-in-box Z-axis linear module end connecting plate 30302 is fixedly connected to one end face of the box-in-box gripper mechanism connecting plate 403 in the box-in-box gripper mechanism 4. When the servo motor in the box-in-box Y-axis linear module 30201 starts and drives its sliding seat to move, the box-in-box Z-axis linear module 30301 and the box-in-box gripper mechanism 4 fixedly connected thereto reciprocate along the Y-axis; when the servo motor in the box-in-box Z-axis linear module 30301 starts and drives its sliding seat to move, the box-in-box gripper mechanism 4 fixedly connected thereto can reciprocate along the Z-axis.

[0041] As Figure 16-20 shown, the box-in-box gripper mechanism 4 further includes a box-in-box gripper mechanism connecting plate 403, a box-in-box gripper mechanism pushing cylinder 405, a box-in-box gripper mechanism suction connecting plate 404, and a box-in-box gripper mechanism suction cup 401. One end face of the box-in-box gripper mechanism connecting plate 403 is fixedly connected to the box-in-box Z-axis linear module end connecting plate 30302, and its other end face is fixedly connected to the end of the rear cover in the box-in-box gripper mechanism pushing cylinder 405. The actuator fixing plate in the box-in-box gripper mechanism pushing cylinder 405 is fixedly connected to the box-in-box gripper mechanism suction connecting plate 404. On the box-in-box gripper mechanism suction connecting plate 404, there is also fixedly installed a box-in-box gripper mechanism suction cup 401. The air vent in the box-in-box gripper mechanism suction cup 401 is pneumatically connected to a vacuum device.

[0042] The box packing and grabbing mechanism 4 further includes a box packing and grabbing mechanism clamping connecting plate 406, a box packing and grabbing mechanism clamping cylinder 407, a box packing and grabbing mechanism linear bearing 408, a box packing and grabbing mechanism guide shaft 409, a box packing and grabbing mechanism guide shaft connecting plate 4010, and a box packing and grabbing mechanism clamping plate 402. The upper surface of the box packing and grabbing mechanism clamping connecting plate 406 is fixedly connected to the front cover of the box packing and grabbing mechanism pushing cylinder 405. A through hole is also provided at the middle position of the box packing and grabbing mechanism clamping connecting plate 406. This through hole allows the guide rod of the box packing and grabbing mechanism pushing cylinder 405 to pass through the box packing and grabbing mechanism clamping connecting plate 406 and be connected to the box packing and grabbing mechanism suction connecting plate 404. Four box packing and grabbing mechanism clamping cylinders 407 are fixedly installed in four directions on the upper surface of the box packing and grabbing mechanism clamping connecting plate 406. The body of the box packing and grabbing mechanism clamping cylinder 407 is fixedly connected to the upper surface of the box packing and grabbing mechanism clamping connecting plate 406. A box packing and grabbing mechanism linear bearing 408 is also fixedly installed on the upper surface of the box packing and grabbing mechanism clamping connecting plate 406. The box packing and grabbing mechanism linear bearing 408 is arranged in a matching manner with the box packing and grabbing mechanism clamping cylinder 407, and the box packing and grabbing mechanism guide shaft 409 is slidably connected to the box packing and grabbing mechanism linear bearing 408. One end of the box packing and grabbing mechanism guide shaft 409 is fixedly installed with a box packing and grabbing mechanism guide shaft connecting plate 410. The axial sliding direction of the box packing and grabbing mechanism guide shaft 409 is the same as the movement direction of the piston rod of the box packing and grabbing mechanism clamping cylinder 407. The fixed plate in the box packing and grabbing mechanism clamping cylinder 407 and the box packing and grabbing mechanism guide shaft connecting plate 410 are jointly fixedly connected with a box packing and grabbing mechanism clamping plate 402, and the box packing and grabbing mechanism clamping plate 402 encloses it on all four sides to clamp the cardboard box, ensuring that the cardboard box does not shake during rapid movement. The design of the box packing and grabbing mechanism linear bearing 408 and the box packing and grabbing mechanism guide shaft 409 can make the box packing and grabbing mechanism clamping cylinder 407 more stable during the clamping process.

[0043] When the above PLC sends the signal allowing box grasping to the three-axis box packing positioning and moving mechanism 3 and the small box stops at the material grasping point of the small box positioning conveyor line 5, the three-axis box packing positioning and moving mechanism 3 moves the box packing grasping mechanism 4 to directly above the small box through the control of the internal servo motor. At the same time, the fixed plate of the clamping cylinder 407 of the box packing grasping mechanism drives the clamping plate 402 of the box packing grasping mechanism to extend. The internal dimension enclosed by the clamping plate 402 of the box packing grasping mechanism is larger than the length and width dimensions of the top surface of the small box. Then, the box packing Z-axis linear module 30301 moves the box packing grasping mechanism 4 downward through its servo control until the suction cup 401 of the box packing grasping mechanism adsorbs to the upper surface of the small box. At this time, multiple clamping cylinders 407 of the box packing grasping mechanism are started simultaneously to clamp the four sides of the small box. Then, the box packing Z-axis linear module 30301, the box packing grasping mechanism 4, and the adsorbed and clamped small box are lifted together. Through the control of each servo motor of the three-axis box packing positioning and moving mechanism 3, the small box 11 is moved to the specified position inside the large box 10. At this time, the bottom of the small box 11 does not completely fall into the bottom of the large box. Then, the pushing cylinder 405 of the box packing grasping mechanism is started to release the clamping of the small box 11. While the small box 11 is still adsorbed, the suction connecting plate 404 of the box packing grasping mechanism, the suction cup 401 of the box packing grasping mechanism, and the small box adsorbed on this suction cup are pushed together until the small box is completely pushed to the inner bottom of the large box; during this process, the vertical surface of the small box in contact with the clamping has sliding friction with the inner side of the clamping plate 402 of the box packing grasping mechanism. When the small box is completely pushed into the large box, the vertical surface of the small box also separates from the clamping plate 402 of the box packing grasping mechanism. At this time, the suction cup 401 of the box packing grasping mechanism stops adsorbing. When continuing to load small boxes into this large box, the PLC controls the three-axis box packing positioning and moving mechanism 3 to transfer the adsorbed and clamped small box to another feeding point for placement. During the entire box packing process, the lower end surface of the clamping plate 402 of the box packing grasping mechanism is not inside the internal space of the large box, ensuring that when the small boxes 11 are placed into the large box 10 one by one, there is no clamping plate 402 of the box packing grasping mechanism between the small boxes and between the small box and the large box, nor is there an issue with the thickness of the clamping plate 402 of the box packing grasping mechanism, ensuring the smallest gap between the small boxes inside the large box.

[0044] It can be seen from the above embodiments that the present invention also relates to a box packing method based on accurate positioning, wherein the box packing method based on accurate positioning is to first send a large box to a specified position of a box packing workstation, open the lid of the large box by an opening mechanism, and then send the small box to the specified position of the box packing workstation by a conveying mechanism, and then pack the box by cooperating with a three-axis box packing positioning moving mechanism and a box packing grabbing mechanism; the small box is grabbed by a combination of adsorption and clamping of the box packing grabbing mechanism, and the small box is clamped by the box packing grabbing mechanism, and then accurately positioned and moved to the top of the large box by the three-axis box packing positioning moving mechanism, and then the small box is clamped by the box packing grabbing mechanism for box packing, and the small box is packed into the large box.

[0045] Furthermore, the box packing is carried out by cooperating with the three-axis box packing positioning moving mechanism and the box packing grabbing mechanism, and the three-axis box packing positioning moving mechanism and the box packing grabbing mechanism are arranged in the box packing workstation; wherein the three-axis box packing positioning moving mechanism is arranged above the small box positioning position of the box packing workstation, and the three-axis box packing positioning moving mechanism includes an X-axis moving component moving along the X-axis direction, a Y-axis moving component moving along the Y-axis direction is arranged on the X-axis moving component, and a Z-axis moving component moving along the Z-axis direction is arranged on the Y-axis moving component, The components, Y-axis moving components and Z-axis moving components are combined to form a three-axis box packing positioning moving mechanism that can accurately position and move along the X-axis, Y-axis and Z-axis; at the same time, a box packing grabbing mechanism is arranged on the Z-axis moving component. After the three-axis box packing positioning moving mechanism moves into position along the X-axis and Y-axis directions, the box packing grabbing mechanism moves up and down along the Z-axis direction driven by the Z-axis moving component, and the box packing grabbing mechanism grabs small boxes or puts small boxes into large boxes by a combination of adsorption and clamping, thereby realizing the cooperation of the three-axis box packing positioning moving mechanism and the box packing grabbing mechanism to carry out box packing operations.

[0046] Furthermore, the box-in-box grabbing mechanism that grabs the small box by a combination of adsorption and clamping is a box-in-box grabbing mechanism composed of a box-in-box grabbing mechanism suction cup and a box-in-box grabbing mechanism clamping plate is set on the Z-axis moving component, and the box-in-box grabbing mechanism clamping plates surround the box-in-box grabbing mechanism suction cup on the inner surface from four sides; when it is necessary to grab the small box, the box-in-box grabbing mechanism moves with the three-axis box-in-box positioning moving mechanism to above the position where the small box is positioned, the Z-axis moving component drives the box-in-box grabbing mechanism suction cup and the box-in-box grabbing mechanism clamping plates of the box-in-box grabbing mechanism to move downward, so that the box-in-box grabbing mechanism suction cup is attached to the upper surface of the small box, and the box-in-box grabbing mechanism clamping plates are inserted into the sides around the small box; then the small box is sucked by vacuum; then the box-in-box grabbing mechanism clamping plates surround the small box on all sides, clamp the small box from four sides, and prevent the carton from shaking during the rapid movement of the small box.

[0047] Further, the clamping of the small box from four sides is achieved by arranging a clamping connecting plate of the box packing and grasping mechanism above the suction connecting plate of the box packing and grasping mechanism of the suction cup of the box packing and grasping mechanism. A clamping cylinder of the box packing and grasping mechanism is fixedly installed on the upper surface of the clamping connecting plate of the box packing and grasping mechanism. The fixed plate in the clamping cylinder of the box packing and grasping mechanism and the guiding shaft connecting plate of the box packing and grasping mechanism are fixedly connected to a clamping plate of the box packing and grasping mechanism. The clamping plate of the box packing and grasping mechanism encloses the small box from four sides through the clamping cylinder of the box packing and grasping mechanism and clamps the small box from four sides when the small box needs to be clamped. At the same time, a linear bearing of the box packing and grasping mechanism is also fixedly installed on the upper surface of the clamping connecting plate of the box packing and grasping mechanism. The linear bearing of the box packing and grasping mechanism is arranged in a supporting manner with the clamping cylinder of the box packing and grasping mechanism. A guiding shaft of the box packing and grasping mechanism is installed in the linear bearing of the box packing and grasping mechanism, and one end of the guiding shaft of the box packing and grasping mechanism is also connected to the clamping plate. The clamping plate of the box packing and grasping mechanism is smoothly driven to clamp the small box from four sides by the cooperation of the linear bearing of the box packing and grasping mechanism and the clamping cylinder of the box packing and grasping mechanism.

[0048] Further, the accurate positioning and movement above the large box through the three-axis box packing positioning and moving mechanism means that the X-axis moving component includes a box packing X-axis guide rail and a box packing X-axis linear module mounting plate. The driving mechanism of the box packing X-axis linear module drives the slide block in the box packing X-axis linear module to move. The slide block mounting plate of the box packing X-axis linear module and the box packing X-axis moving connecting plate fixedly connected thereto move reciprocally along the X-axis. At the same time, the box packing X-axis slider connecting seat and the box packing X-axis slider fixedly connected thereto move reciprocally along the X-axis guide rail of the box packing X-axis to perform X-axis positioning and movement. A box packing Y-axis linear module of the Y-axis moving component is also fixedly installed on the box packing X-axis moving connecting plate. The driving mechanism in the box packing Y-axis linear module drives the slide block of the box packing Y-axis linear module to move. When the driving mechanism in the box packing Y-axis linear module drives the slide block of the box packing Y-axis linear module to move, the box packing Z-axis linear module and the box packing and grasping mechanism fixedly connected thereto move reciprocally along the Y-axis to perform Y-axis positioning and movement. At the same time, the other side of the slide block mounting plate of the box packing Y-axis linear module is fixedly connected to the slide block in the box packing Z-axis linear module of the Z-axis moving component. When the driving mechanism in the box packing Z-axis linear module drives the slide block in the box packing Z-axis linear module to move, the box packing and grasping mechanism fixedly connected thereto can move reciprocally along the Z-axis to perform Z-axis positioning and movement, forming accurate positioning and movement in the X-axis, Y-axis, and Z-axis. The specific position is controlled by the PLC in the control cabinet of the small box packing large box workstation.

[0049] Furthermore, the process of the small box being loaded into the large box by the box-in-box grasping mechanism is as follows: When the PLC in the control cabinet of the small box loading into large box workstation sends the signal allowing box grasping to the three-axis box-in-box positioning and moving mechanism, and the small box is conveyed by the small box positioning conveyor line to the material grasping point and stops, the small box loading into large box workstation then controls the three-axis box-in-box positioning and moving mechanism. The driving device of the three-axis box-in-box positioning and moving mechanism moves the box-in-box grasping mechanism to directly above the small box. Then, the fixed plate of the clamping cylinder of the box-in-box grasping mechanism drives the clamping plate of the box-in-box grasping mechanism to extend, driving the four clamping plates to enclose an inner space with length and width dimensions larger than the top surface of the small box. After that, the box-in-box grasping mechanism is lowered by the Z-axis linear module driving device until the suction cups of the box-in-box grasping mechanism adsorb to the upper surface of the small box. Then, multiple groups of clamping cylinders of the box-in-box grasping mechanism are simultaneously activated to clamp the four sides of the small box. After that, the box-in-box Z-axis linear module, together with the box-in-box grasping mechanism and the small box adsorbed and clamped, is lifted. Then, the small box is moved to the designated position above the large box by the three-axis box-in-box positioning and moving mechanism. The box-in-box grasping mechanism is lowered by the Z-axis linear module driving device until the box-in-box grasping mechanism touches the upper surface of the large box. At this time, the bottom of the small box does not completely fall to the bottom of the large box. Then, the pushing cylinder of the box-in-box grasping mechanism is activated to release the clamping of the small box. With the small box still adsorbed, the fixed plate of the pushing cylinder of the box-in-box grasping mechanism pushes the suction connecting plate of the box-in-box grasping mechanism, the suction cups of the box-in-box grasping mechanism, and the small box adsorbed by the suction cups downward together until the small box is completely pushed to the inner bottom of the large box. During this process, there is a sliding friction between the vertical surface of the small box being clamped and the inner side of the clamping plate of the box-in-box grasping mechanism. When the small box is completely pushed into the large box, the vertical surface of the small box also detaches from the clamping plate of the box-in-box grasping mechanism.

[0050] For the above-listed embodiments, only the technical solutions of the present invention are clearly and completely described in conjunction with the accompanying drawings; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Moreover, the terms such as "upper", "lower", "front", "rear", "middle" and the like cited in this specification are only for the convenience of clear narration, rather than to limit the scope of implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope of implementation of the present invention.

[0051] At the same time, the structures, ratios, sizes, etc. shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical essential significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0052] Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] Advantages of the present invention: The present invention uses a three-axis box packing and positioning moving mechanism for positioning, and grabs small boxes through a combination of adsorption and clamping and loads the small boxes into a large box, having the following advantages.

[0054] 1. Since the grasping fixture of the present invention adopts a combination of adsorption and clamping, among which the four-sided clamping not only ensures the stability of the product without shaking during rapid movement, thus ensuring the stability of the rapidly moving product, but also facilitates the control system to accurately determine the position and distance of moving to the large box opening through the dimensions formed by the four clamping jaws for accurate positioning and packing; 2. Since the grasping fixture of the present invention adopts a combination of adsorption and clamping, during the placement process, while the suction cup adsorbs, through the pushing cylinder of the box packing and grasping mechanism provided, during the four-sided clamping process, the accurate placement of the product is achieved through the guidance of the four-sided clamping plates, thus ensuring the accuracy of product placement; 3. Since the lower end surfaces of the clamping plates of the box packing and grasping mechanism of the present invention are not inside the internal space of the large box, there is no intervention of the thickness of the clamping plates of the box packing and grasping mechanism between the outer wall of the small box and the inner wall of the large box, ensuring the minimization of the gap between the outer dimensions of the small box and the inner dimensions of the large box. Especially when multiple small boxes are placed multiple times in the large box, it avoids the problems of the small box shaking in the large box caused by the gap superposition and the material waste caused by the oversized large box size; 4. The present invention can play an auxiliary role in adsorbing heavier products through the clamping method. Especially when the product surface is uneven or the adsorption force decreases due to other reasons, the auxiliary effect of the clamping method on the adsorbed product is more obvious, which can greatly improve the grasping efficiency; 5. Through the integration of multiple groups of independent mechanisms, the present invention realizes high integration and intelligence, reduces the floor area and facilitates transportation and debugging at the same time.

Claims

1. A box-packing method based on accurate positioning, characterized in that; Send the large box to the designated position at the box-in-box workstation. The opening mechanism opens the lid of the large box. Then, the conveying mechanism sends the small box to the designated position at the box-in-box workstation. Subsequently, the three-axis box-in-box positioning and moving mechanism and the box-in-box grasping mechanism cooperate to perform the boxing operation. The box-in-box grasping mechanism uses a combination of adsorption and clamping to grasp the small box. The box-in-box grasping mechanism clamps the small box, and then accurately positions and moves it above the large box through the three-axis box-in-box positioning and moving mechanism. Then, the box-in-box grasping mechanism clamps the small box to perform box-in-box operation and loads the small box into the large box.

2. The box-packing method based on accurate positioning according to claim 1, characterized in that: The boxing operation through the cooperation of the three-axis box-in-box positioning and moving mechanism and the box-in-box grasping mechanism is to set the three-axis box-in-box positioning and moving mechanism and the box-in-box grasping mechanism in the box-in-box workstation. Among them, the three-axis box-in-box positioning and moving mechanism is set above the small box positioning position at the box-in-box workstation. The three-axis box-in-box positioning and moving mechanism includes an X-axis moving component that moves along the X-axis direction. On the X-axis moving component, there is a Y-axis moving component that moves along the Y-axis direction. On the Y-axis moving component, there is a Z-axis moving component that moves along the Z-axis direction. The combination of the X-axis moving component, the Y-axis moving component, and the Z-axis moving component forms a three-axis box-in-box positioning and moving mechanism for accurate positioning and moving in the X-axis, Y-axis, and Z-axis directions. At the same time, a box-in-box grasping mechanism is set on the Z-axis moving component. After the three-axis box-in-box positioning and moving mechanism moves into place along the X-axis direction and the Y-axis direction, the box-in-box grasping mechanism moves up and down along the Z-axis direction driven by the Z-axis moving component, and the box-in-box grasping mechanism uses a combination of adsorption and clamping to grasp the small box or load the small box into the large box, realizing the cooperation between the three-axis box-in-box positioning and moving mechanism and the box-in-box grasping mechanism to perform the box-in-box operation.

3. The method for packing boxes based on accurate positioning according to claim 2, wherein: The box-in-box grasping mechanism uses a combination of adsorption and clamping to grasp the small box by setting a box-in-box grasping mechanism composed of a box-in-box grasping mechanism suction cup and a box-in-box grasping mechanism clamping plate on the Z-axis moving component, and the box-in-box grasping mechanism clamping plate surrounds the box-in-box grasping mechanism suction cup from all four sides. When it is necessary to grasp the small box, when the box-in-box grasping mechanism moves to the position above the small box positioning and placement position along with the three-axis box-in-box positioning and moving mechanism, the Z-axis moving component drives the box-in-box grasping mechanism suction cup and the box-in-box grasping mechanism clamping plate of the box-in-box grasping mechanism to move downwards, so that the box-in-box grasping mechanism suction cup fits on the upper surface of the small box, and the box-in-box grasping mechanism clamping plate is inserted into the four side surfaces of the small box. Then, the small box is sucked by vacuum. Then, the box-in-box grasping mechanism clamping plate surrounds the small box from all four sides and clamps the small box from all four sides to prevent the cardboard box from shaking during the rapid movement.

4. The method for packing boxes based on accurate positioning according to claim 3, characterized in that: The clamping of the small box from four sides is achieved by arranging a box packing grasping mechanism clamping connecting plate above the suction plate of the box packing grasping mechanism of the box-in-box grasping mechanism. A box packing grasping mechanism clamping cylinder is fixedly installed on the upper surface of the box packing grasping mechanism clamping connecting plate. The fixed plate in the box packing grasping mechanism clamping cylinder and the box packing grasping mechanism guide shaft connecting plate are fixedly connected to a box packing grasping mechanism clamping plate together. The small box is surrounded from four sides by the box packing grasping mechanism clamping cylinder and the box packing grasping mechanism clamping plate, and the small box is clamped from four sides when it is necessary to hold the small box. At the same time, a box packing grasping mechanism linear bearing is also fixedly installed on the upper surface of the box packing grasping mechanism clamping connecting plate. The box packing grasping mechanism linear bearing is arranged in a matching manner with the box packing grasping mechanism clamping cylinder. A box packing grasping mechanism guide shaft is installed in the box packing grasping mechanism linear bearing, and one end of the box packing grasping mechanism guide shaft is also connected to the box packing grasping mechanism clamping plate. The box packing grasping mechanism clamping plate is stably driven by the box packing grasping mechanism linear bearing in cooperation with the box packing grasping mechanism clamping cylinder to clamp the small box from four sides.

5. The box-packing method based on accurate positioning according to claim 1 or 2, characterized in that: The accurate positioning and movement above the large box through the three-axis box-in-box positioning and moving mechanism means that the X-axis moving component includes a box packing X-axis guide rail and a box packing X-axis linear module mounting plate. The driving mechanism of the box packing X-axis linear module drives the slide in the box packing X-axis linear module to move. The box packing X-axis linear module slide mounting plate and the box packing X-axis moving connecting plate fixedly connected to it move reciprocally along the X-axis together. At the same time, the box packing X-axis slider connecting seat and the box packing X-axis slider fixedly connected to it move reciprocally along the X-axis guide rail of the box packing X-axis to perform X-axis positioning and movement. And a box packing Y-axis linear module of the Y-axis moving component is fixedly installed on the box packing X-axis moving connecting plate. The driving mechanism in the box packing Y-axis linear module drives the slide in the box packing Y-axis linear module to move. When the driving mechanism in the box packing Y-axis linear module drives the slide in the box packing Y-axis linear module to move, the box packing Z-axis linear module and the box packing grasping mechanism fixedly connected to it move reciprocally along the Y-axis to perform Y-axis positioning and movement. At the same time, the other side of the box packing Y-axis linear module slide mounting plate is fixedly connected to the slide in the box packing Z-axis linear module of the Z-axis moving component. When the driving mechanism in the box packing Z-axis linear module drives the slide in the box packing Z-axis linear module to move, the box packing grasping mechanism fixedly connected to it can move reciprocally along the Z-axis to perform Z-axis positioning and movement, forming accurate positioning and movement in the X-axis, Y-axis, and Z-axis. The specific position is controlled by the PLC in the control cabinet of the small box into large box workstation.

6. The box-packing method based on accurate positioning according to claim 2, characterized in that: The process of loading small boxes into large boxes by the box-in-box grasping mechanism is as follows: When the PLC in the control cabinet of the small box loading large box workstation sends an allowable box grasping signal to the three-axis box-in-box positioning and moving mechanism, and the small box is transported to the grasping point by the small box positioning conveyor line and stops, the three-axis box-in-box positioning and moving mechanism is then controlled by the small box loading large box workstation. The driving device of the three-axis box-in-box positioning and moving mechanism moves the box-in-box grasping mechanism to directly above the small box. Then, the fixed plate of the clamping cylinder of the box-in-box grasping mechanism drives the clamping plate of the box-in-box grasping mechanism to extend, driving the four clamping plates to enclose an inner space with a length and width greater than the top surface of the small box. After that, the box-in-box grasping mechanism is lowered by the Z-axis linear module driving device until the suction cup of the box-in-box grasping mechanism adsorbs to the upper surface of the small box. Then, multiple groups of clamping cylinders of the box-in-box grasping mechanism are simultaneously activated to clamp the four sides of the small box. Subsequently, the box-in-box Z-axis linear module, together with the box-in-box grasping mechanism and the adsorbed and clamped small box, is lifted. Then, the small box is moved to a specified position above the large box by the three-axis box-in-box positioning and moving mechanism. The box-in-box grasping mechanism is lowered by the Z-axis linear module driving device until the box-in-box grasping mechanism touches the upper surface of the large box. At this time, the bottom of the small box does not completely fall into the bottom of the large box. Then, the pushing cylinder of the box-in-box grasping mechanism is activated to release the clamping of the small box. While the small box is still adsorbed, the fixed plate of the pushing cylinder of the box-in-box grasping mechanism pushes the suction connecting plate of the box-in-box grasping mechanism, the suction cup of the box-in-box grasping mechanism, and the small box adsorbed by the suction cup downward together until the small box is completely pushed to the inner bottom of the large box. During this process, there is a sliding friction between the vertical surface of the small box being clamped and the inner side of the clamping plate of the box-in-box grasping mechanism. When the small box is completely pushed into the large box, the vertical surface of the small box also detaches from the clamping plate of the box-in-box grasping mechanism.

7. An automatic box packing operation workstation for implementing the box packing method based on accurate positioning described in claim 1. The automatic box packing operation workstation includes a workstation frame for packing small boxes into large boxes, characterized in that: A three-axis box-in-box positioning and moving mechanism and a box-in-box grasping mechanism are provided on the frame of the small box loading large box workstation; the three-axis box-in-box positioning and moving mechanism and the box-in-box grasping mechanism are installed on the top of the frame of the small box loading large box workstation; among them, the three-axis box-in-box positioning and moving mechanism includes an X-axis moving component that moves along the X-axis. On the X-axis moving component, there is a Y-axis moving component that moves along the Y-axis direction. On the Y-axis moving component, there is a Z-axis moving component that moves along the Z-axis direction. The three-axis box-in-box positioning and moving mechanism is formed by the combination of the X-axis moving component, the Y-axis moving component, and the Z-axis moving component; at the same time, a box-in-box grasping mechanism is provided on the Z-axis moving component. The box-in-box grasping mechanism includes a suction cup of the box-in-box grasping mechanism and a clamping plate of the box-in-box grasping mechanism. The suction cup of the box-in-box grasping mechanism is connected to the box-in-box Z-axis linear module through the connecting plate of the box-in-box grasping mechanism and can move up and down along the Z-axis; the clamping plate of the box-in-box grasping mechanism is equipped with a clamping cylinder of the box-in-box grasping mechanism. The clamping plate of the box-in-box grasping mechanism is driven by the clamping cylinder of the box-in-box grasping mechanism to clamp the small box, forming a box-in-box grasping mechanism that combines adsorption and clamping.

8. The automatic operation workstation for packing boxes in boxes, as described in claim 7, is characterized in that: The described carton-in-carton grasping mechanism includes a carton-in-carton grasping mechanism connection plate, a carton-in-carton grasping mechanism pushing cylinder, a carton-in-carton grasping mechanism suction connection plate, and a carton-in-carton grasping mechanism suction cup; one end face of the carton-in-carton grasping mechanism connection plate is fixedly connected to the end connection plate of the carton-in-carton Z-axis linear module, and the other end face is fixedly connected to the end of the rear cover in the carton-in-carton grasping mechanism pushing cylinder. The execution fixing plate in the carton-in-carton grasping mechanism pushing cylinder is fixedly connected to the carton-in-carton grasping mechanism suction connection plate. The carton-in-carton grasping mechanism suction connection plate is also fixedly installed with a carton-in-carton grasping mechanism suction cup, and the air vent hole in the carton-in-carton grasping mechanism suction cup is pneumatically connected to a vacuum device; the carton-in-carton grasping mechanism also includes a carton-in-carton grasping mechanism clamping connection plate, a carton-in-carton grasping mechanism clamping cylinder, a carton-in-carton grasping mechanism linear bearing, a carton-in-carton grasping mechanism guide shaft, a carton-in-carton grasping mechanism guide shaft connection plate, and a carton-in-carton grasping mechanism clamping plate; the upper surface of the carton-in-carton grasping mechanism clamping connection plate is fixedly connected to the front cover of the carton-in-carton grasping mechanism pushing cylinder. A through hole is also opened at the middle position of the carton-in-carton grasping mechanism clamping connection plate, and this through hole allows the guide rod of the carton-in-carton grasping mechanism pushing cylinder to pass through the carton-in-carton grasping mechanism clamping connection plate; the upper surface of the carton-in-carton grasping mechanism clamping connection plate is fixedly installed with a carton-in-carton grasping mechanism clamping cylinder, and the body of the carton-in-carton grasping mechanism clamping cylinder is fixedly connected to the carton-in-carton grasping mechanism clamping connection plate; the carton-in-carton grasping mechanism linear bearing is also fixedly installed on the carton-in-carton grasping mechanism clamping connection plate. The carton-in-carton grasping mechanism linear bearing is arranged in a matching manner with the carton-in-carton grasping mechanism clamping cylinder. The carton-in-carton grasping mechanism guide shaft is slidably connected to the carton-in-carton grasping mechanism linear bearing. One end of the carton-in-carton grasping mechanism guide shaft is also fixedly installed with a carton-in-carton grasping mechanism guide shaft connection plate. The axial sliding direction of the carton-in-carton grasping mechanism guide shaft is the same as the movement direction of the piston rod of the carton-in-carton grasping mechanism clamping cylinder. The fixing plate in the carton-in-carton grasping mechanism clamping cylinder and the carton-in-carton grasping mechanism guide shaft connection plate are jointly fixedly connected with a carton-in-carton grasping mechanism clamping plate, and the carton-in-carton grasping mechanism clamping plate encloses it on all four sides to clamp the cardboard box.

9. The automatic operation workstation for packing boxes in boxes according to claim 7, characterized in that: A large-box positioning, box-supporting and transporting device is arranged inside the workbench frame of the small-box-in-large-box workstation. The large-box positioning, box-supporting and transporting device includes a large-box positioning roller conveyor line, a large-box positioning roller conveyor line support, large-box side guards, a large-box positioning baffle, a large-box positioning sensor, a large-box lifting and positioning mechanism, a large-box box-supporting mechanism, and a fully-loaded large-box pushing mechanism. The large box is input from the outlet of the large-box buffer line to the inlet of the large-box positioning roller conveyor line. The lower part of the large-box positioning roller conveyor line is fixedly connected to the upper end of the large-box positioning roller conveyor line support. The lower end of the large-box positioning roller conveyor line support is fixedly connected to the workbench frame of the small-box-in-large-box workstation. Adjustable-width large-box side guards are also fixedly connected to both sides of the large-box positioning roller conveyor line. By adjusting the large-box side guards, the positioning of both sides of the large box when it enters can be ensured. One of the side guards is set for a partial length, and the partial-length setting ensures that there is no interference during the subsequent box-pushing process. A large-box positioning baffle is fixedly installed at the tail end of the large-box positioning roller conveyor line. When the large box is transported to the large-box positioning baffle and stopped, the large box is positioned in combination with the large-box side guards on both sides. A large-box positioning sensor is also fixed on the large-box positioning baffle. After the large-box positioning sensor senses the large box, the PLC in the control cabinet of the small-box-in-large-box workstation issues a positioning instruction to the large-box lifting and positioning mechanism.

10. The automatic operation workstation for packing boxes in boxes according to claim 9, wherein: The large box lifting and positioning mechanism includes a large box lifting and positioning bracket I, a large box lifting and positioning bracket II, a large box lifting cylinder bracket, a large box lifting cylinder, a large box lifting bottom plate, a large box lifting flange guide shaft support, and a large box lifting guide shaft. One end of the large box lifting and positioning bracket I is fixedly connected to the bottom of the large box positioning roller line, and the large box lifting and positioning bracket II is fixedly connected to the other end of the large box lifting and positioning bracket I. The lower surface of the large box lifting and positioning bracket II is also fixedly connected with a large box lifting cylinder bracket, and the body of the large box lifting cylinder is fixedly connected to the large box lifting cylinder bracket. Through holes are correspondingly opened in the large box lifting and positioning bracket II and the execution part of the piston rod fixing plate of the large box lifting cylinder, which can ensure that the cylinder diameter of the large box lifting cylinder can pass through the large box lifting and positioning bracket II when it extends. The fixing plate of the large box lifting cylinder is fixedly connected to the lower surface of the large box lifting bottom plate. The lifting of the large box lifting cylinder can drive the lifting of the large box lifting bottom plate. A large box lifting flange guide shaft support is also fixedly installed at the bottom of the large box lifting and positioning bracket II. The large box lifting guide shaft is sleeved with the large box lifting flange guide shaft support. Through holes are correspondingly opened in the large box lifting and positioning bracket II and the part in the axial direction of the large box lifting guide shaft, which can ensure that the large box lifting guide shaft can extend and pass through the large box lifting and positioning bracket II. The extending end of the large box lifting guide shaft is fixedly connected to the bottom of the large box lifting bottom plate. The setting of the large box lifting flange guide shaft support and the large box lifting guide shaft can make the large box lifting mechanism more stable during lifting. When the large box lifting cylinder lifts, it drives the lifting of the large box lifting bottom plate and at the same time drives the large box lifting guide shaft to slide in the large box lifting flange guide shaft support. The large box lifting and positioning mechanism also includes a large box horizontal positioning cylinder, a large box horizontal positioning T-shaped guide shaft support, a large box horizontal positioning guide shaft, a large box horizontal positioning flange guide shaft support, and a large box horizontal positioning plate. A large box horizontal positioning cylinder and distributed and fixedly connected large box horizontal positioning T-shaped guide shaft supports are also fixedly connected to the upper surface of the large box lifting bottom plate. The large box horizontal positioning guide shaft is fixedly sleeved and connected with the corresponding large box horizontal positioning T-shaped guide shaft support. The flange plate on the large box horizontal positioning flange guide shaft support is fixedly connected to the large box horizontal positioning plate, and its guide hole is sleeved with the large box horizontal positioning guide shaft. The piston rod fixing plate of the large box horizontal positioning cylinder is fixedly connected to the end face of the large box horizontal positioning plate.When the large box horizontal positioning cylinder extends or retracts, the fixed plate of the large box horizontal positioning cylinder drives the large box horizontal positioning plate to move left and right. At the same time, the large box horizontal positioning plate drives the large box horizontal positioning flange guide shaft support to slide on the guide hole and the large box horizontal positioning guide shaft. The guide shaft and the guide shaft support can make the large box horizontal positioning plate more stable during the movement; the large box box-supporting mechanism includes a box-supporting bracket, a box-supporting pillow block bearing, a box-supporting rotating shaft, a lever fixing clamp, a lever, a box-supporting cylinder mounting plate, a box-supporting cylinder, and a box-supporting rocker. One end of the box-supporting bracket is fixedly installed on one side of the large box positioning roller line. The other end of the box-supporting bracket is fixedly installed with the flange fixing surface of the box-supporting pillow block bearing. The box-supporting bracket and the box-supporting pillow block bearing are provided with holes at the corresponding positions of the shaft holes. The box-supporting rotating shaft can pass through the box-supporting pillow block bearing and the mounting surface of the box-supporting bracket at the same time; the box-supporting rotating shaft also includes a box-supporting rotating shaft shoulder, a box-supporting rotating shaft clamping end, a box-supporting rotating shaft rotating end, and a box-supporting rotating shaft fixing hole. The box-supporting rotating end of the box-supporting rotating shaft is sleeved with the box-supporting pillow block bearing. When the box-supporting rotating shaft shoulder is fixed to the end face of the box-supporting pillow block bearing, the box-supporting rotating shaft fixing hole at the end of the box-supporting rotating end will pass through the box-supporting pillow block bearing and the mounting surface of the box-supporting bracket and be exposed; the box-supporting rotating shaft clamping end is sleeved with one end of the lever fixing clamp, and after adjusting the angle, it is clamped to the box-supporting rotating shaft by a set screw; one end of the lever fixing clamp is sleeved with a lever and fixed by a set screw; the large full box pushing mechanism also includes a large full box pushing flange guide shaft support, a large full box pushing guide shaft, a large full box pushing plate, and a large full box pushing cylinder. The flange fixing surface of the large full box pushing flange guide shaft support is fixedly connected to the lower end of the box-supporting bracket. The box-supporting bracket and the large full box pushing flange guide shaft support are provided with holes at the corresponding positions of the shaft holes. The large full box pushing guide shaft can pass through the large full box pushing flange guide shaft support and the mounting surface of the box-supporting bracket at the same time; one end face of the large full box pushing guide shaft is fixedly connected to the large full box pushing plate; the front end fixed flange of the large full box pushing cylinder body is fixedly connected to the box-supporting bracket. The box-supporting bracket and the large full box pushing cylinder are provided with mounting holes at the corresponding axial positions. The piston rod of the large full box pushing cylinder can pass through this mounting hole and extend and retract. The end of the piston rod of the large full box pushing cylinder is fixedly connected to the large full box pushing plate.

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