Multi-surface accurate ink-jet printing robot for packaging box

Abstract

The invention provides a packaging box multi-face precise ink-jet printing robot, and relates to the technical field of packaging printing instruments.The packaging box multi-face precise ink-jet printing robot comprises a robot body, the end of the robot body is fixedly connected with a printing connecting shaft, and the lower end of the printing connecting shaft is rotationally connected with an upper-layer connecting plate through a bearing; the edges of the two sides of the upper-layer connecting plate are bent downwards to form connecting plate folding edges, the printing spray head has the deviation self-adaptive adjusting function, if the position of a packaging box in the conveying belt deviates, self-adaptive adjustment in the horizontal direction can be achieved, the spray printing deviation is reduced through the automatic supplementing and adjusting function of the position of the printing spray head, and the printing efficiency is improved. A traditional high-precision robot is replaced for detection and adjustment, the equipment cost and the equipment maintenance cost are saved, and the problems that a traditional low-price simple printing robot can save cost, but does not have the self-adaptive offset adjustment function, the angle and position between printing equipment and a packaging box are not easy to detect and control, and the printing efficiency is poor are solved. And printing deviation is caused.

Description

Technical Field

[0001] The present invention relates to the technical field of packaging and printing equipment, and in particular to a multi-sided precise inkjet printing robot for packaging boxes. Background Art

[0002] After some products are packaged, information such as production batches, dates, and trademarks need to be inkjet printed on the outer surface of the packaging box. To facilitate the aesthetics of the product and the identification and sorting of information, the production batches, dates, and trademarks are often inkjet printed on different surfaces of the packaging box respectively. During the printing process, the operator operates the inkjet printing device to approach and adjust to a suitable angle to print the information. For printing on surfaces in different directions, the orientation of the packaging box needs to be manually adjusted multiple times to complete the multi-sided printing of the packaging box, which is cumbersome, time-consuming, and laborious. Replacing manual printing with an automated robot cooperating with an inkjet printing device can improve the printing efficiency and reduce the manual labor intensity.

[0003] When using an automated printing robot to operate the printing, if there are deviations in the angle and placement position of the packaging box above the conveyor belt, a high-precision multi-axis movable robot equipped with a high-precision vision sensing facility is required to control and adjust. The production equipment cost is relatively high and the maintenance is difficult. While traditional low-cost simple printing robots can save costs, they do not have an adaptive offset adjustment function and are not easy to detect and control the angle and position between the printing equipment and the packaging box, resulting in printing deviations. Summary of the Invention

[0004] The present invention provides a multi-sided precise inkjet printing robot for packaging boxes to solve the problem that when there are deviations in the angle and placement position of the packaging box above the conveyor belt, a high-precision multi-axis movable robot equipped with a high-precision vision sensing facility is required to control and adjust, the production equipment cost is relatively high and the maintenance is difficult. While traditional low-cost simple printing robots can save costs, they do not have an adaptive offset adjustment function and are not easy to detect and control the angle and position between the printing equipment and the packaging box, resulting in printing deviations.

[0005] The present invention provides a multi-sided precise inkjet printing robot for packaging boxes, specifically including: a robot main body, a printing coupling is fixedly connected to the end of the robot main body, the lower end of the printing coupling is rotatably connected to an upper connecting plate through a bearing, the two side edges of the upper connecting plate are respectively bent downward to form connecting plate flanges, a front and rear guide rod is fixedly connected below the upper connecting plate, a compensation floating frame is arranged below the upper connecting plate, an upper guide plate of the floating frame is welded above the compensation floating frame, the upper guide plate of the floating frame is slidably connected to the front and rear guide rods, one side plate is fixedly connected to each of the two side edges of the compensation floating frame, the side plates are slidably connected to the connecting plate flanges, a lower guide plate of the floating frame is fixedly connected to the center of the lower surface of the compensation floating frame, lower support plates are arranged at the front edge and the rear edge of the lower surface of the compensation floating frame, a transverse guide rod is slidably connected to the lower guide plate of the floating frame, a floating plate connecting platform is fixedly connected below the transverse guide rod, a compensation floating plate is fixedly connected below the floating plate connecting platform, the lower support plates are slidably connected to the floating plate connecting platform, a centering adjustment driving member is installed above the compensation floating plate, a synchronous tooth column is installed at the lower end of the rotating shaft of the centering adjustment driving member, four inkjet connecting platforms are arranged below the compensation floating plate, a telescopic tooth plate engaged with the synchronous tooth column is fixedly connected to the inner edge of the inkjet connecting platform, and a printing nozzle is installed below the inkjet connecting platform.

[0006] Further, a coupling limit shielding plate is fixedly connected to the outside of the printing coupling, a rotating coupling cylinder is fixedly connected below the coupling limit shielding plate, two rotating tension springs are fixedly connected to the outer surface of the rotating coupling cylinder, and the outer ends of the rotating tension springs are fixedly connected to the edge of the upper connecting plate.

[0007] Further, the front and rear guide rods are perpendicular to the front edge of the upper connecting plate and parallel to the lower surface of the upper connecting plate, two front and rear compensation tension springs are sleeved on the front and rear guide rods, the outer ends of the two front and rear compensation tension springs are respectively fixedly connected to the ends of the front and rear guide rods, and the inner ends of the two front and rear compensation tension springs are both fixedly connected to the upper guide plate of the floating frame.

[0008] Further, two rows of side support wheels are rotatably connected to the outer surface of the side plate, and both rows of side support wheels are in rolling connection with the connecting plate flange.

[0009] Further, two rows of lower support wheels are rotatably connected to the side of the lower support plate facing the center of the compensation floating frame, and the lower support wheels are in rolling connection with the edge of the floating plate connecting platform.

[0010] Further, the transverse guide rod is perpendicular to the right edge of the compensation floating frame and parallel to the upper surface of the floating plate connecting platform, and two transverse compensation tension springs are sleeved on the transverse guide rod.

[0011] Further, the outer ends of the two transverse compensation tension springs are respectively fixedly connected to the two ends of the transverse guide rod, and the inner ends of the two transverse compensation tension springs are respectively fixedly connected to the lower guide plate of the floating frame.

[0012] Furthermore, four visual detectors are evenly distributed and installed on the lower surface of the compensation floating plate, and four tooth plate guide tubes are fixedly connected to the lower side of the compensation floating plate, and the four tooth plate guide tubes are respectively slidably connected to four telescopic tooth plates.

[0013] Furthermore, two platform push plates are fixedly connected below the inkjet platform, and the center of the platform push plates is rotatably connected to a push plate rotary shaft, and the axis of the push plate rotary shaft is perpendicular to the lower surface of the inkjet platform.

[0014] The present invention provides a multi-sided precise inkjet printing robot for packaging boxes, which has the following beneficial effects: The inkjet printing robot in the present invention uses four groups of printing nozzles to perform multi-sided inkjet printing on the packaging box. There is no need to turn over the packaging box. The position of the packaging box is detected by a visual detector. After reaching the set position, the robot body controls the vertical lifting of the inkjet printing equipment. The four printing nozzles are driven to synchronously fit with the four outer surfaces of the packaging box through the synchronous extension and retraction of the four inkjet connection tables, so that the printing nozzles are in precise contact with the packaging box, which effectively improves the printing efficiency of the packaging box and reduces the labor intensity.

[0015] In addition, the printing nozzle has an offset adaptive adjustment function. If there is a deviation in the position of the packaging box in the conveyor belt and it cannot be aligned with the center of the compensation float plate, the inkjet stations on all sides can shrink to make the station push plates fit the packaging box. As the inkjet stations continue to shrink, the front and rear compensation springs and the lateral compensation springs are deformed to make the compensation float frame move in the front and rear directions and the compensation float plate move in the left and right directions, so as to achieve adaptive adjustment in the horizontal direction, gradually align the compensation float plate with the packaging box, realize automatic compensation of the position and orientation of the printing nozzle, adjust the angle between the printing nozzle and the outer surface of the packaging box, make the inkjet printing more accurate and not be affected by the position deviation of the packaging box in the conveyor belt.

[0016] In addition, the printing robot has the function of adaptive angle adjustment. If the packaging box is tilted on the conveyor belt, when the packaging box is contracted and fitted by the inkjet connection unit, a circumferential torsional force is applied to the compensation float plate, compensation float frame and upper connecting plate to stretch the spiral tension spring. The upper connecting plate rotates at the lower end of the printing shaft, and then the orientation of the compensation float plate, inkjet connection unit and printing nozzle is adjusted. The angle is adjusted following the rotation of the packaging box to avoid printing deviation caused by the tilt of the packaging box on the conveyor belt. The printing deviation is reduced by the automatic supplementary adjustment function of the printing nozzle position, which replaces the traditional high-precision robot detection and adjustment, saving equipment cost and equipment maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0018] The accompanying drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0019] In the accompanying drawings: Figure 1 A schematic diagram showing the overall structure of the present application is shown; Figure 2 A schematic diagram showing the structure of the robot body of the present application is shown; Figure 3 A schematic diagram showing the structure of the bottom of the compensation floating plate of the present application is shown; Figure 4 A schematic diagram showing the structure when the inkjet connecting table of the present application is unfolded is shown; Figure 5 A schematic diagram showing the structure of the telescopic tooth plate of the present application is shown; Figure 6 A schematic diagram showing the structure of the tooth plate conduit of the present application is shown; Figure 7 A schematic diagram showing the structure of the present application in a disassembled state is shown; Figure 8 A schematic diagram showing the present application Figure 7 from a lower perspective is shown; Figure 9 A schematic diagram showing the internal structure of the upper connecting plate of the present application is shown; Figure 10 A schematic diagram showing the Figure 4 locally enlarged structure at position A in the present application is shown; Figure 11 A schematic diagram showing the Figure 8 locally enlarged structure at position B in the present application is shown.

[0020] Reference numerals: 1. Robot body; 2. Printing coaxial shaft; 201. Coaxial shaft limit baffle; 202. Rotary connecting cylinder; 203. Rotary tension spring; 3. Upper connecting plate; 301. Connecting plate flange; 302. Front and rear guide rods; 303. Front and rear compensation tension springs; 4. Compensation floating frame; 401. Upper guide plate of the floating frame; 402. Side support plate; 403. Side support wheel; 404. Lower support plate; 405. Lower support wheel; 406. Lower guide plate of the floating frame; 5. Compensation floating plate; 501. Floating plate connecting table; 502. Horizontal guide rod; 503. Horizontal compensation tension spring; 504. Tooth plate conduit; 6. Centering adjustment driving member; 7. Synchronous tooth column; 8. Visual detector; 9. Inkjet connecting table; 901. Telescopic tooth plate; 902. Connecting table push plate; 903. Push plate rotating shaft; 10. Printing nozzle. Detailed embodiments

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0022] Embodiment 1: Please refer to Figures 1 to 11 : The present invention provides a multi-sided precise inkjet printing robot for packaging boxes, comprising: a robot main body 1, a printing coupling shaft 2 is fixedly connected to the end of the robot main body 1, the lower end of the printing coupling shaft 2 is rotatably connected to an upper connecting plate 3 through a bearing, the two side edges of the upper connecting plate 3 are respectively bent downward to form connecting plate flanges 301, front and rear guide rods 302 are fixedly connected below the upper connecting plate 3, a compensation floating frame 4 is arranged below the upper connecting plate 3, an upper guide plate 401 of the floating frame is welded above the compensation floating frame 4, the upper guide plate 401 of the floating frame is slidably connected to the front and rear guide rods 302, side support plates 402 are respectively fixedly connected to the two side edges of the compensation floating frame 4, the side support plates 402 are slidably connected to the connecting plate flanges 301, a lower guide plate 406 of the floating frame is fixedly connected to the center of the lower surface of the compensation floating frame 4, lower support plates 404 are arranged at the front edge and the rear edge of the lower surface of the compensation floating frame 4, a transverse guide rod 502 is slidably connected to the lower guide plate 406 of the floating frame, a floating plate connecting platform 501 is fixedly connected below the transverse guide rod 502, a compensation floating plate 5 is fixedly connected below the floating plate connecting platform 501, the lower support plates 404 are slidably connected to the floating plate connecting platform 501, a centering adjustment driving member 6 is installed above the compensation floating plate 5, a synchronous tooth column 7 is installed at the lower end of the rotating shaft of the centering adjustment driving member 6, four inkjet connecting platforms 9 are arranged below the compensation floating plate 5, a telescopic tooth plate 901 meshing with the synchronous tooth column 7 is fixedly connected to the inner edge of the inkjet connecting platform 9, and a printing nozzle 10 is installed below the inkjet connecting platform 9; the robot main body 1 is a simple multi-axis robot with vertical lifting and pushing functions. The robot main body 1 drives the printing coupling shaft 2 and the lower upper connecting plate 3, compensation floating frame 4, and compensation floating plate 5 and printing nozzle 10 to perform vertical lifting movement, so that the printing nozzle 10 moves outside the packaging box, and the packaging box is surrounded by the four printing nozzles 10 to perform multi-sided precise inkjet printing on the packaging box; through the sliding connection between the front and rear guide rods 302 and the upper guide plate 401 of the floating frame, the compensation floating frame 4, compensation floating plate 5, inkjet connecting platform 9 and printing nozzle 10 can be adaptively adjusted forward and backward according to the front and rear positions of the packaging box. Through the sliding connection between the lower guide plate 406 of the floating frame and the transverse guide rod 502, the compensation floating plate 5, inkjet connecting platform 9 and printing nozzle 10 can be adaptively adjusted left and right according to the left and right positions of the packaging box on the conveyor belt, realizing the movement of the inkjet connecting platform 9 and printing nozzle 10 in the horizontal direction, and enabling the printing nozzle 10 to perform horizontal adaptive adjustment following the position of the packaging box on the conveyor belt, so as to reduce printing deviation and improve printing accuracy.

[0023] In the embodiments of the present disclosure, the front and rear guide rods 302 are perpendicular to the front edge of the upper connecting plate 3 and parallel to the lower surface of the upper connecting plate 3. Two front and rear compensation tension springs 303 are sleeved on the front and rear guide rods 302. The outer ends of the two front and rear compensation tension springs 303 are respectively fixedly connected to the ends of the front and rear guide rods 302, and the inner ends of the two front and rear compensation tension springs 303 are both fixedly connected to the floating frame upper guide plate 401. Through the arrangement of the two front and rear compensation tension springs 303, a certain supporting strength is applied to the front and rear directions of the compensation floating frame 4, so that after the compensation floating frame 4 moves and completes the printing evacuation, it can move and reset under the restoring action of the front and rear compensation tension springs 303, so as to perform continuous inkjet printing on the packaging box.

[0024] In the embodiments of the present disclosure, two rows of side support wheels 403 are rotatably connected to the outer surface of the side support plate 402. The two rows of side support wheels 403 are both in rolling connection with the connecting plate flange 301, which plays a role in reducing friction, so that the resistance of the compensation floating frame 4 in the front and rear directions below the upper connecting plate 3 is smaller and the response is more sensitive. Two rows of lower support wheels 405 are rotatably connected to the side facing the center of the compensation floating frame 4 of the lower support plate 404. The lower support wheels 405 are in rolling connection with the edge of the floating plate connecting platform 501, which plays a role in reducing friction, so that the resistance of the compensation floating plate 5 in the lateral direction below the compensation floating frame 4 is smaller and the response is more sensitive.

[0025] In the embodiments of the present disclosure, the transverse guide rod 502 is perpendicular to the right edge of the compensation floating frame 4 and parallel to the upper surface of the floating plate connecting platform 501. Two transverse compensation tension springs 503 are sleeved on the transverse guide rod 502. The outer ends of the two transverse compensation tension springs 503 are respectively fixedly connected to both ends of the transverse guide rod 502, and the inner ends of the two transverse compensation tension springs 503 are respectively fixedly connected to the floating frame lower guide plate 406. Through the arrangement of the left and right transverse compensation tension springs 503, a certain supporting force is applied to the left and right directions of the compensation floating plate 5, so that after the printing robot completes the printing evacuation, the compensation floating plate 5 can move and reset under the restoring action of the transverse compensation tension springs 503, so as to perform continuous inkjet printing on the packaging box. Four visual detectors 8 are uniformly distributed and installed on the lower surface of the compensation floating plate 5. Four toothed plate conduits 504 are fixedly connected below the compensation floating plate 5. The four toothed plate conduits 504 are respectively in sliding connection with four telescopic toothed plates 901. Through the visual detectors 8, the packaging box near the robot main body 1 above the conveyor belt can be identified, and the robot main body 1 is triggered to vertically push the upper connecting plate 3 downward, so that the four printing nozzles 10 respectively move to the four sides of the packaging box to surround it, and inkjet printing is respectively performed on the four surfaces of the packaging box.

[0026] In an embodiment of the present disclosure, two connecting table push plates 902 are fixedly connected to the lower part of the inkjet connecting table 9. A push plate rotating shaft 903 is rotatably connected to the center of the connecting table push plate 902, and the axis of the push plate rotating shaft 903 is perpendicular to the lower surface of the inkjet connecting table 9. During the process of the connecting table push plate 902 shrinking towards the center of the packaging box, the push plate rotating shaft 903 forms a rolling connection with the surface of the packaging box, reducing the friction on the outer surface of the packaging box and reducing the resistance when the inkjet connecting table 9 shrinks.

[0027] Embodiment 2: On the basis of Embodiment 1, a connecting shaft limiting shield 201 is fixedly connected to the outside of the printing connecting shaft 2. A rotating connecting cylinder 202 is fixedly connected to the lower part of the connecting shaft limiting shield 201. Two rotating tension springs 203 are fixedly connected to the outer surface of the rotating connecting cylinder 202, and the outer ends of the rotating tension springs 203 are fixedly connected to the edge of the upper connecting plate 3. If the packaging box is inclined on the conveyor belt, when the inkjet connecting table 9 shrinks and fits the packaging box, during the process that the line connecting the two connecting table push plates 902 in the inkjet connecting table 9 gradually becomes parallel to the outer surface of the packaging box, a circumferential torsional force is applied to the compensation floating plate 5, the compensation floating frame 4, and the upper connecting plate 3, stretching the rotating tension spring 203. The upper connecting plate 3 rotates at the lower end of the printing connecting shaft 2, thereby adjusting the orientations of the compensation floating plate 5, the inkjet connecting table 9, and the printing nozzle 10, and performing angle adjustment following the rotation of the packaging box, avoiding the situation of printing deviation caused by the inclination of the packaging box on the conveyor belt.

[0028] The working principle of this embodiment is as follows: the printing robot is used in conjunction with the conveyor belt, and the robot body 1 is installed behind the conveyor belt. The packaged products are transported along with the conveyor belt. When the packaging box passes under the compensation float 5, the visual detector 8 detects that the packaging box is approaching, sends a stop signal to the conveyor belt, and triggers the robot body 1 to push the printing shaft 2 vertically downward, transfers the four printing nozzles 10 to the periphery of the packaging box, and surrounds the packaging box, controls the centering adjustment drive 6 to start, drives the synchronous gear column 7 to rotate, and through the meshing connection between the synchronous gear column 7 and the four telescopic gear plates 901, the four inkjet stations 9 are synchronously moved toward the center of the packaging box, and gradually make the push plate rotation shaft 903 fit the outer surface of the packaging box, and through the sliding connection between the front and rear guide rods 302 and the upper guide plate 401 of the floating frame, the compensation floating frame 4, the compensation floating plate 5, the inkjet station 9 and the printing nozzle 10 can be adaptively adjusted front and back according to the front and rear positions of the packaging box, and through the sliding connection between the lower guide plate 406 of the floating frame and the transverse guide rod 502, The compensation float 5, the inkjet connection table 9 and the printing nozzle 10 are adaptively adjusted in the left and right directions according to the left and right positions of the packaging box in the conveyor belt, so as to realize the horizontal movement of the inkjet connection table 9 and the printing nozzle 10, so that the printing nozzle 10 follows the position of the packaging box in the conveyor belt to perform adaptive adjustment in the horizontal direction to reduce the printing position deviation. If the packaging box is tilted in the conveyor belt, as the inkjet connection table 9 shrinks and fits the packaging box, the connecting line of the two connection push plates 902 in the inkjet connection table 9 gradually becomes parallel to the outer surface of the packaging box, and a circumferential torsional force is applied to the compensation float 5, the compensation float frame 4 and the upper connection plate 3 to stretch the rotary tension spring 203, and the upper connection plate 3 rotates at the lower end of the printing shaft 2, thereby adjusting the orientation of the compensation float 5, the inkjet connection table 9 and the printing nozzle 10, and adjusting the angle following the rotation of the packaging box, so that the inkjet direction of the printing nozzle 10 is perpendicular to the outer surface of the packaging box, and the four printing nozzles 10 are started to print the production batch, date and trademark information on the four surfaces of the packaging box respectively.

[0029] In this article, there are a few points to note: 1. The drawings of the embodiments of the present disclosure only involve structures related to the embodiments of the present disclosure, and other structures may refer to general designs.

[0030] 2. In the absence of conflict, the embodiments of the present disclosure and the features therein may be combined with each other to obtain new embodiments.

[0031] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. The multi-sided precise inkjet printing robot for packaging boxes, comprising: The robot body (1), characterized in that a printing coupling shaft (2) is fixedly connected to the end of the robot body (1), the lower end of the printing coupling shaft (2) is rotatably connected to an upper connecting plate (3), connecting plate flanges (301) are machined on both side edges of the upper connecting plate (3), front and rear guide rods (302) are fixedly connected below the upper connecting plate (3), a compensation floating frame (4) is arranged below the upper connecting plate (3), an upper guide plate (401) of the floating frame is welded above the compensation floating frame (4), and the upper guide plate (401) of the floating frame is slidably connected to the front and rear guide rods (302). Side support plates (402) are fixedly connected to both sides of the compensation floating frame (4), the side support plates (402) are slidably connected to the connecting plate flanges (301), a lower guide plate (406) of the floating frame is fixedly connected to the center of the lower surface of the compensation floating frame (4), lower support plates (404) are arranged on the front edge and the rear edge of the lower surface of the compensation floating frame (4). The lower guide plate (406) of the floating frame is slidably connected to a transverse guide rod (502), a floating plate connecting platform (501) is fixedly connected below the transverse guide rod (502), a compensation floating plate (5) is fixedly connected below the floating plate connecting platform (501), the lower support plates (404) are slidably connected to the floating plate connecting platform (501), a centering adjustment driving member (6) is installed above the compensation floating plate (5), a synchronous tooth column (7) is installed at the lower end of the rotating shaft of the centering adjustment driving member (6), four inkjet connecting platforms (9) are arranged below the compensation floating plate (5), and a telescopic tooth plate (901) meshing with the synchronous tooth column (7) is fixedly connected to the inner edge of the inkjet connecting platform (9). A printing nozzle (10) is installed below the inkjet connecting platform (9).

2. The multi-sided precise inkjet printing robot for packaging boxes according to claim 1, wherein A coupling shaft limiting shield (201) is fixedly connected to the outside of the printing coupling shaft (2), a rotating coupling cylinder (202) is fixedly connected below the coupling shaft limiting shield (201), two rotating tension springs (203) are fixedly connected to the outer surface of the rotating coupling cylinder (202), and the outer ends of the rotating tension springs (203) are fixedly connected to the edge of the upper connecting plate (3).

3. The multi-sided precise inkjet printing robot for packaging boxes according to claim 2, wherein, The front and rear guide rods (302) are perpendicular to the front edge of the upper connecting plate (3) and parallel to the lower surface of the upper connecting plate (3). Two front and rear compensation tension springs (303) are sleeved on the front and rear guide rods (302). The outer ends of the two front and rear compensation tension springs (303) are respectively fixedly connected to the ends of the front and rear guide rods (302), and the inner ends of the two front and rear compensation tension springs (303) are both fixedly connected to the upper guide plate (401) of the floating frame.

4. The multi-sided precise inkjet printing robot for packaging boxes according to claim 1, wherein Two rows of side support wheels (403) are rotatably connected to the outer surface of the side support plates (402), and both rows of side support wheels (403) are in rolling connection with the connecting plate flanges (301).

5. The multi-faceted precise inkjet printing robot for packaging boxes according to claim 1, wherein, Two rows of lower support wheels (405) are rotatably connected to the side of the lower support plates (404) facing the center of the compensation floating frame (4), and the lower support wheels (405) are in rolling connection with the edge of the floating plate connecting platform (501).

6. The multi-sided precise inkjet printing robot for packaging boxes according to claim 1, wherein The transverse guide rod (502) is perpendicular to the right edge of the compensation floating frame (4) and parallel to the upper surface of the floating plate connecting platform (501). Two transverse compensation tension springs (503) are sleeved on the transverse guide rod (502).

7. The multi-faceted precise inkjet printing robot for packaging boxes according to claim 6, wherein The outer ends of the two described lateral compensation tension springs (503) are respectively fixedly connected to both ends of the lateral guide rod (502), and the inner ends of the two lateral compensation tension springs (503) are respectively fixedly connected to the lower guide plate (406) of the floating frame.

8. The multi-sided precise inkjet printing robot for packaging boxes according to claim 1, characterized in that, Four visual detectors (8) are evenly distributed and installed on the lower surface of the compensation floating plate (5). Four toothed plate conduits (504) are fixedly connected below the compensation floating plate (5), and the four toothed plate conduits (504) are respectively slidably connected to four telescopic toothed plates (901).

9. The multi-sided precise inkjet printing robot for packaging boxes according to claim 1, characterized in that Two connecting table push plates (902) are fixedly connected below the inkjet connecting table (9). The center of the connecting table push plate (902) is rotationally connected to a push plate rotating shaft (903), and the axis of the push plate rotating shaft (903) is perpendicular to the lower surface of the inkjet connecting table (9).

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