Multifunctional clamping jaw device and packaging equipment

Abstract

The utility model relates to the technical field of clamping jaws, in particular to a multifunctional clamping jaw device and packaging equipment. The multifunctional clamping jaw device comprises a clamping jaw mechanism used for clamping or releasing materials; the inclining mechanism is matched with the clamping jaw mechanism and used for driving the clamping jaw mechanism to incline; and the planishing mechanism is used for planishing the materials obliquely placed at the assembly position. The packaging equipment comprises the multifunctional clamping jaw device. According to the multifunctional clamping jaw device, the risk that materials and assembled materials are damaged in the assembling process can be reduced, the assembling effect is more stable, the material assembling position is more accurate, and operation is easy; manual work can be replaced to achieve automatic assembly of products with small dimensional tolerance, the labor cost can be reduced, the labor intensity is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping jaws, in particular to a multifunctional clamping jaw device and packaging equipment. Background Art

[0002] With the development of industrialization, various electronic parts and materials are assembled into boxes and widely used in 3C, packaging, toys, plastics, electronics, hardware, food, daily chemicals, medicine and other industries. At the same time, with the increasingly smaller structural installation space and the increasingly higher production capacity requirements, various types of material retrieving gripper mechanisms have emerged.

[0003] Existing material assembly mechanisms utilize a flat-mounted assembly method, placing materials directly into a box, resulting in a single function. In some industries, such as assembling 3C chargers into boxes, the box's inner support is small, or even has negative tolerances. Directly placing the charger into the box can easily damage both the charger and the box due to impact. Therefore, currently, these assembly operations, which are difficult due to the small tolerances of incoming material dimensions, can damage materials, and produce unstable assembly results. These operations are typically performed manually, resulting in high labor costs, high labor intensity, and low production efficiency. Utility Model Content

[0004] The purpose of the utility model is to provide a multifunctional clamping claw device and packaging equipment to alleviate the technical problems of high labor cost, high labor intensity and low production efficiency in the manual assembly method of products with small dimensional tolerances in the prior art.

[0005] The multifunctional clamping claw device provided by the utility model comprises:

[0006] A clamping mechanism for clamping or releasing materials;

[0007] a tilting mechanism, cooperating with the clamping mechanism and used to drive the clamping mechanism to tilt;

[0008] The leveling mechanism is used to level the materials placed obliquely at the assembly position.

[0009] Preferably, as an implementable embodiment, the multifunctional clamping device further comprises a seat body, the clamping mechanism is rotationally matched with the seat body, and the tilting mechanism is used to drive the clamping mechanism to rotate around the rotation axis.

[0010] Preferably, as an implementable embodiment, the tilting mechanism includes a first telescopic driver and a cam follower, and the cam follower is mounted on the telescopic end of the first telescopic driver.

[0011] The clamping mechanism is provided with a bar track, and the cam follower cooperates with the bar track and can move along the bar track; the telescopic direction of the first telescopic driver is perpendicular to the rotation axis, and the length direction of the bar track is set at an angle to the rotation axis and the telescopic direction of the first telescopic driver.

[0012] Preferably, as an implementable embodiment, the seat body is installed with a limiting member, the limiting member is arranged opposite to the clamping mechanism, and the limiting member is used to limit the tilt angle of the clamping mechanism.

[0013] Preferably, as an implementation method, there are at least two limiting members, which are respectively distributed on both sides of the rotation axis;

[0014] And / or, the limiting member includes an adjusting bolt;

[0015] And / or, a buffer structure is provided at one end of the limiting member facing the clamping mechanism.

[0016] Preferably, as an embodiment, the clamping mechanism includes a clamping driver and at least two end clamping jaws, the end clamping jaws include a fixing portion and a clamping portion, and the clamping driver is fixedly connected to the fixing portion for driving the end clamping jaws to move in the direction of clamping or releasing.

[0017] The fixing portion is provided with a first locking hole, and the clamping portion is provided with a second locking hole. The first locking hole and the second locking hole are locked and fixed by a locking piece. At least one of the first locking hole and the second locking hole is a strip hole, and the length direction of the strip hole is consistent with the moving direction of the end clamp.

[0018] Preferably, as an implementable embodiment, the fixing portion is installed with a screw, an end portion of the screw is used to abut against the clamping portion, and a length direction of the screw is consistent with a moving direction of the clamping portion.

[0019] Preferably, as an implementable embodiment, the flattening mechanism includes a second telescopic driver and a material pressing piece, wherein the material pressing piece is installed at the telescopic end of the second telescopic driver and is used to push the raised end of the material to flatten the material in the assembly position;

[0020] And / or, the base of the multifunctional clamping device includes a locking and fixing structure, and the locking and fixing structure is used to clamp the moving mechanism.

[0021] The utility model also provides a packaging device, which is characterized in that it includes a moving mechanism and the above-mentioned multifunctional clamping claw device, the clamping claw mechanism, the tilting mechanism and the flattening mechanism are all installed on a base body, and the moving mechanism is connected to the base body.

[0022] Preferably, as an implementable embodiment, the packaging equipment further includes a vision system, and the moving mechanism is communicatively connected to the vision system.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] During operation, after the material is in place, the multifunctional clamping device is controlled to move to a suitable position as a whole, so that the several clamping jaws of the clamping mechanism surround the material; then, the clamping mechanism is controlled to clamp the material; then, the tilting mechanism is controlled to move, and the tilting mechanism is used to drive the clamping mechanism to tilt, so that the material clamped by the clamping mechanism tilts at a certain angle; then, the multifunctional clamping device is controlled to move as a whole, so that one end of the inclined material clamped by the clamping mechanism is inserted into the assembly position, at this time, the outer end of the inclined material in the assembly position is tilted; then, the clamping mechanism is controlled to release the material; after the material is released, the flattening mechanism is controlled to flatten the material placed at an angle in the assembly position, so that the outer end of the inclined material is pressed into the assembly position, and the material is assembled into place. When the material is a charging head and the assembled material is a box, the end of the charging head can be tilted toward the box so that the end of the charging head enters the box in advance, and then the head end of the charging head is pressed into the box so that the charging head is finally placed flat in the box, completing the charging head into the box operation.

[0025] It should be noted that the setting of the tilting mechanism can make the material tilted into place, which reduces the risk of damage to the material and the assembled material during assembly compared to the method of placing it flat; the setting of the flattening mechanism can make the material assembly position more accurate after assembly is completed.

[0026] Therefore, the multifunctional clamping device provided by the utility model can reduce the risk of damage to the material and the assembled material during assembly, the assembly effect is more stable, the material assembly position is more accurate, and it is easy to operate; it can replace manual labor to achieve automatic assembly of products with small dimensional tolerances, which can reduce labor costs, reduce labor intensity, and improve production efficiency.

[0027] The packaging equipment provided by the present invention includes the multifunctional clamping device, and thus has all the advantages of the multifunctional clamping device, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0029] Figure 1A schematic diagram of the three-dimensional structure of the multifunctional clamping jaw device provided in an embodiment of the present utility model in a working state;

[0030] Figure 2 A schematic front view of the structure of a multifunctional clamping jaw device provided in an embodiment of the present utility model;

[0031] Figure 3 A schematic structural diagram of a clamping mechanism in a multifunctional clamping device provided in an embodiment of the present utility model;

[0032] Figure 4 A diagram showing a first working state of the multifunctional clamping device provided in an embodiment of the present utility model;

[0033] Figure 5 A diagram showing a second working state of the multifunctional clamping device provided in an embodiment of the present utility model;

[0034] Figure 6 A diagram showing a third working state of the multifunctional clamping device provided by an embodiment of the present utility model;

[0035] Figure 7 A diagram showing a fourth working state of the multifunctional clamping device provided by an embodiment of the present utility model;

[0036] Figure 8 A diagram showing a fifth working state of the multifunctional clamping device provided by an embodiment of the present utility model;

[0037] Figure 9 A diagram showing a sixth working state of the multifunctional clamping jaw device provided in an embodiment of the present utility model;

[0038] Figure 10 This is a diagram of the seventh working state of the multifunctional clamping device provided in an embodiment of the present utility model.

[0039] Description of reference numerals:

[0040] 100 - clamping mechanism; 110 - tilting rotating plate; 111 - bar track; 120 - clamping driver; 130 - end clamping jaw; 131 - fixing portion; 132 - clamping portion; 133 - bar hole; 134 - screw;

[0041] 200 - tilt mechanism; 210 - first telescopic actuator; 220 - cam follower;

[0042] 300-flattening mechanism; 310-second telescopic drive; 320-pressing piece;

[0043] 400-seat body; 410-locking fixed structure;

[0044] 500-rotation axis;

[0045] 600-limiting part; 610-buffer structure;

[0046] 700-Charging head;

[0047] 800-box. DETAILED DESCRIPTION

[0048] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0049] The present invention will be further described in detail below through specific implementation examples and in conjunction with the accompanying drawings.

[0050] See also Figure 1-Figure 3 , this embodiment provides a multifunctional clamping device, which includes:

[0051] A clamping mechanism 100 for clamping or releasing materials;

[0052] The tilting mechanism 200 cooperates with the clamping mechanism 100 to drive the clamping mechanism 100 to tilt;

[0053] The flattening mechanism 300 is used to flatten the material placed obliquely at the assembly position.

[0054] During operation, after the material is in place, the multifunctional clamping device is controlled to move to a suitable position as a whole, so that the several clamping jaws of the clamping mechanism 100 surround the material; then, the clamping mechanism 100 is controlled to clamp the material; then, the tilting mechanism 200 is controlled to move, and the tilting mechanism 200 is used to drive the clamping mechanism 100 to tilt, so that the material clamped by the clamping mechanism 100 is tilted at a certain angle; then, the multifunctional clamping device is controlled to move as a whole, so that one end of the inclined material clamped by the clamping mechanism 100 is inserted into the assembly position. At this time, the outer end of the inclined material in the assembly position is tilted; then, the clamping mechanism 100 is controlled to release the material; after the material is released, the flattening mechanism 300 is controlled to move, and the material placed at an angle in the assembly position is flattened, so that the outer end of the inclined material is pressed into the assembly position, and the material is assembled into place. When the material is a charging head 700 and the assembled material is a box 800, the end of the charging head 700 can be tilted toward the box 800 so that the end of the charging head 700 enters the box 800 in advance, and then the head end of the charging head 700 is pressed into the box 800 so that the charging head 700 is finally placed flat in the box 800, thereby completing the operation of putting the charging head 700 into the box.

[0055] It should be noted that the setting of the tilting mechanism 200 can tilt the material into place, which reduces the risk of damage to the material and the assembled material during assembly compared to the method of placing it flat; the setting of the flattening mechanism 300 can make the material assembly position more accurate after assembly is completed.

[0056] Therefore, the multifunctional clamping device provided in this embodiment can reduce the risk of damage to the material and the assembled material during assembly, the assembly effect is more stable, the material assembly position is more accurate, and it is easy to operate; it can replace manual labor to achieve automatic assembly of products with small dimensional tolerances, which can reduce labor costs, reduce labor intensity, and improve production efficiency.

[0057] The multifunctional clamping device provided in this embodiment also includes a base 400. The clamping mechanism 100 is rotatably coupled to the base 400, and the tilting mechanism 200 is configured to drive the clamping mechanism 100 to rotate about a rotation axis, thereby improving rigidity and enhancing structural stability and reliability. Specifically, the clamping mechanism 100 and the base 400 are rotatably coupled via a rotation axis 500.

[0058] The tilt mechanism 200 may specifically include a first telescopic driver 210 and a cam follower 220, and the cam follower 220 is mounted on the telescopic end of the first telescopic driver 210; accordingly, a bar track 111 is provided on the clamping mechanism 100, and the cam follower 220 is matched with the bar track 111, so that the cam follower 220 can move along the bar track 111; the telescopic direction of the first telescopic driver 210 is set to be perpendicular to the rotation axis of the clamping mechanism 100, and the length direction of the bar track 111 is set to be perpendicular to the rotation axis and the extension direction of the first telescopic driver 210. The first telescopic actuator 210 is controlled to move in such a way that the cam follower 220 can be driven to move in its extension direction. Simultaneously, the cam follower 220 moves along the bar track 111. Because the movement direction of the cam follower 220 forms an angle with the length direction of the bar track 111, and the length direction of the bar track 111 forms an angle with the rotation axis, the cam follower 220 drives the clamping mechanism 100 to rotate about the rotation axis. As a result, the tilting mechanism 200 can drive the clamping mechanism 100 to tilt. It should be noted that the tilting mechanism 200 utilizes the principle of a motion lever combined with the principle of a cam guide to drive the clamping mechanism 100 to tilt. Using the first telescopic actuator 210 with relatively low power, it can also generate a relatively large torque, which helps reduce the size of the first telescopic actuator 210. Compared to using various bulky standard components to add a tilting function, the tilting mechanism 200 provided in this embodiment has a more compact structure, occupies less space, and is less expensive. The first telescopic actuator 210 may be a tilt cylinder, specifically a small three-axis cylinder; and the strip track 111 may be a strip groove.

[0059] Preferably, the length direction of the bar track 111 is set to be perpendicular to the rotation axis, which is more convenient for structural design; in addition, the length direction of the bar track 111 in the initial state can also be set to be perpendicular to the telescopic direction of the first telescopic driver 210 to improve the working efficiency of the first telescopic driver 210.

[0060] Furthermore, a limit member 600 can be installed on the base body 400, and the limit member 600 can be arranged relative to the clamping mechanism 100. When the clamping mechanism 100 is tilted to the extreme angle, it can touch the limit member 600 and be blocked by the limit member 600, and cannot continue to increase the tilt angle. Therefore, the limit member 600 can limit the tilt angle of the clamping mechanism 100.

[0061] Preferably, the number of limit members 600 can be set to at least two, and the limit members 600 can be distributed on both sides of the rotating axis, so that when the clamping mechanism 100 clamps the material and gradually increases the inclination angle to the limit angle, the limit members 600 distributed on one side of the rotating axis 500 can block the clamping mechanism 100 to prevent the material from being excessively tilted, so that the material can be stuffed into the assembly position at a suitable inclination angle to ensure the stability of the assembly effect; when the clamping mechanism 100 resets after releasing the material, the limit members 600 on the other side of the rotating axis 500 can block the clamping mechanism 100, so that the clamping mechanism 100 can stay in the initial position accurately and stably, which is convenient for clamping and assembling the next material.

[0062] Specifically, an adjusting bolt can be used as the above-mentioned limit member 600. By turning the adjusting bolt, the size of the extreme tilt angle can be adjusted, which can better adapt to the material assembly requirements and has stronger compatibility.

[0063] Preferably, a buffer structure 610 may be provided at one end of the limiting member 600 facing the clamping mechanism 100 , so as to utilize the buffer structure 610 to buffer the clamping mechanism 100 , thereby preventing the material from vibrating and shifting.

[0064] The specific structure of the clamping mechanism 100 includes a clamping driver 120 and at least two end clamping jaws 130. The end clamping jaws 130 include a fixing portion 131 and a clamping portion 132. The clamping driver 120 is fixedly connected to the fixing portion 131 so that the clamping driver 120 can drive the end clamping jaws 130 to move in the clamping or releasing direction. A first locking hole is provided in the fixing portion 131, and a second locking hole is provided in the clamping portion 132. The first locking hole and the second locking hole are locked and fixed by a locking member. At least one of the first locking hole and the second locking hole is configured as a strip hole 133, and the length direction of the strip hole 133 is configured to be consistent with the movement direction of the end clamping jaw 130. In this way, the relative position of the clamping portion 132 and the fixing portion 131 in the movement direction of the end clamping jaw 130 can be adjusted. Furthermore, the size of the space enclosed by the end clamping jaws 130 can be adjusted to accommodate materials of different sizes, thereby enhancing compatibility. The locking member may be a bolt. Preferably, one of the first and second locking holes is a strip-shaped hole 133, while the other is a threaded hole. The material-contacting portion 132 of the end jaw 130 may be coated with a rubber seal to protect the material. The jaw actuator 120 may be a pneumatic clamping cylinder, preferably a thin-type cylinder.

[0065] Preferably, a screw 134 can be installed on the fixing portion 131, and the length direction of the screw 134 is set to be consistent with the movement direction of the clamping portion 132. After the clamping portion 132 and the fixing portion 131 are locked using the locking member, the screw 134 can be adjusted so that the end of the screw 134 supports the clamping portion 132. If the locking member becomes loose, the presence of the screw 134 can reduce the risk of loosening of the end clamping jaw 130, thereby improving the reliability of the clamping mechanism 100 in gripping materials, resulting in a simple structure and high stability. The screw 134 can be used in conjunction with a double nut to improve reliability.

[0066] Specifically, a tilting and rotating plate 110 can be provided within the gripper mechanism 100. The gripper driver 120 can be mounted on the tilting and rotating plate 110. The tilting and rotating plate 110 and the base 400 can be rotatably connected via a rotating shaft 500. The tilting and rotating plate 110 and the rotating shaft 500 are preferably made of a rigid, friction-resistant material to enhance structural stability and durability. The aforementioned bar track 111 can be provided on the tilting and rotating plate 110.

[0067] The flattening mechanism 300 may specifically include a second telescopic actuator 310 and a press 320. The press 320 is mounted to the telescopic end of the second telescopic actuator 310. The second telescopic actuator 310 drives the press 320 to move along its telescopic direction, enabling the press 320 to push the raised end of the material to flatten the material into the assembly position, completing the assembly of the material. This provides a compact and simple structure, high stability, and cost savings. The second telescopic actuator 310 may be a press cylinder, specifically a three-axis cylinder.

[0068] Preferably, foam may be attached to the side of the pressing member 320 that is in contact with the material, so that the material is not damaged during flattening.

[0069] Specifically, the pressing piece 320 may be a sheet metal piece.

[0070] A locking fixing mechanism 410 can be provided on the seat body 400 to clamp the moving mechanism so that the seat body 400 and the moving mechanism can be fixed to each other. Thus, the entire multifunctional clamping device can be moved under the drive of the moving mechanism, which is convenient for installation and disassembly and has strong compatibility.

[0071] The multifunctional gripper device provided in this embodiment has a small number of overall structural parts and is easy to maintain; the device is powered by pneumatic components, has simple control logic, is easy to operate, has a compact structure, and is cost-effective; in addition, it also has the advantage of strong subsequent scalability.

[0072] This embodiment also provides a packaging device, which includes a moving mechanism and the above-mentioned multifunctional clamping device. The clamping mechanism 100, the tilting mechanism 200 and the flattening mechanism 300 are all installed on the base body 400, and the moving mechanism is connected to the base body 400.

[0073] The packaging equipment provided in this embodiment includes the above-mentioned multifunctional clamping mechanism, and therefore has all the advantages of the above-mentioned multifunctional clamping mechanism, can reduce the risk of damage to materials and assembled materials during assembly, the assembly effect is more stable, the material assembly position is more accurate, and it is easy to operate; it can replace manual labor to achieve automatic assembly of products with small dimensional tolerances, which can reduce labor costs, reduce labor intensity, and improve production efficiency.

[0074] In the specific structure of the packaging equipment provided in this embodiment, a visual system can also be set up to connect the mobile mechanism to the visual system for communication. The visual system can obtain the position of the material. After the material is in place, the mobile mechanism is controlled to drive the entire multifunctional clamping device to move to the material picking position, so that the clamping mechanism 100 can smoothly clamp the material without manual control of the mobile mechanism, and the degree of intelligence is higher.

[0075] Specifically, the moving mechanism may be a four-axis robot or a two / three-axis motion mechanism.

[0076] The working principle of the packaging equipment provided in this embodiment is as follows:

[0077] The material flows from the upstream material channel to the material taking position; after the visual system obtains the information that the material is in place, the moving mechanism drives the multifunctional clamping device to move above the material taking position, such as Figure 4 As shown; the moving mechanism drives the multifunctional clamping claw device to move downward to the material taking position; the clamping cylinder contracts to take the material, as shown Figure 5 As shown; the moving mechanism drives the multifunctional clamping device to lift up, as shown Figure 6 As shown; the tilt cylinder is extended and retracted to tilt the product to a certain angle, such as Figure 7 As shown; the moving mechanism drives the multifunctional gripper device downward to send one end of the material into the box, as shown Figure 8 As shown; the clamping cylinder is loosened to release the material; the pressing cylinder is pushed out to press the product into place. Figure 9 As shown; the pressing cylinder retracts; the moving mechanism drives the multifunctional clamping device to return to its original position, as shown Figure 10 shown.

[0078] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted" and "connected" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multifunctional clamping device, characterized in that: include: A clamping mechanism (100) for clamping or releasing materials; a tilting mechanism (200), cooperating with the clamping mechanism (100) and used for driving the clamping mechanism (100) to tilt; The flattening mechanism (300) is used to flatten the material placed obliquely at the assembly position.

2. The multifunctional gripper device according to claim 1, characterized in that: The multifunctional clamping device further comprises a seat body (400), the clamping mechanism (100) is rotationally matched with the seat body (400), and the tilting mechanism (200) is used to drive the clamping mechanism (100) to rotate around a rotation axis.

3. The multifunctional gripper device according to claim 2, characterized in that: The tilting mechanism (200) comprises a first telescopic driver (210) and a cam follower (220), wherein the cam follower (220) is mounted on the telescopic end of the first telescopic driver (210); The clamping mechanism (100) is provided with a bar track (111), and the cam follower (220) cooperates with the bar track (111) and can move along the bar track (111); the telescopic direction of the first telescopic driver (210) is perpendicular to the rotation axis, and the length direction of the bar track (111) is arranged at an angle to the rotation axis and the telescopic direction of the first telescopic driver (210).

4. The multifunctional gripper device according to claim 2, characterized in that: The seat body (400) is installed with a limiting member (600), the limiting member (600) is arranged opposite to the clamping mechanism (100), and the limiting member (600) is used to limit the tilt angle of the clamping mechanism (100).

5. The multifunctional gripper device according to claim 4, characterized in that: There are at least two limiting members (600), which are respectively distributed on both sides of the rotation axis; And / or, the limiting member (600) includes an adjusting bolt; And / or, a buffer structure (610) is provided at one end of the limiting member (600) facing the clamping mechanism (100).

6. The multifunctional gripper device according to claim 1, characterized in that: The clamping mechanism (100) comprises a clamping driver (120) and at least two end clamping jaws (130), wherein the end clamping jaws (130) comprise a fixing portion (131) and a clamping portion (132), and the clamping driver (120) is fixedly connected to the fixing portion (131) and is used to drive the end clamping jaws (130) to move in a clamping or releasing direction; The fixing portion (131) is provided with a first locking hole, and the clamping portion (132) is provided with a second locking hole. The first locking hole and the second locking hole are locked and fixed by a locking member. At least one of the first locking hole and the second locking hole is a strip hole (133), and the length direction of the strip hole (133) is consistent with the moving direction of the end clamp (130).

7. The multifunctional gripper device according to claim 6, characterized in that: The fixing portion (131) is installed with a screw (134), the end of the screw (134) is used to abut against the clamping portion (132), and the length direction of the screw (134) is consistent with the moving direction of the clamping portion (132).

8. The multifunctional clamping jaw device according to any one of claims 1 to 7, characterized in that: The flattening mechanism (300) comprises a second telescopic driver (310) and a material pressing piece (320), wherein the material pressing piece (320) is mounted on the telescopic end of the second telescopic driver (310) and is used to push the raised end of the material to flatten the material in the assembly position; And / or, the base (400) of the multifunctional clamping device includes a locking and fixing structure (410), and the locking and fixing structure (410) is used to clamp the moving mechanism.

9. A packaging device, characterized in that: The invention comprises a moving mechanism and a multifunctional clamping device according to any one of claims 1 to 8, wherein the clamping mechanism (100), the tilting mechanism (200) and the flattening mechanism (300) are all installed on a base (400), and the moving mechanism is connected to the base (400).

10. The packaging device according to claim 9, characterized in that The packaging equipment further includes a vision system, and the moving mechanism is communicatively connected to the vision system.

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