Full-automatic production line for loading bulb bags into trays and boxing

Abstract

The utility model discloses a full-automatic production line for loading blister bead bags into trays and boxing the blister bead bags. Comprising a material tray and material frame robot feeding device, a material tray labeling device, an AOI detection machine and bagging machine device, a material tray bubble bag filling device, a material tray second-layer bubble bag filling device, a material tray boxing device, a carton labeling device, a carton linear box sealing labeling device, a carton I-shaped box sealing device, a single-bin box opening labeling device, a bundling machine and a discharging roller line. According to the full-automatic tray packaging machine, full-automatic packaging of trays can be achieved, the processes of tray labeling, tray bagging, tray detecting, tray boxing and the like are included, the packaging cost is reduced, the packaging technology is standardized, the safety and stability of tray transportation are improved, and the packaging efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of tray packaging technology, and in particular to a fully automated production line for tray-filled bubble wrap and box packaging. Background Technology

[0002] Currently, the production line for blister pack packaging is still in the stage of manual packaging, which is slow, lacks uniformity and standardization, is prone to errors, and causes unnecessary losses. Furthermore, there is currently a lack of automated equipment for the entire blister pack packaging line.

[0003] After vacuum heat sealing, the trays are packaged, mainly by single-tray boxing and manual stacking of trays for bagging. Single-tray boxing is inefficient and costly, while manual stacking is inefficient and costly, and the packaging effect and safety are not standardized or guaranteed.

[0004] In view of this, this application provides a fully automated production line for tray-packing bubble wrap and boxing, which reduces packaging costs, standardizes packaging processes, improves the safety and stability of tray transportation, and increases packaging efficiency. Summary of the Invention

[0005] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a fully automatic production line for packing bubble bags and boxes using a material tray.

[0006] The objective of this utility model is achieved through the following technical solution: a fully automated production line for tray-filled bubble bag and carton packaging, comprising a tray and frame robot loading device, a tray labeling device, an AOI inspection machine and a bagging machine, a tray-filled bubble bag device, a tray-filled second-layer bubble bag device, a tray-packing device, a carton labeling device, a carton one-line sealing and labeling device, a carton I-shaped sealing device, a single-hopper opening and labeling device, a strapping machine, and a feeding roller conveyor; the tray and frame robot loading device transports the trays in the frame to the tray labeling device. The equipment is labeled, the tray labeling equipment labels the trays, the AOI inspection machine and bagging machine perform AOI inspection on the trays, the qualified trays are bagged and sealed, the tray bubble bag filling equipment stacks the bagged trays into the first layer of bubble bags, the tray second bubble bag filling equipment fills the trays with the first layer of bubble bags into the second layer of bubble bags, the tray boxing equipment boxes the trays with bubble bags, and the boxed trays are conveyed to the single hopper unpacking and labeling equipment to affix tamper-evident labels;

[0007] The carton labeling equipment is connected to the inlet of the pallet packing equipment via a roller conveyor line. The single-hopper carton opening and labeling equipment is connected to the outlet of the pallet packing equipment via a roller conveyor line. The single-hopper carton opening and labeling equipment is located on one side of the carton one-line sealing and labeling equipment. After the carton is opened and tamper-evident labels are applied, it is conveyed to the carton one-line sealing and labeling equipment for one-line tape sealing. The outlet of the carton one-line sealing and labeling equipment is connected to the carton I-shaped sealing equipment via a corner roller conveyor line. After the carton I-shaped sealing equipment seals the carton with I-shaped tape, it is conveyed to the strapping machine, which straps the carton with packaging straps.

[0008] As an improvement of the fully automated production line for packing bubble bags and boxes using trays, the tray and frame robotic feeding device includes a six-axis robot, a vision imaging mechanism, a first roller conveyor line, a second roller conveyor line, a third roller conveyor line, a fourth roller conveyor line, and a fifth roller conveyor line. The second, third, and fourth roller conveyor lines are each equipped with a frame transfer mechanism. The first roller conveyor line transports the frames to the second roller conveyor line, and the frame transfer mechanism on the second roller conveyor line transfers the frames to the third roller conveyor line. The third roller conveyor line is also equipped with a left clamping mechanism and a right clamping mechanism to hold the frames. The vision imaging mechanism photographs and identifies each tray. The six-axis robot picks up and feeds the trays using a vacuum suction cup. Positioning reference plates are provided on the right and rear sides of the third roller conveyor line.

[0009] The visual imaging mechanism includes a bracket, on which an X-axis servo drive is provided. The X-axis servo drive controls the movement of a Y-axis servo drive, which in turn controls the movement of a Z-axis servo drive. The Z-axis servo drive controls the movement of a lifting plate. A camera bracket is provided on the lifting plate. The camera bracket is provided with a camera height adjustment screw, which can adjust the height of the camera base. A camera is provided on the camera base, which is connected to the camera bracket via a slider and a slide rail.

[0010] The vacuum suction cup is mounted on the suction cup bracket, the suction cup bracket is mounted on the connecting rod, the upper end of the connecting rod is provided with an electric slip ring, the electric slip ring is mounted on the six-axis robot, and the electric slip ring can perform rotational compensation according to the material tray offset angle fed back by the vision imaging mechanism;

[0011] The left clamping mechanism includes a front positioning cylinder mounting bracket and a side positioning cylinder mounting bracket. The front positioning cylinder mounting bracket is equipped with a front positioning cylinder, and the piston rod end of the front positioning cylinder is equipped with a front positioning plate. The side positioning cylinder mounting bracket is equipped with a side positioning cylinder, and the piston rod end of the side positioning cylinder is equipped with a side positioning plate.

[0012] The right clamping mechanism includes a rear positioning cylinder mounting bracket, on which a rear positioning cylinder is mounted, and a rear positioning plate is provided at the piston rod end of the rear positioning cylinder.

[0013] As an improvement of the fully automatic production line for packing bubble beads in trays and boxes according to this utility model, the material frame transfer mechanism includes a lifting plate and a base plate. The lifting plate is provided with multiple pulley mounting plates at intervals, and each pulley mounting plate is provided with multiple pulleys at intervals. The multiple pulleys are connected by a conveyor belt, which is driven by a main drive roller. The main drive roller is controlled by a servo drive to rotate. The lifting plate is slidably connected to the base plate through multiple guide rods. The base plate is provided with a lifting cylinder, and the piston rod end of the lifting cylinder is connected to the lifting plate.

[0014] The second roller conveyor line is located at the discharge end of the first roller conveyor line, the third roller conveyor line is located at the discharge end of the second roller conveyor line, the fourth roller conveyor line is located at the discharge end of the third roller conveyor line, and the fifth roller conveyor line is located at the discharge end of the fourth roller conveyor line.

[0015] As an improvement of the fully automatic production line for blister bag and carton packaging of this utility model, the blister labeling equipment includes a first frame, on which a conveying platform, a label printer and a labeling robot are provided. The conveying platform is provided with a slide plate and a motion control drive for controlling the movement of the slide plate. The slide plate is provided with a blister lifting and positioning mechanism. The labeling robot drives the label picking and rolling mechanism to move.

[0016] The label-taking and rolling mechanism includes a label-taking component and a rolling mechanism;

[0017] The label-collecting assembly includes a label-absorbing plate, which is mounted on a connecting plate. The connecting plate is connected to the mounting plate via multiple guide rods, and a limiting plate is provided on one side of the connecting plate.

[0018] The rolling mechanism includes a roller located on one side of the label suction plate. The roller is mounted on a roller bracket, which is controlled to lift by a cylinder. The cylinder is fixed to one side of the mounting plate. A spring mounting screw is provided on the roller bracket, and a buffer spring passes through the spring mounting screw. The spring mounting screw passes through the limiting plate and is screwed to the roller bracket.

[0019] The labeling robot includes an X-axis servo drive module, a Y-axis servo drive module, and a Z-axis servo drive module. The X-axis servo drive module controls the movement of the Y-axis servo drive module, the Y-axis servo drive module controls the movement of the Z-axis servo drive module, and the Z-axis servo drive module controls the lifting and lowering movement of a motor mounting plate. The motor mounting plate is equipped with a rotary control motor and a transmission shaft. The transmission shaft is equipped with a driven pulley and a transmission connecting block. The output shaft of the rotary control motor is equipped with a driving pulley. The driving pulley and the driven pulley are connected by a synchronous belt. The transmission connecting block is fixedly connected to the mounting plate. Two labeling robots and two label printers are configured on the tray labeling equipment. The two label printers are arranged side-by-side on the frame, with one labeling robot located on one side of one label printer and the other labeling robot located on the other side of the other label printer.

[0020] The first frame is also equipped with a spare labeling robot and a spare small label feeding feeder. The spare labeling robot includes a second X-axis servo drive module, a second Y-axis servo drive module, and a second Z-axis servo drive module. The second X-axis servo drive module controls the movement of the second Y-axis servo drive module, the second Y-axis servo drive module controls the movement of the second Z-axis servo drive module, and the second Z-axis servo drive module controls the lifting and lowering of the second motor mounting plate. The second motor mounting plate is equipped with a second rotary control motor, which is connected to a rotary shaft via a coupling. The rotary shaft is equipped with a rotary connecting block, and the rotary connecting block is equipped with a second label suction plate and a second rolling cylinder. The second rolling cylinder controls the lifting and lowering of the second rolling support, and the second rolling support is equipped with a second roller, which is located on one side of the second label suction plate.

[0021] As an improvement of the fully automatic production line for packing bubble beads in trays according to this utility model, the tray lifting and positioning mechanism includes a base plate and a positioning plate. The base plate is provided with a lifting cylinder and a guide rod. The piston rod end of the lifting cylinder is connected to the positioning plate. The guide rod is connected to the positioning plate through a guide sleeve. The positioning plate is provided with a plurality of positioning pins and positioning posts at intervals. The positioning pins are conical and the positioning posts are located on the side of the positioning pins.

[0022] The base plate is installed on one side of the slide plate. When the slide plate moves, it drives the base plate to move. The movement of the base plate can drive the positioning plate to move. The other side of the slide plate is provided with a slider. The slider is slidably connected to a linear slide rail. The linear slide rail is installed on the inner side of the conveying platform.

[0023] The motion control drive includes a stepper motor, the output shaft of which is equipped with an active synchronous pulley. The active synchronous pulley is connected to a driven synchronous pulley via a synchronous belt. The driven synchronous pulley is mounted on the side of the conveyor platform. The stepper motor is mounted on the side of the conveyor platform. The slide plate is clamped and connected to the synchronous belt via a clamping plate. When the synchronous belt rotates, it drives the slide plate to move.

[0024] The conveying platform horizontally conveys the material tray to the labeling position, and the labeling robot controls the label picking and rolling mechanism to move to the label printer to pick up the label and roll it onto the material tray.

[0025] As an improvement of the fully automatic production line for tray-filled bubble bag and boxed product of this utility model, the AOI inspection machine and bagging machine equipment includes a fourth frame, which is equipped with an AOI inspection mechanism, a robotic arm handling mechanism, a tray-filling bag mechanism, a bag-picking robotic arm, a bag-opening mechanism, a bag conveying line, a labeling robotic arm, a label printer and a bag heat-sealing mechanism.

[0026] The bag-picking robot retrieves a bag from the bag hopper and places it on the bag conveyor line. The bag conveyor line transports the bag to the bag-opening station. The bag-opening mechanism opens the bag and waits for the filling tray. The robot handling mechanism moves the tray and performs visual inspection at the AOI inspection mechanism to check for damage on the tray surface. After inspection, the good products are moved by the robot handling mechanism to the pusher bag-in mechanism. The pusher bag-in mechanism pushes the tray into the bag. The bag conveyor line transports the material belt to the labeling station. The labeling robot picks up the label from the label printer and affixes the label to the bag. The labeled bag is then transported to the heat-sealing station. The bag heat-sealing mechanism vacuums and heat-seals the bag. The heat-sealed bag is then sent out by the bag conveyor line.

[0027] As an improvement of the fully automatic production line for tray-filled bubble bead bags and boxes of this utility model, the tray-filled bubble bead bag equipment includes a second frame, on which a bag conveying line, a tray positioning platform, a bag filling robot, a bag picking robot, a bag opening mechanism, a vacuum heat sealing packaging mechanism, and a tape wrapping mechanism are provided.

[0028] The bag-picking robot takes a bag from the bag hopper and transports it to the bag-opening mechanism. The bag-opening mechanism opens the bag. The bag-filling robot takes a tray from the tray positioning platform and fills the tray with bags. The bag conveyor line transports the bag to the vacuum heat-sealing packaging mechanism for vacuum heat sealing. The vacuum-sealed bag is then transported by the bag conveyor line to the tape-wrapping mechanism for securing the tray inside the bag with tape.

[0029] The second frame is also equipped with a filler stacking platform and a filler transfer robot. The bottom of the filler stacking platform is equipped with a transfer mechanism. The transfer mechanism pushes out the bottom layer of filler from the bottom of the filler stacking platform. The filler transfer robot picks up the filler and transfers it to the picking position of the bagging robot.

[0030] The filler stacking platform is provided with multiple filler stacking supports at intervals. The filler stacking platform is provided with a feeding hole below each filler stacking support. The material transfer mechanism includes a filler ejection cylinder, and the piston rod end of the filler ejection cylinder is provided with a filler push block.

[0031] The filler transfer robot includes a filler transfer lateral movement servo module, which controls the movement of the lateral movement support. The lateral movement support is provided with a receiving plate, which is L-shaped.

[0032] As an improvement of the fully automatic production line for packing bubble beads in trays according to this utility model, the bag opening mechanism includes a bag opening frame, and each of the four sides of the bag opening frame is provided with a bag opening lifting cylinder. The piston rod end of the bag opening lifting cylinder is provided with a bag opening plate control cylinder mounting plate. The bag opening plate control cylinder mounting plate is provided with a bag opening plate control cylinder and a bag clamping cylinder. The piston rod end of the bag opening plate control cylinder is provided with a bag opening plate, and the piston rod end of the bag clamping cylinder is provided with a bag clamping plate.

[0033] The bag-opening lifting cylinder controls the lifting of the bag-opening plate, the bag-opening plate control cylinder controls the forward and backward movement of the bag-opening plate, and the bag-clamping cylinder controls the bag-clamping plate to clamp the bag.

[0034] The suction cylinder is mounted on the suction cylinder mounting bracket, and the piston rod end of the suction cylinder is equipped with a suction cup.

[0035] When the bag-picking robot moves the bag to below the bag-opening mechanism, the bag-suction cylinder controls the bag-suction cup to suck up the bag, the bag-picking robot and the bag-suction cylinder open the bag together, the bag-opening lifting cylinder controls the bag-opening plate to descend and insert into the bag, the bag-opening plate control cylinder controls the bag-opening plate to open the bag, and the bag-clamping cylinder controls the bag-clamping plate to clamp the bag.

[0036] The vacuum heat-sealing packaging mechanism includes a heat-sealing frame. A vacuuming mechanism and a heat-sealing abutment mechanism are provided on one side of the heat-sealing frame, and a heat-sealing knife mechanism and a bag mouth pressing mechanism are provided on the other side of the heat-sealing frame.

[0037] Both the bag opening pressing mechanism and the heat sealing abutment mechanism include a movement control cylinder, which controls the movement of the base plate;

[0038] The vacuuming mechanism includes a lifting cylinder mounting plate, on which a lifting cylinder is provided. The lifting cylinder controls the lifting and lowering movement of a lifting plate. The lifting plate is provided with a lateral movement control drive, which controls the movement of two vacuum suction nozzle seats. Vacuum suction nozzles are installed on the vacuum suction nozzle seats.

[0039] As an improvement of the fully automatic production line for packing bubble beads in trays and boxes of this utility model, the tape wrapping mechanism includes a mounting side plate. A plurality of third rollers are spaced apart on one side of the mounting side plate. The plurality of third rollers drive a turntable together. The turntable is provided with a tape wrapping guide rod. A servo motor that drives the turntable to rotate is provided on the other side of the mounting side plate. The output shaft of the servo motor is provided with an active synchronous pulley. A driven synchronous pulley is provided on the axle of one of the rollers. The active synchronous pulley and the driven synchronous pulley are connected by a synchronous belt.

[0040] The mounting side plate is provided with a tape rod, and a roll of tape is threaded onto the tape rod;

[0041] The upper end of the mounting side plate is provided with an upper positioning mechanism. The upper positioning mechanism includes an upper mounting plate. Both ends of the upper mounting plate are provided with cylinder mounting plates. Each of the two cylinder mounting plates is provided with an upper positioning cylinder. The upper positioning cylinder controls the movement of the upper positioning plate.

[0042] The front side of the mounting side plate is provided with a first positioning mechanism and a tape cutting mechanism at intervals, and the rear side of the mounting side plate is provided with a second positioning mechanism and a third positioning mechanism at intervals.

[0043] The first positioning mechanism includes a first cylinder mounting plate, on which a first transverse control cylinder is provided. The first transverse control cylinder controls the movement of the first positioning cylinder mounting plate. The first positioning cylinder mounting plate is provided with a first positioning cylinder and a first linear guide rail. The first positioning cylinder controls the movement of the first mounting plate. The first mounting plate is provided with a first positioning plate. The first mounting plate is slidably connected to the first linear guide rail via a slider. The first positioning plate is U-shaped, and the two sides of the first positioning plate extend outward with inclined baffles.

[0044] The second positioning mechanism includes a second positioning cylinder mounting plate, on which a second positioning cylinder and a second linear guide are provided. The piston rod end of the second positioning cylinder is provided with a second mounting plate, and a second positioning plate is provided on the second mounting plate. The second mounting plate is slidably connected to the second linear guide via a slider.

[0045] The third positioning mechanism includes a third positioning cylinder mounting plate, on which a third front and rear positioning cylinder is provided. The third front and rear positioning cylinder controls the movement of a left and right cylinder mounting plate. The left and right cylinder mounting plate is provided with a third left and right control cylinder, which controls the movement of the third positioning plate.

[0046] The tape cutting mechanism includes a support base, on which are mounted a left-right control cylinder for the cutter and a front-back control cylinder for the suction cup. The left-right control cylinder for the cutter controls the movement of the front-back control cylinder for the cutter, the left-right control cylinder for the cutter controls the movement of the cutter cylinder, the cutter cylinder controls the movement of the cutter, the front-back control cylinder for the suction cup controls the movement of a left-right control cylinder for the suction cup, the left-right control cylinder for the suction cup controls the movement of the suction cup bracket, the suction cup bracket is equipped with a suction cup, the suction cup holds the tape, and the cutter cylinder controls the cutter to cut the tape.

[0047] The bag-picking robot includes a bag-picking X-axis servo module and a bag-picking Z-axis servo module. The bag-picking X-axis servo module controls the movement of the bag-picking Z-axis servo module, and the bag-picking Z-axis servo module controls the movement of a bag-picking lifting slide. The bag-picking lifting slide is equipped with a rotary cylinder mounting plate, and the rotary cylinder mounting plate is equipped with a rotary cylinder. The rotary cylinder controls the rotation of a swing arm, and the swing arm is equipped with a bag-picking suction cup mounting plate. The bag-picking suction cup mounting plate is equipped with multiple bag-picking suction cups spaced apart.

[0048] The bagging robot includes a bagging X-axis servo module and a bagging Z-axis servo module. The bagging X-axis servo module controls the movement of the bagging Z-axis servo module, and the bagging Z-axis servo module controls the movement of a bagging lifting plate. The bottom of the bagging lifting plate is provided with a bagging suction cup bracket, and multiple bagging suction cups are spaced apart on the bagging suction cup bracket.

[0049] As an improvement of the fully automatic production line for bubbly bag packing and boxing of this utility model, the bubbly bag packing equipment includes a third frame, on which a bubbly bag conveyor line, a carton roller conveyor line, a bubbly bag transfer and positioning mechanism, a packing robot and a carton opening mechanism are provided.

[0050] The material tray transfer and positioning mechanism picks up material trays from the material tray conveyor line and places them on the positioning platform for positioning. Multiple material trays are stacked on the positioning platform at a time. The carton roller conveyor line transports the carton to directly below the carton opening mechanism and positions the carton through the positioning cylinder. The carton opening mechanism opens the carton opening. The packing robot picks up multiple material trays from the positioning platform at once, moves them directly above the carton, and simultaneously packs multiple material trays into the carton.

[0051] The third frame is also equipped with a filling material conveying line and a filling material handling robot. When the number of material trays on the positioning platform is less than a set number, the filling material handling robot takes the filling material from the unloading position of the filling material conveying line and transports the filling material to the positioning platform for positioning together with the material trays.

[0052] The material tray bag transfer and positioning mechanism includes a material tray bag transfer robot and a material tray bag positioning mechanism;

[0053] The material tray transfer robot includes a transfer lateral servo module, which controls the movement of a transfer lifting control cylinder. The transfer lifting control cylinder controls the lifting and lowering movement of a cylinder support. A transfer rotation control cylinder is mounted on the cylinder support. The transfer rotation control cylinder controls the rotation of a transfer clamping cylinder. The transfer clamping cylinder controls two transfer clamping plates to clamp the material tray. The transfer lateral servo module can control the transfer clamping cylinder to pick up and put down the material tray between the material tray conveyor line and the material tray positioning mechanism.

[0054] The material tray positioning mechanism includes a rear positioning servo module disposed on the rear side of the positioning platform, side positioning mechanisms disposed on the left and right sides of the positioning platform, and a positioning plate disposed on the front side of the positioning platform.

[0055] The rear positioning servo module can push the material tray on the positioning platform toward the positioning plate, and the side positioning mechanisms on both sides can push the material tray on the positioning platform to the middle of the positioning platform. The rear positioning servo module includes a positioning servo module, which controls the movement of a rear positioning plate. The side positioning mechanism includes a side positioning cylinder, which controls the movement of a side positioning plate.

[0056] As an improvement of the fully automated production line for packing bubble bags and boxes according to this utility model, the packing robot includes a packing X-axis servo module, a packing Y-axis servo module, and a packing Z-axis servo module. The packing X-axis servo module controls the movement of the packing Y-axis servo module, the packing Y-axis servo module controls the movement of the packing Z-axis servo module, and the packing Z-axis servo module controls the movement of a lifting bracket. The bottom of the lifting bracket is provided with a packing clamping and picking mechanism.

[0057] The packing clamping and handling mechanism includes two side mounting plates. Each of the two side mounting plates is equipped with a clamping control cylinder and a connecting rod assembly on its outer side. The connecting rod assembly connects both clamping plates. The clamping control cylinder controls the two clamping plates to clamp the material tray by driving the connecting rod assembly. Each end of the two side mounting plates is equipped with a lifting cylinder mounting plate. The lifting cylinder mounting plate is equipped with a lifting cylinder. Multiple lifting cylinders jointly control the movement of a lifting platform. The lifting platform is equipped with two pressing cylinders. The two pressing cylinders control the movement of a sponge suction cup mounting plate. The sponge suction cup mounting plate is equipped with two sponge suction cups.

[0058] The linkage assembly includes a left linkage, a right linkage, and a middle linkage. The middle part of the middle linkage is connected to the side mounting plate via a central pivot. One end of the middle linkage is movably connected to the left linkage via a left pivot, and the other end of the middle linkage is movably connected to the right linkage via a right pivot.

[0059] The right rotating shaft is provided with a right shaft rod, one end of which is connected to the piston rod of the clamping control cylinder. The side mounting plate is also provided with two elongated holes at intervals. The shaft rod of the left rotating shaft passes through one of the elongated holes, and the other end of the right shaft rod passes through the other elongated hole.

[0060] The clamping plate is provided with a connecting rod, and the upper end of the connecting rod is provided with a slider plate. The slider plate is connected to the side mounting plate through a slide rail and a slider.

[0061] The carton opening mechanism includes an opening frame. Side opening mechanisms and displacement control cylinders for controlling the movement of the side opening mechanisms are provided on both the left and right side frames of the opening frame. The side opening mechanisms are connected to the side frames of the opening frame via slide rails and sliders. Slide cylinders are provided at each of the four corners of the opening frame. The slide cylinders are mounted on slide cylinder mounting plates, which are installed on the machine frame.

[0062] The side support mechanism includes a side servo motor mounting plate, on which a side support control servo motor and a first rotating shaft seat are provided. A first rotating shaft is provided on the first rotating shaft, and a first support plate is provided on the first rotating shaft. A first driven synchronous pulley is provided at one end of the first rotating shaft. A first driving synchronous pulley is provided on the output shaft of the side support control servo motor. The first driving synchronous pulley and the first driven synchronous pulley are connected by a first synchronous belt.

[0063] The front side frame of the support frame is provided with a front support mechanism and a moving control cylinder for controlling the sliding of the front support mechanism. The rear side frame of the support frame is provided with a rear support mechanism. The front support mechanism is slidably connected to the side frame of the support frame via a displacement slide plate. The left and right sides of the support frame are provided with linear slide rails. The displacement slide plate is slidably connected to the linear slide rails via a slider.

[0064] The front support mechanism includes a servo motor mounting plate, on which a support control servo motor is provided. A second rotating shaft seat is provided on the displacement slide plate, a second rotating shaft is provided on the second rotating shaft seat, a second support plate is provided on the second rotating shaft, a second driven synchronous pulley is provided at one end of the second rotating shaft, and a second driving synchronous pulley is provided on the output shaft of the support control servo motor. The second driving synchronous pulley and the second driven synchronous pulley are connected by a second synchronous belt.

[0065] The filling material handling robot includes an X-axis servo module and a Y-axis servo module. The X-axis servo module controls the movement of the Y-axis servo module, the Y-axis servo module controls the movement of a lifting control slide cylinder, and the lifting control slide cylinder controls the lifting and lowering movement of a gripper cylinder.

[0066] The beneficial effects of this utility model are as follows: This utility model can realize fully automatic packaging of material trays, including processes such as labeling material trays, bagging material trays, inspecting material trays, and boxing material trays, which reduces packaging costs, standardizes packaging processes, improves the safety and stability of material tray transportation, and improves packaging efficiency. Attached Figure Description

[0067] Figure 1 This is a perspective view of the present invention;

[0068] Figure 2 This is a top view of the present invention;

[0069] Figure 3 This is a perspective view of the material tray and frame robot feeding device of this utility model;

[0070] Figure 4 This is a three-dimensional view of the visual imaging mechanism of the material tray and frame robot feeding device of this utility model;

[0071] Figure 5 This is a schematic diagram of the third roller conveyor line structure of the material tray and frame robot feeding equipment of this utility model;

[0072] Figure 6 This is a schematic diagram of the material frame transfer mechanism of the material tray and frame robot feeding device of this utility model;

[0073] Figure 7This is a schematic diagram of the vacuum suction cup installation structure of the material tray and frame robot feeding device of this utility model;

[0074] Figure 8 This is a perspective view of the material tray labeling device of this utility model;

[0075] Figure 9 This is a schematic diagram of the labeling robot arm of the material tray labeling equipment of this utility model;

[0076] Figure 10 This is a schematic diagram of the label-taking and rolling mechanism of the material tray labeling equipment of this utility model;

[0077] Figure 11 This is a schematic diagram of the conveying platform of the material tray labeling equipment of this utility model;

[0078] Figure 12 This is a schematic diagram of the internal structure of the conveying platform of the material tray labeling equipment of this utility model;

[0079] Figure 13 This is a schematic diagram of the tray lifting and positioning mechanism of the tray labeling equipment of this utility model;

[0080] Figure 14 This is a schematic diagram of the spare labeling robot arm for the material tray labeling equipment of this utility model;

[0081] Figure 15 This is a perspective view of the AOI inspection machine and bagging machine equipment of this utility model;

[0082] Figure 16 This is a schematic diagram of the material bag heat sealing mechanism of the AOI inspection machine and bagging machine equipment of this utility model;

[0083] Figure 17 This is a schematic diagram of the vacuum mechanism structure of the AOI inspection machine and bagging machine of this utility model;

[0084] Figure 18 This is a schematic diagram of the upper heat sealing component of the AOI inspection machine and bagging machine of this utility model;

[0085] Figure 19 This is a schematic diagram of the AOI detection mechanism of the AOI inspection machine and bagging machine equipment of this utility model;

[0086] Figure 20 This is a schematic diagram of the robotic arm handling mechanism of the AOI inspection machine and bagging machine equipment of this utility model;

[0087] Figure 21 This is a schematic diagram of the bag-picking robot structure of the AOI inspection machine and bagging machine equipment of this utility model;

[0088] Figure 22This is a schematic diagram of the labeling robot structure of the AOI inspection machine and bagging machine equipment of this utility model;

[0089] Figure 23 This is a perspective view of one of the directions of the pusher bag feeding mechanism and the bag opening mechanism of the AOI inspection machine and bag filling machine of this utility model;

[0090] Figure 24 This is a perspective view of the pusher bag feeding mechanism and the bag opening mechanism of the AOI inspection machine and bag filling machine of this utility model;

[0091] Figure 25 This is a front view of the pusher bag feeding mechanism and the bag opening mechanism of the AOI inspection machine and bag filling machine of this utility model;

[0092] Figure 26 This is a perspective view of the material tray packing bubble bag equipment of this utility model;

[0093] Figure 27 This is a schematic diagram of the bag opening mechanism of the material tray blister bag filling equipment of this utility model;

[0094] Figure 28 This is a schematic diagram of the material handling robot arm of the material tray-filling bubble bead bag equipment of this utility model;

[0095] Figure 29 This is a schematic diagram of the vacuum heat-sealing packaging mechanism of the material tray blister bag filling equipment of this utility model;

[0096] Figure 30 This is a front perspective view of the tape wrapping mechanism of the material tray blister bag filling equipment of this utility model;

[0097] Figure 31 This is a perspective view of the reverse side of the tape wrapping mechanism of the material tray blister bag filling equipment of this utility model;

[0098] Figure 32 This is a schematic diagram of the bagging robot structure of the material tray blister bag filling equipment of this utility model;

[0099] Figure 33 This is a perspective view of the material tray packing equipment of this utility model;

[0100] Figure 34 This is a perspective view of the material tray packing and positioning mechanism of the material tray packing equipment of this utility model;

[0101] Figure 35 This is a perspective view of the filling material handling robot of the material tray packing equipment of this utility model;

[0102] Figure 36 This is a perspective view of the packing robot of the material tray packing equipment of this utility model;

[0103] Figure 37This is a perspective view of the packing clamping and placing mechanism of the material tray packing equipment of this utility model;

[0104] Figure 38 This is a perspective view of the carton support mechanism of the material tray packing equipment of this utility model. Detailed Implementation

[0105] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0106] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0107] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0108] like Figure 1As shown, a fully automated production line for blister bag and carton packaging using trays includes: a tray and frame robot loading device 1, a tray labeling device 2, an AOI inspection machine and bagging machine 4, a tray blister bag loading device 3, a tray second-layer bubble bag loading device 5, a tray carton packing device 6, a carton labeling device 7, a carton one-line sealing and labeling device 8, a carton I-shaped sealing device 9, a single-hopper opening and labeling device 10, a strapping machine 100, and a feeding roller conveyor 200. The tray and frame robot loading device 1 transports the trays from the frame to the tray labeling device 2 for labeling. The tray labeling device 2 labels the trays. The AOI inspection machine and bagging machine 4 performs AOI inspection on the trays. Trays that pass inspection are bagged and sealed. The tray blister bag loading device 3 stacks the bagged trays. The first layer of bubble bags is stacked into the tray. The second layer of bubble bags is then packed into the tray by the tray loading equipment 5. The tray packing equipment 6 packs the trays containing the bubble bags into boxes. The packed trays are then conveyed to the single hopper unpacking and labeling equipment 10 to affix tear-resistant labels. The tray loading equipment 5 includes a bag conveyor line, a tray positioning platform, a bag filling robot, a bag picking robot, a bag opening mechanism, a vacuum heat sealing packaging mechanism, and a tape wrapping mechanism. The bag conveyor line, tray positioning platform, bag filling robot, bag picking robot, bag opening mechanism, vacuum heat sealing packaging mechanism, and tape wrapping mechanism are structurally identical to those on the tray loading equipment 4. The carton labeling equipment 7 includes a carton labeling robot, a carton conveyor roller line, and a label printer. A carton positioning cylinder is installed on one side of the carton conveyor roller line. When the carton conveyor roller line transports the carton to the labeling position, the carton positioning cylinder positions it. The carton labeling robot picks up the label from the label printer and affixes it to the carton. The carton labeling robot affixes one label at a time, for a total of 3 labels.

[0109] The carton labeling equipment 7 is connected to the inlet of the pallet packing equipment 6 via a roller conveyor line. The single hopper carton opening and labeling equipment 10 is connected to the outlet of the pallet packing equipment 6 via a roller conveyor line. The single hopper carton opening and labeling equipment 10 is located on one side of the carton one-line sealing and labeling equipment 8. After the carton is opened and the anti-tear label is applied, it is conveyed to the carton one-line sealing and labeling equipment 8 for one-line tape sealing. The outlet of the carton one-line sealing and labeling equipment 8 is connected to the carton I-shaped sealing equipment 9 via a corner roller conveyor line. After the carton I-shaped sealing equipment 9 seals the carton with I-shaped tape, it is conveyed to the strapping machine 100. The strapping machine 100 straps the carton with packaging tape. The strapped carton is then sent out by the unloading roller line 200.

[0110] Preferably, the material tray and frame robot loading device 1 includes a six-axis robot 11, a vision imaging mechanism 12, a first roller conveyor line 13, a second roller conveyor line 14, a third roller conveyor line 15, a fourth roller conveyor line 16, and a fifth roller conveyor line 17. Material frame transfer mechanisms 18 are provided on the second roller conveyor line 14, the third roller conveyor line 15, and the fourth roller conveyor line 16. The first roller conveyor line 13 transports the material frames to the second roller conveyor line 14, and the material frame transfer mechanism 18 on the second roller conveyor line 14 transfers the material frames to the third roller conveyor line 15. The third roller conveyor line 15 is also equipped with a left clamping mechanism 19 and a right clamping mechanism 110, which clamp the material frames. The vision imaging mechanism 12 takes pictures and identifies each material tray. The six-axis robot 1 uses a vacuum suction cup 111 to pick up the material trays on the material frames and load them. The visual photography unit 12 mainly collects QR code data on the material tray and the angle at which the material tray is offset within the material frame.

[0111] Preferably, the visual imaging mechanism 12 includes a bracket 121, on which an X-axis servo drive 122 is provided. The X-axis servo drive 122 controls the movement of a Y-axis servo drive 123, the Y-axis servo drive 123 controls the movement of a Z-axis servo drive 124, and the Z-axis servo drive 124 controls the movement of a lifting plate 125. A camera bracket 126 is provided on the lifting plate 125, and a camera height adjustment screw 127 is provided on the camera bracket 126. The camera height adjustment screw 127 can adjust the height position of the camera base 128. A camera 129 is provided on the camera base 128, and the camera base 128 is connected to the camera bracket 126 by a slider and a slide rail.

[0112] Preferably, the vacuum suction cup 111 is mounted on the suction cup bracket 112, the suction cup bracket 112 is mounted on the connecting rod 113, the upper end of the connecting rod 113 is provided with an electric slip ring 114, the electric slip ring 114 is mounted on the six-axis robot 11, and the electric slip ring 114 can perform rotation compensation according to the material tray offset angle fed back by the vision imaging mechanism 12 to ensure that each material tray can be placed uniformly and in a standardized manner on the equipment transport table.

[0113] Preferably, the left clamping mechanism 19 includes a front positioning cylinder mounting bracket 191 and a side positioning cylinder mounting bracket 192. The front positioning cylinder mounting bracket 191 is provided with a front positioning cylinder 193, and the piston rod end of the front positioning cylinder 193 is provided with a front positioning plate 194. The side positioning cylinder mounting bracket 192 is provided with a side positioning cylinder 195, and the piston rod end of the side positioning cylinder 195 is provided with a side positioning plate 196.

[0114] The right clamping mechanism 110 includes a rear positioning cylinder mounting bracket 1101, a rear positioning cylinder 1102 is mounted on the rear positioning cylinder mounting bracket 1101, and a rear positioning plate 1103 is mounted on the piston rod end of the rear positioning cylinder 1102.

[0115] Preferably, positioning reference plates 115 are provided on both the right and rear sides of the third roller conveyor line 15.

[0116] Preferably, the material frame transfer mechanism 18 includes a lifting plate 181 and a base plate 182. The lifting plate 181 is provided with multiple pulley mounting plates 183 at intervals. Each pulley mounting plate 183 is provided with multiple pulleys 184 at intervals. The multiple pulleys 184 are connected and transmitted by a conveyor belt 185. The conveyor belt 185 is driven by a main drive roller 186. The main drive roller 186 is servo driven to control its rotation. The lifting plate 181 is slidably connected to the base plate 182 by multiple guide rods 187. The base plate 182 is provided with a lifting cylinder. The piston rod end of the lifting cylinder is connected to the lifting plate 181.

[0117] Preferably, the second roller conveyor line 14 is located at the discharge end of the first roller conveyor line 13, the feed end of the first roller conveyor line 13 is connected to the AGV trolley, the AGV trolley transports the material tray onto the first roller conveyor line 13, the third roller conveyor line 15 is located at the discharge end of the second roller conveyor line 14, the fourth roller conveyor line 16 is located at the discharge end of the third roller conveyor line 15, and the fifth roller conveyor line 17 is located at the discharge end of the fourth roller conveyor line 16.

[0118] The material frame is conveyed to the vision imaging position by roller conveyor. After the left clamping mechanism 19 and the right clamping mechanism 110 clamp the material frame, the vision imaging mechanism 12 controls the camera to move directly above the material frame to take pictures and recognize the image. The vision mainly collects the QR code data on the material tray and the angle of the material tray's placement offset in the material frame. After the vision imaging is completed, the six-axis robot 11 picks up the material tray by adsorption through the vacuum suction cup 111. An electric slip ring is added to the gripping end. During the movement of the material tray, the rotation compensation is performed according to the material tray offset angle fed back by the vision, so as to ensure that each material tray can be placed uniformly and in a standardized manner on the equipment transport table.

[0119] Preferably, the tray labeling device 2 includes a first frame 21, on which a conveyor platform 22, a label printer 23, and a labeling robot 24 are mounted. The conveyor platform 22 has a slide plate 25 and a motion control drive 26 for controlling the movement of the slide plate 25. A tray lifting and positioning mechanism 27 is mounted on the slide plate 25. The labeling robot 24 drives the label-picking and rolling mechanism 28 to move. The tray lifting and positioning mechanism 27 can position the tray, preventing it from shifting during label rolling. The label-picking and rolling mechanism 28 of this invention uses a rolling method, which can simultaneously apply and press, squeezing out air bubbles and preventing labels from wrinkling or bulging.

[0120] Preferably, the label picking and rolling mechanism 28 includes a label picking component 29 and a rolling mechanism 210;

[0121] The label-receiving assembly 29 includes a label-absorbing plate 291, which is mounted on a connecting plate 292. The connecting plate 292 is connected to a mounting plate 294 via multiple guide rods 293. A limiting plate 295 is provided on one side of the connecting plate 292.

[0122] The rolling mechanism 210 includes a roller 2101 located on one side of the label suction plate 291. The roller 2101 is mounted on a roller bracket 2102, which is controlled by a cylinder 2103 for lifting and lowering. The cylinder 2103 is fixed to one side of the mounting plate 294. A spring mounting screw 2104 is provided on the roller bracket 2102, and a buffer spring passes through the spring mounting screw 2104. The spring mounting screw 2104 passes through the limiting plate 295 and is screwed to the roller bracket 2102. The cylinder 2103 on the label picking and rolling mechanism 28 first controls the roller 2101 to press down while carrying the label. The buffer spring maintains a constant pressure to avoid damaging the material tray. After pressing, the labeling robot 24 controls the stroke to roll and apply the label while pressing.

[0123] Preferably, the labeling robot 24 includes an X-axis servo drive module 241, a Y-axis servo drive module 242, and a Z-axis servo drive module 243. The X-axis servo drive module 241 controls the movement of the Y-axis servo drive module 242, the Y-axis servo drive module 242 controls the movement of the Z-axis servo drive module 243, and the Z-axis servo drive module 243 controls the lifting and lowering movement of a motor mounting plate 244. The motor mounting plate 244 is provided with a rotary control motor 245 and a transmission shaft 246. The transmission shaft 246 is provided with a driven pulley and a transmission connecting block 247. The output shaft of the rotary control motor 245 is provided with a driving pulley. The driving pulley and the driven pulley are connected by a synchronous belt. The transmission connecting block 247 is fixedly connected to the mounting plate 244.

[0124] Preferably, the material tray lifting and positioning mechanism 27 includes a base plate 271 and a positioning plate 272. The base plate 271 is equipped with a lifting cylinder 273 and a guide rod 274. The piston rod end of the lifting cylinder 273 is connected to the positioning plate 272, and the guide rod 274 is connected to the positioning plate 272 via a guide sleeve. The positioning plate 272 is provided with a plurality of positioning pins 276 and positioning posts 275 spaced apart. The positioning pins 276 are conical, and the positioning posts 277 are located beside the positioning pins 276. A positioning hole is provided at the center of the material tray, and a limit hole is provided beside the positioning hole. The positioning pins 276 are inserted into the corresponding positioning hole, and the positioning posts 275 are inserted into the corresponding limit hole. After the material tray is positioned, it can prevent the material tray from rotating.

[0125] Preferably, the base plate 271 is installed on one side of the slide plate 25. When the slide plate 25 moves, it drives the base plate 271 to move. The movement of the base plate 271 can drive the positioning plate 272 to move. The other side of the slide plate 25 is provided with a slider 251, which is slidably connected to the linear slide rail 252. The linear slide rail 252 is installed on the inner side of the conveying platform 22.

[0126] Preferably, the motion control drive 26 includes a stepper motor 261. The output shaft of the stepper motor 261 is equipped with an active synchronous pulley. The active synchronous pulley is connected to a driven synchronous pulley 263 via a synchronous belt 262. The driven synchronous pulley 263 is mounted on the side of the conveyor platform 22. The stepper motor 261 is mounted on the side of the conveyor platform 22. The slide plate 25 is clamped and connected to the synchronous belt 262 via a clamping plate 253. When the synchronous belt 262 rotates, it drives the slide plate 25 to move. During the material tray conveying, the lifting cylinder 273 first lifts the material tray, and then the stepper motor 261 controls the synchronous belt 262 to move the material tray to the workstation. After labeling is completed, the lifting cylinder 273 retracts to the initial position, and the stepper motor 261 reverses back to the initial position, thus repeating the process to transport the material tray.

[0127] Preferably, the conveyor platform 22 horizontally conveys the material tray to the labeling position, and the labeling robot 24 controls the label picking and rolling mechanism 28 to move to the label printer 23 to pick up the label and roll it onto the material tray.

[0128] Preferably, there are two labeling robots 24 and two label printers 23. The two label printers 23 are arranged side by side on the first frame 21. One labeling robot 24 is located on one side of one of the label printers 23, and the other labeling robot 24 is located on the other side of the other label printer 23.

[0129] Preferably, the first frame 21 is also equipped with a spare labeling robot 211 and a spare small label feeder 212. The spare labeling robot 211 includes a second X-axis servo drive module 2111, a second Y-axis servo drive module 2112, and a second Z-axis servo drive module 2113. The second X-axis servo drive module 2111 controls the movement of the second Y-axis servo drive module 2112, the second Y-axis servo drive module 2112 controls the movement of the second Z-axis servo drive module 2113, and the second Z-axis servo drive module 2113 controls the movement of the second motor mounting plate 2. 114 Lifting and moving, the second motor mounting plate 2114 is provided with a second rotary control motor 2115, the second rotary control motor 2115 is connected to the rotary shaft 2116 through a coupling, the rotary shaft 2116 is provided with a rotary connecting block 2117, the rotary connecting block 2117 is provided with a second label suction plate 2118 and a second rolling cylinder 2119, the second rolling cylinder 2119 controls the lifting and lowering of the second rolling bracket 2120, the second rolling bracket 2120 is provided with a second roller 2121, the second roller 2121 is located on one side of the second label suction plate 2118.

[0130] Labeling process on trays: After being loaded by a robot, the trays are neatly placed on a conveyor platform, which consists of a stepper motor and a cylinder. The cylinder first lifts the tray, and then the stepper motor controls the synchronous belt to move the tray to the workstation. The cylinder then retracts and the stepper motor reverses back to the initial position, repeating the process to move the tray. Once the tray is in place, the printer prints labels based on the information collected by the feeder's vision system and the production instructions from the MES system. The labeling robot then vacuum-adsorbs the label from the printer's label outlet. After the robot is in place, the micro-slide on the labeling assembly controls the rubber-coated rollers to press down along the label edge. A spring maintains constant pressure to avoid damaging the tray. After pressing, the robot controls its stroke to roll and apply the label. The label is applied while being pressed down. At the same time, the tray must be restrained during the labeling process to prevent it from shifting during the rolling process.

[0131] Preferably, the AOI inspection machine and bagging machine equipment 4 includes a fourth frame 41, on which are provided an AOI inspection mechanism 42, a robotic arm handling mechanism 43, a pusher bag feeding mechanism 44, a bag picking robotic arm 45, a bag opening mechanism 46, a bag conveying line 47, a second labeling robotic arm 48, a label printer 49, and a bag heat sealing mechanism 410.

[0132] The bag-picking robot 45 picks up a bag from the bag hopper 411 and places it on the bag conveyor line 47. The bag conveyor line 47 transports the bag to the bag opening station. The bag opening mechanism 46 opens the bag and waits for the filling tray. The robot handling mechanism 43 moves the tray and performs visual inspection at the AOI inspection mechanism 42 to check for damage on the surface of the tray. After inspection, the good product is moved by the robot handling mechanism 43 to the pusher bag-in mechanism 44. The pusher bag-in mechanism 44 pushes the tray into the bag. The bag conveyor line 47 transports the material belt to the labeling station. The second labeling robot 48 picks up the label from the label printer 49 and affixes the label to the bag. The labeled bag is transported to the heat sealing station. The bag heat sealing mechanism 410 vacuums and heat seals the bag. The heat-sealed bag is then sent out by the bag conveyor line 47.

[0133] Preferably, the bag heat-sealing mechanism 410 includes a heat-sealing mounting bracket 4101. The heat-sealing mounting bracket 4101 is provided with an upper bag-supporting mechanism 412, an upper heat-sealing mechanism 413, an upper bag-pressing mechanism 414, a lower bag-supporting mechanism 415, a lower heat-sealing mechanism 416, and a vacuuming mechanism 417. The vacuuming mechanism 417 includes a vacuuming nozzle 4171 and a movement control mechanism 4172 that drives the vacuuming nozzle 4171 to move. The upper bag-supporting mechanism 412 and the lower bag-supporting mechanism 415 open the bag opening, the movement control mechanism 4172 controls the vacuuming nozzle 4171 to insert into the bag, the upper bag-pressing mechanism 414 presses the bag opening, the vacuuming nozzle 4171 vacuums the bag, and after the bag is vacuumed, it is pulled out, and the upper heat-sealing mechanism 413 and the lower heat-sealing mechanism 416 heat-seal the bag opening. The vacuum level of the vacuum nozzle 4171 is controlled by a precision pressure regulating valve. The precision pressure regulating valve controls the vacuum level according to the set vacuum level to ensure that the vacuum level of each material strip package is consistent.

[0134] Preferably, the movement control mechanism 4172 includes a lifting mounting plate 41721 and a lifting servo motor 41722 for controlling the movement of the lifting mounting plate 41721. The lifting mounting plate 41721 is provided with a transverse control cylinder 41723, which controls the transverse movement of the upper mounting plate 41724. The upper mounting plate 41724 is provided with two synchronous pulleys, a synchronous belt, and left and right control servo motors 41725. A vacuum nozzle mounting seat 41726 is connected to the synchronous belt. The output shaft of the left and right control servo motors 41725 is connected to one of the synchronous pulleys. The two synchronous pulleys are connected by the synchronous belt. The vacuum nozzle 4171 is mounted on the vacuum nozzle mounting seat 41726. The vacuum nozzle mounting seat 41726 is slidably connected to the upper mounting plate 41724 by a slider and a slide rail.

[0135] Preferably, the upper bag support mechanism 412 includes a first suction cup control cylinder 4121 and a second suction cup control cylinder 4122. The first suction cup control cylinder 4121 controls the first suction cup 4123 to move up and down, and the second suction cup control cylinder 4122 controls the cylinder mounting plate 4124 to move. A third suction cup control cylinder 4125 is provided on the cylinder mounting plate 4124. The third suction cup control cylinder 4125 controls the second suction cup 4126 to move. The first suction cup 4123 adsorbs the bag body, and the second suction cup 4126 adsorbs the bag opening.

[0136] The upper heat sealing mechanism 413 includes an upper control cylinder 4131, which controls the movement of an upper heat sealing strip mounting plate 4132, and an upper heat sealing strip 4133 is provided on the upper heat sealing strip mounting plate 4132.

[0137] The upper bag pressing mechanism 414 includes a bag pressing cylinder 4141, which controls a silicone strip mounting plate 4142 to move up and down, and a silicone strip 4143 is provided on the silicone strip mounting plate 4142.

[0138] The lower bag support mechanism 415 and the lower heat sealing mechanism 416 are both installed on the lower mounting plate 418. The lower mounting plate 418 is installed on one side of the lifting mounting plate 41721. The lower bag support mechanism 415 includes multiple lower suction cups 4151, and the lower heat sealing mechanism 416 includes a lower heat sealing strip 4161. The lower heat sealing strip 4161 corresponds vertically to the upper heat sealing strip 4133.

[0139] Preferably, the tray-feeding mechanism 44 includes a tray placement platform 441 and a tray sensor 442. A tray servo drive 443 is provided on one side of the tray placement platform 441. The tray servo drive 443 controls the movement of the push plate 444. A V-shaped limit plate 445 is provided on the push plate 444. The tray sensor 442 is mounted on a sensor bracket 446. The tray servo drive 443 includes a tray servo motor. The tray servo motor drives the push plate to move through a synchronous pulley and a synchronous belt. The push plate 444 is connected to the synchronous belt. When the tray sensor 442 senses that there is a tray on the tray placement platform 441, the tray servo drive 443 controls the push plate 444 to push the tray to move.

[0140] Preferably, the bag opening mechanism 46 includes an upper bag opening mechanism 461, a lower bag opening mechanism 462, and a bag supporting mechanism 463. The upper bag opening mechanism 461 includes a bag opening mounting bracket 4611, on which a bag opening cylinder mounting plate 4612 is provided. The bag opening cylinder mounting plate 4612 is provided with a bag opening lifting cylinder 4613 and a bag opening rotation control cylinder 4614. The bag opening lifting cylinder 4613 controls the movement of the upper bag opening suction cup 4615, and the bag opening rotation control cylinder 4614 controls the movement of a rack 4616. The rack 4616 and the gear 4617... The meshing transmission has a gear 4617 mounted on a rotating shaft 4618. The rotating shaft 4618 is mounted on the bottom of the bag opening cylinder mounting plate 4612 via a shaft seat. A bag clamping plate 4619 is provided on the rotating shaft 4618. After the bag clamping plate 4619 clamps the bag opening, the bag opening rotation control cylinder 4614 drives the bag clamping plate 4619 to rotate at a certain angle to clamp the bag opening. The lower bag opening mechanism 462 includes a lower bag opening cylinder 4621, which controls the movement of the lower suction cup mounting plate 4622. Multiple lower suction cups 4623 are spaced apart on the lower suction cup mounting plate 4622.

[0141] The bag-supporting mechanism 463 is located below the tray inlet end of the material tray placement platform 441. The bag-supporting mechanism 463 includes a bag-supporting cylinder mounting plate 4631, on which a bag-supporting cylinder 4632 is provided. The bag-supporting cylinder 4632 controls the movement of the bag-supporting slide plate 4633. A bag-supporting plate 4634 is provided on the bag-supporting slide plate 4633. The tray inlet end of the material tray placement platform 441 has a notch, and the bag-supporting plate 4634 is located at the notch. The upper bag-opening mechanism 461 and the lower bag-opening mechanism 462 open the bag opening, and the bag-supporting mechanism 463 expands the bag.

[0142] Preferably, the bag-picking robot 45 includes a bag-picking mounting bracket 451, a bag-picking lateral movement control cylinder 452 on the bag-picking mounting bracket 451, the bag-picking lateral movement control cylinder 452 controls the movement of the bag-picking lifting cylinder mounting plate 453, the bag-picking lifting cylinder mounting plate 453 is equipped with a bag-picking lifting control cylinder 454 on the bag-picking lifting cylinder mounting plate 453, the bag-picking lifting control cylinder 454 controls the movement of the bag-picking suction cup mounting bracket 455, and a plurality of bag-picking suction cups 456 are spaced apart on the bag-picking suction cup mounting bracket 455.

[0143] Preferably, the second labeling robot 48 includes a labeling X-axis servo module 481, a labeling Y-axis servo module 482, and a labeling Z-axis servo module 483. The labeling X-axis servo module 481 controls the movement of the labeling Y-axis servo module 482, the labeling Y-axis servo module 482 controls the movement of the labeling Z-axis servo module 483, and the labeling Z-axis servo module 483 controls the movement of the labeling rotation control motor mounting plate 484. The labeling rotation control motor mounting plate 484 is equipped with a labeling rotation control motor 485, which drives the labeling suction plate 486 to rotate.

[0144] Preferably, the robotic arm handling mechanism 43 includes a transverse servo module 431, which controls a lifting servo module 432 to move, the lifting servo module 432 controls a rotation control servo motor 433 to lift, and the rotation control servo motor 433 drives the handling suction cup 434 to rotate.

[0145] The transverse servo module 431 includes a transport servo motor mounting plate, on which a transport servo motor, a transport transmission synchronous belt, and two transport transmission synchronous belt pulleys are provided. The output shaft of the transport servo motor is connected to one of the transport transmission synchronous belt pulleys, and the two transport transmission synchronous belt pulleys are connected through the transport transmission synchronous belt. The transport transmission synchronous belt is connected to the transverse slide plate, and the transverse slide plate is connected to the transport servo motor mounting plate through a slide rail and a slider. The lifting servo module 432 is mounted on the transverse slide plate.

[0146] Preferably, the AOI inspection mechanism 42 includes a first visual inspection area 421 and a second visual inspection area 422. The first visual inspection area 421 is provided with four first light strips 423 arranged in a square. A lower visual inspection camera 424 is provided below the first visual inspection area 421. A side visual inspection camera 425 and a side light strip 426 are provided on one side of the first visual inspection area 421. The second visual inspection area 422 is provided with four second light strips 427 arranged in a square. An upper visual inspection camera 428 is provided above the second visual inspection area 422. The first visual inspection area 421 is used to detect whether there is damage on the upper surface of the tray. The second visual inspection area 422 is used to detect whether there is damage on the bottom and sides of the tray. When there is damage on the upper surface, lower surface or side of the tray, the robotic arm handling mechanism will transport the NG tray to the NG conveyor line 419 for delivery. The good product tray is transported to the pusher bagging mechanism for bagging.

[0147] A side vision inspection camera 425 is mounted on a side camera adjustment assembly, which is mounted on a first camera bracket 4251. The side camera adjustment assembly includes a side adjustment mounting plate 4252, on which a side adjustment lifting screw 4253 is provided. The side adjustment lifting screw 4253 controls the movement of a side lifting adjustment slide plate 4254. The side lifting adjustment slide plate 4254 is slidably connected to the side adjustment mounting plate 4252 via a slide rail and a slider. One end of the side lifting adjustment slide plate 4254 is connected to a side front-rear adjustment mounting plate 4255. The side front-rear adjustment mounting plate 4255 is provided with a front-rear adjustment slide plate 4256 and a side front-rear adjustment screw 4257. The side front-rear adjustment screw 4257 controls the movement of the front-rear adjustment slide plate 4256. The side vision inspection camera 425 is mounted on the front-rear adjustment slide plate 4256.

[0148] An upper vision inspection camera 428 is mounted on an upper camera adjustment assembly, which is mounted on an upper camera mounting bracket 4281. The upper camera adjustment assembly includes a base plate 4282, on which an upper front-to-back adjustment slide plate 4283 and an upper front-to-back adjustment screw 4284 are provided. The upper front-to-back adjustment screw 4284 adjusts the position of the upper front-to-back adjustment slide plate 4283. The upper front-to-back adjustment slide plate 4283 is provided with a left-to-right adjustment slide plate 4285 and a left-to-right adjustment screw 4286. The left-to-right adjustment screw 4286 controls the left-to-right position of the left-to-right adjustment slide plate 4285. The left-to-right adjustment slide plate 4285 is provided with a vertical adjustment mounting side plate 4287, on which a vertical adjustment screw 4288 and a vertical adjustment slide plate 4289 are provided. The vertical adjustment screw 4288 adjusts the height of the vertical adjustment slide plate 4289. The upper vision inspection camera 428 is mounted on the vertical adjustment slide plate 4289.

[0149] The process of AOI inspection and bagging of material trays: The robotic arm handling mechanism 43 transports the material trays that have completed AOI inspection to the pusher bagging mechanism 44, and then the pusher bagging mechanism 44 pushes the material trays into the material bags. Before bagging, the equipment has already completed the bag picking and opening actions and waits at the pusher bagging mechanism 44. After the material trays are bagged, they are moved by the material bag conveyor line 47. After being moved to the heat sealing station, the material bag heat sealing mechanism 410 opens the bag mouth by upper and lower suction cups. After the vacuum nozzle is inserted, the silicone pressure strip presses the bag mouth. The negative pressure value of the vacuum nozzle 4171 is controlled by the precision pressure regulating valve. After the vacuum degree is reached, the vacuum nozzle 4171 is pulled out, the heating strip is pressed down to seal, and finally the packaged material trays flow out.

[0150] Preferably, the tray-filling bubble bag equipment 3 includes a second frame 31, on which a bag conveyor line 32, a tray positioning platform 33, a bag filling robot 34, a bag picking robot 35, a bag opening mechanism 36, a vacuum heat sealing packaging mechanism 37, and a tape wrapping mechanism 38 are provided.

[0151] The bag-picking robot 35 picks up a bag from the bag hopper 39 and transports it to the bag-opening mechanism 36. The bag-opening mechanism 36 opens the bag, and the bag-filling robot 34 picks up a tray from the tray positioning platform 33 and fills the tray with bags. The bag conveyor line 32 transports the bags to the vacuum heat-sealing packaging mechanism 37 for vacuum heat sealing. After vacuum heat sealing, the bags are transported by the bag conveyor line 32 to the tape-wrapping mechanism 38 for securing the tray inside the bag with tape. The bags in the bag hopper 39 are manually stacked. The bag hopper 39 is equipped with a bag lifting servo. Each time the bag-picking robot 35 picks up a bag, the bag lifting servo controls the stacked bags to rise by one bag height.

[0152] Preferably, the second frame 31 is also provided with a filler stacking platform 310 and a filler transfer robot 311. The bottom of the filler stacking platform 310 is provided with a transfer mechanism 312. The transfer mechanism 312 pushes out the bottom layer of filler from the bottom of the filler stacking platform 310. The filler transfer robot 311 picks up the filler and transfers it to the picking position of the bagging robot 34.

[0153] The filler stacking platform 310 is provided with multiple filler stacking brackets 3101 spaced apart. Each filler stacking platform 310 is provided with a feeding hole below each filler stacking bracket 3101. The material transfer mechanism 312 includes a filler ejection cylinder, and a filler push block is provided at the piston rod end of the filler ejection cylinder.

[0154] The filler transfer robot 311 includes a filler transfer lateral servo module 3111, which controls the movement of a lateral support 3112. The lateral support 3112 has a receiving plate 3113, which is L-shaped. The filler transfer lateral servo module 3111 controls the receiving plate 3113 to move to the side of the filler stacking support 3101. The filler pushed out by the transfer mechanism 312 is pushed onto the receiving plate 3113. After the receiving plate 3113 receives the filler, the filler transfer lateral servo module 3111 controls the receiving plate 3113 to move to the picking position of the bagging robot 34, waiting for the bagging robot 34 to pick it up.

[0155] Preferably, the bag opening mechanism 36 includes a bag opening frame 361, and each of the four sides of the bag opening frame 361 is provided with a bag opening lifting cylinder 362. The piston rod end of the bag opening lifting cylinder 362 is provided with a bag opening plate control cylinder mounting plate 363. The bag opening plate control cylinder mounting plate 363 is provided with a bag opening plate control cylinder 364 and a bag clamping cylinder 365. The piston rod end of the bag opening plate control cylinder 364 is provided with a bag opening plate 366, and the piston rod end of the bag clamping cylinder 365 is provided with a bag clamping plate 367.

[0156] The bag opening lifting cylinder 362 controls the lifting of the bag opening plate 366, the bag opening plate control cylinder 364 controls the forward and backward movement of the bag opening plate 366, and the bag clamping cylinder 365 controls the bag clamping plate 367 to clamp the bag.

[0157] Preferably, one of the edges of the bag opening frame 361 is also provided with a bag suction cylinder mounting bracket 368, a bag suction cylinder 369 is provided on the bag suction cylinder mounting bracket 368, and a bag suction cup 360 is provided at the piston rod end of the bag suction cylinder 369.

[0158] When the bag-picking robot 35 moves the bag to the bottom of the bag-opening mechanism 36, the bag-suction cylinder 369 controls the bag-suction cup 360 to suck up the bag. The bag-picking robot 35 and the bag-suction cylinder 369 open the bag together. The bag-opening lifting cylinder 362 controls the bag-opening plate 366 to descend and insert into the bag. The bag-opening plate control cylinder 364 controls the bag-opening plate 366 to open the bag. The bag-clamping cylinder 365 controls the bag-clamping plate 367 to clamp the bag. The bag-clamping plate 367 clamps the bag to prevent it from falling during bagging. The bag-filling robot 34 picks up the material tray to fill the bag.

[0159] Preferably, the vacuum heat-sealing packaging mechanism 37 includes a heat-sealing frame 371, a vacuuming mechanism 372 and a heat-sealing abutment mechanism 373 are provided on one side of the heat-sealing frame 371, and a heat-sealing knife mechanism 374 and a bag mouth pressing mechanism 375 are provided on the other side of the heat-sealing frame 371.

[0160] Both the bag opening pressing mechanism 375 and the heat sealing abutment mechanism 373 include a movement control cylinder 3731, which controls the movement of the base plate 3732.

[0161] The vacuuming mechanism 372 includes a lifting cylinder mounting plate 3721, on which a lifting cylinder 3722 is provided. The lifting cylinder 3722 controls a lifting plate 3723 to move up and down. The lifting plate 3723 is provided with a transverse control drive 3724, which controls the movement of two vacuum suction nozzle seats 3725. A second vacuum suction nozzle 3726 is installed on the vacuum suction nozzle seat 3725.

[0162] Preferably, the transverse control drive 3724 includes a transverse control servo motor, two synchronous pulleys and a synchronous belt. The two synchronous pulleys are connected by the synchronous belt. The output shaft of the transverse control servo motor is connected to one of the synchronous pulleys. One vacuum nozzle seat is connected to the upper belt body of the synchronous belt, and the other vacuum nozzle seat is connected to the lower belt body of the synchronous belt.

[0163] Preferably, the tape wrapping mechanism 38 includes a mounting side plate 381. A plurality of third rollers 382 are spaced apart on one side of the mounting side plate 381. The plurality of third rollers 382 together drive a turntable 383. A tape wrapping guide rod 384 is provided on the turntable 383. A servo motor 385 is provided on the other side of the mounting side plate 381 to drive the turntable 383 to rotate. The output shaft of the servo motor 385 is provided with an active synchronous pulley. A driven synchronous pulley is provided on the axle of one of the rollers. The active synchronous pulley and the driven synchronous pulley are connected by a synchronous belt.

[0164] The mounting side plate 381 is provided with a tape rod 386, and a tape roll 387 is threaded through the tape rod 386.

[0165] The upper end of the mounting side plate 381 is provided with an upper positioning mechanism 388. The upper positioning mechanism 388 includes an upper mounting plate 3881. Both ends of the upper mounting plate 3881 are provided with cylinder mounting plates 3882. Both cylinder mounting plates 3882 are provided with upper positioning cylinders 3883. The upper positioning cylinders 3883 control the movement of the upper positioning plate 3884.

[0166] Preferably, the front side of the mounting side plate 381 is provided with a first positioning mechanism 389 and a tape cutting mechanism 380, and the rear side of the mounting side plate 381 is provided with a second positioning mechanism 3801 and a third positioning mechanism 3802, respectively.

[0167] The first positioning mechanism 389 includes a first cylinder mounting plate 3891, on which a first transverse control cylinder 3892 is provided. The first transverse control cylinder 3892 controls the movement of the first positioning cylinder mounting plate 3893. The first positioning cylinder mounting plate 3893 is provided with a first positioning cylinder 3894 and a first linear guide rail 3895. The first positioning cylinder 3894 controls the movement of the first mounting plate 3896. The first mounting plate 3896 is provided with a first positioning plate 3897. The first mounting plate 3896 is slidably connected to the first linear guide rail 3895 through a slider. The first positioning plate 3897 is U-shaped, and the two sides of the first positioning plate 3897 extend outward with inclined baffles 3898.

[0168] The second positioning mechanism 3801 includes a second positioning cylinder mounting plate 38011, a second positioning cylinder 38012 and a second linear guide rail 38013 are provided on the second positioning cylinder mounting plate 38011, a second mounting plate 38014 is provided at the piston rod end of the second positioning cylinder 38012, a second positioning plate 38015 is provided on the second mounting plate 38014, and the second mounting plate 38014 is slidably connected to the second linear guide rail 38013 through a slider;

[0169] The third positioning mechanism 3802 includes a third positioning cylinder mounting plate 38021, a third front and rear positioning cylinder 38022 on the third positioning cylinder mounting plate 38021, the third front and rear positioning cylinder 38022 controls the movement of a left and right cylinder mounting plate 38023, the left and right cylinder mounting plate 38023 is provided with a third left and right control cylinder 38024, the third left and right control cylinder 38024 controls the movement of the third positioning plate 38025;

[0170] The tape cutting mechanism 380 includes a support base 3801. The support base 3801 is equipped with a left-right control cylinder 3802 for the cutter and a front-back control cylinder 3803 for the suction cup. The left-right control cylinder 3802 controls the movement of the front-back control cylinder 3804 for the cutter. The left-right control cylinder 3804 controls the movement of the cutter cylinder 3805. The cutter cylinder 3805 controls the movement of the cutter 3806. The front-back control cylinder 3803 controls the movement of a left-right control cylinder 3807 for the suction cup. The left-right control cylinder 3807 controls the movement of the suction cup bracket 3808. The suction cup bracket 3808 is equipped with a suction cup 3809. The suction cup 3809 holds the tape. The cutter cylinder 3805 controls the cutter 3806 to cut the tape.

[0171] Preferably, the bag-picking robot 35 includes a bag-picking X-axis servo module 351 and a bag-picking Z-axis servo module 352. The bag-picking X-axis servo module 351 controls the movement of the bag-picking Z-axis servo module 352, and the bag-picking Z-axis servo module 352 controls the movement of a bag-picking lifting slide plate 353. A rotary cylinder mounting plate 354 is provided on the bag-picking lifting slide plate 353, and a rotary cylinder 355 is provided on the rotary cylinder mounting plate 354. The rotary cylinder 355 controls the rotation of a swing arm 356, and a bag-picking suction cup mounting plate 357 is provided on the swing arm 356. Multiple bag-picking suction cups 358 are spaced apart on the bag-picking suction cup mounting plate 357. The bag-picking X-axis servo module 351 has the same structure as the bag-filling X-axis servo module 341.

[0172] Preferably, the bagging robot 34 includes a bagging X-axis servo module 341 and a bagging Z-axis servo module 342. The bagging X-axis servo module 341 controls the movement of the bagging Z-axis servo module 342, and the bagging Z-axis servo module 342 controls the movement of a bagging lifting plate 343. The bottom of the bagging lifting plate 343 is provided with a bagging suction cup bracket 344, and multiple bagging suction cups 345 are spaced apart on the bagging suction cup bracket 344. The bagging X-axis servo module 341 includes a bagging X-axis servo motor, two synchronous pulleys, and a synchronous belt. The two synchronous pulleys are connected by the synchronous belt, and the output shaft of the bagging X-axis servo motor is connected to one of the synchronous pulleys. The bagging Z-axis servo module 342 includes a bagging Z-axis servo motor and a transmission screw. The bagging Z-axis servo motor drives the transmission screw through the synchronous pulleys and the synchronous belt.

[0173] Bagging process: The bag-picking robot 35 uses a sponge suction cup to grab the bubble bag and transports it to the bag-opening mechanism 36. Working in conjunction with the bag-opening mechanism 36, it opens the bag. After the bubble bag is opened, the pressing cylinder drives the opening plate to insert into the bubble bag, opening the bag opening. The clamping plate then presses the bubble bag tightly to prevent it from falling out. The bag-filling robot 34 picks up the material tray and starts counting. According to the instructions from the host computer, each bag contains fifteen trays. If there are fewer than fifteen trays, the bag-filling robot needs to grab filler (foam) to make up the height. If there are only one to five trays left, the machine alarms and manual processing is required to ensure uniform packaging. After the bag is filled, the pressing cylinder is released, and the bubble bag flows into the heat-sealing station of the vacuum heat-sealing packaging mechanism 37 for vacuum heat-sealing. After sealing, it enters the tape-wrapping station, where transparent tape is used to tightly wrap the bubble bag to prevent the material tray from shaking inside.

[0174] Preferably, the pallet packing equipment 6 includes a third frame 61, on which a pallet bag conveyor line 62, a carton roller conveyor line 63, a pallet bag transfer and positioning mechanism 64, a packing robot 65, and a carton opening mechanism 66 are provided.

[0175] The material tray transfer and positioning mechanism 64 picks up material trays from the material tray conveyor line 62 and places them on the positioning platform 67 for positioning. 64 material trays are stacked on the positioning platform 67 at a time. The carton roller conveyor line 63 conveys the carton to the area directly below the carton opening mechanism 66 and positions the carton through the positioning cylinder 68. The carton opening mechanism 66 opens the carton opening. The packing robot 65 picks up 64 material trays from the positioning platform 67 at once, moves them to the top of the carton, and loads all 64 material trays into the carton at the same time.

[0176] Preferably, the third frame 61 is also equipped with a filler conveyor line 69 and a filler handling robot 610. When the number of material trays on the positioning platform 67 is less than four, the filler handling robot 610 picks up the filler from the unloading position of the filler conveyor line 69 and transports the filler to the positioning platform 67 for positioning together with the material trays. The filler is sponge or foam. The shape and size of the filler are the same as those of the material trays.

[0177] Preferably, the material tray bag transfer and positioning mechanism 64 includes a material tray bag transfer robot 611 and a material tray bag positioning mechanism 612;

[0178] The material tray transfer robot 611 includes a transfer lateral servo module 6111, which controls the movement of the transfer lifting control cylinder 6112. The transfer lifting control cylinder 6112 controls the lifting and lowering movement of a cylinder bracket 6113. A transfer rotation control cylinder 6114 is provided on the cylinder bracket 6113. The transfer rotation control cylinder 6114 controls the rotation of the transfer clamping cylinder 6115. The transfer clamping cylinder 6115 controls two transfer clamping plates 6116 to clamp the material tray. The transfer lateral servo module 6111 can control the transfer clamping cylinder 6115 to pick up and put down the material tray between the material tray conveyor line 62 and the material tray positioning mechanism 612.

[0179] The material tray positioning mechanism 612 includes a rear positioning servo module 6121 disposed on the rear side of the positioning platform 67, a side positioning mechanism 6122 disposed on the left and right sides of the positioning platform 67, and a positioning plate 6123 disposed on the front side of the positioning platform 67.

[0180] The rear positioning servo module 6121 can push the material tray on the positioning platform 67 toward the positioning plate 6123, and the side positioning mechanisms 6122 on both sides can push the material tray on the positioning platform 67 to the middle of the positioning platform 67.

[0181] Preferably, the rear positioning servo module 6121 includes a positioning servo module 61211, which controls the movement of a rear positioning plate 61212.

[0182] The side positioning mechanism 6122 includes a side positioning cylinder 61221, which controls the movement of a side positioning plate 61222.

[0183] Preferably, the packing robot 65 includes a packing X-axis servo module 651, a packing Y-axis servo module 652, and a packing Z-axis servo module 653. The packing X-axis servo module 651 controls the movement of the packing Y-axis servo module 652, the packing Y-axis servo module 652 controls the movement of the packing Z-axis servo module 653, and the packing Z-axis servo module 653 controls the movement of a lifting bracket 654. The bottom of the lifting bracket 654 is provided with a packing clamping and picking mechanism 613.

[0184] Preferably, the packing clamping and handling mechanism 613 includes two side mounting plates 6131. ​​Each of the two side mounting plates 6131 is provided with a clamping control cylinder 6132 and a connecting rod assembly 6133 on its outer side. The connecting rod assembly 6133 connects to the two clamping plates 6134. The clamping control cylinder 6132 controls the two clamping plates 6134 to clamp the material tray by driving the connecting rod assembly 6133. Lifting cylinder mounting plates 6135 are provided at both ends of the two side mounting plates 6131. ​​Lifting cylinders 6136 are provided on the lifting cylinder mounting plates 6135. Multiple lifting cylinders 6136 jointly control the movement of a lifting platform 6137. Two pressing cylinders 6138 are provided on the lifting platform 6137. The two pressing cylinders 6138 control the movement of a sponge suction cup mounting plate 6139. Two sponge suction cups 6130 are provided on the sponge suction cup mounting plate 6139.

[0185] Preferably, the linkage assembly 6133 includes a left linkage 61331, a right linkage 61332, and a middle linkage 61333. The middle part of the middle linkage 61333 is connected to the side mounting plate 6131 through a middle pivot. One end of the middle linkage 61333 is movably connected to the left linkage 61331 through a left pivot, and the other end of the middle linkage 61333 is movably connected to the right linkage 61332 through a right pivot.

[0186] The right rotating shaft is provided with a right shaft rod. One end of the right shaft rod is connected to the piston rod of the clamping control cylinder 6132. The side mounting plate 6131 is also provided with two elongated holes 61301 at intervals. The shaft rod of the left rotating shaft passes through one of the elongated holes 61301 and is connected to a clamping plate. The other end of the right shaft rod passes through the other elongated hole 61301 and is connected to the other clamping plate.

[0187] The clamping plate 6134 is provided with a connecting rod 61341, and the upper end of the connecting rod 61341 is provided with a slider plate 61342. The slider plate 61342 is connected to the side mounting plate 6131 through a slide rail and a slider.

[0188] Preferably, the carton opening mechanism 66 includes an opening frame 661, with side opening mechanisms 662 and displacement control cylinders 663 controlling the movement of the side opening mechanisms 662 on both the left and right side frames of the opening frame 661. The side opening mechanisms 662 are connected to the side frames of the opening frame 661 via slide rails and sliders. Slide cylinders 664 are provided at each of the four corners of the opening frame 661. The slide cylinders 664 are mounted on slide cylinder mounting plates 665, which are mounted on the frame 1.

[0189] The side support mechanism 662 includes a side servo motor mounting plate 6621, on which a side support control servo motor 6622 and a first rotating shaft seat 6623 are provided. The first rotating shaft seat 6623 is provided with a first rotating shaft 6624, and the first rotating shaft 6624 is provided with a first support plate 6625. One end of the first rotating shaft 6624 is provided with a first driven synchronous pulley 6626. The output shaft of the side support control servo motor 6622 is provided with a first driving synchronous pulley 6627. The first driving synchronous pulley 6627 and the first driven synchronous pulley 6626 are connected by a first synchronous belt 6628.

[0190] Preferably, the front side frame of the support frame 661 is provided with a front support mechanism 666 and a movement control cylinder 667 for controlling the sliding of the front support mechanism, and the rear side frame of the support frame 661 is provided with a rear support mechanism 668. The front support mechanism 666 is slidably connected to the side frame of the support frame 661 via a displacement slide plate 669. The left and right sides of the support frame 661 are each provided with a linear slide rail 660, and the displacement slide plate 669 is slidably connected to the linear slide rail 660 via a slider. The structure of the rear support mechanism 668 is the same as the structure of the two side support mechanisms 662.

[0191] The front support mechanism 666 includes a servo motor mounting plate 6661, a support control servo motor 6662 on the servo motor mounting plate 6661, a second rotating shaft seat 6663 on the displacement slide plate 669, a second rotating shaft 6664 on the second rotating shaft seat 6663, a second support plate 6665 on the second rotating shaft 6664, a second driven synchronous pulley 6666 at one end of the second rotating shaft 6664, a second driving synchronous pulley 6667 on the output shaft of the support control servo motor 6662, and the second driving synchronous pulley 6667 and the second driven synchronous pulley 6666 are connected by a second synchronous belt 6668.

[0192] Preferably, the filler handling robot 610 includes an X-axis servo module 6101 and a Y-axis servo module 6102. The X-axis servo module 6101 controls the movement of the Y-axis servo module 6102, and the Y-axis servo module 6102 controls the movement of a lifting control slide cylinder 6103. The lifting control slide cylinder 6103 controls the lifting and lowering movement of a gripper cylinder 6104, and the gripper cylinder 6104 controls two clamping plates 6105 to hold the filler. The filler handling robot 610 picks up the filler from the unloading position of the filler conveyor line 69 and can transport the filler to the positioning platform 67 for positioning together with the material tray. When the packing robot 65 picks up the filler, it simultaneously grips and packs the material tray.

[0193] The packing process is as follows: The trays filled with bubble wrap flow into the packing machine via the tray conveyor line 62. According to the requirements of the MES production instructions, the trays are transferred to the positioning platform 67 by the tray transfer robot 611. Four trays make one box. When there are not four trays, the filler handling robot 610 grabs filler to supplement. After the 64 trays are repositioned, they are grabbed by the four sets of sponge suction cups on the packing robot 65 and placed at the packing opening. The opened cartons flow into the equipment via the carton roller conveyor line 63. After the carton is positioned by the clamping cylinder, the four trays are packed at the same time. After the packing robot 65 descends to a certain height, the clamping control cylinder 6132 is depressurized. After depressurization, it is pressed down again. After reaching the position, the suction cups hold the trays and the clamping plate is pulled out. Finally, the packing robot 65 returns to the initial position, and the cartons are packed and flow out.

[0194] Material tray and frame robot loading equipment: AGV transports material trays and frames to the loading roller line. The positioning rollers position the frames, and the camera takes pictures of the trays for positioning and code reading. Guided by the camera, the robot picks up the trays and then rotates them to place them on the labeling machine. Empty frames are manually unloaded, and some tray frames are returned to the CTU.

[0195] Tray labeling equipment: Robots feed the materials onto a walking conveyor line, and barcode scanners scan and verify the labels. A printer prints the corresponding labels based on the information, and a labeling robot affixes the labels to the designated positions on the tray. The labeled trays are then conveyed to the next machine.

[0196] AOI inspection machine and bagging machine equipment: The bag picking robot picks up the bag from the packaging bag hopper and places it on the production line. The production line moves the bag to the bagging position, and the bag opening component opens the bag. The upper camera takes a picture of the upper surface of the tray. After the picture is taken, the picking robot picks up the tray. OK material is placed on the tray pushing component, and the barcode scanner scans the OK material tray. NG material is placed on the NG production line (to be removed manually). The tray pushing mechanism pushes the tray into the bag (only one tray is loaded per bag). Then the production line moves the conveyor belt to the sealing position, and the sealing mechanism seals the conveyor belt, which then flows to the next station.

[0197] Bubble bag filling equipment: The positioning component positions the product, the bubbly bag retrieval robot picks up the bubble bag, the bubble bag opening component opens the bag opening, and the robot places the product into the bag; for less than 5 trays, two inflatable bags are filled, and for less than 10 trays, one inflatable bag is filled. The bubble bag is sealed by a heat-sealing knife and tied with adhesive tape.

[0198] The second layer of bubble bag loading equipment: the positioning component positions the product, the bubble bag picking robot picks up the bubble bag, the bubble bag opening component opens the bag opening, and the robot puts a bag (15 trays of material) of product into the bag; the bubble bag is sealed by the heat sealing knife and tied with adhesive tape.

[0199] Material tray packing equipment: A bag of product flows into the feed line and stops at the end of the line. The picking robot grabs the product and puts it into the product arranging mechanism. The product arranging mechanism arranges the products into groups of four. Then the packing robot picks up the four products together and puts them into a carton. Finally, the carton filled with material flows out of the material roller line.

[0200] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and structure of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A full-automatic production line for boxing bubble bags on a tray, characterized in that, The tray tray frame robot feeding equipment, the tray labeling equipment, the AOI detection machine and the bagging machine equipment, the tray bubble bag filling equipment, the tray second layer bubble bag filling equipment, the tray boxing equipment, the paper box labeling equipment, the paper box one character carton sealing labeling equipment, the paper box I beam carton sealing equipment, the single material bin opening box labeling equipment, the bundling machine and the unloading roller line are included;The tray tray frame robot feeding equipment carries the tray in the material frame to the tray labeling equipment to carry out labeling, the tray labeling equipment labels the tray, the AOI detection machine and the bagging machine equipment detect the tray, and the qualified tray is packed by bagging and sealing;The tray bubble bag filling equipment stacks the tray after bagging into the first layer bubble bag, the tray second layer bubble bag filling equipment fills the second layer bubble bag for the tray with the first layer bubble bag, the tray boxing equipment boxes the tray with the bubble bag, and the boxed tray is conveyed to the single material bin opening box labeling equipment to paste the tear-resistant label; The paper box labeling equipment is connected with the inlet of the tray boxing equipment through the roller conveying line, the single material bin opening box labeling equipment is connected with the outlet of the tray boxing equipment through the roller conveying line, the single material bin opening box labeling equipment is located on one side of the paper box one character carton sealing labeling equipment, the paper box is conveyed to the paper box one character carton sealing labeling equipment after the tear-resistant label is pasted on the opened box, the outlet of the paper box one character carton sealing labeling equipment is connected with the paper box I beam carton sealing equipment through the corner roller conveying line, the paper box I beam carton sealing equipment is conveyed to the bundling machine after the I beam adhesive tape is sealed, and the bundling machine is used for packaging and bundling the paper box.

2. The full-automatic production line for boxing the bubble bags filled with the material trays according to claim 1, characterized in that, The tray tray frame robot feeding equipment includes a six-axis robot, a visual photographing mechanism, a first roller conveying line, a second roller conveying line, a third roller conveying line, a fourth roller conveying line and a fifth roller conveying line, the second roller conveying line, the third roller conveying line and the fourth roller conveying line are provided with a material frame transplanting mechanism, the first roller conveying line conveys the material frame to the second roller conveying line, the material frame transplanting mechanism on the second roller conveying line transplants the material frame to the third roller conveying line, the third roller conveying line is also provided with a left clamping mechanism and a right clamping mechanism, the left clamping mechanism and the right clamping mechanism clamp the material frame, the visual photographing mechanism photographs and identifies each tray, and the six-axis robot grasps the tray by vacuum suction plate suction; The visual photographing mechanism includes a support, the support is provided with an X-axis servo drive, the X-axis servo drive controls the movement of a Y-axis servo drive, the Y-axis servo drive controls the movement of a Z-axis servo drive, the Z-axis servo drive controls the movement of a lifting plate, the lifting plate is provided with a camera support, the camera support is provided with a camera height adjusting screw, the camera height adjusting screw can adjust the height position of the camera seat, the camera seat is provided with a camera, and the camera seat is connected to the camera support through a sliding block and a sliding rail. The vacuum chuck is installed on a vacuum chuck support, the vacuum chuck support is installed on a connecting rod, an upper end of the connecting rod is provided with an electric slip ring, the electric slip ring is installed on the six-axis robot, and the electric slip ring can be rotated to compensate according to the tray offset angle fed back by the visual photographing mechanism. The left clamping mechanism comprises a front positioning cylinder mounting support and a side positioning cylinder mounting support, the front positioning cylinder mounting support is provided with a front positioning cylinder, a piston rod end of the front positioning cylinder is provided with a front positioning plate, and the side positioning cylinder mounting support is provided with a side positioning cylinder. The right clamping mechanism comprises a rear positioning cylinder mounting support, the rear positioning cylinder mounting support is provided with a rear positioning cylinder, and a piston rod end of the rear positioning cylinder is provided with a rear positioning plate.

3. The full-automatic production line for boxing the bubble bags filled with the material trays according to claim 2, characterized in that, The tray transplanting mechanism comprises a lifting plate and a bottom plate, a plurality of belt pulley mounting plates are arranged on the lifting plate at intervals, a plurality of belt pulleys are arranged on each belt pulley mounting plate at intervals, a plurality of the belt pulleys are connected by a conveying belt, the conveying belt is driven by a main transmission rod, the main transmission rod is controlled to rotate by a servo drive, the lifting plate is connected to the bottom plate by sliding through a plurality of guide rods, the bottom plate is provided with a jacking cylinder, and a piston rod end of the jacking cylinder is connected to the lifting plate. The second roller conveying line is located at an outfeed end of the first roller conveying line, the third roller conveying line is located at an outfeed end of the second roller conveying line, the fourth roller conveying line is located at an outfeed end of the third roller conveying line, and the fifth roller conveying line is located at an outfeed end of the fourth roller conveying line.

4. The full-automatic production line for boxing the bubble bags filled with the material trays according to claim 1, characterized in that, The tray labeling equipment comprises a first rack, a conveying platform, a label printer and a labeling manipulator are arranged on the first rack, a sliding plate and a movement control drive for controlling movement of the sliding plate are arranged on the conveying platform, a tray jacking positioning mechanism is arranged on the sliding plate, and the labeling manipulator drives a label taking and rolling mechanism to move. The label taking and rolling mechanism comprises a label taking assembly and a rolling mechanism. The label taking assembly comprises a label suction plate, the label suction plate is installed on a connecting plate, the connecting plate is connected to a mounting plate through a plurality of guide rods, and one side of the connecting plate is provided with a limiting plate. The rolling mechanism comprises a roller, the roller is located at one side of the label suction plate, the roller is installed on a roller support, the roller support is controlled to lift by a cylinder, the cylinder is fixed at one side of the mounting plate, the roller support is provided with a spring mounting screw rod, a buffer spring is arranged on the spring mounting screw rod, the spring mounting screw rod penetrates the limiting plate and is screwed with the roller support. The labeling manipulator comprises an X-axis servo drive module, a Y-axis servo drive module and a Z-axis servo drive module, the X-axis servo drive module controls the movement of the Y-axis servo drive module, the Y-axis servo drive module controls the movement of the Z-axis servo drive module, the Z-axis servo drive module controls the lifting movement of a motor mounting plate, the motor mounting plate is provided with a rotary control motor and a transmission shaft, the transmission shaft is provided with a driven pulley and a transmission connecting block, the output shaft of the rotary control motor is provided with a driving pulley, the driving pulley is connected with the driven pulley through a synchronous belt, and the transmission connecting block is fixedly connected with the mounting plate.

5. The full-automatic production line for boxing the bubble bags filled with the material trays according to claim 4, characterized in that, The tray jacking positioning mechanism comprises a bottom plate and a positioning plate, the bottom plate is provided with a jacking cylinder and a guide rod, the piston rod end of the jacking cylinder is connected to the positioning plate, and the guide rod is connected to the positioning plate through a guide sleeve. The bottom plate is mounted on one side of the sliding plate, the sliding plate drives the movement of the bottom plate, the movement of the bottom plate can drive the movement of the positioning plate, the other side of the sliding plate is provided with a sliding block, the sliding block is slidingly connected to a linear sliding rail, and the linear sliding rail is mounted on the inner side of the conveying platform. The movement control drive comprises a stepping motor, the output shaft of the stepping motor is provided with a driving synchronous pulley, the driving synchronous pulley is connected with a driven synchronous pulley through a synchronous belt, the driven synchronous pulley is mounted on the side of the conveying platform, the stepping motor is mounted on the side of the conveying platform, the sliding plate is clamped and connected to the synchronous belt through a clamping plate, and the synchronous belt drives the movement of the sliding plate when rotating. The conveying platform horizontally conveys the tray to the labeling position, and the labeling manipulator controls the movement of the label taking and rolling mechanism to the label printer to take labels and roll and paste the labels on the tray.

6. The full-automatic production line for boxing the bubble bags filled with the pods according to claim 1, characterized in that, The AOI detection machine and the bagging machine device comprise a fourth rack, the fourth rack is provided with an AOI detection mechanism, a manipulator carrying mechanism, a tray pushing and bagging mechanism, a material bag taking manipulator, a bag opening mechanism, a material bag conveying line, a labeling manipulator, a label printer and a material bag heat sealing mechanism. The material bag taking manipulator takes the material bag from the material bag bin and places it on the material bag conveying line, the material bag conveying line conveys the material bag to the bag opening station, the bag opening mechanism opens the material bag to wait for the tray, the manipulator carrying mechanism carries the tray to the AOI detection mechanism to detect whether there is damage on the surface of the tray, the good products after detection are carried by the manipulator carrying mechanism to the tray pushing and bagging mechanism, the tray pushing and bagging mechanism pushes the tray into the bag, the material bag conveying line conveys the material bag to the labeling station, the labeling manipulator takes the label from the label printer and pastes the label on the material bag, the material bag after pasting the label is conveyed to the heat sealing station, and the material bag heat sealing mechanism performs vacuumizing and heat sealing treatment on the material bag, and the material bag after heat sealing is sent out by the material bag conveying line.

7. The full-automatic production line for boxing the bubble bags filled with the pods according to claim 1, characterized in that, The tray bubble bag equipment comprises a second rack, a material bag conveying line, a tray positioning platform, a bagging manipulator, a material bag taking manipulator, a bag opening mechanism, a vacuum heat sealing packaging mechanism and a adhesive tape winding mechanism are arranged on the second rack; The material bag taking manipulator takes material bags from the material bag bin and conveys the material bags to the position of the bag opening mechanism, the bag opening mechanism opens the material bags, the bagging manipulator takes the tray from the tray positioning platform and bags the tray, the material bag conveying line conveys the material bags to the vacuum heat sealing packaging mechanism for vacuum heat sealing, and the material bags after vacuum heat sealing are conveyed by the material bag conveying line to the adhesive tape winding mechanism for fixing the tray in the material bag by winding adhesive tape; The second rack is further provided with a filler stacking platform and a filler transplanting manipulator, the bottom of the filler stacking platform is provided with a material pushing mechanism, the material pushing mechanism pushes out the bottom layer of fillers from the bottom of the filler stacking platform, and the filler transplanting manipulator takes the fillers and transplants the fillers to the material taking position of the bagging manipulator; A plurality of filler stacking supports are arranged on the filler stacking platform at intervals, the filler stacking platform is provided with a discharging hole below each filler stacking support, and the material pushing mechanism comprises a filler pushing cylinder, and the end of the piston rod of the filler pushing cylinder is provided with a filler pushing block; The filler transplanting manipulator comprises a filler transplanting horizontal movement servo module, the filler transplanting horizontal movement servo module controls the movement of a horizontal movement support, the horizontal movement support is provided with a material taking plate, and the material taking plate is in an L shape; The bag opening mechanism comprises a bag opening frame, four edge frames of the bag opening frame are provided with bag opening lifting cylinders, the end of the piston rod of each bag opening lifting cylinder is provided with a bag opening plate control cylinder mounting plate, the bag opening plate control cylinder mounting plate is provided with a bag opening plate control cylinder and a bag clamping cylinder, the end of the piston rod of the bag opening plate control cylinder is provided with a bag opening plate, and the end of the piston rod of the bag clamping cylinder is provided with a bag clamping plate; The bag opening lifting cylinders control the lifting of the bag opening plate, the bag opening plate control cylinder controls the forward and backward movement of the bag opening plate, and the bag clamping cylinder controls the clamping of the bag clamping plate; The bag taking cylinder mounting support is provided with a bag taking cylinder, and the end of the piston rod of the bag taking cylinder is provided with a bag taking suction cup; When the material bag taking manipulator carries the material bag to the lower side of the bag opening mechanism, the bag taking cylinder controls the bag taking suction cup to suck the material bag, the material bag taking manipulator and the bag taking cylinder jointly open the material bag, the bag opening lifting cylinder controls the bag opening plate to descend and insert into the material bag, the bag opening plate control cylinder controls the bag opening plate to open the material bag, and the bag clamping cylinder controls the bag clamping plate to clamp the material bag; The vacuum heat sealing packaging mechanism comprises a heat sealing frame, one side edge frame of the heat sealing frame is provided with a vacuumizing mechanism and a heat sealing abutting mechanism, the other side edge frame of the heat sealing frame is provided with a heat sealing knife mechanism and a bag opening pressing mechanism; The bag opening pressing mechanism and the heat sealing abutting mechanism both comprise a movement control cylinder, and the movement control cylinder controls the movement of a bottom plate. The vacuumizing mechanism comprises a lifting cylinder mounting plate, a lifting cylinder is arranged on the lifting cylinder mounting plate, the lifting cylinder controls a lifting plate to move up and down, a horizontal movement control drive is arranged on the lifting plate, the horizontal movement control drive controls two vacuumizing suction nozzle holders to move, and a vacuumizing suction nozzle is mounted on the vacuumizing suction nozzle holder.

8. The full-automatic production line for boxing the bubble bags filled with the material trays according to claim 7, characterized in that, The tape winding mechanism comprises a mounting side plate, a plurality of third rollers are arranged on one side of the mounting side plate at intervals, the third rollers jointly drive a rotating disc, a tape winding guide rod is arranged on the rotating disc, a servo motor for driving the rotating disc to rotate is arranged on the other side of the mounting side plate, an output shaft of the servo motor is provided with a driving synchronous wheel, an axle of one of the rollers is provided with a driven synchronous wheel, and the driving synchronous wheel and the driven synchronous wheel are connected through a synchronous belt; A tape sleeve rod is arranged on the mounting side plate, and a tape roll is arranged on the tape sleeve rod; An upper positioning mechanism is arranged on the upper end of the mounting side plate, the upper positioning mechanism comprises an upper mounting plate, air cylinder mounting plates are arranged at both ends of the upper mounting plate, upper positioning air cylinders are arranged on the air cylinder mounting plates, and the upper positioning air cylinders control an upper positioning plate to move; A first positioning mechanism and a tape cutting mechanism are arranged on the front side of the mounting side plate at intervals, and a second positioning mechanism and a third positioning mechanism are arranged on the rear side of the mounting side plate at intervals; The first positioning mechanism comprises a first air cylinder mounting plate, a first horizontal movement control air cylinder is arranged on the first air cylinder mounting plate, the first horizontal movement control air cylinder controls a first positioning air cylinder mounting plate to move, the first positioning air cylinder mounting plate is provided with a first positioning air cylinder and a first linear guide rail, the first positioning air cylinder controls a first mounting plate to move, the first mounting plate is provided with a first positioning plate, the first mounting plate is slidably connected with the first linear guide rail through a sliding block, the first positioning plate is in a U shape, and the two side edges of the first positioning plate extend outward and are provided with inclined baffle plates; The second positioning mechanism comprises a second positioning air cylinder mounting plate, the second positioning air cylinder mounting plate is provided with a second positioning air cylinder and a second linear guide rail, a second mounting plate is arranged at the piston rod end of the second positioning air cylinder, the second mounting plate is provided with a second positioning plate, and the second mounting plate is slidably connected with the second linear guide rail through a sliding block; The third positioning mechanism comprises a third positioning air cylinder mounting plate, the third positioning air cylinder mounting plate is provided with a third front-rear positioning air cylinder, the third front-rear positioning air cylinder controls a left-right air cylinder mounting plate to move, the left-right air cylinder mounting plate is provided with a third left-right control air cylinder, and the third left-right control air cylinder controls a third positioning plate to move; The tape cutting mechanism comprises a support seat, a cutter left-right control air cylinder and a suction disc front-rear control air cylinder are arranged on the support seat, the cutter left-right control air cylinder controls a cutter front-rear control air cylinder to move, the cutter left-right control air cylinder controls a cutter air cylinder to move, the cutter air cylinder controls a cutter to move, the suction disc front-rear control air cylinder controls a suction disc left-right control air cylinder to move, the suction disc left-right control air cylinder controls a suction disc support to move, a suction disc is arranged on the suction disc support, the suction disc sucks the tape, and the cutter air cylinder controls the cutter to cut the tape; The bag taking manipulator comprises a bag taking X-axis servo module and a bag taking Z-axis servo module, the bag taking X-axis servo module controls movement of the bag taking Z-axis servo module, the bag taking Z-axis servo module controls movement of a bag taking lifting slide, the bag taking lifting slide is provided with a rotary cylinder mounting plate, the rotary cylinder mounting plate is provided with a rotary cylinder, the rotary cylinder controls rotation of a swing arm, the swing arm is provided with a bag taking suction disc mounting plate, and a plurality of bag taking suction discs are arranged on the bag taking suction disc mounting plate at intervals; The bag taking manipulator comprises a bag taking X-axis servo module and a bag taking Z-axis servo module, the bag taking X-axis servo module controls movement of the bag taking Z-axis servo module, the bag taking Z-axis servo module controls movement of a bag taking lifting slide, the bag taking lifting slide is provided with a rotary cylinder mounting plate, the rotary cylinder mounting plate is provided with a rotary cylinder, the rotary cylinder controls rotation of a swing arm, the swing arm is provided with a bag taking suction disc mounting plate, and a plurality of bag taking suction discs are arranged on the bag taking suction disc mounting plate at intervals; 9. The full-automatic production line for boxing the bubble bags filled with the pods according to claim 1, characterized in that, The tray box filling equipment comprises a third rack, a tray package conveying line, a carton cylinder conveying line, a tray package transplanting positioning mechanism, a box filling manipulator and a carton opening mechanism are arranged on the third rack; The tray package transplanting positioning mechanism takes tray packages from the tray package conveying line and positions the tray packages on a positioning platform, a plurality of tray packages are stacked on the positioning platform at a time, the carton cylinder conveying line conveys cartons to the lower side of the carton opening mechanism and positions the cartons through positioning cylinders, the carton opening mechanism opens the carton mouth, and the box filling manipulator takes a plurality of tray packages from the positioning platform at a time, carries the tray packages to the upper side of the carton and simultaneously fills the tray packages into the carton; The third rack is further provided with a filler conveying line and a filler carrying manipulator, when the number of tray packages on the positioning platform is less than a set number, the filler carrying manipulator takes fillers from a discharging position of the filler conveying line and carries the fillers to the positioning platform together with the tray packages; The tray package transplanting positioning mechanism comprises a tray package transplanting manipulator and a tray package positioning mechanism; The tray package transplanting manipulator comprises a transplanting horizontal movement servo module, the transplanting horizontal movement servo module controls movement of a transplanting lifting control cylinder, the transplanting lifting control cylinder controls lifting movement of a cylinder support, the cylinder support is provided with a transplanting rotation control cylinder, the transplanting rotation control cylinder controls rotation of a transplanting clamping cylinder, and the transplanting clamping cylinder controls clamping of two transplanting clamping plates on tray packages; the transplanting horizontal movement servo module can control the transplanting clamping cylinder to take and place tray packages between the tray package conveying line and the tray package positioning mechanism; The tray package positioning mechanism comprises a rear positioning servo module arranged on the rear side of the positioning platform, side positioning mechanisms arranged on the left and right sides of the positioning platform and a positioning plate arranged on the front side of the positioning platform. The rear positioning servo module can push the tray package on the positioning platform to the positioning plate, and the side positioning mechanism on both sides can push the tray package on the positioning platform to the middle of the positioning platform. The rear positioning servo module includes a positioning servo module, which controls a rear positioning plate to move. The side positioning mechanism includes a side positioning cylinder, which controls a side positioning plate to move.

10. The full-automatic production line for boxing the bubble bags filled with the pods according to claim 9, characterized in that, The boxing manipulator includes a boxing X-axis servo module, a boxing Y-axis servo module, and a boxing Z-axis servo module. The boxing X-axis servo module controls the movement of the boxing Y-axis servo module. The boxing Y-axis servo module controls the movement of the boxing Z-axis servo module. The boxing Z-axis servo module controls the movement of a lifting support. The bottom of the lifting support is provided with a boxing clamping and taking mechanism. The boxing clamping and taking mechanism includes two side mounting plates. The outer sides of the two side mounting plates are each provided with a clamping control cylinder and a connecting rod assembly. The connecting rod assembly simultaneously connects two clamping plates. The clamping control cylinder controls the clamping of the two clamping plates by driving the connecting rod assembly. The two ends of the two side mounting plates are respectively provided with lifting cylinder mounting plates. The lifting cylinder mounting plates are provided with lifting cylinders. A plurality of lifting cylinders jointly control the movement of a lifting platform. The lifting platform is provided with two pressing cylinders. The two pressing cylinders respectively control the movement of a sponge suction pad mounting plate. The sponge suction pad mounting plate is provided with two sponge suction pads. The connecting rod assembly includes a left connecting rod, a right connecting rod, and a middle connecting rod. The middle of the middle connecting rod is connected to the side mounting plate through a middle rotating shaft. One end of the middle connecting rod is movably connected to the left connecting rod through a left rotating shaft. The other end of the middle connecting rod is movably connected to the right connecting rod through a right rotating shaft. The right rotating shaft is provided with a right shaft rod. One end of the right shaft rod is connected to the piston rod of the clamping control cylinder. The side mounting plate is also provided with two long holes at intervals. The shaft rod of the left rotating shaft is arranged in one of the long holes. The other end of the right shaft rod is arranged in the other long hole. The clamping plate is provided with a connecting rod. The upper end of the connecting rod is provided with a sliding block plate. The sliding block plate is connected to the side mounting plate through a sliding rail and a sliding block. The carton opening mechanism includes an opening frame. The left and right side frames of the opening frame are each provided with a side opening mechanism and a displacement control cylinder for controlling the movement of the side opening mechanism. The side opening mechanism is connected to the side frame of the opening frame through a sliding rail and a sliding block. The four corners of the opening frame are each provided with a sliding table cylinder. The sliding table cylinder is arranged on a sliding table cylinder mounting plate. The sliding table cylinder mounting plate is mounted on the rack. The side supporting mechanism comprises a side servo motor mounting plate, a side supporting control servo motor and a first rotating shaft base are arranged on the side servo motor mounting plate, a first rotating shaft is arranged on the first rotating shaft base, a first supporting plate is arranged on the first rotating shaft, a first driven synchronous wheel is arranged on one end of the first rotating shaft, a first driving synchronous wheel is arranged on an output shaft of the side supporting control servo motor, and the first driving synchronous wheel is connected with the first driven synchronous wheel through a first synchronous belt; A front supporting mechanism and a moving control cylinder for controlling sliding of the front supporting mechanism are arranged on a front side frame of the supporting frame, a rear supporting mechanism is arranged on a rear side frame of the supporting frame, the front supporting mechanism is slidably connected to the side frame of the supporting frame through a displacement sliding plate, linear slide rails are arranged on left and right side frames of the supporting frame, and the displacement sliding plate is slidably connected to the linear slide rails through a sliding block; The front supporting mechanism comprises a servo motor mounting plate, a supporting control servo motor is arranged on the servo motor mounting plate, a second rotating shaft base is arranged on the displacement sliding plate, a second rotating shaft is arranged on the second rotating shaft base, a second supporting plate is arranged on the second rotating shaft, a second driven synchronous wheel is arranged on one end of the second rotating shaft, a second driving synchronous wheel is arranged on an output shaft of the supporting control servo motor, and the second driving synchronous wheel is connected with the second driven synchronous wheel through a second synchronous belt; The filling material carrying manipulator comprises an X-axis servo module and a Y-axis servo module, the X-axis servo module controls movement of the Y-axis servo module, the Y-axis servo module controls movement of a lifting control sliding table cylinder, and the lifting control sliding table cylinder controls lifting movement of a clamping jaw cylinder.

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