Packaging assembly, packaging structure and packaging equipment

Abstract

The utility model discloses a packaging assembly, packaging structure and packaging equipment, the packaging assembly comprises a first packaging piece, a second packaging piece and a third packaging piece, the first packaging piece comprises a first main body part and a side part which is bent and connected to the first main body part; the side part at least comprises a first side part and a second side part which are located on the two opposite sides of the first main body part, the first main body part is used for wrapping the top face of the material, and the first side part and the second side part are used for wrapping the two opposite side faces of the material respectively; the second packaging piece comprises a second main body part; the second main body part is used for wrapping one of the other two side surfaces of the material; and the third packaging piece comprises a third main body part, and the third main body part is used for wrapping the last side face of the material. According to the packaging assembly, the occupied space of the packaging assembly before packaging can be reduced, and the packaging efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of packaging equipment technology, specifically relating to a packaging component, packaging structure, and packaging equipment. Background Technology

[0002] The module packaging process is the last step in the photovoltaic module production process. The existing module packaging process has realized the functions of full-box packaging and automatic packaging. Before the packing strap installation step, the carton-sleeving action can be carried out by an industrial robot to grab the carton and put it on the photovoltaic module. However, the traditional carton is a whole with the four sides and the top cover as one piece (i.e., a one-piece carton), which will greatly increase the storage space of the carton and the reach of the industrial robot, thus affecting the packaging efficiency.

[0003] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide a packaging component, packaging structure, and packaging equipment that can reduce the space occupied by the packaging component before packaging and improve packaging efficiency.

[0005] To achieve the above objectives, a specific embodiment of this utility model provides the following technical solution: a packaging component for covering materials, the materials including a top surface, a bottom surface, and four sides, the packaging component comprising:

[0006] The first package includes a first main body and a side portion bent and connected to the first main body. The side portion includes at least a first side portion and a second side portion located on opposite sides of the first main body. The first main body is used to cover the top surface of the material, and the first side portion and the second side portion are used to cover two opposite sides of the material, respectively.

[0007] The second package includes a second body portion for covering one of the other two sides of the material;

[0008] The third package includes a third body portion for covering the last side of the material.

[0009] In one or more embodiments of this utility model, the first packaging component includes a plurality of first bends, the first bends being located between the first main body and the side portion, and all the first bends extending in parallel directions; or,

[0010] The first side portion is bent and connected only to the first main body portion, and the second side portion is bent and connected only to the first main body portion.

[0011] In one or more embodiments of the present invention, the second package includes at least one first extension that is bent and connected to the second main body, and the first package and the first extension are connected to each other by at least one adhesive.

[0012] In one or more embodiments of the present invention, the second packaging component includes only one first extension, and the first main body and the first extension are connected by the adhesive.

[0013] Alternatively, the second package may consist of only two opposing first extensions, with the first side connected to one of the first extensions via the adhesive and the second side connected to the other of the first extensions via the adhesive.

[0014] In one or more embodiments of the present invention, the second package includes at least one second bend, the second bend being located between the second main body and the first extension, and when the second package includes two first extensions, the extension directions of the two second bends are parallel to each other.

[0015] In one or more embodiments of the present invention, the third package includes at least one second extension that is bent and connected to the third main body, and the first package and the second extension are connected to each other by at least one adhesive.

[0016] In one or more embodiments of the present invention, at least one of the first main body, the first side, and the second side is connected to the second main body via a fastener.

[0017] In one or more embodiments of this utility model, the junction of the second main body and the second side is connected to each other by the fastener.

[0018] In one or more embodiments of the present invention, the packaging assembly further includes a base for carrying the material.

[0019] A specific embodiment of this utility model also provides a packaging structure, including the packaging components as described above, the packaging structure further including the material, and the packaging components covering the material.

[0020] A specific embodiment of this utility model also provides a packaging device for covering packaging components onto materials, the packaging device comprising:

[0021] A material transport mechanism for transporting materials, wherein the materials include a top surface, a bottom surface, and four sides;

[0022] A first packaging mechanism is disposed on one side of the material transport mechanism. The first packaging mechanism is used to cover the top surface and two opposite sides of the material with the first package and to cover one of the remaining two sides of the material with the second package.

[0023] The second packaging mechanism is located on one side of the material transport mechanism and downstream of the first packaging mechanism along the material transport direction. The second packaging mechanism is used to cover the third package onto the last side of the material.

[0024] In one or more embodiments of the present invention, the material transport mechanism has a first station and a second station arranged sequentially along the material transport direction, the first packaging mechanism is at least partially located beside the first station and adjacent to the second station, and the second packaging mechanism is located beside the second station.

[0025] In one or more embodiments of this utility model, the first packaging mechanism and the second packaging mechanism are located on the same side of the material transport mechanism.

[0026] In one or more embodiments of the present invention, the material transport mechanism has a first station and a second station arranged sequentially along the material transport direction, and the packaging equipment further includes at least one image acquisition unit disposed above the material transport mechanism, the image acquisition unit being used to acquire image information at the first station and / or the second station.

[0027] In one or more embodiments of the present invention, the packaging equipment includes a first image acquisition unit and a second image acquisition unit. The first image acquisition unit includes a first mounting component disposed above the first workstation and a first image acquisition device mounted on the first mounting component. The second image acquisition unit includes a second mounting component disposed above the second workstation and a second image acquisition device mounted on the second mounting component.

[0028] In one or more embodiments of this utility model, the first mounting assembly includes a first mounting structure, a second mounting structure, and a third mounting structure. The first and second mounting structures are located on one side above the first workstation along the material transport direction, and the third mounting structure is located on the other side above the first workstation. A first image acquisition device is respectively mounted on the first, second, and third mounting structures; and / or,

[0029] The second mounting component includes a fourth mounting structure, a fifth mounting structure, and a sixth mounting structure. The fourth and fifth mounting structures are located on one side above the first workstation along the material transport direction, and the sixth mounting structure is located on the other side above the first workstation. A second image acquisition device is mounted on each of the fourth, fifth, and sixth mounting structures.

[0030] In one or more embodiments of the present invention, the first packaging mechanism includes a first robotic arm, a first frame mounted on the end of the first robotic arm, and a first material handling component mounted on the first frame.

[0031] In one or more embodiments of the present invention, the first packaging mechanism further includes a first bending component mounted on the first frame, the first bending component being used to bend the first package and the second package.

[0032] In one or more embodiments of this utility model, the first frame includes a first support and a second support arranged side by side, both the first support and the second support are equipped with the first material handling component, and the first bending component is installed at the edge of the first support; and / or,

[0033] The first bending assembly includes a first driving unit and a first abutment mounted on the output end of the first driving unit.

[0034] In one or more embodiments of this utility model, a third image acquisition device is mounted on the first frame; and / or,

[0035] The first picking assembly includes at least one first picking unit fixedly installed on the first frame and at least one second picking unit movably installed on the first frame.

[0036] In one or more embodiments of the present invention, the second packaging mechanism includes a second robotic arm, a second frame mounted on the end of the second robotic arm, and a second material handling assembly mounted on the second frame.

[0037] In one or more embodiments of the present invention, the second packaging mechanism further includes a second bending assembly mounted on the second frame, the second bending assembly being used to bend the packaged item.

[0038] In one or more embodiments of this utility model, the second bending assembly is mounted at the edge of the second frame; and / or,

[0039] The second bending assembly includes a second drive unit and a second abutment mounted on the output end of the second drive unit.

[0040] In one or more embodiments of this utility model, a fourth image acquisition device is mounted on the second frame; and / or,

[0041] The second picking assembly includes at least one third picking unit fixedly mounted on the second frame and at least one fourth picking unit movably mounted on the second frame.

[0042] Compared with the prior art, the packaging component, packaging structure and packaging equipment of this utility model form a packaging component by three independent first packaging component, second packaging component and third packaging component, thereby reducing the space occupied by the packaging component before packaging and improving packaging efficiency. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a perspective view of the material and the base in one embodiment of the present invention;

[0045] Figure 2 This is a top view of the first packaging component in one embodiment of the present invention;

[0046] Figure 3 This is a perspective view of the first packaging component after bending in one embodiment of the present invention.

[0047] Figure 4 This is a perspective view of the second packaging component in one embodiment of the present invention;

[0048] Figure 5 This is a perspective view of the second packaging component in one embodiment of the present invention;

[0049] Figure 6 This is a perspective view of the third packaging component in one embodiment of the present utility model;

[0050] Figure 7 This is a perspective view of the packaging equipment and horizontal material handling in one embodiment of the present invention;

[0051] Figure 8 This is a partial side view of the packaging equipment and horizontal material handling in one embodiment of the present invention;

[0052] Figure 9 This is a perspective view of the packaging equipment and horizontal material handling in one embodiment of the present invention;

[0053] Figure 10 This is a perspective view of the first packaging mechanism and the third image acquisition device in one embodiment of the present invention;

[0054] Figure 11 This is a perspective view of the second packaging mechanism and the fourth image acquisition device in one embodiment of the present invention;

[0055] Figure 12 This is a perspective view of the first mounting structure, the first image acquisition device, and the mounting plate in one embodiment of the present utility model;

[0056] Figure 13 This is a perspective view of the second mounting structure, the first image acquisition device, and the mounting plate in one embodiment of the present invention;

[0057] Figure 14 This is a perspective view of the third mounting structure and the first image acquisition device in one embodiment of the present invention;

[0058] Figure 15 This is a perspective view of the packaging equipment and vertical materials in one embodiment of the present invention.

[0059] Explanation of key figure labels:

[0060] 1. Material transport mechanism; 11. First workstation; 12. Second workstation; 2. First packaging mechanism; 21. First robotic arm; 22. First frame; 221. First support; 222. Second support; 23. First picking assembly; 231. First picking unit; 232. Second picking unit; 24. First bending assembly; 241. First drive unit; 242. First holding member; 3. Second packaging mechanism; 31. Second robotic arm; 32. Second frame; 33. Second picking assembly; 34. Second bending assembly; 341. Second drive unit; 342. Second holding member; 41. Third image acquisition device; 42. Fourth image acquisition device; 5. First image acquisition unit; 51. First mounting assembly; 511. First mounting structure; 5111. First mounting frame; 5112. First sliding support; 5113. First guide rail; 512. Second mounting structure; 5121. Second mounting frame; 5 122. First fixed bracket; 5123. Second fixed bracket; 513. Third mounting structure; 5131. Third mounting bracket; 5132. Third fixed bracket; 5133. Second sliding bracket; 5134. Second slide rail; 52. First image acquisition device; 53. Mounting plate; 531. Slide groove; 6. Second image acquisition unit; 61. Second mounting assembly; 611. Fourth mounting structure; 612. Fifth mounting structure; 613. Sixth mounting... Structure; 62. Second image acquisition device; 7. Packaging assembly; 71. First package; 711. First main body; 712. First side; 713. Second side; 714. First bending part; 715. Adhesive part; 72. Second package; 721. Second main body; 722. First extension; 723. Second bending part; 73. Third package; 731. Third main body; 732. Second extension; 74. Base; 8. Material. Detailed Implementation

[0061] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0062] To better illustrate the packaging equipment in this embodiment, such as Figure 1 As shown in the specific application scenario of this embodiment, material 8 includes a top surface, a bottom surface, and four sides. In this embodiment, material 8 is a photovoltaic module.

[0063] Among them, material 8 can be divided into horizontal material 8 and vertical material 8, such as Figure 1 The material 8 shown is a horizontal material 8. The length of the horizontal material 8 is significantly greater than its height and width. The length of the material 8 can be considered as the transport direction of the material transport mechanism. The area of ​​the portion covering the two sides of the material 8 (the two sides perpendicular to the transport direction) in the corresponding packaging component is significantly smaller than the area covering the other two sides and the top surface of the material 8. For example... Figure 15 The material 8 shown is a vertical material 8, and the height of the vertical material 8 is significantly greater than its length and width.

[0064] Example 1:

[0065] like Figures 2 to 6 As shown, the packaging component 7 includes a first packaging component 71, a second packaging component 72, and a third packaging component 73. The packaging component 7 is used to cover the material 8.

[0066] Combination Figure 1 As shown, the packaging component 7 in this embodiment is mainly used to cover the top surface and four sides of the material 8.

[0067] Specifically, such as Figure 2 and Figure 3 As shown, Figure 2 A top view of the first package 71 unfolded. Figure 3 This is a perspective view of the second side portion 713 of the first package 71 after bending. The first package 71 includes a first main body portion 711 and a side portion bent and connected to the first main body portion 711. The side portion includes at least a first side portion 712 and a second side portion 713 located on opposite sides of the first main body portion 711. The first main body portion 711 can cover the top surface of the material 8. The first side portion 712 and the second side portion 713 respectively cover two opposite sides of the material 8. The second package 72 and the third package 73 respectively cover the remaining two opposite sides of the material 8.

[0068] In this embodiment, the first side portion 712 is bent and connected only to the first main body portion 711, and the second side portion 713 is bent and connected only to the first main body portion 711. Since the first side 712 and the second side 713 are both bent and connected to the first main body 711, the first side 712 and / or the second side 713 will be bent under the action of the packaging equipment during the packaging process of the first package 71 packaging material 8. This bending process can be called a first-level bend. If other sides or other structures are bent and connected to the first side 712 and / or the second side 713, then during the packaging process of the first package 71 packaging material 8, the other sides or other structures on the bent first side 712 and / or the second side 713 need to be bent again. This process can be called a second-level bend. For conventional packaging equipment, performing two bends (i.e., first-level bend and second-level bend) will lead to a decrease in packaging efficiency. At the same time, two bends place higher requirements on the design of the packaging equipment, which will increase the structural complexity of the equipment, increase the cost of the equipment, and may even make it impossible to design packaging equipment with this function. As a result, the second-level bend needs to be performed manually, which will reduce packaging efficiency and increase labor costs.

[0069] The first package 71 includes a plurality of first bends 714, which are located between the first main body 711 and the side portions, and the extension directions of all the first bends 714 are parallel to each other. It is understood that the first bends 714 are provided to facilitate bending between the first main body 711 and the side portions. In this embodiment, since the side portions include a first side portion 712 and a second side portion 713 located on opposite sides of the first main body 711, there are two first bends 714. That is, the first main body 711 and the first side portion 712 are connected by one first bend 714, and the first main body 711 and the second side portion 713 are connected by another first bend 714, and the extension directions of the two first bends 714 are parallel to each other.

[0070] It should be noted that in other embodiments, in addition to the first side portion 712 and the second side portion 713, the side portion may also include a third side portion and a fourth side portion located on other sides of the first main body portion 711, such as the other two sides of the first main body portion 711. In this case, the first package 71 includes four first bending portions 714. In this case, not all the extending directions of the first bending portions 714 are parallel to each other; the extending directions of some of the first bending portions 714 intersect. It is understandable that when the extending directions of all the first bending portions 714 are not parallel to each other, bending in multiple directions needs to be achieved in the subsequent packaging process. At this time, the complexity requirements of the mechanism used to achieve the bending function in the equipment are higher, the equipment cost increases, and the packaging efficiency decreases. Therefore, in this embodiment, since the extending directions of all the first bending portions 714 are parallel to each other, the above problems can be avoided, packaging efficiency can be improved, and equipment costs can be reduced.

[0071] The second packaging component 72 and the third packaging component 73 are detachably connected to the first packaging component 71. The detachable connection can be adhesive, that is, when the packaging component 7 is not packaging the material 8, the first packaging component 71, the second packaging component 72 and the third packaging component 73 are placed separately. This setting can reduce the space occupied by the packaging component 7.

[0072] like Figure 4 As shown, the second packaging component 72 of this embodiment includes a second main body portion 721 for covering the side of the material 8 and a first extension portion 722 that is bent and connected to the second main body portion 721; an adhesive component 715 may be installed on the first main body portion 711 of the first packaging component 71.

[0073] Specifically, in this embodiment, the second packaging component 72 includes only one first extension 722. The first extension 722, after being bent from the second main body 721, can be bonded to the first main body 711 via an adhesive member 715. The second main body 721 of the second packaging component 72 can be connected to the first side portion 712 and the second side portion 713 respectively via fasteners. That is, the junction of the second main body 721 and the first side portion 712 is connected via fasteners, and the junction of the second main body 721 and the second side portion 713 is connected via fasteners, thereby achieving the connection between the first packaging component 71 and the second packaging component 72. The adhesive member 715 can be an existing adhesive such as adhesive film or double-sided tape; the fastener can be an existing connecting component such as tape, Velcro, or carton rivets (also known as cardboard rivets).

[0074] Preferably, the second packaging component 72 in this embodiment further includes a second bending portion 723 connected between the second main body portion 721 and the first extension portion 722. The second bending portion 723 facilitates the bending of the second main body portion 721 and the first extension portion 722.

[0075] like Figure 5 As shown, in other embodiments, a first extension 722 can be connected to each of the opposite sides of the second packaging component 72. Adhesive members 715 can be provided on both the first side 712 and the second side 713, meaning that after bending, the two first extensions 722 are respectively bonded to the adhesive members 715 on the first side 712 and the second side 713. The extension directions of the two second bent portions 723 are parallel to each other. It is understood that, similar to the aforementioned effect of all first bent portions having parallel extension directions, when the extension directions of the two second bent portions 723 are parallel, packaging efficiency can also be improved and equipment costs reduced; the specific reasons will not be elaborated here.

[0076] In other embodiments, a first extension 722 can be connected to each of the three sides of the second package 72, and the three first extensions 722 are respectively used to connect to the first main body 711, the first side 712 and the second side 713.

[0077] like Figure 6 As shown, the third packaging component 73 in this embodiment includes a third main body portion 731 for covering the side of the material 8 and a second extension portion 732 that is bent and connected to the third main body portion 731. The connection method between the third packaging component 73 and the first packaging component 71 can refer to the connection method between the second packaging component 72 and the first packaging component 71, which will not be described again here.

[0078] In other embodiments, the first package 71, the second package 72, and the third package 73 may also be bonded by other adhesive methods or fixed by other connection methods, such as using nails or other components to fix the two together.

[0079] In other embodiments, such as Figure 1 As shown, the packaging component 7 may also include a base 74, which is disposed at the bottom of the material 8 and is used to cover the bottom surface of the material 8 and to support the material 8.

[0080] Example 2:

[0081] This embodiment discloses a packaging structure, which includes material and packaging components covering the material. The packaging components are exactly the same as those in Embodiment 1, that is, the packaging components include a first packaging piece, a second packaging piece, and a third packaging piece. The packaging components cover the top surface and four sides of the material, and the packaging structure includes a base support disposed at the bottom of the material.

[0082] Example 3:

[0083] The packaging equipment in this embodiment is used to cover the packaging components onto the material. The packaging components are exactly the same as those in Embodiment 1, and will not be described again here. In addition, the material to be packaged in this embodiment has already been placed on the base tray, that is, the packaging equipment in this embodiment is used to cover the first packaging component, the second packaging component, and the third packaging component of the packaging components onto the material.

[0084] like Figures 7 to 9As shown, the packaging equipment in this embodiment includes a material transport mechanism 1, a first packaging mechanism 2, and a second packaging mechanism 3. The material transport mechanism 1 is used to transport material 8. The first packaging mechanism 2 is disposed on one side of the material transport mechanism 1. The first packaging mechanism 2 is used to cover the top surface and two opposite sides of the material 8 with a first package 71, and to cover one of the remaining two sides of the material 8 with a second package 72. The second packaging mechanism 3 is disposed on one side of the material transport mechanism 1 and is located downstream of the first packaging mechanism 2 along the transport direction of the material 8. The second packaging mechanism 3 is used to cover the last side of the material 8 with a third package 73.

[0085] It is understood that the packaging equipment of this utility model covers the top surface and four sides of the material 8 by the first packaging mechanism 2 and the second packaging mechanism 3 respectively, which reduces the space occupied by the packaging component 7 when it is not covered and the probability of packaging failure due to deformation of the packaging component 7, thereby improving the packaging efficiency of the entire packaging equipment.

[0086] In this embodiment, the material transport mechanism 1 is a common conveyor belt device; in other embodiments, the material transport mechanism 1 may also be other common devices or structures for transporting materials 8.

[0087] The material transport mechanism 1 has a first station 11 and a second station 12 arranged sequentially along the transport direction of the material 8. The first packaging mechanism 2 is located at least partially beside the first station 11 and adjacent to the second station 12, and the second packaging mechanism 3 is located beside the second station 12.

[0088] It is necessary to understand that, such as Figure 7 As shown, when material 8 is located at the first station 11, the first packaging mechanism 2 can cover the top surface and two opposite sides of material 8 with the first package 71; as Figure 9 As shown, when material 8 is located at the second station 12, the first packaging mechanism 2 can cover the second package 72 on one of the other two sides of material 8, and the second packaging mechanism 3 can cover the third package 73 on the last side of material 8.

[0089] Along the transport direction of material 8, material 8 will first move to the first station 11, and then move to the second station 12. The area of ​​the first station 11 can be larger than the bottom area of ​​material 8, and the area of ​​the second station 12 can be larger than the bottom area of ​​material 8.

[0090] like Figure 10As shown, in this embodiment, the first packaging mechanism 2 includes a first robotic arm 21, a first frame 22 mounted on the first robotic arm 21, and a first picking component 23 mounted on the first frame 22. The first picking component 23 is responsible for picking up a first package 71 and a side box 62, and can pick up only one of the first package 71 and the side box 62 at any given time.

[0091] Specifically, when material 8 is located at the first station 11, the first robotic arm 21 can transfer the first picking component 23 and the first package 71 picked up by the first picking component 23 to material 8 on the material transport mechanism 1 and cover the top surface and two opposite sides of material 8; when material 8 is located at the second station 12, the first robotic arm 21 can transfer the first picking component 23 and a side box 62 picked up by the first picking component 23 to material 8 on the material transport mechanism 1 and cover one side of material 8.

[0092] Preferably, the first robotic arm 21 in this embodiment can be a common multi-axis robotic arm, such as a six-axis robotic arm.

[0093] In this embodiment, the first picking assembly 23 includes multiple first picking units 231 fixedly installed on the first frame 22 and multiple second picking units 232 movably installed on the first frame 22. The first picking units 231 and the second picking units 232 are suction cups, which can be common suction cup structures on the market. They adsorb the first package 71 and the second package 61 through the principle of pressure difference, thereby achieving the effect of stably picking up the packaging assembly 7.

[0094] Specifically, the second pickup unit 232 can be movably mounted on the first frame 22 via a cylinder, that is, the second pickup unit 232 is mounted on the piston rod of the cylinder, and the cylinder is fixedly mounted on the first frame 22; the first pickup unit 231 is directly fixedly mounted on the first frame 22. This arrangement is to accommodate packaging components 7 of different shapes and sizes, and thus to accommodate materials 8 of different shapes and sizes.

[0095] In other embodiments, the second pickup unit 232 can also be movably mounted on the first frame 22 via a structure such as an electric cylinder or a lifting motor.

[0096] During the process of the first packaging mechanism 2 wrapping the first package 71 onto the material 8 located at the first station 11, although the first main body 711, the first side 712, and the second side 713 of the first package 71 are all bent and connected, in order to reduce the space occupied by the first package 71, such as Figure 3 and Figure 7As shown, multiple first packages 71 are stacked together, with the first main body 711 and the first side 712 of each first package 71 on one layer, and the second side 713 folded into another layer. This arrangement can minimize the space occupied by the first package 71.

[0097] Therefore, the first frame 22 includes a first support 221 and a second support 222 arranged side by side, and a first material picking component 23 is installed on both the first support 221 and the second support 222. When the material 8 is located at the first work station 11, the first material picking component 23 on the first support 221 is used to pick up the first main body 711 of the first package 71, and the first material picking component 23 on the second support 222 is used to pick up the first side part 712. The second side part 613 does not come into contact with the first material picking component 23. When the first packaging mechanism 2 moves the first package 71 into the air, the first bending portion 714 between the first main body 711 and the second side portion 713 on the first package 71 remains in a bent state for a long time. Under its own weight, the second side portion 713 can be completely bent to a state perpendicular to the first main body 711. Then, the first packaging mechanism 2 slowly moves the first package 71 so that the height of the first package 71 (first main body 711) is slightly higher than the top surface of the material 8. At the same time, the horizontal placement angle of the first package 71 is adjusted so that the second side portion 713 is relatively parallel to one side of the material 8. Then, the first packaging mechanism 2 moves the first package 71 so that the second side portion 713 is close to one side of the material 8 until the distance between the two reaches the required distance. Then, the first material picking component 23 on the second support 222 releases the first side portion 712, so that the first side portion 712 bends to the other side of the material 8. This configuration reduces the lifting height of the first packaging mechanism 2 (especially when packaging vertical materials 8), thereby reducing its height occupied during the packaging process and thus reducing the space it occupies.

[0098] When the first package 71 is stacked in the manner described above, although a first bending portion 714 is left between the first main body 711 and the first side 712 and the second side 713 for bending, due to the stacking method described above, the first bending portion 714 between the first main body 711 and the first side 712 on the first package 71 remains in a non-bent state for a long time. When the first main body 711 and the first side 712 need to be bent to meet each other... When perpendicular, the first side portion 712 may not be able to bend to a state that is completely perpendicular to the first main body portion 711 under its own weight. The first bending portion 714 between the first main body portion 711 and the second side portion 713 on the first package 71 remains in a bent state for a long time. When the first main body portion 711 and the second side portion 713 need to be bent to be perpendicular to each other, the second side portion 713 can bend naturally to a state that is perpendicular to the first main body portion 711 under its own weight, without the need for other mechanisms.

[0099] To address the aforementioned issues, the first packaging mechanism 2 further includes a first bending assembly 24 mounted on the first frame 22. The first bending assembly 24 is used to bend the packaging assembly 7. The first bending assembly can bend the first side portion 712, making the first side portion 712 and the first main body portion 711 bend to be perpendicular to each other. This ensures that the first packaging component 71 can cover the top surface and two opposite sides of the material 8, and that the ends of the two sides abut against the bottom support 74 of the material 8 in the vertical direction.

[0100] When the material 8 is located at the second station 12, after the first packaging mechanism 2 moves the second package 72 to one side of the material 8, the first bending assembly 24 can also drive the first extension 722 of the second package 72 to bond with the adhesive 715 on the first package 71.

[0101] In this embodiment, the first frame 22 has a plurality of first bending components 24, and the plurality of first bending components 24 are respectively installed at different positions on the first frame 22. This arrangement is to accommodate materials 8 and packaging components 7 of different shapes. The first bending components 24 are detachably connected to the first frame 22, which facilitates the adjustment of the position of the first bending components 24 on the first frame 22, thereby further accommodating materials 8 and packaging components 7 of different shapes.

[0102] Preferably, the first bending assembly 24 is mounted on the edge of the first bracket 221. When the first side portion 712 of the first material handling assembly 23 on the second bracket 222 is released, the first bending assembly 24 is activated simultaneously to ensure that the first side portion 712 and the first main body portion 711 can be perpendicular to each other.

[0103] like Figure 10As shown, the first bending assembly 24 includes a first driving unit 241 and a first abutment 242 mounted on the output end of the first driving unit 241. The first driving unit 241 drives the first abutment 242 to move, so that the first abutment 242 abuts against the first side portion 712 of the first package 71, thereby ensuring that the first side portion 712 and the first main body portion 711 can be perpendicular to each other.

[0104] In this embodiment, the first driving unit 241 is a cylinder, and the first supporting member 242 can be an L-shaped structural member. The cylinder drives the first supporting member 242 to make a relatively linear movement in the vertical direction, so that the first supporting member 242 abuts against the first side portion 712. In other embodiments, the first driving unit 241 and the first supporting member 242 can be common structures, such as the first driving unit 241 being an electric cylinder or a lifting motor, etc., and the first supporting member 242 being a block-shaped, columnar, or other common shaped structural member; or the first driving unit 241 can also be a rotary motor, which drives the first supporting member 242 to rotate and abut against the first side portion 712.

[0105] like Figure 10 As shown, a third image acquisition device 41 is installed on the first frame 22. The third image acquisition device 41 can be used to acquire images of the first package 71 or the second package 72 picked up by the first packaging mechanism 2 and the material 8, thereby determining the relative positional relationship between the first package 71 and the material 8, and / or the second package 72 and the material 8, to ensure that the first packaging mechanism 2 can accurately cover the first package 71 on the top surface and two opposite sides of the material 8, and cover the second package 72 on the other side of the material 8.

[0106] like Figure 11 As shown, the second packaging mechanism 3 includes a second robotic arm 31, a second frame 32 mounted on the second robotic arm 31, and a second picking assembly 33 mounted on the second frame 32. The second picking assembly 33 is responsible for picking up the third package 73. The second robotic arm 31 can transfer the second picking assembly 33 and the third package 73 picked up on it to the material 8 at the second station 12 on the material transport mechanism 1 and cover the last side of the material 8.

[0107] It is understood that the second packaging mechanism 3 is used to cover the third package 73 in the packaging assembly 7 onto the last side of the material 8 at the second station 12; the structure, quantity, relative position and connection method of the second robotic arm 31, the second frame 32 and the second picking assembly 33 in the second packaging mechanism 3 can all refer to the first robotic arm 21, the second frame 32 and the second picking assembly 33 in the first packaging mechanism 2 described above; in this embodiment, the only difference is that, since the size of the second package 72 is approximately equal to the size of one side 612 of the first package 71, the shape and size of the second frame 32 are only equivalent to the shape and size of the first support 221 on the first frame 22, thereby reducing the space occupied by the second frame 32 and the energy consumption of the second robotic arm 31; in other embodiments, the shape and size of the second frame 32 may be different from the shape and size of the first support 221 on the first frame 22.

[0108] The second picking assembly 33 includes multiple third picking units fixedly installed on the first frame 32 and multiple fourth picking units movably installed on the second frame 32; please refer to the first picking unit 231 and the second picking unit 232 for information on the structure, connection relationship and quantity of the third picking unit and the fourth picking unit respectively.

[0109] Furthermore, the second packaging mechanism 3 also includes a second bending assembly 34 mounted on the second frame 32, the second bending assembly 34 being used to bend the packaging assembly 7. The second bending assembly 34 is mounted at the edge of the second frame 32.

[0110] It should be noted that the second bending component 34 is used to drive the first extension of the third package 73 to bond with the adhesive 715 on the first package 71, thereby achieving the connection between the third package 73 and the first package 71. In this embodiment, the installation position and connection method of the second bending component 34 can refer to the first bending component 24. The installation position of the second bending component 34 can also be adjusted according to actual needs.

[0111] Specifically, the second bending assembly 34 includes a second driving unit 341 and a second abutment 342 mounted on the output end of the second driving unit 341. The structure, quantity, relative positions of the components, and connection method of the second driving unit 341 and the second abutment 342 can be referred to the first driving unit 241 and the first abutment 242 described above, and will not be repeated here.

[0112] In this embodiment, the second packaging component 72 includes a second main body portion 721 and a first extension portion 722. An adhesive member 715 can be adhered to the first main body portion 711 of the first packaging component 71. The first extension portion 722 can be bent from the second main body portion 721 and adhered to the adhesive member 715, thereby achieving the adhesion between the first packaging component 71 and the second packaging component 72. In addition, the second main body portion 721 can be adhered to the first side portion 712 and the second side portion 713 by means of a fastener (e.g., tape). The step of adhering with tape can be performed by existing packaging machines on the market or by manually using tape.

[0113] In other embodiments, each of the three sides of the second packaging component 72 can be connected to a first extension 722, and both the first side 712 and the second side 713 can be provided with adhesive members 715. That is, after being bent, the three first extensions 722 are respectively bonded to the adhesive members 715 on the first main body 711, the first side 712, and the second side 713. Correspondingly, the multiple first bending components 24 on the first frame 22 can be used to bend the three first extensions 722. The connection method between the third packaging component 73 and the first packaging component 71 can be referred to the connection method between the second packaging component 72 and the first packaging component 71, and the structure and working principle of the corresponding second bending component 34 on the second frame 32 can be referred to the first frame 22 and the first bending component 24, which will not be described in detail here.

[0114] Furthermore, a fourth image acquisition device 42 is installed on the second frame 32. The fourth image acquisition device 42 can be used to acquire images of the third package 73 and the material 8 picked up by the second packaging mechanism 3, thereby determining the relative positional relationship between the third package 73 and the material 8, and ensuring that the second packaging mechanism 3 can accurately wrap the third package 73 on the last side of the material 8.

[0115] In this embodiment, the first packaging mechanism 2 and the second packaging mechanism 3 are located on the same side of the material transport mechanism 1. This arrangement can reduce the space occupied by the entire packaging equipment.

[0116] like Figure 7 As shown, in this embodiment, the packaging equipment includes two image acquisition units, namely a first image acquisition unit 5 and a second image acquisition unit 6. The first image acquisition unit 5 includes a first mounting component 51 disposed above the first station 11 and a first image acquisition device 52 mounted on the first mounting component 51. The second image acquisition unit 6 includes a second mounting component 61 disposed above the second station 12 and a second image acquisition device 62 mounted on the second mounting component 61.

[0117] The first image acquisition device 52 in the first image acquisition unit 5 is used to acquire image information of the first workstation area, thereby determining the relationship between the material 8 and the first workstation 11, that is, determining whether the material 8 has completely entered the first workstation 11. When the material 8 has completely entered the first workstation 11, the first packaging mechanism 2 can be started to perform the packaging step on the material 8. Specifically, the first mounting component 51 can be installed on the ceiling or suspended ceiling of the entire factory building.

[0118] The positioning principle of the first image acquisition unit 5 for material 8 is as follows: First, the first image acquisition unit 5 acquires an image at the first workstation 11 and determines whether there is material 8 in the first workstation 11. If there is material 8, the position of material 8 is determined by the position information of the diagonal part of material 8 in the image. That is, the diagonal positioning method is used to accurately position material 8.

[0119] like Figures 7 to 9 As shown, the first mounting component 51 in this embodiment includes a first mounting structure 511, a second mounting structure 512, and a third mounting structure 513. Along the material transport direction, the first mounting structure 511 and the second mounting structure 512 are located on one side above the first workstation 11, and the third mounting structure 513 is located on the other side above the first workstation 11. A first image acquisition device 52 is mounted on each of the first mounting structure 511, the second mounting structure 512, and the third mounting structure 513. Specifically, the first mounting structure 511, the second mounting structure 512, and the third mounting structure 513 are arranged sequentially at intervals along the material transport direction.

[0120] Among them, such as Figure 12 As shown, the first mounting structure 511 includes a first mounting bracket 5111 and a first sliding bracket 5112. The first mounting bracket 5111 is provided with a first guide rail 5113 extending horizontally. The first sliding bracket 5112 is slidably mounted on the first guide rail 5113 and extends vertically. The first image acquisition device 52 is mounted on the lower end of the first sliding bracket 5112.

[0121] like Figure 13 As shown, the second mounting structure 512 includes a second mounting bracket 5121, a first fixing bracket 5122, and a second fixing bracket 5123 connected in sequence. The first fixing bracket 5122 extends vertically, and the second fixing bracket 5123 extends horizontally and is mounted on the lower end of the first fixing bracket 5122. The first image acquisition device 52 is mounted on the end of the second fixing bracket 5123 away from the first fixing bracket 5122.

[0122] like Figure 14As shown, the third mounting structure 513 includes a third mounting bracket 5131, a third fixed bracket 5132, and a second sliding bracket 5133. The third fixed bracket 5132 extends vertically and is fixedly mounted on the third mounting bracket 5131. The second sliding bracket 5133 is provided with a second slide rail 5134. The third fixed bracket 5132 is slidably connected to the second slide rail 5134. The extension direction of the second slide rail 5134 is vertical. The first image acquisition device 52 is mounted on the lower end of the second sliding bracket 5133.

[0123] The first mounting bracket 5111, the second mounting bracket 5121 and the third mounting bracket 5131 can be installed on the suspended ceiling or ceiling of the entire factory building.

[0124] like Figures 7 to 9 As shown, the first mounting structure 511 and the second mounting structure 512 are located on the same side of the material 8 transportation, and the third mounting structure 513 is located on the other side. The vertical length of the first sliding bracket 5112 in the first mounting structure 511 is greater than the vertical length of the first fixed bracket 5122 in the second mounting structure 512 and the vertical length of the third fixed bracket 5132 in the third mounting structure 513. When the material transportation mechanism 1 is transporting horizontal material 8, by adjusting the position of the second sliding bracket 5133 on the third fixed bracket 5132 of the third mounting structure 513, that is, lowering the height of the second sliding bracket 5133 in the third mounting structure 513, and then through the cooperation of the first mounting structure 511 and the third mounting structure 513, the first image acquisition device 52 on them captures the image information of the first station 11. Based on the diagonal position of the horizontal material 8 in the image information, it can be determined whether the material 8 is in the first station 11 and the position of the material 8 in the first station 11.

[0125] When the material transport mechanism 1 transports vertical material 8, the position of the second sliding bracket 5133 on the third fixed bracket 5132 of the third mounting structure 513 is adjusted, that is, the height of the second sliding bracket 5133 in the third mounting structure 513 is raised. Then, through the cooperation of the second mounting structure 512 and the third mounting structure 513, the first image acquisition device 52 on them captures the image information of the first station 11. Based on the diagonal position of the vertical material 8 in the image information, the position of the vertical material 8 is determined.

[0126] The spacing between the first mounting structure 511, the second mounting structure 512, and the third mounting structure 513 can be finely adjusted according to the actual size of the material 8 to be photographed.

[0127] Furthermore, the first image acquisition unit 5 also includes a mounting plate 53, on which the first image acquisition device 52 is fixedly mounted. The mounting plate 53 is provided with a through groove 531. The mounting plate 53 is fixedly connected to the first mounting structure 511 and the second mounting structure 512 by screws passing through the groove 531. The position of the first image acquisition device 52 can be further adjusted by controlling the position of the screws passing through the groove 531.

[0128] Similarly, the second mounting component 61 above the second workstation 12 includes a fourth mounting structure 611, a fifth mounting structure 612, and a sixth mounting structure 613. A second image acquisition device 62 is mounted on the fourth mounting structure 611, the fifth mounting structure 612, and the sixth mounting structure 613, respectively. For details regarding the specific structure and installation position of the fourth mounting structure 611, please refer to the first mounting structure 511; for details regarding the specific structure and installation position of the fifth mounting structure 612, please refer to the second mounting structure 512; and for details regarding the specific structure and installation position of the sixth mounting structure 613, please refer to the third mounting structure 513.

[0129] In this embodiment, the first image acquisition device 52, the second image acquisition device 62, the third image acquisition device 41, and the fourth image acquisition device 42 can all be commercially available industrial cameras.

[0130] In other embodiments, the image acquisition unit may include only one of the first image acquisition unit and the second image acquisition unit, or the image acquisition unit may include only the fifth image acquisition device. The fifth image acquisition device can simultaneously acquire image information of the entire material transport mechanism 1 (including the first workstation 11 and the second workstation 12) to determine the relative positional relationship between the material 8 and the material transport mechanism 1. The fifth image acquisition device can be an existing industrial camera on the market.

[0131] Taking horizontal material 8 as an example, the packaging steps of the packaging equipment in this embodiment are as follows:

[0132] The horizontal material 8 is transported to the first station 11 by the material transport mechanism 1. Then, the first installation structure 511 and the third installation structure 513 and the first image acquisition device 52 on them are used to capture image information of the first station 11. Based on the diagonal position of the horizontal material 8 in the image information, the position of the material 8 in the first station 11 can be determined.

[0133] In the first packaging mechanism 2, the first material-grabbing component 23 on the first support 221 of the first frame 22 adsorbs the first main body 711 of the first package 71, and the first material-grabbing component 23 on the second support 222 of the first frame 22 adsorbs the first side 712. When the first packaging mechanism 2 moves the first package 71 into the air, because the first bending portion 714 between the first main body 711 and the second side 713 on the first package 71 remains in a bent state for a long time, the second side 713 rotates relative to the first main body 711 under its own gravity. The second side portion 713 is bent until it is perpendicular to the first main body portion 711. Then, the first packaging mechanism 2 slowly moves the first package 71 so that the height of the first package 71 (first main body portion 711) is slightly higher than the top surface of the material 8. At the same time, the horizontal placement angle of the first package 71 is adjusted so that the second side portion 713, which is perpendicular to the first main body portion 711, is relatively parallel to one side of the material 8. Then, the first packaging mechanism 2 moves the first package 71 so that the second side portion 713 is close to one side of the material 8 until the distance between them reaches the required level. Figure 5 The state shown.

[0134] Then, the first material-grabbing assembly 23 on the second support 222 releases the first side portion 712, the first bending assembly 24 is activated, and the first abutment 242 abuts against the first side portion 712, causing the first side portion 712 to bend to be perpendicular to the first main body portion 711 and cover the other side of the material 8, achieving the desired effect. Figure 4 The state is shown. Then, the first material-grabbing component 23 on the first support 221 of the first frame 22 releases the first main body 711 of the first package 71, the first bending component 24 resets, and the first packaging mechanism 2 moves away from the first package 71. During the packaging process of the first package 71, the third image acquisition device 41 will acquire images in real time and determine the relative position of the first package 71 and the material 8 in real time to ensure the packaging accuracy of the first package 71 and the material 8.

[0135] The horizontal material 8 is transported from the first station 11 to the second station 12 by the material transport mechanism 1. Then, the fourth installation structure 611 and the sixth installation structure 613 above the second station 12 and the first image acquisition device 62 on them capture image information of the second station 12. Based on the diagonal position of the horizontal material 8 in the image information, the position of the material 8 in the second station 12 can be determined.

[0136] like Figure 9As shown, in the first packaging mechanism 2, the first picking component 23 on the first support 221 of the first frame 22 of the first packaging mechanism 2 adsorbs the second package 72 and moves the second package 72 to one side of the material 8. In the second packaging mechanism 3, the second picking component 33 on the second frame 32 adsorbs the third package 73 and moves the third package 73 to the opposite side of the material 8. Then, the first bending component 24 in the first packaging mechanism 2 is activated, and the first abutment 242 abuts against the first extension 722 on the second package 72, causing the first extension 722 to bend and contact the adhesive 715 on the first main body 711 to achieve adhesion between the second package 72 and the first package 71. At the same time, the second bending component 34 in the second packaging mechanism 3 is activated, and the second abutment 342 abuts against the second extension 732 on the third package 73, causing the second extension 722 to bend and contact the adhesive 715 on the first main body 711 to achieve adhesion between the second package 72 and the first package 71. The extension 732 bends and contacts another adhesive member 715 on the first main body 711 to achieve adhesion between the third package 73 and the first package 71; in the first packaging mechanism 2, the first picking component 23 releases the second package 72, the first bending component 24 returns to its original position, and the first packaging mechanism 2 moves away from the material 8; in the second packaging mechanism 3, the second picking component 33 releases the third package 73, the second bending component 34 returns to its original position, and the first packaging mechanism 2 moves away from the material 8; during the packaging process of the second package 72 and the third package 73, the third image acquisition device 41 on the first frame 22 and the fourth image acquisition device 42 on the second frame 32 will acquire images in real time to determine the relative positions of the second package 72 and the third package 73 with the material 8 in real time, ensuring the accuracy of the packaging of the second package 72 and the third package 73 with the material 8. The packaging process of the horizontal material 8 is completed.

[0137] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0138] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A packaging assembly for enclosing a product, said product comprising a top surface, a bottom surface and four side surfaces, characterized in that, The packaging component includes: The first package includes a first main body and a side portion bent and connected to the first main body. The side portion includes at least a first side portion and a second side portion located on opposite sides of the first main body. The first main body is used to cover the top surface of the material, and the first side portion and the second side portion are used to cover two opposite sides of the material, respectively. The second package includes a second body portion for covering one of the other two sides of the material; The third package includes a third body portion for covering the last side of the material.

2. The package assembly of claim 1, wherein, The first package includes a plurality of first bends located between the first main body and the side portion, and all the first bends extend in parallel directions; or, The first side portion is bent and connected only to the first main body portion, and the second side portion is bent and connected only to the first main body portion.

3. The package assembly of claim 1, wherein, The second package includes at least one first extension that is bent and connected to the second main body, and the first package and the first extension are connected to each other by at least one adhesive.

4. The package assembly of claim 3, wherein, The second package includes only one of the first extensions, and the first main body is connected to the first extension via the adhesive. Alternatively, the second package may consist of only two opposing first extensions, with the first side connected to one of the first extensions via the adhesive and the second side connected to the other of the first extensions via the adhesive.

5. The package assembly of claim 3, wherein, The second package includes at least one second bend, which is located between the second main body and the first extension. When the second package includes two first extensions, the extension directions of the two second bends are parallel to each other.

6. The package assembly of claim 1, wherein, The third package includes at least one second extension that is bent and connected to the third main body, and the first package and the second extension are connected to each other by at least one adhesive.

7. The package assembly of claim 1, wherein, At least one of the first main body, the first side, and the second side is connected to the second main body via a fastener.

8. The packaging assembly of claim 7, wherein, The junction of the second main body and the second side is connected to each other by the fastener.

9. The package assembly of claim 1, wherein, The packaging assembly also includes a base for supporting the material.

10. A packaging structure comprising a packaging assembly as claimed in any one of claims 1 to 9, characterized in that The packaging structure also includes the material, and the packaging component covers the material.

11. A packaging apparatus for applying the packaging assembly according to any one of claims 1 to 9 to the material, characterized in that, The packaging equipment includes: A material transport mechanism for transporting the materials; A first packaging mechanism is disposed on one side of the material transport mechanism. The first packaging mechanism is used to cover the top surface and two opposite sides of the material with the first package and to cover one of the remaining two sides of the material with the second package. The second packaging mechanism is located on one side of the material transport mechanism and downstream of the first packaging mechanism along the material transport direction. The second packaging mechanism is used to cover the third package onto the last side of the material.

12. The packaging apparatus of claim 11, wherein, The material transport mechanism has a first workstation and a second workstation arranged sequentially along the material transport direction. The first packaging mechanism is at least partially located beside the first workstation and adjacent to the second workstation, and the second packaging mechanism is located beside the second workstation.

13. The packaging equipment according to claim 11, characterized in that, The first packaging mechanism and the second packaging mechanism are located on the same side of the material transport mechanism.

14. The packaging apparatus of claim 11, wherein, The material transport mechanism has a first station and a second station arranged sequentially along the material transport direction. The packaging equipment also includes at least one image acquisition unit located above the material transport mechanism. The image acquisition unit is used to acquire image information at the first station and / or the second station.

15. The packaging apparatus of claim 14, wherein, The packaging equipment includes a first image acquisition unit and a second image acquisition unit. The first image acquisition unit includes a first mounting component disposed above the first workstation and a first image acquisition device mounted on the first mounting component. The second image acquisition unit includes a second mounting component disposed above the second workstation and a second image acquisition device mounted on the second mounting component.

16. The packaging apparatus of claim 15, wherein, The first mounting assembly includes a first mounting structure, a second mounting structure, and a third mounting structure. Along the material transport direction, the first and second mounting structures are located on one side above the first workstation, and the third mounting structure is located on the other side above the first workstation. A first image acquisition device is mounted on each of the first, second, and third mounting structures; and / or, The second mounting component includes a fourth mounting structure, a fifth mounting structure, and a sixth mounting structure. The fourth and fifth mounting structures are located on one side above the first workstation along the material transport direction, and the sixth mounting structure is located on the other side above the first workstation. A second image acquisition device is mounted on each of the fourth, fifth, and sixth mounting structures.

17. The packaging apparatus of claim 11, wherein, The first packaging mechanism includes a first robotic arm, a first frame mounted on the end of the first robotic arm, and a first material handling component mounted on the first frame.

18. The packaging apparatus of claim 17, wherein, The first packaging mechanism further includes a first bending assembly mounted on the first frame, the first bending assembly being used to bend the first package and the second package.

19. The packaging apparatus of claim 18, wherein, The first frame includes a first support and a second support arranged side by side, both the first support and the second support are equipped with the first material handling component, and the first bending component is installed at the edge of the first support; and / or, The first bending assembly includes a first driving unit and a first abutment mounted on the output end of the first driving unit.

20. The packaging equipment according to claim 17, characterized in that, A third image acquisition device is installed on the first frame; and / or, The first picking assembly includes at least one first picking unit fixedly installed on the first frame and at least one second picking unit movably installed on the first frame.

21. The packaging apparatus of claim 11, wherein, The second packaging mechanism includes a second robotic arm, a second frame mounted on the end of the second robotic arm, and a second material handling assembly mounted on the second frame.

22. The packaging apparatus of claim 21, wherein, The second packaging mechanism further includes a second bending assembly mounted on the second frame, the second bending assembly being used to bend the packaged items.

23. The packaging apparatus of claim 22, wherein, The second bending assembly is installed at the edge of the second frame; and / or, The second bending assembly includes a second drive unit and a second abutment mounted on the output end of the second drive unit.

24. The packaging equipment according to claim 21, characterized in that, The second frame is equipped with a fourth image acquisition device; and / or, The second picking assembly includes at least one third picking unit fixedly mounted on the second frame and at least one fourth picking unit movably mounted on the second frame.

Images