Vision positioning side wing forming machine

Abstract

The application discloses a visual positioning side wing forming machine, which comprises a machine box, a multi-axis manipulator and a folding device. The multi-axis manipulator is integrated with a visual detection module and connected with a suction cup assembly, and is used for accurately grabbing and placing a semi-finished product side wing. The folding device comprises a mounting frame, upper and lower pressing rollers which are synchronously and reversely rotated, and a side pushing seat with a slot. In work, the manipulator places the side wing on a supporting station, the edge covering part of the side wing is embedded in the slot of the side pushing seat and is automatically turned up by 90 DEG, then a transverse movement driving mechanism drives the side pushing seat to move towards each other, the left and right edge coverings are pressed down by a lower pressing assembly, and finally the side wing is pushed to the pressing rollers through a pushing assembly and a rolling assembly to complete rolling and shaping. The application realizes full-automatic and high-precision folding and sticking of the edge covering of the side wing, effectively improves production efficiency and product consistency, and reduces labor cost and operation error.

Description

Technical Field

[0001] This application relates to the technical field of packaging box production equipment, and more specifically, it relates to a vision positioning side wing forming machine. Background Technology

[0002] In the production of high-end gift boxes, cosmetic boxes, and other folding boxes, side wings are a common and crucial component. For example... Figure 1 As shown, a typical side wing structure usually includes a face sheet 1 and an inner liner assembly 2 adhered thereto. The face sheet 1 includes a mounting surface 11 and a folded surface 12 formed on the front side of the mounting surface 11. The inner liner assembly 2 includes a rectangular inner liner 21 and four triangular inner liners. Each pair of triangular inner liners can be combined to form a square inner liner 22, thereby forming two square inner liners 22 located on the left and right sides of the rectangular inner liner 21, respectively. The square inner liner 22 has the same width as the rectangular inner liner 21.

[0003] During the bonding process, the rectangular inner lining plate 21 is glued and fixed to the center of the mounting surface 11. Two square inner lining plates, each composed of triangular inner lining plates, are fixed to the left and right sides of the rectangular inner lining plate 21 and are also glued to the mounting surface 11 to form semi-finished side wings. In order to wrap the inner lining plate assembly and form an aesthetically pleasing edge-wrapping structure, the left and right sides of the mounting surface 11 are respectively formed with a left edge-wrapping 111 and a right edge-wrapping 112. The rear side is formed with a rectangular rear edge-wrapping 113 and two square rear edge-wrapping 114, corresponding to the shape of the inner lining plate, to form finished side wings.

[0004] The existing side wing forming process mainly relies on manual operation, which is cumbersome. Specifically, it includes: First, the operator needs to manually fold the left side edging 111 and the right side edging 112 towards the mounting surface 11 and stick them to the two square inner lining plates 22 respectively; then, the rectangular rear side edging 113 and the two square rear side edgings 114 are folded towards the mounting surface 11, so that the rectangular rear side edging 113 is pasted on the rectangular inner lining plate 21, and the two square rear side edgings 114 are pasted on the two square inner lining plates 22 respectively; finally, the front folded surface 12 needs to be folded and pasted to cover the upper surface of the rectangular inner lining plate 21 and the two square inner lining plates 22.

[0005] However, the above manual operation method has the following obvious drawbacks:

[0006] Low production efficiency: Each side wing requires multiple steps of meticulous manual folding and pressing to ensure the glue adheres firmly. This results in a long production cycle, making it impossible to meet the needs of large-scale production and becoming a bottleneck process in the entire box-making process.

[0007] Poor product consistency: Relying entirely on the skill and responsibility of workers leads to differences in folding angles, pasting positions, and wrapping tightness between different products, and even between different edges of the same product, making it difficult to guarantee consistent product quality and aesthetics.

[0008] High labor costs: Long-term repetitive and delicate operations require high skill levels from workers and are prone to fatigue, leading companies to invest in a large number of skilled workers, resulting in continuously rising labor costs.

[0009] Therefore, in view of the shortcomings of the existing technology, there is an urgent need to develop a special equipment that can achieve automatic, efficient and precise shaping of the wing, so as to replace manual operation and improve production efficiency and product quality. Utility Model Content

[0010] To address the issues of low production efficiency, poor product consistency, and high labor costs associated with manual side wing manufacturing, this application provides a vision-positioning side wing forming machine.

[0011] A vision-positioning side wing forming machine includes a chassis. A multi-axis robotic arm and a folding device are mounted on the top of the chassis. The multi-axis robotic arm integrates a vision inspection module and is connected to a suction cup assembly. The folding device includes a mounting frame. An upper pressure roller and a lower pressure roller are rotatably arranged symmetrically on the mounting frame, and a rotation drive mechanism is provided to drive the upper and lower pressure rollers to rotate synchronously and in opposite directions. A support frame is provided on one side of the lower pressure roller on the mounting frame. A support station is provided in the middle of the support frame. Side push seats are provided on opposite sides of the support station. Both side push seats are slidably connected to the support frame, and each of the two push seats has a slot penetrating its top surface on its facing side. The width of the slot matches that of a rectangular inner lining plate and a square inner lining plate. The width of the inner lining plate is determined by the multi-axis robotic arm driving the suction cup frame to grasp the semi-finished side wings and place them on the support station, then insert them from top to bottom into the two slots. The walls of the two slots flip the folded surface, left edge, right edge, rectangular rear edge, and two square rear edges upward by 90°. The mounting frame is equipped with a transverse drive mechanism for driving the two side push seats to move closer or further apart. Each of the two side push seats is equipped with a pressing component, which presses the left edge and right edge downward toward the mounting surface. On the side of the mounting frame away from the upper pressure roller, there is a pushing component for pushing the side wings between the upper and lower pressure rollers and a rolling component for rolling the rectangular rear edge and the two square rear edges.

[0012] Preferably, the pressing assembly includes a first telescopic cylinder, which is vertically fixed to the side of the side push seat away from the slot and has its drive shaft facing upward. The cylinder body of the first telescopic cylinder is connected to a hinge seat on the side near the slot. A swing arm is hinged to the hinge seat. A pressure plate is provided at the end of the swing arm near the slot. A connecting seat is connected to the drive shaft of the first telescopic cylinder. A hinge arm is hinged to the connecting seat. The hinge arm is hinged to the end of the swing arm away from the pressure plate.

[0013] Preferably, the pushing assembly includes a second telescopic cylinder and a pusher block disposed on the drive shaft of the second telescopic cylinder, wherein the second telescopic cylinder is placed horizontally and its drive shaft faces the upper pressure roller.

[0014] Preferably, the rolling assembly includes two third telescopic cylinders, which are respectively located on opposite sides of the pushing assembly and are placed laterally, with their drive shafts facing the upper pressure roller. A roller frame is connected to the drive shafts of the two third telescopic cylinders, and a pressure roller is rotatably mounted on the roller frame.

[0015] Preferably, the rotation drive mechanism includes a first servo motor, a first driving pulley disposed on the drive shaft of the first servo motor, a first driven pulley disposed at one end of the lower pressure roller, a first transmission belt sleeved on the driving belt and the first driven pulley, a first gear disposed at the end of the lower pressure roller away from the first driving pulley, and a second gear disposed at one end of the upper pressure roller, wherein the first gear meshes with the second gear.

[0016] Preferably, the transverse drive mechanism includes a bidirectional lead screw and a second servo motor. Both ends of the bidirectional lead screw are rotatably connected to the mounting frame. Nuts are threaded to both threaded ends of the bidirectional lead screw. The two side push seats are respectively connected and fixed to the two nuts. The second servo motor is fixed on the mounting frame. A second driving pulley is provided on the drive mechanism of the second servo motor. A second driven pulley is provided at one end of the bidirectional lead screw. A second transmission belt is sleeved on both the second driving pulley and the second driven pulley.

[0017] Preferably, the transverse drive mechanism further includes a guide shaft, which is fixed on the mounting bracket and parallel to the bidirectional lead screw. Two guide sleeves are slidably disposed on the guide shaft, and the two side push seats are respectively connected and fixed to the two guide sleeves.

[0018] Preferably, the multi-axis manipulator includes at least a first axis for driving the suction cup assembly to reciprocate, a second axis for driving the suction cup assembly to rotate, and a third axis for driving the suction cup assembly to move up and down.

[0019] In summary, this application includes at least one of the following beneficial technical effects:

[0020] 1. A multi-axis robotic arm integrates a vision inspection module and a suction cup assembly. Through visual positioning, it precisely grasps the side wings of the semi-finished product and places them on the support station. The upper and lower pressure rollers of the folding device rotate synchronously in opposite directions under the drive of the rotational drive mechanism. The slots in the side pusher automatically fold the edge-wrapping portion upwards by 90° when the side wing is placed. Then, the lateral drive mechanism drives the side pushers to move towards each other, and the pressing assembly presses the left and right edges downwards towards the mounting surface. Finally, the pushing assembly and rolling assembly push the side wing between the pressure rollers for rolling, completing the edge-wrapping and shaping. This automated process replaces the tedious manual folding and pasting operations, significantly improving production efficiency. Simultaneously, through visual positioning and the precise control of the multi-axis robotic arm, it ensures the consistency of the side wing edge wrapping, avoids human error, improves product quality and aesthetics, and reduces reliance on manpower, thereby reducing production costs.

[0021] 2. The pressing component is driven by the first telescopic cylinder. The cylinder drives the shaft to move upward, which drives the swing arm to swing through the connecting seat and the hinge arm. This causes the pressure plate to apply downward pressure to the edge banding, thereby pressing the left and right edge bandings towards the mounting surface. This lever-type pressing mechanism provides stable and uniform downward pressure, ensuring that the edge banding is tightly bonded to the inner lining plate. It avoids loosening or wrinkling that may occur when manually pressing, further enhancing the firmness and appearance consistency of the edge banding.

[0022] 3. The second telescopic cylinder drives the push block to move laterally, accurately pushing the side wing from the support position to the rolling area between the upper and lower pressure rollers; the two third telescopic cylinders drive the roller frame to move laterally, so that the pressure roller contacts and rolls the rectangular rear edge and the two square rear edges, and the rolling pressure makes the edges tightly adhered to the inner lining plate.

[0023] 4. The rotation drive mechanism is driven by the first servo motor through the pulley and gear transmission to drive the lower pressure roller to rotate, and through gear meshing to drive the upper pressure roller to rotate synchronously in the opposite direction, thereby achieving rolling when the side wing passes by. The lateral drive mechanism is driven by the second servo motor to drive the bidirectional lead screw to rotate, so that the nut drives the side push seat to move in opposite directions, thereby adjusting the position of the side push seat to adapt to the side wings of different sizes. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the wing structure in the background art.

[0025] Figure 2 This is a schematic diagram of the overall structure of a vision positioning wing forming machine according to this embodiment.

[0026] Figure 3 This is a schematic diagram of the connection structure between the upper pressure roller, the lower pressure roller, and the rotation drive mechanism in this embodiment.

[0027] Figure 4 This is a schematic diagram of the connection structure of the support frame, side push seat, and transverse drive mechanism in this embodiment.

[0028] Figure 5 This is a schematic diagram of the pusher assembly in this embodiment.

[0029] Figure 6 This is a schematic diagram of the rolling assembly in this embodiment.

[0030] Reference numerals: 1. Face paper; 11. Mounting surface; 111. Left side edging; 112. Right side edging; 113. Rectangular rear edging; 114. Square rear edging; 12. Folded surface; 2. Inner lining assembly; 21. Rectangular inner lining; 22. Square inner lining; 3. Chassis; 4. Multi-axis robot; 5. Suction cup assembly; 51. Suction cup frame; 52. Suction cup; 6. Folding device; 61. Mounting frame; 611. Side plate; 612. Mounting rod; 62. Upper pressure roller; 63. Lower pressure roller; 64. Rotation drive mechanism; 641. First servo motor; 642. First driving pulley; 643. First transmission belt; 644. First driven pulley; 645. First gear; 646. Second gear; 65. Support frame; 651. Crossbar; 6511, Slide groove; 652, Support rod; 653, Photoelectric switch; 66, Side push seat; 661, Slider; 662, Slot; 663, Pressing assembly; 6631, First telescopic cylinder; 6632, Hinge seat; 6633, Swing arm; 6634, Pressure plate; 6635, Connecting seat; 6636, Hinge arm; 67, Lateral drive mechanism; 671, Bidirectional lead screw; 672, Second servo motor; 673, Nut; 674, Second driving pulley; 675, Second transmission belt; 676, Second driven pulley; 677, Guide shaft; 678, Guide sleeve; 68, Pushing assembly; 681, Second telescopic cylinder; 682, Push block; 69, Rolling assembly; 691, Third telescopic cylinder; 692, Roller frame; 693, Pressure roller; Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] Reference Figure 2A vision-positioning side wing forming machine includes a housing 3, with a multi-axis robotic arm 4 and a folding device 6 mounted on the top of the housing 3. The multi-axis robotic arm 4, a key component for handling tasks, integrates a vision detection module capable of precise image recognition and positioning of the semi-finished side wing. The multi-axis robotic arm 4 drives a connected suction cup assembly 5, which has at least three axes of motion: the first axis drives the suction cup assembly 5 to reciprocate and adjust the horizontal angle; the second axis drives the suction cup assembly 5 to rotate, achieving fine adjustment of the side wing's posture; and the third axis drives the suction cup assembly 5 to move up and down, completing the grasping and releasing of the object. The suction cup assembly 5 includes a suction cup frame 51 and several suction cups 52 connected to the suction cup frame 51. The suction cups 52 grasp the semi-finished side wing using negative pressure adsorption; specifically, both the square inner lining plate 22 and the rectangular inner lining plate 21 are adsorbed by corresponding suction cups 52. Through the coordinated work of these three axes, combined with feedback from the vision detection module, the multi-axis robotic arm 4 can achieve precise positioning and stable transfer of the side wing.

[0033] Reference Figure 2 and Figure 3 The folding device 6 includes a mounting frame 61 consisting of two side plates 611. On the upper part of the mounting frame 61, an upper pressure roller 62 and a lower pressure roller 63 are rotatably arranged symmetrically. The two ends of these two pressure rollers are rotatably connected to the two side plates 611 via bearing seats. A rotation drive mechanism 64, which drives their movement, is connected to the mounting frame 61. This mechanism includes a first servo motor 641, with a first driving pulley 642 mounted on the drive shaft of the first servo motor 641. This pulley is connected to a first driven pulley 644 mounted on one end of the lower pressure roller 63 via a first transmission belt 643. A first gear 645 is fixed at the other end of the lower pressure roller 63, meshing with a second gear 646 fixed at the corresponding end of the upper pressure roller 62. When the first servo motor 641 starts, it drives the lower pressure roller 63 to rotate via the first transmission belt 643, and then drives the upper pressure roller 62 to rotate synchronously but in the opposite direction via the gear meshing, thus creating a clamping action that rolls and presses the passing side wing.

[0034] Reference Figure 2 and Figure 4Inside the mounting frame 61, on one side of the lower pressure roller 63, a support frame 65 is provided. Two side pushers 66 are slidably connected to the support frame 65. The support frame 65 mainly consists of two parallel horizontal bars 651, which are arranged parallel to the pressure roller. Their ends are fixedly connected to the side plates 611 on both sides. Two support rods 652 are connected to the middle of the two horizontal bars 651. The two support rods 652 are arranged along the length of the horizontal bars 651, and their upper surfaces form a support position for placing the semi-finished product side wings. Each horizontal bar 651 has a groove 6511 along its length. Two sliders 661 (not shown in the figure) are provided on the two side pushers 66. The two sliders 661 slide in contact with the two grooves 6511, achieving a sliding connection with the horizontal bars 651. Each of the two opposing side pushers 66 has a vertical slot 662 extending through the top surface of the pusher. The width of these slots 662 is designed to match the width of the rectangular inner lining plate 21 and the square inner lining plate 22 used in the side wing. When the multi-axis robot 4 places the semi-finished side wing on the support station, the inner lining plate portion of the side wing will pass through the two slots 662 from top to bottom. At this time, the wall of the slot 662 will contact the folded surface 12, left edge 111, right edge 112, rectangular rear edge 113, and two square rear edges 114 on the face paper 1, which are pre-coated with glue, and fold them upwards by 90 degrees. Due to the initial tack of the glue, these folded parts can temporarily maintain their folded state after the side pushers 66 are moved away.

[0035] Reference Figure 2 and Figure 4 A transverse drive mechanism 67 is connected to the mounting bracket 61 to drive two side push seats 66 to move towards or away from each other. This transverse drive mechanism 67 includes a bidirectional lead screw 671 and a second servo motor 672. The two ends of the bidirectional lead screw 671 are rotatably connected to the two side plates 611 of the mounting bracket 61 via bearing seats. Two nuts 673 are screwed onto two oppositely helical threaded sections on the lead screw, and these nuts 673 are fixedly connected to the two side push seats 66 respectively. The second servo motor 672 is fixed to the mounting bracket 61, and a second driving pulley 674 is mounted on its drive shaft, which is connected to a second driven pulley 676 mounted on one end of the bidirectional lead screw 671 via a second transmission belt 675. Furthermore, to ensure the smooth movement of the side push seats 66, a guide shaft 677 parallel to the bidirectional lead screw 671 is provided. Two slidable guide sleeves 678 are fitted onto the guide shaft 677, and these two guide sleeves 678 are fixedly connected to the two side push seats 66 respectively. When the second servo motor 672 is working, it drives the bidirectional lead screw 671 to rotate via belt drive, thereby causing the two nuts 673 to drive the side pusher 66 to move precisely towards or away from each other along the guide shaft 677 and the slide groove 6511 of the crossbar 651, in order to adapt to different sized side wings or different process requirements.

[0036] Reference Figure 2 and 4 Each side push seat 66 is also equipped with a pressing assembly 663 for pressing down the edge. The pressing assembly 663 includes a first telescopic cylinder 6631, which is vertically fixed on the side of the side push seat 66 away from the slot 662, with its drive shaft facing upward. A hinge seat 6632 is connected to the side of the cylinder body of the first telescopic cylinder 6631 near the slot 662, and a swing arm 6633 is hinged to it. A pressure plate 6634 for actual pressing is installed at the end of the swing arm near the slot 662. A connecting seat 6635 is connected to the top of the drive shaft of the first telescopic cylinder 6631, and a hinge arm 6636 is hinged to the connecting seat 6635. The other end of the hinge arm 6636 is hinged to the end of the swing arm 663 away from the pressure plate 6634. When the drive shaft of the first telescopic cylinder 6631 extends upward, the connecting seat 6635 and the hinge arm 6636 push the swing arm to swing around its hinge point, thereby causing the pressure plate 6634 to move downward, pressing the left edge 111 or the right edge 112, which has been flipped up 90 degrees, towards the mounting surface 11, ensuring that it is firmly bonded to the inner lining plate.

[0037] Reference Figure 2 , Figure 5 and Figure 6 On the side of the support frame 65 away from the upper pressure roller 62, a mounting rod 612 with a parallel crossbar 651 is also provided between the two side plates 611. A pushing assembly 68 and a rolling assembly 69 are mounted on the mounting rod 612. The pushing assembly 68 includes a second telescopic cylinder 681 placed laterally, with a push block 682 mounted on its drive shaft. When the second telescopic cylinder 681 is driven, the push block 682 pushes the side wings, which have undergone initial edge folding, from the support station to the rolling area between the upper and lower pressure rollers 63. The rolling assembly 69 includes two third telescopic cylinders 691 also placed laterally, located on both sides of the pushing assembly 68. A roller frame 692 is connected to the drive shaft of each third telescopic cylinder 691, and a pressure roller 693 is rotatably mounted on the roller frame 692. When the third telescopic cylinder 691 is driven, the pressure roller 693 moves forward and rolls the rectangular rear edge 113 and the two square rear edge 114 of the side wings to make them stick tightly to the inner lining plate. In conjunction with the upper pressure roller 62 and the lower pressure roller 63, the folded surface 12 is pressed and pressed to the rectangular inner lining plate 21 and the square inner lining plate 22. At the same time, the whole is rolled to complete the final edge forming.

[0038] The wing forming equipment is also equipped with a centralized control system. The multi-axis robot 4, the first servo motor 641, the second servo motor 672, the first telescopic cylinder 6631, the second telescopic cylinder 681, and the third telescopic cylinder 691 are all connected to this control system, receiving its commands and providing status feedback. A photoelectric switch 653 is also installed on the crossbar 651 of the support frame 65 at the support station to detect whether a semi-finished wing is placed at that station. This photoelectric switch 653 is also connected to the control system, providing a trigger signal to coordinate the timing of the entire automated production process, ensuring that each action is performed accurately and continuously.

[0039] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A vision-positioning side wing forming machine, characterized in that: The device includes a chassis, on the top of which is equipped with a multi-axis robotic arm and a folding device. The multi-axis robotic arm integrates a vision inspection module and is connected to a suction cup assembly. The folding device includes a mounting frame with upper and lower pressure rollers symmetrically arranged vertically on it. A rotation drive mechanism is provided to drive the upper and lower pressure rollers to rotate synchronously and in opposite directions. A support frame is provided on one side of the lower pressure roller on the mounting frame. A support station is provided in the middle of the support frame. Side push seats are provided on opposite sides of the support station. Both side push seats are slidably connected to the support frame, and each of the two push seats has a slot penetrating its top surface on its facing side. The width of the slot matches the width of the rectangular and square inner lining plates. The multi-axis robotic arm drives the suction cup frame to grab the semi-finished product side wings and place them on the support station. The wings are then inserted into the two slots from top to bottom. The walls of the two slots flip the folded surface, left edge, right edge, rectangular rear edge, and two square rear edges upward by 90°. The mounting frame is equipped with a transverse drive mechanism to drive the two side push seats to move closer or further apart. Each of the two side push seats is equipped with a pressing component. The two pressing components press the left edge and right edge downward toward the mounting surface. On the side of the mounting frame away from the upper pressure roller, there is a pushing component for pushing the side wings between the upper and lower pressure rollers and a rolling component for rolling the rectangular rear edge and the two square rear edges.

2. The vision positioning side wing forming machine according to claim 1, characterized in that: The pressing assembly includes a first telescopic cylinder, which is vertically fixed to the side of the side push seat away from the slot and has its drive shaft facing upward. The cylinder body of the first telescopic cylinder is connected to a hinge seat on the side near the slot. A swing arm is hinged to the hinge seat. A pressure plate is provided at the end of the swing arm near the slot. A connecting seat is connected to the drive shaft of the first telescopic cylinder. A hinge arm is hinged to the connecting seat. The hinge arm is hinged to the end of the swing arm away from the pressure plate.

3. The vision positioning side wing forming machine according to claim 1, characterized in that: The feeding assembly includes a second telescopic cylinder and a pusher block disposed on the drive shaft of the second telescopic cylinder. The second telescopic cylinder is placed horizontally and its drive shaft faces the upper pressure roller.

4. The vision positioning side wing forming machine according to claim 1, characterized in that: The rolling assembly includes two third telescopic cylinders, which are located on opposite sides of the pushing assembly and are placed laterally. Their drive shafts face the upper pressure roller. Roller frames are connected to the drive shafts of the two third telescopic cylinders, and pressure rollers are rotatably mounted on the roller frames.

5. A vision positioning wing forming machine according to claim 1, characterized in that: The rotation drive mechanism includes a first servo motor, a first driving pulley mounted on the drive shaft of the first servo motor, a first driven pulley mounted on one end of the lower pressure roller, a first transmission belt sleeved on the driving belt and the first driven pulley, a first gear mounted on the end of the lower pressure roller away from the first driving pulley, and a second gear mounted on one end of the upper pressure roller, wherein the first gear meshes with the second gear.

6. A vision positioning wing forming machine according to claim 1, characterized in that: The transverse drive mechanism includes a bidirectional lead screw and a second servo motor. Both ends of the bidirectional lead screw are rotatably connected to the mounting frame. Nuts are threaded to both threaded ends of the bidirectional lead screw. The two side push seats are respectively connected and fixed to the two nuts. The second servo motor is fixed on the mounting frame. A second driving pulley is provided on the drive mechanism of the second servo motor. A second driven pulley is provided at one end of the bidirectional lead screw. A second transmission belt is sleeved on both the second driving pulley and the second driven pulley.

7. A vision positioning wing forming machine according to claim 6, characterized in that: The transverse drive mechanism also includes a guide shaft, which is fixed on the mounting bracket and parallel to the bidirectional lead screw. Two guide sleeves are slidably disposed on the guide shaft, and the two side push seats are respectively connected and fixed to the two guide sleeves.

8. A vision positioning side wing forming machine according to claim 1, characterized in that: The multi-axis manipulator includes at least a first axis that drives the suction cup assembly to reciprocate, a second axis that drives the suction cup assembly to rotate, and a third axis that drives the suction cup assembly to rise and fall.

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