CN103086013B - Full-automatic coffee capsule packing machine - Google Patents

Abstract

The invention relates to a fully automatic coffee capsule packaging machine, which includes a cup dropping system, a feeding system, a sealing film heat-sealing mechanism, a sealing film punching mechanism, an automatic feeding system for manipulators, and an automatic packaging mechanism. The automatic cup drop system is used to drop the cups into the cup delivery plate in time sequence, which greatly improves the work efficiency, and there will be no accumulation or shortage of cups; the cups loaded with coffee are transported to the Automatic packaging mechanism, the delivery and retrieval system uses a reciprocating chain and a cup push cylinder to transport the cups in sequence, with high work efficiency and no accumulation of cups.

Description

Automatic Coffee Capsule Packaging Machine

technical field

The invention relates to the field of product packaging, in particular to a fully automatic coffee capsule packaging machine.

Background technique

With people's continuous pursuit of coffee taste and the convenience of coffee carrying, storage and extraction operations, coffee is processed into coffee capsules for easy storage and portability. By hand, the packaging speed in this process is relatively slow, and it is easy to contaminate the bacteria on the hands on the packaging bag of the coffee capsule during the delivery process.

The invention patent with application number 94109499.5 discloses a method and device for packaging coffee, including grinding the coffee sent from the silo, forming a soft or semi-rigid container, filling the coffee into the container and then The step of closing the package, etc., wherein, during the container forming phase, the container is pre-filled with gas and at the same time temporarily closes its top, which can be opened again shortly before filling with coffee, which takes place in an atmosphere controlled by the flow of gas, for The coffee pre-filled in the container is put into the container to control the atmosphere, and the gas is extracted from the coffee grinder. The method of packaging the coffee in the gas atmosphere is bound to increase the sealing of various equipment, thereby increasing the cost.

Another example is the Chinese invention patent whose application number is ZL200710146245.5, which discloses a coffee machine that can automatically press and pour the bag. It can move vertically and horizontally under the action of the first and second driving mechanisms respectively. When the first part moves below the second part, the first and second parts are hermetically closed to form a sealed cavity. The second part is composed of a moving plate and a turning plate. One side of the turning plate can be turned over and connected to the lower part of the front side of the moving plate. There is a concave cavity on the coffee tray matched with the turning plate; When moving to the upper part of the bag drop opening, the flip plate can be turned down into the bag drop port. This invention realizes the automatic bag drop of the coffee machine, but two driving mechanisms are used to drive one part respectively, and the two parts move vertically and horizontally respectively. , Therefore, the structure of the mechanism is relatively complex, the volume is relatively large, and the operation is troublesome.

Contents of the invention

In order to solve the above-mentioned technical defects existing in the prior art, the present invention provides a fully automatic coffee capsule packaging machine. In the coffee capsule automatic packaging production line, an automatic cup drop system is used to drop the material cups onto the cup feeding plate in time sequence, greatly improving the quality of the coffee capsules. The work efficiency is improved, and there will be no accumulation or shortage of cups; the cups filled with coffee are transported to the automatic packaging mechanism by the automatic delivery system of the manipulator. Cup, high work efficiency, will not cause the phenomenon of cup accumulation.

In order to achieve the above object, technical scheme of the present invention is:

Fully automatic coffee capsule packaging machine, the packaging machine includes a main transmission system, a feeding system, a sealing film heat sealing mechanism, a sealing film punching mechanism, the main transmission system controls and drives the cups in the cup dropping system to pass through the feeding system, sealing film Film heat sealing mechanism, sealing film punching mechanism, robot automatic feeding system, and finally to the automatic packaging mechanism for outer packaging.

Preferably, the cup dropping system, film heat-sealing mechanism, film punching mechanism, and automatic manipulator feeding system are all driven by cylinders.

In the above solution, preferably, the cup dropping system includes a cup changing device, an air cylinder, a cup loading cylinder, a stepping motor and a photoelectric detector, and the cup loading cylinder and the photoelectric detector are placed in the cup changing device;

Preferably in the above solution, the cup changing device is a cup changing turntable; the cylinder includes a cup changing cylinder and a cup dropping cylinder, and the cup changing cylinder is located on the upper part of the cup dropping cylinder); the cup loading cylinder includes a lower cup material cylinder , Lower the cup tube.

In the above solution, preferably, the feeding system includes a motor, a silo, an interface and a material outlet.

In the above solution, preferably, the film heat-sealing mechanism includes a primary film heat-sealing mechanism and a secondary film heat-sealing mechanism.

In the above solution, it is preferred that both the primary film heat-sealing mechanism and the secondary film heat-sealing mechanism include a cup sealing film, a heat-sealing head and an air cylinder.

In the above solution, preferably, the heat sealing head can reach 120°C.

In the above scheme, preferably, the sealing film heat sealing mechanism also includes sealing film to cursor, sealing film unwinding mechanism and sealing film waste side winding mechanism, and according to sealing film to cursor, sealing film unwinding mechanism and sealing film The order of waste edge winding mechanism is arranged.

In the above solution, preferably, a compacting mechanism is provided between the film heat-sealing mechanism and the feeding system.

In the above solution, it is preferable that a sealing film destaticizing mechanism is provided between the sealing film heat sealing mechanism and the compacting mechanism.

Preferably in the above solution, the automatic delivery system of the manipulator includes a cup pushing device, a cup grabbing device, a reciprocating servo motor, a reciprocating chain, and an automatic conveying station, and the cup pushing device and cup grasping device are placed in the automatic conveying station superior.

In the above solution, preferably, the cup pushing device is a cup pushing cylinder; the cup grabbing device includes a cup grabbing cylinder I and a cup grabbing cylinder II.

In the above solution, preferably, the automatic packaging mechanism includes a bagging mechanism and a cutting mechanism.

In the above solution, preferably, the main transmission system adopts chain transmission.

In the above solution, preferably, the main drive system is provided with a cup feeding plate.

In the above solution, preferably, two cup carrying holes are vertically provided on the cup feeding plate.

Preferably in the above solution, a suction cup cylinder is provided at the lower end of the cup delivery plate, and a vacuum suction cup is provided at the upper part of the suction cup cylinder.

The working process of this automatic coffee capsule packaging machine is: after the material cup is put into the lower cup barrel, the main transmission system starts, and the cup feeding plate in the main transmission system moves forward with the rotation of the sprocket on the main transmission system. When running to the lower cup station of the cup drop system, the cup drop cylinder starts to work, and the material cup in the lower cup barrel falls into the lower cup barrel. At this time, the suction cup cylinder works, and the vacuum suction cup on the upper part of the suction cup cylinder is opened. The material cup in the lower cup barrel is sucked into the cup feeding plate by vacuum, and the automatic cup dropping work is completed by such a reciprocating action. The main drive system continuously runs from left to right under the action of the motor. For this reason, the cups in the cup feeding plate are transported to the feeding system to add coffee, and the cups are filled with coffee and transported to the bottom of the compacting mechanism for compaction. Next, it is transported to the bottom of the sealing film destaticizing mechanism to remove static electricity, and then enters the first sealing film heat sealing mechanism for the first heat sealing, and then enters the secondary sealing film heat sealing mechanism for the second heat sealing. The sealed cup enters the sealing film punching mechanism for punching, cuts off the excess sealing film on the cup, and then packs the cup. At this time, the automatic pick-up system of the manipulator will seal the The filmed material cup is transferred to the receiving plate, and then sent into the automatic packaging mechanism for bagging. Under the action of the automatic packaging mechanism, the material cup is wrapped in a plastic bag outside, and finally sent into the loading box through the conveyor belt ready for packing.

During the research and development process, the original fully automatic cup drop mechanism did not use a stepping motor for 90-degree clockwise indexing in the early stage of the trial production process, but used a swing cylinder with an overrunning clutch for indexing. Practice has proved that due to the rotation of the turntable The diameter is large, and the turntable will rush past the position of the lower cup every time the swing cylinder moves, resulting in inaccurate cup filling. After repeated improvements, it is ideal to use a stepping motor with higher power, low speed and high torque.

In addition, in the research and development of the feeding system, the outlet of the original feeding system is directly extruded and metered by the screw. Due to the good fluidity of coffee, loose material is easy to appear after each feeding. If the loose material is on the edge of the material cup, the heat seal of the cup will not be tight after entering the heat seal. This will cause product quality problems. For this reason, a small tray is added after screw extrusion. Centrifugal blanking of materials avoids such phenomena.

Description of drawings

Fig. 1 is the overall structure schematic diagram according to a preferred embodiment of the fully automatic coffee capsule packing machine of the present invention;

Figure 2 is a side view of the embodiment shown in Figure 1 of the fully automatic coffee capsule packaging machine according to the present invention;

Fig. 3 is the front view of the cup dropping system according to the embodiment shown in Fig. 1 of the fully automatic coffee capsule packaging machine of the present invention;

Fig. 4 is the side view of the cup dropping system according to the embodiment shown in Fig. 1 of the fully automatic coffee capsule packaging machine of the present invention;

Fig. 5 is the top view of the cup dropping system of the embodiment shown in Fig. 1 according to the fully automatic coffee capsule packaging machine of the present invention;

Fig. 6 is the top view of the tray in Fig. 3 of the fully automatic coffee capsule packing machine according to the present invention;

Fig. 7 is a preferred structural representation of the feeding system of the embodiment shown in Fig. 1 according to the fully automatic coffee capsule packaging machine of the present invention;

Fig. 8 is the front view of a preferred embodiment of the sealing film heat-sealing mechanism in the embodiment shown in Fig. 1 according to the fully automatic coffee capsule packaging machine of the present invention;

Fig. 9 is a side view of a preferred embodiment of the sealing film punching mechanism of the embodiment shown in Fig. 1 according to the fully automatic coffee capsule packaging machine of the present invention;

Fig. 10 is a front view of a preferred embodiment of the manipulator automatic delivery system according to the embodiment shown in Fig. 1 of the fully automatic coffee capsule packaging machine of the present invention;

Fig. 11 is a top view of a preferred embodiment of the manipulator automatic feeding system of the embodiment shown in Fig. 1 of the fully automatic coffee capsule packaging machine according to the present invention.

Labels in the attached drawings:

Cup dropping system 10, feeding cup 11, cup changing turntable 12, cup changing cylinder 13, cup dropping cylinder 14, cup feeding plate 15, lower cup barrel 16, stepper motor 17, photoelectric detector 18, lower cup barrel 19, Vacuum suction cup 21, suction cup cylinder 22, tray 23, square hole 231, slider 234, feeding system 30, motor 31, silo 32, interface 33, discharge port 34, compacting mechanism 40, sealing film removing static electricity mechanism 50 , primary film sealing mechanism 60, cup sealing film 61, heat sealing head 62, air cylinder 63, secondary film heat sealing mechanism 70, film punching mechanism 80, robot automatic delivery system 90, cup push cylinder 91, Cylinder push rod 911, cup feeding plate 92, chute 921, cup grab cylinder I94, reciprocating servo motor 95, reciprocating chain 96, cup grab cylinder II97, vacuum suction cup 98, automatic conveying station 99, main drive system 1, sealing film For the cursor mechanism 2, the sealing film unwinding mechanism 3, the sealing film waste edge winding mechanism 4, and the automatic packaging mechanism 5.

Detailed ways

The specific implementation of the fully automatic coffee capsule packaging machine of the present invention will be further described below in conjunction with the accompanying drawings.

As shown in Fig. 1-Fig. 2 (arrow direction is the operating direction of main system), according to the fully automatic coffee capsule packing machine of the present invention comprises main transmission system 1, feeding system 30, sealing film heat sealing mechanism, sealing film punching mechanism 80, the main transmission system 1 controls the material cup 11 in the cup dropping system 10 to pass through the feeding system 30, the sealing film heat sealing mechanism, the sealing film punching mechanism 80, the automatic feeding system 90 of the manipulator, and finally to the automatic packaging mechanism 5. outer packaging. The main transmission system 1 is driven by a chain, which can stably transport the material cups 11 without causing accumulation or shortage of the material cups 11 on the main transmission system 1 . The main transmission system 1 is provided with a plurality of cup feeding plates 15 arranged vertically, and the distance between two adjacent cup feeding plates 15 is the same. The cup feeding plate 15 is a rectangular block with a cup carrying hole in the middle. is the height of the feed cup 11 , the diameter of the carrying cup hole is not less than the diameter of the feed cup 11 .

The working process of the fully automatic coffee capsule packaging machine is: after the material cup 11 is put into the lower cup barrel 16, the main transmission system 1 is started, and the cup delivery plate 15 in the main transmission system 1 follows the movement of the sprocket wheel on the main transmission system 1. Rotate and run forward. When running to the lower cup station of the cup drop system 10, the cup drop cylinder 14 starts to work, and the material cup 11 in the lower cup barrel 16 falls into the lower cup barrel 19. At this time, the suction cup cylinder 22 To work, the vacuum suction cup 21 on the top of the suction cup cylinder 22 is opened, and the material cup 11 in the lower cup barrel 19 is sucked into the cup feeding plate 15 by vacuum, and the automatic cup dropping work is completed by such a reciprocating action. The main drive system 1 continuously runs from left to right under the action of the motor. For this reason, the material cup 11 in the cup feeding plate 15 will be transported to the feeding system 30 to add coffee, and the material cup 11 will be transported to the compacting mechanism 40 after adding coffee. compaction below. Next, it is transported to the bottom of the sealing film removing static electricity mechanism 50 to remove static electricity, and then enters the first sealing film heat sealing mechanism 60 times for the first heat sealing, and then enters the secondary sealing film heat sealing mechanism 70 times for the second heat sealing seal up. After sealing the material cup 11 enters the sealing film punching mechanism 80 times for punching, the redundant sealing film on the material cup 11 is cut off, and then the material cup 11 is to be packaged, at this time the manipulator automatic pick-up system 90 will The film-sealed material cup 11 on the main drive system 1 is transferred to the receiving plate, and then sent into the automatic packaging mechanism 5 for bagging. Under the action of the automatic packaging mechanism 5, the material cup 11 is wrapped in a plastic bag on the outside , and finally sent into the loading box by the conveyor belt to prepare for boxing.

Next, referring to Fig. 3 (the direction of the arrow is the running direction of the main system) - Fig. 4, the working process of the cup dropping system 10 will be introduced in detail. When the number of cups 11 in the lower cup barrel 16 is less than the number set by the photoelectric detector 18, the cup changing cylinder 13 under the tray 23 is closed, and the stepping motor 17 drives the cup changing turntable 12 to rotate clockwise, and another full bin is The lower cup material barrel 16 of the group is sent in the lower cup barrel 19, so the work of changing cups is completed. As shown in Figure 5 (the direction of the arrow is the direction of rotation of the cup changing carousel), there are 4 groups of each group with 2 lower cup barrels 16 in the cup dropping system 10, and 8 circular holes are arranged on the cup changing carousel 12, 8 Each 2 circular holes is a group, evenly distributed at the four corners of the cup changing carousel 12. The lower cup material barrel 16 is placed in the circular hole of the cup-changing turntable 12 and is held up by the tray 23, and the cup-changing turntable 12 rotates clockwise during work. Of course, the round holes on the cup changing carousel 12 can be increased or decreased as required, such as 6, 10, 12, etc., and the number of lower cup barrels 16 can also be increased or decreased.

The upper diameter of the material cup 11 is slightly smaller than the inner diameters of the lower cup material barrel 16 and the lower cup barrel 19, so that the material cup 11 will not be skewed during the falling process, nor will it easily fall by itself. In addition, in order to prevent the lower cup barrel 16 and the lower cup barrel 19 from being electrically conductive in the system, both the lower cup barrel 16 and the lower cup barrel 19 are made of non-toxic insulating materials.

Since the cup feeding plate 15 of the main transmission system 1 is provided with a suction cup cylinder 22, and a vacuum suction cup 21 is installed on the suction cup cylinder 22, the material cup 11 sent into the lower cup barrel 19 will be sucked into the cup feeding plate 15 by the vacuum suction cup 21. Then, it is sent to the feeding system 30 by the cup feeding plate 15 for feeding. Since there are two lower cup cylinders 19 in the cup drop system 10 and two cup carrying holes are provided on the cup feeding plate 15, two suction cup cylinders 22 are installed on the main transmission system 1, and each suction cup cylinder 22 Vacuum suction cups 21 are all housed on the top.

The diameter of the lower cup barrel 16 is the same as that of the lower cup barrel 19 , and the length of the lower cup barrel 16 is greater than that of the lower cup barrel 19 . A plurality of material cups 11 are housed in the lower cup barrel 16. After the material cups 11 in the lower cup barrel 19 fall onto the cup feeding plate 15, the material cups 11 in the lower cup barrel 19 are reduced. The material cup 11 of the lower cup barrel 16 falls into the lower cup barrel 19. Since the length of the lower cup barrel 19 is shorter than the length of the lower cup barrel 16, the material cups 11 will not accumulate in the lower cup barrel 19 and affect the entire system work.

As shown in FIG. 6 , a square hole 231 is opened on the cup changing station of the tray 23 , and a slider 232 is arranged inside the square hole 231 . When the material cup 11 in the lower cup material barrel 16 needs to fall into the lower cup barrel 19, the sensor under the tray 23 is turned on, the slider 232 is pushed to move to the left, the square hole 231 is opened, and the material cup 11 falls into the lower cup barrel through the square hole 231. In the lower cup tube 19. After the material cup 11 falls into the lower cup barrel 19, the slider 232 moves to the right to close the square hole 231, thereby limiting the automatic fall of the material cup 11 in the lower cup barrel 16 and affecting the normal operation of the system. The thickness of the material of the slider 232 is smaller than that of the tray 23 , and when the square hole 231 is closed by the slider 232 , the upper plane of the slider 232 is coplanar with the lower plane of the tray 23 .

Referring to FIG. 7 , it is a schematic structural diagram of the feeding system 30 . There is a certain amount of coffee in the hopper 32. After the motor 31 is started, when the cup 11 is delivered to the outlet 34 of the feeding system 30 by the cup feeding plate 15, the coffee in the hopper 32 will pass through under the drive of the motor 31. The bottom interface 33 of the feed bin 32 falls into the feed cup 11 . Since the places in the feeding system 30 that are in contact with the coffee are all made of stainless steel, the coffee will not be polluted, and the use time is longer, which saves the cost. In addition, all components of the feeding system 30 are connected in a sealed manner, so that other impurities will not enter the silo 31 and contaminate the coffee. In order to prevent the coffee in the feed bin 32 from piling up when it falls into the material cup 11, the discharge port 34 is processed into a circular tube shape with a funnel at the upper end.

Next, refer to FIG. 8 (the direction of the arrow is the running direction of the main transmission system)-shown in FIG. 9 , which shows the working process of the film heat-sealing mechanism. The sealing film heat-sealing mechanism also includes the sealing film pairing cursor 2, the sealing film unwinding mechanism 3 and the sealing film waste side winding mechanism 4, and according to the sealing film pairing cursor 2, the sealing film unwinding mechanism 3 and the sealing film waste side winding The sequence of institutions 4. The cup 11 filled with coffee is compacted by the compacting mechanism 40 and then transported to the sealing film destaticizing mechanism 50 for static removal. After the sealing film aligns the cursor 2 with the material cup 11, the shaft in the sealing film unwinding mechanism 3 rotates, Driven by the runner, the sealing film wraps the material cup 11, and then enters the primary film heat-sealing mechanism 60 and the secondary film heat-sealing mechanism 70 for film-adding heat-sealing. Both the heat-sealing mechanism 60 for the primary film sealing and the heat-sealing mechanism 70 for the secondary film sealing include: a cup sealing film 61 , a heat-sealing head 62 and an air cylinder 63 . When the material cup 11 is transported to the sealing film heat-sealing mechanism, the material cup 11 will be wrapped by the cup sealing film 61, and then the heat-sealing head 62 will heat seal the opening of the material cup 11 under the action of the cylinder 63 when it is heated to 120°C. , the cup sealing film 61 will stick to the mouth of the cup and then seal the cup 11 .

The material cup 11 that has been sealed by the primary film heat-sealing mechanism 60 and the secondary film heat-sealing mechanism 70 is transported to the lower part of the film-sealing punching mechanism 80 under the action of the main drive system 1, and passes through the film-sealing punching mechanism. 80 cut off the excess sealing film on the top of the feed cup 11. After die-cutting, the sealed film is collected by the film waste edge unwinding mechanism 4, so that the sealed film heat-sealing mechanism will not be affected. As shown in FIG. 9 , there are two heat-sealing heads 62 in the film-sealing heat-sealing mechanism, so the two material cups 11 on the cup feeding plate 15 can be sealed at the same time.

Referring to Fig. 10-Fig. 11, the robot automatic delivery system 90 includes a cup pushing device, a cup grabbing device, a reciprocating servo motor 95, a reciprocating chain 96, and an automatic conveying station 99, and the cup pushing device and cup grabbing device are placed in an automatic On the delivery station 99.

The cup pushing device is a cup pushing cylinder 91; the cup grabbing device includes a cup grabbing cylinder I94 and a cup grabbing cylinder II97. When the system stopped working, the cup cylinder I94 was positioned above the cup tray 922; the cup cylinder II97 was positioned above the cup hole of the cup delivery plate 15.

The working process of the manipulator automatic feeding system 90 will be described in detail below in conjunction with the accompanying drawings. The two material cups 11 that have been heat-sealed are transported to the automatic feeding system 90 by the manipulator by the cup feeding plate 15 on the main drive system 1, and the cup grabbing cylinder 94 is opened, and the cup grabbing cylinder 94 is activated by the cup grabbing cylinder 94 The two vacuum chucks 98 below are opened, and the two vacuum chucks 98 suck up the two feed cups 11 that have been sealed on the cup plate 15. Driven by the reciprocating servo motor 95, the reciprocating chain 96 in the system rotates left and right, transfers the material cup 11 that has been sealed on the left to the automatic conveying station 99 on the right, and then is conveyed to the automatic packaging mechanism 5 for further processing. outer packaging.

In this delivery system, two feed cups 11 are grasped each time. When each feed cup 11 needs to be packaged separately, each feed cup 11 must be sent into the automatic packaging mechanism 5 separately. As shown in Figure 11, the automatic conveying station 99 is provided with a cup inlet plate 92, and the cup inlet plate 92 is placed on the support 921, and the support 921 is provided with a chute, because the reciprocating chain 96 transfers two The feed cup 11 is therefore provided with two cup-carrying holes on the cup inlet plate 92 . The cup advance plate 92 is connected together with the cylinder push rod 911 of the cup cylinder 91. When the reciprocating chain 96 transfers a group of material cups 11 to the cup feeding plate 92, the cup pushing cylinder 91 starts to work, and the cup pushing cylinder 91 will use the push cup feeding plate 92 to slide on the cylinder push rod 911 according to the sequence, thereby pushing the material The cup 11 is pushed into the automatic delivery station 99 according to the time sequence and enters in the automatic packaging mechanism 5 . In addition, it should be noted that the two ends of the reciprocating chain 96 are respectively provided with a cup-catching cylinder I 94 and a cup-catching cylinder II 97 . When the cup grabbing cylinder II97 grabs the material cup 11 and sends it to the cup inlet plate 92, the cup grabbing cylinder I94 runs to the left under the action of the reciprocating chain 96 and starts to grab the material cup 11 on the cup feeding plate 15. So back and forth to work.

Reciprocating chain 96 is two, and is connected together with reciprocating servo motor 95 by gear, adopts reciprocating chain 96 to carry out left and right sides to work simultaneously, has improved work efficiency greatly like this, and has saved cost.

As shown in FIG. 11 , the support 921 and the automatic conveying station 99 are detachably connected together by bolts; the push cup cylinder 91 is detachably connected to the automatic conveying station 99 by bolts through the base. The middle part of the automatic conveying station 99 has a cup-carrying groove, and the material cup 11 from the cup inlet plate 92 will fall into the cup-carrying groove in the middle part of the automatic conveying station 99, so that the material cup 11 enters the automatic packaging mechanism 5 In the process, there will be no skewing, which facilitates the outer packaging of the material cup 11, and improves the work efficiency and packaging quality.

In addition, the outside of the packaging machine is equipped with a protective cover, so that foreign sundries will not enter the production line, will not pollute the products in the production line, and will not cause adverse effects on the operation of the production line.

It is not difficult for those skilled in the art to understand that the fully automatic coffee capsule packaging machine of the present invention includes any combination of parts in this specification. Due to space limitation and for the sake of brevity, these combinations are not introduced in detail here. However, after reading this specification, the scope of the present invention constituted by any combination of the parts constituting this specification is self-evident.

Claims (18)

1. Fully automatic coffee capsule packaging machine, the packaging machine includes a main transmission system (1), a feeding system (30), a sealing film heat sealing mechanism, a sealing film punching mechanism (80), and the main transmission system (1) controls And drive the material cup (11) in the cup drop system (10) to pass through the feeding system (30), sealing film heat sealing mechanism, sealing film punching mechanism (80), automatic manipulator feeding system (90), and finally achieve automatic packaging Mechanism (5) for outer packaging; it is characterized in that: the cup dropping system (10) includes a cup changing device, an air cylinder, a cup loading cylinder, a stepping motor (17) and a photoelectric detector (18); the cup loading The cylinder includes a lower cup material cylinder (16) and a lower cup cylinder (19); the cup changing device is a cup changing turntable (12); the cylinder includes a cup changing cylinder (13); the material cup (11) is put into the lower cup when the number of cups (11) in the lower cup barrel (16) is less than the number set by the photoelectric detector (18), the cup changing cylinder (13) under the tray (23) is closed, and the step The feeding motor (17) drives the cup changing turntable (12) to rotate clockwise, and another group of lower cup barrels (16) that are full are sent into the lower cup barrel (19) to complete the cup changing work. 2. The packaging machine according to claim 1, characterized in that: the cup dropping system (10), sealing film heat-sealing mechanism, sealing film punching mechanism (80), and automatic manipulator feeding system (90) are all selected cylinder drive. 3. The packaging machine according to claim 1, characterized in that: the cup loading cylinder and the photoelectric detector (18) are placed in the cup changing device. 4. The packaging machine according to claim 3, characterized in that: the air cylinder further includes a cup dropping cylinder (14), and the cup changing cylinder (13) is located on the upper part of the cup dropping cylinder (14). 5. The packaging machine according to claim 1, characterized in that: the feeding system (30) includes a motor (31), a silo (32), an interface (33) and a material outlet (34). 6. The packaging machine according to claim 1, characterized in that: the film-sealing heat-sealing mechanism comprises a primary film-sealing heat-sealing mechanism (60) and a secondary film-sealing heat-sealing mechanism (70). 7. The packaging machine according to claim 6, characterized in that: the first-level heat-sealing mechanism (60) and the second-level heat-sealing mechanism (70) both include a cup sealing film (61), a heat-sealing head (62) and cylinder (63). 8. The packaging machine according to claim 7, characterized in that: the heat sealing head (62) reaches 120°C. 9. The packaging machine according to claim 1 or 6, characterized in that: the sealing film heat-sealing mechanism also includes sealing film alignment cursor (2), sealing film unwinding mechanism (3) and sealing film waste edge winding Mechanism (4), and arranged in the order of sealing film pair cursor (2), sealing film unwinding mechanism (3) and sealing film waste edge winding mechanism (4). 10. The packaging machine according to claim 1 or 6, characterized in that: a compacting mechanism (40) is provided between the film heat-sealing mechanism and the feeding system (30). 11. The packaging machine according to claim 1 or 6, characterized in that: a sealing film destaticizing mechanism (50) is provided between the sealing film heat sealing mechanism and the compacting mechanism (40). 12. The packaging machine according to claim 10, characterized in that: a sealing film destaticizing mechanism (50) is provided between the sealing film heat sealing mechanism and the compacting mechanism (40). 13. The packaging machine according to claim 1, characterized in that: the robot automatic delivery system (90) includes a cup pushing device, a cup grabbing device, a reciprocating servo motor (95), a reciprocating chain (96), an automatic conveying Station (99), the cup pushing device and cup grabbing device are placed on the automatic conveying station (99). 14. The packaging machine according to claim 1, characterized in that: the automatic packaging mechanism (5) includes a bagging mechanism and a cutting mechanism. 15. The packaging machine according to claim 1, characterized in that: the main transmission system (1) adopts chain transmission. 16. The packaging machine according to claim 1 or 15, characterized in that: the main transmission system (1) is provided with a cup feeding plate (15). 17. The packaging machine according to claim 16, characterized in that two cup carrying holes are vertically provided on the cup feeding plate (15). 18. The packaging machine according to claim 17, characterized in that: a suction cup cylinder (22) is provided at the lower end of the cup delivery plate (15), and a vacuum suction cup (21) is provided at the upper part of the suction cup cylinder (22).