CN205554756U - Full -automatic box filler - Google Patents

Abstract

The utility model provides a fully automatic case packing machine, comprising a case unpacking machine (100), a product conveying line (200), a grasping robot (300), a pallet lifting device (400), a lower side sealing machine (500), an upper side Sealing machine (600). The case unpacking machine (100) is used to open the carton and push it to the lower case sealing machine (500) to complete the case sealing. The grabbing robot (300) can grab both products and partitions. The pallet elevating device (400) is used to support the partition and products to realize multi-layer product packing.

Description

A fully automatic packing machine

technical field

The utility model relates to the field of packaging machinery, in particular to a fully automatic case packing machine.

Background technique

Packing mass-produced products (such as mobile phones, cigarettes, etc.) is a time-consuming task. Manual packing is not only inefficient, but also costly. At present, many companies have begun to use automatic packing equipment. Most of the packing equipment currently on the market adopts the following two packing methods: 1. Manually open the packing case and place it on a packing case conveying line. Put the product into the packing box; 2. Use an automatic unpacking machine to unpack the packing box, and the opened packing box is transported to the packing station, and the packing is also carried out by grabbing or dropping. The first method has a low degree of automation and cannot meet the needs of some large factories; the second method, because the unpacking action and packing action are in two different stations, leads to too long assembly lines, increased equipment volume, and Box efficiency is low. In addition, the above two packing methods are only suitable for packing single-layer products, and it is difficult to realize the case where multiple layers of products need to be stacked in one carton.

The utility model patent CN204604335U "a novel box-packing robot" is an automatic box-packing machine that adopts the above-mentioned first method of boxing.

Contents of the invention

The technical problem to be solved by the utility model is how to realize automatic packing of multi-layer products. In order to solve the above technical problems, the utility model provides a fully automatic case packing machine, including a case unpacking machine (100), a product conveying line (200), a grabbing robot (300), a lower side sealing machine (500), an upper side sealing machine Box machines (600). The unpacking machine (100) is located at the forefront of the fully automatic case packing machine, the product conveying line (200) is fixed at the rear of the unpacking machine (100), and the side of the product conveying line (200) is equipped with stacking partitions. The clapboard stacking rack (201) and the grasping robot (300) are installed above the product conveying line (200), and are connected with the frame of the fully automatic box packing machine. The lower side sealing machine (500) is fixed on the frame behind the automatic case packing machine. After the product is packed, it is pushed to the lower side sealing machine (500) to complete the lower sealing, and the upper side sealing machine (600) It is fixed directly above the lower side sealing machine (500), and completes the top sealing action while completing the bottom sealing action.

Preferably, a fully automatic case packing machine of the present invention further includes a pallet lifting device (400), the pallet lifting device includes a lifting platform (401), three pallet cylinders (402), three pallets (403), cylinder The connecting plate (404) and the lifting platform (401) are fixed on the bottom plate of the automatic carton packing machine. After the carton is opened, the lifting platform (401) is just in the middle of the carton, and the three pallet cylinders (402) are fixed side by side on the lifting platform ( The upper surface of 401) is reinforced by the cylinder connecting plate (404), and the three pallets (403) are respectively installed on the working surfaces of the three cylinders 402. When working, the lifting platform (401) rises, and the piston of the pallet cylinder (402) The rod is in the extended state, three pallets (403) are held up, the grabbing robot (300) sucks a partition and puts it into the carton, the partition is held by the three pallets (403), and then the grabbing robot (300) Grab the product and put it on the partition in the carton, then the lifting platform (401) descends for a certain distance, and the grabbing robot (300) repeats the previous two actions to complete the packing of the second layer of products, and so on until the carton is packed When it is full, the piston rods of the left and right tray cylinders (402) retract, the left and right trays (403) are separated from the carton, the short edge folding mechanism (140) folds the two short sides of the bottom of the carton and drags the carton, and then the middle tray The cylinder (402) piston rod retracts, the third tray (403) is separated from the carton through the gap between the two folded short sides, and the long side hemming mechanism (150) folds the long side of the bottom surface of the carton and drags the carton.

Preferably, the lifting platform (401) adopts a scissor lifting platform structure.

Preferably, the grabbing robot (300) is a UR5 robot with 6 rotary joints, which can grab both products and partitions for packing.

Preferably, a product guide plate (202) is also provided on the product conveying line (200), which is beneficial to the regularization and guidance of the product.

Preferably, the unpacking machine (100) includes a carton stacking rack (110), a suction cup unpacking mechanism (120), a box pushing mechanism (130), a short side hemming mechanism (140), a long side hemming mechanism (150), The carton stacking rack (110) is located at the front end of the automatic carton packing machine, protruding from the main frame of the automatic carton packing machine, which is convenient for stacking and sorting the cardboard. The suction cup of the suction cup unpacking mechanism (120) is parallel to the carton stacking direction, The cylinder moves back and forth to push the suction cup to realize the unpacking of the carton. The pushing mechanism (130) is located under the suction cup. On the one hand, it serves as an auxiliary guide for unpacking the carton. 500) to complete the sealing action, the short edge folding mechanism (140) is located in the middle of the automatic box packing machine, and is used to fold the short edge of the carton after the product packing is completed, and the long edge folding mechanism (150) is in the The position close to the lower side sealing machine (500) is fixed, and the long side folding mechanism (150) completes the folding of the long side of the carton.

Preferably, the suction cup unpacking mechanism (120) includes four suction cups (121), a suction cup holder (122), a linear bearing mechanism (123), two linear guide rods (124), a moving link (125), rollers ( 126), roller fixing plate (127), cylinder (128), four suction cups (121) arranged in a rectangle, fixed on the suction cup fixing frame (122), the suction cup fixing frame (122) is connected with the linear bearing mechanism (123) by bolts The upper surface of the linear bearing mechanism (123) is sleeved on two linear guide rods (124), and can move back and forth on the linear guide rods (124), and the upper end of the moving link (125) and the linear bearing mechanism (123) The side of the cylinder (125) is connected with a long U-shaped groove. The roller (126) is stuck in the middle of the U-shaped groove and fixed on the roller fixing plate (127). The front end of the cylinder (128) is connected to the The moving connecting rod (125) is connected, and the rear end is fixed on the fully automatic boxing frame body. The cylinder (128) pushes the moving connecting rod (125) to move, and the linear bearing mechanism (123) can move in a straight line under the action of the moving connecting rod. The guide rod (125) slides back and forth, and then drives the suction cup (121) to move back and forth, so as to realize the carton unpacking action.

Preferably, the push box mechanism (130) includes a push box rod (131), a connecting plate (132), a push box linear bearing mechanism (133), a push box linear guide rod (134), a push box cylinder (135), a cylinder fixing shelf (136). The push box rod (131) is connected with the connection plate (132), and the side of the connection plate (132) is fixed with the push box linear bearing mechanism (133) by bolts, and the push box linear bearing mechanism (133) is sleeved on the push box linear guide rod (134 ), it can move back and forth on the push box linear guide rod (134). Push box linear guide rod (134) is fixed on the full-automatic packing machine frame, push box cylinder (135) is fixed on the cylinder fixed frame (136), and its piston rod links to each other with connecting plate (132), and cylinder fixed frame ( 136) is slipped on the two push box linear guide rods (134), and the push box cylinder acts on the connecting plate (132), driving the push box linear bearing mechanism (133) to slide on the push box linear guide rods (134), and then Realize the reciprocating motion of the push box lever (131), and complete the push box action.

Preferably, the short side hemming mechanism (140) includes a short side hemming cylinder (141), a rack (142), a gear (143), a transmission shaft (144), a fixed seat (145), and a hemming plate (146) , the support frame (147), the short-side flanging cylinder (141) is fixed on the support frame (147), the front end and the rack (142) are connected in an interference manner, the gear (143) is meshed with the rack (142), and Installed on the transmission shaft (144), the transmission shaft (144) is fixed on the support frame (147) through two fixing seats (145), the flange plate (146) is fixed on the end of the transmission shaft (144), and the support frame ( 147) is connected with the connecting plate (132) and the cylinder fixing frame (136), and the short-side folding cylinder (141) pushes the rack (142) to move, and under the transmission action of the gear (143) and the rack (142), the transmission Axle (144) rotates together with flanging plate (146), finishes the action of short side flanging.

Preferably, the long side hemming mechanism (150) includes a long side hemming cylinder (151), a long side hemming arm (152), an intermediate shaft (153), and an intermediate shaft fixing seat (154). The long side hemming cylinder (151) is fixed on the fully automatic case packing frame body, and the front end links to each other with the long side hemming arm (152). The intermediate shaft (153) passes through the hole at the lower end of the long side hemming arm (152), and is fixed on the fully automatic boxing frame body through the intermediate shaft fixing seat (154), and the long side hemming cylinder (151) acts on On the long side hemming arm (152), make the long side hemming arm (152) rotate a certain angle around the intermediate shaft (153), to complete the long side hemming action.

Compared with the prior art, the utility model effectively reduces the volume of the packing machine, and at the same time realizes packing of multi-layer products.

Description of drawings

Fig. 1 is the structural representation of a kind of fully automatic packing machine of the present utility model;

Fig. 2 is a schematic structural view of the unpacking machine 100 in the fully automatic case packing machine shown in Fig. 1;

FIG. 3 is a schematic structural view of the suction cup unpacking mechanism 120 of the unpacking machine 100 shown in FIG. 2;

Fig. 4 is a schematic structural view of the box pushing mechanism 130 of the unpacking machine 100 shown in Fig. 2;

FIG. 5 is a schematic structural view of the short side hemming mechanism 140 of the unpacking machine 100 shown in FIG. 2;

FIG. 6 is a schematic structural view of the long side hemming mechanism 150 of the unpacking machine 100 shown in FIG. 2;

FIG. 7 is a schematic structural diagram of a pallet lifting device 400 of a fully automatic case packing machine shown in FIG. 1 .

detailed description

With reference to Fig. 1, a kind of fully automatic packing machine of the present utility model comprises unpacking machine 100, product conveying line 200, grasping robot 300, pallet elevating device 400, lower side sealing machine 500, upper side sealing machine 600. The unpacking machine 100 is located at the forefront of the fully automatic case packing machine. The product conveying line 200 is fixed on the rear portion of the unpacking machine 100, and the side of the product conveying line 200 is equipped with a partition stacking rack 201, which is used for stacking the required partitions for multi-layer packing. Preferably, the product conveying line 200 is also provided with a product guide plate 202, which is beneficial to the regularization and guidance of the product. The grabbing robot 300 is installed above the product conveying line 200 and connected to the equipment rack. The grabbing robot 300 adopts a UR5 industrial robot and has 6 rotary joints. The partition board is sucked on the stacking rack 201 for packing. The pallet elevating device 400 is fixed on the bottom plate of the fully automatic case packer, and is located directly below the opened carton. The lower side sealing machine 500 is fixed on the frame behind the automatic case packing machine, and after the product packing is completed, it is pushed to the lower side sealing machine 500 to complete the following sealing. The upper side sealing machine 600 is fixed directly above the lower side sealing machine 500, and completes the top sealing action while completing the bottom sealing action.

Referring to FIG. 2 , the unpacking machine 100 includes a carton stacking rack 110 , a suction cup unpacking mechanism 120 , a box pushing mechanism 130 , a short side hemming mechanism 140 , and a long side hemming mechanism 150 . The carton stacking rack 110 is located at the front end of the full-automatic case packer, protruding from the frame of the main body of the full-automatic case packer, so as to facilitate the stacking and arrangement of cardboards. The suction cups of the suction cup unpacking mechanism 120 are parallel to the stacking direction of the cartons, and the suction cups are pushed back and forth by the cylinder movement to realize the unpacking of the cartons. The box pushing mechanism 130 is located below the suction cup. On the one hand, it serves as an auxiliary guide for unpacking the carton, and on the other hand, it pushes the carton full of products to the lower side sealing machine 500 to complete the sealing action. The short edge folding mechanism 140 is located in the middle of the automatic case packing machine, and one is respectively set on both sides of the opened carton, and its effect is to fold up the short side of the carton after the product packing is completed. The long side folding mechanism 150 is fixed near the lower side sealing machine 500, and its highest position is slightly lower than the top surface of the lower side sealing machine 500. The long side folding mechanism 150 completes the folding of the long side of the carton.

Referring to Fig. 3, suction cup unpacking mechanism 120 comprises four suction cups 121, suction cup holder 122, linear bearing mechanism 123, two linear guide rods 124, motion link 125, roller 126, roller fixed plate 127, cylinder 128. The four suction cups 121 are arranged in a rectangular shape and are fixed on the suction cup fixing frame 122 . The suction cup fixing frame 122 is connected to the upper surface of the linear bearing mechanism 123 through bolts. The linear bearing mechanism 123 is sleeved on two linear guide rods 124 and can move back and forth on the linear guide rods 124 . The upper end of the moving link 125 is connected to the side of the linear bearing mechanism 123 . A long U-shaped groove is arranged on the moving link 125 , and the roller 126 is stuck in the middle of the U-shaped groove and fixed on the roller fixing plate 127 . The front end of the cylinder 128 is connected with the moving link 125, and the rear end is fixed on the equipment frame. The cylinder 128 pushes the moving connecting rod 125 to move, and the linear bearing mechanism 123 can slide back and forth on the linear guide rod 125 under the action of the moving connecting rod, and then drives the suction cup 121 to move back and forth to realize the carton unpacking action.

Referring to FIG. 4 , the pushing box mechanism 130 includes a pushing box lever 131 , a connecting plate 132 , a pushing box linear bearing mechanism 133 , a pushing box linear guide rod 134 , a pushing box cylinder 135 , and a cylinder fixing frame 136 . Push box bar 131 is connected with connecting plate 132, and connecting plate 132 side is fixed with push box linear bearing mechanism 133 by bolt, push box linear bearing mechanism 133 is enclosed within on the push box linear guide bar 134, can come up on push box linear guide bar 134 Back to sports. Push away box linear guide bar 134 and be fixed on the equipment frame. Push box cylinder 135 is fixed on the cylinder fixed mount 136, and its piston rod links to each other with connecting plate 132. The cylinder fixed mount 136 is sleeved on the two push box linear guide rods 134. The pushing box cylinder acts on the connecting plate 132, drives the pushing box linear bearing mechanism 133 to slide on the pushing box linear guide rod 134, and then realizes the reciprocating movement of the pushing box bar 131, and completes the pushing box action.

Referring to FIG. 5 , the short side hemming mechanism 140 includes a short side hemming cylinder 141 , a rack 142 , a gear 143 , a transmission shaft 144 , a fixed seat 145 , a hemming plate 146 , and a support frame 147 . The short side flanging cylinder 141 is fixed on the support frame 147, and the front end is connected with the rack 142 in an interference manner. The gear 143 meshes with the rack 142 and is installed on the transmission shaft 144 . The transmission shaft 144 is fixed on the supporting frame 147 through two fixing seats 145 . The flange plate 146 is fixed on the end of the transmission shaft 144 . The supporting frame 147 is connected with the connecting plate 132 and the cylinder fixing frame 136 . The short side hemming cylinder 141 promotes the rack 142 to move, and under the transmission effect of the gear 143 and the rack 142, the transmission shaft 144 and the hemming plate 146 rotate together to complete the short side hemming action.

Referring to FIG. 6 , the long side hemming mechanism 150 includes a long side hemming cylinder 151 , a long side hemming arm 152 , an intermediate shaft 153 , and an intermediate shaft fixing seat 154 . The long side hemming cylinder 151 is fixed on the fully automatic case packing frame body, and the front end links to each other with the long side hemming arm 152. Intermediate shaft 153 is passed on the hole of long side flanging arm 152 lower ends, and is fixed on the full-automatic packing frame body by intermediate shaft holder 154. The long side hemming cylinder 151 acts on the long side hemming arm 152 to make the long side hemming arm 152 rotate a certain angle around the intermediate shaft 153 to complete the long side hemming action.

Referring to FIG. 7 , the pallet lifting device 400 includes a lifting platform 401 , three pallet cylinders 402 , three pallets 403 , and a cylinder connecting plate 404 . The lifting platform 401 is fixed on the base plate of the automatic carton packer, and the lifting platform 401 is just in the middle of the carton after the carton is opened. Three pallet cylinders 402 are fixed side by side on the upper surface of the lifting platform 401 and are reinforced by cylinder connecting plates 404 . The three trays 403 are installed on the working surfaces of the three tray cylinders 402 respectively. Preferably, the lifting platform 401 adopts a scissor-type lifting platform structure, which has the advantages of large rising distance and low platform height after falling. Using this type of lifting platform can significantly reduce the overall height of the equipment under the premise of ensuring the rising height.

Both the lower box sealing machine 500 and the upper box sealing machine 600 are existing mature mechanisms, and will not be repeated here.

When a kind of full-automatic box packing machine of the present utility model is working, first, the cartons stacked on the carton stacking rack 110 are sucked and pulled back by the suction cup unpacking mechanism 120, and the cartons are pushed back under the assistance of the push box lever 131 in the way of pulling back. Open. At this time, the opened carton is just above the pallet lifting device 400, the lifting platform 401 rises, and the piston rod of the pallet cylinder 402 is in an extended state. The middle of the opened carton is lifted to a position slightly lower than the upper edge of the carton. The grabbing robot 300 sucks a partition from the partition stacking rack 201 and puts it into a carton. The partition is supported by three trays 403, and then the grabbing robot 300 grabs the delivered product from the product conveyor belt 200 and puts it into the carton. in the partition. Then the lifting platform descends for a certain distance, and the grabbing robot 300 repeats the previous two actions to complete the packing of the second layer of products, and so on until the carton is full. Then the piston rods of the two pallet cylinders located on the left and right sides are retracted, and the two pallets 403 on the left and right are separated from the carton, and the short side folding mechanism 140 responds quickly to fold up the two short sides of the bottom surface of the carton and drag the carton. The middle tray cylinder 402 piston rod retracts afterwards, and the third tray breaks away from the carton through the gap between the two folded short sides, and the long side hemming mechanism 150 responds to fold up the long side of the bottom surface of the carton and drag the carton. The box pushing mechanism 130 pushes the cartons full of products to the lower box sealing machine 500, where the upper and lower box sealing is completed. So far, the multi-layer packing action of the product has been completed.

Although the foregoing description and accompanying drawings describe embodiments of the present invention, it should be understood that various additions, modifications and substitutions are possible without departing from the spirit and scope of the principles of the present invention defined by the claims. Those skilled in the art should understand that the utility model can be changed in form, structure, layout, proportion, material, element, assembly and other aspects according to the specific environment and work requirements in practical application without departing from the principle of the invention . Therefore, the embodiments disclosed here are only for illustration rather than limitation, and the protection scope of the present utility model is defined by the technical solutions in the claims and their legal equivalents, and is not limited to the previous description.

Claims (10)

1. A fully automatic box packing machine, characterized in that it includes an unpacking machine (100), a product conveying line (200), a grabbing robot (300), a lower side sealing machine (500), an upper side sealing machine (600 ), the unpacking machine (100) is located at the forefront of the fully automatic packing machine, the product conveying line (200) is fixed at the rear of the unpacking machine (100), and the product conveying line (200) The side of the partition is equipped with a partition stacking rack (201) for stacking partitions, and the grabbing robot (300) is installed above the product conveying line (200) and connected with the frame of the automatic case packing machine. The lower side sealing machine (500) is fixed on the rack at the rear of the automatic case packing machine, and after the product packing is completed, it is pushed to the lower side sealing machine (500) to complete the lower sealing, and the upper side The box sealing machine (600) is fixed directly above the bottom box sealing machine (500), and completes the top box sealing action while completing the bottom box sealing action. 2. The fully automatic case packing machine according to claim 1, wherein the case unpacking machine (100) comprises a carton stacking rack (110), a suction cup unpacking mechanism (120), a box pushing mechanism (130), a short edge folding Mechanism (140), long edge folding mechanism (150), the carton stacking rack (110) is located at the front end of the automatic case packing machine, protruding from the main body size frame of the automatic case packing machine, so as to facilitate the stacking and arrangement of cardboard, The suction cup of the suction cup unpacking mechanism (120) is parallel to the stacking direction of the carton, and the suction cup is pushed back and forth by the cylinder to unpack the carton. Auxiliary guiding function, on the other hand, push the cartons full of products to the lower side sealing machine (500) to complete the sealing action. The short side folding mechanism (140) is located in the middle of the automatic case packing Fold the short side of the carton after the product is packed, the long side folding mechanism (150) is fixed at the position close to the lower side sealing machine (500), and the long side folding mechanism (150) completes the folding of the long side of the carton . 3. The fully automatic box packing machine according to claim 2, characterized in that: it also includes a pallet lifting device (400), and the pallet lifting device (400) includes a lifting platform (401), three pallet cylinders (402) , three pallets (403), cylinder connecting plate (404), the lifting platform (401) is fixed on the bottom plate of the automatic carton packing machine, and the lifting platform (401) is just in the middle of the carton after the carton is opened, The three pallet cylinders (402) are fixed side by side on the upper surface of the lifting platform (401), reinforced by the cylinder connecting plate (404), and the three pallets (403) are installed on the three pallets respectively The working surface of the cylinder (402), when working, the lifting platform (401) rises, the piston rod of the pallet cylinder (402) is in the extended state, the three pallets (403) are lifted, the The grabbing robot (300) sucks a partition and puts it into the carton, and the partition is supported by the three trays (403), and then the grabbing robot (300) grabs the product and puts it into the partition in the carton, Then the lifting platform (401) descends for a certain distance, and the grabbing robot (300) repeats the previous two actions to complete the packing of the second layer of products, and so on until the carton is full, and the left and right pallet cylinders ( 402) The piston rod is retracted, the left and right pallets (403) are separated from the carton, the short edge folding mechanism (140) folds the two short sides of the bottom of the carton and holds the carton, and then the piston rod of the middle pallet cylinder (402) retracts, The third pallet (403) is separated from the carton through the gap between the two folded short sides, and the long side hemming mechanism (150) folds the long side of the bottom surface of the carton and drags the carton. 4. The fully automatic box packing machine according to claim 3, wherein the lifting platform (401) adopts a scissor lifting platform structure. 5. The fully automatic box packing machine according to any one of claims 1-4, characterized in that, the grasping robot (300) is a UR5 industrial robot with 6 rotating joints, capable of grasping both products and Take the partitions for packing. 6. The fully automatic box packing machine according to any one of claims 1-4, characterized in that, the product conveying line (200) is also equipped with a product guide plate (202), which is conducive to the regularization and guidance of products . 7. The fully automatic box packing machine according to any one of claims 2-4, the suction cup unpacking mechanism (120) includes four suction cups (121), a suction cup fixing frame (122), a linear bearing mechanism (123) , two linear guide rods (124), moving connecting rods (125), rollers (126), roller fixing plates (127), cylinders (128), the four suction cups (121) are arranged in a rectangle, fixed on the suction cups On the frame (122), the suction cup fixing frame (122) is connected with the upper surface of the linear bearing mechanism (123) through bolts, and the linear bearing mechanism (123) is sleeved on two linear guide rods (124). The linear guide rod (124) moves back and forth, the upper end of the moving connecting rod (125) is connected with the side of the linear bearing mechanism (123), and a long U-shaped groove is arranged on the moving connecting rod (125), and the roller (126) is stuck in the middle of this U-shaped groove and fixed on the roller fixing plate (127). The front end of the cylinder (128) is connected with the moving link (125), and the rear end is fixed on the fully automatic boxing frame body Above, the cylinder (128) pushes the moving link (125) to move, and the linear bearing mechanism (123) can slide back and forth on the linear guide rod (124) under the action of the moving link, thereby driving the suction cup (121) to move back and forth, realizing Carton unpacking action. 8. The fully automatic box packing machine according to any one of claims 2-4, the box pushing mechanism (130) includes a box pushing lever (131), a connecting plate (132), a box pushing linear bearing mechanism (133) , push box linear guide rod (134), push box cylinder (135), cylinder fixing frame (136), the described push box rod (131) is connected with the described connection plate (132), and the side of the described connection plate (132) The push box linear bearing mechanism (133) is fixed by bolts, and the push box linear bearing mechanism (133) is sleeved on the push box linear guide rod (134), and can be mounted on the push box linear guide rod (134) ), the pusher linear guide rod (134) is fixed on the frame of the fully automatic box packing machine, the pusher cylinder (135) is fixed on the cylinder fixing frame (136), and its piston rod and The connecting plates (132) are connected, the cylinder fixing frame (136) is sleeved on the two pushing box linear guide rods (134), and the pushing box cylinder (135) acts on the connecting plate (132) , drive the pusher linear bearing mechanism (133) to slide on the pusher linear guide rod (134), and then realize the reciprocating movement of the pusher rod (131) to complete the pusher action. 9. The fully automatic box packing machine according to any one of claims 2-4, the short side hemming mechanism (140) comprises a short side hemming cylinder (141), a rack (142), and a gear (143) , drive shaft (144), fixed seat (145), hemming plate (146), support frame (147), the short-side hemming cylinder (141) is fixed on the support frame (147), the front end and the The rack (142) is connected in an interference manner, the gear (143) meshes with the rack (142), and is installed on the transmission shaft (144), and the transmission shaft (144) passes through two The fixing seat (145) is fixed on the support frame (147), the flange plate (146) is fixed on the end of the transmission shaft (144), the support frame (147) and the connecting plate (132 ) and the cylinder fixing frame (136), the short-side flanging cylinder (141) pushes the rack (142) to move, and under the transmission action of the gear (143) and the rack (142), The transmission shaft (144) rotates together with the hemming plate (146) to complete the hemming action of the short side. 10. The fully automatic case packing machine according to any one of claims 2-4, the long side hemming mechanism (150) comprises a long side hemming cylinder (151), a long side hemming arm (152), a middle shaft (153), intermediate shaft fixing seat (154), the long side hemming cylinder (151) is fixed on the fully automatic boxing frame body, the front end is connected with the long side hemming arm (152), the The intermediate shaft (153) is passed through the hole at the lower end of the long side hemming arm (152), and fixed on the fully automatic boxing frame body through the intermediate shaft fixing seat (154), and the long side hemming The air cylinder (151) acts on the long side hemming arm (152), so that the long side hemming arm (152) rotates around the intermediate shaft (153) at a certain angle to complete the long side hemming action.