CN221273768U - Automatic packaging production line - Google Patents

Abstract

An automatic packaging production line comprises a feeding mechanism, a box opening forming mechanism, a first conveying device, a second conveying device, a manipulator, a scanning labeling device, a turnover mechanism, an inner support grabbing device and a visual detection and automatic box sealing device; the feeding mechanism is used for placing the paperboards into a feeding port of the unpacking and forming mechanism; the carton unpacking and forming mechanism opens the paperboards into cartons, and then sends the cartons into a conveying part of a carton conveying device, the carton conveying device conveys the cartons to a boxing area, a product conveying device conveys workpieces to the boxing area, a manipulator is arranged in the boxing area, and the manipulator automatically flows into a next conveying device after completing boxing of the workpieces; the product transmission device drives the packing box to pass through the scanning area, the overturning area, the internal support placing area, the visual detection area and the box sealing area in sequence. Through adopting whole automatic material loading, assembly, subsides mark and encapsulation. The production efficiency is improved, the manual intervention and operation are reduced, the production cost is reduced, the boxing speed and the yield can be improved, and the large-scale production and the line transplantation are convenient to carry out.

Description

Automatic packaging production line

Technical Field

The utility model relates to the field of production equipment, in particular to an automatic packaging production line.

Background

The product boxing refers to placing the product in a packaging box, and performing operations such as packaging, detection, box sealing and the like so as to facilitate storage, transportation and sales of the product.

Through the product vanning, on the one hand can protect the product not receive damage or destruction in production, transportation and sales process, reduce the product loss rate. On the other hand, through reasonable packing and sign, can conveniently transport, stack and dispatch etc. reduce turnover quantity and frequency in the transportation, reduce transportation cost etc..

For the existing product boxing equipment scheme, the following defects exist:

First, the existing equipment or production line adopts semi-automatic packaging and manual packaging equipment, is limited to single products, and cannot meet the requirement of mass production.

Secondly, most of the existing boxing equipment needs to be manually adjusted or completed by man-machine cooperation, and the like, is complex in operation, needs to be adjusted and operated by professionals, and is high in labor cost, long in time consumption and the like.

The defects cause low efficiency of the existing boxing mode and can not be popularized and applied on a large scale. Thus, there is a need for an automatic packaging line.

Disclosure of utility model

Aiming at the defects of the prior art, the utility model provides an automatic packaging production line, which comprises the following specific technical scheme: an automatic packaging production line which is characterized in that:

The automatic carton sealing device comprises a feeding mechanism, a carton unpacking and forming mechanism, a carton conveying device, a product conveying device, a manipulator, a scanning and labeling device, a turnover mechanism, an inner support grabbing device, a visual detection device and an automatic carton sealing device;

The feeding mechanism is used for placing the paperboards into a feeding hole of the unpacking and forming mechanism;

The carton opening forming mechanism is used for opening the paperboards into cartons and sending the cartons to the carton conveying device;

The carton conveying device is used for conveying the opened cartons to a boxing area;

the product conveying device is used for conveying the workpieces to the boxing area;

The manipulator is arranged in the boxing area and is used for boxing the workpieces;

The product conveying device is used for driving the cased cartons to sequentially pass through the scanning labeling area, the overturning area, the internal support placing area, the visual detection area and the case sealing area;

The automatic box sealing device is arranged in the box sealing area;

the scanning labeling device is used for labeling a packing box, the turnover mechanism is used for turning over the labeled packing box 180 degrees, the inner support grabbing device is used for grabbing an inner support and placing the inner support into the turned packing box, the visual detection device is used for detecting leakage, and the automatic box sealing device is used for sealing the packing box placed into the inner support.

To better implement the present utility model, it may further be:

The feeding mechanism comprises a first triaxial moving mechanism and a grabbing part, the grabbing part is driven by the first triaxial moving mechanism to move along an X axis, a Y axis and a Z axis, and the grabbing part grabs the paperboard to a feeding area of the unpacking forming mechanism.

Further: the carton conveying device and the product conveying device adopt a belt conveying device or a chain conveying device.

Further: the turnover mechanism comprises a second triaxial moving mechanism and a clamping part, and the second triaxial moving mechanism drives the clamping part to move along an X axis, a Y axis and a Z axis;

And the inner sides of the two clamping ends of the clamping part are respectively provided with a third rotary cylinder, and when the clamping part clamps the packing box, the two third rotary cylinders drive the packing box to rotate 180 degrees, so that the opening end of the packing box faces upwards.

Further: the scanning labeling device comprises a printer, a label taking device and a scanning labeling assembly;

the label taking device is positioned between the printer and the scanning and labeling assembly;

The label taking device comprises a telescopic cylinder, a first rotary cylinder, a supporting frame and a label taking cylinder;

The first rotary cylinder is arranged at the telescopic end of the telescopic cylinder, the support frame is arranged at the rotating part of the first rotary cylinder, and the label taking cylinder is arranged on the support frame;

The scanning labeling assembly comprises a two-axis adjusting assembly and a scanning labeling device, the two-axis adjusting assembly drives the labeling device to move along X, Y axes, the scanning labeling device comprises a second rotary cylinder, and a labeling cylinder and a scanning part are respectively installed at the rotary end of the second rotary cylinder.

Further: the supporting and grabbing device comprises a two-axis moving mechanism and a second grabbing part, the two-axis moving mechanism drives the second grabbing part to move along the Y axis and the Z axis, and the second grabbing part grabs the folding inner support to be placed in the packaging box.

Further: the second grabbing part comprises a base, a sucker, a push-pull cylinder, a push block, a connecting rod and a folding rod;

The bottom of base is provided with a plurality of sucking discs, is provided with push-and-pull cylinder at the base, and the push-and-pull end of this push-and-pull cylinder is provided with the ejector pad, and the upper end of two book poles articulates in the bottom of base respectively, book pole is L type structure, and the first end of connecting rod articulates on the ejector pad, and the second end of connecting rod articulates on folding the pole, the ejector pad promotes through the connecting rod drives book pole swing.

Further: an auxiliary clamping part is arranged at the tail end of the manipulator, and comprises a base plate, an adsorption plate and a gripper;

the bottom of this base plate is provided with the adsorption plate, is provided with the sucking disc in the bottom of this adsorption plate, is provided with adjusting device respectively at the both ends of base plate bottom, is provided with the tongs on the adjusting part of this adjusting device, is provided with two sets of tongs in one side of this adjusting device, the terminal inboard of tongs is provided with the sucking disc.

The beneficial effects of the utility model are as follows:

First, through adopting whole automatic material loading, assembly, subsides mark, detection and encapsulation. The production efficiency is improved, the manual intervention and operation are reduced, the production cost is reduced, the boxing speed and the yield can be improved, and the large-scale production and the line transplantation are convenient to carry out.

Secondly, because the whole process adopts automatic vanning, labeling and case sealing, the quality and the uniformity of product packaging can be accurately controlled, and the problems of inaccurate manual operation, error and the like are avoided.

Thirdly, the production line realizes that the sizes or positions of all parts of the equipment are automatically adapted to the sizes of products without manual adjustment for production. Is suitable for the production and the transformation of various products with various specifications. The local size or position of the manual trivial adjustment equipment is reduced to meet the product change requirement.

Drawings

FIG. 1 is a diagram of the overall structure of the present utility model;

FIG. 2 is a schematic diagram of a case;

FIG. 3 is a diagram of a scan patch intent;

FIG. 4 is a diagram of a scanning labeling apparatus;

FIG. 5 is a block diagram of a tag extracting apparatus;

FIG. 6 is a schematic diagram of a flipping mechanism;

FIG. 7 is a schematic view of inner support feeding, grabbing, visual inspection and box sealing;

FIG. 8 is a block diagram of a support gripping device;

FIG. 9 is a diagram of a second gripper assembly;

FIG. 10 is a diagram of the auxiliary clamping portion;

FIG. 11 is a first block diagram of a clamping portion;

FIG. 12 is a second block diagram of the clamping portion;

The drawing illustrates that an inner support 1, a paperboard 2, a packaging box 3, a feeding mechanism 4, a first triaxial moving mechanism 4-1, a first grabbing part 4-2, a box opening forming mechanism 5, a carton conveying device 6, a product conveying device 7, a manipulator 8, an auxiliary clamping part 8-1, a baseplate 8-11, an adsorption plate 8-12, a grab 8-13, an adjusting device 8-14, a printer 9, a label taking device 10, a telescopic cylinder 10-1, a first rotary cylinder 10-2, a supporting frame 10-3, a label taking cylinder 10-4, a biaxial adjusting component 11, a second rotary cylinder 12, a labeling cylinder 13, a scanning part 14, a turnover mechanism 15, a second triaxial moving mechanism 15-1, a clamping part 15-2, a third rotary cylinder 15-3, a distance adjusting part 15-4, a supporting grabbing device 16, a biaxial moving mechanism 16-1, a second grabbing part 16-2, a base 16-21, a push-pull cylinder 16-22, a push block 16-23, a connecting rod 16-24, a folding rod 16-25, an automatic box loading device 17, a supporting frame 18, a centering detection device 19, a turntable device 25, a centering detection device 20 and a workpiece centering device 20.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present utility model and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a specific azimuth, and are configured and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 to 12:

An automatic packaging production line comprises a feeding mechanism 4, a unpacking forming mechanism 5, a carton conveying device 6, a product conveying device 7, a product centering mechanism, a manipulator 8, a scanning labeling device 23, a turnover mechanism 15, a visual detection device 25 and an automatic carton sealing device 17;

The carton conveyor 6 and the product conveyor 7 are belt conveyors or chain conveyors.

The feeding mechanism 4 is arranged adjacent to the stacking area of the paperboards 2, and the feeding mechanism 4 sequentially grabs the paperboards 2 in the stacking area of the paperboards 2 into the unpacking and forming mechanism 5. This feed mechanism 4 realizes efficient material loading through automatic cardboard 2 to unpacking forming mechanism 5 pan feeding mouth of placing, has avoided inefficiency and the manpower waste that manual material loading leads to.

The feeding mechanism 4 comprises a first triaxial moving mechanism 4-1 and a grabbing part 4-2, the grabbing part 4-2 is driven by the first triaxial moving mechanism 4-1 to move along an X axis, a Y axis and a Z axis, the grabbing part 4-2 grabs a paperboard 2 to a feeding area of an unpacking forming mechanism 5, discharging of the unpacking forming mechanism 5 is aligned with a conveying part of a carton conveying device 6, and the first triaxial moving mechanism 4-1 is a triaxial manipulator 8;

After the paper board 2 is folded into a paper box by the unpacking and forming mechanism 5, the paper box is automatically centered, so that the paper box is prevented from shifting or having different positions, and the paper box is ensured to run at the set position of the equipment.

Specifically, after the carton is centered, the carton opening forming mechanism 5 automatically folds the lugs of the carton, four sides of the carton are turned over, the transverse bottom is sealed by the adhesive tape, manual adjustment is not needed during the mold changing, and only preset parameters are needed to be selected, so that the one-key switching function is realized. The unpacking and forming mechanism 5 adopts the existing standard module, and reduces the design and production cost.

The unpacking and forming mechanism 5 conveys the formed cartons to a conveying part of the carton conveying device 6, and the carton conveying device 6 conveys the cartons to a boxing area. Meanwhile, products are conveyed by the product conveying device 7, centering devices are arranged on two sides of the product conveying device 7, the centering devices drive the centering support 21 for the linear modules 20 to enable the products to be kept in the middle of the carton conveying device 6, and after centering and data acquisition of the products are completed, the product conveying device 7 drives the products to a boxing area.

The manipulator 8 is arranged in the boxing zone, and after the manipulator 8 boxes the workpieces 22 through the auxiliary clamping part 8-1, the packaging box 3 is placed on the conveying part of the carton conveying device 6.

Specifically, an auxiliary clamping portion 8-1 is provided at the end of the robot arm, and the auxiliary clamping portion 8-1 includes a base plate 8-11, an adsorption plate 8-12, and a grip 8-13. The bottom of the base plate is provided with an adsorption plate 8-12, the bottom of the adsorption plate 8-12 is provided with a sucker, two ends of the bottom of the base plate 8-11 are respectively provided with an adjusting device 8-14, the adjusting part of the adjusting device 8-14 is provided with a handle 8-13, one side of the adjusting device 8-14 is provided with two groups of handles 8-13, and the inner side of the tail end of the handle 8-13 is provided with the sucker.

Because the bottom of the formed packing box 3 is open, three grippers on the auxiliary clamping part 8-1 are adsorbed on three sides of the packing box 3 through sucking discs, so that the inner space of the packing box 3 is enlarged, and then the mechanical arm drives the paper box to be sleeved on a workpiece from top to bottom, so that the workpiece is packaged in the paper box.

The workpiece 22 can be accurately boxed by adopting the manipulator 8 and the auxiliary clamping part 8-1, and the operation is flexible, so that the defects of easy error, fatigue and the like caused by the traditional manual boxing are avoided.

The product conveying device 7 drives the packed packing boxes 3 to pass through the scanning labeling area, the overturning area, the inner support 1 placing area, the visual detection area and the box sealing area in sequence;

The scanning part 14 scans the packing box 3, the labeling device labels the packing box 3, and the turnover mechanism 15 turns over the labeled packing box 3 by 180 degrees.

When the carton conveying device 6 conveys the packaging box 3 to the scanning labeling area, the scanning part 14 scans the packaging box 3, and the labeling device labels the packaging box 3.

The scanning labeling device 23 comprises a printer 9, a label taking device 10 and a scanning labeling assembly;

The label picking device 10 is located between the printer 9 and the scanning labelling assembly.

The two-axis adjusting assembly 11 drives the scanning part 14 to scan the packaging box 3, real-time matching and comparison are carried out according to information, and the bar code is automatically printed after the data are correct.

The bar codes are confirmed and compared, and the two-axis adjusting component 11 drives the labeling cylinder 13 to take bar code labels for labeling.

Specifically, the label picking device 10 comprises a telescopic cylinder 10-1, a first rotary cylinder 10-2, a supporting frame 10-3 and a label picking cylinder 10-4.

The first rotary cylinder 10-2 is mounted at the telescopic end of the telescopic cylinder 10-1, the support frame 10-3 is mounted at the rotating part of the first rotary cylinder 10-2, and the label taking cylinder 10-4 is mounted on the support frame 10-3.

The product conveying device 7 drives the packing box 3 to be located in the labeling area, the label taking device 10 takes labels at the printing end of the printer 9, and the label taking device 10 is used for placing the taken labels on a labeling device of a labeling assembly.

When the printer 9 prints out the label, the telescopic cylinder 10-1 drives the first rotary cylinder 10-2 to extend, and the first rotary cylinder 10-2 rotates to enable the label taking cylinder 10-4 to be close to the label outlet of the printer 9, and the label taking cylinder 10-4 drives the label taking end to move upwards to obtain the label.

The scanning labeling assembly comprises a two-axis adjusting assembly 11 and a scanning labeling device 23, the two-axis adjusting assembly 11 drives the labeling device to move along X, Y axes, the scanning labeling device 23 comprises a second rotary cylinder 12, and a labeling cylinder 13 and a scanning part 14 are respectively installed at the rotary end of the second rotary cylinder 12 through a mounting seat.

When the label picking cylinder 10-4 drives the label picking end to move upwards to pick up labels, the telescopic cylinder 10-1 drives the first rotary cylinder 10-2 to retract, and the first rotary cylinder 10-2 rotates to enable the label picking cylinder 10-4 to be close to the label sticking cylinder 13.

The rotary cylinder drives the labeling cylinder 13 to rotate to obtain labels on the label taking cylinder 10-4.

The two-axis adjusting assembly 11 drives the labeling device to be close to one end face of the packing box 3, and the labeling cylinder 13 attaches labels to the corresponding end face of the packing box 3.

The turnover mechanism 15 comprises a second triaxial moving mechanism 15-1 and a clamping portion 15-2, the second triaxial moving mechanism 15-1 drives the clamping portion to move along an X axis, a Y axis and a Z axis, and third rotary cylinders 15-3 are respectively arranged on the inner sides of two clamping ends of the clamping portion 15-2. The clamping end at one side of the clamping part 15-2 is adjustable, a distance adjusting part 15-4 is arranged on the clamping part 15-2, the distance adjusting part 15-4 is a screw rod sliding block mechanism, and the clamping distance between the two clamping ends is adjusted through the distance adjusting part 15-4. When the clamping part 15-2 clamps the packing box 3, two clamping ends clamp from two sides of the packing box 3, and the screw rod sliding block mechanism adjusts the clamping end on one side to reduce the clamping distance, so that the workpiece falls off when the packing box is prevented from being extracted. Then, the two third rotary cylinders 15-3 drive the packing case 3 to rotate 180 degrees so that the opening end of the packing case 3 faces upwards. In the present embodiment, the second triaxial moving mechanism 15-1 employs a triaxial manipulator.

After the turnover mechanism 15 finishes turnover, the packing box 3 is placed on the carton conveying device 6, the product conveying device 7 drives the packing box 3 to move below the supporting grabbing device 16, and the supporting grabbing device 16 grabs the supporting plate and places the supporting plate into the turned packing box 3. The support gripping means 16 grip the inner support 1 from the separation intermediate turntable 19.

Specifically, the supporting and feeding device 18 adopts a three-axis manipulator, the supporting and feeding device 18 grabs the inner supporting plate at the material pile, the inner supporting plate is placed into the separating and transferring table 19, the separating and transferring table 19 conveys the inner supporting plate to a position where the supporting and grabbing device 16 can grab, and the separating and transferring table 19 is a generalized standard component.

The support grabbing device 16 comprises a two-axis moving mechanism 16-1 and a second grabbing portion 16-24-2, the two-axis moving mechanism 16-1 drives the second grabbing portion 16-24-2 to move along the Y axis and the Z axis, and the second grabbing portion 16-24-2 grabs the inner support 1 to fold the inner support and then places the inner support into the packaging box 3.

The second grabbing part 16-2 comprises a base 16-21, a sucker, a push-pull cylinder 16-22, a push block 16-23, a connecting rod 16-24 and a folding rod 16-25;

The bottom of the base 16-21 is provided with a plurality of suckers, the base 16-21 is provided with a push-pull air cylinder 16-22, the push-pull end of the push-pull air cylinder 16-22 is provided with a push block 16-23, the upper ends of two folding rods 16-25 are respectively hinged to the bottom of the base 16-21, each folding rod 16-25 is of an L-shaped structure, the first end of a connecting rod 16-24 is hinged to the push block 16-23, the second end of the connecting rod 16-24 is hinged to the folding rod 16-25, and the push block 16-23 pushes the folding rod 16-25 to swing through the connecting rod 16-24.

When the two-axis moving mechanism 16-1 drives the second grabbing part to move to the grabbing position of the separation middle rotary table 19, the sucker arranged at the bottom of the base 16-21 is adsorbed to the middle part of the inner supporting plate, the push-pull air cylinder 16-22 pushes downwards, the push block 16-23 pushes the folding rod 16-25 to swing through the connecting rod 16-24, and the two folding rods respectively press the two sides of the inner supporting plate downwards to finish folding forming of the inner supporting plate. The two-axis moving mechanism 16-1 drives the second grabbing part to move to the position right above the packing box 3, and the folded inner support is placed into the packing box 3.

The packing box 3 moves the visual detection area through the conveyer belt, the visual detection device 25 detects whether the packing box 3 is leaked and then is conveyed to the position right below the automatic box sealing device, and the automatic box sealing device 17 automatically completes cover folding and sealing the packing box 3 through an adhesive tape.

The automatic box sealing device 17 accurately performs box sealing operation according to the size of the inner support 1, adopts a standard module, avoids the problems of low efficiency and error-prone caused by manual box sealing, and improves the box sealing effect and the box sealing speed.

For the present embodiment, what needs to be described here is: the carton unpacking and forming mechanism unpacks the paperboards and the automatic carton sealing device is a mature general technology for packaging boxes and sealing the packaging industry. In this embodiment, the box opening forming mechanism and the automatic box sealing device are used as a general standard module.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (8)

1. An automatic packaging production line which is characterized in that:

The automatic carton sealing device comprises a feeding mechanism, a carton unpacking and forming mechanism, a carton conveying device, a product conveying device, a manipulator, a scanning and labeling device, a turnover mechanism, an inner support grabbing device, a visual detection device and an automatic carton sealing device;

The feeding mechanism is used for placing the paperboards into a feeding hole of the unpacking and forming mechanism;

The carton opening forming mechanism is used for opening the paperboards into cartons and sending the cartons to the carton conveying device;

The carton conveying device is used for conveying the opened cartons to a boxing area;

the product conveying device is used for conveying the workpieces to the boxing area;

The manipulator is arranged in the boxing area and is used for boxing the workpieces;

The product conveying device is used for driving the cased cartons to sequentially pass through the scanning labeling area, the overturning area, the internal support placing area, the visual detection area and the case sealing area;

The automatic box sealing device is arranged in the box sealing area, the scanning and labeling device is arranged in the scanning and labeling area, the turnover mechanism is arranged in the turnover area, the inner support grabbing device is arranged in the inner support placing area, the visual detection device is arranged in the visual detection area, and the automatic box sealing device is arranged in the box sealing area;

the scanning labeling device is used for labeling a packing box, the turnover mechanism is used for turning over the labeled packing box 180 degrees, the inner support grabbing device is used for grabbing an inner support and placing the inner support into the turned packing box, the visual detection device is used for detecting leakage, and the automatic box sealing device is used for sealing the packing box placed into the inner support.

2. An automatic packaging line according to claim 1, characterized in that:

The feeding mechanism comprises a first triaxial moving mechanism and a grabbing part, the grabbing part is driven by the first triaxial moving mechanism to move along an X axis, a Y axis and a Z axis, and the grabbing part grabs the paperboard to a feeding area of the unpacking forming mechanism.

3. An automatic packaging line according to claim 2, characterized in that:

the carton conveying device and the product conveying device adopt a belt conveying device or a chain conveying device.

4. An automatic packaging line according to claim 3, characterized in that:

The turnover mechanism comprises a second triaxial moving mechanism and a clamping part, and the second triaxial moving mechanism drives the clamping part to move along an X axis, a Y axis and a Z axis;

And the inner sides of the two clamping ends of the clamping part are respectively provided with a third rotary cylinder, and when the clamping part clamps the packing box, the two third rotary cylinders drive the packing box to rotate 180 degrees, so that the opening end of the packing box faces upwards.

5. An automatic packaging line according to claim 4, wherein:

The scanning labeling device comprises a printer, a label taking device and a scanning labeling assembly;

the label taking device is positioned between the printer and the scanning and labeling assembly;

The label taking device comprises a telescopic cylinder, a first rotary cylinder, a supporting frame and a label taking cylinder;

The first rotary cylinder is arranged at the telescopic end of the telescopic cylinder, the support frame is arranged at the rotating part of the first rotary cylinder, and the label taking cylinder is arranged on the support frame;

The scanning labeling assembly comprises a two-axis adjusting assembly and a scanning labeling device, the two-axis adjusting assembly drives the labeling device to move along X, Y axes, the scanning labeling device comprises a second rotary cylinder, and a labeling cylinder and a scanning part are respectively installed at the rotary end of the second rotary cylinder.

6. An automatic packaging line according to claim 5, wherein:

The supporting and grabbing device comprises a two-axis moving mechanism and a second grabbing part, the two-axis moving mechanism drives the second grabbing part to move along the Y axis and the Z axis, and the second grabbing part grabs the folding inner support to be placed in the packaging box.

7. An automatic packaging line according to claim 6, wherein:

The second grabbing part comprises a base, a sucker, a push-pull cylinder, a push block, a connecting rod and a folding rod;

The bottom of base is provided with a plurality of sucking discs, is provided with push-and-pull cylinder at the base, and the push-and-pull end of this push-and-pull cylinder is provided with the ejector pad, and the upper end of two book poles articulates in the bottom of base respectively, book pole is L type structure, and the first end of connecting rod articulates on the ejector pad, and the second end of connecting rod articulates on folding the pole, the ejector pad promotes through the connecting rod drives book pole swing.

8. An automatic packaging line according to claim 7, characterized in that:

An auxiliary clamping part is arranged at the tail end of the manipulator, and comprises a base plate, an adsorption plate and a gripper;

the bottom of this base plate is provided with the adsorption plate, is provided with the sucking disc in the bottom of this adsorption plate, is provided with adjusting device respectively at the both ends of base plate bottom, is provided with the tongs on the adjusting part of this adjusting device, is provided with two sets of tongs in one side of this adjusting device, the terminal inboard of tongs is provided with the sucking disc.