TWI751747B - Packing mechanism - Google Patents

Abstract

The invention provides a packing mechanism, which includes a feeding unit, a first extraction unit, a second extraction unit, an expansion unit and a box sealing unit. The first extraction unit includes a first robotic arm, a first holding module and a first extracting part, the first holding module includes a first fixing part and a first holding part, wherein the first holding part is slidably arranged on the first fixing part and It includes a pair of first holding parts, and the first extracting unit is temporarily fixed to one side of the box material through the first extracting part; the second extracting unit includes a second mechanical arm, a second holding module and a second extracting part. The holding module includes a second fixing part and a second holding part, wherein the second holding part is slidably arranged on the second fixing part and includes a pair of second holding parts, and the second extracting unit is temporarily fixed to the box through the second extracting part the other side of the material.

Description

packing mechanism

The present invention provides a packing mechanism, and in particular relates to a packing mechanism which can automatically unfold the box material, pack the contents and complete the packing operation.

Wafers are one of the common products in the semiconductor industry. Generally speaking, when a wafer cassette loaded with wafers is transported, it needs to be wrapped with a buffer material such as Styrofoam, and then packed into a carton for long-distance transportation. However, the above-mentioned packing operation is generally performed manually in the current industry, which is not only time-consuming, but also not conducive to improving the flow and production efficiency of the overall production line.

The inventor has devoted his mind to research, and then developed a packing mechanism that can automatically unfold the box material, pack the contents and complete the sealing operation, in order to achieve the effect of automating the packing process, saving manpower and improving production efficiency.

The invention provides a packing mechanism, which includes a feeding unit, a first extracting unit, a second extracting unit, an expansion unit and a box sealing unit. The feeding unit is suitable for carrying a plurality of boxes. The first extraction unit is disposed adjacent to the feeding unit, and includes a first mechanical arm, a first holding module and a first extraction part. The first holding module is connected to the first mechanical arm, and includes a first fixing part and a first holding part, wherein the first holding part is slidably arranged on the first fixing part and includes a pair of first holding parts. The part is connected to the first robot arm, and the first extraction unit is temporarily fixed to one side of one of the boxes through the first extraction part. The second extraction unit is disposed relative to the first extraction unit, and includes a second robotic arm, a second holding module and a second extraction part. The second holding module is connected to the second machine The arm includes a second fixing part, a second holding part and a second limiting part, wherein the second holding part is slidably arranged on the second fixing part and includes a pair of second holding parts, and the second limiting part is connected The second fixing part is arranged between the second holding parts, the second extraction part is connected to the second robot arm, and the second extraction unit is temporarily fixed to the other side of the box material through the second extraction part.

In one embodiment, the above-mentioned feeding unit includes a frame body, a feeding platform and a lifting mechanism. The frame body defines an accommodating space, and a gap is formed on the frame body, and the size of the gap corresponds to the size of the box material; the feeding platform is arranged in the accommodating space, and the box material is arranged on the feeding platform; the lifting mechanism is connected to the Between the feeding platform and the frame body, the feeding platform is movably connected to the frame body.

In one embodiment, a concave portion is respectively formed on the above-mentioned first holding member, and the size of the concave portion corresponds to the size of the box material after unfolding.

In one embodiment, the above-mentioned first holding module further includes a first limiting portion. The first limiting part is disposed between the first holding parts, and includes a fixed part and a contact part, wherein the fixed part is connected to the first fixed part, and the contact part is movably connected to the fixed part and protrudes relative to the fixed part. A stopper is formed on the first holder respectively, and the stopper extends toward the inner side of the first holder.

In one embodiment, the above-mentioned first extraction portion is disposed on the first holder and includes a plurality of air chambers, and the air chambers are not communicated with each other. A plurality of air holes are formed on the first extraction part, and the air holes are respectively connected to the air chambers, and the air chambers are connected to a vacuum pump through at least one check valve.

In one embodiment, the above-mentioned second holding module is suitable for holding an object, a holding feature is formed on the object, and a holding structure is respectively formed on the second holding member, and the holding structure corresponds to the holding feature.

In one embodiment, the above-mentioned second extraction unit further includes a frame body, and the second extraction portion is erected on the second holding module through the frame body. The second extraction part includes a plurality of air chambers, which are mutually Not connected. A plurality of air holes are formed on the second extraction part, the air holes are respectively connected to the air chambers, and the air chambers are connected to a vacuum pump through at least one check valve.

In one embodiment, the expansion unit described above includes a support member and a plurality of expansion members, wherein the support member is connected to the ground, and the expansion member is movably disposed on the support member and deflected relative to the support member.

In one embodiment, the above-mentioned box sealing unit includes a body and a tape sticking module. A conveying member is arranged on the body, the tape sticking module is slidably arranged on the body and includes a tape sticking frame and a tape table, wherein the tape stand is arranged on the tape sticking frame.

Thereby, the box packing mechanism of the present invention can extract the box material on the feeding unit through the first extraction unit, and the first extraction unit and the second extraction unit respectively unfold the box material through the first extraction part and the second extraction part , After expansion, it is set on the object to be packaged, and then the first extraction unit holds the box material to the sealing unit through the first holding part for sealing operation, and completes the automation of the entire packaging process, thereby saving manpower and significantly Increase productivity.

In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are given and described in detail with the accompanying drawings as follows.

1: Packing mechanism

100: feeding unit

110: Frame

120: Feeding platform

130: Lifting mechanism

200: First extraction unit

210: The first robotic arm

220: The first holding module

222: The first fixed part

224: The first holding part

224a: First holder

224b: Stopper

226: The first limit part

226a: Fixtures

226b: Contacts

230: First Extraction Section

232: Check valve

300: Second extraction unit

310: Second robotic arm

320: The second holding module

322: Second fixed part

324: The second holding part

324a: Second holder

324b: Stopper

324c: Retaining structure

326: The second limit part

330: Second Extraction Section

332: Check valve

340: Frame

400: Expansion Unit

410: Supports

420: Expansion piece

500: Sealing unit

510: Ontology

512: Conveyor

520: Tape Module

522: Tape Frame

524: Tape Table

2: Box material

3: The first object

4: Second Object

42: Retaining Features

5: Assembly rack

C: Recess

N: Notch

O: pores

S: accommodating space

FIG. 1 is a schematic perspective view of an embodiment of the packing mechanism of the present invention.

FIG. 2 is a schematic perspective view of the first extraction unit in FIG. 1 .

FIG. 3 is a schematic front view of the first holding module and the first extraction part in FIG. 2 .

FIG. 4 is a schematic perspective view of the second extraction unit in FIG. 1 .

FIG. 5 is a schematic front view of the second holding module and the second extraction part in FIG. 4 .

FIG. 6 is a schematic diagram of a right side view of FIG. 5 .

FIG. 7 is a schematic perspective view of the expansion unit in FIG. 1 .

FIG. 8 is a schematic diagram of the case when the box packing mechanism of the present embodiment sets the box material on the object.

FIG. 9 is a schematic perspective view of the box sealing unit in FIG. 1 .

The foregoing and other technical contents, features and effects of the present invention will be clearly presented in the following detailed description of the preferred embodiments with reference to the drawings. It is worth mentioning that the directional terms mentioned in the following embodiments, such as: up, down, left, right, front or rear, etc., are only for referring to the directions of the attached drawings. Accordingly, the directional terms used are intended to illustrate, but not to limit the invention. Furthermore, in the following embodiments, the same or similar elements will be given the same or similar reference numerals.

Please refer to FIG. 1 . FIG. 1 is a three-dimensional schematic diagram of an embodiment of the packing mechanism of the present invention. The packing mechanism 1 of this embodiment is used to perform a packing process, and includes a feeding unit 100 , a first extracting unit 200 , a second extracting unit 300 , an expansion unit 400 and a packing unit 500 , wherein The first extraction unit 200 is arranged adjacent to the feeding unit 100 , and the second extraction unit 300 is arranged relative to the first extraction unit 200 .

Specifically, the feeding unit 100 is suitable for carrying a plurality of boxes 2 , so as to transport the boxes 2 pre-stored by workers and provide them for use by other units of the box packing mechanism 1 . In this embodiment, the feeding unit 100 includes a frame body 110, a feeding platform 120 and a lifting mechanism 130, wherein the frame body 110 defines an accommodating space S, and the feeding platform 120 is disposed in the accommodating space S, And the lifting mechanism 130 is connected between the feeding platform 120 and the frame body 110 so that the feeding platform 120 is movably connected to the frame body 110 . Furthermore, a gap N is formed on the frame body 110, and the size of the gap N corresponds to the size of the box material 2, so the staff can directly send the box material 2 from the gap N of the frame body 110 into the accommodating space S. inside, and configured on the feeding platform 120 superior. After the boxes 2 are all successfully arranged, the feeding platform 120 can be raised relative to the rack body 110 through the lifting mechanism 130, so that the box materials 2 are exposed on the surface of the rack body 110 to facilitate extraction by the first extraction unit 200; When the box material arranged on the feeding platform 120 is used up, the feeding platform 120 can also be lowered to a position parallel to the lower edge of the gap N through the lifting mechanism 130 , which is helpful for the staff to replenish the new box material 2 from the gap N. However, in other possible embodiments, the feeding unit 100 may not have the lifting mechanism 130 , and the box material 2 is simply carried by the feeding platform 120 fixed to the rack body 110 and extracted by the first extracting unit 200 . The present invention is not limited to this.

Please refer to FIG. 2 , which is a schematic perspective view of the first extraction unit in FIG. 1 . The first extraction unit 200 of this embodiment is disposed on a base, and includes a first robotic arm 210 , a first holding module 220 and a first extraction part 230 , wherein the first holding module 220 and the first The extraction parts 230 are all connected to the first robotic arm 210 .

Please refer to FIG. 3 , which is a schematic front view of the first holding module and the first extraction portion in FIG. 2 . In detail, the first extracting part 230 is used for extracting the box material 2 on the feeding unit 100, and after unfolding it, it is set on the object to be packaged; and the first holding module 220 is used for removing the packaged object The box material 2 is held on the box sealing unit 500 to perform the box sealing operation before shipment. In this embodiment, the first holding module 220 includes a first fixing portion 222 and a first holding portion 224, wherein the first fixing portion 222 is, for example, a servo slide, and the first holding portion 224 is slidably disposed on the first holding portion 224. A fixing part 222 includes a pair of first holding parts 224a for holding the box material 2 for packing objects.

Specifically, in order to make the box material 2 after packing the objects tightly fit on the first holder 224a, a recess C is formed on the first holder 224a in this embodiment, and the size of the recess C corresponds to the size of the box. The size of material 2 after unfolding. Therefore, when the servo motor of the servo slide table drives the first holding part 224 to slide relative to the first fixing part 222, the first holding part 224a will be retracted toward the inside and abutted against the finished packing. The finished box material 2 can be reliably dropped into the concave portion C of the first holding member 224a, thereby improving the stability of the first holding module 220 for holding the box material 2.

In order to further strengthen the ability of the first holding module 220 to hold the box material 2, preferably, the first holding module 220 further includes a first limiting portion 226, and the first limiting portion 226 is disposed on the first holding member 224a and includes a fixing piece 226a and a contact piece 226b, wherein the fixing piece 226a is connected to the first fixing part 222, and the contact piece 226b is movably connected to the fixing piece 226a and protrudes relative to the fixing piece 226a. In detail, the contact piece 226b is used to abut the box material 2 in a direction other than the folded direction of the first holding piece 224a. Since the box material 2 may have different sizes, when the first holding module 220 is removed from the first holding piece 224a When the extension direction of the box is close to the box material 2, the contact piece 226b will contact the surface of the box material 2 and be retracted toward the fixing piece 226a by the abutment of the box material 2. At the starting point, the first holding member 224a is then folded relative to the first fixing portion 222 to hold the box material 2 from both sides of the box material 2, so that the box material 2 can be adjusted by adjusting the telescopic stroke of the contact piece 226a. It is held at a specific position (eg, the concave portion C) on the first holding member 224a. Besides, a stopper 224b is respectively formed on the end of the first holder 224a, and the stopper 224b extends toward the inner side of the first holder 224a. Thereby, the first holding module 220 can hold the box 2 through the first limiting portion 226 and the stopper 224b from a direction independent of the folding direction of the first holding piece 224a, which not only prevents the box 2 from falling from the first The holding member 224a falls off in the extending direction, and the telescopic stroke of the contact member 226b can be adjusted according to the size of different box materials 2 , thereby increasing the use range and flexibility of the first holding module 220 .

On the other hand, the first extracting part 230 is disposed on the first holder 224a, and is used for extracting the unexpanded box material 2 from the feeding unit 100 . Specifically, the first extraction part 230 of the present embodiment is disposed outside the first holder 224a and includes a plurality of air chambers, and these air chambers are not communicated with each other; and the first extraction part 230 is formed with a plurality of air holes O, The air holes O are respectively connected to the air chambers, and the air chambers pass through at least one The check valve 232 is connected to a vacuum pump (not shown). When the first extraction unit 200 extracts the box material 2 from the feeding unit 100, the first extraction part 230 is moved by the first robot arm 210, so that the air hole O of the first extraction part 230 abuts on the surface of the box material 2. At this time, the user can activate the vacuum pump, so that the air hole O of the first extraction part 230 forms a vacuum state, so that the box material 2 is adsorbed on the first extraction part 230 . In other words, the first extraction unit 200 is temporarily fixed to one side of one of the box materials 2 through the first extraction part 230 , and since the air chambers are not communicated with each other, the air chamber of the first extraction part 230 is prevented from passing through. The valve 232 is connected to the vacuum pump. When some of the air holes O are accidentally separated from the surface of the box material 2 and the vacuum is broken, the gas will be blocked by the check valve 232 and cannot flow into other gas chambers, so other gas The vacuum degree of the chamber will remain unchanged, so that the adsorption capacity of the corresponding pores O to the box material 2 can be maintained.

Please refer to FIG. 4 , which is a schematic perspective view of the second extraction unit in FIG. 1 . The second extraction unit 300 of this embodiment is disposed on a base, and includes a second robotic arm 310 , a second holding module 320 and a second extracting part 330 , wherein the second holding module 320 and the second holding module 320 The extraction parts 330 are all connected to the second robotic arm 310 .

Please refer to FIG. 5 and FIG. 6 , wherein FIG. 5 is a schematic front view of the second holding module and the second extraction part in FIG. 4 , and FIG. 6 is a schematic view of the right side of FIG. 5 . Specifically, the second extraction unit 300 is used to move the first object 3 and the second object 4 to be packed in the box 2 to the assembly rack 5 , and together with the first extraction unit 200 to unfold the box 2 to cover Set on the first object 3 and the second object 4, thereby completing the packing operation. In this embodiment, the second object 4 is, for example, a wafer cassette, and the first object 3 is, for example, a styrofoam cover for buffering arranged in the box material 2 to reduce the impact on the wafer cassette. The weight of the cover body is relatively light, so the second extraction unit 300 can directly extract the first object 3 through the second extraction part 330 . Specifically, the second extraction unit 300 further includes a frame body 340 , and the second extraction portion 330 is erected on the second holding module 320 through the frame body 340 . Similar to the first extraction part 230, the second extraction part 330 also includes a plurality of air chambers, which The air chambers are not communicated with each other, and the second extraction part 330 is also formed with a plurality of air holes O, the air holes O are respectively connected to the air chambers, and the air chambers are connected to the vacuum pump through at least one check valve 332 . When the second extraction unit 300 wants to extract the first object 3 or assist the first extraction unit 200 to unfold the box material 2 , the second robotic arm 310 will rotate the second extraction part 330 to another direction facing the first object 3 or the box material 2 . The orientation of one surface, and the second extraction part 330 is moved so that the air holes O on the surface of the second extraction part 330 abut against the other surface of the first object 3 or the box material 2 . At this time, the user can activate the vacuum pump to make the air holes O of the second extraction part 330 form a vacuum state so as to adsorb the first object 3 or the other side of the box material 2 on the second extraction part 330 . In other words, the second extraction unit 300 is temporarily fixed on the other side of the box material 2 or the first object 3 through the second extraction part 330, so as to achieve the effect of extracting the first object 3 or unfolding the box material 2, and because the air chamber penetrates The check valve 332 is connected to the vacuum pump, so the adsorption capacity of other air chambers and the air holes O will not be affected because the specific air hole O breaks the vacuum.

On the other hand, the second holding module 320 is suitable for holding an object (eg, the second object 4 ), and extracting the object to a predetermined position for assembly. Specifically, the second holding module 320 includes a second fixing portion 322 and a second holding portion 324 , wherein the second fixing portion 322 is, for example, a servo slide, and the second holding portion 324 is slidably disposed on the second fixing portion 324 . portion 322 and includes a pair of second holders 324a. Similar to the first holding module 220, the second holding module 320 preferably further includes a second limiting portion 326, wherein the second limiting portion 326 is connected to the second fixing portion 322 and disposed on the second holding member 324a In addition, a stopper 324b is respectively formed on the end of the second holder 324a, wherein the stopper 324b extends toward the inner side of the second holder 324a, and is used to be folded independently from the second holder 324a The direction of the direction limits the second object 4 . It is worth mentioning that, as shown in FIG. 54 and FIG. 5 , a holding feature 42 is formed on the second object 4, wherein the holding feature 42 is, for example, a flange, and a holding structure 324c is formed on the second holding member 324a, respectively. The holding structure 324c corresponds to the holding feature 42, and in this embodiment, it is, for example, a holding surface with a plurality of grooves. When the second extraction unit 300 wants to extract the second object 4 , the second robotic arm 310 will hold the second The module 320 is rotated to the orientation toward the second object 4, and the second holding module 320 is moved to approach the second object 4 along the extending direction of the second holding member 324a until the second limiting portion 326 abuts against the second object After the upper surface of 4, the second holder 324a is retracted relative to the second fixing portion 322 so that the holding feature 42 is fitted into the holding structure 324c, and the second object 4 is prevented from passing through the stopper 324b from the second holder 324a. The end of the slack falls off, so as to achieve the effect of holding the second object 4 .

Please refer to FIG. 7 , which is a schematic three-dimensional view of the expansion unit in FIG. 1 . The expansion unit 400 of this embodiment is used to expand the lower edge of the box material 2 so that it can be smoothly sleeved on the first object 3 and the second object 4 . In detail, the expansion unit 400 includes a support member 410 and a plurality of expansion members 420, wherein the support member 410 and the expansion member 420 are made of aluminum extrusion, for example, the support member 410 is connected to the ground, and the expansion member 420 is movable It is disposed on the support member 410 and is deflected relative to the support member 410 . After the first extraction unit 200 and the second extraction unit 300 unfold the box material 2, the unfolded box material 2 can be moved to the top of the expansion unit 400 and sleeved on the expansion unit 400 from top to bottom. Because the support member 410 is deflected, and the outer diameter of the structure formed by the expansion member 420 is larger than the side length of the box material 2 after unfolding, the lower edge of the box material 2 will be expanded and temporarily shaped, thereby making the subsequent During the packing operation, the box material 2 is more easily and successfully sheathed on the first object 3 and the second object 4 . It is worth mentioning that, since the expansion piece 420 is movably arranged on the support piece 410 , when the size of the box material 2 used changes, the user can elastically adjust the number of the expansion pieces 420 , the deflection angle and the connection to the expansion piece 420 . The position of the support member 410 corresponds to different box materials 2 and the desired expanded size.

Please refer to FIG. 8 . FIG. 8 is a schematic diagram of the case when the case packing mechanism of the present embodiment sets the case material on the object. The following will describe in detail how the box packing mechanism 1 of this embodiment performs the packing operation for the box material 2 , the first object 3 and the second object 4 . First, the second extraction unit 300 disposes the first object 3 , the second object 4 and the other first object 3 in sequence through the second extraction part 330 and the second holding module 320 . On the assembly frame 5, the second object 4 is covered and protected by the first object 3 above and below, and then the feeding unit 100 moves the feeding platform 120 by the lifting mechanism 130, so that the The box material 2 is moved to a position where the first extraction unit 200 is easy to extract. At this time, the first robotic arm 210 moves the first extraction part 230 against one side of the box material 2, and activates the vacuum pump to adsorb the box material 2 to remove the box material 2. 2 is extracted between the first extraction unit 200 and the second extraction unit 300 . Then, the second robotic arm 310 moves the second extraction part 330 against the other side of the box material 2, at this time, the first robotic arm 210 and the second robotic arm 310 move away from each other, and are also fixed on the first extraction part 230 and the second robotic arm 310. The two surfaces of the box material 2 on the extraction part 330 are separated to achieve the effect of unfolding the box material 2 . After that, the first extraction unit 200 and the second extraction unit 300 jointly move the box material 2 to the top of the expansion unit 400, and cover the box material 2 on the expansion unit 400 from top to bottom to expand the lower edge of the box material 2, and then The expanded box material 2 is sleeved on the first object 3 and the second object 4 arranged on the assembly frame 5 , so that the first object 3 and the second object 4 are accommodated in the box material 2 . Finally, the first extraction unit 200 and the second extraction unit 300 move from the outer side of the box material 2 to the inner side of the box material 2 in sequence, so as to cover the upper edge of the box material 2 toward the inner side and temporarily close the upper end of the box material 2 . Open the opening and complete the packing operation.

Please refer to FIG. 9 , which is a schematic three-dimensional view of the box sealing unit in FIG. 1 . After the above-mentioned packing operation is completed, the first extracting unit 200 will move the box material 2 containing the first object 3 and the second object 4 to the packing unit 500 through the first holding module 220 for packing the packing operation. . In detail, the box sealing unit 500 of this embodiment includes a main body 510 and a tape-attaching module 520, wherein a conveying member 512 is disposed on the main body 510, and the conveying member 512 is, for example, a conveying belt, which is used to complete the packing. The box material 2 is sent to the next work area; the tape sticking module 520 is slidably mounted on the main body 510 , and includes a tape sticking frame 522 and an adhesive tape table 524 , wherein the tape sticking table 524 is arranged on the tape sticking frame 522 .

Specifically, after the first extracting unit 200 moves the box material 2 to the conveying member 512 of the box sealing unit 500 through the first holding module 200 , the tape sticking module 520 will automatically pull the tape on the tape table 524 Cut out a small section and attach it to the edge of the temporarily closed side of the box material 2. Since the tape frame 522 can freely slide relative to the main body 510 , when the tape frame 522 slides relative to the main body and the box material 2 , the tape attached to the edge of the box material 2 will also be stretched and attached to the box material 2 . On the surface of the box material 2, finally, the tape sticking module 520 cuts off the excess tape through components such as knives or cutters, and repeats the above operation to fit the other folded and closed surface of the box material 2. The component 512 sends the box material 2 after the box sealing operation to the next operation area to complete the automation of the entire box packing process.

The present invention has been disclosed above with preferred embodiments, but those skilled in the art should understand that the above embodiments are only used to describe the present invention, and should not be construed as limiting the scope of the present invention. It should be noted that all the changes and substitutions equivalent to the above-mentioned embodiments should be considered to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be defined by the scope of the patent application.

1: Packing mechanism

100: feeding unit

110: Frame

120: Feeding platform

130: Lifting mechanism

200: First extraction unit

300: Second extraction unit

400: Expansion Unit

500: Sealing unit

2: Box material

3: The first object

4: Second Object

5: Assembly rack

N: Notch

S: accommodating space

Claims (9)

A box packing mechanism, comprising: a feeding unit, suitable for carrying a plurality of box materials; a first extracting unit, disposed adjacent to the feeding unit, and comprising: a first mechanical arm; a first holding module , connected to the first robotic arm, and comprising: a first fixing part; and a first holding part, slidably arranged on the first fixing part and including a pair of first holding parts; on the first robot arm, and the first extraction unit is temporarily fixed to one side of a box material among the plurality of box materials through the first extraction part; a second extraction unit is arranged relative to the first extraction unit , and includes: a second mechanical arm; a second holding module, connected to the second mechanical arm, and comprising: a second fixing part; a second holding part, slidably arranged on the second fixing part and including a pair of second holding parts; and a second limiting part connected to the second fixing part and disposed between the pair of second holding parts; and a second extraction part connected to the second robotic arm, and The second extraction unit is temporarily fixed to the other side of the box through the second extraction portion; an expansion unit; and a box unit. The packing mechanism according to claim 1, wherein the feeding unit comprises: a frame body defining a accommodating space, a gap is formed on the frame body, and the size of the gap corresponds to the size of the plurality of boxes ; A feeding platform is arranged in the accommodating space, and the plurality of boxes are arranged on the feeding platform; and a lifting mechanism is connected between the feeding platform and the frame to make the feeding The platform is movably connected to the frame. The packing mechanism according to claim 1, wherein a concave portion is formed on the pair of first holding members respectively, and the size of the concave portion corresponds to the size of the box material after unfolding. The packing mechanism according to claim 1, wherein the first holding module further comprises: a first limiting part disposed between the pair of first holding parts, and comprising: a fixing part connected to the first holding part a fixing part; and a contact piece, movably connected to the fixing piece and protruding relative to the fixing piece; wherein, a stopper is formed on the pair of first fixing pieces respectively, and the pair of stopper pieces faces toward the pair of first fixing pieces The inner side of a retainer extends. The packing mechanism according to claim 1, wherein the first extraction portion is disposed on the pair of first holding members and includes a plurality of air chambers, the plurality of air chambers are not communicated with each other, and the first extraction portion is formed with a plurality of air chambers. A plurality of air holes, the plurality of air holes are respectively connected with the plurality of air chambers, and the plurality of air chambers are connected to a vacuum pump through at least one check valve. The packing mechanism of claim 1, wherein the second holding module is suitable for holding an object, a holding feature is formed on the object, a holding structure is formed on the pair of second holding members, and the holding structure corresponds to on this holding feature. The packing mechanism of claim 1, wherein the second extraction unit further comprises a frame body, the second extraction part is erected on the second holding module through the frame body, and the second extraction part comprises a plurality of an air chamber, the plurality of air chambers are not communicated with each other, the second extraction part is also formed with a plurality of air holes, the plurality of air holes are respectively connected to the plurality of air chambers, and the plurality of air chambers pass through at least one check valve connected to a vacuum pump. The packing mechanism according to claim 1, wherein the expansion unit comprises a support member and a plurality of expansion members, the support member is connected to the ground, and the plurality of expansion members are movably arranged on the support member and relative to the support member Piece deflection. The packing mechanism according to claim 1, wherein the sealing unit comprises: a main body on which a conveying member is arranged; and a tape sticking module, slidably mounted on the main body, and comprising: a tape sticking a frame; and a tape table, which is arranged on the tape frame.

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