目的 设计一种应用于多规格浅盘蛋挞纸盒包装的包装机，以实现适应多规格浅盘纸盒的自动包装。方法 基于浅盘纸盒的折叠工艺流程，将纸盒襟片、侧板、盖板的折叠运动轨迹等效为各面板沿折痕转动的运动模型，设计能适应不同规格浅盘纸盒包装的插舌包装机。将同轴布局5R机构作为盖板折叠装置，利用同轴布局5R机构运动轨迹的多样性及运动可控性，控制其末端输出运动轨迹，实现2粒、3粒、4粒、6粒规格浅盘纸盒的襟片、侧体板、盖板的折叠及插舌。结果 样机有效工作空间为300 mm×200 mm×50 mm，能够对外形尺寸在145 mm×78 mm×35 mm到230 mm×152 mm×37 mm的浅盘纸盒进行折叠插舌，纸盒完成折叠时间约15 s。结论 可以完成多种规格蛋挞纸盒的包装工作，实现了浅盘型纸盒折叠自动化包装；包装机占地面小、运动柔性可控，能快速适应规模定制产品的需求。

The work aims to design a packaging machine suitable for multi-specification shallow egg tart cartons, in order to adapt to the automatic packaging of multi-specification shallow cartons. Based on the folding process of the shallow cartons, the folding trajectory of the flap, side plate and cover plate of the carton was equivalent to the movement model of each panel rotating along the fold, so as to design a tongue-inserting packaging machine which could adapt to different specifications of shallow carton packaging. With 5R mechanism of coaxial layout as the folding device of cover plate, its trajectory diversity and motion controllability were used to control its end output trajectory, thus achieving the folding and tongue insertion of the flaps, side plates and cover plates of the two-grain, three-grain, four-grain and six-grain egg tart cartons. The effective workspace of the prototype was 300 mm×200 mm×50 mm. It could fold and insert tongues for shallow cartons with outline dimensions ranging from 145 mm×78 mm×35 mm to 230 mm×152 mm×37 mm. The folding time of each carton was about 15 s. It can complete the packaging of various specifications of egg tart cartons and realize the automatic folding and packaging of shallow cartons. Featured by small space occupation and controllable movement, the proposed packaging machine can quickly adapt to the requirements of mass customized products.