Packaging system based on double-arm robot

The invention relates to the field of packaging equipment, in particular to a packaging system based on a double-arm robot. The packaging system comprises the double-arm robot, folding finger mechanisms and a positioning mechanism, wherein the free ends of mechanical arms on both sides of the double-arm robot are each provided with one folding finger mechanism, and the positioning mechanism is arranged on the packaging station. Each folding finger mechanism comprises a connecting plate, a main palm seat, a main palm seat turnover mechanism, an auxiliary palm seat and an auxiliary palm seat turnover mechanism, wherein the upper end of the connecting plate is connected with the free end of the corresponding mechanical arm of the double-arm robot; the lower end of the connecting plate is hinged to the main palm seat; the main palm seat turnover mechanism for driving the main palm seat to overturn is arranged on the connecting plate; the auxiliary palm seat is hinged to the main palm seat;the main palm seat is pr