7820results about "Gripping heads" patented technology

A cutting device includes a base plate, a motor attached to the base plate, a driving cord including a first end and a second end, the first end being attached to the motor, and a cutting assembly. The cutting assembly includes a fixed blade that is fixed to the base plate, and a driven blade that moves with respect to the fixed blade. The second end of the driving cord is attached to the driven blade to move the driven blade with respect to the fixed blade when the motor rotates.

The invention provides a dexterous hand based on multi-modal fusion control, and relates to the technical field of automatic control, the dexterous hand comprises a palm module, a palm center vision sensing module, a finger module, a fingertip force sensing module and a multi-modal control module; the palm center visual sensing module is used for acquiring visual information of the dexterous hand in a working area; the finger module comprises at least two fingers; the fingertip force sensing module is used for detecting information of contact force applied to the fingertip position; and the multi-mode control module is used for controlling the dexterous hand to grab a target object based on the visual information and the contact force information. According to the dexterous hand based on multi-mode fusion control, data of two modes of visual information and contact force information are fused, so that the dexterous hand can adapt to different grabbing environments, intelligent closed-loop control of visual guidance and force sense regulation and control is realized, and the environmental adaptability and flexibility of the dexterous hand are improved.

The invention discloses a five-finger bionic dexterous hand with distributed touch perception and a control method. The five-finger bionic dexterous hand comprises a palm part; fingers of the thumb unit, the index finger unit, the middle finger unit, the ring finger unit and the little finger unit respectively comprise a three-stage series flexion and extension mechanism which is sequentially composed of a third knuckle, a second knuckle and a first knuckle from a metacarpophalangeal joint, and each three-stage series flexion and extension mechanism has three flexion and extension freedom degrees and one deflection freedom degree; the tendon rope driving units are arranged in the palm part; the palm center camera is integrated on the front face of the palm part and used for collecting visual information of an operation area; the 15 air pressure type touch sensor modules are installed on the third knuckles, the second knuckles and the first knuckles of all the finger units in a distributed mode, and each air pressure type touch sensor module is integrated with a pressure and temperature double sensing unit and used for sensing contact pressure and environment temperature; the control module is integrated on the back face of the palm part and is in signal connection with the palm center camera, the air pressure type touch sensor modules and the tendon rope driving unit.

A system for handling a component of a vehicle includes a body, at least one protrusion, a robot, and a gripper structure. The body is configured to house electrical components and defines a longitudinal axis. The protrusion extends outwardly from the body along an axis. The protrusion includes a cylindrical shaped inner portion at a proximal end of the protrusion and a tapered outer portion near a distal end of the protrusion. The robot is configured to move the body. The gripper structure is secured to the robot and includes at least one mounting feature. The mounting feature includes a portion comprising a shape that corresponds to the cylindrical shaped inner portion of the protrusion such that the gripper structure is configured to be removably coupled to the component.

The invention relates to a robot dynamic grabbing control method based on visual sense and tactile sense depth fusion. The method comprises the following steps that firstly, based on visual information, surface geometric features of a target object are extracted, grabbing adaptability scores are calculated, an optimal grabbing point is selected, and a collision-free approaching track is planned; secondly, in a contact establishment stage, detecting a contact event through a touch sensor, fusing vision and touch data to unify a coordinate system, calculating a vision-touch consistency score, and applying an initial grabbing force; and thirdly, in the stable holding stage, slip detection is conducted through wavelet packet energy entropy and pressure gradient, and the grabbing force and impedance parameters are dynamically adjusted in combination with self-adaptive impedance control. According to the method, intelligent control over the whole process from approaching to contact to stable holding is achieved, and the adaptability, stability and safety of robot grabbing in the dynamic environment are improved.

An adaptive finger gripper for pushing materials, a robot and a gripping and pushing method. The adaptive finger gripper for pushing materials comprises a transmission device (1) and finger gripper main bodies (2); each finger gripper main body (2) comprises a sliding telescopic structure (7) and a frame structure (3), the sliding telescopic structure (7) being slidably connected to the frame structure (3). A gripping space (200) is provided between the different sliding telescopic structures (7), and materials are gripped within the gripping space (200). Each finger gripper main body (2) comprises a gripping state and a pushing state; when in the pushing state, the sliding telescopic structure (7) retracts relative to the frame structure (3) and a target member (100). Different from a rigid collision between the finger gripper and the target member (100) during material pushing in the prior art, when the finger gripper is in contact with the target member (100), each sliding telescopic structure (7) will adaptively retract relative to the target member (100), so as to avoid the rigid collision between the finger gripper and the target member (100), thus reducing the possibility of damage to the finger gripper and the target member (100) caused by the rigid collision.

The invention discloses a dexterous hand teleoperation method based on vision-touch fusion. The method comprises the following steps: 1) vision detection; the method comprises the following steps of (1) carrying out remote control, (2) carrying out redirection, (3) carrying out tactile grabbing, (4) carrying out vision-tactile interaction, (5) carrying out a communication process and (6) carrying out dexterous hand.The method can stably map human hand actions under the complex vision condition, safe and reliable grabbing control is achieved through tactile feedback, meanwhile, multiple dexterous hand configurations and cross-platform deployment are supported, and the precision, robustness and practicability of teleoperation can be improved.

A gripping and pushing integrated finger, comprising finger bodies (2), wherein the number of finger bodies is greater than or equal to 2, and each finger body comprises a sliding telescopic structure (7), a frame structure (3), a locking structure (5) and a pushing structure (6); the pushing structure is fixedly mounted on the frame structure, and the sliding telescopic structure is slidably connected to the frame structure; and the locking structure is used for locking and unlocking between the sliding telescopic structure and the frame structure. Also disclosed are a robot and a gripping and pushing method. The finger integrates both the sliding telescopic structure for realizing the gripping function and the pushing structure for realizing the pushing function onto the finger body, which improves the overall integration level of a device, and materials are effectively and directly inserted into an accommodating space of a target member, which eliminates the necessary repositioning process and secondary insertion in existing material gripping and insertion devices, thereby improving the working efficiency.

A gripper finger for material insertion, a robot, and a gripping and pushing method. The gripper finger for material insertion comprises a transmission device (1), gripper finger bodies (2) and a forward pushing device; the number of the gripper finger bodies (2) is greater than or equal to two; by means of the transmission device (1), a driving device drives different gripper finger bodies (2) to move toward or away from each other, thus respectively achieving gripping and releasing of a material; when the gripper finger bodies (2) insert the material partially into an accommodation space, the forward pushing device can push the material forward whether the gripper finger bodies (2) disengage from the material or not.

The invention discloses a task-oriented grabbing method and system based on cross-level constraint reasoning, and belongs to the technical field of robot grabbing control. The method comprises the following steps: aligning a text instruction with an input image through a mask alignment module, generating a target area mask by utilizing SAM-Clip, and generating a target point cloud by taking the target area mask as spatial prior; and further analyzing an internal physical structure of the target by using VLM, guiding to generate a 6-DOF grabbing attitude, performing collision detection and quality scoring by combining high-level function and bottom-level geometric prior, and outputting an optimal grabbing attitude. According to the method, the problems that task understanding and scene perception are disjointed, and the grabbing posture lacks constraint are solved, and the grabbing success rate and the intelligent level of the robot in the open environment are remarkably improved.

The invention provides a dexterous hand which comprises a palm structure, a plurality of first joint modules and a second joint module, each first joint module comprises a first side swing assembly and a first finger structure, and each first finger structure comprises a plurality of first finger shells and a plurality of first knuckle steering engines arranged in the first finger shells; the first knuckle steering engines drive the first finger shells to rotate in a one-to-one correspondence mode, the second joint module comprises a second side swing assembly and a second finger structure, and the second finger structure comprises a plurality of thumb knuckle shells and a plurality of thumb knuckle steering engines arranged in the thumb knuckle shells. The thumb knuckle steering engines drive the thumb knuckle shells to rotate in a one-to-one correspondence mode. The dexterous hand provided by the invention has more active degrees of freedom, can more accurately simulate the movement of a human hand, and is longer in service life and lower in control difficulty. In addition, the first joint module and the second joint module are both independent modules, so that maintenance and replacement are convenient.

Provided herein is a system for generating a model for the implementation a series of optimized picking and placing operations in a manner so as to minimize void space when packing a conveyance with parcels. The system may include a motorized intelligent base member, an automated positioning element that may be moveably coupled to the automated base member, and an automated gripping instrument. The system may include an analytics module for generating one or more models for moving the base member and associated positioning element proximate a parcel to be picked and placed, and for directing the gripper instrument for picking up the parcel for placement, in accordance with the generated placement model that minimized void space. In particular embodiments, the model may be a compilation of image and language data that is used to direct the movements of the system components in performing the picking and pacing operation.

The invention relates to an intelligent oil containment boom mechanical arm device and a control method thereof. The intelligent oil containment boom mechanical arm device comprises a mechanical arm, a hydraulic driving system, a sensing system and a control unit. The mechanical arm comprises a transmission base, a steering stand column, a large arm, a small arm, an overturning head and a tail end grabbing hook assembly. The hydraulic driving system comprises a hydraulic pump station, a proportional reversing electromagnetic valve group and a plurality of execution oil cylinders; the sensing system comprises a gyroscope array and a camera array to form a distributed attitude sensing network and a distributed visual sensing network; the control unit identifies and positions an oil containment boom target based on a sea surface image acquired by the distributed visual perception network, performs motion planning on the mechanical arm, and controls the mechanical arm to move and grab the target; in the target positioning process, posture changes of all parts of the mechanical arm are sensed in real time based on the distributed posture sensing network, and dynamic compensation is conducted on the posture error of the mechanical arm. According to the device, the oil containment boom can be quickly, accurately, reliably and intelligently grabbed, and the laying efficiency and safety of the oil containment boom are improved.

The invention belongs to the field of laboratory automation equipment, and discloses a control method and system of a task execution device for physical and chemical experiment operation, and the method comprises the steps: initializing and calibrating the device; receiving and analyzing an experiment task instruction; collecting object information through a visual sensor; the upper computer generates an execution scheme according to the strategy library; the electric control rotary clamping jaw is driven to complete operation; force and displacement parameters are monitored in real time, and dynamic adjustment actions are fed back through a closed loop; and judging that the operation is completed according to the threshold. The system comprises a visual sensor, a rotary driving body, an electric control rotary clamping jaw and an upper computer. By integrating visual identification and force sense feedback, fine operations such as clamping, taking and placing, bottle cap screwing and the like can be completed in a self-adaptive mode, the efficiency, precision and reliability of laboratory automatic operation are remarkably improved, manual operation errors are reduced, and good application prospects are achieved.

The invention discloses a robot automatic grabbing path planning method based on visual identification, and relates to the technical field of intelligent grabbing. The method comprises the following steps: acquiring multi-view visual data of a target scene, and generating a scene three-dimensional compact reconstruction model through a multi-modal image fusion algorithm; performing target detection and feature extraction on the model, and screening an optimal capture point in combination with a visual attention mechanism; constructing a dynamic environment obstacle probability map, updating an obstacle state through time sequence visual tracking, and quantifying an interference weight; an initial grabbing path is planned based on an improved fast expansion random tree algorithm, path smoothness constraints and robot joint movement limit parameters are introduced, and path nodes are optimized through a Bezier curve; visual servo feedback and path deviation prediction are fused, path parameters are corrected in real time, and a continuous movement track is generated. The method effectively adapts to the dynamic environment, gives consideration to path safety, smoothness and mechanical arm motion characteristics, and remarkably improves the grabbing success rate and operation reliability.

The invention relates to the technical field of robot grabbing, and discloses a self-sensing soft gripper and a slippage detection method thereof.The self-sensing soft gripper comprises a palm body, a base assembly, a sensor assembly and a data processing and control unit, and a plurality of pneumatic soft fingers are arranged on the upper portion of the palm body; a strain layer with a driving air cavity and a limiting layer wrapping the strain layer are arranged in each pneumatic soft finger, and the substrate assembly is embedded into the limiting layer; the sensor assembly comprises a plurality of flexible sensors, is integrated on the finger contact surface, partially fits the substrate assembly and collects contact interface pressure distribution data, and the data processing and control unit is electrically connected with the sensor assembly and the air supply device, receives the data, executes a slippage detection algorithm and regulates and controls the air pressure of the driving air cavity according to a result. The substrate assembly is introduced into the limiting layer of the pneumatic soft finger, the sensor assembly and the multi-dimensional feature fusion algorithm are combined, collaborative optimization from structural design, signal enhancement to algorithm detection is achieved, and therefore the sensitivity and reliability of slip detection are remarkably improved.

Systems and methods are disclosed for concentric suction cup tools with integrated air chambers. In one embodiment, an example picking assembly may include a vacuum manifold having a first integrated air pressure path and a second integrated air pressure path, and a first piston subassembly that includes a first air pipe, a first vacuum pipe, a first bushing disposed between the first air pipe and the first vacuum pipe, and a first suction cup, where the first piston subassembly is configured to independently actuate from a retracted position to an extended position. The picking assembly may include a second piston subassembly having a second air pipe, a second vacuum pipe, a second bushing disposed between the second air pipe and the second vacuum pipe, and a second suction cup, where the second piston subassembly is configured to independently actuate from the retracted position to the extended position.

A system that includes a workpiece and a robotic gripper apparatus. The workpiece includes a pair of opposed first retention features. Each first retention feature includes a first proximal end, a first distal end, and an outer periphery. The pair of opposed grippers are moveable between a first position in which the pair of opposed grippers engage the pair of opposed first retention features. Each gripper includes a mounting feature having a second proximal end, a second distal end, and an inner periphery. When the pair of opposed grippers are in the first position, a first portion of the inner periphery near the first proximal end engages a first portion of the outer periphery near the second proximal end and a second portion of the inner periphery near the first distal end is separated from a second portion of the outer periphery near the second distal end.

The invention belongs to the technical field of bionic dexterous hands, and discloses a multi-degree-of-freedom dexterous hand, which comprises a plurality of sections of fingers, a plurality of connecting rod assemblies, a plurality of connecting rods, a plurality of connecting rods and a plurality of connecting rods, the output ends of the two front-row linear driving parts are universally hinged to the root parts of the multi-section fingers respectively, and the two front-row linear driving parts are arranged side by side in the first direction; the rear-row linear driving parts and the front-row linear driving parts are arranged side by side, the rear-row linear driving parts and the two front-row linear driving parts are spaced in the second direction, the first direction is perpendicular to the second direction, and the output ends of the rear-row linear driving parts are universally hinged to the connecting rod assembly; and the side-sway rotating support is rotationally arranged around the axis in the second direction, and the roots of the multi-section fingers are rotationally connected to the side-sway rotating support around the axis in the first direction. The multi-degree-of-freedom dexterous hand provided by the invention meets the requirement of high control precision, is high in dexterous property, and improves the grabbing stability and rigidity.

The embodiment of the invention provides a multi-arm robot, an operation method and device of the multi-arm robot, a storage medium and a program product, and the method comprises the steps that according to the contact type between an end effector of each mechanical arm of the multi-arm robot and a target object, the grabbing corresponding relation between the force applied by each end effector and the force borne by the target object is determined; on the basis of the grabbing corresponding relation and at least one force constraint condition, the feasible force solution space of an end effector of each mechanical arm is obtained through solving; and force application values of the end executors of the corresponding mechanical arms are determined from the feasible force solution spaces of the end executors of the mechanical arms, and the force application values of the end executors of the mechanical arms are used for controlling the corresponding mechanical arms to operate the target object. According to the embodiment, the force constraint strategy of the mechanical arm can be adaptively adjusted according to different contact types, so that the force application value of the end effector of the mechanical arm is suitable for force constraint requirements of different contact types, and the operation stability and flexibility are improved.

The invention discloses a robot grabbing pose planning method based on three-dimensional point cloud recognition, and the method comprises the steps: collecting and preprocessing scene three-dimensional point cloud data, and generating a standardized point cloud data set; constructing a deformation-driven multi-scale topological potential energy field, and generating a continuous potential well region capable of deformation avoidance; extracting a high potential energy fragment as a candidate contact fragment, and constructing a four-layer homologous contact flow diagram structure; executing topological shape-preserving optimal transmission and pairing, and determining a feasible grabbing area and a contact pair combination; on the basis of a self-adaptive attitude optimization strategy, a grabbing pose meeting multi-domain constraints is output; and tail end control and feedback updating judgment are executed, and grabbing stability monitoring and self-correction are achieved. Through the deformation driving potential energy field and multi-layer cross-domain optimization, precise planning and stable control of the grabbing pose of the robot in a complex scene are achieved.

The utility model provides a powder assembly production line for eye shadow production, which comprises a support, a conveying mechanism arranged on the support, a plurality of eye shadow boxes arranged on the conveying mechanism in a linear array, and a plurality of powder assembly work stations arranged along one side of the conveying mechanism in a linear array. The powder assembling work station comprises a cabinet, a mechanical arm mechanism arranged in the cabinet, a conveying assembly arranged close to the mechanical arm mechanism and an upper computer arranged on the cabinet, and eye shadow powder blocks are arranged on the conveying assembly; the conveying mechanism is controlled through a speed regulator, the conveying assembly is controlled through a PLC, the mechanical arm mechanisms are all connected to the upper computers through doMot ion controllers, and the conveying mechanism and the upper computers are all connected to the main computer. According to the powder combining production line for eye shadow production, eye shadow powder blocks of different colors and types can be automatically placed in the eye shadow box, time and labor are saved, the production efficiency is greatly improved, and the production cost is reduced.

The buffer driving mechanism comprises a driver, a buffer and a pull wire, the driver is connected with the buffer through a rigid flange, the buffer is connected with the pull wire through a knuckle bearing, and the driver can indirectly actuate the pull wire through the buffer. The buffer can absorb impact when the driven part is stressed so as to protect the driver, the buffer can soften tension transmission of the pull wire, a fine adjustment structure is further arranged between the buffer and the pull wire, the initial tension of the pull wire can be adjusted, and therefore the driven part can be bent or reset. The response delay of the driven part caused by inconsistent tension is avoided; the bionic manipulator comprises five groups of fingers, any group of fingers is provided with two groups of buffer driving mechanisms, and the five groups of fingers cooperate to realize multi-posture grasping; the ten buffer driving mechanisms are arranged at the tail end of the forearm close to the elbow and far away from the palm, so that the palm is light and accurate in action, impact can be buffered, and the manipulator and grabbed objects are protected.

The invention relates to the technical field of areca-nut picking, in particular to a flying robot system for areca-nut picking, and adopts the technical scheme that a full-autonomous areca-nut picking robot system is constructed by deeply fusing high-precision multi-source visual perception, intelligent decision planning and compliance control technologies; according to the system, a sensing scheme combining multispectral imaging and structured light three-dimensional measurement is adopted, so that the recognition rate, the positioning precision and the maturity discrimination reliability of areca nuts in a complex illumination and shielding environment are remarkably improved; an extended Kalman filtering and advanced control law-based flight attitude stabilization algorithm effectively inhibits external disturbance and provides necessary platform stability for accurate picking in dynamic flight; the picking executing mechanism with the lightweight design is combined with real-time force feedback control, lossless grabbing of fruits is achieved, and the fruit damage rate is greatly reduced; and due to an intelligent energy management and task planning strategy, the overall energy efficiency of the system is optimized, and the endurance time and the picking quantity of single operation are prolonged.

The invention discloses a dexterous hand perception control method and device, equipment and a storage medium, and relates to the technical field of artificial intelligence. The method comprises the steps that under the condition that a target multi-fingered dexterous hand grabs a target object is recognized through a pressure sensor array, pressure collection data are obtained from a pressure sensor array, and current joint data of all finger joints of the target multi-fingered dexterous hand are obtained from an encoder; according to the pressure collection data and the current joint data, the current grabbing state of the target multi-fingered dexterous hand is determined; when it is recognized that the current grabbing state does not meet the safe grabbing condition, dexterous hand pose data of the target multi-fingered dexterous hand are obtained from an inertial sensor, and a target grabbing mode of the target multi-fingered dexterous hand is determined according to the current space pose data, the pressure collection data, the current joint data and the dexterous hand pose data; and the target multi-fingered dexterous hand is controlled to grab in a target grabbing mode. According to the scheme, the sensing grabbing efficiency and accuracy of the dexterous hand are improved.

The invention relates to the technical field of mechanical arm control, in particular to a flexible mechanical arm control system which comprises a flexible mechanical arm body, a driving unit, a driving state sensing unit, an upper computer controller and an intelligent controller. The flexible mechanical arm body is formed by connecting a plurality of flexible cavity muscles and a plurality of connecting modules in series, and the clamping mechanism is installed at the front end of the flexible mechanical arm body; the driving unit is used for driving the flexible joint of the mechanical arm to move and deform by adjusting the air pressure and driving the clamping mechanism to act by adjusting the air pressure; the driving state sensing unit comprises a shape sensing unit, a tail end pose sensor and a driving state sensor; high-precision reconstruction of the full state of the mechanical arm is achieved, an intelligent control algorithm is combined, accurate trajectory tracking and point position control can be achieved, closed-loop control can be achieved only through a body sensor without depending on external visual equipment, and the applicability and reliability of different scenes are improved.

The invention provides a tendon-rope-driven robot dexterous hand finger based on single drive and a method. The tendon-rope-driven robot dexterous hand finger comprises a finger shell; the tendon rope is provided with an end chuck and a middle chuck; the winch is provided with a winch clamping groove, the middle chuck is connected to the winch clamping groove, and after the tendon rope winds around the winch, the two ends of the tendon rope are led out of the two sides of the winch. The tendon rope guide module is provided with a guide clamping groove, after the tendon rope bypasses the tendon rope guide module, the end chuck is connected to the guide clamping groove, and the tendon rope guide module is used for guiding the transmission path of the tendon rope and changing the extension direction of the tendon rope; the driving module is used for driving the winch to rotate, and the winch has a forward rotation state and a reverse rotation state: when the winch rotates in the forward direction, the tendon rope drives the front part of the finger shell to bend; when the winch rotates reversely, the tendon rope drives the front part of the finger shell to straighten. Bending and straightening of the finger knuckles are bidirectionally driven by the tendon rope through the single driving module, and the finger is small in size, compact in structure, light in weight, low in cost and very suitable for a high-degree-of-freedom robot dexterous hand.

The provided is an alignment clamping fixture for automatic tailor welding of an automotive door ring and a welded seam alignment method therefor. The alignment clamping fixture includes a gripper unit and a clamp unit, where the gripper unit is connected to a working end of a robotic arm; the gripper unit includes a gripper frame, and a plurality of vision camera mechanisms and a plurality of suction cup mechanisms are mounted at a bottom of the gripper frame in a fit manner, respectively; and the clamp unit includes a clamp base, a plurality of first alignment mechanisms are mounted at a top of the clamp base in a fit manner, the first alignment mechanisms are configured to clamp a workpiece, a light source is arranged in an individual first alignment mechanism, and the light source illuminates the workpiece from a back surface of the workpiece.

The invention provides a driving and sensing integrated soft claw, gripper and method, and belongs to the field of deep sea soft grippers. The problems that a traditional soft gripper sensor is prone to forming stress concentration and cannot achieve multi-point sensing are solved. The driving and sensing integrated soft claw comprises a sensing layer, an acoustic wave guide main flow channel extending in the length direction is arranged on the sensing layer, and an ultrasonic transducer is arranged on the side, close to the fixed end of the sensing layer, of the acoustic wave guide main flow channel. The end face of one side of the sensing layer is a grabbing face, and a plurality of evenly-arranged protrusions are arranged in the acoustic wave guide main flow channel corresponding to the end face. And the driving layer is arranged on the side, away from the grabbing face, of the sensing layer, a plurality of deformation cavities communicating with the acoustic wave guide main flow channel are formed in the driving layer, the driving layer is in a stretching state in a normal state, and when the deformation cavities are filled with liquid and pressurization continues, the deformation cavities are used for deforming to drive the sensing layer to bend. The manipulator is mainly used for grabbing actions.

The invention relates to the technical field of agricultural machinery, in particular to a multi-angle mechanical arm agricultural product bagging device based on image recognition, which comprises a bagging device, a mechanical arm, a manipulator of the mechanical arm and an AGV (Automatic Guided Vehicle) mobile trolley, the bagging device comprises a fixing device which is installed at the output end of the mechanical arm and the output end of the mechanical hand. The vacuum suction cup pipeline is installed on the fixing device, the vacuum suction cup pipeline is of a U-shaped structure, a vacuum suction cup is arranged on the vertical portion of the vacuum suction cup pipeline, and a middle clamping groove is formed in the horizontal portion of the vacuum suction cup pipeline; one end of the mechanical arm is connected with the mechanical arm connector, and the other end of the mechanical arm is connected with the rotating piece; and the meshing type mechanical arm is arranged on the upper end face of the mechanical arm, the meshing type mechanical arm is used for placing paper bags on the bagging device, grabbing mangoes and placing the mangoes into the bagging device, and the capacity of the agricultural bagging robot in automatic operation is improved.