A bag placing robot and a bag placing method

Abstract

The application discloses a bag placing mechanical arm and a bag placing method thereof, and relates to the technical field of logistics transportation. The bag placing mechanical arm and the bag placing method thereof provided by the application innovatively optimize the bag placing mode to a continuous low placing mode through the bag placing mechanical arm, the difference is small, and the phenomenon of irregular stacking, broken bags, excessive dust and the like can be avoided, and the mode is close to manual placing; the extension length of the mechanical arm can be controlled according to the layer height of the placed bags; the mechanical arm can be completely retracted for crossing the horizontal pull rod and walking the walking support; and the mechanical arm can be controlled to be in a recycling state so as to enable the truck to enter or exit the walking support of the loading system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics transportation, in particular to a bag placing manipulator and a bag placing method thereof. BACKGROUND

[0002] Since the current various types of car loaders on the market place bags in a high-falling bag mode, the bag placing height is as high as 1.6 meters, and thus the phenomena of unorganized stacking, broken bags, and excessive dust after falling cannot be avoided. SUMMARY

[0003] The present application aims at the above-mentioned problems, and provides a bag placing manipulator and a bag placing method thereof. The bag placing mode is innovatively optimized to a continuous low-lying placing mode by the bag placing manipulator, the falling difference is small, and the phenomena of unorganized stacking, broken bags, and excessive dust can be avoided, which is close to manual placing.

[0004] The technical scheme adopted by the present application is as follows:

[0005] A bag-dispensing robot includes a bag-dispensing frame, a telescopic robotic arm, a movable sprocket seat, a fixed sprocket seat, a telescopic device for the movable sprocket, a front chain, and a back chain. One end of the robotic arm is a fixed end, and the other end is a telescopic end. The fixed end is fixed to the bag-dispensing frame, and the telescopic end can extend and retract in a vertical direction. The bag-dispensing frame is provided with a first sprocket and an eleventh sprocket, which are arranged opposite each other on both sides of the width direction of the bag-dispensing frame. The telescopic end of the robotic arm is provided with an eighth sprocket corresponding to the first sprocket. The system includes a tenth sprocket corresponding to the eleventh sprocket and a ninth sprocket corresponding to the back chain. The ninth sprocket is vertically positioned above the tenth sprocket and horizontally positioned between the eighth and tenth sprockets. The horizontal spacing between the ninth and tenth sprockets matches the size of the material bag. One end of the movable sprocket telescopic device is connected to the bag-laying frame, and the other end is connected to the movable sprocket seat. The movable sprocket telescopic device can drive the movable sprocket seat to move vertically. A fixed component extends from the robotic arm towards the location of the movable sprocket seat. A fixed sprocket seat is provided, which matches and is positioned below the movable sprocket seat. The distance between the fixed sprocket seat and the bag-dispensing frame matches the length of the retracted robotic arm. A movable sprocket is mounted on the movable sprocket seat, and a fixed sprocket is mounted on the fixed sprocket seat. The front chain and the back chain are staggered. The front chain sequentially passes around the first sprocket, the eleventh sprocket, the tenth sprocket, the eighth sprocket, the movable sprocket, and the fixed sprocket, finally returning to the first sprocket to form the front chain link. The back chain sequentially passes around the first sprocket. The ninth sprocket, tenth sprocket, eighth sprocket, movable sprocket, and fixed sprocket are connected, and finally the first sprocket is returned to form the rear chain link. The robotic arm, front chain link, rear chain link, first sprocket, eighth sprocket, ninth sprocket, tenth sprocket, eleventh sprocket, movable sprocket, and fixed sprocket cooperate to form a bag-laying module. Pairs of bag-laying modules are arranged opposite each other at both ends of the length direction of the bag-laying frame. A support platform that can carry the bag is set between the two opposite bag-laying modules. One side of the support platform is connected to the front chain and the other side is connected to the back chain.

[0006] Furthermore, the robotic arm includes a primary robotic arm and a telescopic robotic arm. Several telescopic robotic arms can be retracted into the primary robotic arm under the action of a telescopic mechanism. The fixed end is located on the primary robotic arm, and the fixed sprocket seat is connected to the primary robotic arm.

[0007] Furthermore, the fixed end of the robotic arm is rotatably connected to the bag-dispensing frame, and a retractable retrieval device is provided between the bag-dispensing frame and the robotic arm. The retrieval device is located on one side of the robotic arm, with one end rotatably connected to the bag-dispensing frame and the other end rotatably connected to the middle of the first-stage robotic arm.

[0008] Furthermore, one of the movable sprockets and one of the fixed sprockets cooperate to form a storage sprocket group. The number of storage sprocket groups is equal to the number of telescopic robotic arms. Multiple storage sprocket groups are arranged side by side in the horizontal direction. The front chain and the back chain pass through the movable sprocket and the fixed sprocket of each storage sprocket group in sequence before reaching the first sprocket.

[0009] Furthermore, the fixed sprocket seat is provided with a misaligned sprocket assembly that can adjust the position of the front chain and the back chain in the horizontal direction. The misaligned sprocket assembly includes a seventh sprocket that matches the eighth sprocket in the vertical direction and a sixth sprocket that matches the outermost movable sprocket. After passing the eighth sprocket, the front chain and the back chain pass by the seventh sprocket and the sixth sprocket in sequence before reaching the movable sprocket.

[0010] By adopting the above technical solution and setting up staggered sprocket sets, interference between the chains is avoided.

[0011] Furthermore, the telescopic end of the robotic arm is connected to a bag discharge device. The bag discharge device has a baffle plate extending from the side near the ninth sprocket to restrict the bag, and a discharge area formed by a gap between the side near the tenth sprocket and the tenth sprocket.

[0012] Furthermore, the support platform consists of multiple support shafts arranged side by side along the length of the bag-laying machine frame, with the ends of adjacent support shafts connected by chains.

[0013] Thanks to the above technical solution, the support platform has a flexible structure that can pass through various sprockets driven by the front and back chains.

[0014] Furthermore, the robotic arm has multiple support platforms evenly distributed along its length.

[0015] Furthermore, the bag-laying frame is equipped with a rotating base, and a rotating drive device is connected to the rotating base. The rotating drive device can act on the rotating base and drive the rotating base to rotate.

[0016] Thanks to the above technical solution, the material bag can be positioned horizontally or vertically during discharge by rotating the bag-discharging frame.

[0017] A method for placing a bag using a bag-placing robotic arm includes the following steps:

[0018] The robotic arm extends in the following steps: The recovery device is in the retracted state, the robotic arm is vertically downward, and the telescopic end of the robotic arm extends fully or partially as needed. At the same time as the robotic arm extends, the movable sprocket telescopic device drives the movable sprocket seat to move towards the fixed sprocket seat, and always keeps the front chain and the back chain in a taut state.

[0019] Bag placement step: The bag is sent to the support platform. The front chain and the back chain move along their respective paths, driving the support platform from the fixed end of the robotic arm to the telescopic end of the robotic arm. Bag removal step: The support platform moves to the bag discharge device. One side of the bag is restricted by the baffle plate. The support platform moves along the path to the tenth sprocket and drives the bag to be unloaded from the side where the tenth sprocket is located. After the support platform and the bag are completely separated, it continues to move along the path to the eighth sprocket.

[0020] The robotic arm retraction process is as follows: the recovery device is in the retracted state, the robotic arm is vertically downward, the telescopic end of the robotic arm retracts to the fixed end, and at the same time the robotic arm retracts, the movable sprocket telescopic device drives the movable sprocket seat to move towards the bag placement frame, and always keeps the front chain and the back chain in a taut state.

[0021] Recovery steps: The telescopic end of the robotic arm is fully retracted, the recovery device extends, and the robotic arm rotates relative to the bag-dispensing frame;

[0022] Rotation steps: After the material bag is sent to the support platform, the rotary drive device drives the rotating base belt to rotate, so that the material bag completes the conversion between horizontal and vertical packaging; after the material bag is discharged, the rotary drive device drives the rotating base to reset and continue to receive the next material bag.

[0023] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0024] 1. This invention can effectively reduce the height difference of the material package when it is placed.

[0025] 2. This invention avoids interference between chains by setting up a staggered sprocket group.

[0026] 3. The present invention ensures that the front chain and the back chain are always taut when the robotic arm extends and retracts by cooperating with the fixed sprocket seat and the movable sprocket seat.

[0027] 4. The support platform of this invention has a flexible structure and can pass through each sprocket under the drive of the front chain and the back chain.

[0028] 5. The extension length of the robotic arm of the present invention can be controlled according to the layer height of the package.

[0029] 6. This invention can control the robotic arm to fully retract, for use when crossing horizontal tie rods and walking supports.

[0030] 7. The present invention can control the robotic arm to be in a retracted state so that the truck can enter or exit the traveling support of the loading system. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the bag-laying robot of the present invention;

[0032] Figure 2 This is a schematic diagram of the back chain structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the extended end of the robotic arm of the present invention.

[0034] Figure 4 This is a schematic diagram of the structure of the robotic arm of the present invention with its telescopic end fully retracted;

[0035] Figure 5 This is a schematic diagram of the bag-laying robot of the present invention in the retrieval state;

[0036] Figure 6 This is a three-dimensional view of the bag-laying robot of the present invention.

[0037] The markings in the diagram are: 1-First sprocket, 2-Second sprocket, 3-Third sprocket, 4-Fourth sprocket, 5-Fifth sprocket, 6-Sixth sprocket, 7-Seventh sprocket, 8-Eighth sprocket, 9-Ninth sprocket, 10-Tenth sprocket, 11-Eleventh sprocket, 12-Robotic arm, 1201-Level 1 robotic arm, 1202-Level 2 robotic arm, 1203-Level 3 robotic arm, 13-Moving sprocket seat, 14-Fixed sprocket seat, 15-Moving sprocket telescopic device, 16-Front chain, 17-Back chain, 18-Recovery device, 19-Material bag discharge device, 20-Support platform, 21-Rotating base, 22-Rotating drive device, 23-Material bag, 24-Telescopic mechanism, 25-Guide rail. Detailed Implementation

[0038] The present invention will now be described in detail with reference to the accompanying drawings.

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0040] Example 1

[0041] A type of bag-loading robotic arm, such as Figures 1-6As shown, the device includes a bag-dispensing frame, a telescopic robotic arm 12, a movable sprocket seat 13, a fixed sprocket seat 14, a movable sprocket telescopic device 15, a front chain 16, and a back chain 17. One end of the robotic arm 12 is fixed, and the other end is telescopic. The fixed end is fixed to the bag-dispensing frame, and the telescopic end can extend and retract vertically. The bag-dispensing frame is equipped with a first sprocket 1 and an eleventh sprocket 11, which are positioned opposite each other on both sides of the width of the bag-dispensing frame. The telescopic end of the robotic arm 12 is equipped with an eighth sprocket 8 corresponding to the first sprocket 1, a tenth sprocket 10 corresponding to the eleventh sprocket 11, and a sprocket 10 corresponding to the back chain 17. The ninth sprocket 9 is vertically positioned above the tenth sprocket 10 and horizontally positioned between the eighth sprocket 8 and the tenth sprocket 10. The horizontal distance between the ninth sprocket 9 and the tenth sprocket 10 matches the size of the material bag 23. One end of the movable sprocket telescopic device 15 is connected to the bag-laying frame, and the other end is connected to the movable sprocket seat 13. The movable sprocket telescopic device 15 can drive the movable sprocket seat 13 to move vertically. A guide rail 25 is also provided in the vertical direction of the movable sprocket seat 13. The movable sprocket seat 13 is restricted by the guide rail 25 and moves along the guide rail 25 to ensure the stability of the movable sprocket seat 13 during movement. A fixed sprocket seat 14 extends from the robotic arm 12 toward the position of the movable sprocket seat 13. The fixed sprocket seat 14 matches the movable sprocket seat 13 and is located below the movable sprocket seat 13. The distance between the fixed sprocket seat 14 and the bag-dispensing frame matches the length of the robotic arm 12 after retraction. A movable sprocket is provided on the movable sprocket seat 13, and a fixed sprocket is provided on the fixed sprocket seat 14. The front chain 16 and the back chain 17 are arranged alternately. The front chain 16 passes sequentially around the first sprocket 1, the eleventh sprocket 11, the tenth sprocket 10, the eighth sprocket 8, the movable sprocket, and the fixed sprocket, and finally returns to the first sprocket 1 to form the front chain link. The back chain 17 sequentially passes around the first sprocket 1, the ninth sprocket 9, the tenth sprocket 10, the eighth sprocket 8, the movable sprocket, and the fixed sprocket, and finally returns to the first sprocket 1 to form the rear chain link; the robotic arm 12, the front chain link, the rear chain link, the first sprocket 1, the eighth sprocket 8, the ninth sprocket 9, the tenth sprocket 10, the eleventh sprocket 11, the movable sprocket, and the fixed sprocket cooperate to form a bag-laying module. Pairs of bag-laying modules are arranged opposite each other at both ends of the length direction of the bag-laying frame. A support platform 20 capable of carrying the material bag 23 is provided between the two opposite bag-laying modules. One side of the support platform 20 is connected to the front chain 16, and the other side is connected to the back chain 17.

[0042] The robotic arm includes a primary robotic arm 1201 and a telescopic robotic arm. The telescopic robotic arm includes a secondary robotic arm 1202 and a tertiary robotic arm 1203. The tertiary robotic arm 1203 and the secondary robotic arm 1202 can be retracted to the primary robotic arm 1201 in sequence under the action of the telescopic mechanism 24. The fixed end is located on the primary robotic arm 1201, and the fixed sprocket seat 14 is connected to the primary robotic arm 1201.

[0043] The fixed end of the robotic arm 12 is rotatably connected to the bag-dispensing frame. A retractable retrieval device 18 is provided between the bag-dispensing frame and the robotic arm 12. The retrieval device 18 is located on one side of the robotic arm. One end of the retrieval device 18 is rotatably connected to the bag-dispensing frame, and the other end is rotatably connected to the middle of the primary robotic arm 1201.

[0044] One movable sprocket and one fixed sprocket cooperate to form a storage sprocket assembly. The number of storage sprocket assemblies is equal to the number of telescopic robotic arms. That is, in this embodiment, there are two storage sprocket assemblies, which are arranged side by side in a horizontal direction. The storage sprocket assembly closer to the robotic arm 12 includes a third sprocket 3 located on the movable sprocket seat 13 and a second sprocket 2 located on the fixed sprocket seat 14. The storage sprocket assembly farther from the robotic arm 12 includes a fifth sprocket 5 located on the movable sprocket seat 13 and a fourth sprocket 5 located on the fixed sprocket seat 14. Wheel 4, the fixed sprocket seat 14 is provided with a misaligned sprocket group that can adjust the position of the front chain 16 and the back chain 17 in the horizontal direction. The misaligned sprocket group includes a seventh sprocket 7 that matches the eighth sprocket 8 in the vertical direction and a sixth sprocket 6 that matches the fifth sprocket 5. By setting the misaligned sprocket group, interference between the chains is avoided. The front chain 16 and the back chain 17 are both located from the eighth sprocket 8, passing sequentially around the seventh sprocket 7, the sixth sprocket 6, the fifth sprocket 5, the fourth sprocket 4, the third sprocket 3, and the second sprocket 2 before reaching the first sprocket 1.

[0045] The telescopic end of the robotic arm 12 is connected to a material bag 23 discharge device 19. The material bag 23 discharge device 19 extends a baffle plate that can restrict the material bag 23 on the side near the ninth sprocket 9, and is spaced apart from the tenth sprocket 10 on the side near the tenth sprocket 10 to form a discharge area.

[0046] The support platform 20 consists of multiple support shafts arranged side by side along the length of the bag-laying frame, with the ends of adjacent support shafts connected by chains. Specifically, this makes the support platform 20 a flexible structure, allowing it to pass through various sprockets driven by the front chain 16 and the back chain 17.

[0047] The robotic arm 12 has three support platforms 20 evenly distributed along its length.

[0048] The bag-dispensing frame is equipped with a rotating base 21, and a rotating drive device 22 is connected to the rotating base 21. The rotating drive device 22 can act on the rotating base 21 and drive the rotating base 21 to rotate. Specifically, by rotating the bag-dispensing frame, the material bag 23 can be in a horizontal or vertical state when dispensing.

[0049] The robotic arm 12 extends and retracts via a telescopic mechanism 24, which can be a hydraulic cylinder or an electric cylinder.

[0050] Example 2

[0051] A method for placing bags using a robotic arm, such as... Figures 1-6 As shown, it includes the following steps:

[0052] The extension steps of the robotic arm 12 are as follows: the recovery device 18 is in the retracted state, the robotic arm 12 is vertically downward, and the telescopic end of the robotic arm 12 is fully or partially extended as needed. At the same time as the robotic arm 12 extends, the movable sprocket telescopic device 15 drives the movable sprocket seat 13 to move towards the fixed sprocket seat 14, and always keeps the front chain 16 and the back chain 17 in a taut state.

[0053] Packing steps: The material bag 23 is sent to the support platform 20. The front chain 16 and the back chain 17 move along their respective paths, driving the support platform 20 from the fixed end of the robotic arm 12 to the telescopic end of the robotic arm 12.

[0054] Unloading steps: The support platform 20 moves to the unloading device 19 of the material bag 23. One side of the material bag 23 is restricted by the baffle plate. The support platform 20 moves along the path to the tenth sprocket 10 and drives the material bag 23 to be unloaded from the side where the tenth sprocket 10 is located. After the support platform 20 and the material bag 23 are completely separated, it continues to move along the path to the eighth sprocket 8.

[0055] The retraction steps of the robotic arm 12 are as follows: the recovery device 18 is in the retracted state, the robotic arm 12 is vertically downward, the telescopic end of the robotic arm 12 retracts to the fixed end, and at the same time the robotic arm 12 retracts, the movable sprocket telescopic device 15 drives the movable sprocket seat 13 to move towards the bag placement frame, and always keeps the front chain 16 and the back chain 17 in a taut state.

[0056] Recovery steps: The telescopic end of the robotic arm 12 is fully retracted, the recovery device 18 extends, and the robotic arm 12 rotates relative to the bag-dispensing frame;

[0057] Rotation steps: After the material bag 23 is sent to the support platform 20, the rotation drive device 22 drives the rotating base 21 to rotate, so that the material bag 23 completes the conversion between horizontal and vertical packaging; after the material bag 23 is discharged, the rotation drive device 22 drives the rotating base 21 to reset and continue to receive the next material bag 23.

[0058] Before the bag-dispensing robot enters or exits the loading system's traveling support, it must be in a retracted state. Driven by the retraction device 18, the robot rotates to... Figure 5 The location shown is to facilitate the entry or exit of trucks from the traveling support.

[0059] When a truck has a crossbeam, after placing the material bag 23 in one compartment, it needs to move to the next compartment. The bag-placing robot arm must be fully retracted, that is, the robot arm 12 is in its shortest state, so as to make way for the crossbeam.

[0060] The robotic arm 12 can also be partially extended according to the height of the bag placement layer to meet the needs of different bag placement layer heights.

[0061] The bag-laying robot uses a continuous low-position bag-laying method. When the bag 23 is placed, the height difference between it and the truck floor or the lower bag 23 is only 200-300mm, which is basically the same as the height of manual bag-laying. This can solve problems such as uneven stacking, broken bags, and excessive dust. Its application scope can be expanded to food, feed, medical, cement, chemical and other industries.

[0062] This article uses specific embodiments to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0063] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A bag-placement robot, comprising a bag-placement frame, characterized in that, It also includes a retractable robotic arm, a movable sprocket seat, a fixed sprocket seat, a movable sprocket telescopic device, a front chain, and a back chain. One end of the robotic arm is a fixed end, and the other end is a telescopic end. The fixed end is fixed to the bag-laying frame, and the telescopic end can extend and retract in the vertical direction. The robotic arm is equipped with a first sprocket and an eleventh sprocket, which are arranged opposite each other on both sides of the width direction of the robotic arm. The telescopic end of the robotic arm is equipped with an eighth sprocket corresponding to the first sprocket, a tenth sprocket corresponding to the eleventh sprocket, and a ninth sprocket corresponding to the back chain. The ninth sprocket is vertically positioned above the tenth sprocket and horizontally positioned between the eighth and tenth sprockets. The horizontal spacing between the ninth and tenth sprockets matches the size of the material bag; one end of the movable sprocket telescopic device is connected to the bag-feeding frame, and the other end is connected to the movable sprocket seat. The movable sprocket telescopic device can drive the movable sprocket seat to move vertically. A fixed sprocket seat extends from the robotic arm to the position of the movable sprocket seat. The fixed sprocket seat matches the movable sprocket seat and is located below the movable sprocket seat. The spacing between the fixed sprocket seat and the bag-feeding frame matches the length of the robotic arm after retraction. A movable sprocket is provided on the movable sprocket seat, and a fixed sprocket is provided on the fixed sprocket seat. The front chain and the back chain are staggered. The front chain sequentially passes around the first sprocket, The eleventh sprocket, tenth sprocket, eighth sprocket, movable sprocket, and fixed sprocket, finally returning to the first sprocket to form the front chain link; the back chain sequentially passes around the first sprocket, ninth sprocket, tenth sprocket, eighth sprocket, movable sprocket, and fixed sprocket, finally returning to the first sprocket to form the rear chain link; the robotic arm, front chain link, rear chain link, first sprocket, eighth sprocket, ninth sprocket, tenth sprocket, eleventh sprocket, movable sprocket, and fixed sprocket cooperate to form a bag-laying module. Pairs of bag-laying modules are positioned opposite each other at both ends of the bag-laying frame's length. A support platform capable of carrying bags is provided between the two opposing bag-laying modules. One side of the support platform is connected to the front chain, and the other side is connected to the back chain. The robotic arm comprises a primary robotic arm and a telescopic robotic arm. Several telescopic robotic arms can be retracted into the primary robotic arm under the action of a telescopic mechanism. The fixed end is located on the primary robotic arm, and the fixed sprocket seat is connected to the primary robotic arm. The fixed end of the robotic arm is rotatably connected to the bag-dispensing frame. A telescopic retrieval device is provided between the bag-dispensing frame and the robotic arm. The retrieval device is located on one side of the robotic arm. One end of the retrieval device is rotatably connected to the bag-dispensing frame, and the other end is rotatably connected to the middle of the primary robotic arm. A rotating base is provided on the bag-dispensing frame, and a rotating drive device is connected to the rotating base. The rotating drive device can act on the rotating base and drive the rotating base to rotate.

2. The package-laying robot as described in claim 1, characterized in that, A movable sprocket and a fixed sprocket cooperate to form a storage sprocket group. The number of storage sprocket groups is equal to the number of telescopic robotic arms. Multiple storage sprocket groups are arranged side by side in the horizontal direction. The front chain and the back chain pass through the movable sprocket and the fixed sprocket of each storage sprocket group in sequence before reaching the first sprocket.

3. The package-laying robot as described in claim 2, characterized in that, The fixed sprocket seat is provided with a misaligned sprocket group that can adjust the position of the front chain and the back chain in the horizontal direction. The misaligned sprocket group includes a seventh sprocket that matches the eighth sprocket in the vertical direction and a sixth sprocket that matches the outermost movable sprocket. After the front chain and the back chain pass through the eighth sprocket, they pass through the seventh sprocket and the sixth sprocket in sequence before reaching the movable sprocket.

4. The package-laying robot as described in claim 1, characterized in that, The telescopic end of the robotic arm is connected to a bag discharge device. The bag discharge device has a baffle plate extending from the side near the ninth sprocket to restrict the bag, and a discharge area formed by a gap between the side near the tenth sprocket and the tenth sprocket.

5. The package-laying robot as described in claim 1, characterized in that, The support platform consists of multiple support shafts arranged side by side along the length of the bag-laying frame, with the ends of adjacent support shafts connected by chains.

6. The package-laying robot as described in claim 1, characterized in that, The robotic arm has multiple support platforms evenly distributed along its length.

7. A method for placing a package using a package-placing robot, applied to the package-placing robot described in claim 4, characterized in that, Includes the following steps: The robotic arm extends in the following steps: The recovery device is in the retracted state, the robotic arm is vertically downward, and the telescopic end of the robotic arm extends fully or partially as needed. At the same time as the robotic arm extends, the movable sprocket telescopic device drives the movable sprocket seat to move towards the fixed sprocket seat, and always keeps the front chain and the back chain in a taut state. Bag placement step: The bag is sent to the support platform, and the front chain and the back chain move along their respective paths, driving the support platform from the fixed end of the robotic arm to the telescopic end of the robotic arm; Unloading steps: The support platform moves to the unloading device of the material bag, one side of the material bag is restricted by the baffle plate, the support platform moves along the path to the tenth sprocket, and drives the material bag to be unloaded from the side where the tenth sprocket is located. After the support platform and the material bag are completely separated, it continues to move along the path to the eighth sprocket. The robotic arm retraction process is as follows: the recovery device is in the retracted state, the robotic arm is vertically downward, the telescopic end of the robotic arm retracts to the fixed end, and at the same time the robotic arm retracts, the movable sprocket telescopic device drives the movable sprocket seat to move towards the bag placement frame, and always keeps the front chain and the back chain in a taut state. Recovery steps: The telescopic end of the robotic arm is fully retracted, the recovery device extends, and the robotic arm rotates relative to the bag-dispensing frame; Rotation steps: After the material bag is sent to the support platform, the rotary drive device drives the rotating base belt to rotate, so that the material bag completes the conversion between horizontal and vertical packaging; after the material bag is discharged, the rotary drive device drives the rotating base to reset and continue to receive the next material bag.

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