A package placing method of a package placing device

Abstract

The present invention discloses a bag placing method for a bag placing device, and relates to the field of logistics and transportation technology. The bag placing method for the bag placing device provided by the present invention ensures that the front chain and the back chain are always in a tensioned state when the mechanical arm is extended and retracted by cooperating with the fixed sprocket seat and the movable sprocket seat; the bag placing method of the bag placing robot is continuous low-position bag placing, and when the material bag is placed, the height difference between the material bag and the placed position can be only 200-300mm by retracting the mechanical arm, which is basically consistent with the height of manual bag placing, and can solve the problems of uneven stacking, broken bags, excessive dust, etc., and the application scope can be expanded to food, feed, medical, cement, chemical and other industries.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics and transportation, and in particular to a package placing method of a package placing device. Background Art

[0002] Since all types of loading machine systems currently on the market place material bags at high altitudes, with the maximum bag placement height reaching 1.6 meters, it is impossible to avoid unfavorable phenomena such as uneven stacking, broken bags, and excessive dust after bag placement. Summary of the invention

[0003] The purpose of the present invention is: to address the above-mentioned problems, the present invention provides a bag placing method for a bag placing device, by cooperating with the fixed sprocket seat and the movable sprocket seat to ensure that the front chain and the back chain are always in a tensioned state when the robotic arm is extended and retracted; the bag placing method of the bag placing robot is continuous low-position bag placing, and when the material bag is placed, the height difference between the material bag and the placed place can be made to be only 200-300mm by retracting the robotic arm, which is basically the same as the height of manual bag placing, and can solve the problems of uneven stacking, broken bags, excessive dust, etc., and the scope of application can be expanded to food, feed, medical, cement, chemical and other industries.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A package placing method of a package placing device comprises the following steps:

[0006] Robot arm extension step: The recovery device is retracted to rotate the robot arm relative to the bag placing frame until it is vertically downward. The telescopic end of the robot arm is fully or partially extended according to the height of the bag placing point. When the robot arm is extended, the movable sprocket telescopic device drives the movable sprocket seat to move toward the fixed sprocket seat, and always keeps the front chain and the back chain in a tensioned state;

[0007] Material discharge step: the support platform moves to the bag drop port of the feed part driven by the front chain and the back chain, the material bag is transported from the conveyor belt to the bag drop robot, the material bag enters the bag drop robot through the feed part, and then falls on the support platform through the bag drop port, the front chain and the back chain move along their paths respectively, driving the support platform to move from the fixed end of the robot arm to the telescopic end of the robot arm, the support platform moves to the material bag discharge device, one side of the material bag is restricted by the baffle plate, the support platform moves along the path to the discharge area of ​​the material bag discharge device, so that the material bag is discharged from the discharge area, and the support platform returns to the bag drop port of the feed part after being completely separated from the material bag;

[0008] Robot arm retraction steps: The recovery device is in the retracted state, the robot arm is vertically downward, and the telescopic end of the robot arm is fully or partially retracted toward the fixed end according to the height of the bag placement point or the height of the obstacle to be crossed. While the robot arm is retracting, the movable sprocket telescopic device drives the movable sprocket seat to move toward the bag placement rack and always keeps the front chain and the back chain in a tensioned state.

[0009] Furthermore, it also includes

[0010] The transport device enters the steps: the telescopic end of the robot arm is fully retracted, the recovery device is extended, and the robot arm is driven to rotate relative to the bag placing rack until the robot arm is retracted on the top of the walking bracket, and the transport device moves into the walking bracket so that the loading area of ​​the transport device corresponds to the bag placing rack.

[0011] Furthermore, it also includes

[0012] The transport device exits the walking bracket and cooperates with the bag placing robot to complete the stacking of the material bags. The telescopic end of the robot arm is fully retracted, and the recovery device extends to drive the robot arm to rotate relative to the bag placing frame until the robot arm is retracted to the top of the walking bracket, and the transport device exits the walking bracket.

[0013] Furthermore, in the material discharge step, after the material bag is delivered to the supporting platform, the rotary drive device drives the rotary base located on the bag discharge frame, and the rotary base drives the mechanical arm to rotate, so that the material bag located on the supporting platform completes the conversion between horizontal bag and vertical bag; after the material bag is out of the bag, the rotary drive device drives the rotary base to reset and continue to receive the next material bag.

[0014] Furthermore, a plurality of the bag placing robots are arranged side by side on a walking support, the conveyor belt includes a branch transport channel matched with each bag placing robot, and a material dividing device which can close one side of the branch transport channel is provided between two adjacent branch transport channels; in the material placing step, the material dividing device on the conveyor belt controls the material dividing device according to the bag placing demand, so that one and only one branch transport channel is connected to the corresponding bag placing robot.

[0015] Furthermore, the bag placing robot comprises a bag placing rack, the bag placing rack is provided with a feeding part matching with the material bag, the bag placing rack is connected to the top of the walking bracket, one end of the conveyor belt is communicated with the feeding port of the feeding part, the conveyor belt can transport the material bag to the bag placing robot, the bag placing robot can act on the transportation device entering the walking bracket, the bag placing robot comprises bag placing modules arranged in pairs at both ends of the bag placing rack in the length direction, and a supporting platform which can be circulated along the robot arm through the bag placing mechanism, the bag placing mechanism comprises bag placing modules arranged in pairs at both ends of the bag placing rack in the length direction, and the two ends of the support platform in the length direction are connected to the bag placing module. The sides are respectively connected to the two bag placing modules; the bag placing module includes a mechanical arm, a first sprocket, an eighth sprocket, a ninth sprocket, a tenth sprocket, an eleventh sprocket, a movable sprocket, a fixed sprocket, a front chain and a back chain, the front chain bypasses the first sprocket, the eleventh sprocket, the tenth sprocket, the eighth sprocket, the movable sprocket, the fixed sprocket in sequence, and finally returns to the first sprocket to form a front chain ring, the back chain bypasses the first sprocket, the ninth sprocket, the tenth sprocket, the eighth sprocket, the movable sprocket, the fixed sprocket in sequence, and finally returns to the first sprocket to form a rear chain ring, and the corresponding front chain and back chain on the same sprocket are staggered; the supporting platform The two sides in the width direction are respectively connected with the corresponding front chain and back chain; the mechanical arm is connected with the bag placing frame, one end of the mechanical arm matching with the bag placing frame is a fixed end, and the other end is a retractable telescopic end, the two sides in the width direction are respectively provided with a first sprocket and an eleventh sprocket, and the telescopic end of the mechanical arm is provided with an eighth sprocket, a tenth sprocket and a ninth sprocket, the eighth sprocket matches with the first sprocket in the vertical direction, the tenth sprocket matches with the eleventh sprocket in the vertical direction, the ninth sprocket is arranged between the eighth sprocket and the tenth sprocket, and the ninth sprocket is arranged above the tenth sprocket; the ninth sprocket and the tenth sprocket are respectively provided with a first sprocket and an eleventh sprocket. A gap matching the size of the material bag is formed between them; a movable sprocket telescopic device that can drive the movable sprocket seat to move in the vertical direction is provided between the bag placing frame and the movable sprocket seat, and a fixed sprocket seat matching the lower bottom surface of the movable sprocket seat is provided on the mechanical arm; the spacing between the fixed sprocket seat and the bag placing frame matches the length of the mechanical arm after retraction, the movable sprocket is arranged on the movable sprocket seat, and the fixed sprocket is arranged on the fixed sprocket seat; a material bag discharging device is connected to the telescopic end of the mechanical arm, and a material baffle plate that can limit the material bag is extended from the side of the material bag discharging device close to the ninth sprocket, and a discharging area is formed by a side close to the tenth sprocket and spaced apart from the tenth sprocket.

[0016] Furthermore, a rotation drive device is provided on the traveling bracket, and a rotating base matching the rotation drive device is provided on the bag placing rack. The rotation drive device can act on the rotating base and drive the rotating base to rotate, so that the bag placing rack and the traveling bracket can be rotatably connected.

[0017] Furthermore, the bag placing robot includes a primary robot arm and a telescopic robot arm that can be recovered to the primary robot arm under the action of a telescopic mechanism, the fixed end is arranged on the primary robot arm, and the fixed sprocket seat is connected to the primary robot arm; the fixed end of the robot arm is rotatably connected to the bag placing frame, and a telescopic recovery device is provided between the bag placing frame and the robot arm, and the recovery device is arranged on one side of the bag placing robot, and one end of the recovery device is rotatably connected to the bag placing frame, and the other end is rotatably connected to the middle part of the primary robot arm.

[0018] Furthermore, the movable sprocket on the movable sprocket seat and the fixed sprocket on the fixed sprocket seat can cooperate with each other to form a storage sprocket group, the number of the storage sprocket groups is equal to the number of telescopic mechanical arms, and multiple storage sprocket groups cooperate with each other to enable the front chain and the back chain to be stored in a broken line shape between the movable sprocket seat and the fixed sprocket seat; the fixed sprocket seat is provided with a seventh sprocket matching the eighth sprocket, and a sixth sprocket matching the outermost movable sprocket; after the front chain and the back chain pass through the eighth sprocket, they are successively wrapped around the seventh sprocket and the sixth sprocket, and then pass around the movable sprocket and the fixed sprocket of each storage sprocket group to the first sprocket.

[0019] Furthermore, a plurality of support platforms are evenly distributed along the length direction of the robotic arm; a connecting chain connecting the front chain and the back chain is provided on the support platform in the width direction, and a plurality of support shafts arranged side by side are provided between the two connecting chains.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] 1. The present invention can be adapted to transport devices of various heights so that they can smoothly enter the walking support to place the packages.

[0022] 2. The bag placing robot of the present invention can cross obstacles in the transport device, such as the horizontal beam in the truck, by telescoping when adjusting the bag placing area.

[0023] 3. The present invention can effectively reduce the height difference when placing the material bag.

[0024] 4. The present invention can effectively avoid interference between chains.

[0025] 5. The present invention ensures that the front chain and the back chain are always in a tensioned state when the mechanical arm is extended or retracted by cooperating with the fixed sprocket seat and the movable sprocket seat.

[0026] 6. The supporting platform of the present invention is a flexible structure and can pass through each sprocket driven by the front chain and the back chain. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is a structural schematic diagram of the bag placing device of the present invention;

[0028] Figure 2 It is a front view of the transport device of the present invention being moved into the traveling support;

[0029] Figure 3 is a side view of the transport device of the present invention moving into the traveling support;

[0030] Figure 4 is a front view of the mechanical arm of the present invention fully extended;

[0031] Figure 5 is a side view of the mechanical arm of the present invention fully extended;

[0032] Figure 6 This is a front view of the mechanical arm of the present invention rotating to switch between horizontal and vertical packaging;

[0033] Figure 7 It is a side view of the mechanical arm of the present invention rotating to switch between horizontal and vertical packaging;

[0034] Figure 8 is a front view of the mechanical arm of the present invention when it is fully retracted;

[0035] Fig. 9 is a front view of the mechanical arm of the present invention crossing an obstacle in the transport device;

[0036] Fig.10 It is a front view of the transport device of the present invention exiting the traveling support;

[0037] Fig.11 It is a structural schematic diagram of the bag placing robot of the present invention.

[0038] Markings in the figure: 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-mechanical arm, 1201-first-level mechanical arm, 1202-second-level mechanical arm, 1203-third-level mechanical arm, 13-movable sprocket seat, 14-fixed sprocket seat, 15-movable sprocket telescopic device, 16-front chain, 17-back chain, 18-recovery device, 19-material bag discharging device, 20-support platform, 21-rotating base, 22-rotating drive device, 23-material bag, 24-telescopic mechanism 26-travel bracket, 27-conveyor belt, 28-material dividing device. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] Example 1

[0042] A package placing method of a package placing device, such as Figure 1-11 As shown, the following steps are included:

[0043] The mechanical arm 12 extending step: the recovery device 18 is retracted, so that the mechanical arm 12 rotates relative to the bag placing frame until it is vertically downward, and the telescopic end of the mechanical arm 12 is fully or partially extended according to the height of the bag placing point. When the mechanical arm 12 is extended, the movable sprocket telescopic device 15 drives the movable sprocket seat 13 to move toward the fixed sprocket seat 14, and always keeps the front chain 16 and the back chain 17 in a tensioned state;

[0044] Material discharge step: the support platform 20 moves to the bag drop port of the feed part driven by the front chain 16 and the back chain 17, and the material bag 23 is conveyed from the conveyor belt 27 to the bag drop robot. The material bag 23 enters the bag drop robot through the feed part, and then falls on the support platform 20 through the bag drop port. The front chain 16 and the back chain 17 move along their paths respectively, driving the support platform 20 to move from the fixed end of the robot arm 12 to the telescopic end of the robot arm 12, and the support platform 20 moves to the material bag 23 discharge device 19. One side of the material bag 23 is restricted by the baffle plate. The support platform 20 moves along the path to the discharge area of ​​the material bag 23 discharge device 19, so that the material bag 23 is discharged from the discharge area. After the support platform 20 is completely separated from the material bag 23, it returns to the bag drop port of the feed part.

[0045] Retraction steps of the robot arm 12: the recovery device 18 is in a retracted state, the robot arm 12 is vertically downward, and the telescopic end of the robot arm 12 is completely or partially retracted toward the fixed end according to the height of the bag placing point or the height of the obstacle to be crossed. While the robot arm 12 is retracted, the movable sprocket telescopic device 15 drives the movable sprocket seat 13 to move toward the bag placing rack, and always keeps the front chain 16 and the back chain 17 in a tensioned state.

[0046] Specifically, the fixed sprocket seat 14 cooperates with the movable sprocket seat 13 to ensure that the front chain 16 and the back chain 17 are always in a tensioned state when the robotic arm 12 is extended or retracted; the bag placing robot adopts continuous low-position bag placing. When the material bag 23 is placed, the height difference between the material bag 23 and the placed position can be only 200-300mm by retracting the robotic arm 12, which is basically the same as the height of manual bag placing. It can solve the problems of uneven stacking, broken bags, excessive dust, etc., and its application range can be expanded to food, feed, medical, cement, chemical and other industries.

[0047] Also includes

[0048] The transport device enters the steps: the telescopic end of the robot arm 12 is fully retracted, and the recovery device 18 is extended, driving the robot arm 12 to rotate relative to the bag placing frame until the robot arm 12 is retracted on the top of the walking bracket 26, and the transport device moves into the walking bracket 26, so that the loading area of ​​the transport device corresponds to the bag placing frame.

[0049] Also includes

[0050] The transport device exits the walking bracket 26 and cooperates with the bag placing robot to complete the stacking of the material bags 23. The telescopic end of the robot arm 12 is completely retracted, and the recovery device 18 is extended to drive the robot arm 12 to rotate relative to the bag placing frame until the robot arm 12 is retracted at the top of the walking bracket 26, and the transport device exits the walking bracket 26.

[0051] Specifically, after the mechanical arm 12 is fully retracted, the recovery device 18 can control the mechanical arm 12 to be in a recovered state so that the transport device enters or exits the traveling frame 26 of the loading system. In this embodiment, the transport device is a truck, and some trucks are provided with a tie rod in the loading area, which can control the mechanical arm 12 to be fully retracted for crossing the tie rod and the traveling frame 26 when traveling.

[0052] In the material discharge step, after the material bag 23 is delivered to the supporting platform 20, the rotating drive device 22 drives the rotating base 21 located on the bag discharge frame, and the rotating base 21 drives the mechanical arm 12 to rotate, so that the material bag 23 located on the supporting platform 20 completes the conversion between horizontal bag and vertical bag; after the material bag 23 is out of the bag, the rotating drive device 22 drives the rotating base 21 to reset and continue to receive the next material bag 23.

[0053] The two bag placing robots are arranged side by side on the walking bracket 26, and the conveyor belt 27 includes a branch transport channel matched with each bag placing robot. A dividing device 28 that can close one side of the branch transport channel is provided between the two branch transport channels; in the material placing step, the dividing device 28 on the conveyor belt 27 is controlled according to the bag placing demand, so that one and only one branch transport channel is connected to the corresponding bag placing robot.

[0054] Specifically, it is possible to place packages at two workstations simultaneously, thus improving loading efficiency.

[0055] The bag placing robot comprises a bag placing rack, on which a feeding part matching with the material bag 23 is provided, the bag placing rack is connected to the top of the walking bracket 26, one end of the conveyor belt 27 is communicated with the feeding port of the feeding part, the conveyor belt 27 can transport the material bag 23 to the bag placing robot, the bag placing robot can act on the transport device entering the walking bracket 26, the bag placing robot comprises bag placing modules arranged in pairs at both ends of the bag placing rack in the length direction, and a support platform 20 which can be circulated and moved along the robot arm 12 by the bag placing mechanism, the bag placing mechanism comprises bag placing modules arranged in pairs at both ends of the bag placing rack in the length direction, and the two sides of the length direction of the support platform 20 are respectively connected with the two bag placing modules; the bag placing modules The block includes a mechanical arm 12, a first sprocket 1, an eighth sprocket 8, a ninth sprocket 9, a tenth sprocket 10, an eleventh sprocket 11, a movable sprocket, a fixed sprocket, a front chain 16 and a back chain 17. The front chain 16 sequentially bypasses 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 a front chain ring. The back chain 17 sequentially bypasses 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 a rear chain ring. The corresponding front chains 16 and back chains 17 on the same sprocket are staggered; the two sides of the support platform 20 in the width direction are respectively connected to the opposite The corresponding front chain 16 and back chain 17 are connected; the mechanical arm 12 is connected to the bag placing rack, one end of the mechanical arm 12 matching the bag placing rack is a fixed end, and the other end is a retractable retractable end, and the first sprocket 1 and the eleventh sprocket 11 are respectively arranged on both sides in the width direction, and the eighth sprocket 8, the tenth sprocket 10 and the ninth sprocket 9 are arranged at the retractable end of the mechanical arm 12, the eighth sprocket 8 matches the first sprocket 1 in the vertical direction, the tenth sprocket 10 matches the eleventh sprocket 11 in the vertical direction, the ninth sprocket 9 is arranged between the eighth sprocket 8 and the tenth sprocket 10, and the ninth sprocket 9 is arranged above the tenth sprocket 10; a gap with the bag is formed between the ninth sprocket 9 and the tenth sprocket 10 23 matches the size; a movable sprocket telescopic device 15 is provided between the bag placing frame and the movable sprocket seat 13, which can drive the movable sprocket seat 13 to move in the vertical direction, and a fixed sprocket seat 14 matching the lower bottom surface of the movable sprocket seat 13 is provided on the mechanical arm 12; the distance between the fixed sprocket seat 14 and the bag placing frame matches the length of the mechanical arm 12 after retraction, the movable sprocket is arranged on the movable sprocket seat 13, and the fixed sprocket is arranged on the fixed sprocket seat 14; the telescopic end of the mechanical arm 12 is connected with a material bag 23 discharging device 19, and the material bag 23 discharging device 19 is extended with a baffle plate that can limit the material bag 23 on the side close to the ninth sprocket 9, and the side close to the tenth sprocket 10 is spaced apart from the tenth sprocket 10 to form a discharging area.

[0056] The traveling bracket 26 is provided with a rotation driving device 22, and the bag placing frame is provided with a rotating base 21 matching the rotation driving device 22. The rotation driving device 22 can act on the rotating base 21 and drive the rotating base 21 to rotate, so that the bag placing frame and the traveling bracket 26 are rotatably connected.

[0057] The bag placing robot comprises a primary robot arm 1201 and a telescopic robot arm that can be recovered from the primary robot arm 1201 under the action of a telescopic mechanism 24. The fixed end is provided at the primary robot arm 1201, and the fixed sprocket seat 14 is connected to the primary robot arm 1201. The fixed end of the robot arm 12 is rotatably connected to the bag placing rack. A telescopic recovery device 18 is provided between the bag placing rack and the robot arm 12. The recovery device 18 is provided at one side of the bag placing robot. One end of the recovery device 18 is rotatably connected to the bag placing rack, and the other end is rotatably connected to the middle of the primary robot arm 1201. The telescopic robot arm comprises a secondary robot arm 1202 and a tertiary robot arm 1203. The tertiary robot arm 1203 and the secondary robot arm 1202 can be recovered from the primary robot arm 1201 in sequence under the action of the telescopic mechanism 24. Preferably, the telescopic mechanism 24 can be an oil cylinder or an electric cylinder.

[0058] The movable sprocket on the movable sprocket seat 13 and the fixed sprocket on the fixed sprocket seat 14 can cooperate with each other to form a storage sprocket group. The number of the storage sprocket groups is equal to the number of the telescopic mechanical arms 12. The two storage sprocket groups cooperate with each other to allow the front chain 16 and the back chain 17 to be stored in a broken line between the movable sprocket seat 13 and the fixed sprocket seat 14; the storage wheel group close to the mechanical arm 12 includes a third sprocket 3 provided on the movable sprocket seat 13 and a second sprocket 2 provided on the fixed sprocket seat 14, and the storage wheel group far from the mechanical arm 12 includes a third sprocket 3 provided on the movable sprocket seat 13 and a second sprocket 2 provided on the fixed sprocket seat 14. The fifth sprocket 5 and the fourth sprocket 4 arranged on the fixed sprocket seat 14; the fixed sprocket seat 14 is provided with a seventh sprocket 7 matching the eighth sprocket 8, and a sixth sprocket 6 matching the outermost movable sprocket. By arranging the seventh sprocket 7 and the sixth sprocket 6, the front chain 16 and the back chain can be adjusted in the horizontal direction to avoid interference between the chains; the front chain 16 and the back chain 17 both bypass the seventh sprocket 7, the sixth sprocket 6, the fifth sprocket 5, the fourth sprocket 4, the third sprocket 3, the second sprocket 2 from the eighth sprocket 8 in sequence to the first sprocket 1.

[0059] The robot arm 12 is evenly distributed with three support platforms 20 in the length direction; the support platform 20 is provided with a connecting chain connecting the front chain 16 and the back chain 17 in the width direction, and a plurality of supporting shafts arranged side by side are provided between the two connecting chains. Specifically, the support platform 20 is a flexible structure, and can pass through each sprocket under the drive of the front chain 16 and the back chain 17.

[0060] The principles and implementation methods of the present invention are described in this article using specific embodiments. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0061] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0062] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A method for placing a package by a package placing device, It is characterized in that Applied to a bag placing robot, the bag placing robot comprises a bag placing frame, the bag placing frame is provided with a feeding part matching with the material bag, the bag placing frame is connected to the top of the walking bracket, one end of the conveyor belt is communicated with the feeding port of the feeding part, the conveyor belt can transport the material bag to the bag placing robot, the bag placing robot can act on the transportation device entering the walking bracket, the bag placing robot comprises bag placing modules arranged in pairs at both ends of the bag placing frame in the length direction, and a supporting platform which can be circulated and moved along the mechanical arm through the bag placing mechanism, and the two sides of the length direction of the supporting platform are respectively connected with the two bag placing modules; the bag placing module comprises a mechanical arm, a first sprocket, an eighth sprocket, a ninth sprocket, a tenth sprocket, an eleventh sprocket, a movable sprocket, a fixed sprocket, a front chain and a back chain, the front chain passes around the first sprocket, the eleventh sprocket, the tenth sprocket, the eighth sprocket, the movable sprocket, and the fixed sprocket in sequence, and finally returns to the first sprocket to form a front chain ring, the back chain passes around the first sprocket, the ninth sprocket, the tenth sprocket, the eighth sprocket, the movable sprocket, and the fixed sprocket in sequence, and finally returns to the first sprocket to form a rear chain ring, and the corresponding front chains and back chains on the same sprocket are arranged alternately; the two sides of the support platform in the width direction are respectively connected to the corresponding front chains and back chains; the mechanical arm is connected to the bag placing rack, one end of the mechanical arm matching the bag placing rack is a fixed end, and the other end is a retractable retractable end, the first sprocket and the eleventh sprocket are respectively arranged on both sides in the width direction, and the mechanical An eighth sprocket, a tenth sprocket and a ninth sprocket are provided at the telescopic end of the arm, the eighth sprocket matches the first sprocket in the vertical direction, the tenth sprocket matches the eleventh sprocket in the vertical direction, the ninth sprocket is arranged between the eighth sprocket and the tenth sprocket, and the ninth sprocket is arranged above the tenth sprocket; a gap matching the size of the material bag is formed between the ninth sprocket and the tenth sprocket; a movable sprocket telescopic device that can drive the movable sprocket seat to move in the vertical direction is provided between the bag placing rack and the movable sprocket seat, and a fixed sprocket seat matching the lower bottom surface of the movable sprocket seat is provided on the mechanical arm; the spacing between the fixed sprocket seat and the bag placing rack matches the length of the mechanical arm after retraction, the movable sprocket is arranged on the movable sprocket seat, and the fixed sprocket is arranged on the fixed sprocket seat; The telescopic end of the mechanical arm is connected to a material bag discharging device, a baffle plate capable of limiting the material bag is extended on the side of the material bag discharging device close to the ninth sprocket, and a discharging area is formed by a spacing between the side close to the tenth sprocket and the tenth sprocket. The bag placing robot comprises a primary mechanical arm and a telescopic mechanical arm capable of being recovered to the primary mechanical arm under the action of a telescopic mechanism, the fixed end is arranged on the primary mechanical arm, and the fixed sprocket seat is connected to the primary mechanical arm; the fixed end of the mechanical arm is rotatably connected to the bag placing frame, a telescopic recovery device is arranged between the bag placing frame and the mechanical arm, the recovery device is arranged on one side of the bag placing robot, one end of the recovery device is rotatably connected to the bag placing frame, and the other end is rotatably connected to the middle part of the primary mechanical arm, comprising the following steps: Robot arm extension step: The recovery device is retracted to rotate the robot arm relative to the bag placing frame until it is vertically downward. The telescopic end of the robot arm is fully or partially extended according to the height of the bag placing point. When the robot arm is extended, the movable sprocket telescopic device drives the movable sprocket seat to move toward the fixed sprocket seat, and always keeps the front chain and the back chain in a tensioned state; Material discharge step: the support platform moves to the bag drop port of the feed part driven by the front chain and the back chain, the material bag is transported from the conveyor belt to the bag drop robot, the material bag enters the bag drop robot through the feed part, and then falls on the support platform through the bag drop port, the front chain and the back chain move along their paths respectively, driving the support platform to move from the fixed end of the robot arm to the telescopic end of the robot arm, the support platform moves to the material bag discharge device, one side of the material bag is restricted by the baffle plate, the support platform moves along the path to the discharge area of ​​the material bag discharge device, so that the material bag is discharged from the discharge area, and the support platform returns to the bag drop port of the feed part after being completely separated from the material bag; Robot arm retraction steps: The recovery device is in the retracted state, the robot arm is vertically downward, and the telescopic end of the robot arm is fully or partially retracted toward the fixed end according to the height of the bag placement point or the height of the obstacle to be crossed. While the robot arm is retracting, the movable sprocket telescopic device drives the movable sprocket seat to move toward the bag placement rack and always keeps the front chain and the back chain in a tensioned state.

2. The method for placing a package by the package placing device according to claim 1, It is characterized in that Also includes The transport device enters the steps: the telescopic end of the robot arm is fully retracted, the recovery device is extended, and the robot arm is driven to rotate relative to the bag placing rack until the robot arm is retracted on the top of the walking bracket, and the transport device moves into the walking bracket so that the loading area of ​​the transport device corresponds to the bag placing rack.

3. The method for placing a package by the package placing device according to claim 1, It is characterized in that Also includes The transport device exits the walking bracket and cooperates with the bag placing robot to complete the stacking of the material bags. The telescopic end of the robot arm is fully retracted, and the recovery device extends to drive the robot arm to rotate relative to the bag placing frame until the robot arm is retracted to the top of the walking bracket, and the transport device exits the walking bracket.

4. The method for placing a package by the package placing device according to claim 1, It is characterized in that In the material discharge step, after the material bag is delivered to the supporting platform, the rotary drive device drives the rotary base located on the bag discharge frame, and the rotary base drives the mechanical arm to rotate, so that the material bag located on the supporting platform completes the conversion between horizontal bag and vertical bag; after the material bag is out of the bag, the rotary drive device drives the rotary base to reset and continue to receive the next material bag.

5. The method for placing a package by the package placing device according to claim 1, It is characterized in that A plurality of the bag placing robots are arranged side by side on a walking support, the conveyor belt includes a branch transport channel matched with each bag placing robot, and a material dividing device which can close one side of the branch transport channel is provided between two adjacent branch transport channels; in the material placing step, the material dividing device on the conveyor belt is controlled according to the bag placing demand, so that one and only one branch transport channel is connected to the corresponding bag placing robot.

6. The method for placing a package by the package placing device according to claim 1, It is characterized in that The traveling bracket is provided with a rotation driving device, and the bag placing frame is provided with a rotating base matching the rotation driving device. The rotation driving device can act on the rotating base and drive the rotating base to rotate, so that the bag placing frame and the traveling bracket are rotatably connected.

7. The method for placing a package by the package placing device according to claim 1, It is characterized in that The movable sprocket on the movable sprocket seat and the fixed sprocket on the fixed sprocket seat can cooperate with each other to form a storage sprocket group, the number of the storage sprocket groups is equal to the number of telescopic mechanical arms, and multiple storage sprocket groups cooperate with each other to allow the front chain and the back chain to be stored in a broken line shape between the movable sprocket seat and the fixed sprocket seat; the fixed sprocket seat is provided with a seventh sprocket matching the eighth sprocket, and a sixth sprocket matching the outermost movable sprocket; after the front chain and the back chain pass through the eighth sprocket, they are wound around the seventh sprocket and the sixth sprocket in turn, and then bypass the movable sprocket and the fixed sprocket of each storage sprocket group to the first sprocket.

8. The method for placing a package by the package placing device according to claim 1, It is characterized in that A plurality of support platforms are evenly distributed along the length direction of the robot arm; a connecting chain connecting a front chain and a back chain is provided on the support platform in the width direction, and a plurality of support shafts arranged side by side are provided between the two connecting chains.

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