Multi-axis linkage printing packaging bag grabbing mechanical arm

Abstract

The invention discloses a multi-shaft linkage printing packaging bag grabbing mechanical arm, and belongs to the technical field of multi-shaft mechanical arms, the multi-shaft linkage printing packaging bag grabbing mechanical arm comprises a horizontal shaft working plate and a movable base, the lower surface of the movable base is provided with a working arm, and the upper surface of the movable base is in bolted connection with an upper connecting block; the upper connecting block is movably arranged in the horizontal shaft working plate through an electric sliding rail; the upper surface of the upper connecting block is in bolted connection with a motor, and the surface of the upper connecting block is fixedly connected with an external connecting plate. According to the multi-axis linkage printing packaging bag grabbing mechanical arm, in the using process, a motor can be discontinuously started, when the motor works, the motor drives a circular plate and a fixing block to work, at the moment, an auxiliary outer frame drives a rack to do reciprocating rectilinear motion in the horizontal direction under the action of the fixing block, a side rod and a limiting plate, and therefore the printing packaging bag is grabbed. At the moment, the connecting shaft drives the lap joint block and the spray head to rotate in a reciprocating mode under the action of the gear and the rack, the spray head can clean the electric sliding rail at multiple angles, and cleanliness of the electric sliding rail is guaranteed.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of multi-axis mechanical arms, in particular to a multi-axis linkage printing packaging bag grabbing mechanical arm. BACKGROUND

[0002] The printing packaging bag is a common product, which has the functions of protecting goods, facilitating storage and transportation and promoting sales, and in the printing packaging bag processing process, a multi-axis mechanical arm needs to be used. The multi-axis mechanical arm can realize automatic feeding and carrying of raw materials during work. The multi-axis mechanical arm generally has multiple degrees of freedom, and can also be provided with moving shafts in the horizontal direction and the vertical direction, thereby improving work efficiency. For example, a multi-axis positioning mechanical arm and a robot with the application number 202310688338.X and the application date 2023-06-12, which can automatically supplement lubricating oil into the lubricating pipe through the automatic oil supplementing device during use. The lubricating oil can enter the lubricating channel through the oil inlet channel and the oil inlet channel. With the rotation of the connecting shaft, the lubricating channel will move in the circumferential direction in the connecting ring, thereby performing circumferential lubrication to the connection between the connecting shaft and the connecting ring. Manual operation is not required, the lubrication work is more timely and effective, the work burden of the workers is reduced, and the lubrication efficiency is improved. In addition, a multi-axis mechanical arm fixed connection structure with the application number 202211017140.0 and the application date 2022-08-23, which improves the connection and fixing mode between the arm bodies under the premise of fully utilizing the existing multi-axis structure and the built-in installation mode. While facilitating the assembly and connection between the arm bodies, the hole and groove mounting structure on the arm body is reduced, the sealing performance of the mechanical arm is further improved, the risk of foreign matter invasion is reduced, and a multi-axis mechanical arm with the application number 202320250108.0 and the application date 2023-02-20, which has the advantages of preventing dust and foreign matter from blocking rotation, maintaining the stability of the mechanical arm, and preventing tilting and shaking during use.

[0003] From the above application, it can be seen that the mechanical arm needs to be decontaminated and lubricated during work. If the decontamination effect is general, it will affect the subsequent use of the mechanical arm. The mechanical arm in the above application does not have a high-efficiency multi-angle decontamination structure during use, and the decontamination effect is general, which will cause unnecessary trouble to the subsequent use of the mechanical arm. In addition, if the mechanical arm needs to be quickly cooled after high-power work, the device in the above application does not have a rapid cooling function during use, which will cause the parts to be deformed by heat and shorten the service life of the mechanical arm. SUMMARY

[0004] The purpose of the present application is to provide a multi-axis linkage printing packaging bag grabbing mechanical arm to solve the problems of not having a high-efficiency multi-angle impurity removal structure, thereby having a general impurity removal effect and causing unnecessary trouble to the subsequent use of the mechanical arm, and not having a rapid cooling function, thereby causing the parts to be deformed by heat and shortening the service life of the mechanical arm.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a multi-axis linkage printing packaging bag grabbing mechanical arm, comprising a horizontal shaft workboard and a movable base, the lower surface of the movable base is provided with a work arm, the upper surface of the movable base is bolted with an upper joint block, the upper joint block is movably arranged in the inside of the horizontal shaft workboard through an electric sliding rail, and the end of the work arm is provided with a clamping jaw; the upper surface of the upper joint block is bolted with a motor, the surface of the upper joint block is fixedly connected with an external plate, the inside of the external plate is rotatably connected with a connecting shaft, and the surface of the connecting shaft movably arranged with a spray head; the surface of the connecting shaft is fixedly connected with a lap joint block, and the inside of the lap joint block is connected with the spray head through a swing assembly; the upper surface of the upper joint block is bolted with a material box, the surface of the upper joint block is adhesively connected with a circulating cooling pipe, and the left side of the upper joint block is provided with a storage capsule.

[0006] Preferably, the output end of the motor is fixedly connected with a circular plate, the upper surface of the circular plate is fixedly connected with a fixed block, the surface of the fixed block is sleeved with an auxiliary outer frame, and the left side of the auxiliary outer frame is fixedly connected with a side rod.

[0007] Preferably, the upper surface of the upper joint block is fixedly connected with a limiting plate, the inside of the limiting plate is slidably provided with the side rod, the side rods are symmetrically distributed on the two sides of the auxiliary outer frame, the right side surface of the auxiliary outer frame is fixedly connected with a rack, and the upper surface of the connecting shaft is fixedly connected with a gear meshingly connected with the rack.

[0008] Preferably, the swing assembly comprises an inner shaft rotatably arranged in the inside of the lap joint block, the surface of the inner shaft is fixedly connected with the spray head, the spray heads are symmetrically distributed on the two sides of the horizontal shaft workboard, the surface of the spray head is fixedly connected with a stress block, and the two sides of the lap joint block are recessed.

[0009] Preferably, the lower surface of the external plate is fixedly connected with a lower joint plate, the surface of the lower joint plate is fixedly connected with a push block, the push blocks are equiangularly distributed on the surface of the lower joint plate, and the surfaces of the push blocks and the surface of the stress block are arc-shaped structures.

[0010] Preferably, the upper surface of the external connecting plate is provided with an air pump, and the air pump is connected with the spray head through an external hose, the surface of the inner shaft is fixedly connected with a torsion spring, and the other side of the torsion spring is fixedly connected with the inner wall of the overlapping block, the surface of the connecting shaft is fixedly connected with a positioning plate, and the lower surface of the positioning plate is initially attached to the surface of the spray head.

[0011] Preferably, the end of the side rod is fixedly connected with a pressing plate, and the pressing plate is slidably arranged in the interior of the material box, and the inner wall of the material box is attached to the surface of the pressing plate.

[0012] Preferably, the material box is fixedly connected with the circulating cooling pipe, and the circulating cooling pipe is arranged around the upper connecting block, and the interior of the material box is filled with cooling liquid.

[0013] Preferably, the upper surface of the storage capsule is fixedly connected with a feeding pipe at the middle position, and the upper surface of the storage capsule is fixedly connected with a discharging pipe on both sides, and the surface of the feeding pipe and the surface of the discharging pipe are fixedly connected with one-way valves.

[0014] Preferably, the upper surface of the upper connecting block is provided with a through hole corresponding to the discharging pipe, and the through hole is located directly above the electric sliding rail.

[0015] Compared with the prior art, the multi-axis linkage printing packaging bag grabbing mechanical arm has the advantages that: the novel structure design is adopted, so that the working arm, the movable base and the upper connecting block can start the motor when working, at this time, the spray head can be in a rotating state under the action of the gear, the rack and the connecting shaft, at this time, the spray head can clean the electric sliding rail at multiple angles, ensuring the cleanliness of the electric sliding rail, when the spray head rotates with the overlapping block, it will also reciprocate in the interior of the overlapping block under the action of the push block, the stress block, the inner shaft and the torsion spring, at this time, the working range of the spray head is increased again, optimizing the cleaning effect, when the motor works, the pressing plate will make reciprocating linear motion in the interior of the material box, at this time, the cooling liquid will reciprocate in the interior of the material box and the circulating cooling pipe, which can efficiently cool the upper connecting block, so that the electric sliding rail is also cooled, ensuring the normal use of the working arm, in addition, when it is necessary to lubricate the upper connecting block, the upper connecting block is moved to the leftmost side of the horizontal shaft working plate, the storage capsule is squeezed, the lubricating oil enters the interior of the upper connecting block through the discharging pipe and the through hole, lubricating the upper connecting block and the electric sliding rail, ensuring the smoothness of the working arm and the upper connecting block, and the specific contents are as follows: (1) The multi-axis linkage printing packaging bag grabbing mechanical arm can intermittently start the motor during use, the motor drives the circular plate and the fixed block to work, at this time, the auxiliary outer frame is driven by the fixed block, the side rod and the limiting plate to make the rack do reciprocating linear motion in the horizontal direction, at this time, the connecting shaft drives the lap joint block and the nozzle to reciprocate and rotate under the action of the gear and the rack, at this time, the nozzle can clean the electric sliding rail at multiple angles to ensure the cleanliness of the electric sliding rail.

[0016] Further, during work, the air pump supplies air to the nozzle, and the nozzle is symmetrically distributed on both sides of the lap joint block, which can blow air to the electric sliding rails on both sides at the same time, optimizing the purification effect.

[0017] (2) When the nozzle swings and rotates, the stress block will be synchronously rotated, at this time, the push block on the surface of the lower connecting plate will intermittently push the stress block, at this time, the stress block and the nozzle will rotate around the inner shaft, at this time, the torsion spring is stretched, and when the nozzle continues to rotate and the stress block is not pushed, the stress block, the nozzle and the inner shaft will rotate back under the action of the torsion spring, at this time, the working direction of the nozzle is increased, and the working range is wider, which can better clean the electric sliding rail.

[0018] Further, when the nozzle swings back under the action of the torsion spring, the positioning plate on the surface of the connecting shaft limits the maximum position of the nozzle rotating back, so that the nozzle does not rotate excessively, ensuring stability.

[0019] When the motor works, the side rod drives the pressing plate to do reciprocating linear motion in the horizontal direction, when the pressing plate moves to the outside of the material box, the cooling liquid is sucked into the material box from the circulating cooling pipe, and when the pressing plate moves to the inside of the material box, the cooling liquid is pushed into the circulating cooling pipe, that is, the cooling liquid flows reciprocatingly in the material box and the circulating cooling pipe, which can efficiently cool the upper connecting block and the electric sliding rail, so as to cool the electric sliding rail and ensure the normal use of the working arm.

[0020] When it is necessary to lubricate the upper connecting block and the electric sliding rail, the upper connecting block is moved to the leftmost side of the horizontal shaft working plate, the storage capsule is squeezed, the lubricating oil enters the inside of the upper connecting block through the discharge pipe and the through hole, and the upper connecting block and the electric sliding rail are lubricated, so as to ensure the smoothness of the working arm and the upper connecting block. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic view of the horizontal shaft working plate and the working arm connection structure of the application. Figure 2 It is a schematic view of the movable base and the working arm connection structure of the application. Figure 3It is a horizontal shaft working plate cut state structure schematic diagram of the present application; Figure 4 It is an upper joint block and material box connecting structure schematic diagram of the present application; Figure 5 It is a horizontal shaft working plate cut state structure schematic diagram of the present application; Figure 4 It is an enlarged structure schematic diagram of A in the present application; Figure 6 It is an outer plate and connecting shaft connecting structure schematic diagram of the present application; Figure 7 It is a connecting shaft and positioning plate connecting structure schematic diagram of the present application; Figure 8 It is a lap joint block cut state structure schematic diagram of the present application; Figure 9 It is a side rod and pressing plate connecting structure schematic diagram of the present application; Figure 10 It is a storage bag and discharge pipe connecting structure schematic diagram of the present application.

[0022] In the figure: 1, horizontal shaft working plate; 2, movable base; 3, working arm; 4, upper joint block; 5, motor; 6, round plate; 7, fixed block; 8, auxiliary outer frame; 9, rack; 10, side rod; 11, limiting plate; 12, outer plate; 13, connecting shaft; 14, gear; 15, lap joint block; 16, inner shaft; 17, spray head; 18, force block; 19, lower joint plate; 20, push block; 21, positioning plate; 22, torsion spring; 23, material box; 24, pressing plate; 25, circulating cooling pipe; 26, storage bag; 27, feeding pipe; 28, discharge pipe; 29, through hole. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] Please refer to Figures 1-10 The present application provides the following technical solutions: a multi-axis linkage printing packaging bag grabbing mechanical arm.

[0025] Embodiment one: through the connecting shaft 13 and the lap joint block 15, the spray head 17 can be in a swinging state, thereby efficiently cleaning the electric sliding rail, such as Figures 1-7As shown, including horizontal axis workboard 1 and movable base 2, the lower surface of movable base 2 is provided with work arm 3, and the upper surface of movable base 2 is bolted with upper joint block 4, and upper joint block 4 is movably arranged in the inside of horizontal axis workboard 1 through electric slide rail, and the end of work arm 3 is provided with clamping jaw; the upper surface of upper joint block 4 is bolted with motor 5, and the surface of upper joint block 4 is fixedly connected with external plate 12, and the inside of external plate 12 is rotatably connected with connecting shaft 13, and the surface of connecting shaft 13 movably arranged with spray head 17, the output end of motor 5 is fixedly connected with round plate 6, and the upper surface of round plate 6 is fixedly connected with fixed block 7, and the surface of fixed block 7 is sleeved with auxiliary outer frame 8, and the left side of auxiliary outer frame 8 is fixedly connected with side rod 10.

[0026] The upper surface of upper joint block 4 is fixedly connected with limiting plate 11, and the inside of limiting plate 11 is slidably provided with side rod 10, and side rod 10 is symmetrically distributed on the two sides of auxiliary outer frame 8, the right surface of auxiliary outer frame 8 is fixedly connected with rack 9, the upper surface of connecting shaft 13 is fixedly connected with gear 14 which is meshingly connected with rack 9; the surface of connecting shaft 13 is fixedly connected with lap block 15, and the inside of lap block 15 is connected with spray head 17 through swing assembly; the swing assembly comprises inner shaft 16 rotatably arranged in the inside of lap block 15, and the surface of inner shaft 16 is fixedly connected with spray head 17, and spray head 17 is symmetrically distributed on the two sides of horizontal axis workboard 1, and the surface of spray head 17 is fixedly connected with stress block 18, and the two sides of lap block 15 are recessed.

[0027] In work, air pump supplies air to spray head 17, and spray head 17 is symmetrically distributed on the two sides of lap block 15, which can blow air to the two sides of electric slide rail at the same time, optimizing the effect of purification, and in the process of use, motor 5 can be started intermittently (motor 5 can also be started when upper joint block 4 is high temperature), and when motor 5 works, round plate 6 and fixed block 7 work (as shown), at this time, auxiliary outer frame 8 drives rack 9 to make reciprocating linear motion in horizontal direction under the action of fixed block 7, side rod 10 and limiting plate 11, at this time, connecting shaft 13 rotates in the inside of external plate 12 under the action of gear 14 and rack 9, when connecting shaft 13 rotates, lap block 15 and spray head 17 reciprocate, at this time, spray head 17 can clean electric slide rail at multiple angles, ensuring the cleanliness of electric slide rail. Figure 5

[0028] In example two, different from example one, push block 20 and torsion spring 22 are arranged, which can make spray head 17 swing around inner shaft 16, expanding the working range, as shown. Figures 6-8 ​As shown, the lower surface of the outer plate 12 is fixedly connected with a lower connecting plate 19, and the surface of the lower connecting plate 19 is fixedly connected with a push block 20, and the push block 20 is equiangularly distributed on the surface of the lower connecting plate 19, and the surface of the push block 20 and the surface of the stress block 18 are both arc-shaped structures.

[0029] The upper surface of the outer plate 12 is provided with an air pump, and the air pump is connected with the spray head 17 through an external hose. The surface of the inner shaft 16 is fixedly connected with a torsion spring 22, and the other side of the torsion spring 22 is fixedly connected with the inner wall of the lap block 15. The surface of the connecting shaft 13 is fixedly connected with a positioning plate 21, and the lower surface of the positioning plate 21 is initially attached to the surface of the spray head 17.

[0030] When the spray head 17 swings and rotates, the stress block 18 will be rotated synchronously, at this time, the push block 20 on the surface of the lower connecting plate 19 will intermittently push the stress block 18, at this time, the stress block 18 and the spray head 17 will rotate around the inner shaft 16 (the inner shaft 16 is also in a rotating state), at this time, the torsion spring 22 is stretched, and when the spray head 17 continues to rotate, the stress block 18 is not pushed, the stress block 18, the spray head 17 and the inner shaft 16 are rotated back under the action of the torsion spring 22, at this time, the working direction of the spray head 17 is increased, the working range is wider, and the electric sliding rail can be better cleaned. When the spray head 17 swings back under the action of the torsion spring 22, the positioning plate 21 on the surface of the connecting shaft 13 limits the maximum position of the rotation of the spray head 17, so that the spray head 17 does not rotate excessively, and the stability is ensured.

[0031] Example three: different from example two, the material box 23 and the circulating cooling pipe 25 are arranged to cool the upper connecting block 4, as shown in Figure 4 、 Figure 5 、 Figure 9 and Figure 10 As shown, the upper surface of the upper connecting block 4 is bolted with a material box 23, and the surface of the upper connecting block 4 is adhesively connected with a circulating cooling pipe 25. The distal end of the side rod 10 is fixedly connected with a pressing plate 24, and the pressing plate 24 is slidingly arranged in the interior of the material box 23, and the inner wall of the material box 23 is attached to the surface of the pressing plate 24. The material box 23 and the circulating cooling pipe 25 are fixedly connected, and the circulating cooling pipe 25 is arranged around the upper connecting block 4, and the interior of the material box 23 is filled with cooling liquid.

[0032] When the motor 5 is working, the side rod 10 will drive the pressure plate 24 to reciprocate linearly in the horizontal direction. When the pressure plate 24 moves to the outside of the material box 23, the coolant is drawn into the material box 23 from the circulating cooling pipe 25. When the pressure plate 24 moves into the material box 23, the coolant is pushed into the circulating cooling pipe 25. That is, the coolant will flow back and forth inside the material box 23 and the circulating cooling pipe 25. The coolant can contact more positions, thereby efficiently dissipating heat from the upper connecting block 4 and cooling the electric slide rail, ensuring the normal use of the working arm 3.

[0033] Example 4: Unlike Example 3, the upper connecting block 4 can be lubricated through the storage bladder 26 and the discharge pipe 28, such as... Figure 10 As shown, a storage bladder 26 is provided on the left side of the upper connecting block 4. A feed pipe 27 is fixedly connected to the middle of the upper surface of the storage bladder 26, and a discharge pipe 28 is fixedly connected to both sides of the upper surface of the storage bladder 26. A one-way valve is fixedly connected to the surface of the feed pipe 27 and the surface of the discharge pipe 28. A through hole 29 corresponding to the discharge pipe 28 is opened on the upper surface of the upper connecting block 4, and the through hole 29 is located directly above the electric slide rail.

[0034] When lubrication of the upper connecting block 4 and the electric slide rail is required, the upper connecting block 4 is moved to the far left of the horizontal axis working plate 1, which compresses the storage bladder 26, allowing lubricating oil to enter the upper connecting block 4 through the discharge pipe 28 and the through hole 29, thus lubricating the upper connecting block 4 and the electric slide rail and ensuring the smooth operation of the working arm 3 and the upper connecting block 4. When the storage bladder 26 is not compressed, it will spring back to its original shape under its own physical properties. After long-term use, lubricating oil can be added to the inside of the feed pipe 27 to facilitate the subsequent use of the storage bladder 26. At the same time, when the storage bladder 26 is working, the one-way valves on the surface of the feed pipe 27 and the discharge pipe 28 ensure that the working direction of the lubricating oil is from the feed pipe 27 to the discharge pipe 28, thus ensuring the stability of the lubricating oil operation.

[0035] The above is the entire working process of the device, and all contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-axis linkage printing packaging bag gripping robot arm, comprising a horizontal axis working plate (1) and a movable base (2), wherein a working arm (3) is provided on the lower surface of the movable base (2), and an upper connecting block (4) is bolted to the upper surface of the movable base (2), and the upper connecting block (4) is movably arranged inside the horizontal axis working plate (1) via an electric slide rail, and a gripper is provided at the end of the working arm (3); Its features are: The upper surface of the upper connecting block (4) is bolted to a motor (5), and the surface of the upper connecting block (4) is fixedly connected to an outer connecting plate (12). The interior of the outer connecting plate (12) is rotatably connected to a connecting shaft (13), and a nozzle (17) is movably arranged on the surface of the connecting shaft (13). The surface of the connecting shaft (13) is fixedly connected to an overlapping block (15), and the interior of the overlapping block (15) is connected to the nozzle (17) through a swing assembly. The upper surface of the upper connecting block (4) is bolted to a material box (23), and the surface of the upper connecting block (4) is bonded to a circulating cooling pipe (25). A storage bladder (26) is arranged on the left side of the upper connecting block (4).

2. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 1, characterized in that: The output end of the motor (5) is fixedly connected to a circular plate (6), and a fixing block (7) is fixedly connected to the upper surface of the circular plate (6). An auxiliary outer frame (8) is sleeved on the surface of the fixing block (7), and a side rod (10) is fixedly connected to the left side of the auxiliary outer frame (8).

3. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 2, characterized in that: The upper surface of the upper connecting block (4) is fixedly connected to a limiting plate (11), and the side rod (10) is slidably arranged inside the limiting plate (11). The side rod (10) is symmetrically distributed on both sides of the auxiliary outer frame (8). The right side surface of the auxiliary outer frame (8) is fixedly connected to a rack (9), and the upper surface of the connecting shaft (13) is fixedly connected to a gear (14) that meshes with the rack (9).

4. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 1, characterized in that: The swing assembly includes an inner shaft (16) rotatably disposed inside the overlapping block (15), and the nozzle (17) is fixedly connected to the surface of the inner shaft (16). The nozzles (17) are symmetrically distributed on both sides of the horizontal axis working plate (1), and a force-bearing block (18) is fixedly connected to the surface of the nozzle (17). Both sides of the overlapping block (15) are concave.

5. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 4, characterized in that: The lower surface of the outer plate (12) is fixedly connected to a lower plate (19), and the surface of the lower plate (19) is fixedly connected to a push block (20). The push blocks (20) are distributed at equal angles on the surface of the lower plate (19), and the surfaces of the push blocks (20) and the force-bearing block (18) are both arc-shaped structures.

6. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 4, characterized in that: An air pump is provided on the upper surface of the outer plate (12), and the air pump is connected to the nozzle (17) through an external hose. A torsion spring (22) is fixedly connected to the surface of the inner shaft (16), and the other side of the torsion spring (22) is fixedly connected to the inner wall of the overlapping block (15). A positioning plate (21) is fixedly connected to the surface of the connecting shaft (13), and the lower surface of the positioning plate (21) is initially in contact with the surface of the nozzle (17).

7. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 2, characterized in that: The end of the side rod (10) is fixedly connected to a pressure plate (24), and the pressure plate (24) is slidably disposed inside the material box (23), and the inner wall of the material box (23) is in contact with the surface of the pressure plate (24).

8. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 1, characterized in that: The material box (23) is fixedly connected to the circulating cooling pipe (25), and the circulating cooling pipe (25) is arranged around the upper connecting block (4), and the inside of the material box (23) is filled with coolant.

9. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 1, characterized in that: A feed pipe (27) is fixedly connected to the middle of the upper surface of the storage bladder (26), and a discharge pipe (28) is fixedly connected to both sides of the upper surface of the storage bladder (26). A one-way valve is fixedly connected to the surface of the feed pipe (27) and the surface of the discharge pipe (28).

10. The multi-axis linkage printing and packaging bag gripping robotic arm according to claim 9, characterized in that: The upper surface of the upper connecting block (4) is provided with through holes (29) that correspond one-to-one with the discharge pipe (28), and the through holes (29) are located directly above the electric slide rail.

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