Robot multi-process integrated production equipment and method for prefabricated bags

Abstract

The robot multi-process integrated production equipment comprises a machine frame, two robot workstations are installed on the machine frame, an automatic filling machine is arranged on the machine frame, the automatic filling machine is located in the middle of the two robot workstations, and the two robot workstations are arranged on the machine frame. The machine frame is provided with two side frames right facing the robot workstation, the top of each side frame is provided with a sealing machine arranged in a front-out mode, and each side frame is provided with a bag taking and placing mechanism located below the corresponding sealing machine. The two robot workstations on the rack are used for carrying the multi-axis mechanical arm and the detachable clamping mechanism, the automatic filling machine, the sealing machine on the side frame and the bag taking and placing mechanism are combined, a flexible production system is constructed, the two robot workstations are symmetrically distributed on the two sides of the automatic filling machine, and the automatic filling machine and the bag taking and placing mechanism are combined. And an efficient cooperative closed loop of bag taking, transferring, filling and sealing is formed.

Description

Technical Field

[0001] This invention relates to the field of fully automatic packaging machine technology, and more specifically, to a robotic multi-process integrated production equipment and method for pre-made bags. Background Technology

[0002] Existing technology-based machines of the same type can be collectively referred to as pre-packaged bag packaging machines. These are highly efficient automated packaging equipment, which are highly integrated packaging machines that use robots or tooling fixtures to simulate the manual packaging process and automatically complete multiple processes such as bag picking, printing, bag opening, material weighing, filling, vacuuming, sealing, and finished product output of pre-made packaging bags.

[0003] Widely used in food, pharmaceutical, daily chemical, and industrial sectors, pre-packaging bags have become an important tool for improving production efficiency with the development of automation technology. Currently, pre-packaging bags on the market are mainly available in three types: rotary, linear, and vertical.

[0004] Existing bag packaging machines are mainly divided into three types: rotary, linear, and vertical. They integrate processes such as bag picking, opening, filling, and sealing through mechanical structures. However, existing technologies have the following problems:

[0005] Poor adaptability: The equipment has a fixed structure, making it difficult to quickly adapt to a variety of customized bag types in small batches;

[0006] High cost: Traditional models are expensive, and changing models requires replacing tooling and readjusting the mechanical structure, which is time-consuming and labor-intensive;

[0007] Process discreteness: There is waiting time between each process, which affects overall efficiency. Summary of the Invention

[0008] In view of the problems existing in the prior art, the purpose of this invention is to provide a robotic multi-process integrated production equipment and method for prefabricated bags, so as to solve the problems in the background art.

[0009] To achieve the above objectives, the present invention adopts the following technical solution.

[0010] A robotic multi-process integrated production equipment and method for pre-made bags includes a frame on which two robot workstations are mounted. An automatic filling machine is located in the middle of the two robot workstations on the frame. Two side frames facing the robot workstations are mounted on the frame. A front-facing sealing machine is mounted on the top of the side frames. A bag picking and placing mechanism is mounted on the side frames and located below the sealing machine.

[0011] The robot workstation includes a multi-axis robotic arm, a connecting flange, and a clamping mechanism. The multi-axis robotic arm is mounted on the frame via a base, and the movable end of the multi-axis robotic arm is detachably connected to the clamping mechanism via the connecting flange.

[0012] As a further description of the above technical solution: the clamping mechanism includes a horizontal electric guide rail, two sliding blocks, a gravity sensor, pneumatic grippers, and an electric suction cup. One side of the horizontal electric guide rail is fixedly connected to a connecting flange by bolts. The two sliding blocks are movably mounted on the horizontal electric guide rail, and the horizontal electric guide rail drives the two sliding blocks to run synchronously relative to each other. The gravity sensor is fixedly mounted on the sliding blocks, and the pneumatic grippers are fixedly mounted on the gravity sensor. The two pneumatic grippers are arranged horizontally and symmetrically. The electric suction cup is installed on the inner side of the pneumatic grippers to synchronously contact and adsorb the surface of the pre-made bag from both sides.

[0013] As a further description of the above technical solution: the sealing machine is a hot-press welding mechanism.

[0014] As a further description of the above technical solution: the horizontal electric guide rail includes a track frame, a drive motor and a lead screw. The track frame is fixedly installed on the side frame, the drive motor is fixedly installed on one end of the track frame, the output end of the drive motor is fixedly connected to one end of the lead screw through a coupling, the other end of the lead screw passes through and is rotatably connected to the inside of the track frame, and the sliding block is slidably installed on the track frame, and the outer side of the lead screw is threadedly connected to the inside of the sliding block.

[0015] As a further description of the above technical solution: a conveyor belt is installed on the frame, and the conveyor belt is located between two robot workstations.

[0016] As a further description of the above technical solution: the bag picking and placing mechanism includes a placement frame, a pushing cylinder, a flipping block, a telescopic cylinder, and an adsorption head. The placement frame is horizontally fixedly installed on the side frame. The pushing cylinder is fixedly installed on the side frame and located directly below the placement frame. One side of the flipping block is hinged to the side frame. The movable end of the pushing cylinder is hinged to the flipping block. The pushing cylinder pushes the flipping block from a state perpendicular to the ground to a state parallel to the ground. The telescopic cylinder is vertically fixed to the surface of the flipping block. The adsorption head is fixedly installed on the movable end of the telescopic cylinder. After the flipping block flips to a horizontal state, the adsorption head becomes vertically upward and faces the placement frame.

[0017] As a further description of the above technical solution: the bottom of the placement rack is provided with an opening, which allows the pre-made bag to be pulled out after being adsorbed by the adsorption head.

[0018] As a further description of the above technical solution: an L-shaped sliding frame is provided on one side of the placement frame, and the L-shaped sliding frame and the placement frame are combined to limit and adjust the prefabricated bags of different lengths.

[0019] A robotic multi-process integrated production method for prefabricated bags includes the following steps:

[0020] S1. The bag picking and placing mechanism starts working. The pre-made bags stacked on the placement rack are length-limited by the L-shaped sliding frame. The cylinder is started, driving the flipping block to flip from a vertical state to a horizontal state. The telescopic cylinder drives the suction head to move vertically upward, suctioning the bottom pre-made bag through the opening at the bottom of the placement rack and pulling it out of the placement rack, preparing it for the robot to grasp.

[0021] S2. Two robot workstations work together. One of the robot workstations, for example, the multi-axis robotic arm on the left, moves to the bag-picking station. The gripping mechanism at the end of the robotic arm is activated: the horizontal electric guide rail drives two sliding blocks to move relative to each other, causing the pneumatic gripper to open and close synchronously. At the same time, the electric suction cups on the inside of the gripper are energized, and they simultaneously adsorb the surface of the pre-made bag from both sides to achieve stable gripping. After the robot grips the pre-made bag, it transfers the bag to the bag-opening station through the movement of the multi-axis robotic arm, and uses the opening and closing action of the gripping mechanism in conjunction with the trajectory of the robotic arm to complete the bag opening.

[0022] S3. The robot precisely transfers the pre-made bags that have been opened to the filling station of the automatic filling machine located between the two robot workstations. The automatic filling machine begins to fill the bags with materials. At the same time, the gravity sensor on the clamping mechanism monitors the weight change of the materials in the bag in real time. When the weight data fed back by the gravity sensor reaches the preset value, the automatic filling machine is immediately triggered to stop feeding materials to ensure filling accuracy.

[0023] S4. After filling is completed, the robot will transfer the filled pre-made bag from the filling station to the sealing machine at the top of the side frame, which is the hot-press welding mechanism. The sealing machine will perform hot-press welding on the bag opening to complete the sealing process.

[0024] S5. After sealing, the finished bag is placed by a robot onto a conveyor belt located between two robot workstations, and then output to the device.

[0025] Compared with the prior art, the advantages of this invention are:

[0026] (1) This solution uses two robot workstations on the frame to carry multi-axis robotic arms and detachable clamping mechanisms, combined with an automatic filling machine, a sealing machine on the side frame and a bag picking and placing mechanism to build a flexible production system. The two robot workstations are symmetrically distributed on both sides of the automatic filling machine to form an efficient collaborative closed loop of bag picking-transfer-filling-sealing.

[0027] (2) This solution achieves precise synchronization between the action sequence of the push cylinder and the telescopic cylinder in the bag picking mechanism and the robot's bag picking rhythm. After the pre-made bag is taken away, the suction head can quickly reset to complete the suction preparation for the next bag, avoiding the waste of the robot waiting for bag supply. In addition, the gravity sensor provides real-time feedback of weight data during the filling process. When the preset value is reached, the automatic filling machine is immediately triggered to stop feeding, reducing the redundant time of the filling process. Through the close cooperation and timing optimization of each mechanism, the waiting gap between processes is eliminated to the maximum extent, thereby improving the overall production efficiency. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 for Figure 1 Enlarged schematic diagram of the structure of section A in the middle;

[0030] Figure 3 This is a partial three-dimensional structural schematic diagram of the present invention;

[0031] Figure 4 This is a schematic diagram of the robot workstation structure of the present invention;

[0032] Figure 5 for Figure 4 Enlarged schematic diagram of section B in the middle;

[0033] Figure 6 This is a partial three-dimensional structural schematic diagram of the present invention.

[0034] Explanation of the labels in the diagram:

[0035] 1. Frame; 2. Robot workstation; 21. Multi-axis robotic arm; 22. Connecting flange; 23. Clamping mechanism; 231. Horizontal electric guide rail; 2311. Track frame; 2312. Drive motor; 2313. Lead screw; 232. Sliding block; 233. Gravity sensor; 234. Pneumatic gripper; 235. Electric suction cup; 3. Automatic filling machine; 4. Side frame; 5. Sealing machine; 6. Bag picking and placing mechanism; 61. Placement rack; 611. Opening; 612. L-shaped sliding rack; 62. Push cylinder; 63. Tilting block; 64. Telescopic cylinder; 65. Adsorption head; 7. Conveyor belt. Detailed Implementation

[0036] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0037] Existing bag packaging machines are mainly divided into three types: rotary, linear, and vertical. They integrate processes such as bag picking, opening, filling, and sealing through mechanical structures. However, existing technologies have the following problems: poor adaptability, fixed equipment structure, difficulty in quickly adapting to customized bag types in small batches of various varieties, and high cost: traditional models are expensive, and changes require replacement of tooling and readjustment of the mechanical structure, which is time-consuming and labor-intensive. Therefore, Example 1 is proposed:

[0038] Please see Figures 1-6 In this embodiment, a robotic multi-process integrated production equipment and method for pre-made bags includes a frame 1, on which two robot workstations 2 are installed. An automatic filling machine 3 is provided on the frame 1, located in the middle of the two robot workstations 2. Two side frames 4 facing the robot workstations 2 are installed on the frame 1. A front-facing sealing machine 5 is installed on the top of the side frames 4. The sealing machine 5 is a hot-press welding mechanism. A bag picking and placing mechanism 6 is installed on the side frames 4, located below the sealing machine 5.

[0039] The robot workstation 2 includes a multi-axis robotic arm 21, a connecting flange 22, and a clamping mechanism 23. The multi-axis robotic arm 21 is mounted on the frame 1 via a base, and the movable end of the multi-axis robotic arm 21 is detachably connected to the clamping mechanism 23 via the connecting flange 22.

[0040] The clamping mechanism 23 includes a horizontal electric guide rail 231, two sliding blocks 232, a gravity sensor 233, a pneumatic gripper 234, and an electric suction cup 235. One side of the horizontal electric guide rail 231 is fixedly connected to the connecting flange 22 by bolts. The two sliding blocks 232 are movably mounted on the horizontal electric guide rail 231, and the horizontal electric guide rail 231 drives the two sliding blocks 232 to run synchronously relative to each other. The gravity sensor 233 is fixedly mounted on the sliding block 232, and the pneumatic gripper 234 is fixedly mounted on the gravity sensor 233. The two pneumatic grippers 234 are arranged horizontally and symmetrically. The electric suction cup 235 is installed on the inside of the gripper of the pneumatic gripper 234 to synchronously contact and adsorb the surface of the pre-made bag from both sides.

[0041] The horizontal electric guide rail 231 includes a track frame 2311, a drive motor 2312, and a lead screw 2313. The track frame 2311 is fixedly installed on the side frame 4. The drive motor 2312 is fixedly installed on one end of the track frame 2311. The output end of the drive motor 2312 is fixedly connected to one end of the lead screw 2313 through a coupling. The other end of the lead screw 2313 passes through and is rotatably connected to the inside of the track frame 2311. The sliding block 232 is slidably installed on the track frame 2311, and the outer side of the lead screw 2313 is threadedly connected to the inside of the sliding block 232.

[0042] The bag placement and retrieval mechanism 6 includes a placement frame 61, a push cylinder 62, a flipping block 63, a telescopic cylinder 64, and an adsorption head 65. The placement frame 61 is horizontally fixedly installed on the side frame 4. The push cylinder 62 is fixedly installed on the side frame 4 and located directly below the placement frame 61. One side of the flipping block 63 is hinged to the side frame 4. The movable end of the push cylinder 62 is hinged to the flipping block 63. The push cylinder 62 pushes the flipping block 63 from a state perpendicular to the ground to a state parallel to the ground. The telescopic cylinder 64 is vertically fixed to the surface of the flipping block 63. The adsorption head 65 is fixedly installed on the movable end of the telescopic cylinder 64. After the flipping block 63 flips to a horizontal state, the adsorption head 65 becomes vertically upward and faces the placement frame 61. The bottom of the placement frame 61 is provided with an opening 611 for the pre-made bag to be adsorbed by the adsorption head 65 and pulled out.

[0043] In this embodiment, two robot workstations 2 on the frame 1 are equipped with multi-axis robotic arms 21 and detachable clamping mechanisms 23. Combined with the automatic filling machine 3, the sealing machine 5 on the side frame 4, and the bag picking and placing mechanism 6, a flexible production system is constructed. The two robot workstations 2 are symmetrically distributed on both sides of the automatic filling machine 3, forming a highly efficient collaborative closed loop of bag picking-transfer-filling-sealing. The bag picking and placing mechanism 6 stores pre-made bags through the placement rack 61. The L-shaped sliding rack 612 can flexibly adjust the limit according to the bag length. The push cylinder 62 drives the flipping block 63 from a vertical to a horizontal state, so that the telescopic cylinder 64 drives the suction head 65 to suction the pre-made bag from the bottom through the opening 611 and send it out, realizing automatic bag feeding. The multi-axis robotic arms 21 of the robot workstations 2 are connected to the flange 2. 2. The quick-change clamping mechanism 23 is driven by the motor 2312 of the horizontal electric guide rail 231, which drives the lead screw 2313 to rotate, causing the sliding block 232 to drive the pneumatic gripper 234 to open and close synchronously. With the help of the electric suction cup 235 on the inner side of the gripper, the pre-made bag is adsorbed from both sides to ensure stable gripping. The gravity sensor 233 monitors the weight of the material in real time to ensure filling accuracy. After the clamping mechanism 23 grips the pre-made bag, it is transferred by the multi-axis robotic arm 21 to the automatic filling machine 3 to complete the material filling. Then it is transferred to the sealing machine 5 on the top of the side frame 4 for hot-press welding sealing. Finally, the finished product is output by the conveyor belt 7. This layout breaks through the limitations of the fixed structure of traditional equipment through the high degree of freedom of robot movement and modular mechanism design. It can quickly adapt to pre-made bags of different specifications, significantly improving production flexibility and efficiency.

[0044] Furthermore, to address the issue of waiting time between processes affecting overall efficiency, a second implementation method is proposed:

[0045] Please see Figure 1 and Figure 4 Among them: a conveyor belt 7 is installed on the frame 1, and the conveyor belt 7 is located between two robot workstations 2;

[0046] An L-shaped sliding frame 612 is provided on one side of the placement frame 61. The L-shaped sliding frame 612 and the placement frame 61 are combined to limit and adjust the pre-made bags of different lengths.

[0047] In this embodiment, the dynamic matching of process rhythm is achieved through the collaborative design of two robot workstations 2 and conveyor belt 7. After the left robot workstation 2 completes bag picking and opening, it transfers the pre-made bag to the filling station of the automatic filling machine 3. At this time, the right robot workstation 2 simultaneously grabs a new pre-made bag from the bag picking and placing mechanism 6 and waits. After filling is completed, the left robot transfers the filled bag to the sealing machine 5, and the right robot immediately sends the new bag to the filling station, forming a seamless assembly line operation. Meanwhile, the horizontal electric guide rail 231 of the clamping mechanism 23 drives the sliding block 232 to open and close quickly, which, together with the high-speed movement of the multi-axis robotic arm 21, shortens the material transfer time. The timing of the action of the push cylinder 62 and the telescopic cylinder 64 in the bag picking and placing mechanism 6 is precisely synchronized with the robot's bag picking rhythm. After the pre-made bag is taken away, the suction head 65 can quickly reset to complete the suction preparation for the next bag, avoiding the waste of the robot waiting for bag supply. In addition, the gravity sensor 233 provides real-time feedback of weight data during the filling process. When the preset value is reached, the automatic filling machine 3 is immediately triggered to stop feeding, reducing the redundant time of the filling process. Through the close cooperation and timing optimization of each mechanism, the waiting gap between processes is eliminated to the maximum extent, thereby improving the overall production efficiency.

[0048] The present invention also provides a robotic multi-process integrated production method for prefabricated bags, comprising the following steps:

[0049] S1. The bag picking and placing mechanism 6 starts working. The pre-made bags stacked on the placement rack 61 are length-limited by the L-shaped sliding frame 612. The cylinder 62 is started, driving the flipping block 63 to flip from a vertical state to a horizontal state. The telescopic cylinder 64 drives the suction head 65 to move vertically upward, adsorbing the bottom pre-made bag through the opening 611 at the bottom of the placement rack 61 and pulling it out of the placement rack 61, preparing it for the robot to grasp.

[0050] S2. Two robot workstations 2 work together. One of the robot workstations, for example, the multi-axis robotic arm 21 on the left, moves to the bag picking station. The gripping mechanism 23 at the end of the robotic arm is activated. The horizontal electric guide rail 231 drives the two sliding blocks 232 to move relative to each other, which drives the pneumatic gripper 234 to open and close synchronously. At the same time, the electric suction cup 235 on the inside of the gripper is energized and simultaneously adsorbs the surface of the pre-made bag from both sides to achieve stable gripping. After the robot grips the pre-made bag, it transfers the bag to the bag opening station through the movement of the multi-axis robotic arm 21, and uses the opening and closing action of the gripping mechanism 23 in conjunction with the trajectory of the robotic arm to complete the bag opening.

[0051] S3. The robot precisely transfers the pre-made bags that have been opened to the filling station of the automatic filling machine 3 located between the two robot workstations 2. The automatic filling machine 3 begins to fill the bags with materials. At the same time, the gravity sensor 233 on the clamping mechanism 23 monitors the weight change of the materials in the bag in real time. When the weight data fed back by the gravity sensor 233 reaches the preset value, the automatic filling machine 3 is immediately triggered to stop feeding materials to ensure filling accuracy.

[0052] S4. After filling is completed, the robot will transfer the filled pre-made bag from the filling station to the sealing machine 5 at the top of the side frame 4, which is the hot-press welding mechanism. The sealing machine 5 will perform hot-press welding on the bag mouth to complete the sealing process.

[0053] S5. The sealed finished bag is placed by the robot onto the conveyor belt 7 located between the two robot workstations 2, and then output to the device.

[0054] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. A robotic multi-process integrated production equipment for prefabricated bags, comprising a frame (1), characterized in that: Two robot workstations (2) are installed on the frame (1). An automatic filling machine (3) is provided on the frame (1). The automatic filling machine (3) is located in the middle of the two robot workstations (2). Two side frames (4) facing the robot workstations (2) are installed on the frame (1). A sealing machine (5) with a front-facing arrangement is installed on the top of the side frame (4). A bag picking and placing mechanism (6) is installed on the side frame (4). The bag picking and placing mechanism (6) is located below the sealing machine (5). The robot workstation (2) includes a multi-axis robotic arm (21), a connecting flange (22) and a clamping mechanism (23). The multi-axis robotic arm (21) is mounted on the frame (1) via a base. The movable end of the multi-axis robotic arm (21) is detachably connected to the clamping mechanism (23) via the connecting flange (22).

2. The robotic multi-process integrated production equipment for prefabricated bags according to claim 1, characterized in that: The clamping mechanism (23) includes a horizontal electric guide rail (231), two sliding blocks (232), a gravity sensor (233), a pneumatic gripper (234), and an electric suction cup (235). One side of the horizontal electric guide rail (231) is fixedly connected to the connecting flange (22) by bolts. The two sliding blocks (232) are movably mounted on the horizontal electric guide rail (231), and the horizontal electric guide rail (231) drives the two sliding blocks (232) to run synchronously relative to each other. The gravity sensor (233) is fixedly mounted on the sliding block (232), and the pneumatic gripper (234) is fixedly mounted on the gravity sensor (233). The two pneumatic grippers (234) are arranged horizontally symmetrically. The electric suction cup (235) is installed on the inside of the pneumatic gripper (234) for synchronously contacting and adsorbing the surface of the pre-made bag from both sides.

3. The robotic multi-process integrated production equipment and method for prefabricated bags according to claim 1, characterized in that: The sealing machine (5) is a hot-press welding mechanism.

4. The robotic multi-process integrated production equipment for prefabricated bags according to claim 2, characterized in that: The horizontal electric guide rail (231) includes a track frame (2311), a drive motor (2312), and a lead screw (2313). The track frame (2311) is fixedly installed on the side frame (4). The drive motor (2312) is fixedly installed on one end of the track frame (2311). The output end of the drive motor (2312) is fixedly connected to one end of the lead screw (2313) through a coupling. The other end of the lead screw (2313) passes through and is rotatably connected to the inside of the track frame (2311). The sliding block (232) is slidably installed on the track frame (2311), and the outer side of the lead screw (2313) is threadedly connected to the inside of the sliding block (232).

5. The robotic multi-process integrated production equipment and method for prefabricated bags according to claim 1, characterized in that: A conveyor belt (7) is installed on the frame (1) and the conveyor belt (7) is located between two robot workstations (2).

6. The robotic multi-process integrated production equipment for prefabricated bags according to claim 1, characterized in that: The bag taking and placing mechanism (6) includes a placing frame (61), a pushing cylinder (62), a flipping block (63), a telescopic cylinder (64), and an adsorption head (65). The placing frame (61) is horizontally fixedly installed on the side frame (4). The pushing cylinder (62) is fixedly installed on the side frame (4) and located directly below the placing frame (61). One side of the flipping block (63) is hinged to the side frame (4). The movable end of the pushing cylinder (62) is hinged to the flipping block (63). The pushing cylinder (62) pushes the flipping block (63) from a state perpendicular to the ground to a state parallel to the ground. The telescopic cylinder (64) is vertically fixed to the surface of the flipping block (63). The adsorption head (65) is fixedly installed on the movable end of the telescopic cylinder (64). After the flipping block (63) flips to a horizontal state, the adsorption head (65) becomes vertically upward and faces the placing frame (61).

7. A robotic multi-process integrated production equipment for prefabricated bags according to claim 6, characterized in that: The placement rack (61) has an opening (611) at the bottom, which allows the pre-made bag to be pulled out after being adsorbed by the adsorption head (65).

8. A robotic multi-process integrated production method for prefabricated bags, applied to the robotic multi-process integrated production equipment for prefabricated bags as described in any one of claims 1-7, comprising the following steps, characterized in that... : S1. The bag picking and placing mechanism (6) starts working. The pre-made bags stacked on the placement rack (61) are length-limited by the L-shaped sliding frame (612). The push cylinder (62) is started, driving the flipping block (63) to flip from the vertical state to the horizontal state. The telescopic cylinder (64) drives the suction head (65) to move vertically upward, and the bottom pre-made bag is suctioned through the opening (611) at the bottom of the placement rack (61) and pulled out from the placement rack (61) to prepare for robot grasping. S2. Two robot workstations (2) work together. The multi-axis robotic arm (21) of one of the robot workstations (e.g., the left one) moves to the bag picking station. The gripping mechanism (23) at the end of the robotic arm is activated: the horizontal electric guide rail (231) drives the two sliding blocks (232) to move relative to each other, which drives the pneumatic gripper (234) to open and close synchronously. At the same time, the electric suction cup (235) on the inside of the gripper is powered on, and the pre-made bag is simultaneously adsorbed from both sides to achieve stable gripping. After the robot grabs the pre-made bag, it transfers the bag to the bag opening station through the movement of the multi-axis robotic arm (21), and uses the opening and closing action of the gripping mechanism (23) in conjunction with the trajectory of the robotic arm to complete the bag opening. S3. The robot accurately transfers the pre-made bag that has been opened to the filling station of the automatic filling machine (3) located between the two robot workstations (2). The automatic filling machine (3) begins to fill the bag with material. At the same time, the gravity sensor (233) on the clamping mechanism (23) monitors the weight change of the material in the bag in real time. When the weight data fed back by the gravity sensor (233) reaches the preset value, the automatic filling machine (3) is immediately triggered to stop feeding material to ensure filling accuracy. S4. After filling is completed, the robot will transfer the filled pre-made bag from the filling worker to the sealing machine (5) at the top of the side frame (4), that is, the hot pressing welding mechanism. The sealing machine (5) will perform hot pressing welding on the bag mouth to complete the sealing process. S5. The sealed finished bag is placed by the robot onto the conveyor belt (7) located between the two robot workstations (2) and output to the device.

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