CN118007330A - Automatic snatch pendulum piece bag machine of pasting - Google Patents

Abstract

The invention discloses an automatic grabbing and arranging sheet bag pasting machine, which comprises a bag support feeding table and a bag cloth feeding table which are arranged beside a folding station, wherein a multi-shaft moving mechanism is respectively arranged above the bag support feeding table and the folding station and above the bag cloth feeding table and the folding station, a cloth gripper is arranged at the moving end of the multi-shaft moving mechanism, the multi-shaft moving mechanism drives the cloth gripper to move between the bag support feeding table and the folding station or between the bag cloth feeding table and the folding station, and the bag support feeding table and the bag cloth feeding table comprise: the lifting module drives the lifting platform to move up and down. According to the invention, when the cloth grippers pick up the top-layer cloth stacked on the feeding table, the lifting module of the feeding table drives the lifting platform to move downwards, so that the stacked cloth moves downwards to avoid the situation that the top-layer cloth is too close to the cloth below the top-layer cloth and a plurality of cloths are picked up at the same time.

Description

Automatic snatch pendulum piece bag machine of pasting

Technical Field

The invention relates to the technical field of cloth textile processing, in particular to an automatic grabbing and arranging bag pasting machine.

Background

In the textile processing industry, a pocket attaching machine is often adopted to carry out sewing operation of pockets on clothes, and a general working procedure is that a pocket support and pocket cloth are placed on the pocket attaching machine in this way, and after the pocket attaching machine picks up the cloth, the pocket cloth and the pocket support are sewn. In the prior art, the bag cloth and the bag support are often placed on a bag pasting machine manually, after the bag cloth and the bag support are sequentially stacked, the stacked bag cloth and the bag support are moved to a sewing mechanism for sewing, and finally, the sewn product is discharged. The operation mode requires operators to manually place the cloth piece by piece, the efficiency is low, and the requirement of improving the efficiency of the whole production process cannot be met. Meanwhile, repeated mechanical labor can accelerate fatigue of operators, so that errors can occur in working procedures of grabbing, overlapping and placing cloth and the like of the operators in a fatigue state, and the situation of high defective rate can be caused. Also, when the operator gets tired, there is a possibility that damage to the person or property may be caused during the operation.

Accordingly, the prior art has drawbacks and needs improvement.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an automatic grabbing and arranging bag sticking machine.

The technical scheme of the invention is as follows: the utility model provides an automatic snatch pendulum piece bag machine of pasting, include: the machine station and set up in coincide station of machine station one side, still including set up in bag support feed platform and the bag cloth feed platform of coincide station side, the top of bag support feed platform and coincide station and bag cloth feed platform and coincide station are provided with multiaxis moving mechanism respectively, be provided with the cloth tongs on multiaxis moving mechanism's the motion end, multiaxis moving mechanism drive cloth tongs removes between bag support feed platform and coincide station or between bag cloth feed platform and coincide station, bag support feed platform and bag cloth feed platform all include: the lifting device comprises a lifting module arranged beside the machine table, a lifting platform arranged on the moving end of the lifting module and a limiting baffle arranged on the periphery of the lifting platform, wherein the lifting module drives the lifting platform to move up and down.

Further, the lifting platform includes: the lifting device comprises a lifting bottom plate arranged on the moving end of the lifting module, a buffer mechanism arranged on the lifting bottom plate and a placing plate connected with the buffer mechanism, wherein the limiting baffle is arranged on the placing plate.

Further, the multi-axis moving mechanism adopts a single-rail moving mechanism, and the single-rail moving mechanism comprises: the single-track lifting platform comprises a single-track translation moving module arranged above one side of the lifting platform and a single-track lifting moving module arranged at the moving end of the single-track translation moving module, wherein the cloth gripper is arranged at the moving end of the single-track lifting moving module.

Further, the multi-axis moving mechanism adopts a double-rail moving mechanism, and the double-rail moving mechanism comprises: the double-rail lifting platform comprises a double-rail translation movement module arranged above one side of the lifting platform, a guide rail arranged above the other side of the lifting platform and a double-rail lifting movement module respectively erected on the guide rail and the double-rail translation movement module, wherein two sides of the cloth gripper are respectively connected with the moving ends of the double-rail lifting movement modules on two sides, and the double-rail lifting movement modules on two sides are connected through connecting rods.

Further, the invention also comprises a sensor group, wherein the sensor group comprises a grabbing in-place sensor, an origin in-place sensor and a material shortage sensor, the grabbing in-place sensor is arranged on the cloth grabbing hand, the origin in-place sensor is arranged beside the origin position of the lifting module and the multi-axis moving mechanism, the material shortage sensor is arranged below the lifting platform, and the lifting platform is provided with a material shortage detection through hole corresponding to the material shortage sensor.

Further, a distribution scale is arranged on the lifting platform, and the distribution scale is a plurality of laser cross cursors suspended on the lifting platform and/or a scale attached to the lifting platform.

Further, the limiting baffle plate is provided with a cloth pressing mechanism, and the cloth pressing mechanisms are equidistantly distributed on the limiting baffle plate.

Further, the cloth gripper includes: the hand grip comprises a hand grip frame and a plurality of hand grip units arranged on the hand grip frame, wherein a plurality of strip holes arranged in the transverse and longitudinal directions are formed in the hand grip frame, and the hand grip units are locked on the strip holes.

Further, the gripper unit adopts a vacuum suction nozzle or a pneumatic needle claw, the vacuum suction nozzle is connected with a negative pressure air source, and the pneumatic needle claw is connected with a control air source.

Further, the gripper unit is connected with a spring buffer mechanism, and the upper portion of the spring buffer mechanism is connected with the gripper frame.

By adopting the scheme, the cloth gripper picks up the cloth on the topmost layer stacked on the bag cloth feeding table or the bag support feeding table, and the lifting module of the bag cloth feeding table or the bag support feeding table drives the lifting platform to move downwards, so that the stacked cloth moves downwards to avoid the situation that the cloth on the top layer is too close to the cloth below the cloth, and a plurality of cloths are picked up at the same time.

Drawings

Fig. 1 is a schematic diagram of a structure employing a single-rail type moving mechanism.

Fig. 2 is a partially enlarged schematic view of fig. 1 at a.

Fig. 3 is a schematic view of a structure employing a double-rail type moving mechanism.

Fig. 4 is a partially enlarged schematic view of fig. 2 at B.

Fig. 5 is a schematic view of a structure employing a vacuum nozzle as a gripper unit.

Fig. 6 is a schematic view of a construction employing a pneumatic needle claw as a gripper unit.

Detailed Description

The invention will be described in detail below with reference to the drawings and the specific embodiments.

Referring to fig. 1, the present invention provides an automatic grabbing and arranging bag attaching machine, comprising: the machine 1, and set up in coincide station 2 of machine 1 one side still including set up in bag support feed platform 3 and the bag cloth feed platform 4 of coincide station 2 side, the top of bag support feed platform 3 and coincide station 2 and the top of bag cloth feed platform 4 and coincide station 2 are provided with multiaxis mobile mechanism 5 respectively, be provided with cloth tongs 6 on the motion end of multiaxis mobile mechanism 5, multiaxis mobile mechanism 5 drive cloth tongs 6 remove between bag support feed platform 3 and coincide station 2 or between bag cloth feed platform 4 and coincide station 2, bag support feed platform 3 and bag cloth feed platform 4 all include: the lifting device comprises a lifting module 31 arranged beside the machine table 1, a lifting platform 32 arranged on the moving end of the lifting module 31 and a limiting baffle 33 arranged on the periphery of the lifting platform 32, wherein the lifting module 31 drives the lifting platform 32 to move up and down.

Before the bag pasting and sewing processing, the bag support and the bag cloth to be processed are respectively stacked and placed on the bag support feeding table 3 and the bag cloth feeding table 4, and are fed through the bag support feeding table 3 and the bag cloth feeding table 4. When feeding, the multi-shaft moving mechanism 5 arranged above the bag cloth feeding table 4 moves the cloth gripper 6 to the position above the bag cloth feeding table 4 and drives the cloth gripper 6 to move downwards. When the cloth gripper 6 picks up the topmost bag cloth stacked on the bag cloth feeding table 4, the lifting module 31 of the bag cloth feeding table 4 drives the lifting platform 32 to move downwards, so that the stacked bag cloth moves downwards to avoid the situation that the top bag cloth is too close to the bag cloth below the top bag cloth and multiple bag cloths are picked up at the same time. After the bag cloth is picked up, the multi-shaft moving mechanism 5 drives the cloth gripper 6 to move to the position above the laminating station 2, and the bag cloth is placed on the laminating station 2.

When the bag cloth is taken and placed, the multi-shaft moving mechanism 5 arranged above the bag support feeding table 3 moves the cloth gripper 6 to the position above the bag support feeding table 3 and drives the cloth gripper 6 to move downwards. The top-layer bag support stacked on the bag support feeding table 3 is picked up by the cloth gripper 6, and meanwhile, the lifting module 31 of the bag support feeding table 3 drives the lifting platform 32 to move downwards, so that the stacked bag support moves downwards to avoid the situation that the top-layer bag support is too close to the bag support below the top-layer bag support to pick up multiple bag supports at the same time. After the bag support is picked up, the multi-shaft moving mechanism 5 drives the cloth gripper 6 to move to the position above the laminating station 2, and the bag support is placed on the laminating station 2.

The folding station 2 top is provided with the clamp and puts mechanism 7, the clamp is put mechanism 7 and is included: the device comprises a suspension 71 suspended above the laminating station 2, a swing cylinder 72 hinged to the bottom surface of the suspension 71, a swing bracket 73 hinged to the end part of the suspension 71, a swing lifting cylinder 74 arranged on the swing bracket 73, and a clamping plate 75 arranged on the output end of the swing lifting cylinder 74, wherein the output end of the swing cylinder 72 is hinged to the swing bracket 73, and the swing cylinder 72 drives the swing bracket 73 to rotate around a hinged position. In some embodiments, in order to avoid interference between the bag cloth feeding table 4 and the multi-axis moving mechanism 5 above the bag support feeding table 3, the bag cloth and the bag support are placed by dividing the laminating station 2 into a bag cloth placing surface and a bag support placing surface, respectively, and then the swinging cylinder 72 is started to drive the swinging bracket 73 to rotate around the hinge position, so that the clamping plate 75 is moved to the corresponding position of the bag support placing surface. The swing lifting cylinder 74 is started to drive the clamping plate 75 to move towards the bag holder placing surface and clamp and pick up the bag holder placed on the bag holder placing surface. After the clamping and fixing of the bag support are completed, the swing air cylinder 72 extends out, the clamping plate 75 moves to the upper side of the bag cloth placing surface, the bag support is placed on the bag cloth, the feeding mechanism at the rear end is convenient for moving the overlapped bag cloth and the bag support to an automatic sewing machine, the bag cloth and the bag support are sewn, and finally the sewn cloth is sent out.

In some embodiments, the lifting platform 32 comprises: the lifting device comprises a lifting base plate 321 arranged on the moving end of the lifting module 31, a buffer mechanism 322 arranged on the lifting base plate 321, and a placing plate 323 connected with the buffer mechanism 322, wherein the limiting baffle 33 is arranged on the placing plate 323. The buffer mechanism 322 employs a spring. When the multi-axis moving mechanism 5 drives the cloth gripper 6 to grasp the bag cloth or the bag holder on the lifting platform 32, the buffer mechanism 322 is adopted to avoid collision between the cloth gripper 6 and the lifting platform 32, and the cloth gripper 6 can conveniently move downwards for a certain distance, so that the picking effect of the bag cloth or the bag holder is ensured. Meanwhile, the lifting platform 32 moves downwards under the driving of the lifting module 31, so that the cloth gripper 6 is prevented from picking up a plurality of groups of bag cloths or bag holders at the same time, and the effect of subsequent sewing processing is ensured.

In some embodiments, referring to fig. 1 and 2, the multi-axis moving mechanism 5 employs a single-rail moving mechanism 51, and the single-rail moving mechanism 51 includes: the single-rail translation moving module 511 arranged above one side of the lifting platform 32 and the single-rail lifting moving module 512 arranged on the moving end of the single-rail translation moving module 511, and the cloth gripper 6 is arranged on the moving end of the single-rail lifting moving module 512. The single-rail moving mechanism 51 is adopted, and the cloth gripper 6 is driven to move between the bag cloth feeding machine 4 or the bag support feeding machine 3 and the superposition platform 2 through the single-rail translational moving module 511. Meanwhile, the cloth gripper 6 is driven to move up and down through the monorail lifting moving module 512, so that the grabbing and placing work of the bag holder or the bag cloth can be conveniently performed.

In some embodiments, referring to fig. 3 and 4, the multi-axis moving mechanism 5 employs a dual-rail moving mechanism 52, and the dual-rail moving mechanism 52 includes: the two sides of the cloth gripper 6 are respectively connected with the moving ends of the two-rail lifting moving modules 523 on two sides, and the two-rail lifting moving modules 523 on two sides are connected through connecting rods 524. When the double-rail type moving mechanism 52 is adopted, the cloth gripper 6 is driven to move between the bag cloth feeding machine 4 or the bag support feeding machine 3 through the double-rail type translational moving module 521, and the double-rail lifting moving module 523 at the other side is driven to synchronously move along the guide rail 522 through the connecting rod 524. And the cloth grippers 6 are synchronously driven to move up and down through the double-rail lifting moving modules 523 on two sides, so that the grabbing and placing work of the bag support or the bag cloth is realized.

In application, the size of the bag support is generally smaller, so that the size of the corresponding cloth gripper 6 is also smaller, and in the process that the multi-axis moving mechanism 5 drives the cloth gripper 6 to lift, the movement and the stop of the cloth gripper 6 are stable, so that the multi-axis moving mechanism 5 corresponding to the upper part of the bag support feeding machine 3 generally adopts the single-rail moving mechanism 51, thereby saving the cost while guaranteeing the picking and placing of the cloth. The size of the pocket cloth is relatively large, and thus the size of the corresponding cloth gripper 6 is correspondingly large. In the process that the multi-axis moving mechanism 5 drives the cloth gripper 6 to lift, if the single-rail moving mechanism 51 is adopted, only one side of the cloth gripper 6 is connected with the single-rail moving mechanism 51, when the single-rail lifting moving module 512 drives the cloth gripper 6 to move up and down, the cloth gripper 6 is easy to tremble due to unbalanced stress, so that the grabbed cloth falls from the cloth gripper 6. Therefore, when the size of the cloth gripper 6 is large, the double-rail type moving mechanism 52 is adopted to drive the cloth gripper 6 to move, so that support is provided for the cloth gripper 6 from two sides of the cloth gripper 6, the condition that the cloth gripper 6 shakes is effectively avoided, and the stability of picking up and moving the bag cloth is ensured.

In some embodiments, the single-rail translational movement module 511, the single-rail lifting movement module 512, the double-rail translational movement module 521 and the double-rail lifting movement module 523 all adopt motor screw rod transmission mechanisms, and the rotation of the screw rod is controlled through a motor, so that the screw rod sliding block sleeved on the screw rod is driven to reciprocate along the screw rod, and the driving requirement on the cloth gripper 6 is met.

The limiting baffle plate 33 is provided with a cloth pressing mechanism, and the cloth pressing mechanisms are distributed on the limiting baffle plate 33 at equal intervals. The position of the limiting baffle 33 can be adjusted according to the specification and the size of the cloth placed on the lifting platform 32, so that a limiting effect is provided for stacking and placing the cloth, the cloth can be stacked more orderly, the same grabbing position of the cloth gripper 6 is ensured when the cloth gripper picks up the bag cloth or the bag holder each time, and the subsequent sewing effect is ensured.

The cloth gripper 6 includes: the hand grip comprises a hand grip frame 61 and a plurality of hand grip units 62 arranged on the hand grip frame 61, wherein a plurality of bar holes arranged in the transverse and longitudinal directions are formed in the hand grip frame 61, and the hand grip units 62 are locked on the bar holes. The relative position of the gripper unit 62 locked on the strip hole is adjusted, so that the gripping position of the gripper unit 62 on the cloth is changed, and the picking requirements of the cloth with different specifications and sizes are met.

Referring to fig. 5 and 6, the gripper unit 62 adopts a vacuum nozzle 621 or a pneumatic needle claw 622, the vacuum nozzle 621 is connected with a negative pressure air source, and the pneumatic needle claw 622 is connected with a control air source.

The grip unit 62 for different fabrics is different, if the fabrics are provided with holes or have good air permeability, the negative pressure generated by the vacuum nozzle 621 cannot normally adsorb the fabrics, so that the pneumatic needle claw 622 can be used for picking up the fabrics of the type. In the case of a cloth having poor air permeability or a cloth having a surface with a remarkable needle hole easily left by the air-operated needle claw 622, the negative pressure suction can be directly performed on the type of cloth through the vacuum nozzle 621, thereby facilitating the picking up and moving.

The gripper unit 62 is connected with a spring buffer mechanism 63, and an upper portion of the spring buffer mechanism 63 is connected with the gripper frame 61. When picking up the bag cloth or the bag holder, the gripper unit 62 can be pressed on the bag cloth or the bag holder and moved downwards, so that the pressure between the gripper unit 62 and the bag cloth or the bag holder is increased, and the picking effect of the gripper unit 62 on the bag cloth or the bag holder is ensured. Meanwhile, the lifting platform 32 moves downwards under the driving of the lifting module 31, so that the cloth gripper 6 is prevented from picking up a plurality of groups of bag cloths or bag holders at the same time, and the effect of subsequent sewing processing is ensured.

When the vacuum nozzle 621 is used as the gripper unit 62, the vacuum nozzle with the spring buffer mechanism 63 can be selected, so that the vacuum nozzle is convenient to purchase and use, and the mechanism is not required to be assembled. When the air needle 622 is used as the gripper unit 62, the spring buffer mechanism 63 of the vacuum nozzle 621 may be modified to assemble the spring buffer mechanism 63 to the air needle 622. Or the side surface of the pneumatic needle claw 622 is connected with a guide rail 631, a guide rail slider 632 is erected on the guide rail 631, a spring 633 is connected with the upper end of the guide rail slider 632, the other end of the spring 633 is arranged on a bracket 634 connected with the guide rail slider 632, and the pneumatic needle claw 622 is fixed on the handle frame 61 through the bracket 634. When the air needle claw 622 is in contact with the stacked cloth, the air needle claw 622 moves upward relative to the support under the action of the pushing force, so that the spring 633 is stretched, a buffer effect is provided by the spring 633, sufficient contact between the air needle claw 622 and the cloth is ensured, and the pick-up effect on the cloth is improved.

The invention further comprises a sensor group, wherein the sensor group comprises a grabbing in-place sensor 81, an origin in-place sensor 82 and a material shortage sensor, the grabbing in-place sensor 81 is arranged on the cloth gripper 6, the origin in-place sensor 82 is arranged beside the lifting module 31 and the origin position of the multi-axis moving mechanism 5, the material shortage sensor is arranged below the lifting platform 32, and the lifting platform 32 is provided with a material shortage detection through hole corresponding to the material shortage sensor.

The grabbing in-place sensor 81 is disposed at the bottom of the gripper frame 61, and the detection surface of the grabbing sensor 81 faces the gripper unit 62 closest to the surface. When the cloth gripper 6 picks up cloth, the spring buffer mechanism 63 retracts by a certain distance during the pressing process, that is, the gripper unit 62 relatively moves toward the gripper frame 61 during the pressing process, and the gripper unit 62 enters the detection range of the grabbing in-place sensor. At this time, the grip unit 62 is detected by the grip in-place sensor 81, and a detection signal is fed back to the control system. After receiving the detection signal, the control system recognizes and judges that the gripper unit 62 has successfully picked up the cloth, so that the multi-axis moving module 5 is controlled to drive the cloth gripper 6 to move upwards and move to the laminating station 2 for placing the cloth. In some embodiments, the grabbing in-place sensor 81 employs a proximity switch, and when the gripper unit 62 moves to a position corresponding to the grabbing in-place sensor 81, a detection signal is generated at a detection position of the proximity switch, and by capturing the detection signal and transmitting the detection signal back to the control system, it can be determined that the current gripper unit 62 grabs the cloth in place.

The origin in-place sensor 82 is disposed beside the origin position of the moving modules such as the lifting module 31, the single-rail translational movement module 511, the single-rail lifting movement module 512, the double-rail translational movement module 521, and the double-rail lifting movement module 523, when the corresponding module is reset to the initial position (i.e., the origin position), the origin in-place sensor 82 obtains a corresponding detection signal, and sends the detection signal to the control system, and the control system can determine that the corresponding moving module is currently at the origin position after receiving the corresponding signal. In contrast, if the origin in-place sensor 82 does not send a corresponding detection signal, the control system determines that the corresponding mobile module is not currently at the origin position. In some embodiments, the origin in-place sensor 82 uses a proximity switch, and when an object approaches the proximity switch, a detection signal is generated at a detection position of the proximity switch, and by capturing the detection signal and transmitting the detection signal back to the control system, it can be determined that the object is currently located at the corresponding position of the proximity switch.

The material shortage sensor is arranged below the lifting platform 32 and recognizes the material on the lifting platform 32 through the material shortage detection through hole, and when the material is placed on the lifting platform 32, the material shortage sensor continuously returns to detect that an object is in the detection area; when the cloth on the lifting platform 32 is completely taken out or no article is placed on the lifting platform, the corresponding cloth is not detected in the detection interval of the material shortage sensor, and corresponding detection information is sent to the control system. After receiving the corresponding detection information, the control system judges that the lifting platform 32 is in a material shortage state, and accordingly provides corresponding material shortage reminding and material supplementing requests for operators.

The lifting platform 32 is provided with a distribution scale, and the distribution scale adopts a plurality of laser cross cursors suspended on the lifting platform 32 and/or a scale attached to the lifting platform 32. After the cloth gripper 6 picks up the bag cloth or the bag holder, the bag cloth or the bag holder is placed on the superposition station 2 through the multi-axis moving mechanism 5, and the bag cloth and the bag holder are superposed and then stitched. However, when placing the cloth on lift platform, the cloth appears placing the condition of being improper easily to lead to the coincide between bag cloth and the bag support to appear the off normal, and then appear sewing up the condition that the back product is unsatisfactory, influence product yield. By adopting the cloth scale, when the cloth is placed on the lifting platform 32, the edge of the cloth can be compared with the cloth scale, so that the optimal placement site of the cloth is confirmed, and the situation that the folded bag and cloth bag support is deviated after the subsequent grabbing and placing is avoided.

In some embodiments, the scale attached to the lift platform 32 is used for identification, and the operation is intuitive and convenient, but not convenient for adjustment according to different sizes of cloth. In some embodiments, the laser cross cursors arranged beside the lifting platform 32 are adopted, and the laser cross cursors are projected on the lifting platform 32, so that according to the number of the laser cross cursors, corresponding number of cross laser indication lines are formed on the lifting platform 32, and when the operator is convenient to place cloth, the positions of the cross laser indication lines can be adjusted according to the cloth with different specifications and sizes, and the universality is improved.

In summary, according to the invention, when the cloth grippers pick up the top cloth stacked on the bag cloth feeding table or the bag support feeding table, the lifting module of the bag cloth feeding table or the bag support feeding table drives the lifting platform to move downwards, so that the stacked cloth moves downwards to avoid the situation that the top cloth is too close to the cloth below the top cloth and multiple cloths are picked up at the same time.

The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (10)

1. An automatic grabbing and arranging bag pasting machine comprises: the machine table and set up in coincide station of machine table one side, its characterized in that still including set up in bag support feed platform and the bag cloth feed platform of coincide station side, the top of bag support feed platform and coincide station and bag cloth feed platform and coincide station are provided with multiaxis moving mechanism respectively, be provided with the cloth tongs on the motion end of multiaxis moving mechanism, multiaxis moving mechanism drive cloth tongs removes between bag support feed platform and coincide station or between bag cloth feed platform and coincide station, bag support feed platform and bag cloth feed platform all include: the lifting device comprises a lifting module arranged beside the machine table, a lifting platform arranged on the moving end of the lifting module and a limiting baffle arranged on the periphery of the lifting platform, wherein the lifting module drives the lifting platform to move up and down.

2. The automatic gripping and flap bag attachment machine of claim 1 wherein the lifting platform comprises: the lifting device comprises a lifting bottom plate arranged on the moving end of the lifting module, a buffer mechanism arranged on the lifting bottom plate and a placing plate connected with the buffer mechanism, wherein the limiting baffle is arranged on the placing plate.

3. The automatic gripping and film-arranging bag attaching machine according to claim 1, wherein said multi-axis moving mechanism adopts a single-rail moving mechanism comprising: the single-track lifting platform comprises a single-track translation moving module arranged above one side of the lifting platform and a single-track lifting moving module arranged at the moving end of the single-track translation moving module, wherein the cloth gripper is arranged at the moving end of the single-track lifting moving module.

4. The automatic gripping and flap bag attaching machine of claim 1, wherein said multi-axis moving mechanism employs a double-rail moving mechanism comprising: the double-rail lifting platform comprises a double-rail translation movement module arranged above one side of the lifting platform, a guide rail arranged above the other side of the lifting platform and a double-rail lifting movement module respectively erected on the guide rail and the double-rail translation movement module, wherein two sides of the cloth gripper are respectively connected with the moving ends of the double-rail lifting movement modules on two sides, and the double-rail lifting movement modules on two sides are connected through connecting rods.

5. The automatic grabbing and arranging bag pasting machine according to claim 1, further comprising a sensor group, wherein the sensor group comprises grabbing in-place sensors, an origin in-place sensor and a material shortage sensor, the grabbing in-place sensors are arranged on the cloth grabbing hand, the origin in-place sensors are arranged beside the lifting module and the origin position of the multi-shaft moving mechanism, the material shortage sensor is arranged below the lifting platform, and the lifting platform is provided with a material shortage detection through hole corresponding to the material shortage sensor.

6. The automatic grabbing and swinging sheet bag attaching machine according to claim 1, wherein a cloth scale is arranged on the lifting platform, and the cloth scale adopts a plurality of laser cross cursors suspended on the lifting platform and/or a scale attached to the lifting platform.

7. The automatic grabbing and swinging sheet bag attaching machine according to claim 1, wherein the limiting baffle plates are provided with cloth pressing mechanisms, and the cloth pressing mechanisms are distributed on the limiting baffle plates at equal intervals.

8. The automatic gripping swing pouch taping machine of claim 1, wherein the cloth gripper comprises: the hand grip comprises a hand grip frame and a plurality of hand grip units arranged on the hand grip frame, wherein a plurality of strip holes arranged in the transverse and longitudinal directions are formed in the hand grip frame, and the hand grip units are locked on the strip holes.

9. The automatic grabbing and arranging bag pasting machine of claim 8, wherein the gripper unit adopts a vacuum suction nozzle or a pneumatic needle claw, the vacuum suction nozzle is connected with a negative pressure air source, and the pneumatic needle claw is connected with a control air source.

10. The automatic gripping swing bag taping machine according to claim 8, wherein the gripper unit is connected with a spring buffer mechanism, and an upper portion of the spring buffer mechanism is connected with a gripper frame.