Soft package lateral moving, grabbing and lifting device

Abstract

The utility model relates to a soft package lateral moving, grabbing and lifting device. The soft package lateral movement grabbing and lifting device comprises a detection device used for detecting the root position of a binding belt of a soft package to be grabbed; the grabbing device comprises a translation mechanism and a grabbing mechanism, the grabbing mechanism is connected with the translation mechanism, and the translation mechanism can drive the grabbing mechanism to do translation motion between a grabbing position and a lifting position; the grabbing mechanism at the grabbing position is closer to the vertical center line of the grabbing device than the grabbing mechanism at the lifting position; the detection device is in communication connection with the grabbing device, and the grabbing mechanism is used for grabbing the root of a binding belt of the soft package to be grabbed at the grabbing position according to the position, detected by the detection device, of the root of the binding belt of the soft package to be grabbed; and the translation mechanism is used for driving the grabbing mechanism to move to the lifting position after the grabbing mechanism grabs the root of the binding belt of the soft package to be grabbed. In this way, the strap of the to-be-grabbed soft package is easy to grab, and the loading and unloading efficiency of the to-be-grabbed soft package is improved.

Description

Technical Field

[0001] The present application relates to the technical field of soft bag grabbing, and in particular to a soft bag side-shift grabbing and lifting device. Background Art

[0002] There are many cases of transport packaging through soft bags on the market. Among them, ton bags are a kind of flexible transport packaging container, which are generally used for the transport packaging of powdered, granular and blocky items such as food, grains, medicines, chemicals and minerals.

[0003] During transportation, ton bags need to be lifted, usually by hooking the straps above the ton bags. In the transportation of a small number of ton bags, the hooks can be hung on the straps manually. However, in the loading and unloading of large quantities of ton bags, the manual method is not only inefficient and costly, but also difficult to ensure safety.

[0004] However, since the position of the tie straps above the ton bag is rather random, it is difficult to hook the tie straps, and efficiency cannot be improved. Utility Model Content

[0005] Based on this, it is necessary to provide a soft bag side-shifting grabbing and lifting device to address the problem that the position of the straps above the ton bag is relatively random, it is difficult to hook the straps, and efficiency cannot be improved.

[0006] On the one hand, a soft bag side-shifting grabbing and lifting device is provided, comprising:

[0007] A detection device, used to detect the root position of the strap of the soft bag to be grabbed;

[0008] and a grabbing device, comprising a translation mechanism and a grabbing mechanism, wherein the grabbing mechanism is connected to the translation mechanism, and the translation mechanism can drive the grabbing mechanism to perform a translation movement between a grabbing position and a lifting position;

[0009] Wherein, the gripping mechanism in the gripping position is arranged closer to the vertical center line of the gripping device than the gripping mechanism in the lifting position;

[0010] The detection device is communicatively connected with the grasping device. The grasping mechanism is used to grasp the root of the strap of the soft package to be grasped at the grasping position according to the root position of the strap of the soft package to be grasped detected by the detection device. The translation mechanism is used to drive the grasping mechanism to move to the lifting position after the grasping mechanism grasps the root of the strap of the soft package to be grasped.

[0011] In one of the embodiments, the soft bag side-shifting grabbing and lifting device further comprises a mounting structure, and the grabbing device is mounted on the mounting structure;

[0012] The mounting structure is provided with a guide rail, the grabbing mechanism is provided with a slide block, the translation mechanism is connected with the slide block, and the guide rail and the slide block are matched to guide the grabbing mechanism to perform translation movement.

[0013] In one embodiment, the gripping mechanism includes at least two claws and at least two claw driving members, each claw driving member is connected to a corresponding claw to drive all the claws to move closer to each other or away from each other.

[0014] In one embodiment, the gripping mechanism also includes a connecting seat, which is connected to the slider, each claw driving member has a claw telescopic end, one end of all the claws is rotatably connected to the connecting seat, the claw telescopic end of each claw driving member is rotatably connected to a corresponding claw, and the other end of each claw driving member opposite to the claw telescopic end is rotatably connected to the slider and spaced apart from the connecting seat.

[0015] In one embodiment, the grabbing device includes two translation mechanisms and two grabbing mechanisms, the two grabbing mechanisms are symmetrically arranged along the vertical center line of the grabbing device, each translation mechanism is connected to a corresponding grabbing mechanism; the lifting positions of the two grabbing mechanisms coincide.

[0016] In one embodiment, the detection device is arranged on the gripping mechanism.

[0017] In one of the embodiments, an identification mark is provided at the root of the strap of the soft package to be grasped, and the detection device is used to detect the identification mark to determine the position of the root of the strap of the soft package to be grasped.

[0018] In one of the embodiments, the soft bag side-shifting grasping and lifting device also includes a rotating mechanism, and the grasping device is arranged on the rotating mechanism. The rotating mechanism is used to drive the grasping device to rotate around the axis so that the detection device can detect the root position of the belt of the soft bag to be grasped during the rotation of the grasping device.

[0019] In one of the embodiments, the soft bag side-shifting grabbing and lifting device further includes a distance measuring device, which is used to detect the distance value between the distance measuring device and the soft bag to be grabbed;

[0020] The distance measuring device is communicatively connected with the detection device, and the detection device is used to detect the root position of the strap of the soft bag to be grasped when the distance value between the distance measuring device and the soft bag to be grasped reaches a first preset distance value.

[0021] In one of the embodiments, the soft bag side-shifting grabbing and lifting device further includes a lifting device, and the lifting device is connected to the grabbing device;

[0022] The lifting device is communicatively connected with the grasping device and the distance measuring device, and is used to drive the grasping device to rise to a preset height after the grasping mechanism grasps the root of the strap of the soft package to be grasped; the distance measuring device is also used to detect the distance value between the grasping device and the strap of the soft package to be grasped during the rising process of the grasping device; the translation mechanism is also used to drive the grasping mechanism to move to the lifting position when the distance measuring device detects that the distance value between the grasping device and the strap of the soft package to be grasped does not change or changes within a preset distance value range.

[0023] The above-mentioned soft-bag side-shifting grasping and lifting device can detect the root position of the belt of the soft bag to be grasped by the detection device before the grasping device grasps the lifting belt, so that the grasping mechanism in the grasping device can successfully grasp the root of the belt of the soft bag to be grasped at the grasping position, and then drive the grasping mechanism to move to the lifting position for lifting through the translation mechanism, thereby making it easy to grasp the belt of the soft bag to be grasped, and improving the loading and unloading efficiency of the soft bag to be grasped.

[0024] Furthermore, since the root position of the strap deviates from the vertical center line of the soft bag to be grabbed, when the grabbing mechanism grabs the root of the strap at the grabbing position, the grabbing mechanism as a whole also deviates from the vertical center line of the grabbing device. If the soft bag to be grabbed is lifted directly at the grabbing position, the grabbing device will be lifted obliquely, that is, the vertical center line of the soft bag to be grabbed will deviate from the vertical center line of the grabbing device, increasing the risk of instability during the lifting process of the grabbing device. Therefore, the present application sets the grabbing mechanism at the grabbing position closer to the vertical center line of the grabbing device than the grabbing mechanism at the lifting position, so that after the grabbing mechanism grabs the root of the strap at the grabbing position, it can move to the lifting position, and make the grabbing mechanism closer to the vertical center line of the grabbing device, that is, make the vertical center line of the soft bag to be grabbed closer to the vertical center line of the grabbing device, and then during the lifting process at the lifting position, the grabbing device can be lifted more stably, thereby improving the loading and unloading reliability of the soft bag to be grabbed.

[0025] In addition, compared with the traditional method of directly grabbing the middle part of the strap, that is, grabbing the middle strap, the embodiment of the present application adopts a method of first detecting the position of the root of the strap through a detection device, and then directly using the grabbing mechanism to grab the root of the strap. On the one hand, compared with the randomness of the position of the middle strap, the root of the strap is directly connected to the edge fixing point above the soft bag to be grabbed, so its position is clearer and easier for the detection device to detect, which reduces the difficulty of detection and thus reduces the difficulty of grabbing; on the other hand, the position of the middle strap is not only random, but also may have the problem of uncertain front and back directions, that is, there is a problem of strap twisting, which is not conducive to detection. Since the root of the strap is fixed to the edge of the soft bag to be grabbed, it will not twist easily. Therefore, it is more conducive to detection by the detection device, making the detection more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of a soft package to be grabbed in one embodiment of the present application.

[0027] Figure 2 This is a front view of the grabbing mechanism in the soft bag side-shift grabbing and lifting device in one or more embodiments of the present application in the grabbing position.

[0028] Figure 3 for Figure 2 The front view of the grabbing mechanism in the soft bag side-shift grabbing and lifting device is in the lifting position.

[0029] Figure 4 for Figure 2 A side view of a soft bag side-shifting grabbing and lifting device is shown.

[0030] Figure 5 for Figure 2 A top view of a soft bag side-shifting grabbing and lifting device is shown.

[0031] Figure 6 for Figure 2 The schematic diagram of the structure of the grabbing mechanism in the soft bag side-shift grabbing and lifting device is shown.

[0032] Figure 7 for Figure 6 A side view of the gripping mechanism is shown.

[0033] Figure 8 The present invention is a flow chart of a method for side-shifting, grabbing and lifting a soft package in one embodiment of the present application.

[0034] Description of reference numerals:

[0035] Soft bag side-shifting grasping and lifting device 100, detection device 10, grasping device 20, translation mechanism 21, grasping mechanism 22, slider 221, claw 222, claw driving member 223, connecting seat 224, mounting structure 30, guide rail 31, rotating mechanism 40, distance measuring device 50, soft bag 200 to be grasped, strap 210, strap root 2101, middle strap 2102, bag body 220. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0037] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0038] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0040] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0041] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0042] As mentioned in the background technology, in order to overcome the problems of low efficiency, high cost and difficulty in ensuring safety in manual loading and unloading of ton bags, measures for automatic loading and unloading of ton bags are adopted in the relevant technology.

[0043] Specifically, the tie straps above the ton bag usually include a middle tie strap and branch tie straps connected from both ends of the middle tie strap to the upper edge of the ton bag. Since the center of gravity of the ton bag is on the vertical center line of the ton bag, when the ton bag needs to be automatically loaded and unloaded, the automatic loading and unloading equipment can be moved above the ton bag and the middle tie strap located on the vertical center line of the ton bag can be hooked to prevent the ton bag from being skewed during loading and unloading.

[0044] However, since the position of the straps above the ton bags is relatively random during the transportation of ton bags, even if the automatic loading and unloading equipment is accurately moved above the ton bags, there is still a problem of difficulty in hooking the middle straps of the ton bags, resulting in low loading and unloading efficiency of the ton bags.

[0045] In order to solve the problem of low efficiency in loading and unloading ton bags, a soft bag car cover grabbing and lifting device is designed in the embodiment of the present application, including a detection device and a grabbing device. The detection device is used to detect the root position of the strap of the soft bag to be grabbed, and the grabbing device includes a translation mechanism and a grabbing mechanism. The grabbing mechanism is connected to the translation mechanism, and the translation mechanism can drive the grabbing mechanism to make a translation movement between the grabbing position and the lifting position. The grabbing mechanism in the grabbing position is arranged closer to the vertical center line of the grabbing device than the grabbing mechanism in the lifting position. The detection device is connected to the grabbing device in communication, and the grabbing mechanism is used to grab the root of the strap of the soft bag to be grabbed at the grabbing position according to the root position of the strap of the soft bag to be grabbed detected by the detection device; the translation mechanism is used to drive the grabbing mechanism to move to the lifting position after the grabbing mechanism grabs the root of the strap of the soft bag to be grabbed.

[0046] In this way, before the grasping device grasps the lifting strap, the detection device can detect the root position of the strap of the soft package to be grasped, so that the grasping mechanism in the grasping device can successfully grasp the root of the strap of the soft package to be grasped at the grasping position, and then drive the grasping mechanism to move to the lifting position for lifting through the translation mechanism, thereby making it easy to grasp the strap of the soft package to be grasped, and improving the loading and unloading efficiency of the soft package to be grasped.

[0047] Furthermore, since the root position of the strap deviates from the vertical center line of the soft bag to be grabbed, when the grabbing mechanism grabs the root of the strap at the grabbing position, the grabbing mechanism as a whole also deviates from the vertical center line of the grabbing device. If the soft bag to be grabbed is lifted directly at the grabbing position, the grabbing device will be lifted obliquely, that is, the vertical center line of the soft bag to be grabbed will deviate from the vertical center line of the grabbing device, increasing the risk of instability during the lifting process of the grabbing device. Therefore, the present application sets the grabbing mechanism at the grabbing position closer to the vertical center line of the grabbing device than the grabbing mechanism at the lifting position, so that after the grabbing mechanism grabs the root of the strap at the grabbing position, it can move to the lifting position, and make the grabbing mechanism closer to the vertical center line of the grabbing device, that is, make the vertical center line of the soft bag to be grabbed closer to the vertical center line of the grabbing device, and then during the lifting process at the lifting position, the grabbing device can be lifted more stably, thereby improving the loading and unloading reliability of the soft bag to be grabbed.

[0048] In addition, compared with the traditional method of directly grabbing the middle part of the strap, that is, grabbing the middle strap, the embodiment of the present application adopts a method of first detecting the position of the root of the strap through a detection device, and then directly using the grabbing mechanism to grab the root of the strap. On the one hand, compared with the randomness of the position of the middle strap, the root of the strap is directly connected to the edge fixing point above the soft bag to be grabbed, so its position is clearer and easier for the detection device to detect, which reduces the difficulty of detection and thus reduces the difficulty of grabbing; on the other hand, the position of the middle strap is not only random, but also may have the problem of uncertain front and back directions, that is, there is a problem of strap twisting, which is not conducive to detection. Since the root of the strap is fixed to the edge of the soft bag to be grabbed, it will not twist easily. Therefore, it is more conducive to detection by the detection device, making the detection more accurate.

[0049] See also Figure 1~Figure 3 , Figure 1 This is a schematic diagram of the structure of a soft package to be grabbed in one embodiment of the present application; Figure 2 A front view of a grabbing mechanism in a grabbing and lifting device for a soft bag in one or more embodiments of the present application in a grabbing position; Figure 3 for Figure 2 The front view of the grabbing mechanism in the side-shift grabbing and lifting device for soft packages is shown in the lifting position. The side-shift grabbing and lifting device for soft packages provided in one embodiment of the present application includes a detection device 10 and a grabbing device 20.

[0050] The detection device 10 is used to detect the root position of the strap of the soft package 200 to be grasped. The grasping device 20 includes a translation mechanism 21 and a grasping mechanism 22. The grasping mechanism 22 is connected to the translation mechanism 21. The translation mechanism 21 can drive the grasping mechanism 22 to perform translational movement between the grasping position and the lifting position. The grasping mechanism 22 in the grasping position is arranged closer to the vertical center line OO of the grasping device 20 than the grasping mechanism 22 in the lifting position. The detection device 10 is connected to the grasping device 20 for communication. The grasping mechanism 22 is used to grasp the root 2101 of the strap of the soft package 200 to be grasped at the grasping position according to the root position of the strap of the soft package 200 to be grasped detected by the detection device 10. The translation mechanism 21 is used to drive the grasping mechanism 22 to move to the lifting position after the grasping mechanism 22 grasps the root 2101 of the strap of the soft package 200 to be grasped.

[0051] The translation mechanism 21 is a mechanism that can make an object move linearly. The translation mechanism 21 can move in a single direction, for example Figure 2 The left and right directions shown, that is, the horizontal directions, may also be a combination of multiple directions, but only linear movement can be performed in each direction.

[0052] The gripping mechanism 22 is a mechanism capable of gripping an object and may include at least two claws 222 , and the object may be gripped or released by relative movement of the at least two claws 222 .

[0053] In actual applications, when the soft-bag side-moving grasping and lifting device 100 needs to grasp and lift the belt of the soft-bag 200 to be grasped, it will first move to the top of the central area of ​​the soft-bag 200 to be grasped, so that the vertical center line of the grasping device 20 passes through the central area of ​​the soft-bag 200 to be grasped as much as possible.

[0054] The soft bag 200 to be grabbed may be the ton bag mentioned in the above background technology, or may be other logistics packaging bags, material bags, etc.

[0055] It should also be pointed out that the soft bag used in the embodiment of the present application has a bag body 220 that can accommodate objects, and also includes a strap 210 connected to the bag body 220. The strap 210 can also be called a carrying strap, a carrying rope, a sling, etc.

[0056] The soft-package side-shifting grasping and lifting device 100 of the embodiment of the present application can detect the root position of the belt of the soft package 200 to be grasped by the detection device 10 before the grasping device 20 grasps the lifting belt 210, so that the grasping mechanism 22 in the grasping device 20 can successfully grasp the belt root 2101 of the soft package 200 to be grasped at the grasping position, and then drive the grasping mechanism 22 to move to the lifting position for lifting through the translation mechanism 21, thereby making it easy to grasp the belt 210 of the soft package 200 to be grasped, thereby improving the loading and unloading efficiency of the soft package 200 to be grasped.

[0057] Furthermore, since the root position of the strap deviates from the vertical center line of the soft package 200 to be grasped, when the grasping mechanism 22 grasps the root 2101 of the strap at the grasping position, the grasping mechanism 22 as a whole also deviates from the vertical center line OO of the grasping device 20. If the soft package 200 to be grasped is lifted directly at the grasping position, the grasping device 20 will be lifted at an angle, that is, the vertical center line of the soft package 200 to be grasped will deviate from the vertical center line OO of the grasping device 20, thereby increasing the risk of instability during the lifting process of the grasping device 20. Therefore, the present application sets the grasping mechanism 22 in the grasping position closer to the vertical center line OO of the grasping device 20 than the grasping mechanism 22 in the lifting position, so that after the grasping mechanism 22 grasps the root 2101 of the belt at the grasping position, it can move to the lifting position, and make the grasping mechanism 22 closer to the vertical center line OO of the grasping device 20, that is, make the vertical center line of the soft package 200 to be grasped closer to the vertical center line OO of the grasping device 20, and then in the lifting process at the lifting position, the grasping device 20 can be lifted more stably, thereby improving the loading and unloading reliability of the soft package 200 to be grasped.

[0058] In addition, compared with the traditional method of directly grabbing the middle part of the strap 210, that is, grabbing the middle strap 2102, the embodiment of the present application adopts the method of first detecting the position of the root of the strap through the detection device 10, and then directly using the grabbing mechanism 22 to grab the root 2101 of the strap. On the one hand, compared with the randomness of the position of the middle strap 2102, the root 2101 of the strap is directly connected to the edge fixing point above the soft bag 200 to be grabbed. Therefore, its position is clearer and the detection device 10 is easier to detect, which reduces the difficulty of detection and further reduces the difficulty of grabbing. On the other hand, the position of the middle strap 2102 is not only random, but also may have the problem of uncertain front and back directions, that is, there is a problem of strap twisting, which is not conducive to detection. The root 2101 of the strap is fixed to the edge of the soft bag 200 to be grabbed and will not twist easily. Therefore, it is more conducive to detection by the detection device 10, making the detection more accurate.

[0059] Specifically, in the embodiment of the present application, the vertical center line of the gripping mechanism 22 in the lifting position coincides with the vertical center line OO of the gripping device 20. At this time, the soft package 200 to be gripped is lifted, and the gripping device 20 can be more stable.

[0060] See also Figure 4 In some embodiments, the grabbing mechanism 22 has a grabbing through hole for the strap 210 of the soft bag 200 to be grabbed to pass through.

[0061] In this way, after the grasping mechanism 22 grasps the root 2101 of the strap of the soft bag 200 to be grasped at the grasping position, the strap 210 can be inserted into the grasping through hole, and when the grasping mechanism 22 moves to the lifting position, since the strap 210 is not bound by the grasping mechanism 22, it can move in the grasping through hole, so that the grasping position of the grasping mechanism 22 moves from the root 2101 of the strap to the middle strap 2102, and then when lifting at the lifting position, the soft bag 200 to be grasped can be lifted smoothly.

[0062] Of course, in other embodiments, after the grasping mechanism 22 grasps the root 2101 of the strap, the root 2101 of the strap can be fixed to the grasping mechanism 22. Then, when the grasping mechanism 22 moves to the lifting position, the grasping device 20 can pull the soft bag 200 to be grasped down or to a certain position and then lift it smoothly.

[0063] Please refer again Figure 2 and Figure 3 In some embodiments, the soft bag side-shifting grabbing and lifting device 100 also includes a mounting structure 30 , and the grabbing device 20 is mounted on the mounting structure 30 .

[0064] The mounting structure 30 may be a beam structure, a plate structure, a seat structure, or a combination of multiple structures, and is not specifically limited.

[0065] By providing the mounting structure 30 , the overall installation of the grabbing device 20 can be facilitated, and an installation foundation is provided for the grabbing device 20 .

[0066] In some cases, the soft-bag side-shifting grabbing and lifting device 100 can also be connected to external equipment through the mounting structure 30, for example, connected to a lifting device, a lifting device, etc. through the mounting structure 30.

[0067] Combination Figure 4 and Figure 5 Furthermore, the mounting structure 30 has a guide rail 31, the grabbing mechanism 22 has a slider 221, the slider 221 is connected to the translation mechanism 21, and the guide rail 31 cooperates with the slider 221 to guide the grabbing mechanism 22 to perform translational movement.

[0068] By arranging the guide rail 31 to cooperate with the slider 221 , the grabbing mechanism 22 can be driven by the translation mechanism 21 to perform translational motion more stably, thereby improving the reliability of the movement.

[0069] Specifically, the guide rail 31 extends along the translational movement direction of the gripping mechanism 22 .

[0070] In addition, one of the guide rail 31 and the slider 221 may have a sliding rib, and the other one may have a sliding groove. The guide rail 31 and the slider 221 may be matched in the form of a sliding rib and a sliding groove.

[0071] In some embodiments, the number of guide rails 31 and sliders 221 includes at least two, all sliders 221 are arranged at intervals from each other along a direction intersecting the direction of translational motion, and each guide rail 31 cooperates with a corresponding slider 221.

[0072] By providing at least two guide rails 31 and sliders 221 in one-to-one correspondence, the stability of the translational movement of the grasping mechanism 22 can be improved.

[0073] In the embodiment of the present application, the mounting structure 30 has two guide rails 31 , the grabbing mechanism 22 has two sliders 221 , and each guide rail 31 matches with a corresponding slider 221 .

[0074] In some embodiments, the soft bag side-shifting grasping and lifting device 100 also includes a lifting device, which is connected to the grasping device 20. The lifting device is also communicatively connected to the grasping device 20, and is used for the grasping mechanism 22 to grasp the root 2101 of the strap of the soft bag 200 to be grasped, and after the translation mechanism 21 drives the grasping mechanism 22 to move to the lifting position, it drives the grasping device 20 to rise.

[0075] In this way, the lifting device can be used to lift the soft package 200 to be grabbed. In addition, the present application directly uses the grabbing device 20 to grab the soft package 200 to be grabbed and then lift it, making the grabbing and lifting process simpler.

[0076] See also Figure 6 and Figure 7 In some embodiments, the gripping mechanism 22 includes at least two claws 222 and at least two claw driving members 223, and each claw driving member 223 is connected to a corresponding claw 222 to drive all the claws 222 to move closer to each other or away from each other.

[0077] Specifically, when all the claws 222 are close to each other, the belt 210 of the soft bag 200 to be grasped can be grasped, and when all the claws 222 are away from each other, the belt 210 of the soft bag 200 to be grasped can be loosened.

[0078] Since multiple claw driving members 223 are provided and connected to multiple claws 222 in a one-to-one correspondence, the claws 222 can be subjected to force and move independently of each other, thereby improving the gripping reliability of the gripping mechanism 22. The gripping force of the gripping mechanism 22 is stronger, and it is easier for the gripping device 20 to directly use the gripping mechanism 22 to grip the soft package 200 to be gripped for lifting.

[0079] Furthermore, the gripping mechanism 22 also includes a connecting seat 224, which is connected to the slider 221, and each claw driving member 223 has a claw telescopic end, one end of all the claws 222 is rotatably connected to the connecting seat 224, the claw telescopic end of each claw driving member 223 is rotatably connected to a corresponding claw 222, and the other end of each claw driving member 223 opposite to the claw telescopic end is rotatably connected to the slider 221, and is spaced apart from the connecting seat 224.

[0080] The method of driving the claw 222 to move by the claw extension end of the claw driving member 223 is reliable and stable, and the claw driving member 223 also occupies a small space.

[0081] Optionally, the claw driving member 223 may be an electric cylinder, an oil cylinder, or a pneumatic cylinder, etc., without limitation.

[0082] In other embodiments, a driving member may be used to drive the plurality of claws 222 to move simultaneously, so that the plurality of claws 222 move closer to each other or move away from each other.

[0083] In the embodiment of the present application, the detection device 10 is disposed on the gripping mechanism 22 .

[0084] Since the grasping mechanism 22 can be translated to the grasping position, it is closer to the root 2101 of the strap of the soft bag 200 to be grasped. Therefore, setting the detection device 10 on the grasping mechanism 22 can improve the detection accuracy of the detection device 10 and simplify the detection method of the detection device 10.

[0085] Furthermore, the root 2101 of the strap of the soft package 200 to be grasped is provided with an identification mark, and the detection device 10 is used to detect the identification mark to determine the root position of the strap of the soft package 200 to be grasped.

[0086] The identification mark is a mark that can be detected and identified by the detection device 10, which is the root 2101 of the strap of the soft bag 200 to be grabbed. The mark can be a sound mark, a color mark, an image mark, a picture mark, a text mark, etc.

[0087] By providing an identification mark at the root portion 2101 of the strap of the soft package 200 to be grasped, the root portion 2101 of the strap can be distinguished from other parts of the strap 210, thereby reducing the detection difficulty of the detection device 10 and improving the detection accuracy.

[0088] Preferably, the identification mark is a color mark. And the detection device 10 is provided to include a photoelectric detection switch, which can perform identification detection by emitting a light beam to the color mark and then reflecting the light.

[0089] In the related art, visual systems are often used for identification and detection, but they are easily disturbed by external light and environmental smoke, resulting in low detection accuracy and high cost. However, the present application uses a photoelectric detection switch to detect color identification, which can eliminate the influence of external light interference, improve detection accuracy, and the setting of the soft bag 200 to be grabbed is also relatively simple.

[0090] Please refer again Figure 2 and Figure 3 In order to enable the detection device 10 to quickly detect the root position of the strap of the soft package to be grasped above the soft package 200 to be grasped, in an embodiment of the present application, the soft package side-shifting grasping and lifting device 100 also includes a rotating mechanism 40, and the grasping device 20 is arranged on the rotating mechanism 40. The rotating mechanism 40 is used to drive the grasping device 20 to rotate around the axis, so that the detection device 10 can detect the root position of the strap of the soft package to be grasped 200 during the rotation of the grasping device 20.

[0091] In practical applications, the soft package side-shift grabbing and lifting device 100 can first move to the top of the central area of ​​the soft package 200 to be grabbed before performing the grabbing and lifting operation, and then control the swivel mechanism 40 to drive the grabbing device 20 to rotate around the axis, so that the detection device 10 rotates with the grabbing device 20 to detect the root position of the strap of the soft package 200 to be grabbed. After the root position of the strap of the soft package 200 to be grabbed is detected, the swivel mechanism 40 stops rotating and controls the grabbing mechanism 22 to grab the root 2101 of the strap of the soft package 200 to be grabbed at the grabbing position.

[0092] It can be understood that the rotating mechanism 40 can also be connected to the detection device 10 for communication. The detection device 10 is used to detect the root position of the strap of the soft bag 200 to be grasped when the rotating mechanism 40 drives the grasping device 20 to rotate around the axis.

[0093] Specifically, the swivel mechanism 40 can be connected to the gripping device 20 through the mounting structure 30. In this way, the connection relationship between the swivel mechanism 40 and the components of the gripping device 20 can be simplified.

[0094] In some embodiments, the rotating mechanism 40 includes a rotating motor and a rotating reducer, the output end of the rotating motor is connected to the rotating reducer, and the output end of the rotating reducer is connected to the mounting structure 30 to drive the mounting structure 30 to rotate around the axis.

[0095] By providing a rotary motor connected to the mounting structure 30 via a rotary reducer, the stability of the mounting structure 30 rotating around the axis is improved, and the rotation control accuracy is also high.

[0096] Specifically, the grabbing device 20 is disposed on one side of the mounting structure 30 , and the rotating mechanism 40 is disposed on the other side opposite to the mounting structure 30 .

[0097] Combination Figure 5 In some embodiments, the grasping device 20 includes two translation mechanisms 21 and two grasping mechanisms 22. The two grasping mechanisms 22 are symmetrically arranged along the vertical center line OO of the grasping device 20, and each translation mechanism 21 is connected to a corresponding grasping mechanism 22.

[0098] By providing two symmetrical grasping mechanisms 22, the root portions 2101 of the strap 210 on both sides can be grasped at the same time, thereby improving the grasping efficiency.

[0099] Furthermore, the lifting positions of the two gripping mechanisms 22 coincide with each other.

[0100] Since the lifting positions of the grabbing mechanisms 22 overlap, by setting the grabbing of the belt root 2101 of the soft package 200 to be grabbed, only one of the grabbing devices 20 is controlled to grab, so that the two grabbing mechanisms 22 can avoid colliding with each other in the lifting position when grabbing the belt root 2101 at the same time. And the lifting positions of the two grabbing mechanisms 22 can overlap, which can also reduce the risk of deflection of each grabbing mechanism 22 in the process of lifting the soft package 200 to be grabbed, and improve the loading and unloading reliability of the soft package 200 to be grabbed.

[0101] In some embodiments, when the detection device 10 is disposed on the gripping mechanism 22, and the soft bag side-shifting gripping and lifting device 100 includes a rotating mechanism 40, since two gripping mechanisms 22 are provided, a detection device 10 can be provided on each of the two gripping mechanisms 22. When the rotating mechanism 40 drives the two gripping mechanisms 22 to rotate at the same time, the root position of the strap can be detected within a range of 180 degrees through the detection device 10 on any gripping mechanism 22, thereby improving the detection efficiency.

[0102] In the embodiment of the present application, in addition to the above-mentioned detection device 10, the soft bag side shift grabbing and lifting device 100 also includes a distance measuring device 50, which is used to detect the distance value between it and the soft bag to be grabbed 200. The distance measuring device 50 is connected to the detection device 10 for communication, and the detection device 10 is used to detect the root position of the belt of the soft bag to be grabbed 200 when the distance value between the distance measuring device 50 and the soft bag to be grabbed 200 reaches a first preset distance value.

[0103] By providing the distance measuring device 50, the distance between the grasping device 20 and the soft package 200 to be grasped can be within a suitable range, so that the detection device 10 can successfully detect the root position of the strap of the soft package 200 to be grasped, thereby improving the accuracy of the detection. In addition, when the distance between the grasping device 20 and the soft package 200 to be grasped is within a suitable range, the grasping device 20 can also move above the soft package 200 to be grasped without interference, and accurately grasp the strap 210 of the soft package 200 to be grasped.

[0104] Specifically, the distance measuring device 50 may include a laser distance measuring sensor, an infrared distance measuring sensor, an ultrasonic distance measuring sensor, or the like.

[0105] Furthermore, the distance measuring device 50 is also communicatively connected with the lifting device, and the lifting device is used to drive the grasping device 20 to descend according to the detection of the root position of the strap of the soft package 200 to be grasped by the detection device 10, until the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped reaches a second preset distance value, and then stops descending. The grasping mechanism 22 is used to grasp the root 2101 of the strap of the soft package 200 to be grasped at the grasping position after the lifting device stops descending.

[0106] In some embodiments, the lifting device is also used to drive the grasping device 20 to rise to a preset height after the grasping mechanism 22 grasps the root 2101 of the strap of the soft package 200 to be grasped. The distance measuring device 50 is also used to detect the distance value between the grasping device 20 and the strap 210 of the soft package 200 to be grasped during the rising process of the grasping device 20. The translation mechanism 21 is used to drive the grasping mechanism 22 to move to the lifting position when the distance measuring device 50 detects that the distance value between it and the strap 210 of the soft package 200 to be grasped has not changed or has changed within a preset distance value range.

[0107] It can be understood that after the grasping mechanism 22 successfully grasps the root 2101 of the strap of the soft package 200 to be grasped, if the grasping device 20 rises, the strap 210 or the root 2101 of the strap will rise with the grasping device 20, instead of remaining in the original position of the soft package 200 to be grasped. Therefore, when using the distance measuring device 50 to measure the distance of the strap 210 of the soft package 200 to be grasped, if the distance value does not change or changes within the preset distance value range, it means that the grasping mechanism 22 has successfully grasped the root 2101 of the soft package 200 to be grasped. If the distance value gradually increases, it means that the grasping mechanism 22 has not successfully grasped the root 2101 of the soft package 200 to be grasped.

[0108] Therefore, the method of the present application for confirming whether the grasping mechanism 22 has successfully grasped the strap root 2101 of the soft bag 200 to be grasped by the distance measuring device 50 is simple, and no other detection device is needed for detection, thereby simplifying the overall structure.

[0109] In other embodiments, other detection devices may also be provided to detect whether the grasping mechanism 22 has successfully grasped the strap root 2101 of the soft package 200 to be grasped, and the specifics are not limited.

[0110] In some embodiments, the distance measuring device 50 can be directly disposed on the gripping device 20 to improve the accuracy of distance measurement. Specifically, the distance measuring device 50 is disposed on the gripping mechanism 22.

[0111] That is to say, the detection device 10 and the distance measuring device 50 can be arranged on the gripping mechanism 22 at the same time. It should be pointed out that in order to prevent the movement of the claw 222 of the gripping mechanism 22 from interfering with the detection of the detection device 10 and the distance measuring device 50, the detection device 10 and the distance measuring device 50 can be arranged on a connecting seat 224 that is rotatably connected to the two claws 222. Specifically, the detection device 10 and the distance measuring device 50 are respectively arranged on opposite sides of the connecting seat 224, so that the detections on both sides do not interfere with each other.

[0112] See also Figure 8 Based on the same inventive concept, the present application also provides a soft bag side-shifting, grabbing and lifting method, which is applied to the soft bag side-shifting, grabbing and lifting device 100 in any of the above embodiments, comprising the steps of:

[0113] S100: Control the detection device 10 to detect the root position of the belt of the soft bag 200 to be grasped;

[0114] S200: According to the position of the root of the strap of the soft package 200 to be grasped detected by the detection device 10, the grasping mechanism 22 is controlled to grasp the root 2101 of the strap of the soft package 200 to be grasped at the grasping position;

[0115] S300: Confirm that the grasping mechanism 22 grasps the root 2101 of the strap of the soft package 200 to be grasped, and control the translation mechanism 21 to drive the grasping mechanism 22 to move to the lifting position.

[0116] The soft package side-shifting grasping and lifting method of the embodiment of the present application can detect the root position of the belt of the soft package 200 to be grasped by the detection device 10 before the grasping device 20 grasps the lifting belt 210, so that the grasping mechanism 22 in the grasping device 20 can successfully grasp the belt root 2101 of the soft package 200 to be grasped at the grasping position, and then drive the grasping mechanism 22 to move to the lifting position for lifting through the translation mechanism 21, thereby making it easy to grasp the belt 210 of the soft package 200 to be grasped, thereby improving the loading and unloading efficiency of the soft package 200 to be grasped.

[0117] Furthermore, since the root position of the strap deviates from the vertical center line of the soft package 200 to be grasped, when the grasping mechanism 22 grasps the root 2101 of the strap at the grasping position, the grasping mechanism 22 as a whole also deviates from the vertical center line OO of the grasping device 20. If the soft package 200 to be grasped is lifted directly at the grasping position, the grasping device 20 will be lifted at an angle, that is, the vertical center line of the soft package 200 to be grasped will deviate from the vertical center line OO of the grasping device 20, thereby increasing the risk of instability during the lifting process of the grasping device 20. Therefore, the present application sets the grasping mechanism 22 in the grasping position closer to the vertical center line OO of the grasping device 20 than the grasping mechanism 22 in the lifting position, so that after the grasping mechanism 22 grasps the root 2101 of the belt at the grasping position, it can move to the lifting position, and make the grasping mechanism 22 closer to the vertical center line OO of the grasping device 20, that is, make the vertical center line of the soft package 200 to be grasped closer to the vertical center line OO of the grasping device 20, and then in the lifting process at the lifting position, the grasping device 20 can be lifted more stably, thereby improving the loading and unloading reliability of the soft package 200 to be grasped.

[0118] In addition, compared with the traditional method of directly grabbing the middle part of the strap 210, that is, grabbing the middle strap 2102, the embodiment of the present application adopts the method of first detecting the position of the root of the strap through the detection device 10, and then directly using the grabbing mechanism 22 to grab the root 2101 of the strap. On the one hand, compared with the randomness of the position of the middle strap 2102, the root 2101 of the strap is directly connected to the edge fixing point above the soft bag 200 to be grabbed. Therefore, its position is clearer and the detection device 10 is easier to detect, which reduces the difficulty of detection and further reduces the difficulty of grabbing. On the other hand, the position of the middle strap 2102 is not only random, but also may have the problem of uncertain front and back directions, that is, there is a problem of strap twisting, which is not conducive to detection. The root 2101 of the strap is fixed to the edge of the soft bag 200 to be grabbed and will not twist easily. Therefore, it is more conducive to detection by the detection device 10, making the detection more accurate.

[0119] In some embodiments, step S100 specifically includes:

[0120] The control detection device 10 detects the identification mark to determine the root position of the belt of the soft package 200 to be grasped; wherein the identification mark is set at the root 2101 of the belt of the soft package 200 to be grasped.

[0121] By providing an identification mark at the root 2101 of the strap of the soft package 200 to be grasped, the root 2101 of the strap can be distinguished from other parts of the strap, thereby reducing the detection difficulty of the detection device 10 and improving the detection accuracy.

[0122] In some embodiments, step S100 specifically includes:

[0123] S110: Control the rotating mechanism 40 to drive the grasping device 20 to rotate around the axis, so that the detection device 10 detects the root position of the strap of the soft package 200 to be grasped during the rotation of the grasping device 20;

[0124] S120: When the detection device 10 detects the root position of the strap of the soft package 200 to be grasped, the rotating mechanism 40 is controlled to stop rotating.

[0125] In this way, when the rotary mechanism 40 drives the grasping device 20 to rotate around the axis, the detection device 10 can quickly detect the root position of the strap of the soft package 200 to be grasped, thereby improving the detection speed.

[0126] In some embodiments, before step S100, the method further includes:

[0127] S50: controlling the distance measuring device 50 to detect the distance between it and the soft package 200 to be grasped;

[0128] Step S100 specifically includes:

[0129] When the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped reaches the first preset distance value, the detection device 10 is controlled to detect the root position of the strap of the soft package 200 to be grasped.

[0130] The first preset distance value may be pre-set. For example, the first preset distance value may be manually determined and stored in advance in the memory of the distance measuring device 50. After the installation position of the distance measuring device 50 on the grasping device 20 is confirmed, the distance measuring device 50 may be manually debugged to determine in advance the optimal distance value for the distance measuring device 50 to detect the root position of the strap of the soft bag 200 to be grasped, and the optimal distance value may be used as the first preset distance value.

[0131] It should be pointed out here that when the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped does not reach the first preset distance value, the lifting device is controlled to drive the grasping device 20 to descend until the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped reaches the first preset distance value.

[0132] When the distance value between the distance measuring device 50 and the soft package 200 to be grasped reaches the first preset distance value, the detection device 10 is controlled to detect the root position of the strap of the soft package 200 to be grasped, so that the distance between the grasping device 20 and the soft package 200 to be grasped is within a suitable range, so that the detection device 10 can successfully detect the root position of the strap of the soft package 200 to be grasped, thereby improving the accuracy of the detection. In addition, when the distance between the grasping device 20 and the soft package 200 to be grasped is within a suitable range, the grasping device 20 can also move above the soft package 200 to be grasped without interference, and accurately grasp the strap 210 of the soft package 200 to be grasped.

[0133] In some embodiments, before step S100, the method further includes:

[0134] S20: In response to the instruction to grab the soft package to be grabbed, the translation mechanism 21 is controlled to drive the grabbing mechanism 22 to move to the grabbing position.

[0135] Since the gripping mechanism 22 grips the root 2101 of the strap of the soft package 200 to be gripped at the gripping position, the gripping position is closer to the root 2101 of the strap of the soft package 200 to be gripped relative to the lifting position. When the detection device 10 is arranged on the gripping mechanism 22, the detection device 10 will also be closer to the root 2101 of the strap of the soft package 200 to be gripped, which enables more convenient detection and higher detection accuracy.

[0136] In some embodiments, step S200 specifically includes:

[0137] According to the detection device 10 detecting the root position of the strap of the soft package 200 to be grasped, the lifting device is controlled to drive the grasping device 20 to descend until the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped reaches a second preset distance value, then stops descending, and controls the grasping mechanism 22 to grasp the root 2101 of the strap of the soft package 200 to be grasped at the grasping position.

[0138] The second preset distance value may also be pre-set. For example, the second preset distance value may be manually determined and stored in advance in the memory of the distance measuring device 50. After the installation position of the distance measuring device 50 on the grasping device 20 is confirmed, the distance measuring device 50 may be manually debugged to determine in advance the optimal distance value of the belt root 2101 of the soft bag 200 to be grasped so that the grasping mechanism 22 can successfully grasp the soft bag 200 to be grasped at the grasping position, and the optimal distance value may be used as the second preset distance value.

[0139] In this way, the grasping device 20 is brought closer to the strap 210 of the soft package 200 to be grasped, so as to improve the success rate of grasping.

[0140] In some embodiments, step S300 specifically includes:

[0141] After the grasping mechanism 22 grasps the root 2101 of the strap of the soft package 200 to be grasped, the lifting device is controlled to drive the grasping device 20 to rise to a preset height, and the distance measuring device 50 is controlled to detect the distance value between it and the strap 210 of the soft package 200 to be grasped; if the distance measuring device 50 detects that the distance value between it and the strap 210 of the soft package 200 to be grasped does not change or changes within the preset distance value range, the translation mechanism 21 is controlled to drive the grasping mechanism 22 to move to the lifting position.

[0142] It can be understood that after the grasping mechanism 22 successfully grasps the root 2101 of the strap of the soft package 200 to be grasped, if the grasping device 20 rises, the strap 210 or the root 2101 of the strap will rise with the grasping device 20, instead of remaining in the original position of the soft package 200 to be grasped. Therefore, when using the distance measuring device 50 to measure the distance of the strap 210 of the soft package 200 to be grasped, if the distance value does not change or changes within the preset distance value range, it means that the grasping mechanism 22 has successfully grasped the root 2101 of the soft package 200 to be grasped. If the distance value gradually increases, it means that the grasping mechanism 22 has not successfully grasped the root 2101 of the soft package 200 to be grasped.

[0143] Therefore, the method of the present application for confirming whether the grasping mechanism 22 has successfully grasped the strap root 2101 of the soft package 200 to be grasped by the distance measuring device 50 is simple and does not require the use of other detection devices for detection.

[0144] In order to more clearly understand the soft bag side shifting grabbing and lifting method of the embodiment of the present application, a specific embodiment is described below:

[0145] 1) When there is a need to grab a ton bag, the translation mechanism 21 drives the grabbing mechanism 22 to move to the grabbing position;

[0146] 2) The lifting device descends for the first time, causing the grabbing device 20 to descend until the distance measuring device 50 detects that the distance between it and the ton bag reaches a first preset distance value, and then stops descending;

[0147] 3) The rotary mechanism 40 drives the grabbing device 20 to rotate around the axis, so that the detection device 10 detects the root position of the strap of the ton bag during the rotation of the grabbing device 20;

[0148] 4) When the detection device 10 detects the root position of the strap of the ton bag, the rotating mechanism 40 stops rotating;

[0149] 5) The lifting device descends again by a certain distance, so that the grabbing device 20 descends again, until the distance measuring device 50 detects that the distance between it and the ton bag reaches the second preset distance value, and then stops descending; it should be pointed out that the further descent here is to enable the grabbing mechanism 22 to grab the ton bag, and the previous descent before the detection by the detection device 10 is to make the detection device 10 close to the root of the strap of the ton bag, so as to detect the root position of the strap of the ton bag during the rotation of the grabbing device 20;

[0150] 6) The grabbing mechanism 22 grabs the root of the strap of the ton bag;

[0151] 7) The lifting device rises to a preset height. If the distance measuring device 50 detects that the distance between it and the strap of the ton bag remains unchanged or changes within a small range, it means that the grabbing mechanism 22 has successfully grabbed the strap of the ton bag. If the distance measuring device 50 detects that the distance between it and the strap of the ton bag is increasing, it means that the grabbing mechanism 22 has not successfully grabbed the strap of the ton bag and needs to return to step 2) or 5) to grab again.

[0152] 8) If the strap of the ton bag is successfully grabbed, the translation mechanism 21 drives the grabbing mechanism 22 to move to the lifting position;

[0153] 9) The lifting device rises to make the grabbing device 20 rise, and at this time, the ton bag is lifted.

[0154] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0155] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A soft bag side-shifting grabbing and lifting device, characterized in that: include: A detection device, used to detect the root position of the strap of the soft bag to be grabbed; as well as A gripping device, comprising a translation mechanism and a gripping mechanism, wherein the gripping mechanism is connected to the translation mechanism, and the translation mechanism can drive the gripping mechanism to perform a translation movement between a gripping position and a lifting position; Wherein, the gripping mechanism in the gripping position is arranged closer to the vertical center line of the gripping device than the gripping mechanism in the lifting position; The detection device is communicatively connected with the grasping device, and the grasping mechanism is used to grasp the root of the strap of the soft package to be grasped at the grasping position according to the root position of the strap of the soft package to be grasped detected by the detection device; the translation mechanism is used to drive the grasping mechanism to move to the lifting position after the grasping mechanism grasps the root of the strap of the soft package to be grasped.

2. The soft bag side-shifting grabbing and lifting device according to claim 1 is characterized in that: The soft bag side-shifting grabbing and lifting device also includes a mounting structure, and the grabbing device is mounted on the mounting structure; The mounting structure has a guide rail, the grabbing mechanism has a slider, the translation mechanism is connected to the slider, and the guide rail cooperates with the slider to guide the grabbing mechanism to perform translation movement.

3. The soft bag side-shifting grabbing and lifting device according to claim 2 is characterized in that: The gripping mechanism comprises at least two claws and at least two claw driving members, each of the claw driving members is connected to a corresponding claw to drive all the claws to move closer to each other or away from each other.

4. The soft bag side-shifting grabbing and lifting device according to claim 3 is characterized in that: The gripping mechanism also includes a connecting seat, which is connected to the slider, each of the claw driving members has a claw telescopic end, one end of all the claws is rotatably connected to the connecting seat, the claw telescopic end of each claw driving member is rotatably connected to a corresponding claw, and the other end of each claw driving member opposite to the claw telescopic end is rotatably connected to the slider and spaced apart from the connecting seat.

5. The soft bag side-shifting grabbing and lifting device according to any one of claims 1 to 4, characterized in that: The grabbing device comprises two translation mechanisms and two grabbing mechanisms. The two grabbing mechanisms are symmetrically arranged along the vertical center line of the grabbing device. Each translation mechanism is connected to a corresponding grabbing mechanism. The lifting positions of the two grabbing mechanisms overlap.

6. The soft bag side-shifting grabbing and lifting device according to any one of claims 1 to 4, characterized in that: The detection device is arranged on the grasping mechanism.

7. The soft bag side-shifting grabbing and lifting device according to claim 6 is characterized in that: The root of the strap of the soft package to be grasped is provided with an identification mark, and the detection device is used to detect the identification mark to determine the root position of the strap of the soft package to be grasped.

8. The soft bag side-shifting grabbing and lifting device according to claim 6 is characterized in that: The soft bag side-shifting grasping and lifting device also includes a rotating mechanism, the grasping device is arranged on the rotating mechanism, and the rotating mechanism is used to drive the grasping device to rotate around the axis so that the detection device can detect the root position of the belt of the soft bag to be grasped during the rotation of the grasping device.

9. The soft bag side-shifting, grabbing and lifting device according to any one of claims 1 to 4, characterized in that: The soft bag side-shifting grabbing and lifting device also includes a distance measuring device, which is used to detect the distance value between the distance measuring device and the soft bag to be grabbed; The distance measuring device is communicatively connected to the detection device, and the detection device is used to detect the root position of the strap of the soft bag to be grasped when the distance value between the distance measuring device and the soft bag to be grasped reaches a first preset distance value.

10. The soft bag side-shifting grabbing and lifting device according to claim 9, characterized in that: The soft bag side-shifting grabbing and lifting device also includes a lifting device, and the lifting device is connected to the grabbing device; The lifting device is communicatively connected with the grasping device and the distance measuring device, and is used to drive the grasping device to rise to a preset height after the grasping mechanism grasps the root of the strap of the soft package to be grasped; the distance measuring device is also used to detect the distance value between the grasping device and the strap of the soft package to be grasped during the rising process of the grasping device; the translation mechanism is also used to drive the grasping mechanism to move to the lifting position when the distance measuring device detects that the distance value between the grasping device and the strap of the soft package to be grasped does not change or changes within a preset distance value range.

Images