Bag clamp and bag clamping method

Abstract

The present invention relates to the technical field of logistics equipment, and discloses a bag clamp, which includes: a first mounting portion, the top end of which is used to connect to the execution end of a bag clamping device; a telescopic mechanism, the top end of which is connected to the first mounting portion; a pick-and-place assembly, which is rotatably connected to the bottom end of the telescopic mechanism, and the pick-and-place assembly is used to pick and place the bag; wherein the telescopic mechanism is provided with at least three, and several of the telescopic mechanisms are arranged in parallel. The present invention also discloses a bag clamping method. The bag clamp and bag clamping method of the embodiments of the present invention can solve the problem that the depalletizing robot in the prior art has poor adaptability to the chopping shape and specifications of goods, and often suffers from serious bag breakage or damage to goods.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment, and in particular to a bag clamp and a bag clamping method. Background Art

[0002] At present, with the gradual improvement of automation, the field of intelligent logistics has been rapidly developed. There are more and more cargo loading and unloading tasks in warehouses, factory workshops, ports and docks, and there is an urgent need for highly intelligent and flexible depalletizing robots to replace manual depalletizing. However, traditional depalletizing robots have poor adaptability to the types and specifications of goods, and often cause serious package breakage or damage to goods, which will cause great economic losses. Summary of the invention

[0003] The technical problem to be solved by the present invention is: the present invention provides a bag clamp and a bag clamping method to solve the problem that the depalletizing robot in the prior art has poor adaptability to the chopping shape and specifications of goods, and often suffers from serious bag breakage or damage to goods.

[0004] In order to solve the above technical problems, the present invention provides a bag clamp, which includes:

[0005] A first mounting portion, the top end of which is used to connect to the execution end of the clamping device;

[0006] A telescopic mechanism, a top end of which is connected to the first mounting portion;

[0007] A pick-and-place assembly, which is rotatably connected to the bottom end of the telescopic mechanism, and is used to pick up and place the bag;

[0008] There are at least three telescopic mechanisms, and several of the telescopic mechanisms are arranged in parallel.

[0009] Optionally, there are four telescopic mechanisms, and the four telescopic mechanisms are arranged in a rectangular array at the bottom end of the first mounting portion.

[0010] Optionally, the top end of the telescopic mechanism is connected to the top end of the first mounting portion, and the power output end of the telescopic mechanism is rotatably connected to the top end of the pick-and-place assembly.

[0011] Optionally, the telescopic mechanism is connected to a pressure regulating unit that drives it to operate in a high-pressure state or a low-pressure state.

[0012] Optionally, the top end of the telescopic mechanism is connected to the top end of the first mounting portion via a first universal connector.

[0013] Optionally, the first universal joint includes a universal joint bearing and a connecting rod, the universal joint bearing is arranged on the first mounting portion, and the universal joint bearing is sleeved on the connecting rod;

[0014] The bottom end of the connecting rod is connected to the top end of the telescopic mechanism.

[0015] Optionally, the pick-and-place assembly is connected to the bottom end of the telescopic mechanism via a second universal connector, the second universal connector is a spherical joint bearing, the fixed end of the spherical joint bearing is fixed to the bottom end of the telescopic mechanism, and the movable end of the spherical joint bearing is rotatably connected to the pick-and-place assembly.

[0016] Optionally, the pick-and-place assembly includes a second mounting portion, a suction cup, a control valve and a vacuum device, the top of the second mounting portion is connected to the second universal joint, the suction cup is connected to the top of the second universal joint, and the suction cup is connected to the vacuum device through the control valve.

[0017] Optionally, the pick-and-place assembly further includes a vacuum detection device for detecting whether the suction cup is in a vacuum state.

[0018] Optionally, the bag clamp of the present invention further includes a limiting mechanism for limiting the movement of the telescopic mechanism on the X-axis and the Y-axis.

[0019] Optionally, the limiting mechanism includes two air claws and a pushing cylinder, the pushing cylinder is arranged at the bottom end of the first mounting part, the two air claws are arranged at the power output end of the pushing cylinder, and the pushing cylinder drives the two air claws to move relative to or toward each other along the X-axis or Y-axis.

[0020] In order to achieve the same purpose, an embodiment of the present invention further provides a method for clamping a bag by a bag clamp, wherein the bag clamp comprises a first mounting portion, a telescopic mechanism and a pick-and-place assembly, wherein the telescopic mechanism is connected to the first mounting portion, and a power output end of the telescopic mechanism is rotatably connected to the top end of the pick-and-place assembly, which comprises the following steps:

[0021] S1, descending stage: each of the telescopic mechanisms extends to move the pick-and-place assembly downward to a pick-up preparation position;

[0022] S2, damping preparation stage: adjusting the pressure of each telescopic mechanism to a low pressure state;

[0023] S3, damping picking stage: the bag clamp is moved downward so that the pick-and-place assembly contacts the bag and performs compliance changes according to the shape of the bag. During the compliance change process, the power output end of each telescopic mechanism will contract to different degrees. If the suction cup of the pick-and-place assembly can form a vacuum after the compliance change, step S5 is performed; if the suction cup of the pick-and-place assembly cannot form a vacuum after the compliance change, step S4 is performed;

[0024] S4, high-pressure deviation correction stage: adjusting the pressure of each telescopic mechanism to a high-pressure state, repeatedly pressing down one of the telescopic mechanisms, or pressing down two or more of the telescopic mechanisms simultaneously, or pressing down multiple telescopic mechanisms in sequence, until the suction cup of the pick-and-place component can form a vacuum;

[0025] S5, lifting stage: the bag clamp is lifted upward, and when the bag is lifted, the telescopic mechanism is retracted to move the pick-and-place assembly upward to a placement preparation position.

[0026] Compared with the prior art, the bag clamp and bag clamping method of the embodiment of the present invention have the following beneficial effects:

[0027] The bag clamp of the embodiment of the present invention is provided with a telescopic mechanism, and the telescopic movement of the telescopic mechanism can drive the pick-and-place assembly to move along the Z axis, and because the top end of the telescopic mechanism is rotatably connected to the top end of the first mounting portion, the telescopic mechanism and the pick-and-place assembly can move along the X axis and the Y axis;

[0028] In addition, the pick-and-place assembly is rotatably connected to the bottom end of the telescopic mechanism. When the telescopic amounts of the telescopic mechanisms are the same, the pick-and-place assembly can move along the Z axis. When the telescopic amounts of the telescopic mechanisms are different, a height difference in the Z direction will be generated at the top of the pick-and-place assembly, so that the pick-and-place assembly can rotate around the X axis and the Y axis.

[0029] At the same time, the top end of the first mounting portion is used to connect to the execution end of the bag clamping device, and the bag clamping device can drive the entire bag clamp to rotate around the Z axis;

[0030] Therefore, the bag clamp of the embodiment of the present invention has six degrees of freedom in space, and the pick-and-place component can rotate and translate arbitrarily in space according to the shape of the bag, until the catching surface of the pick-and-place component is adapted to the shape of the bag, thereby improving the adaptability of the bag clamp to the bag and improving the success rate of bag depalletizing, and thus having a certain degree of promotion;

[0031] The bag clamping method of the embodiment of the present invention extends each telescopic mechanism in the descending stage until the pick-up and placement assembly moves down to the pick-up preparation position, so that the bag clamp can clamp the bag in the pick-up area; adjusts the pressure of each telescopic mechanism to a low pressure state in the damping preparation stage, so that the power output end of the telescopic mechanism can move smoothly, thereby facilitating the compliance change process of the bag clamp; moves the bag clamp downward as a whole and each telescopic mechanism complies in the damping picking stage, so that the pick-up and placement assembly can achieve preliminary suction of the bag; adjusts the pressure of each telescopic mechanism to a high pressure state in the high pressure correction stage, and Repeatedly press down one of the telescopic mechanisms, two of the telescopic mechanisms, or multiple telescopic mechanisms in sequence. During the pressing process of the telescopic mechanisms, a height difference in the Z direction will be generated at the top of the pick-and-place assembly, and the pick-and-place assembly can rotate around the X-axis and the Y-axis. At the same time, the movement of the telescopic mechanisms in the X-axis, Y-axis and Z-axis directions, and the rotation of the entire bag clamp around the Z-axis enable the pick-and-place assembly to adapt to bags of different shapes, thereby enabling the suction cup of the pick-and-place assembly to form a vacuum. By retracting each telescopic mechanism in the lifting stage, damage to the telescopic mechanism in the extended state during operation of the bag clamp can be avoided.

[0032] Therefore, the bag clamping method of the embodiment of the present invention can improve the adaptability of the bag clamp to the bag and the success rate of bag depalletizing, and thus has certain promotional value. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The structure of the bag clamp of the embodiment of the present invention is schematically shown when the telescopic mechanism is in a contracted state. Figure 1 .

[0034] Figure 2 yes Figure 1 Schematic diagram of the structure at A.

[0035] Figure 3 The structure of the bag clamp of the embodiment of the present invention is schematically shown when the telescopic mechanism is in a contracted state. Figure 2 .

[0036] Figure 4 yes Figure 3 Schematic diagram of the structure at B.

[0037] Figure 5 The structure of the bag clamp of the embodiment of the present invention is shown in the state where the telescopic mechanism is in the extended state. Figure 1 .

[0038] Figure 6 The structure of the bag clamp of the embodiment of the present invention is shown in the state where the telescopic mechanism is in the extended state. Figure 2 .

[0039] Figure 7Schematic diagram of the structure of the bag clamp in a compliant state according to an embodiment of the present invention.

[0040] Figure 8 1 is a mechanical schematic diagram of a bag clamp according to an embodiment of the present invention.

[0041] In the figure, 1, first mounting part; 2, telescopic mechanism; 3, pick-and-place assembly; 31, second mounting part; 32, suction cup; 4, first universal joint; 41, universal joint bearing; 42, connecting rod; 5, second universal joint; 51, fixed end; 52, movable end; 6, limiting mechanism; 61, air claw; 62, pushing cylinder; 7, rotating shaft; 8, bracket. DETAILED DESCRIPTION

[0042] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0043] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “top” and “bottom” are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do 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 invention.

[0044] like Figures 1 to 8 As shown, a preferred embodiment of the present invention provides a bag clamp, which includes:

[0045] A first mounting portion 1, the top end of which is used to connect to the execution end of the clamping device;

[0046] The telescopic mechanism 2 has a top end rotatably connected to the first mounting portion 1;

[0047] A pick-and-place assembly 3, which is rotatably connected to the bottom end of the telescopic mechanism 2, and the pick-and-place assembly 3 is used for picking up and placing bags;

[0048] There are at least three telescopic mechanisms 2, and the telescopic mechanisms 2 are arranged in a ring around the Z axis.

[0049] Based on the above configuration, the bag clamp of the embodiment of the present invention is provided with a telescopic mechanism 2, and the telescopic movement of the telescopic mechanism 2 can drive the pick-and-place assembly 3 to move along the Z axis, and because the top end of the telescopic mechanism 2 is rotatably connected to the top end of the first mounting portion 1, the top end of the telescopic mechanism 2 can rotate within the first mounting portion 1, so that the telescopic mechanism 2 and the pick-and-place assembly 3 can move along the X axis and the Y axis;

[0050] In addition, the pick-and-place assembly 3 is rotatably connected to the bottom end of the telescopic mechanism 2. When the telescopic amounts of the telescopic mechanisms 2 are the same, the pick-and-place assembly 3 can move along the Z axis; when the telescopic amounts of the telescopic mechanisms 2 are different, a height difference in the Z direction will be generated at the top of the pick-and-place assembly 3, so that the pick-and-place assembly 3 can rotate around the X axis and the Y axis.

[0051] At the same time, the top end of the first mounting portion 1 is used to connect the execution end of the bag clamping device, and the bag clamping device can drive the entire bag clamp to rotate around the Z axis;

[0052] Therefore, the bag clamp of the embodiment of the present invention has six degrees of freedom in space, and the pick-and-place component 3 can rotate and translate arbitrarily in space according to the shape of the bag, until the catching surface of the pick-and-place component 3 is adapted to the shape of the bag, thereby improving the adaptability of the bag clamp to the bag and improving the success rate of destacking the bag, and thus having a certain degree of popularization.

[0053] In this embodiment, Figures 1 to 8 As shown, there are four telescopic mechanisms 2, and the four telescopic mechanisms 2 are arranged in a rectangular array at the bottom end of the first mounting portion 1, so as to improve the stability of the telescopic mechanism 2 when moving and rotating in space. After testing, compared with one telescopic mechanism 2 or two telescopic mechanisms 2, four telescopic mechanisms 2 can make the pick-and-place component 3 more stable and less prone to shaking while meeting the flexibility; compared with three telescopic mechanisms 2, four telescopic mechanisms 2 have better flexibility and flexibility, and can adapt to bags of different shapes; compared with the number of telescopic mechanisms 2 exceeding four, the bag clamp brought by four telescopic mechanisms 2 has better flexibility, avoids excessive constraints, and can make the movement of the pick-and-place component 3 more flexible, and has lower cost and simpler control method.

[0054] Preferably, the four telescopic mechanisms 2 are symmetrically arranged;

[0055] It should be noted that the number of the telescopic mechanisms 2 can be three, five, six or other numbers, and the embodiment of the present invention is not limited to the number of the telescopic mechanisms 2.

[0056] In some embodiments, the telescopic mechanism 2 may be one of a cylinder, a hydraulic cylinder, a screw-nut mechanism and a connecting rod structure; wherein, after testing and comparison, when the telescopic mechanism 2 is a screw-nut mechanism, the rotary drive member drives the screw to rotate, thereby realizing the up and down movement of the nut, that is, realizing the telescopic movement of the telescopic mechanism, and although the screw-nut mechanism can realize the clamping of the bag, the screw-nut mechanism is not flexible enough, the flexibility and compliance supplement are small, and it cannot adapt to the situation where the bag deviation is large;

[0057] When the telescopic mechanism 2 is a connecting rod structure, for example, two connecting rods are hinged to each other, the upper end of the first connecting rod is connected to the first mounting portion, and the lower end of the second connecting rod is connected to the pick-and-place assembly 3. The connecting rod structure has the characteristic of stroke amplification. Although the flexible compliance compensation of the connecting rod structure is large, the connecting rod structure is not accurate enough for the clamping of small deviation materials.

[0058] For the embodiment of the present invention, the telescopic mechanism 2 is preferably a cylinder or a hydraulic cylinder, and the top and bottom ends of the cylinder or the hydraulic cylinder can be one of a fixed end and a power output end.

[0059] In this embodiment, Figures 1 to 8 As shown, the fixed end 51 of the telescopic mechanism 2 is connected to the top of the first mounting portion 1 through the first universal connector 4, and the power output end of the telescopic mechanism 2 is connected to the top of the pick-and-place assembly 3 through the second universal connector 5, wherein the telescopic movement of the power output end of the telescopic mechanism 2 can realize the up and down movement of the pick-and-place assembly 3 on the Z axis, thereby causing the top of the pick-and-place assembly 3 to generate a height difference in the Z axis direction, thereby enabling the pick-and-place assembly 3 to rotate around the X axis and around the Y axis.

[0060] In this embodiment, Figures 1 to 8 As shown, the first universal joint 4 includes a universal joint bearing 41 and a connecting rod 42. The universal joint bearing 41 is arranged on the first mounting portion 1, and the universal joint bearing 41 is sleeved on the connecting rod 42.

[0061] The bottom end of the connecting rod 42 is connected to the top end of the telescopic mechanism 2, wherein the universal joint bearing 41 facilitates the rotation of the connecting rod 42, thereby realizing the movement of the connecting rod 42 in the X-axis direction and the Y-axis direction, and further realizing the movement of the pick-and-place component 3 in the X-axis direction and the Y-axis direction.

[0062] In this embodiment, Figures 1 to 8 As shown, the second universal joint 5 is a spherical joint bearing, the fixed end 51 of the spherical joint bearing is fixed to the power output end of the telescopic mechanism 2, the movable end 52 of the spherical joint bearing is rotatably connected to the pick-and-place assembly 3, the spherical joint bearing includes an outer ring and an inner ring that rotates relative to the outer ring, the outer ring is the fixed end 51, and the inner ring is the movable end 52. Preferably, the bag clamp of the embodiment of the present invention includes four brackets 8 and four rotating shafts, the four brackets 8 are detachably connected to the top of the pick-and-place assembly 3, the two sides of each bracket 8 arranged along the Y-axis direction are open sides, the inner ring of the spherical joint bearing is located in the bracket 8, and each rotating shaft is rotatably connected to the inner ring of the spherical joint bearing and the bracket 8, wherein the rotating shaft 7 facilitates the bracket 8 to rotate along the X-axis, and the inner ring of the spherical joint bearing facilitates the bracket 8 to rotate along the Y-axis;

[0063] In addition, when the extension stroke and the retraction stroke of the power output end of each telescopic mechanism 2 are the same, there will be no height difference between the brackets 8, so that the pick-and-place assembly 3 can only move upward or downward along the Z axis;

[0064] When the extension stroke and the retraction stroke of the power output end of each telescopic mechanism 2 are different, a height difference will be generated between the power output ends of each telescopic mechanism 2, so that the pick-and-place assembly 3 can rotate along the X-axis and the Y-axis;

[0065] In order to better illustrate the working conditions of the pick-and-place assembly 3 rotating around the X-axis and the Y-axis, Figure 1 , 5 7 are used as examples, wherein the first axis, the second axis, the third axis and the fourth axis are used as references, the first axis and the second axis are two axes arranged parallel to the X axis, and the third axis and the fourth axis are two axes arranged parallel to the Y axis:

[0066] When the pick-and-place assembly 3 needs to rotate along the X-axis, the extension strokes of the power output ends of the two telescopic mechanisms 2 arranged along the first axis are the same, the extension strokes of the power output ends of the two telescopic mechanisms 2 arranged along the second axis are the same, and the extension strokes of the power output ends of the two telescopic mechanisms 2 arranged along the first axis are different from the extension strokes of the power output ends of the two telescopic mechanisms 2 arranged along the second axis, that is, the bracket 8 is rotated around the axis of the rotating shaft 7, so that the bracket 8 is rotated around the X-axis;

[0067] When the pick-and-place assembly 3 needs to rotate along the Y axis, the piston rods of the two cylinders arranged along the third axis have the same extension stroke, the power output ends of the two telescopic mechanisms 2 arranged along the fourth axis have the same extension stroke, and the power output ends of the two telescopic mechanisms 2 arranged along the third axis are different from the power output ends of the two telescopic mechanisms 2 arranged along the fourth axis, so that the bracket 8 and the inner ring of the spherical joint bearing rotate around the Y axis;

[0068] When the pick-and-place assembly 3 needs to rotate around the X-axis and the Y-axis at the same time, the extension strokes of the power output ends of the three telescopic mechanisms 2 are the same, and the extension strokes of the power output ends of the three telescopic mechanisms 2 described above are different from the extension strokes of the power output ends of another telescopic mechanism 2, that is, there is a height difference between one of the brackets 8 and the other three brackets 8, so that the brackets 8 can rotate around the X-axis and the Y-axis at the same time;

[0069] Therefore, the telescopic mechanism 2 of the embodiment of the present invention enables the pick-and-place component 3 to adapt to the shape of the bag, specifically to adapt to the looseness and large deviation between the shapes of different bags, so that the pick-and-place component 3 has good compliance, and compliance refers to the ability to change the position, shape and posture of the mechanism under the action of external force.

[0070] In this embodiment, Figures 1 to 8 As shown, the telescopic mechanism 2 is connected with a pressure regulating unit for driving it to operate in a high-pressure state or a low-pressure state. Since the bag clamp of the embodiment of the present invention includes five working stages, namely, the descending stage, the damping preparation, the damping pick-up, the high-pressure deviation correction and the lifting stage, when the bag clamp is in the three working stages of the descending stage, the high-pressure deviation correction and the lifting stage, the cylinder is in a high-pressure state; when the bag clamp is in the two working stages of the damping preparation and the damping pick-up, the cylinder is in a low-pressure state;

[0071] The pressure regulating unit may be a high pressure valve or an electronic pressure regulating valve, so as to flexibly adjust the damping state of the cylinder.

[0072] In this embodiment, Figure 1 , 3 As shown in Figures 5, 6 and 7, the pick-and-place assembly 3 includes a second mounting portion 31, a suction cup 32, a control valve, a vacuum pumping device and a vacuum detection device for detecting whether the suction cup 32 is in a vacuum state. The top of the second mounting portion 31 is connected to the second universal connector 5, the suction cup 32 is connected to the top of the second mounting portion 31, and the suction cup 32 is connected to the vacuum pumping device through the control valve. When taking a bag, the control valve is opened, and the vacuum pumping device evacuates the suction cup 32 until the vacuum pumping device can vacuum the suction cup 32, and the suction cup 32 can absorb the bag. During this process, each telescopic mechanism 2 and the pick-and-place assembly 3 rotate and move in space, so that the adsorption surface of the suction cup 32 is arranged parallel to the surface of the bag, thereby facilitating the formation of a vacuum between the suction cup 32 and the bag; when placing the bag, the control valve is closed, the suction force of the suction cup 32 on the bag decreases or disappears, and the bag is released to the bag placement position;

[0073] In some embodiments, the suction cup 32 is a rigid suction cup, such as a metal suction cup or a plastic suction cup. Compared with a plastic suction cup, a rigid suction cup has a longer service life and can save later use costs;

[0074] Optionally, the vacuum device is an air compressor or a vacuum pump; and the control valve is a solenoid valve.

[0075] In this embodiment, Figure 1 , 3 As shown in Figures 5, 6 and 7, the bag clamp of the present invention also includes a limiting mechanism 6 for limiting the movement of the telescopic mechanism 2 on the X-axis and on the Y-axis to prevent the bag clamp from moving on the X-axis and on the Y-axis when unloaded.

[0076] In this embodiment, Figure 1 , 3As shown in Figures 5, 6 and 7, the limiting mechanism 6 includes two air claws 61 and a pushing cylinder 62. The pushing cylinder 62 is arranged at the bottom end of the first mounting portion 1, and the two air claws 61 are arranged at the power output end of the pushing cylinder 62. The second driving device drives the two air claws 61 to move along the X-axis or the Y-axis. When the pushing cylinder 62 drives the two air claws 61 to make relative motion, each air claw 61 abuts against the corresponding telescopic mechanism 2, thereby creating a certain obstacle to the movement of the telescopic mechanism 2 along the X-axis or the Y-axis; when the pushing cylinder 62 drives the two air claws 61 to move toward each other, each air claw 61 separates from the corresponding telescopic mechanism 2, thereby enabling the telescopic mechanism 2 to move along the X-axis or the Y-axis.

[0077] In this embodiment, Figures 1 to 8 As shown, the clamping device can be a clamping structure such as a robot, a truss structure, a disc structure or a guide rail structure.

[0078] In this embodiment, Figures 1 to 8 As shown, the first mounting portion 1 and the second mounting portion 31 are both flanges, which have the advantages of simple structure and easy installation.

[0079] In order to achieve the same purpose, a preferred embodiment of the present invention also provides a method for clamping a bag by a bag clamp, the bag clamp includes a first mounting portion 1, a telescopic mechanism 2 and a pick-and-place assembly 3, the telescopic mechanism 2 is connected to the first mounting portion 1, and the power output end of the telescopic mechanism 2 is rotatably connected to the top of the pick-and-place assembly 3, which includes the following steps:

[0080] S1, descending stage: each telescopic mechanism 2 extends to move the pick-and-place assembly 3 downward to the pick-up preparation position;

[0081] S2, damping preparation stage: adjusting the pressure of each telescopic mechanism 2 to a low pressure state;

[0082] S3, damping picking stage: the bag clamp is moved downward so that the pick-and-place assembly 3 contacts the bag and performs compliance changes according to the shape of the bag. During the compliance change process, the power output end of each telescopic mechanism 2 will shrink to different degrees. If the suction cup 32 of the pick-and-place assembly 3 can form a vacuum after the compliance change, step S5 is performed; if the suction cup 32 of the pick-and-place assembly 3 cannot form a vacuum after the compliance change, step S4 is performed;

[0083] S4, high-pressure deviation correction stage: adjust the pressure of each telescopic mechanism 2 to a high-pressure state, repeatedly press one of the telescopic mechanisms 2 downward, or press two or more telescopic mechanisms 2 downward simultaneously, or press multiple telescopic mechanisms 2 downward in sequence, until the suction cup 32 of the pick-and-place component 3 can form a vacuum;

[0084] S5, lifting stage: lift the bag clamp upward, and when the bag is lifted, the telescopic mechanism 2 retracts to move the pick-and-place assembly 3 upward to the ready position for placing the bag.

[0085] Based on the above arrangement, the bag clamping method of the embodiment of the present invention extends each telescopic mechanism 2 in the descending stage until the pick-up and placement assembly 3 moves down to the pick-up preparation position, so that the bag clamp can clamp the bag in the pick-up area; adjusts the pressure of each telescopic mechanism 2 to a low pressure state in the damping preparation stage, so that the power output end of the telescopic mechanism 2 can move smoothly, thereby facilitating the compliance change process of the bag clamp; moves the bag clamp downward as a whole and each telescopic mechanism 2 complies in the damping picking stage, so that the pick-up and placement assembly 3 can achieve preliminary suction of the bag; adjusts the pressure of each telescopic mechanism 3 to a high pressure state in the high pressure correction stage, and And repeatedly press down one of the telescopic mechanisms 2 or two of the telescopic mechanisms 2 or multiple telescopic mechanisms 2 in sequence. During the pressing process of the telescopic mechanism 2, the top of the pick-and-place component 3 will produce a height difference in the Z direction, and the pick-and-place component 3 can rotate around the X-axis and the Y-axis, while cooperating with the movement of the telescopic mechanism 2 in the directions of the X-axis, the Y-axis and the Z-axis, and the rotation of the entire bag clamp around the Z-axis, so that the pick-and-place component 2 can adapt to bags of different shapes, and then the suction cup 32 of the pick-and-place component 3 can form a vacuum; by retracting each telescopic mechanism 2 in the lifting stage, it is prevented that the bag clamp will cause damage to the telescopic mechanism 2 in the extended state during operation.

[0086] Therefore, the bag clamping method of the embodiment of the present invention can improve the adaptability of the bag clamp to the bag and the success rate of bag depalletizing, and thus has certain promotional value.

[0087] The telescopic mechanism 2 in steps S1 to S5 is preferably a pneumatic cylinder or a hydraulic cylinder, which can be switched between a high-pressure state and a low-pressure state under the pressure regulation of the pressure regulating unit.

[0088] In step S1, each telescopic mechanism 2 is in a high-pressure state through the adjustment of the voltage regulating unit, and the power output end of each telescopic mechanism 2 extends outward at the same time under the drive of the high-pressure power source, and the pick-and-place component 3 moves along the Z axis under the drive of each telescopic mechanism 2 until the suction cup 32 of the pick-and-place component 3 is at the lowest position.

[0089] In step S2, each telescopic mechanism 2 is in a low-pressure state through the regulation of the pressure regulating unit. At this time, each telescopic mechanism 2 becomes a damping buffer telescopic mechanism. At the same time, when each telescopic mechanism 2 becomes a damping buffer telescopic mechanism, the cylinder 62 is pushed to drive the two air claws 61 to move relative to each other.

[0090] Among them, the damping buffer telescopic mechanism can be telescoped smoothly, so that the power output end of the telescopic mechanism 2 can move smoothly, thereby facilitating the compliance change process of the bag clamp;

[0091] The push cylinder 62 drives the two air claws 61 to move relative to each other, so that each air claw abuts against the corresponding telescopic mechanism 2 to limit the telescopic mechanism 2 from moving along the X-axis or the Y-axis when the bag clamp is in an unloaded state.

[0092] In step S3, before the pick-and-place assembly 3 contacts the bag, the air cylinder 62 drives the two air claws 61 to move toward each other, so that each air claw is separated from the corresponding telescopic mechanism 2, so that each telescopic mechanism 2 can be separated along the X-axis or the Y-axis;

[0093] The downward movement of the bag clamp is carried out by the bag clamping device so that the pick-and-place component can better contact the bag.

[0094] In step S4, according to the order in which the magnetic switches are triggered, one of the telescopic mechanisms 2 is pressed downward, or more than two telescopic mechanisms 2 are pressed downward simultaneously, or multiple telescopic mechanisms 2 are pressed downward in sequence, so as to generate a Z-direction height difference between different telescopic mechanisms 2, thereby facilitating the rotation and movement of the pick-and-place component 3 in space.

[0095] The bag clamp and bag clamping method of the embodiment of the present invention can improve the adaptability of the bag clamp to bags and improve the success rate of bag depalletizing, and thus have certain promotional value.

[0096] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A bag clamp, characterized in that: include: A first mounting portion, the top end of which is used to connect to the execution end of the clamping device; A telescopic mechanism, a top end of which is connected to the first mounting portion; A pick-and-place assembly, which is rotatably connected to the bottom end of the telescopic mechanism, and is used to pick up and place the bag; Wherein, the telescopic mechanisms are provided in at least three pieces, and several of the telescopic mechanisms are arranged in parallel; The top end of the telescopic mechanism is connected to the top end of the first mounting portion through a first universal connector; the pick-and-place assembly is connected to the bottom end of the telescopic mechanism through a second universal connector; The telescopic mechanism is a pneumatic cylinder or a hydraulic cylinder, and is connected to a pressure regulating unit that drives it to operate in a high-pressure state or a low-pressure state. When the telescopic mechanism is in a high-pressure state, the power output end of the telescopic mechanism extends outward under the drive of the high-pressure power source, so that the pick-and-place assembly moves under the drive of the telescopic mechanism; when the telescopic mechanism is in a low-pressure state, the telescopic mechanism becomes a damping buffer telescopic mechanism; The bag clamp includes five working stages, namely, descending stage, damping preparation, damping picking, high-pressure deviation correction and lifting stage. When the bag clamp is in the descending stage, high-pressure deviation correction and lifting stage, the telescopic mechanism is in a high-pressure state; When the bag clamp is in the two working stages of damping preparation and damping picking, the telescopic mechanism is in a low-pressure state.

2. The bag clamp according to claim 1, characterized in that: There are four telescopic mechanisms, which are arranged in a rectangular array at the bottom end of the first mounting portion.

3. The bag clamp according to claim 1, characterized in that: The first universal joint member comprises a universal joint bearing and a connecting rod, wherein the universal joint bearing is arranged on the first mounting portion, and the universal joint bearing is sleeved on the connecting rod; The bottom end of the connecting rod is connected to the top end of the telescopic mechanism.

4. The bag clamp according to claim 1, characterized in that: The second universal joint is a spherical joint bearing, the fixed end of the spherical joint bearing is fixed to the bottom end of the telescopic mechanism, and the movable end of the spherical joint bearing is rotatably connected to the pick-and-place assembly.

5. The bag clamp according to claim 4, characterized in that: The pick-and-place assembly includes a second mounting portion, a suction cup, a control valve and a vacuum device, the top of the second mounting portion is connected to the second universal connector, the suction cup is connected to the top of the second universal connector, and the suction cup is connected to the vacuum device through the control valve.

6. The bag clamp according to claim 5, characterized in that: The pick-and-place assembly also includes a vacuum detection device for detecting whether the suction cup is in a vacuum state.

7. The bag clamp according to any one of claims 1 to 6, characterized in that: It also includes a limiting mechanism for limiting the movement of the telescopic mechanism on the X-axis and the Y-axis.

8. The bag clamp according to claim 7, characterized in that: The limiting mechanism includes two air claws and a pushing cylinder. The pushing cylinder is arranged at the bottom end of the first mounting portion. The two air claws are arranged at the power output end of the pushing cylinder. The pushing cylinder drives the two air claws to move relative to each other or toward each other along the X-axis or the Y-axis.

9. A method for clamping a bag by the bag clamp of claim 1, wherein the bag clamp comprises a first mounting portion, a telescopic mechanism and a pick-and-place assembly, wherein the telescopic mechanism is connected to the first mounting portion, and a power output end of the telescopic mechanism is rotatably connected to the top end of the pick-and-place assembly, characterized in that: The steps include: S1, descending stage: each of the telescopic mechanisms extends to move the pick-and-place assembly downward to a pick-up preparation position; S2, damping preparation stage: adjusting the pressure of each telescopic mechanism to a low pressure state; S3, damping picking stage: the bag clamp is moved downward so that the pick-and-place assembly contacts the bag and performs compliance changes according to the shape of the bag. During the compliance change process, the power output end of each telescopic mechanism will contract to different degrees. If the suction cup of the pick-and-place assembly can form a vacuum after the compliance change, step S5 is performed; if the suction cup of the pick-and-place assembly cannot form a vacuum after the compliance change, step S4 is performed; S4, high-pressure deviation correction stage: adjusting the pressure of each telescopic mechanism to a high-pressure state, repeatedly pressing down one of the telescopic mechanisms, or pressing down two or more of the telescopic mechanisms simultaneously, or pressing down multiple telescopic mechanisms in sequence, until the suction cup of the pick-and-place component can form a vacuum; S5, lifting stage: the bag clamp is lifted upward, and when the bag is lifted, the telescopic mechanism is retracted to move the pick-and-place assembly upward to a placement preparation position.

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