A material bag moving apparatus and a transfer mechanism

Abstract

The application discloses a material bag moving device and a transfer mechanism, which comprises a grabbing device, a connecting device, a load platform connected below the connecting platform through a floating structure, the load platform being capable of translating relative to the connecting platform in a first direction of the grabbing device and being fixed relative to the connecting platform in a second direction of the grabbing device, and a moving device comprising a lifting frame connected with an external moving frame and a swing assembly connected with a lower end of the lifting frame, the swing assembly comprising a first swing structure connected above the connecting platform and a second swing structure connected with the lower end of the lifting frame, the first swing structure being rotatably connected with the second swing structure through a hinge shaft arranged in the first direction of the grabbing device. The grabbing device of the material bag moving device and the transfer mechanism is capable of translating relative to the moving device in a running direction, so as to buffer and reduce the torque borne by each part structure and prolong the service life.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation loading, in particular to a material bag moving device and a transfer mechanism. BACKGROUND

[0002] With the development of industrial automation, factories have gradually gotten rid of traditional simple manual work in the production process of bagged grain, chemical industry, building materials and other production processes, and replaced by stacking robots, especially in the cement bag handling operation in the cement plant.

[0003] For example, a utility model patent for a bagged cement automatic stacking and loading machine (publication number: CN209080986U) was authorized and disclosed in China on July 9, 2019, which includes a lifting and traveling integrated machine installed on the loading lane of the cement plant, a cement bag receiving machine, a lifting coordination machine and a stacking machine. The stacking machine is located below the lifting and traveling integrated machine, and the lifting and traveling integrated machine pulls the stacking machine to lift. A lifting coordination machine is installed between the bag receiving machine and the stacking machine. The bagged cement automatic stacking and loading machine disclosed in the technical solution can automatically stack the cement bags and realize automatic loading of the bagged cement. However, the existing stacking and loading machine still has some deficiencies: the grabbing device and the moving device are often fixedly connected through a rigid structure. During the transfer of the material bag, the inertia of the gravity of the material bag causes each part of the structure to bear a large torque, which can be damaged over time, especially when the grabbing device and the moving device suddenly move after grabbing the material bag or stop moving after reaching the destination. The grabbing device, the moving device and the rigid structure are easily deformed or damaged due to the sudden bearing of a large torque, and the service life is short. SUMMARY

[0004] The present application provides a material bag moving device and a transfer mechanism to overcome the deficiencies in the prior art. The connecting device is provided, so that the grabbing device can translate relative to the moving device in the traveling direction, thereby buffering and reducing the torque borne by each part of the structure, prolonging the service life.

[0005] The technical solution of the present application is as follows:

[0006] The utility model provides a kind of material bag moving device, including grabbing device, connecting device and moving device, wherein grabbing device is used to obtain the material bag that is longitudinally placed along the first direction of grabbing device below;Connecting device includes connecting platform and load platform connected below the connecting platform by floating structure, and the lower side of load platform is connected with grabbing device;Load platform can be translated relative to connecting platform along the first direction of grabbing device, and is fixed relative to connecting platform in the second direction of grabbing device, and load platform can be deflected relative to connecting platform on the vertical plane of connecting platform in the first direction of grabbing device and the vertical plane of connecting platform in the second direction of grabbing device, and the first direction is perpendicular to the second direction;Moving device includes lifting frame body connected with external moving frame and swing assembly connected to the lower end of lifting frame body, and the swing assembly includes first swing structure connected above connecting platform and second swing structure connected to the lower end of lifting frame body, and the first swing structure is rotatably connected with the second swing structure by hinge shaft arranged along the first direction of grabbing device.

[0007] Preferably, the floating structure includes a plurality of telescopic assemblies, and the connecting platform and the load platform are connected by at least two telescopic assemblies arranged on the same side along the first direction of the grabbing device.

[0008] Preferably, the first telescopic assembly includes a first telescopic rod arranged as a hollow columnar structure with an open lower end, and two axially arranged guide grooves are arranged through opposite side walls of the first telescopic rod, and the second telescopic assembly includes a second telescopic rod arranged as a columnar structure sleeved in the first telescopic rod, and a guide hole is arranged through the upper end of the second telescopic rod in the radial direction thereof, and the guide hole and the two guide grooves are sleeved with guide pieces in sliding connection with the guide grooves, and the outer ends of the guide pieces protrude outside the guide grooves and are provided with limiting pieces with a width greater than that of the guide grooves.

[0009] Preferably, the second telescopic rod is sleeved with an elastic supporting piece, and the first telescopic rod is sleeved outside the elastic supporting piece, and the elastic supporting piece can release a tension pushing the second telescopic rod away from the first telescopic rod when the second telescopic rod approaches the first telescopic rod.

[0010] Preferably, the first telescopic member further comprises a first connecting rod connected to the upper end of the first telescopic rod, the second telescopic member further comprises a second connecting rod connected to the lower end of the second telescopic rod, the upper end of the first connecting rod and the lower end of the second connecting rod are rotatably connected to the rotating member through the rotating channel formed in the side of the connecting platform and the side of the load platform respectively.

[0011] Preferably, the lower side of the connecting platform and the upper side of the load platform are respectively provided with a reinforcing structure protruding from the surface of the connecting platform or the load platform, and the rotating channel is located in the reinforcing structure and the corresponding connecting platform or load platform.

[0012] The rotating member further comprises a rotating plate connected to the outer end of the rotating shaft perpendicularly, and the upper end of the first connecting rod and the lower end of the second connecting rod are respectively recessed inward from the side close to the connecting platform or the load platform to form a connecting area, and the rotating plate is located in the connecting area.

[0013] Preferably, the two sides of the connecting platform and the load platform arranged along the first direction of the grabbing device are respectively arranged with two telescopic assemblies, and the four telescopic assemblies are arranged in a matrix and close to the two ends of the two sides of the connecting platform and the load platform respectively, and the corresponding four rotating channels are arranged close to the two ends of the two sides of the connecting platform and the load platform respectively.

[0014] Preferably, a floating limiting member is arranged between the connecting platform and the load platform, the floating limiting member comprises a positioning plate fixedly connected to the lower side of the connecting platform, and a first limiting plate and a second limiting plate extending downward from the positioning plate to the limiting groove on the load platform, the first limiting plate and the second limiting plate are respectively parallel to and close to the two sides of the load platform arranged along the first direction of the grabbing device, and when the load platform deflects relative to the connecting platform, the load platform is limited by abutting against the limiting groove through the first limiting plate or the second limiting plate.

[0015] Preferably, the limiting groove is recessed inward at least one end of the load platform arranged along the first direction of the grabbing device, the grabbing device comprises a suction assembly and a gas guide assembly for guiding the gas between the suction assembly and the material bag abutting against the suction assembly below, the suction assembly is fixedly connected to the lower side of the load platform, and the length direction of the suction assembly is arranged along the first direction, the gas guide assembly is connected to the upper side of the suction assembly and part of the structure is located in the limiting groove, and the first limiting plate and the second limiting plate are respectively located on the two sides of the gas guide assembly.

[0016] The application further discloses a transfer mechanism comprising the material bag moving device.

[0017] The material bag moving device and the transfer mechanism disclosed by the application set a connecting device between the grabbing device and the moving device, the connecting device comprises a connecting platform and a load platform connected below the connecting platform through a floating structure, the grabbing device is connected with the lower side of the load platform, and the moving device is connected above the connecting platform, the load platform can be translated relative to the connecting platform in the first direction of the grabbing device and fixed relative to the connecting platform in the second direction of the grabbing device, and the load platform can be deflected relative to the connecting platform in the vertical plane of the connecting platform in the first direction of the grabbing device, so that the movement of the grabbed material bag below in the first direction can be adjusted differently to better buffer the inertial effect of the material bag on the moving device, so as to reduce the torque borne by each part of the moving device and prolong the service life.

[0018] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate the present application and, together with the description, serve to explain the principles of the application. In the drawings:

[0020] Figure 1 The structural schematic diagram of the material bag moving device disclosed by an embodiment of the application.

[0021] Figure 2 The partial structural exploded schematic diagram of the material bag moving device disclosed by an embodiment of the application.

[0022] Figure 3 The structural schematic diagram of the connecting device disclosed by an embodiment of the application.

[0023] Figure 4 The structural exploded schematic diagram of the connecting device disclosed by an embodiment of the application.

[0024] Figure 5 The structural schematic diagram of the telescopic assembly disclosed by an embodiment of the application.

[0025] Figure 6 The structural exploded schematic diagram of the telescopic assembly disclosed by an embodiment of the application.

[0026] Figure 7 The partial structural schematic diagram of the material bag moving device disclosed by an embodiment of the application.

[0027] Figure 8 The structural schematic diagram of the swing assembly disclosed by an embodiment of the application.

[0028] Figure 9The structural exploded view of the swing assembly disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0030] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only intended to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0031] In the present application, unless specifically defined and limited otherwise, the terms "mount", "connect", "connection", "fixed", and the like are to be broadly understood, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, and can be the communication between the two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] In the present application, unless specifically defined and limited otherwise, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0033] As Figure 1As shown, as an embodiment of the present application, a material bag moving device is disclosed, which can be arranged on a moving frame of a transfer mechanism such as a palletizer, and is used to grab various material bags such as cement bags, sand bags, rice bags, flour bags, feed bags, fertilizer bags, etc., and comprises a grabbing device 1, a connecting device 2 and a moving device 3, the grabbing device 1 is used to obtain the material bag below, and preferably places the material bag longitudinally along a first direction X of the grabbing device 1, i.e. the length direction of the material bag is placed along the first direction, so as to facilitate grabbing or stacking, and the moving device 3 is used to connect with an external moving frame.

[0034] As Figure 4As shown, the connecting device 2 comprises a connecting platform 21 and a load platform 22 connected below the connecting platform 21 through a floating structure 23, wherein the upper side of the connecting platform 21 is connected with the moving device 3, the lower side of the load platform 22 is connected with the grabbing device 1, and the load platform 22 can be translated relative to the connecting platform 21 along the first direction X of the grabbing device 1, that is, the grabbing device 1 can be freely translated relative to the moving device 3 along the first direction X during the transfer process after grabbing the material bag, so as to buffer the inertial effect of the material bag, thereby reducing the torque borne by each part structure of the grabbing device 1, the connecting device 2 and the moving device 3, prolonging the service life; at the same time, it can avoid that the powdery or granular material in the material bag moves to one end of the material bag under the inertial effect, so as to move the material bag more stably during the transfer process of the material bag, ensure that the overall shape of the material bag is relatively stable and does not deform before stacking, and facilitate orderly layer-by-layer stacking. In this embodiment, the advancing direction of the material bag moving device can be set as the first direction X of the grabbing device 1, so as to prevent the contents of the material bag from moving to one end of the material bag in the bag under the inertial effect in the advancing direction during the transfer process, and facilitate orderly layer-by-layer stacking. At the same time, the load platform 22 can be fixed relative to the connecting platform 21 along the second direction Y of the grabbing device 1, and the first direction X is perpendicular to the second direction Y, that is, the material bag only translates in the advancing direction of the material bag moving device, and cannot translate in the direction perpendicular to the advancing direction, facilitating accurate positioning when grabbing or stacking the material bag. The load platform 22 can be deflected relative to the connecting platform 21 on the vertical plane of the connecting platform 21 along the first direction X of the grabbing device 1 and the vertical plane of the connecting platform 21 along the second direction Y of the grabbing device 1, so that the load platform 22 and the grabbing device 1 as a whole can be deflected relative to the connecting platform 21 and the moving device 3 along the first direction X and the second direction Y under the inertial effect of the material bag, so that different buffering adjustments can be made to the movement of the grabbed material bag in different directions, so as to better buffer the different inertial effects of the material bag on the moving device in different directions, thereby reducing the torque borne by each part structure of the moving device, further prolonging the service life. In this embodiment, the floating structure 23 can be set as a floating connector that allows the load platform 22 to be deflected relative to the connecting platform 21 at any angle within a certain range, so as to buffer the inertial force of the material bag in any angular direction, further prolonging the service life. Of course, in other embodiments, the floating structure 23 can also be set as a floating connector that only allows the load platform 22 to be deflected relative to the connecting platform 21 on the vertical plane of the connecting platform 21 along the first direction X of the grabbing device 1 and the vertical plane of the connecting platform 21 along the second direction Y of the grabbing device 1, which can also buffer the inertial force of the material bag in these two directions.

[0035] As Figure 1As shown, the mobile device 3 includes a lifting frame 31 connected to an external mobile frame and a swing assembly 32 connected to the lower end of the lifting frame 31. The swing assembly 32 includes a first swing structure 321 connected to the upper part of the connecting platform 21 and a second swing structure 322 connected to the lower end of the lifting frame 31. The first swing structure 321 and the second swing structure 322 are rotatably connected to each other via a hinge shaft 323 arranged along the first direction X of the gripping device 1, so that the connecting device 2 and the gripping device 1 as a whole can swing along the axis of the hinge shaft 323. This allows for free selection of material bags with different placement heights from different angles, making it more flexible, convenient, and practical. The hinge shaft 323 is arranged along the first direction X of the gripping device 1, meaning that the connecting device 2 and the gripping device 1 as a whole swing in the second direction Y, rather than in the first direction X, thereby avoiding the impact of swinging in the direction of travel on the smooth transfer of material bags.

[0036] like Figure 3 As shown in Figure 4, in some specific embodiments, the floating structure 23 includes multiple telescopic components. The two sides of the connecting platform 21 and the load platform 22, arranged along the first direction X of the gripping device 1, are respectively connected by at least two telescopic components arranged on the same side. Each telescopic component includes a first telescopic member 231 and a second telescopic member 232 retractably connected to the first telescopic member 231. The first telescopic member 231 is rotatably connected to the side of the connecting platform 21, and the second telescopic member 232 is rotatably connected to the side of the load platform 22. This allows the load platform 22 to deflect relative to the connecting platform 21 in the first direction by shortening or lengthening the telescopic components at different positions. It also allows for translation relative to the connecting platform 21 in the first direction X by the relative rotation between the first telescopic member 231 and the side of the connecting platform 21, and the relative rotation between the second telescopic member 232 and the side of the load platform 22. The arrangement of at least two telescopic components on each side makes the connection between the load platform 22 and the connecting platform 21 more stable.

[0037] like Figure 5Or 6, in some embodiments, the first telescopic part 231 includes a first telescopic rod 2311 arranged as a hollow cylindrical structure with an open lower end, two axially arranged guide grooves 2313 are arranged through opposite side walls of the first telescopic rod 2311, the second telescopic part 232 includes a second telescopic rod 2321 arranged as a cylindrical structure sleeved in the first telescopic rod 2311, an upper end of the second telescopic rod 2321 is provided with a guide hole 2323 penetrating in a radial direction thereof, the guide hole 2323 and the two guide grooves 2313 are provided with a guide piece 233 in sliding connection with the guide grooves 2313, two outer ends of the guide piece 233 respectively protrude outside the two guide grooves 2313, and the two ends of the guide piece 233 are respectively provided with limiting pieces 2331 with a width greater than that of the guide grooves 2313. The hollow cylindrical structure and the cylindrical structure can limit the outer wall of the second telescopic rod 2321 through the inner wall of the first telescopic rod 2311, thereby reducing the rotation of the second telescopic rod 2321 around the radial line of the first telescopic rod 2311, the arrangement of the guide grooves 2313, the guide hole 2323 and the guide piece 233 can limit the circumferential movement of the second telescopic rod 2321, thereby reducing the rotation of the second telescopic rod 2321 around the axis of the first telescopic rod 2311, and the stability of the connection between the second telescopic rod 2321 and the first telescopic rod 2311 is improved. In this embodiment, the first telescopic rod 2311 can be arranged as a hollow cylindrical structure, and the second telescopic rod 2321 can even be a cylindrical structure, so that the second telescopic rod 2321 can slightly deflect around the axis of the first telescopic rod 2311 to buffer the torque between them and prolong the service life. Of course, in other embodiments, the first telescopic rod 2311 or the second telescopic rod 2321 can also be arranged as a square hollow cylindrical structure or a solid rod structure or a plate structure, and the first telescopic rod 2311 and the second telescopic rod 2321 can also be connected in sliding connection. In this embodiment, the guide piece 233 and the limiting piece 2331 can be selected as a bolt and nut structure, which is simple and practical, and convenient to disassemble. Of course, in other embodiments, the guide piece 233 and the limiting piece 2331 can also be arranged as other guide and limiting structures, and the guide and limiting between the second telescopic rod 2321 and the first telescopic rod 2311 can also be realized.

[0038] As Figure 6As shown, in some specific embodiments, the second telescopic rod 2321 is sleeved with an elastic support 234, wherein the first telescopic rod 2311 is sleeved outside the elastic support 234, the elastic support 234 can release a tension that pushes the second telescopic rod 2321 away from the first telescopic rod 2311 when the second telescopic rod 2321 is close to the first telescopic rod 2311, so that when the load platform 22 at the corresponding position of the telescopic assembly rotates close to the connection platform 21, the compressed elastic support 234 pushes the second telescopic rod 2321 and the load platform 22 at the corresponding position to move away from the connection platform 21, so as to correct the position of the load platform 22 in time when the load platform 22 floats and deflects relative to the connection platform 21, so as to reduce the shaking of the material bag during the transfer process, and ensure smooth transfer. In this embodiment, the elastic support 234 can be selected as a spring, which is simple and practical in structure, low in cost, and convenient to assemble and disassemble. Of course, in other embodiments, the elastic support 234 can also be selected as a silica gel, rubber or other elastic support with elastic properties, which can also correct the position of the load platform 22 after floating and deflecting, and ensure smooth transfer.

[0039] As shown in the drawings, Figure 6 As shown, in some specific embodiments, the first telescopic rod 2311 is sleeved with a first connecting rod 2312 connected to the upper end of the first telescopic rod 2311, and the second telescopic rod 2321 is sleeved with a second connecting rod 2322 connected to the lower end of the second telescopic rod 2321. The upper end of the first connecting rod 2312 and the lower end of the second connecting rod 2322 are rotatably connected through a rotating piece 235 between the side of the connection platform 21 and the side of the load platform 22. The rotating piece 235 includes a rotating shaft 2351, and the sides of the connection platform 21 and the load platform 22 are respectively recessed inward along the second direction Y of the grabbing device 1 to provide a rotating channel 2353 for installing the rotating shaft 2351, i.e. the rotating shaft 2351 is arranged along the second direction Y of the grabbing device 1. The upper end of the first connecting rod 2312 and the lower end of the second connecting rod 2322 can respectively rotate around the axis of the corresponding rotating shaft 2351, so as to drive the load platform 22 to translate along the first direction X of the grabbing device 1. The recessed arrangement of the rotating channel 2353 in the load platform 22 can disperse the torque borne by the rotating piece 235 to the load platform 22, so that the torque bearing capacity is stronger. Of course, in other embodiments, the rotating piece 235 can also be arranged as a rotating structure connected to the outside of the load platform 22, which can also realize the rotating connection of the two ends of the telescopic assembly with the connection platform 21 or the load platform 22.

[0040] As shown in the drawings, Figure 4As shown, in some specific embodiments, a reinforcing structure 236 protrudes from the surface of the connecting platform 21 on its lower side, and a rotating channel 2353 on the connecting platform 21 is disposed within the connecting platform 21 and the corresponding reinforcing structure 236. A reinforcing structure 236 protrudes from the surface of the load platform 22 on its upper side, and a rotating channel 2353 on the load platform 22 is located within the load platform 22 and the corresponding reinforcing structure 236, thereby increasing the thickness of the connecting platform 21 and the load platform 22 around the rotating channel 2353, and further enhancing the torque bearing capacity of the connecting platform 21 and the load platform 22 when the load platform 22 floats and deflects relative to the connecting platform 21.

[0041] like Figure 6 As shown, in some specific embodiments, the rotating component 235 further includes a rotating plate 2352 that is perpendicularly connected to the outer end of the rotating shaft 2351. The upper end of the first connecting rod 2312 and the lower end of the second connecting rod 2322 are respectively recessed inward from the side near the connecting platform 21 or the load platform 22 to form a connecting area 237. The rotating plate 2352 is located in the connecting area 237, so that the rotating plate 2352 does not need to occupy additional space between the telescopic component and the connecting platform 21 or the load platform 22. That is, the first connecting rod 2312 is arranged relatively closer to the side of the connecting platform 21, and the second connecting rod 2322 is arranged relatively closer to the side of the load platform 22, making the structure more compact and reducing the overall space occupation. In this embodiment, the rotating plate 2352 can be fixedly connected to the upper end of the first connecting rod 2312 or the lower end of the second connecting rod 2322, and the rotating shaft 2351 can be rotatably connected to the side of the connecting platform 21 or the load platform 22; or the rotating plate 2352 can be rotatably connected to the upper end of the first connecting rod 2312 or the lower end of the second connecting rod 2322, and the rotating shaft 2351 can be fixedly connected to the side of the connecting platform 21 or the load platform 22. Both methods achieve rotatable connections between the two ends of the telescopic component and the connecting platform 21 and the load platform 22, respectively. Of course, in other embodiments, two relatively rotating structures can be fixedly connected to the first connecting rod 2312 and the connecting platform 21, or two relatively rotating structures can be fixedly connected to the second connecting rod 2322 and the load platform 22, or other rotating structures can be used to rotatably connect the two ends of the telescopic component to the connecting platform 21 and the load platform 22, respectively, achieving the same effect.

[0042] like Figure 3As shown, in some specific embodiments, two telescopic assemblies are arranged on each side of the connection platform 21 and the load platform 22 along the first direction X of the grabbing device 1, the four telescopic assemblies are arranged in a matrix and are arranged close to the two ends of the two sides of the connection platform 21 and the load platform 22 respectively, and the corresponding four rotating channels 2353 are also arranged close to the two ends of the two sides of the connection platform 21 and the load platform 22 respectively. The connection between the load platform 22 and the connection platform 21 is stable, and it is convenient for the load platform 22 to deflect relative to the connection platform 21 on the vertical plane of the connection platform 21 in the first direction X of the grabbing device 1 and on the vertical plane of the connection platform 21 in the second direction Y of the grabbing device 1, and the structure is simple and ingenious. In this embodiment, the two outer sides of the connection platform 21 and the load platform 22 in the length direction are arranged along the first direction X of the grabbing device 1 respectively, and the two outer sides of the connection platform 21 and the load platform 22 in the width direction are arranged along the second direction Y of the grabbing device 1 respectively. The two ends of the telescopic assembly are rotatably connected with the two outer sides of the connection platform 21 and the load platform 22 respectively, and the structure is simple and convenient for production and assembly. Of course, in other embodiments, three, four or even more telescopic assemblies can also be arranged on each side of the connection platform 21 and the load platform 22 along the first direction X of the grabbing device 1, and these telescopic assemblies can also not be arranged in a matrix, and the floating deflection of the load platform 22 relative to the connection platform 21 can also be achieved; the connection platform 21 or the load platform 22 can also be provided with a shape structure with an internally opened groove structure arranged along the first direction X of the grabbing device 1, and the two ends of the telescopic assembly are rotatably connected with the side of the internal groove structure of the connection platform 21 or the load platform 22, and the translation of the load platform 22 relative to the connection platform 21 along the first direction X of the grabbing device 1 can also be achieved.

[0043] As Figure 3Or 4, in some specific embodiments, a floating limiting piece 238 is arranged between the connecting platform 21 and the load platform 22, the load platform 22 is provided with a limiting groove 221, the floating limiting piece 238 comprises a positioning plate 2381 fixedly connected to the lower side of the connecting platform 21 and a first limiting plate 2382 and a second limiting plate 2383 extending downward from the positioning plate 2381 into the limiting groove 221, the first limiting plate 2382 and the second limiting plate 2383 are respectively arranged in parallel to and close to the two sides of the load platform 22 along the first direction X of the grabbing device 1, and the load platform 22 is limited by abutting against the limiting groove 221 through the first limiting plate 2382 or the second limiting plate 2383 when it is floatingly deflected relative to the connecting platform 21, thereby reducing the deflection amplitude of the load platform 22 when it is deflected relative to the connecting platform 21 in the vertical plane of the connecting platform 21 along the second direction Y of the grabbing device 1, improving the smoothness of the translation of the load platform 22 along the first direction X of the grabbing device 1, and facilitating accurate positioning when stacking material bags. In the embodiment, the positioning plate 2381 is fixedly connected to the lower side of the connecting platform 21 by screws or other fasteners, which is convenient for disassembly or replacement, the first limiting plate 2382 and the second limiting plate 2383 are provided in a plate structure, which increases the contact area between them and the limiting groove 221, and the limiting effect is better. Of course, in other embodiments, the positioning plate 2381 can also be provided in an integral structure with the connecting platform 21 or connected by other fixing connection methods, and the first limiting plate 2382 or the second limiting plate 2383 can also be provided in a rod structure or other structures that also have a limiting effect.

[0044] As Figure 4As shown, in some embodiments, the limiting groove 221 is inwardly recessed at one end of the load platform 22 arranged along the first direction X of the grabbing device 1, that is, the first limiting plate 2382 and the second limiting plate 2383 are arranged near the two sides of the one end of the load platform 22 arranged along the first direction X of the grabbing device 1, respectively, so that the floating deflection of the load platform 22 at the corresponding positions of the two telescopic assemblies relative to the connecting platform 21 can be more directly limited. The grabbing device 1 comprises a suction assembly 11 and a gas guide assembly 12 abutting the material bag below the suction assembly 11, the material bag is sucked on the upper surface of the suction assembly 11 to obtain the material bag through the suction assembly 11 and the gas guide assembly 12, and the material bag is suspended below the suction assembly 11, so that the surface of the material bag is not pressed, thereby ensuring that the overall shape of the material bag is relatively stable and not deformed when the material bag is grabbed, and facilitating orderly layer-by-layer stacking. The suction assembly 11 is fixedly connected to the lower side of the load platform 22, and the length direction of the suction assembly 11 is arranged along the first direction X, which facilitates the suction of the material bag placed below along the first direction X, and carries the material bag along its length direction to transport, reduces the inertial effect of the material bag in the second direction Y, and facilitates stacking. The suction assembly 11 comprises a suction disc 111 and a transfer plate 112 fixedly connected to the upper side of the suction disc 111, the upper side of the transfer plate 112 is fixedly connected to the lower side of the load platform 22, the gas guide assembly 12 is connected to the upper side of the suction disc 111 and part of the structure is located in the limiting groove 221, the first limiting plate 2382 and the second limiting plate 2383 are respectively located on both sides of the gas guide assembly 12, so that the structure between the gas guide assembly 12, the first limiting plate 2382, the second limiting plate 2383, the suction disc 111 and the load platform 22 is relatively compact, reducing the space occupation of the gas guide assembly 12. The limiting groove 221 is inwardly recessed from the end of the load platform, which facilitates the arrangement and installation of the gas guide assembly 12. In this embodiment, the two ends of the load platform 22 arranged along the first direction X of the grabbing device 1 are inwardly recessed to form limiting grooves 221, and the two limiting grooves 221 are symmetrically arranged to make the load platform 22 more stable, of course, in other embodiments, a floating limiting piece 238 can also be arranged between the other limiting groove 221 and the connecting platform 21, further reducing the deflection amplitude of the load platform 22 relative to the connecting platform 21 in the second direction Y of the grabbing device 1 on the vertical plane of the connecting platform 21. In this embodiment, the transfer plate 112 can be fixedly connected to the load platform 22 and the suction disc 111 by screws and other fasteners, which is convenient for disassembly, replacement, of course, in other embodiments, the transfer plate 112 can also be connected to the load platform 22 and the suction disc 111 by other fixed connection methods or directly fixedly connected to the load platform 22 and the suction disc 111, which does not affect the use of the suction disc 111.

[0045] As Figure 4As shown, in some embodiments, the load platform 22 and the connecting platform 21 are provided as square plate structures of the same size, so that the two outer side surfaces of the load platform 22 and the connecting platform 21 arranged along the first direction X of the grabbing device 1 are respectively perpendicular to the planar structures of the load platform 22 or the connecting platform 21, and the two ends of each telescopic assembly are respectively rotationally connected with the planar structures, so as to facilitate the smooth rotation of the two ends of each telescopic assembly relative to the load platform 22 and the connecting platform 21 without any obstacles. At the same time, the arrangement of the planar structures can further limit the load platform 22 to move in translation in the first direction X of the grabbing device 1, thereby enhancing the stability of the translation. Of course, in other embodiments, the load platform 22 or the connecting platform 21 can also be provided as other shape structures, and the rotationally connecting of each telescopic assembly with the two outer side surfaces of the load platform 22 or the connecting platform 21 arranged along the first direction X of the grabbing device 1 can also achieve the translational movement of the load platform 22 relative to the connecting platform 21 in the first direction X of the grabbing device 1.

[0046] As Figure 7As shown, in some embodiments, the mobile device 3 further comprises a rotating assembly 33, the rotating device 3 comprises a fixed platform 331 arranged above the connecting platform 21, and a rotating wheel assembly 332 and a driving motor 333 for driving the rotating wheel assembly 332 to rotate arranged on the fixed platform 331, the rotating wheel assembly 332 is arranged horizontally and is drivingly connected with the connecting platform 21, so as to drive the connecting device 2 and the grabbing device 1 to rotate as a whole to adjust the direction of the suction assembly 11 to match the direction of the material bag with different angles, and the material bag with different angles can be freely selected, the use is more flexible, convenient and practical. The driving motor 333 is arranged on one end of the fixed platform 22 along the first direction X of the grabbing device 1, and a rotation angle base 37 and a rotation angle detection piece 35 vertically installed on the rotation angle base 37 are arranged on the end side of the other end of the fixed platform 22 along the first direction X of the grabbing device 1, an initial angle base 36 and an initial angle detection piece 34 vertically installed on the initial angle base 36 are arranged on one end of the connecting platform 21 along the first direction X of the grabbing device 1, the lower end of the rotation angle base 37 extends outward and is provided with a detection piece capable of responding to the initial angle detection piece 34, when the connecting platform 21 is at the initial angle, the initial angle detection piece 34 is located directly above the detection piece, the detection piece is close to and shields the detection end of the initial angle detection piece 34, so as to respond to the monitoring signal of the initial angle detection piece 34, the rotation angle detection piece 35 is located directly above the connecting platform 21, the connecting platform 21 is close to and shields the detection end of the rotation angle detection piece 35, so as to respond to the monitoring signal of the rotation angle detection piece 35, when the connecting platform 21 rotates to be perpendicular to the fixed platform 331, the detection piece is away from the initial angle detection piece 34, the rotation angle detection piece 35 is located on the outer side of the connecting platform 21, at this time, the connecting platform 21 cannot respond to the detection signal of the rotation angle detection piece 35. In this embodiment, the arrangement of the initial angle detection piece 34 and the rotation angle detection piece 35 can timely monitor whether the connecting platform 21 is currently at the initial angle or the rotation angle perpendicular to the fixed platform 331, which is convenient for terminal control. In this embodiment, the initial angle detection piece 34 and the rotation angle detection piece 35 can be selected as infrared, sound wave and other position proximity sensors, which can respond to the monitoring signal when the detection piece or the connecting platform 21 is close, of course, in other embodiments, the initial angle detection piece or the rotation angle detection piece can also be selected as other detection pieces capable of judging whether the connecting platform 21 is currently at the initial angle or the rotation angle relative to the fixed platform 331.

[0047] As Figure 8or 9, in some embodiments, the first swing structure 321 includes a first mounting plate 3211 fixedly connected to the upper side of the fixed platform 331 and a first connecting block 3212 protruding upward from the first mounting plate 3211, and the second swing structure 322 includes a second mounting plate 3221 for fixed connection with the outside world and a second connecting block 3222 protruding downward from the second mounting plate 3221, the second connecting block 3222 is recessed upward from the bottom to form a second connecting groove 3223 capable of rotating the first connecting block 3212 inside, the second connecting groove 3223 penetrates through both sides of the second connecting block 3222, and the first connecting block 3212 and the second connecting block 3222 are rotatably connected by a hinge shaft 323 arranged perpendicular to the first connecting block 511 and the second connecting block 3222. In this embodiment, the first connecting block 3212 can be arranged as a flat structure along the second direction Y, and the two outer sides of the first connecting block 3212 along the second direction Y are arranged respectively and in contact with the corresponding two inner sides of the second connecting block 3222, so as to stably limit the swing of the first connecting block 3212 in the second direction Y. Of course, in other embodiments, the first swing structure 321 and the second swing structure 322 can also be arranged as other rotatably connected structures connected by the hinge shaft 323, which can also enable the first swing structure 321 and the second swing structure 322 to relatively swing around the axis of the hinge shaft 323.

[0048] As shown in Figure 9 In some embodiments, two elastic buffers 324 are further arranged between the first mounting plate 3211 and the second mounting plate 3221, and the two elastic buffers 324 are arranged respectively on the two outer sides of the second connecting groove 3223. The elastic buffer 324 can release a tension that pushes the first mounting plate 3211 away from the second mounting plate 3221 when the first mounting plate 3211 approaches the second mounting plate 3221, so that when the first mounting plate 3211 at the corresponding position of the elastic buffer 324 swings and approaches the second mounting plate 3221, the compressed elastic buffer 324 pushes the first mounting plate 3211 to move away from the second mounting plate 3221, so as to correct the position of the first swing structure 321 in time to keep it in a relatively fixed position when the whole first swing structure 321, the rotating assembly 33, the connecting device 2 and the grabbing device 1 swing and deflect relative to the second swing structure 52 under the inertial action of gravity or centrifugal force, so as to reduce the shaking of the material bag during the transfer of the material bag and ensure stable transfer. In this embodiment, the elastic buffer 324 can be selected as a spring, which is simple and practical in structure, low in cost and convenient to assemble and disassemble. Of course, in other embodiments, the elastic buffer 324 can also be selected as other elastic buffers such as silica gel and rubber having elastic properties, which can also correct the position of the deflected first swing structure 321 and ensure stable transfer.

[0049] In some specific embodiments, a state detection assembly 24 is further arranged between the connecting platform 21 and the load platform 22, for monitoring the load platform 22 approaching or moving away from the connecting platform 21, so as to timely monitor whether the suction cup 111 has successfully picked up or put down the goods when the load platform 22 approaches the connecting platform 21, facilitating the terminal to timely regulate the start of the air guiding assembly 12 to perform the vacuumizing work to suck the material bag or the closing of the vacuumizing work of the air guiding assembly 12 to put down the material bag.

[0050] As another embodiment of the present application, a transfer mechanism is also disclosed, which comprises the material bag moving device disclosed in the foregoing embodiments, and can carry the material bag obtained by the material bag moving device.

[0051] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

[0052] In summary, the above is only the preferred embodiment of the present application, and any equivalent changes and modifications made within the scope of the patent application of the present application shall be covered by the scope of the present application.

Claims

1. A material bag moving apparatus characterized by comprising: The utility model relates to a material bag moving device, including: a grabbing device for obtaining a material bag longitudinally placed along a first direction of the grabbing device; wherein the first direction is the moving direction of the material bag moving device; a connecting device including a connecting platform and a load platform connected below the connecting platform through a floating structure, the lower side of the load platform being connected with the grabbing device; the load platform can translate relative to the connecting platform along the first direction of the grabbing device and is fixed relative to the connecting platform in the second direction of the grabbing device, the load platform can deflect relative to the connecting platform in the vertical plane of the connecting platform along the first direction of the grabbing device, and the first direction is perpendicular to the second direction; a moving device connected with an external moving frame, including a lifting frame connected with the external moving frame and a swing assembly connected with the lower end of the lifting frame, the swing assembly including a first swing structure connected above the connecting platform and a second swing structure connected with the lower end of the lifting frame, and the first swing structure and the second swing structure are rotatably connected with each other through a hinge shaft arranged along the first direction of the grabbing device; during the transfer process after grabbing the material bag, the grabbing device can freely translate relative to the moving device along the first direction to buffer the inertial effect of the material bag.

2. The material bag moving apparatus according to claim 1, characterized by: The floating structure includes a plurality of telescopic assemblies, both sides of the connecting platform and the load platform arranged along the first direction of the grabbing device are connected through at least two telescopic assemblies arranged on the same side, respectively, the telescopic assembly includes a first telescopic member and a second telescopic member telescopically connected with the first telescopic member, the first telescopic member is rotatably connected with the side of the connecting platform, and the second telescopic member is rotatably connected with the side of the load platform.

3. The material bag moving apparatus according to claim 2, characterized by: The first telescopic member includes a first telescopic rod arranged as a hollow columnar structure with an open lower end, two axially arranged guide grooves are arranged through opposite side walls of the first telescopic rod, the second telescopic member includes a second telescopic rod arranged as a columnar structure sleeved in the first telescopic rod, a guide hole is arranged through the upper end of the second telescopic rod along the radial direction thereof, the guide hole and the two guide grooves are provided with guide members in sliding connection with the guide grooves, the outer ends of the guide members protrude out of the guide grooves, and the guide members are provided with limiting members with a width greater than that of the guide grooves.

4. The material bag moving apparatus according to claim 3, characterized by: The second telescopic rod is provided with an elastic support member, the first telescopic rod is sleeved outside the elastic support member, and the elastic support member can release a tension that pushes the second telescopic rod away from the first telescopic rod when the second telescopic rod approaches the first telescopic rod.

5. The material bag moving apparatus according to claim 3, characterized by: The first telescopic member further includes a first connecting rod connected with the upper end of the first telescopic rod, the second telescopic member further includes a second connecting rod connected with the lower end of the second telescopic rod, the upper end of the first connecting rod and the side of the connecting platform are rotatably connected through a rotating member, and the lower end of the second connecting rod and the side of the load platform are rotatably connected through a rotating member, the sides of the connecting platform and the load platform are respectively recessed inward along the second direction of the grabbing device and are provided with rotating channels for installing rotating shafts of the rotating members.

6. The material bag moving apparatus according to claim 5, characterized by: The lower side of the connecting platform and the upper side of the load platform are respectively provided with a reinforcing structure protruding from the surface of the connecting platform or the load platform, and the rotating channel is located in the reinforcing structure and the corresponding connecting platform or load platform; The rotating member further comprises a rotating plate vertically connected to the outer end of the rotating shaft, and the upper end of the first connecting rod and the lower end of the second connecting rod are respectively recessed inward from the side close to the connecting platform or the load platform to form a connecting area, and the rotating plate is located in the connecting area.

7. The material bag moving apparatus according to claim 6, characterized by: The connecting platform and the load platform are respectively provided with two telescopic assemblies arranged along the two sides of the first direction of the grabbing device, and the four telescopic assemblies are arranged in a matrix and close to the two ends of the two sides of the connecting platform and the load platform, and the corresponding four rotating channels are arranged close to the two ends of the two sides of the connecting platform and the load platform.

8. The material bag moving apparatus according to claim 7, characterized by: A floating limiting member is arranged between the connecting platform and the load platform, the floating limiting member comprises a positioning plate fixedly connected to the lower side of the connecting platform, and a first limiting plate and a second limiting plate extending downward from the positioning plate into a limiting groove on the load platform, the first limiting plate and the second limiting plate are respectively parallel to and arranged close to the two sides of the load platform along the first direction of the grabbing device, and when the load platform deflects relative to the connecting platform, the first limiting plate or the second limiting plate abuts against the limiting groove to limit the deflection.

9. The material bag moving apparatus according to claim 8, characterized by: The limiting groove is recessed inward from at least one end of the load platform along the first direction of the grabbing device, the grabbing device comprises a suction assembly and a gas guide assembly for guiding the gas between the suction assembly and the material bag abutting against the suction assembly below, the suction assembly is fixedly connected to the lower side of the load platform, and the length direction of the suction assembly is arranged along the first direction, the gas guide assembly is connected to the upper side of the suction assembly and part of the structure is located in the limiting groove, and the first limiting plate and the second limiting plate are respectively located on the two sides of the gas guide assembly.

10. A transfer mechanism comprising the material bag moving device according to any one of claims 1-9.

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