Bagged material handling control method, handling system and control device

Abstract

The present application discloses a handling control method, a handling system and a control device for bagged materials. By obtaining the packaging information and the position information of the material bags to be transferred in this batch, a matching grasping operation mode is selected and sent to the goods grasping platform. When the goods grasping platform is in the first operation mode, the suction cup mechanism is controlled to continuously maintain the suction state of the material bag. When the goods grasping platform is in the second operation mode, the suction cup mechanism is controlled to release the material bag after the support arm is closed under the material bag, and then the material bag is lifted by the support arm to above the stacking position. By controlling the goods grasping platform to match different working modes according to different material bags, while ensuring that the material bags can be stacked in the best posture, it can also avoid the problem that some material bags are dropped and the posture is chaotic during the transfer process due to different package materials.

Description

Technical Field

[0001] This application relates to the technical field of intelligent warehousing, and particularly to a handling control method for bagged materials, a handling system, and a control device. Background Art

[0002] In a warehouse for storing bagged materials, a suction cup device that uses suction cups to suck and handle material bags, and a material bag grasping device that uses a manipulator have been widely used in palletizing and loading woven bag materials. However, current handling devices often use only the suction cup device or the grasping device alone to lift and handle goods. The material bag suction device is greatly affected by factors such as the material of the packaging bag. Sometimes, when sucking different material bags, there will be phenomena such as the bags falling off because some bags cannot be adsorbed for a long time. And if only a manipulator is used to grasp the material bags, it will be impossible to grasp the material bags when dealing with some tight stack types. Summary of the Invention

[0003] The present invention aims at the deficiencies in the prior art and provides a handling control method for bagged materials for a goods grasping and transferring device. The goods grasping and transferring device includes a moving mechanism that can move between the goods stack to be transferred and the placing position, and a goods grasping platform installed below the moving mechanism. The goods grasping platform includes a suction cup mechanism that can move up and down relative to the moving mechanism and two support arms arranged on both sides of the suction cup mechanism. There is a bin space between the two support arms for accommodating the transferred material bags, including the following steps:

[0004] S1. Obtain the goods packaging information and the material bag position information of the material bags to be transferred this time sent by the server, and query the corresponding grasping operation mode of the goods grasping platform in the control configuration library according to the goods packaging information;

[0005] S2. If the grasping operation mode is the first operation mode, after controlling the moving mechanism to move and lift to above the target material bag according to the material bag position information, control the suction cup mechanism to extend downward to suck the target material bag. After the suction cup mechanism retracts the goods to the bin space, control the support arms to close below the material bag, and keep the suction cup mechanism continuously adsorb the material bag during the transfer process to the first target position. After the support arms are opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to release the material bag.

[0006] S3. If the grasping operation mode is the second operation mode, after controlling the moving mechanism to move and lift to above the target material bag according to the material bag position information, control the suction cup mechanism to extend downward to suck the target material bag. After the suction cup mechanism retracts the goods to the bin space, control the support arms to close below the material bag and control the suction cup mechanism to reduce the suction force to release the material bag onto the two support arms. After the support arms lift the material bag and move to the first target position with the moving mechanism, control the two support arms to open and drop the material bag.

[0007] S4. After placing the material bag, control the opened support arms to contract into the storage spaces on both sides, and then drive the cargo grabbing platform to move above the next material bag to be transported.

[0008] Preferably, the cargo packaging information includes the bag body material property and the weight of the material bag.

[0009] Preferably, the step S1 includes:

[0010] S11. Obtain the bag body material property, the weight of the material bag, and the position information of the material bag to be transported this time sent by the server, and obtain the corresponding bag body stretching value and bag body adsorption value in the cargo database according to the bag body material property. The bag body stretching value is configured as the distance that the upper surface of the material bag can be stretched downward after being sucked by the suction cup, and the bag body adsorption value is configured as the pulling force required for the upper surface of the material bag to be separated after being sucked by the suction cup.

[0011] S12. If the bag body adsorption value is lower than the first adsorption preset value or the bag body stretching value is higher than the first stretching preset value, send a task alarm message.

[0012] S13. If the bag body adsorption value is higher than the second adsorption preset value and the bag body stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value, control the grabbing platform to enter the first operation mode, and the second adsorption preset value is greater than the first adsorption preset value.

[0013] S14. If the bag body adsorption value is higher than the first adsorption preset value but less than the second adsorption preset value, and the bag body stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value, control the grabbing platform to enter the second operation mode.

[0014] Preferably, the step S2 includes:

[0015] If the grabbing operation mode is the first operation mode, after controlling the moving mechanism to move and lift above the target material bag according to the position information of the material bag, control the suction cup mechanism to extend downward to suck the target material bag. After the suction cup mechanism retracts into the chamber space after extracting the cargo, control the support arms to close under the material bag.

[0016] Judge whether the bag body stretching value is greater than the second stretching preset value. If it is greater than the second stretching preset value, control the suction cup mechanism to descend by a buffer set value so that the lower part of the material bag contacts the support arm, and keep the suction cup mechanism continuously adsorb the material bag during transportation to the first target position. After the support arms are opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to place the material bag. The second stretching preset value is less than the first stretching preset value.

[0017] If the stretching value of the bag body is not greater than the second stretching preset value, the suction cup mechanism is maintained to continuously adsorb the material bag during transportation to the first target position. After the support arm is opened, the suction cup mechanism is controlled to descend to the second target position, and then the suction force is reduced to drop the material bag.

[0018] Preferably, the goods packaging information further includes the bag body size. Two goods grabbing platforms capable of moving relatively away from and close to each other are installed in parallel below the moving mechanism. The goods grabbing platform further includes two receiving structures correspondingly arranged above the two side support arms. The receiving structure has a receiving space capable of accommodating the corresponding side support arm. The step S4 includes:

[0019] Obtain the minimum distance between the two goods grabbing platforms to avoid collision when the support arms are in the open state, and calculate the minimum number of packages of intervals between two material bags to be grabbed in the stack when the support arms of the two goods grabbing platforms are in the open state according to the bag body size;

[0020] Obtain the position information of the next group of material bags to be grabbed by the two goods grabbing platforms. If the number of material bags between the next group of two material bags to be grabbed is less than the minimum number of packages of intervals, after dropping the material bags in this group, control the opened support arms to contract into the two side receiving spaces, and then move the goods grabbing platform above the next group of material bags to be transported.

[0021] Preferably, the step S4 includes:

[0022] After the suction cup mechanism extracts the goods into the silo space, control the goods grabbing platform to move away from the other goods grabbing platform until the distance between the two goods grabbing platforms is greater than the minimum distance, then control the two side support arms to move out of the corresponding receiving spaces and close below the material bag.

[0023] The present invention also discloses a control device for controlling the operation of a goods grabbing and transferring device. The goods grabbing and transferring device includes a moving mechanism that can move between the stack of goods to be transferred and the placement position, and a goods grabbing platform installed below the moving mechanism. The goods grabbing platform includes a suction cup mechanism that can move up and down relative to the moving mechanism and two support arms arranged on both sides of the suction cup mechanism. There is a storage space for accommodating the transferred material bag between the two support arms, including: an information acquisition module for acquiring the goods packaging information and the material bag position information of the material bag to be transferred this time sent by the server, and querying the corresponding grabbing operation mode of the goods grabbing platform in the control configuration library according to the goods packaging information; a first operation module for, when the grabbing operation mode is the first operation mode, controlling the moving mechanism to move and lift above the target material bag according to the material bag position information, then controlling the suction cup mechanism to extend downward to suck the target material bag, after the suction cup mechanism retracts the grabbed goods into the storage space, controlling the support arms to close below the material bag, and keeping the suction cup mechanism continuously adsorb the material bag during the transfer process to the first target position, and after the support arms are opened, controlling the suction cup mechanism to descend to the second target position and then reducing the suction force to drop the material bag; a second operation module for, when the grabbing operation mode is the second operation mode, controlling the moving mechanism to move and lift above the target material bag according to the material bag position information, then controlling the suction cup mechanism to extend downward to suck the target material bag, after the suction cup mechanism retracts the grabbed goods into the storage space, controlling the support arms to close below the material bag and controlling the suction cup mechanism to reduce the suction force to release the material bag onto the two support arms, and after the support arms lift the material bag and move with the moving mechanism to the first target position, controlling the two support arms to open and drop the material bag; a transfer module for, after dropping the material bag, controlling the opened support arms to contract into the storage spaces on both sides, and then driving the goods grabbing platform to move above the next material bag to be handled.

[0024] Preferably, the goods packaging information includes the bag body material property and the weight of the material bag.

[0025] Preferably, the information acquisition module includes: a bag body information query module, configured to obtain the bag body material attribute, the weight of the material bag, and the position information of the material bag to be transported this time sent by the server, and obtain the corresponding bag body stretching value and bag body adsorption value in the goods database according to the bag body material attribute, where the bag body stretching value is configured as the distance that the upper surface of the material bag can stretch downward after being sucked by the suction cup, and the bag body adsorption value is configured as the pulling force required for the upper surface of the material bag to be separated after being sucked by the suction cup; an alarm module, configured to send a task alarm message when the bag body adsorption value is lower than the first adsorption preset value or the bag body stretching value is higher than the first stretching preset value; a first judgment module, configured to control the grasping platform to enter the first operation mode when the bag body adsorption value is higher than the second adsorption preset value and the bag body stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value, where the second adsorption preset value is greater than the first adsorption preset value; a second judgment module, configured to control the grasping platform to enter the second operation mode when the bag body adsorption value is higher than the first adsorption preset value but lower than the second adsorption preset value, and the bag body stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value.

[0026] The present invention also discloses a bagged material handling system, including a moving mechanism that can move between a stack of goods to be transported and a placement position, a goods grasping platform installed below the moving mechanism, and a controller. The goods grasping platform includes a suction cup mechanism that can move up and down relative to the moving mechanism and two support arms arranged on both sides of the suction cup mechanism. There is a bin space for accommodating the transported material bag between the two support arms. The controller is electrically connected to the moving mechanism, the suction cup mechanism, and the support arms respectively. The controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method according to any one of claims 1-6 are implemented.

[0027] A method for controlling the handling of bagged materials, a handling system and a control device disclosed by the present invention select and send a matching grasping operation mode to a goods grasping platform according to the obtained packaging information and position information of the bagged goods to be transferred in this batch. When the goods grasping platform is in the first operation mode, after controlling the suction cup mechanism to extract the goods and retract into the bin space and closing the support arm, the suction cup mechanism is controlled to continuously maintain the suction state of the bagged material, so as to ensure that the bagged material can be placed and stacked in the best posture. When the goods grasping platform is in the second operation mode, the suction cup mechanism is controlled to release the bagged material after the support arm is closed below the bagged material and then the bagged material is lifted by the support arm to above the stacking position, so as to avoid the problem that some bagged materials fall onto the support arm in a chaotic posture due to swinging or vibration during the transfer process of the goods grasping platform, resulting in non-standard subsequent placement postures and subsequent placement postures exceeding the error. By controlling the goods grasping platform to match different working modes according to different bagged materials, on the basis of ensuring that the placement posture is as accurate as possible, the problem that some bagged materials are swung off and the postures are chaotic during the transfer process due to different package materials can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative efforts.

[0029] In order to more fully understand the present application and its beneficial effects, the following will be described in conjunction with the drawings. Among them, the same reference numerals in the following description represent the same parts.

[0030] Figure 1 It is a schematic flow chart of the method for controlling the handling of bagged materials in an embodiment of the present invention.

[0031] Figure 2 It is a schematic structural diagram of the goods grasping and transferring device in an embodiment of the present invention.

[0032] Figure 3 It is a schematic specific flow chart of step S1 in an embodiment of the present invention.

[0033] Figure 4 It is a schematic specific flow chart of step S2 in an embodiment of the present invention.

[0034] Figure 5 It is a schematic specific flow chart of step S4 in an embodiment of the present invention.

[0035] Figures 6 - 12 It is a schematic diagram of the specific structures of each part of the goods grasping and transferring device disclosed in the embodiments of the invention Specific Embodiment

[0036] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0037] In this embodiment, a method for controlling the handling of bagged materials is disclosed, which is used for a cargo grabbing and transferring device. As shown in the attached Figure 2 figure, the cargo grabbing and transferring device 100 includes a moving mechanism 40 that can move between the stack of goods to be transferred and the conveyor belt or between the area for discharging and palletizing, and a cargo grabbing platform installed below the moving mechanism. The cargo grabbing platform includes a suction cup mechanism 30 that can move up and down relative to the moving mechanism and two support arms 20 arranged on both sides of the suction cup mechanism. There is a storage space 50 between the two support arms for accommodating the transferred material bags. As shown in the attached Figure 1 figure, the method for controlling the handling of bagged materials may include the following content.

[0038] Step S1: Obtain the cargo packaging information and the position information of the material bag to be transferred this time sent by the server, and query the corresponding grabbing operation mode of the cargo grabbing platform in the control configuration library according to the cargo packaging information. Among them, the cargo packaging information includes the bag body material attribute and the weight of the material bag.

[0039] In this embodiment, as shown in the attached Figure 3 figure, step S1 may include the following content.

[0040] Step S11: Obtain the bag body material attribute, the weight of the material bag, and the position information of the material bag to be transferred this time sent by the server, and obtain the corresponding bag body stretching value and bag body adsorption value in the cargo database according to the bag body material attribute. The bag body stretching value is configured as the distance that the upper surface of the material bag can be stretched downward after being sucked by the suction cup, and the bag body adsorption value is configured as the pulling force required for the upper surface of the material bag to be separated after being sucked by the suction cup.

[0041] Specifically, both the bag body stretching value and the bag body adsorption value are obtained by testing with the same or the same type and weight of the material bag filled with materials as the measurement reference. By repeatedly using the suction cup mechanism to test various types and sizes of material bags with different bag body adsorption values and bag body stretching values, critical strip values such as the first stretching preset value, the second stretching preset value, the first adsorption preset value, and the second adsorption preset value used in the following steps can be obtained as the judgment conditions for control actions.

[0042] Step S12, if the bag adsorption value is lower than the first adsorption preset value or the bag stretching value is higher than the first stretching preset value, a task alarm message is issued. When the bag adsorption value is lower than the first adsorption preset value, it will cause the suction cup mechanism to be unable to smoothly adsorb and pick up the material bag, resulting in the failure of the task to transfer goods. When the bag stretching value is higher than the first stretching preset value, even if the suction cup mechanism can adsorb the material bag and lift it smoothly, due to the excessive stretching deformation of the bag body of the material bag under the suction cup mechanism, when the two side support arms are closed, they will collide with the material bag, and it is impossible to support the lower part of the material bag, resulting in the failure of the task.

[0043] Step S13, if the bag adsorption value is higher than the second adsorption preset value and the bag stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value, the grasping platform is controlled to enter the first operation mode, and the second adsorption preset value is greater than the first adsorption preset value.

[0044] Step S14, if the bag adsorption value is higher than the first adsorption preset value but less than the second adsorption preset value, and the bag stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value, the grasping platform is controlled to enter the second operation mode. Specifically, when the bag adsorption value is less than the second adsorption preset value, although it is still higher than the first adsorption preset value, that is, the suction cup mechanism can adsorb and pick up the material bag, the adsorption of the material bag is not firm enough, and it may be separated from the suction cup due to the shaking or collision caused by the moving mechanism during the intermediate transfer process and fall off. Therefore, it is necessary to control the grasping platform to enter the second operation mode, that is, after the two support arms are closed, the suction cup mechanism first places the adsorbed material bag on the support arms to prevent the bag body posture from being damaged when the material bag detaches from the suction cup mechanism to the support arms during the subsequent swinging process.

[0045] Step S2, if the grasping operation mode is the first operation mode, after controlling the moving mechanism to move and lift to above the target material bag according to the material bag position information, the suction cup mechanism is controlled to extend downward to suck the target material bag. After the suction cup mechanism retracts the picked-up goods into the bin space, the support arms are controlled to close under the material bag, and the suction cup mechanism is kept adsorbing the material bag continuously during the transfer process to the first target position. After the support arms are opened, the suction cup mechanism is controlled to descend to the second target position and then reduce the suction force to drop the material bag.

[0046] In this embodiment, as shown in the attached Figure 4 figure, Step S2 can specifically include the following steps.

[0047] Step S21, if the grasping operation mode is the first operation mode, after controlling the moving mechanism to move and lift above the target material bag according to the material bag position information, control the suction cup mechanism to extend downward to suck the target material bag. After the suction cup mechanism retracts into the bin space after picking up the goods, control the support arm to close under the material bag.

[0048] Step S22, determine whether the bag stretching value is greater than the second stretching preset value. If it is greater than the second stretching preset value, control the suction cup mechanism to descend by a buffer set value so that the lower part of the material bag contacts the support arm, and keep the suction cup mechanism continuously adsorb the material bag during the transfer process until the first target position. After the support arm is opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to drop the material bag. The second stretching preset value is less than the first stretching preset value.

[0049] Step S23, if the bag stretching value is not greater than the second stretching preset value, keep the suction cup mechanism continuously adsorb the material bag during the transfer process until the first target position. After the support arm is opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to drop the material bag.

[0050] Step S3, if the grasping operation mode is the second operation mode, after controlling the moving mechanism to move and lift above the target material bag according to the material bag position information, control the suction cup mechanism to extend downward to suck the target material bag. After the suction cup mechanism retracts into the bin space after picking up the goods, control the support arm to close under the material bag and control the suction cup mechanism to reduce the suction force to release the material bag onto the two support arms. After the support arm holds the material bag and moves to the first target position with the moving mechanism, control the two support arms to open and drop the material bag.

[0051] Step S4, after dropping the material bag, control the opened support arm to contract into the two-side storage spaces, and then drive the goods grasping platform to move above the next material bag to be carried.

[0052] In one embodiment, the goods packaging information further includes the bag size. Two goods grasping platforms that can move relatively away from and close to each other are installed in parallel under the moving mechanism. The goods grasping platform further includes two storage structures correspondingly arranged above the two support arms on both sides. The storage structure has a storage space 60 capable of accommodating the corresponding side support arm. As shown in the appendix Figure 5 shown, this step S4 can specifically include the following content.

[0053] Step S41, obtain the minimum distance between the two goods grasping platforms to avoid collision when the support arms are opened, and calculate the minimum number of bags between two material bags to be grasped in the stack when the support arms of the two goods grasping platforms are opened according to the bag size.

[0054] Step S42: Obtain the position information of the next set of material bags to be grabbed by the two goods grabbing platforms. If the number of material bags between the next two material bags to be grabbed is less than the minimum interval number of packages, after the current set of material bags is placed, control the opened support arms to contract into the two side storage spaces, and then move the goods grabbing platforms above the next set of material bags to be transported.

[0055] In another embodiment, this step S4 may further include the following content.

[0056] Step S43: After the suction cup mechanism extracts the goods into the bin space, control one goods grabbing platform to move away from the other goods grabbing platform until the distance between the two goods grabbing platforms is greater than the minimum distance, then control the two side support arms to move out of the corresponding storage spaces and close below the material bags.

[0057] By setting the support arm storage spaces and folding and contracting the support arms into the storage spaces, the distance between the two goods grabbing platforms can be effectively reduced, so that the two goods grabbing platforms can pick up two material bags that are closer to each other in the stack. At the same time, when the distance between the two material bags to be picked up is far, the support arms do not need to be controlled to rotate and contract into the storage spaces, thereby reducing the energy consumption of the equipment and the wear of the corresponding structure.

[0058] The bagged material handling control method disclosed in this embodiment selects and sends a matching grabbing operation mode to the goods grabbing platforms according to the obtained packaging information and position information of the material bag goods to be transferred in this batch. When the goods grabbing platform is in the first operation mode, after the suction cup mechanism extracts the goods and retracts into the bin space and closes the support arms, control the suction cup mechanism to continuously maintain the suction state of the material bag, so as to ensure that the material bag can be placed and stacked in the best posture. When the goods grabbing platform is in the second operation mode, control the suction cup mechanism to release the material bag after closing below the support arm material bag and then lift the material bag to above the stacking position by the support arm, so as to avoid the problem that some material bags fall onto the support arm in a chaotic posture due to shaking or vibration during the transfer process of the goods grabbing platform, resulting in non-standard subsequent placement postures and subsequent placement postures exceeding the error. By controlling the goods grabbing platform to match different working modes according to different material bags, on the basis of ensuring that the placement posture is as accurate as possible, the problem that some material bags are thrown off and the posture is chaotic during the transfer process due to different package materials can be avoided.

[0059] In this embodiment, as shown in the appendix Figures 6 - 12As shown, a cargo grabbing and transferring device 100 applicable to the bagged material handling control method disclosed in the above embodiments includes a frame 10, a moving mechanism 40, a suction cup mechanism 30, and a support arm 20. Among them, the frame 10 serves as a support component of the cargo grabbing and handling device 100, and is used to support the moving mechanism 40, the suction cup mechanism 30, and the support arm 20. The support arm 20 is disposed on one side of the suction cup mechanism 30 and is installed on the moving mechanism 40. The support arm 20 includes a moving arm frame 21 and a driving member 22. The moving arm frame 21 is swingably connected to the moving mechanism 40. The driving member 22 is connected to the moving arm frame 21 and drives the moving arm frame 21 to swing relative to the material bag to be transported, and supports the bottom of the material bag to be transported adsorbed by the suction cup mechanism 30. Specifically, during the transportation of the material bag to be transported, the suction cup mechanism 30 adsorbs the upper surface of the material bag to be transported under negative pressure, the moving arm frame 21 swings towards the lower surface of the material bag to be transported driven by the driving member 22, and the suction cup mechanism 30 and the moving arm frame 21 act on the material bag to be transported at the same time, so that the bottom of the material bag to be transported is supported, avoiding the material bag to be transported from being in a suspended state, preventing the material bag to be transported from falling from top to bottom, and ensuring the safety of the material bag to be transported during the use of the cargo grabbing and handling device 100.

[0060] In this embodiment, there are two support arms 20. The two support arms 20 are relatively disposed on both sides of the suction cup mechanism 30. The suction cup mechanism 30 is located between the two support arms 20. The distance between the two support arms 20 is greater than the length of the material bag to be transported, so as to facilitate the two support arms 20 to close towards the material bag to be transported, thereby facilitating the two support arms 20 to support the bottom of the material bag to be transported, preventing the material bag to be transported from falling from top to bottom, and ensuring the safety of the material bag to be transported during the use of the cargo grabbing and handling device 100. Among them, one support arm 20 is disposed on the left side of the suction cup mechanism 30, and the other support arm 20 is disposed on the right side of the suction cup mechanism 30, or one support arm 20 is disposed on the front side of the suction cup mechanism 30, and the other support arm 20 is disposed on the rear side of the suction cup mechanism 30. No specific limitation is made here. A connecting member 211 is provided between the driving member 22 and the moving arm frame 21. The connecting member 211 is sleeved on the moving arm frame 21, and the connecting member 211 is connected to the output end of the driving member 22. The output end of the driving member 22 drives the connecting member 211 to swing. At this time, the connecting member 211 is sleeved on the moving arm frame 21, the connecting member 211 is connected to the output end of the driving member 22, and the output end of the driving member 22 drives the connecting member 211 to swing. During the process of the driving member 22 driving the connecting member 211 to swing upward or downward, the connecting member 211 can have a certain degree of freedom with the driving member 22, avoiding hard mechanical contact between the connecting member 211 and the driving member 22, reducing the probability of damage to the connecting member 211, and the moving arm frame 21 swings with the swing of the connecting member 211 to facilitate adjusting the position of the moving arm frame 21 relative to the swing frame 4121.

[0061] In this embodiment, the connecting member 211 is provided with a keyway 211a, and a flat key 212 is connected to the movable boom 21. The flat key 212 is engaged with the keyway 211a, so that the movable boom 21 is fixedly connected to the connecting member 211. At this time, the flat key 212 is engaged with the keyway 211a, and the connection between the connecting member 211 and the movable boom 21 is achieved through the cooperation of the flat key 212 and the keyway 211a, so as to facilitate the fixing of the connecting member 211 to the movable boom 21. Among them, the front end and the rear end of the keyway 211a are in a communicating state, so as to facilitate the engagement of the flat key 212 with the keyway 211a or the disengagement of the flat key 212 from the keyway 211a.

[0062] The movable boom 21 includes a first swinging portion 213 and a first clamping portion 214. The first swinging portion 213 is swingably connected to the moving mechanism 40; the first clamping portion 214 swings along with the swinging of the first swinging portion 213 and is used for clamping the material bag to be transported, so as to adjust the position of the first swinging portion 213 relative to the moving mechanism 40, thereby adjusting the position of the first clamping portion 214 relative to the moving mechanism 40, and further facilitating the first clamping portion 214 to face the material bag to be transported and supporting the bottom of the material bag to be transported.

[0063] An included angle exists between the first swinging portion 213 and the first clamping portion 214. The first clamping portion 214 is swingably connected to the first swinging portion 213, and an elastic member 2141 is connected between the first clamping portion 214 and the first swinging portion 213. At this time, an included angle exists between the first swinging portion 213 and the first clamping portion 214, and the angle of the included angle is greater than 90° and less than 180°. The first clamping portion 214 is swingably connected to the first swinging portion 213, and an elastic member 2141 is connected between the first clamping portion 214 and the first swinging portion 213, so as to facilitate the resetting of the first clamping portion 214 under the elastic action of the elastic member 2141. Optionally, the elastic member 2141 can be a spring.

[0064] The first clamping portion 214 includes a first bending portion 2142 and a second bending portion 2143. An included angle exists between the first bending portion 2142 and the second bending portion 2143. One end of the first bending portion 2142 is hinged to the first swinging portion 213 and swings relative to the first swinging portion 213. At this time, an included angle exists between the first bending portion 2142 and the second bending portion 2143, and the angle of the included angle is greater than 90° and less than 180°. One end of the first bending portion 2142 is hinged to the first swinging portion 213 and swings relative to the first swinging portion 213, so as to facilitate the folding of the first clamping portion 214 toward the first swinging portion 213, thereby facilitating the reduction of the longitudinal space of the movable boom 21.

[0065] The moving mechanism 40 is provided with a bracket 41; the bracket 41 is provided with a receiving groove 41a; the support arm 20 is arranged on one side of the bracket 41; the moving arm frame 21 is swingably connected to the bracket 41; the driving member 22 is connected to the moving arm frame 21 and drives the moving arm frame 21 to swing relative to the bracket 41, so that the moving arm frame 21 is received in the receiving groove 41a. At this time, the moving arm frame 21 swings under the driving action of the driving member 22 and swings into the receiving groove 41a, so as to facilitate the moving arm frame 21 to be received in the receiving groove 41a, thereby reducing the longitudinal space of the moving arm frame 21 relative to the bracket 41 and avoiding the support arm 20 occupying a large space. Optionally, the driving member 22 can be a cylinder. The bracket 41 includes a bracket main body 411 and a receiving frame 412. The receiving frame 412 is arranged on one side of the bracket main body 411 and is mounted on the bracket main body 411; the receiving frame 412 is provided with the receiving groove 41a.

[0066] The bracket main body 411 serves as the supporting main body of the bracket 41 for supporting the receiving frame 412. The receiving frame 412 is arranged on the lower side of the bracket main body 411. The receiving frame 412 and the bracket main body 411 are installed by bolts. The receiving frame 412 is provided with the receiving groove 41a for receiving the moving arm frame 21, so as to facilitate the moving arm frame 21 to be received in the receiving groove 41a, thereby reducing the longitudinal space of the moving arm frame 21 relative to the bracket 41. Optionally, a guide wheel is connected to one side wall of the receiving frame 412. The guide wheel is rotatably mounted on the receiving frame 412 and guides the moving arm frame 21 into the receiving groove 41a. The receiving frame 412 is connected with a swing frame 4121. The swing frame 4121 is arranged on one side of the receiving frame 412 and encloses the receiving groove 41a with the receiving frame 412; the moving arm frame 21 is swingably connected to the swing frame 4121. At this time, the swing frame 4121 is arranged in the middle of the receiving frame 412 and encloses the receiving groove 41a with the receiving frame 412. The receiving groove 41a is used for receiving the moving arm frame 21. The moving arm frame 21 is swingably connected to the swing frame 4121 and swings along the axial direction of the connection between the moving arm frame 21 and the swing frame 4121, so as to facilitate adjusting the position of the moving arm frame 21 relative to the swing frame 4121.

[0067] During the handling process of the material bag to be handled, the suction cup mechanism 30 adsorbs the upper surface of the material bag to be handled under negative pressure. The moving arm frame 21 swings towards the lower surface of the material bag to be handled driven by the driving member 22, and the suction cup mechanism 30 and the moving arm frame 21 act on the material bag to be handled at the same time, so that the bottom of the material bag to be handled is supported, avoiding the material bag to be handled being in a suspended state, preventing the material bag to be handled from falling from top to bottom, and ensuring the safety of the material bag to be handled during the use of the goods grasping and handling device 100.

[0068] In this embodiment, the moving mechanism 40 is installed on the frame 10. The moving component includes an X-axis moving module 42, a rotating module 43, and a Z-axis lifting module 44. The X-axis moving module 42 is installed on the frame 10, the rotating module 43 is installed on the X-axis moving seat 421, the Z-axis lifting module 44 is installed on the rotating module 43, and the Z-axis lifting module 44 is connected to the suction cup mechanism 30 and rotates in the circumferential direction and moves in the X-axis direction under the drive of the rotating module 43 and the X-axis moving module 42. At this time, the goods are located below the suction cup mechanism 30. The adsorption end of the suction cup mechanism 30 faces the goods and adsorbs the outer surface of the goods, and under the drive of the Z-axis lifting module 44, the rotating module 43, and the X-axis moving module 42, it moves up and down in the Z-axis direction, rotates in the circumferential direction, and moves in the X-axis direction. Therefore, the adsorption end of the suction cup mechanism 30 directly acts on the outer surface of the goods in the Z-axis direction, the circumferential direction, and the X-axis direction, improving the positioning strength of the goods relative to the suction cup mechanism 30, avoiding the limitation of the position of the goods during handling, ensuring the stability of the goods during handling, and improving the handling efficiency of the goods grabbing and handling device 100. The X-axis moving module 42 is installed on the frame 10. The X-axis moving module 42 is provided with an X-axis moving seat 421, and the X-axis moving seat 421 moves in the X-axis direction; at this time, the X-axis moving module 42 is arranged on the upper side of the frame 10. The X-axis moving module 42 is connected to the frame 10 by bolts. The X-axis moving module 42 is arranged in the horizontal direction. The X-axis moving module 42 is provided with an X-axis moving seat 421, and the X-axis moving seat 421 moves in the X-axis direction; the movement in the X-axis direction can be the left-right movement.

[0069] In this embodiment, a guide rail 4211 and a slider 4212 are provided between the X-axis moving seat 421 and the frame 10. The guide rail 4211 is fixed to the frame 10, the X-axis moving seat 421 is fixed to the slider 4212, and the slider 4212 is movably installed on the guide rail 4211. At this time, the guide rail 4211 is fixed to the upper side of the frame 10. The lower end of the X-axis moving seat 421 is fixed to the upper end of the slider 4212. The slider 4212 is movably installed on the guide rail 4211 and is arranged along the length direction of the guide rail 4211. The length direction of the guide rail 4211 is the X-axis direction, so as to facilitate adjusting the position of the slider 4212 relative to the guide rail 4211, thereby adjusting the position of the X-axis moving seat 421 relative to the frame 10.

[0070] There are multiple guide rails 4211, and the multiple guide rails 4211 are arranged at intervals in the width direction of the frame 10. At this time, there are two guide rails 4211, and the two guide rails 4211 are arranged at intervals in the width direction of the frame 10. By arranging the two guide rails 4211, the moving effect of the X-axis moving seat 421 relative to the frame 10 is increased, thereby improving the moving smoothness of the X-axis moving seat 421 relative to the frame 10. Among them, each guide rail 4211 is equipped with two sliders 4212. The X-axis moving module 42 is provided with an electric push rod 422. The fixed end of the electric push rod 422 is installed on the frame 10, and the output end of the electric push rod 422 is connected to the X-axis moving seat 421 and drives the X-axis moving seat 421 to move in the X-axis direction.

[0071] The rotation module 43 is arranged on one side of the X-axis moving module 42 and is installed on the X-axis moving seat 421, and moves in the X-axis direction under the drive of the X-axis moving seat 421; at this time, the rotation module 43 and the X-axis moving seat 421 are fixed by bolts. The rotation module 43 moves left and right in the X-axis direction along with the X-axis moving seat 421, so as to facilitate adjusting the position of the rotation module 43 relative to the frame 10.

[0072] Among them, the X-axis moving seat 421 is provided with a U-shaped groove 421a, and the notch of the U-shaped groove 421a is located at the right end junction of the X-axis moving seat 421. The rotation module 43 is accommodated in the U-shaped groove 421a, so as to improve the space utilization rate of the rotation module 43. The rotation module 43 includes a motor 431 and a hollow rotary table 432. The motor 431 is electrically connected to the hollow rotary table 432. The fixed end of the hollow rotary table 432 is connected to the X-axis moving seat 421, and the rotating end of the hollow rotary table 432 is connected to the Z-axis lifting module 44 and drives the Z-axis lifting module 44 to rotate in the circumferential direction. Among them, the motor 431 is arranged on the upper side of the hollow rotary table 432, the motor 431 and the hollow rotary table 432 are arranged vertically, the motor 431 is electrically connected to the hollow rotary table 432, the fixed end of the hollow rotary table 432 and the X-axis moving seat 421 are fixed by bolts, and the rotating end of the hollow rotary table 432 is connected to the Z-axis lifting module 44 and drives the Z-axis lifting module 44 to rotate in the circumferential direction, so that the Z-axis lifting module 44 can move in the X-axis direction and the circumferential direction at the same time.

[0073] The Z-axis lifting module 44 is arranged on one side of the rotation module 43. The Z-axis lifting module 44 is installed on the rotation module 43 and rotates in the circumferential direction and moves in the X-axis direction under the drive of the rotation module 43 and the X-axis moving module 42; at this time, the Z-axis lifting module 44 is installed on the rotation module 43, and the Z-axis lifting module 44 rotates along with the rotation module 43 in the circumferential direction, so that the Z-axis lifting module 44 can move in the X-axis direction and the circumferential direction at the same time, thereby facilitating adjusting the position of the Z-axis lifting module 44 relative to the frame 10.

[0074] A flange 441 is provided between the hollow rotary platform 432 and the Z-axis lifting module 44. One end of the flange 441 is connected to the hollow rotary platform 432, and the other end of the flange 441 is connected to the Z-axis lifting module 44. The flange 441 rotates with the rotation of the hollow rotary platform 432 and drives the Z-axis lifting module 44 to rotate. The Z-axis lifting module 44 includes an electric cylinder 442 and a Z-axis lifting seat 443. The Z-axis lifting seat 443 is connected to the suction cup mechanism 30. The fixed end of the electric cylinder 442 is connected to the flange 441, and the output end of the electric cylinder 442 is connected to the Z-axis lifting seat 443 and drives the Z-axis lifting seat 443 to lift along the Z-axis direction. The suction cup mechanism 30 lifts with the Z-axis lifting seat 443 along the Z-axis direction. The Z-axis lifting module 44 is provided with a guide shaft 444 and a linear bearing 445. The linear bearing 445 is connected to the flange 441, and the guide shaft 444 is connected to the Z-axis lifting seat 443. The guide shaft 444 is vertically movably disposed through the linear bearing 445 and lifts with the lifting of the Z-axis lifting seat 443.

[0075] In this embodiment, a plurality of guide shafts 444 are provided. The plurality of guide shafts 444 enclose a square to increase the lifting effect of the Z-axis lifting seat 443 by arranging the plurality of guide shafts 444. The Z-axis lifting module 44 is provided with a connecting block 446. The two guide shafts 444 are respectively connected to both ends of the connecting block 446. The connecting block 446 lifts with the two guide shafts 444 lifting in the up and down direction, avoiding the deformation of the guide shaft 444 after long-term use and improving the service life of the guide shaft 444.

[0076] In another embodiment, a control device is also disclosed for controlling the operation of a goods grabbing and transferring device. The goods grabbing and transferring device includes a moving mechanism that can move between the stacked goods to be transferred and the dropping position, and a goods grabbing platform installed below the moving mechanism. The goods grabbing platform includes a suction cup mechanism that can move up and down relative to the moving mechanism and two support arms arranged on both sides of the suction cup mechanism. There is a bin space between the two support arms for accommodating the transferred material bags. The control device may include: an information acquisition module, a first operation module, a second operation module, and a transfer module. The information acquisition module is used to obtain the goods packaging information and the position information of the material bags to be transferred sent by the server, and query the corresponding grabbing operation mode of the goods grabbing platform in the control configuration library according to the goods packaging information. The first operation module is used when the grabbing operation mode is the first operation mode. After controlling the moving mechanism to move and lift above the target material bag according to the position information of the material bag, control the suction cup mechanism to extend downward to suck the target material bag. After the suction cup mechanism retracts the grabbed goods into the bin space, control the support arms to close below the material bag, and keep the suction cup mechanism continuously adsorb the material bag during the transfer process to the first target position. After the support arms are opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to drop the material bag. The second operation module is used when the grabbing operation mode is the second operation mode. After controlling the moving mechanism to move and lift above the target material bag according to the position information of the material bag, control the suction cup mechanism to extend downward to suck the target material bag. After the suction cup mechanism retracts the grabbed goods into the bin space, control the support arms to close below the material bag and control the suction cup mechanism to reduce the suction force to release the material bag onto the two support arms. After the support arms lift the material bag and move with the moving mechanism to the first target position, control the two support arms to open and drop the material bag. The transfer module is used to control the opened support arms to contract into the storage spaces on both sides after dropping the material bag, and then drive the goods grabbing platform to move above the next material bag to be handled.

[0077] In this embodiment, the goods packaging information includes the bag body material attribute and the weight of the material bag. Specifically, the information acquisition module may include: a bag body information query module, an alarm module, a first judgment module, and a second judgment module. Among them, the bag body information query module is used to obtain the bag body material attribute, the weight of the material bag, and the position information of the material bag to be transported this time sent by the server, and obtain the corresponding bag body stretching value and bag body adsorption value in the goods database according to the bag body material attribute. The bag body stretching value is configured as the distance that the upper surface of the material bag can stretch downward after being sucked by the suction cup, and the bag body adsorption value is configured as the pulling force required for the upper surface of the material bag to be separated after being sucked by the suction cup. The alarm module is used to send a task alarm message when the bag body adsorption value is lower than the first adsorption preset value or the bag body stretching value is higher than the first stretching preset value. The first judgment module is used to control the grasping platform to enter the first operation mode when the bag body adsorption value is higher than the second adsorption preset value and the bag body stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value, and the second adsorption preset value is greater than the first adsorption preset value. The second judgment module is used to control the grasping platform to enter the second operation mode when the bag body adsorption value is higher than the first adsorption preset value but less than the second adsorption preset value, and the bag body stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value.

[0078] It should be noted that the various embodiments in this specification are described in a progressive manner. The key points of each embodiment are the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the loading control system for a tie-barred truck disclosed in the embodiment, since it corresponds to the loading control method for a tie-barred truck disclosed in the embodiment, the description is relatively simple. For the relevant parts, refer to the description in the method part.

[0079] In some other embodiments, a bagged material handling system is also disclosed, including a moving mechanism that can move between the stack of goods to be transported and the placement position, a goods grasping platform installed below the moving mechanism, and a controller. The goods grasping platform includes a suction cup mechanism that can move up and down relative to the moving mechanism and two support arms arranged on both sides of the suction cup mechanism. There is a bin space for accommodating the transported material bag between the two support arms. The controller is electrically connected to the moving mechanism, the suction cup mechanism, and the support arms respectively. The controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it realizes the steps of the bagged material handling control method described in the above various embodiments.

[0080] The processor may be a central processing unit, or may also be other general-purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the loading control device for the truck with tie bars, and connects various parts of the entire loading control system for the truck with tie bars through various interfaces and lines.

[0081] The memory can be used to store the computer program and / or module. The processor realizes various functions of the loading control device for the truck with tie bars by running or executing the computer program and / or module stored in the memory, and by calling the data stored in the memory. If the loading control device for the truck with tie bars is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present invention, it can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various embodiments of the loading control method for the truck with tie bars can be implemented.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some 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 various embodiments of the present invention.

[0083] In summary, the above are only the preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the patent of the present invention.

Claims

1. A method for controlling the handling of bagged materials, which is used for a cargo grabbing and transferring device. The cargo grabbing and transferring device includes a moving mechanism that can move between the stack of goods to be transferred and the placement position, and a cargo grabbing platform installed below the moving mechanism. The cargo grabbing platform includes a suction cup mechanism that can move up and down relative to the moving mechanism and two support arms arranged on both sides of the suction cup mechanism. There is a bin space between the two support arms for accommodating the transferred material bags. It is characterized in that, It includes the following steps: S1. Obtain the goods packaging information and the material bag position information of the material bag to be transferred this time sent by the server, and query the grasping operation mode of the corresponding goods grasping platform in the control configuration library according to the goods packaging information. The goods packaging information includes the bag body material attribute and the material bag weight. The step S1 includes: S11. Obtain the bag body material attribute, the material bag weight and the material bag position information of the material bag to be transferred this time sent by the server, and obtain the corresponding bag body stretching value and bag body adsorption value in the goods database according to the bag body material attribute. The bag body stretching value is configured as the distance that the upper surface of the material bag can be stretched downward after being sucked by the suction cup, and the bag body adsorption value is configured as the pulling force required for the upper surface of the material bag to be separated after being sucked by the suction cup; S12. If the bag body adsorption value is lower than the first adsorption preset value or the bag body stretching value is higher than the first stretching preset value, send a task alarm message; S13. If the bag body adsorption value is higher than the second adsorption preset value and the bag body stretching value is lower than the first stretching preset value, and the material bag weight is within the corresponding weight allowable range of the first adsorption preset value, control the grasping platform to enter the first operation mode. The second adsorption preset value is greater than the first adsorption preset value; S14. If the bag body adsorption value is higher than the first adsorption preset value but less than the second adsorption preset value, and the bag body stretching value is lower than the first stretching preset value, and the material bag weight is within the corresponding weight allowable range of the first adsorption preset value, control the grasping platform to enter the second operation mode; S2. If the grasping operation mode is the first operation mode, after controlling the moving mechanism to move and lift to above the target material bag according to the material bag position information, control the suction cup mechanism to probe and suck the target material bag. After the suction cup mechanism retracts the goods to the inside of the bin space, control the support arm to close under the material bag, and keep the suction cup mechanism continuously adsorb the material bag during the transfer process to the first target position. After the support arm is opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to drop the material bag; S3. If the grasping operation mode is the second operation mode, after controlling the moving mechanism to move and lift to above the target material bag according to the material bag position information, control the suction cup mechanism to probe and suck the target material bag. After the suction cup mechanism retracts the goods to the inside of the bin space, control the support arm to close under the material bag and control the suction cup mechanism to reduce the suction force to release the material bag onto the two support arms. After the support arms lift the material bag and move to the first target position along with the moving mechanism, control the two support arms to open and drop the material bag; S4. After dropping the material bag, control the opened support arms to contract into the two-side storage spaces, and then drive the goods grasping platform to move above the next material bag to be handled.

2. The bagged material handling control method according to claim 1, wherein The step S2 includes: If the grasping operation mode is the first operation mode, after controlling the moving mechanism to move and lift to above the target material bag according to the material bag position information, control the suction cup mechanism to probe and suck the target material bag. After the suction cup mechanism retracts the goods to the inside of the bin space, control the support arm to close under the material bag; Determine whether the stretching value of the bag body is greater than the second stretching preset value. If it is greater than the second stretching preset value, control the suction cup mechanism to descend by a buffer setting value so that the lower part of the material bag contacts the support arm, and keep the suction cup mechanism continuously adsorb the material bag during transportation to the first target position. After the support arm is opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to drop the material bag. The second stretching preset value is less than the first stretching preset value; If the stretching value of the bag body is not greater than the second stretching preset value, keep the suction cup mechanism continuously adsorb the material bag during transportation to the first target position. After the support arm is opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to drop the material bag.

3. The bagged material handling control method according to claim 2, characterized in that The cargo packaging information further includes the bag body size. Two cargo grasping platforms that can move relatively away from and close to each other are installed in parallel below the moving mechanism. The cargo grasping platform further includes two receiving structures correspondingly arranged above the support arms on both sides. The receiving structure has a receiving space capable of accommodating the corresponding side support arm. Step S4 includes: Obtain the minimum distance between the two cargo grasping platforms to avoid collision when the support arms are opened, and calculate the minimum number of bags in the interval between two material bags to be grasped in the stack when the support arms of the two cargo grasping platforms are in the opened state according to the bag body size; Obtain the position information of the next group of material bags to be grasped by the two cargo grasping platforms. If the number of material bags between the next group of two material bags to be grasped is less than the minimum number of bags in the interval, after the current group of material bags are dropped, control the opened support arms to retract into the receiving spaces on both sides, and then move the cargo grasping platform above the next group of material bags to be transported.

4. The bagged material handling control method according to claim 3, wherein, The step S4 includes: After the suction cup mechanism extracts the cargo into the bin space, control the cargo grasping platform to move away from the other cargo grasping platform until the distance between the two cargo grasping platforms is greater than the minimum distance, then control the support arms on both sides to move out of the corresponding receiving spaces and close below the material bag.

5. A control device is used to control the operation of a goods grasping and transferring device. The goods grasping and transferring device includes a moving mechanism that can move between the stack of goods to be transferred and the placing position, and a goods grasping platform installed below the moving mechanism. The goods grasping platform includes a suction cup mechanism that can move up and down relative to the moving mechanism and two support arms arranged on both sides of the suction cup mechanism. There is a bin space between the two support arms for accommodating the transferred material bags. It is characterized in that, Include: An information acquisition module, configured to acquire the cargo packaging information and the material bag position information of the material bags to be transported this time sent by the server, and query the grasping operation mode of the corresponding cargo grasping platform in the control configuration library according to the cargo packaging information. The cargo packaging information includes the bag body material attribute and the weight of the material bag; A first operation module, configured to, when the grasping operation mode is the first operation mode, control the moving mechanism to move and lift above the target material bag according to the material bag position information, then control the suction cup mechanism to descend to suck the target material bag. After the suction cup mechanism extracts the cargo and retracts into the bin space, control the support arms to close below the material bag, and keep the suction cup mechanism continuously adsorb the material bag during transportation to the first target position. After the support arm is opened, control the suction cup mechanism to descend to the second target position and then reduce the suction force to drop the material bag; The second operation module is used to, when the grasping operation mode is the second operation mode, control the moving mechanism to move and lift above the target material bag according to the material bag position information, and then control the suction cup mechanism to extend downward to suck the target material bag. After the suction cup mechanism retracts into the bin space after picking up the goods, control the support arms to close under the material bag, and control the suction cup mechanism to reduce the suction force to release the material bag onto the two support arms. After the support arms lift the material bag and move to the first target position along with the moving mechanism, control the two support arms to open and drop the material bag; The transfer module is used to, after dropping the material bag, control the opened support arms to contract into the two-side storage spaces, and then drive the goods grasping platform to move above the next material bag to be transported; The information acquisition module includes: The bag body information query module is used to obtain the bag body material property, the weight of the material bag, and the material bag position information of the material bag to be transported this time sent by the server, and obtain the corresponding bag body stretching value and bag body adsorption value in the goods database according to the bag body material property. The bag body stretching value is configured as the distance that the upper surface of the material bag can stretch downward after being sucked by the suction cup, and the bag body adsorption value is configured as the pulling force required for the upper surface of the material bag to be separated after being sucked by the suction cup; The alarm module is used to send a task alarm message when the bag body adsorption value is lower than the first adsorption preset value or the bag body stretching value is higher than the first stretching preset value; The first judgment module is used to, when the bag body adsorption value is higher than the second adsorption preset value and the bag body stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value, control the grasping platform to enter the first operation mode, and the second adsorption preset value is greater than the first adsorption preset value; The second judgment module is used to, when the bag body adsorption value is higher than the first adsorption preset value but less than the second adsorption preset value, and the bag body stretching value is lower than the first stretching preset value, and the weight of the material bag is within the corresponding weight allowable range of the first adsorption preset value, control the grasping platform to enter the second operation mode.

6. A bagged material handling system, characterized in that: It includes a moving mechanism that can move between the stack of goods to be transported and the dropping position, a goods grasping platform installed below the moving mechanism, and a controller. The goods grasping platform includes a suction cup mechanism that can move up and down relative to the moving mechanism and two support arms arranged on both sides of the suction cup mechanism. There is a bin space for accommodating the transported material bag between the two support arms. The controller is electrically connected to the moving mechanism, the suction cup mechanism, and the support arms respectively. The controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it realizes the steps of the method according to any one of claims 1-4.

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