Material taking device

Abstract

The embodiment of the present application provides a kind of material taking equipment, the material taking equipment includes fixed frame, bag lifting device and clamping device, bag lifting device is equipped in fixed frame, bag lifting device is used to lift the part of the packaging bag of the object to be taken, clamping device is equipped in fixed frame, and it is side by side along the first side with bag lifting device, clamping device is used to clamp and release the part of the packaging bag being lifted.The material taking equipment of the embodiment of the present application is provided with bag lifting device and clamping device on fixed frame, the part of the packaging bag of the object to be taken is lifted by bag lifting device, then the part of the packaging bag being lifted is clamped by clamping device, so as to accurately and stably capture the packaging bag of the object to be taken, to ensure the success rate of the material taking of the object to be taken.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment, and more specifically to a material handling device. Background Technology

[0002] The production of silicon rods requires the use of raw silicon material, which is sealed in double-layered plastic bags and then stacked in a packaging box. Foam pads are placed between adjacent layers of bags for cushioning. The silicon material is stored and moved within the packaging box. During silicon rod production, the bagged silicon material needs to be removed from the packaging box. In related technologies, grippers or suction cups are used for this purpose. However, the packaging bags are irregularly shaped under external forces and undergo further deformation during the removal process. Therefore, grippers or suction cups cannot accurately and stably capture the packaging bags, easily leading to problems such as failure to retrieve the bags or bags detaching during the retrieval process. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention provide a material-grabbing device that can accurately and stably capture the packaging bag of the item to be retrieved, thereby ensuring a high success rate in retrieving the item.

[0004] The material handling device of this invention includes:

[0005] Fixed frame;

[0006] A bag-lifting device is provided on the fixed frame and is used to lift a portion of the packaging bag of the item to be picked up.

[0007] A gripping device is provided on the fixed frame and arranged side by side with the bag-lifting device along a first direction. The gripping device is used to grip and release the part of the packaging bag that is lifted.

[0008] The material handling device of this invention is equipped with a bag lifting device and a clamping device on a fixed frame. The bag lifting device lifts part of the packaging bag of the object to be picked up, and then the clamping device clamps the lifted part of the packaging bag, thereby accurately and stably capturing the packaging bag of the object to be picked up, so as to ensure the success rate of picking up the object.

[0009] In some embodiments, the bag-carrying device includes at least two pushers, wherein the two pushers are spaced apart along a second direction, and either of the two pushers is used to abut against the packaging bag and drive the packaging bag toward the other pusher, wherein the second direction is orthogonal to the first direction.

[0010] In some embodiments, the pusher includes a pusher wheel, which is mounted on a fixed frame and is rotatable about the first direction relative to the fixed frame, and the pushers of the two pushers rotate about the first direction in opposite directions.

[0011] In some embodiments, the bag-lifting device further includes a sensing component disposed on the fixed frame and corresponding to the two bag-pushing components for sensing the portion of the packaging bag that is being lifted.

[0012] The sensing component is electrically connected to the two bag pushers to signal the two bag pushers when it senses that a portion of the packaging bag has been lifted, causing the two bag pushers to stop driving the packaging bag; and / or

[0013] The sensing component is electrically connected to the gripping device to send a signal to the gripping device when it senses the portion of the packaging bag being lifted, so that the gripping device can grip the portion of the packaging bag being lifted.

[0014] In some embodiments, the sensing component includes:

[0015] A trigger rod is disposed on the fixed frame and located between the two bag pushing components. The trigger rod is used to abut against the part of the packaging bag that is lifted, and moves relative to the fixed frame in a third direction under the drive of the part of the packaging bag. The third direction is orthogonal to the first direction and the second direction.

[0016] A first sensor is disposed on the fixed frame and is spaced apart from the trigger rods not driven by a portion of the packaging bag along the third direction. The first sensor is electrically connected to the bag-lifting device and / or the gripping device. The first sensor is used to sense the trigger rods driven by a portion of the packaging bag and to send a signal to the bag-lifting device and / or the gripping device when the trigger rods are sensed.

[0017] In some embodiments, the gripping device includes:

[0018] At least two grippers, wherein the two grippers are spaced apart along a second direction orthogonal to the first direction;

[0019] A linkage mechanism is provided on the fixed frame, and one end of the linkage mechanism is connected to the two grippers;

[0020] A first driving member is disposed on the fixed frame and connected to the other end of the linkage mechanism. The first driving member can drive the other end of the linkage mechanism to move relative to the fixed frame along a third direction, so as to drive the two grippers to move closer and further apart relative to each other along the second direction. The third direction is orthogonal to the first direction and the second direction.

[0021] In some embodiments, the linkage mechanism includes:

[0022] At least two first links, one end of each of the two first links is connected to one of the two grippers, and the middle of the two first links are arranged in a cross pattern and are hinged to the fixed frame in a rotatable manner around the first direction.

[0023] At least two second links are provided, wherein the two second links are configured in one-to-one correspondence with the two first links, and one end of the second link is hinged to the other end of the corresponding first link in a rotatable manner around the first direction, and the other ends of the two second links are hinged to the first driving member in a rotatable manner around the first direction.

[0024] In some embodiments, the material handling device further includes:

[0025] A movable frame, wherein the first driving member is connected between the fixed frame and the movable frame to drive the movable frame to move relative to the fixed frame along the third direction, and the other end of the linkage mechanism is disposed on the movable frame; and / or

[0026] An adsorption device is disposed on the movable frame or the fixed frame, at least a portion of the adsorption device is movable relative to the fixed frame in the third direction, and has a position on the opposite side of the direction in which the bag-lifting device is lifted along the direction in which a portion of the packaging bag is lifted, and a position on the side of the direction in which at least a portion of the bag-lifting device is lifted along the direction in which a portion of the packaging bag is lifted.

[0027] In some embodiments, the adsorption device is disposed on the movable frame, and the adsorption device includes:

[0028] A second driving component is disposed on the movable frame;

[0029] A suction cup, disposed on the second drive member, is movable relative to the movable frame in the third direction under the drive of the second drive member, and has a position on the opposite side of the direction in which the bag-holding device is lifted along a portion of the packaging bag, and a position on the side of the direction in which at least a portion of the bag-holding device is lifted along a portion of the packaging bag.

[0030] In some embodiments, the material handling device further includes a mounting frame disposed on the fixed frame and extending in a direction away from the bag-carrying device and the gripping device. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the material handling device according to an embodiment of the present invention;

[0032] Figure 2 This is a front view of the material handling device according to an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the bag-carrying device in an embodiment of the present invention;

[0034] Figure 4 This is a side view of the clamping device in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the adsorption device and the clamping device in the embodiments of the present invention.

[0036] Figure label:

[0037] 1. Fixed frame; 11. Base plate; 12. Top plate; 13. Connecting rod; 14. Mounting bracket; 2. Bag lifting device; 21. Bag pushing component; 22. Sensing component; 221. Trigger rod; 222. First sensor; 23. Drive component; 3. Gripping device; 31. Gripper; 32. Linkage mechanism; 321. First link; 322. Second link; 33. First drive component; 4. Movable frame; 5. Adsorption device; 51. Second drive component; 52. Suction cup; 53. Connecting bracket; 54. Vacuum generator; 6. Mounting bracket. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0039] The following is for reference. Figures 1-5 A material handling device according to an embodiment of the present invention is described.

[0040] like Figures 1-5 As shown, the material handling device of this embodiment includes a fixed frame 1, a bag lifting device 2, and a clamping device 3.

[0041] A bag-lifting device 2 is mounted on the fixed frame 1 and is used to lift a portion of the packaging bag of the item to be picked up. A clamping device 3 is mounted on the fixed frame 1 and is aligned with the bag-lifting device 2 in a first direction (e.g., ...). Figure 1 The two bags are arranged side by side (as shown in the left and right directions), and the gripping device 3 is used to grip and release the part of the packaging bag that is lifted.

[0042] Specifically, such as Figures 1-5 As shown, the bottom of the fixed frame 1 is equipped with a bag-lifting device 2 and a clamping device 3. The bag-lifting device 2 and the clamping device 3 are arranged side by side and spaced apart in the left-right direction. When the picking device picks up material, the bag-lifting device 2 contacts the packaging bag of the item to be picked up and lifts part of the packaging bag. The clamping device 3 clamps the lifted part of the packaging bag. In this embodiment of the invention, the picking device does not grab the entire item with the packaging bag by the clamping device 3. Instead, it first contacts the packaging bag with the bag-lifting device 2 and ensures that part of the packaging bag is lifted. Then, the clamping device 3 clamps the lifted part of the packaging bag, thereby taking out the item to be picked up. Therefore, it can accurately and stably pick up the item to be picked up. When the picking device moves the picked up item to the dispensing position, the clamping device 3 releases the clamped packaging bag.

[0043] It should be noted that the item to be retrieved is preferably, but not limited to, silicone material sealed in a plastic bag; the item to be retrieved can also be other items packaged in a bag.

[0044] The material handling device of this invention is equipped with a bag-lifting device and a clamping device on a fixed frame. The bag-lifting device lifts a portion of the packaging bag of the item to be picked up, and then the clamping device clamps the lifted portion of the packaging bag, thereby accurately and stably capturing the packaging bag of the item to be picked up, ensuring a high success rate in picking up the item. At the same time, the material handling device has a relatively simple structure and a high degree of compactness.

[0045] In some embodiments, the material handling device of the present invention further includes a mounting frame 6, which is disposed on the fixed frame 1 and extends in a direction away from the bag-carrying device 2 and the clamping device 3.

[0046] like Figure 1 and Figure 2 As shown, the bag-carrying device 2 and the gripping device 3 are located at the bottom of the fixed frame 1. The top of the fixed frame 1 is provided with a mounting frame 6, which extends upward from the top of the fixed frame 1. The top and bottom of the mounting frame 6 are both provided with flanges. The flange at the bottom is connected to the top of the fixed frame 1 by bolts or other connecting parts. The flange at the top is preferably connected to a robot or robotic arm by bolts or other connecting parts.

[0047] When the packaging box containing the preferred silicon material is deep, the vertical dimension of the mounting frame 6 ensures that the bag-lifting device 2 and the clamping device 3 can reach the bottom of the packaging box, thereby ensuring that the material-retrieving equipment can remove the material from the bottom layer of the packaging box.

[0048] Preferably, the fixed frame 1 includes a base plate 11, a top plate 12 and connecting rods 13. The base plate 11 and the top plate 12 are both horizontally arranged and are arranged at intervals in the vertical direction. Multiple connecting rods 13 are connected between the base plate 11 and the top plate 12. The top plate 12 is connected to the mounting frame 6, and the base plate 11 is connected to the bag-lifting device 2 and the clamping device 3.

[0049] The vertical dimensions of the fixed frame 1 also ensure that the bag-lifting device 2 and the clamping device 3 can reach the bottom of the packaging box. At the same time, the space between the bottom plate 11 and the top plate 12 facilitates the installation of the bag-lifting device 2 and the clamping device 3, and also prevents any of the bag-lifting device 2 and the clamping device 3 from interfering with the mounting frame 6.

[0050] More preferably, there are two bag-carrying devices 2 and two clamping devices 3 respectively. The two bag-carrying devices 2 are arranged at intervals in the left and right directions, and the two clamping devices 3 are arranged at intervals in the left and right directions. The two clamping devices 3 are located between the two bag-carrying devices 2. The fixed frame 1 also includes a mounting bracket 14. The left and right sides of the base plate 11 are respectively provided with corresponding mounting brackets 14, and the bag-carrying devices 2 are respectively mounted on the mounting brackets 14.

[0051] The success rate of material retrieval is ensured by two bag-lifting devices 2 and two clamping devices 3, which also facilitates the stability of the retrieved item during movement and prevents the item from accidentally falling out of the retrieval equipment.

[0052] In some embodiments, the bag-carrying device 2 includes at least two pusher members 21, wherein the two pusher members 21 are along a second direction (e.g., Figure 1 The two pusher members 21 are arranged at intervals in the front-to-back direction shown. Either pusher member 21 is used to abut against the packaging bag and drive the packaging bag to move toward the other pusher member 21. The second direction is orthogonal to the first direction.

[0053] like Figures 1-3 As shown, the bag-lifting device 2 includes two pusher members 21 arranged at intervals in the front-to-back direction. The pusher member 21 at the front end is used to abut against the packaging bag and drive the packaging bag to move backward. The pusher member 21 at the rear end is used to abut against the packaging bag and drive the packaging bag to move forward, so that part of the packaging bag accumulates between the two pusher members 21 and moves upward, thereby achieving the effect of lifting the bag. The accumulated part of the packaging bag is used to be gripped by the gripping device 3.

[0054] It is understood that the structure of the bag-lifting device is not limited to including a bag-pushing component. In other embodiments, the bag-lifting device may also include an adsorption component disposed on a fixed frame, which generates an upward suction force to move part of the packaging bag upward under the action of the suction force. The bag-lifting device may also include an adhesive component disposed on a fixed frame, which can move vertically relative to the fixed frame to pick up part of the packaging bag and drive the picked-up packaging bag upward.

[0055] In some embodiments, the pusher 21 includes a pusher wheel, which is disposed on the fixed frame 1 and can rotate about a first direction relative to the fixed frame 1, and the pushers of the two pushers 21 rotate about the first direction in opposite directions.

[0056] like Figures 1-3 As shown, the pusher 21 is preferably a pusher wheel. Two pushers of the same bag-carrying device 2 are located at the bottom of the corresponding mounting bracket 14, and the two pushers are spaced apart in the front-to-back direction. The pusher wheel can rotate relative to the mounting bracket 14 around the axis in the left-to-right direction. Figure 1 As shown, the push wheel at the front rotates counterclockwise, and the push wheel at the rear rotates clockwise, so that a portion of the packaging bag stacks between the two push wheels and moves upward.

[0057] Preferably, the push wheel is a rubber-coated wheel, which provides cushioning and greater friction, facilitating the stacking of packaging bags. A second sensor is installed inside the rubber-coated wheel; when the wheel contacts the packaging bag, the sensor is triggered, sending a signal to rotate the wheel.

[0058] It is understood that the pusher is not limited to a push wheel; in other embodiments, the pusher is a track device.

[0059] The bag-carrying device 2 also includes a drive assembly 23, which is connected to two pusher components 21 to drive the two pusher components 21 to operate. Specifically, the drive assembly 23 is connected to two pusher wheels to drive the two pusher wheels to rotate in opposite directions around the left and right sides.

[0060] like Figure 3 As shown, the drive assembly 23 includes two rotary motors, which are mounted on the same mounting bracket 14 and connected to two push wheels in a one-to-one correspondence, so that the rotary motors drive the corresponding push wheels to rotate. It is understood that the drive assembly is not limited to including two rotary motors. In other embodiments, the drive assembly connects two push wheels simultaneously through a rotary motor and a gear transmission mechanism or belt transmission mechanism, and causes the two push wheels to rotate in opposite directions around the left and right.

[0061] In some embodiments, the bag-lifting device 2 further includes a sensing component 22, which is disposed on the fixed frame 1 and correspondingly arranged with two bag-pushing members 21 for sensing the lifted portion of the packaging bag. The sensing component 22 is electrically connected to the two bag-pushing members 21 to send a signal to the two bag-pushing members 21 when it senses the lifted portion of the packaging bag, causing the two bag-pushing members 21 to stop driving the packaging bag. And / or the sensing component 22 is electrically connected to the gripping device 3 to send a signal to the gripping device 3 when it senses the lifted portion of the packaging bag, causing the gripping device 3 to grip the lifted portion of the packaging bag.

[0062] like Figure 3 As shown, the bag-carrying device 2 also includes a sensing component 22. The sensing component 22 is disposed on the corresponding mounting bracket 14 and is correspondingly disposed with the two push wheels on the same mounting bracket 14. Specifically, the sensing component 22 can be disposed entirely or partially in the space between the two push wheels, or it can be disposed on the left or right side of the space, or it can be disposed on the upper side of the space. The part of the packaging bag lifted by the two push wheels is located in the space and is sensed by the sensing component 22.

[0063] Preferably, both push rollers and the gripping device 3 are electrically connected to the sensing component 22. Specifically, the sensing component 22 is electrically connected to the drive component 23, which in turn is indirectly electrically connected to the two push rollers. When the sensing component 22 senses the lifted portion of the packaging bag, it simultaneously sends a signal to the drive component 23 and the gripping device 3. After receiving the signal, the drive component 23 stops driving the push rollers to rotate, in order to avoid damage to the drive component 23 and the packaging bag. After receiving the signal, the gripping device 3 grips the lifted portion of the packaging bag.

[0064] It is understood that in other embodiments, the sensing component may be electrically connected only to the driving component or only to the gripping device.

[0065] In some embodiments, the sensing component 22 includes a trigger rod 221 and a first sensor 222. The trigger rod 221 is disposed on the fixed frame 1 and located between two bag pushing components 21. The trigger rod 221 is used to abut against the partially lifted packaging bag and, driven by the partially lifted packaging bag, moves relative to the fixed frame 1 in a third direction (e.g., Figure 1 The movement is in the up-down direction shown, and the third direction is orthogonal to the first and second directions. The first sensor 222 is mounted on the fixed frame 1 and is arranged at intervals along the third direction with the trigger rod 221 that is not driven by the partial packaging bag. The first sensor 222 is electrically connected to the bag lifting device 2 and / or the gripping device 3. The first sensor 222 is used to sense the trigger rod 221 driven by the partial packaging bag and sends a signal to the bag lifting device 2 and / or the gripping device 3 when the trigger rod 221 is sensed.

[0066] like Figure 3 As shown, the trigger rod 221 extends vertically and is mounted on the corresponding mounting bracket 14. It can move vertically relative to the corresponding mounting bracket 14. The trigger rod 221 is located between two push bag components 21 on the same mounting bracket 14, and the bottom of the trigger rod 221 is higher than the bottom of the two push bag components 21. The first sensor 222 is mounted on the mounting bracket 14 and is located above the trigger rod 221 in its natural state. The first sensor 222 is electrically connected to the drive assembly 23 and the clamping device 3.

[0067] As the two bag-pushing components 21 lift a portion of the packaging bag, the lifted portion gradually rises until it abuts against the bottom of the trigger rod 221. As the portion of the packaging bag accumulates and continues to rise, it pushes the trigger rod 221 upwards. The top of the trigger rod 221 is sensed by the first sensor 222, which then triggers the first sensor 222. The first sensor 222 sends a signal to the drive assembly 23 and the gripping device 3, causing the drive assembly 23 to stop driving the bag-pushing components 21 and the gripping device 3 to grip the lifted portion of the packaging bag. After the gripping device 3 releases the packaging bag, the trigger rod 221 falls back to its original position below the first sensor 222 under the influence of gravity.

[0068] It is understandable that the structure of the sensing component is not limited to, for example... Figure 3 In some embodiments of the structure shown, the first sensor may be located on the left or right side of the space and above the bottom of the pusher, so that the part of the packaging bag being lifted can be directly sensed by the first sensor.

[0069] In some embodiments, the gripping device 3 includes at least two grippers 31, a linkage mechanism 32, and a first driving member 33. The two grippers 31 are spaced apart along a second direction, which is orthogonal to the first direction. The linkage mechanism 32 is mounted on the fixed frame 1, and one end of the linkage mechanism 32 is connected to the two grippers 31. The first driving member 33 is mounted on the fixed frame 1, and is connected to the other end of the linkage mechanism 32. The first driving member 33 can drive the other end of the linkage mechanism 32 to move relative to the fixed frame 1 along a third direction, thereby driving the two grippers 31 to move relatively closer and relatively farther apart along the second direction, which is orthogonal to the first and second directions.

[0070] like Figure 1 , Figure 2 and Figure 4 As shown, the gripping device 3 preferably includes two grippers 31, which are spaced apart in the front-to-back direction. The space between the midpoint of the two grippers 31 and the two push rollers is spaced apart in the left-to-right direction, so that the two grippers 31 can grip the portion of the packaging bag lifted by the two push rollers. The linkage mechanism 32 and the first driving member 33 are spaced apart in the left-to-right direction, and both the linkage mechanism 32 and the first driving member 33 are mounted on the base plate 11. The top of the linkage mechanism 32 is connected to the top of the first driving member 33, and the bottom of the first driving member 33 is connected to the two grippers 31. The first driving member 33 is preferably a telescopic member, more preferably a telescopic cylinder. The first driving member 33 drives the top of the linkage mechanism 32 to move vertically relative to the base plate 11. The linkage mechanism 32 then drives the two grippers 31 to move closer and further apart in the front-to-back direction, thereby realizing the gripping and release of the packaging bag.

[0071] It is understood that the gripping device is not limited to a linkage mechanism. In other embodiments, the base plate is provided with two horizontal drive members that move in the front-back direction. The horizontal drive members are preferably telescopic members, more preferably telescopic cylinders. The horizontal drive members are connected to the grippers one-to-one. The two horizontal drive members move relative to each other in the front-back direction to drive the two grippers to move closer and further apart.

[0072] In other embodiments, the linkage mechanism 32 includes at least two first links 321 and at least two second links 322. One end of each of the two first links 321 is connected to one of the two grippers 31, and the two first links 321 are arranged in a crisscross pattern at their middle portions and are hinged to the fixed frame 1 rotatably about a first direction. The two second links 322 are correspondingly arranged to the two first links 321, and one end of each second link 322 is hinged to the other end of the corresponding first link 321 rotatably about the first direction. The other ends of both second links 322 are hinged to the first driving member 33 rotatably about the first direction.

[0073] like Figure 4 As shown, there are preferably two first connecting rods 321 and two second connecting rods 322. The bottom of the first connecting rods 321 are provided with corresponding grippers 31. The two first connecting rods 321 are arranged in an "X" shape and are connected by a hinge at the intersection of the two first connecting rods 321. The hinge is set on the base plate 11 so that the two first connecting rods 321 can rotate in the left and right directions relative to the base plate 11. The top of the first connecting rods 321 is hinged to the second connecting rods 322 so that the second connecting rods 322 and the corresponding first connecting rods 321 can rotate relative to each other in the left and right directions. The two second connecting rods 322 extend from bottom to top and are inclined relatively close to each other. The top of the second connecting rods 322 is hinged to the top of the first driving member 33 so that it can rotate in the left and right directions.

[0074] In some embodiments, the material handling device of the present invention further includes a movable frame 4, a first driving member 33 is connected between the fixed frame 1 and the movable frame 4 to drive the movable frame 4 to move relative to the fixed frame 1 in a third direction, and the other end of the linkage mechanism 32 is disposed on the movable frame 4.

[0075] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the movable frame 4 is horizontally arranged and located between the bottom plate 11 and the top plate 12. The movable frame 4 is provided with grooves or holes that correspond to the four connecting rods 13, so that the movable frame 4 can move up and down between the bottom plate 11 and the top plate 12 under the limitation of the connecting rods 13.

[0076] The bottom of the first driving component 33 is located on the base plate 11, and the top of the first driving component 33 is connected to the movable frame 4 to drive the movable frame 4 to move up and down between the base plate 11 and the top plate 12.

[0077] The tops of the two second links 322 in the linkage mechanism 32 are located at the bottom of the movable frame 4 via the same pivot, and can rotate in the left and right directions relative to the movable frame 4 so as to connect the second links 322 to the first drive member 33 through the movable frame 4.

[0078] All the second links 322 of the two gripping devices 3 are located at the bottom of the same movable frame 4, and the first driving members 33 of the two gripping devices 3 are connected to the same movable frame 4, so as to improve the structural stability and structural compactness of the two gripping devices 3.

[0079] In other embodiments, the material handling device of the present invention further includes an adsorption device 5, which is disposed on a movable frame 4 or a fixed frame 1. At least a portion of the adsorption device 5 is movable relative to the fixed frame 1 in a third direction and has a position on the opposite side of the direction in which the bag lifting device 2 is lifted along the direction in which a portion of the packaging bag is lifted, and a position on the side of the direction in which at least a portion of the bag lifting device 2 is lifted along the direction in which a portion of the packaging bag is lifted.

[0080] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the adsorption device 5 is preferably located on the movable frame 4 to improve the compactness of the structure. At least part of the adsorption device 5 extends downward from the movable frame 4. Driven by the up-and-down movement of the movable frame 4, the adsorption device 5 can move vertically relative to the base plate 11 and has a position lower than the entire push bag member 21 and a position higher than the bottom of the push bag member 21. At the position lower than the entire push bag member 21, the adsorption device 5 is used to adsorb and remove the foam pads used to separate the packaging bags in the packaging box, so as to facilitate the subsequent removal of the lower layer of the items to be taken. At the position higher than the bottom of the push bag member 21, the push bag member 21 and the clamping device 3 take the items to be taken. The adsorption device 5 will not interfere with the taking action of the push bag member 21 and the clamping device 3.

[0081] It is understood that the adsorption device is not limited to being mounted on a movable frame. In other embodiments, the adsorption device is mounted on a fixed frame and can extend and retract in the vertical direction so that at least a portion of the adsorption device can move vertically relative to the fixed frame.

[0082] In some embodiments, the adsorption device 5 is disposed on the movable frame 4, and the adsorption device 5 includes a second driving member 51 and a suction cup 52. The second driving member 51 is disposed on the movable frame 4. The suction cup 52 is disposed on the second driving member 51 to move relative to the movable frame 4 in a third direction under the drive of the second driving member 51, and has a position on the opposite side of the direction in which the bag-lifting device 2 is partially lifted along the direction in which the packaging bag is partially lifted, and a position on the side of at least a portion of the bag-lifting device 2 is partially lifted along the direction in which the packaging bag is partially lifted.

[0083] like Figure 3 and Figure 4 As shown, the second driving member 51 is preferably a telescopic member, more preferably a telescopic cylinder. The top of the second driving member 51 is located at the bottom of the movable frame 4. The second driving member 51 extends downward from the movable frame 4 and is connected to the suction cup 52. The second driving member 51 drives the suction cup 52 to move in the vertical direction so that the suction cup 52 has a position lower than the entire push bag member 21 and a position higher than the bottom of the push bag member 21.

[0084] Preferably, there are two suction cups 52 arranged at intervals along the front-to-back direction. The adsorption device 5 also includes a connecting bracket 53, which extends along the front-to-back direction. The front and rear ends of the connecting bracket 53 are connected to the corresponding suction cups 52. The middle part of the connecting bracket 53 protrudes and is connected to the bottom of the second driving member 51 so that the two suction cups 52 move up and down synchronously. The success rate and stability of adsorbing the foam pad are improved by the two suction cups 52.

[0085] Preferably, the suction cup 52 is a Bernoulli suction cup, and the adsorption device 5 also includes a vacuum generator 54, which is located on the top of the movable frame 4 and connected to the suction cup 52 through a pipe to control the suction cup 52 to pick up and release the foam pad.

[0086] Preferably, during the process of removing the foam pad, the telescopic cylinder, which serves as the first driving member 33, retracts, and the telescopic cylinder, which serves as the second driving member 51, extends, and then the foam pad is picked up by the suction cup 52.

[0087] In the description of this invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0088] Furthermore, the terms "first" and "second" are used only for distinction and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0089] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0090] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0091] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0092] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A material handling device, characterized in that, include: Fixed frame (1); A bag-lifting device (2) is provided on the fixed frame (1) and is used to lift part of the packaging bag of the item to be picked up. A clamping device (3) is provided on the fixed frame (1) and arranged side by side with the bag-lifting device (2) in the first direction. The clamping device (3) is used to clamp and release the part of the packaging bag that is lifted. The bag-carrying device (2) includes at least two bag-pushing members (21), wherein the two bag-pushing members (21) are arranged at intervals along a second direction, and either of the two bag-pushing members (21) is used to abut against the packaging bag and drive the packaging bag to move toward the other bag-pushing member (21), wherein the second direction is orthogonal to the first direction; The bag-lifting device (2) further includes a sensing component (22), which is disposed on the fixed frame (1) and is correspondingly disposed with the two bag-pushing components (21) for sensing the portion of the packaging bag that is being lifted. The sensing component (22) is electrically connected to the two pushers (21) to signal the two pushers (21) to stop driving the packaging bag when a portion of the packaging bag is sensed being lifted; and / or The sensing component (22) is electrically connected to the gripping device (3) to send a signal to the gripping device (3) when it senses the portion of the packaging bag being lifted, so that the gripping device (3) grips the portion of the packaging bag being lifted.

2. The material handling device according to claim 1, characterized in that, The pusher (21) includes a pusher wheel, which is mounted on a fixed frame (1) and can rotate about the first direction relative to the fixed frame (1), and the pushers of the two pushers (21) rotate about the first direction in opposite directions.

3. The material handling device according to claim 1, characterized in that, The sensing component (22) includes: A trigger rod (221) is provided on the fixed frame (1) and located between the two push bag parts (21). The trigger rod (221) is used to abut against the part of the packaging bag that is lifted, and moves relative to the fixed frame (1) in a third direction under the drive of the part of the packaging bag. The third direction is orthogonal to the first direction and the second direction. A first sensor (222) is disposed on the fixed frame (1) and is spaced apart from the trigger rod (221) which is not driven by part of the packaging bag along the third direction. The first sensor (222) is electrically connected to the bag-carrying device (2) and / or the gripping device (3). The first sensor (222) is used to sense the trigger rod (221) driven by part of the packaging bag and to send a signal to the bag-carrying device (2) and / or the gripping device (3) when the trigger rod (221) is sensed.

4. The material handling device according to claim 1, characterized in that, The clamping device (3) includes: At least two grippers (31), wherein the two grippers (31) are spaced apart along a second direction orthogonal to the first direction; Linkage mechanism (32), the linkage mechanism (32) is provided on the fixed frame (1), and one end of the linkage mechanism (32) is connected to the two grippers (31); The first driving member (33) is disposed on the fixed frame (1). The first driving member (33) is connected to the other end of the linkage mechanism (32) and can drive the other end of the linkage mechanism (32) to move relative to the fixed frame (1) along a third direction, so as to drive the two grippers (31) to move closer and further away from each other along the second direction. The third direction is orthogonal to the first direction and the second direction.

5. The material handling device according to claim 4, characterized in that, The linkage mechanism (32) includes: At least two first links (321), one end of each of the two first links (321) is connected to one of the two grippers (31), and the middle of the two first links (321) are arranged crosswise and are rotatably hinged to the fixed frame (1) around the first direction. At least two second links (322), wherein the two second links (322) are configured in a one-to-one correspondence with the two first links (321), and one end of the second link (322) is hinged to the other end of the corresponding first link (321) in a rotatable manner around the first direction, and the other end of the two second links (322) is hinged to the first drive member (33) in a rotatable manner around the first direction.

6. The material handling device according to claim 4, characterized in that, Also includes: A movable frame (4), wherein the first driving member (33) is connected between the fixed frame (1) and the movable frame (4) to drive the movable frame (4) to move relative to the fixed frame (1) along the third direction, and the other end of the linkage mechanism (32) is disposed on the movable frame (4); and / or An adsorption device (5) is provided on the movable frame (4) or the fixed frame (1). At least a portion of the adsorption device (5) is movable relative to the fixed frame (1) along the third direction and has a position on the opposite side of the direction in which the bag-lifting device (2) is lifted along the direction in which a portion of the packaging bag is lifted, and a position on the side of the direction in which at least a portion of the bag-lifting device (2) is lifted along the direction in which a portion of the packaging bag is lifted.

7. The material handling device according to claim 6, characterized in that, The adsorption device (5) is disposed on the movable frame (4), and the adsorption device (5) includes: The second drive unit (51) is disposed on the movable frame (4); A suction cup (52) is provided on the second drive member (51) to move relative to the movable frame (4) in the third direction under the drive of the second drive member (51), and has a position on the opposite side of the direction in which the bag-lifting device (2) is lifted along the direction in which a portion of the packaging bag is lifted, and a position on the side of at least a portion of the bag-lifting device (2) is lifted along the direction in which a portion of the packaging bag is lifted.

8. The material handling device according to claim 1, characterized in that, It also includes a mounting bracket (6), which is located on the fixed frame (1) and extends in a direction away from the bag-carrying device (2) and the gripping device (3).

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