Grabbing and bag breaking integrated robot for throwing of jute bag packaging materials

Abstract

The invention discloses a grabbing and bag breaking integrated robot for throwing of gunny bag packaging materials, which is applied to the technical field of material throwing, and can be used for conveniently and flexibly adjusting the position and angle of a structure by arranging an electric guide rail to be matched with a mechanical arm, so that gunny bag packaging materials can be conveniently grabbed or put down; a suspension frame is matched with a structure cage so that the structure can be conveniently installed and supported, grabbing claws arranged at the bottom of a suspension disc rotate a threaded sleeve along a rotary disc when located outside a jute bag package so that a lead screw connected with the threaded sleeve can vertically fall, and the three inclined grabbing claws are pushed to be close to one another through a push frame connected with the grabbing claws. Compared with grabbing in the prior art, in the process, the bottom of the jute bag can be exposed, the jute bag can be kept suspended, an enough distance is reserved between the jute bag and the bottom structure, and therefore materials can be conveniently and directly thrown out and received from the bottom of the jute bag package.

Description

Technical Field

[0001] The present invention belongs to the technical field of material delivery, and in particular relates to a bag-grabbing and bag-breaking integrated robot used for delivering sack-packed materials. Background Art

[0002] Sacks are usually made of natural fiber materials, have high strength and wear resistance, can withstand a certain weight and pressure, and protect the materials inside the package from damage. Therefore, they are often used for cargo transportation. When taking out the goods inside, in order to save manpower, they will be grabbed by robots and pushed to the blade position to break the bag and dump the materials inside.

[0003] Chinese patent CN116142782B discloses a technology field involving intelligent equipment, specifically a robot automatic destacking and bag breaking system and method based on vision guidance, the system includes a multi-axis robot, and a bag breaking system and a stacking system located on the motion trajectory of the motion end of the multi-axis robot; the motion end of the multi-axis robot is connected to a grabbing fixture; the grabbing fixture includes a connecting component connected to the motion end of the multi-axis robot, a clamping component connected to the lower side of the connecting component, and a clamping claw component connected to the lower side of the clamping claw component; the clamping claw component includes a base, a driving component and a plurality of clamping claws with adjustable spacing, the plurality of clamping claws can be driven by the driving component to rotate synchronously to pierce the material bag for grabbing or withdraw the material bag for separation; the clamping claw at least at one end or both ends of the plurality of clamping claws can be separated from the driving relationship with the driving component to release the grabbing or separation action of the material bag, and the present invention can adapt to the grabbing and handling of material bags of different specifications.

[0004] Existing grabbing and bag-breaking robots for sack packaging material delivery mostly use fixed cutters when grabbing, delivering and breaking bags, and the robot pushes the sack packaging past the cutter position to release the internal materials. Although this method can save manpower for bag breaking, it is difficult to control the amount of material delivery when quantitative material delivery is required, and the material opening is too large, making it difficult to perform post-processing, which is inconvenient to use;

[0005] Based on the above-mentioned situation, we found that it is difficult for the existing technology of grabbing and bag-breaking robots to avoid the above problems at the same time. Therefore, we proposed a grabbing and bag-breaking robot for the delivery of sack-packed materials that can flexibly grab and deliver materials, unify the size of bag-breaking openings, and flexibly pause material delivery during the process of delivering materials. Summary of the invention

[0006] The purpose of the present invention is to target an existing bag-grabbing and bag-breaking integrated robot for delivering sack-packed materials. The robot has the advantages of being able to flexibly grasp and deliver materials, unify the bag-breaking opening size, and flexibly pause the delivery of materials during the delivery process.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions: a bag-grabbing and bag-breaking integrated robot for delivering sack packaging materials, comprising an electric guide rail and a mechanical arm movably connected to the inner side of the electric guide rail, a section of the mechanical arm away from the electric guide rail is installed with a suspension, an extension frame is bolted to the right side of the suspension, a bag-breaking assembly is installed at the bottom of the extension frame, a structural cage is bolted to the bottom of the suspension, a hanging plate is bolted to the bottom of the structural cage, three grabbing claws are rotatably connected to the bottom of the hanging plate, a bent claw is fixedly connected to the bottom of the grabbing claw, a rotating disk is bolted to the top of the hanging plate, a screw sleeve is rotatably connected to the inner side of the rotating disk, a screw rod is threadedly connected to the inner side of the screw sleeve, a push frame is rotatably connected to the bottom of the screw rod, and the inner side of the push frame is in contact with the grabbing claw;

[0008] The bag breaking assembly includes a hydraulic cylinder, a fixed end of the hydraulic cylinder is bolted to an extension frame, a telescopic end of the hydraulic cylinder is fixedly connected to a force frame, a side of the force frame away from the hydraulic cylinder is fixedly connected to a mouth plate, an outer ring is bolted to the top of the mouth plate, a horizontal rod is slidably connected to the inner side of the outer ring, a puncture claw is fixedly connected to the outer side of the horizontal rod, a synchronous frame is bolted to the side of the horizontal rod away from the puncture claw, and a valve plate is movably connected to the bottom of the inner side of the mouth plate.

[0009] By adopting the above technical scheme, the position and angle of the structure can be flexibly adjusted by setting an electric guide rail in conjunction with a mechanical arm, so as to grab or put down the sack packaging. The suspension in conjunction with the structural cage can facilitate the installation and support of the structure. The grabbing claw arranged at the bottom of the suspension plate can rotate the screw sleeve along the turntable when it is located outside the sack packaging, so that the screw rod connected to it can fall vertically, and the three inclined grabbing claws are pushed closer to each other by the push frame connected to it, and the sack packaging can be clamped with the bent claws. Compared with the grabbing process of the prior art, this process can expose the bottom of the sack and keep it suspended at a sufficient distance from the bottom structure, so as to directly take the material from the bottom of the sack packaging. Throw out and receive. When breaking the bag, the telescopic end of the hydraulic cylinder of the bag breaking assembly retracts, driving the force frame connected to it to rise vertically, and the mouth plate connected to it is in close contact with the bottom of the sack package through the outer ring. At this time, the puncture claw is inserted into the bottom of the sack package, and as the two sets of synchronous frames move in the opposite direction, the horizontal rod cooperates with the puncture claw to tear the bottom of the sack package. At this time, the material inside leaks out, but will be blocked by the valve plate and cannot continue to fall. At this time, the valve plate can be opened according to the required amount of material to be put in, and the material will fall from the gap between the valve plate and the mouth plate for easy operation or guided collection. When it is necessary to stop the feeding, the valve plate can be reset to stop the continued flow of the material, so that personnel can flexibly put in the material.

[0010] The present invention is further configured as follows: a control motor is bolted to the top of the suspension plate, a transmission pulley is bolted to the output end of the control motor and the outer side of the screw sleeve, and the two transmission pulleys are movably connected by a transmission belt.

[0011] By adopting the above technical solution, by setting a control motor in conjunction with a transmission pulley, the screw sleeve can be driven to rotate, thereby providing power for controlling the vertical lifting of the screw rod.

[0012] The present invention is further configured as follows: a sliding rod is slidably connected to the inner side of the suspension plate, a short plate is bolted to the top of the sliding rod, the bottom of the short plate is rotatably connected to the screw rod, and the bottom of the short plate is bolted to the push frame.

[0013] By adopting the above technical solution, a sliding rod is arranged in conjunction with a short plate, and the short plate is used to connect the screw rod and the sliding rod. The vertical movement of the sliding rod along the suspension plate can facilitate the vertical movement of the screw rod to limit the vertical movement of the screw rod to prevent it from being unable to move normally.

[0014] The present invention is further configured as follows: three rotating shafts are fixedly connected to the bottom of the suspension plate, and the outer sides of the rotating shafts are rotatably connected to the grabbing claws.

[0015] By adopting the above technical solution, a rotating shaft is set to connect the suspension plate and the grabbing claw, and the grabbing claw can be rotated along the bottom of the suspension plate, making the movement of the structure more reasonable.

[0016] The present invention is further configured as follows: a torsion spring is fixedly connected to the inner side of the rotating shaft, and a side of the torsion spring close to the grabbing claw is fixedly connected to the grabbing claw.

[0017] By adopting the above technical solution and arranging a torsion spring, it is convenient to provide an opening force to the grabbing claws, so that the sack packaging can be included inside the three grabbing claws for easy clamping under normal conditions.

[0018] The present invention is further configured as follows: an empty frame is bolted to the inner side of the mouth plate, and the outer side of the empty frame is movably connected to the valve plate.

[0019] By adopting the above technical solution, an empty frame is provided to cooperate with the valve plate so as to control the distance between structures and facilitate the installation and support of the structure.

[0020] The present invention is further configured as follows: an electric cylinder is installed at the bottom of the empty frame, a side frame is bolted to the telescopic end of the electric cylinder, and a side of the side frame close to the valve plate is bolted to the valve plate.

[0021] By adopting the above technical solution, by arranging the electric cylinder in cooperation with the side frame, the valve plate can be easily moved vertically so as to cooperate with the valve plate.

[0022] The present invention is further configured as follows: a guide frame is bolted to the right side of the force-bearing frame, a transmission block is slidably connected to the inner side of the guide frame, and a side of the transmission block close to the synchronous frame is bolted to the synchronous frame.

[0023] By adopting the above technical solution, the horizontal position of the synchronous frame can be easily adjusted by setting a guide frame to cooperate with the transmission block.

[0024] The present invention is further configured as follows: a transmission motor is bolted to the front side of the guide frame, a screw rod is rotatably connected to the inner side of the guide frame, the outer side of the screw rod is threadedly connected to the transmission block, and the output end of the transmission motor is bolted to the top screw rod.

[0025] By adopting the above technical solution, a transmission motor is provided in cooperation with a screw rod to provide power to the transmission block. The transmission motor drives the screw rod to rotate on the inner side of the guide frame, and the transmission block connected thereto will move horizontally along the guide frame.

[0026] The present invention is further configured as follows: a gear is bolted to the rear side of the screw rod, and the two gears are meshed and connected.

[0027] By adopting the above technical solution, gears are provided to facilitate the transmission of the two screws and adjust their rotation directions so that the two synchronous frames can move in opposite directions.

[0028] In summary, the present invention has the following beneficial effects:

[0029] By setting up an electric guide rail in conjunction with a mechanical arm, the position and angle of the structure can be flexibly adjusted to facilitate the grabbing or lowering of sack packaging. The suspension in conjunction with the structural cage can facilitate the installation and support of the structure. The grabbing claws arranged at the bottom of the suspension plate can rotate the screw sleeve along the turntable when located outside the sack packaging to make the screw rod connected thereto fall vertically, and the three inclined grabbing claws are pushed closer to each other by the push frame connected thereto, and the sack packaging is clamped with the bent claws. Compared with the grabbing process of the prior art, this process can expose the bottom of the sack and keep it suspended at a sufficient distance from the bottom structure, so that the material can be thrown directly from the bottom of the sack packaging and When breaking the bag, the telescopic end of the hydraulic cylinder of the bag breaking assembly retracts, driving the force frame connected to it to rise vertically, and the mouth plate connected to it is in close contact with the bottom of the sack package through the outer ring. At this time, the puncture claw is inserted into the bottom of the sack package, and as the two sets of synchronous frames move in opposite directions, the horizontal rod cooperates with the puncture claw to tear the bottom of the sack package. At this time, the material inside leaks out, but will be blocked by the valve plate and cannot continue to fall. At this time, the valve plate can be opened according to the required amount of material to be put in, and the material will fall from the gap between the valve plate and the mouth plate for easy operation or guided collection. When it is necessary to stop the feeding, the valve plate can be reset to stop the continued flow of the material, so that personnel can flexibly put in the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the main structure of the present invention;

[0032] Figure 3 It is a schematic diagram of the structural cage structure connection of the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of the bag breaking assembly of the present invention;

[0034] Figure 5 It is a schematic diagram of the bottom structure of the bag breaking assembly of the present invention;

[0035] Figure 6 It is a schematic diagram of the bottom of the main structure of the present invention;

[0036] Figure 7 The present invention Figure 6 A partial enlarged view of point A in the middle.

[0037] 1. Electric guide rail; 2. Robotic arm; 3. Suspension; 4. Structural cage; 5. Grabbing claw; 6. Bending claw; 7. Turntable; 8. Extension frame; 9. Bag breaking assembly; 901. Hydraulic cylinder; 902. Force frame; 903. Mouth plate; 904. Outer ring; 905. Horizontal rod; 906. Piercing claw; 907. Synchronous frame; 908. Valve plate; 10. Screw sleeve; 11. Suspension plate; 12. Screw rod; 13. Push frame; 14. Control motor; 15. Drive pulley; 16. Slide rod; 17. Short plate; 18. Rotating shaft; 19. Torsion spring; 20. Empty frame; 21. Electric cylinder; 22. Side frame; 23. Guide frame; 24. Transmission motor; 25. Screw rod; 26. Transmission block; 27. Gear. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0039] Embodiment 1:

[0040] refer to Figure 1-7 , a bag-grabbing and bag-breaking integrated robot for delivering sack packaging materials, comprising an electric guide rail 1 and a mechanical arm 2 movably connected to the inner side of the electric guide rail 1, a section of the mechanical arm 2 away from the electric guide rail 1 is installed with a suspension 3, an extension frame 8 is bolted to the right side of the suspension 3, a bag-breaking component 9 is installed at the bottom of the extension frame 8, a structural cage 4 is bolted to the bottom of the suspension 3, a hanging plate 11 is bolted to the bottom of the structural cage 4, three grabbing claws 5 are rotatably connected to the bottom of the hanging plate 11, a bent claw 6 is fixedly connected to the bottom of the grabbing claw 5, a turntable 7 is bolted to the top of the hanging plate 11, a screw sleeve 10 is rotatably connected to the inner side of the turntable 7, a screw rod 12 is threadedly connected to the inner side of the screw sleeve 10, a push frame 13 is rotatably connected to the bottom of the screw rod 12, and the inner side of the push frame 13 is in contact with the grabbing claw 5;

[0041] By setting the electric guide rail 1 in conjunction with the mechanical arm 2, the position and angle of the structure can be flexibly adjusted to facilitate the grabbing or putting down of the sack packaging. The suspension 3 in conjunction with the structural cage 4 can facilitate the installation and support of the structure. The grabbing claw 5 arranged at the bottom of the suspension plate 11 can rotate the screw sleeve 10 along the turntable 7 when it is located outside the sack packaging, so that the screw rod 12 connected thereto can be vertically dropped, and the three inclined grabbing claws 5 are pushed closer to each other by the push frame 13 connected thereto, and the sack packaging can be clamped up with the bent claws 6. Compared with the grabbing process of the prior art, this process can expose the bottom of the sack, and can keep it suspended at a sufficient distance from the bottom structure, so that the material can be directly thrown out and received from the bottom of the sack packaging.

[0042] like Figure 3As shown, a control motor 14 is bolted to the top of the suspension plate 11, and a transmission pulley 15 is bolted to the output end of the control motor 14 and the outer side of the screw sleeve 10. The two transmission pulleys 15 are movably connected by a transmission belt. By arranging the control motor 14 in conjunction with the transmission pulley 15, the screw sleeve 10 can be driven to rotate, thereby providing power for the vertical lifting of the control screw rod 12.

[0043] like Figure 3 As shown, a slide rod 16 is slidably connected to the inner side of the suspension plate 11, a short plate 17 is bolted to the top of the slide rod 16, the bottom of the short plate 17 is rotatably connected to the screw rod 12, and the bottom of the short plate 17 is bolted to the push frame 13. The slide rod 16 is arranged to cooperate with the short plate 17, and the short plate 17 is used to connect the screw rod 12 and the slide rod 16. The vertical movement of the slide rod 16 along the suspension plate 11 can facilitate the vertical movement of the screw rod 12 to limit its normal movement to prevent it from being unable to move.

[0044] like Figure 7 As shown, three rotating shafts 18 are fixedly connected to the bottom of the suspension plate 11, and the outer sides of the rotating shafts 18 are rotatably connected to the grabbing claws 5. By setting the rotating shafts 18, the suspension plate 11 and the grabbing claws 5 are connected, and the grabbing claws 5 can be rotated along the bottom of the suspension plate 11, so that the movement of the structure is more reasonable.

[0045] like Figure 7 As shown, a torsion spring 19 is fixedly connected to the inner side of the rotating shaft 18, and the torsion spring 19 is fixedly connected to the grabbing claw 5 on one side close to the grabbing claw 5. By providing the torsion spring 19, it is convenient to provide an opening force to the grabbing claw 5, so that the sack packaging can be included in the inner side of the three grabbing claws 5 for easy clamping under normal conditions.

[0046] like Figure 4 As shown, a transmission motor 24 is bolted to the front side of the guide frame 23, a screw rod 25 is rotatably connected to the inner side of the guide frame 23, the outer side of the screw rod 25 is threadedly connected to the transmission block 26, the output end of the transmission motor 24 is bolted to the top screw rod 25, and the transmission motor 24 is arranged to cooperate with the screw rod 25 to provide power to the transmission block 26. The transmission motor 24 drives the screw rod 25 to rotate on the inner side of the guide frame 23, and the transmission block 26 connected thereto will move horizontally along the guide frame 23.

[0047] like Figure 4 As shown, a gear 27 is bolted to the rear side of the screw rod 25, and the two gears 27 are meshed and connected. By providing the gear 27, it is convenient to transmit the two screw rods 25 and adjust their rotation direction so that the two synchronous frames 907 can move in the opposite direction.

[0048] Brief description of the usage process: When in use, the robot arm 2 can move along the electric guide rail 1 to match the position of the working platform, and the position and angle of the structure can be flexibly adjusted through the robot arm 2. The suspension 3 cooperates with the structural cage 4 to facilitate the installation and support of the structure. The grabbing claw 5 arranged at the bottom of the suspension plate 11 can rotate the screw sleeve 10 along the turntable 7 by controlling the motor 14 and the transmission pulley 15 when it is located outside the sack packaging, so that the screw rod 12 connected thereto can fall vertically under the limit of the slide bar 16, and the three inclined grabbing claws 5 are pushed closer to each other through the push frame 13 connected thereto, and the sack packaging is clamped with the bent claws 6, and adjusted to the required stacking or material delivery position according to the position of the robot arm 2 and the electric guide rail 1.

[0049] Embodiment 2:

[0050] refer to Figure 1-5 , a robot for grabbing and breaking bags for delivering sack packaging materials, also includes a bag breaking component 9, the bag breaking component 9 includes a hydraulic cylinder 901, the fixed end of the hydraulic cylinder 901 is bolted to the extension frame 8, the telescopic end of the hydraulic cylinder 901 is fixedly connected to a force frame 902, the side of the force frame 902 away from the hydraulic cylinder 901 is fixedly connected to a mouth plate 903, the top of the mouth plate 903 is bolted to an outer ring 904, the inner side of the outer ring 904 is slidably connected to a horizontal rod 905, the outer side of the horizontal rod 905 is fixedly connected to a puncture claw 906, the side of the horizontal rod 905 away from the puncture claw 906 is bolted to a synchronous frame 907, the bottom of the inner side of the mouth plate 903 is movably connected to a valve plate 908, when breaking the bag, the hydraulic cylinder 901 of the bag breaking component 9 is extended The retracted end retracts, driving the force-bearing frame 902 connected to it to rise vertically, and the mouth plate 903 connected to it is in close contact with the bottom of the sack package through the outer ring 904. At this time, the puncture claw 906 is inserted into the bottom of the sack package, and as the two sets of synchronous frames 907 move in the opposite direction, the horizontal rod 905 cooperates with the puncture claw 906 to tear the bottom of the sack package. At this time, the material inside leaks out, but will be blocked by the valve plate 908 and cannot continue to fall. At this time, the valve plate 908 can be opened according to the required amount of material to be released, and the material will fall from the gap between the valve plate 908 and the mouth plate 903 for easy operation or guided collection. When it is necessary to stop the feeding, the valve plate 908 can be reset to stop the continued flow of the material, so that personnel can flexibly release the material.

[0051] like Figure 5 As shown, an empty frame 20 is bolted to the inner side of the mouth plate 903, and the outer side of the empty frame 20 is movably connected to the valve plate 908. By setting the empty frame 20 and cooperating with the valve plate 908, it is convenient to control the distance between the structures, and at the same time, it is convenient to install and support the structure.

[0052] like Figure 5As shown, an electric cylinder 21 is installed at the bottom of the empty frame 20, and the telescopic end of the electric cylinder 21 is bolted to a side frame 22. The side of the side frame 22 close to the valve plate 908 is bolted to the valve plate 908. By arranging the electric cylinder 21 to cooperate with the side frame 22, the valve plate 908 can be easily moved vertically to facilitate cooperation with the valve plate 908.

[0053] like Figure 5 As shown, a guide frame 23 is bolted to the right side of the force-bearing frame 902, and a transmission block 26 is slidably connected to the inner side of the guide frame 23. The transmission block 26 is bolted to the synchronization frame 907 on one side close to the synchronization frame 907. By arranging the guide frame 23 to cooperate with the transmission block 26, the horizontal position of the synchronization frame 907 can be easily adjusted.

[0054] Brief description of the use process: When performing the bag breaking and delivery operation, the telescopic end of the hydraulic cylinder 901 of the bag breaking assembly 9 retracts, driving the force frame 902 connected thereto to rise vertically, and the mouth plate 903 connected thereto is in close contact with the bottom of the sack packaging through the outer ring 904. At this time, the puncture claw 906 is inserted into the bottom of the sack packaging, and the transmission motor 24 drives the screw 25 to rotate. The transmission block 26 connected thereto drives the two sets of synchronous frames 907 connected thereto to move in the opposite direction under the transmission of the gear 27. The horizontal rod 905 cooperates with the puncture claw 906 to tear the bottom of the sack packaging. At this time, the material inside leaks out, but will be blocked by the valve plate 908 and cannot continue to fall. At this time, the valve plate 908 can be opened according to the amount of material to be delivered, and the material will fall from the gap between the valve plate 908 and the mouth plate 903 for easy operation or guided collection. When it is necessary to stop feeding, the valve plate 908 can be reset to stop the continued flow of the material.

[0055] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A bag-grabbing and bag-breaking robot for delivering sack packaging materials, comprising an electric guide rail (1) and a mechanical arm (2) movably connected to the inner side of the electric guide rail (1), characterized in that: A section of the mechanical arm (2) away from the electric guide rail (1) is equipped with a suspension (3), the right side of the suspension (3) is bolted with an extension frame (8), the bottom of the extension frame (8) is equipped with a bag breaking assembly (9), the bottom of the suspension (3) is bolted with a structural cage (4), the bottom of the structural cage (4) is bolted with a suspension plate (11), the bottom of the suspension plate (11) is rotatably connected with three grabbing claws (5), the bottom of the grabbing claws (5) is fixedly connected with a bent claw (6), the top of the suspension plate (11) is bolted with a turntable (7), the inner side of the turntable (7) is rotatably connected with a screw sleeve (10), the inner side of the screw sleeve (10) is threadedly connected with a screw rod (12), the bottom of the screw rod (12) is rotatably connected with a push frame (13), and the inner side of the push frame (13) is in contact with the grabbing claw (5); The bag breaking assembly (9) comprises a hydraulic cylinder (901), the fixed end of the hydraulic cylinder (901) is bolted to an extension frame (8), the telescopic end of the hydraulic cylinder (901) is fixedly connected to a force frame (902), the side of the force frame (902) away from the hydraulic cylinder (901) is fixedly connected to a mouth plate (903), the top of the mouth plate (903) is bolted to an outer ring (904), the inner side of the outer ring (904) is slidably connected to a horizontal rod (905), the outer side of the horizontal rod (905) is fixedly connected to a puncture claw (906), the side of the horizontal rod (905) away from the puncture claw (906) is bolted to a synchronization frame (907), and the bottom of the inner side of the mouth plate (903) is movably connected to a valve plate (908).

2. The bag grabbing and bag breaking robot for delivering sack packaging materials according to claim 1, characterized in that: A control motor (14) is bolted to the top of the suspension plate (11), and a transmission pulley (15) is bolted to the output end of the control motor (14) and the outer side of the screw sleeve (10), and the two transmission pulleys (15) are movably connected via a transmission belt.

3. The bag grabbing and bag breaking integrated robot for delivering sack packaging materials according to claim 1, characterized in that: The inner side of the suspension plate (11) is slidably connected with a slide rod (16), the top of the slide rod (16) is bolted with a short plate (17), the bottom of the short plate (17) is rotatably connected to the screw rod (12), and the bottom of the short plate (17) is bolted to the push frame (13).

4. The bag grabbing and bag breaking robot for delivering sack packaging materials according to claim 1, characterized in that: The bottom of the suspension plate (11) is fixedly connected with three rotating shafts (18), and the outer sides of the rotating shafts (18) are rotatably connected to the grabbing claws (5).

5. The bag grabbing and bag breaking integrated robot for delivering sack packaging materials according to claim 4, characterized in that: A torsion spring (19) is fixedly connected to the inner side of the rotating shaft (18), and the torsion spring (19) is fixedly connected to the grabbing claw (5) on one side thereof close to the grabbing claw (5).

6. The bag grabbing and bag breaking robot for delivering sack packaging materials according to claim 1, characterized in that: An empty frame (20) is bolted to the inner side of the mouth plate (903), and the outer side of the empty frame (20) is movably connected to the valve plate (908).

7. The bag grabbing and bag breaking robot for delivering sack packaging materials according to claim 6, characterized in that: An electric cylinder (21) is installed at the bottom of the empty frame (20), and a side frame (22) is bolted to the telescopic end of the electric cylinder (21), and the side of the side frame (22) close to the valve plate (908) is bolted to the valve plate (908).

8. The bag grabbing and bag breaking robot for delivering sack packaging materials according to claim 1, characterized in that: A guide frame (23) is bolted to the right side of the force-bearing frame (902), a transmission block (26) is slidably connected to the inner side of the guide frame (23), and the transmission block (26) is bolted to the synchronous frame (907) on one side close to the synchronous frame (907).

9. The bag grabbing and bag breaking robot for delivering sack packaging materials according to claim 8, characterized in that: A transmission motor (24) is bolted to the front side of the guide frame (23), a screw rod (25) is rotatably connected to the inner side of the guide frame (23), the outer side of the screw rod (25) is threadedly connected to the transmission block (26), and the output end of the transmission motor (24) is bolted to the top screw rod (25).

10. The bag grabbing and bag breaking robot for delivering sack packaging materials according to claim 9, characterized in that: A gear (27) is bolted to the rear side of the screw rod (25), and the two gears (27) are meshed and connected.

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