Flexible freight bag automatic clamping and lifting device and lifting method thereof

Abstract

The invention relates to the technical field of flexible freight bag automatic clamping and lifting devices, in particular to a flexible freight bag automatic clamping and lifting device and a lifting method thereof.The flexible freight bag automatic clamping and lifting device further comprises a control unit and a clamping mechanism arranged on a lifting frame, and the lifting frame is provided with a displacement mechanism used for controlling the clamping mechanism to be close to or away from an upper angle ring of a flexible freight bag; the clamping mechanism comprises a mounting base, a visual camera, a negative pressure suction cup and a clamping jaw assembly are arranged on the mounting base, the visual camera is used for recognizing the recognition area on the angle ring, and the negative pressure suction cup is used for adsorbing and pulling out the recognized angle ring. The control unit controls the negative pressure suction cup of the grabbing mechanism to suck the angle rings and pull the angle rings upwards to be opened, then the clamping jaw assembly clamps the angle rings and sleeves the angle rings on the corresponding lifting hooks, automatic hanging of the angle rings of the flexible freight bags on the corresponding lifting hooks is achieved, the hanging efficiency is high, manual hanging is not needed, and the environment of workers is kept complete.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic clamping and lifting devices for flexible bulk bags, in particular to an automatic clamping and lifting device for flexible bulk bags and its lifting method. Background Art

[0002] Flexible bulk bags, also known as ton bags, are important unitized appliances in the modern bulk material storage and transportation system. Their technical characteristics and application status are as follows. This container system is made of high molecular composite materials, with a standard volume range of 0.5 - 3 m 3 , and a rated load of 0.5 - 3 tons. Unitized transportation of containers is achieved through forklifts or cranes (lifting devices), which is mainly applicable to standardized transfer operations of bulk powder and granular materials.

[0003] Due to the structural advantages of flexible bulk bags, they adopt an integral sling structure design, with the characteristics of uniform load distribution, a self-weight coefficient ≤ 6% (container self-weight / rated load), a volume reduction rate of up to 85% after folding, and compatibility with the ISO transportation modulus standard, enabling seamless connection of multimodal transport, so they are widely used. However, in the production scenarios of hazardous chemical powder materials, the traditional operation mode has two technical defects: 1. Due to the randomness of the form after material filling, the coupling between the lifting tool and the bag body is misaligned, and it is difficult to position the lifting. 2. The existing lifting process requires manual intervention for hanging, with a single operation taking 40 - 60 seconds longer, resulting in a loss of lifting efficiency. At the same time, the operators are exposed to the risk of contact with hazardous chemicals, presenting safety risks. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to solve the problems in the existing production scenarios of hazardous chemical powder materials, where the traditional operation mode has misalignment of the coupling between the lifting tool and the bag body due to the randomness of the form after material filling, making it difficult to position the lifting, and the existing lifting process requires manual intervention for hanging, with a single operation taking 40 - 60 seconds longer, resulting in a loss of lifting efficiency. At the same time, the operators are exposed to the risk of contact with hazardous chemicals, presenting safety risks. Now, an automatic clamping and lifting device for flexible bulk bags and its lifting method are provided.

[0005] The technical solution adopted by the present invention to solve its technical problems is: an automatic clamping and lifting device for flexible bulk bags, including a suspension frame and two oppositely arranged hooks provided on the suspension frame, further including a control unit and a clamping mechanism provided on the suspension frame. A displacement mechanism for controlling the clamping mechanism to approach or move away from the upper corner ring of the flexible bulk bag is provided on the suspension frame;

[0006] The clamping mechanism includes a mounting base, on which a vision camera, a negative pressure suction cup, and a jaw assembly are provided. The vision camera is used to identify the identification area on the corner ring. The negative pressure suction cup is used to adsorb and pull out the identified corner ring. The jaw assembly is used to clamp the corner ring pulled out after being adsorbed by the negative pressure suction cup and maintain the state of the corner ring being pulled out. The control unit is respectively signal-connected to the displacement mechanism, the vision camera, the negative pressure suction cup, and the jaw assembly. The negative pressure suction cup is slidably mounted on the mounting base along the Z-axis direction. The first spring and the second spring are respectively arranged on the negative pressure suction cup. The first spring and the second spring are arranged oppositely. The first spring is used to buffer and shock-absorb the negative pressure suction cup and prevent the negative pressure suction cup from hitting the flexible container bag directly. The second spring is used to reset the negative pressure suction cup. Compared with the prior art, in this solution, the control unit identifies the identification area of the corner ring on the flexible container bag, and the negative pressure suction cup of the grasping mechanism controlled by the control unit sucks the corner ring and pulls it up to open. Then, the jaw assembly clamps and sleeves it on the corresponding hook, realizing the automatic hanging of the corner ring of the flexible container bag on the corresponding hook, with high hanging and taking efficiency, and no need for manual hanging and taking, ensuring the safety of the working environment for the staff.

[0007] In order to realize the sliding of the negative pressure suction cup on the mounting base, in some preferred embodiments, a guide sleeve is installed on the mounting base, and a guide shaft matching with it is slidably arranged in the guide sleeve. The negative pressure suction cup is installed at the lower end of the guide column, and a limit plate is installed at the upper end of the guide column. The mounting base is located between the negative pressure suction cup and the limit plate. The first spring and the second spring are both sleeved on the guide shaft. The first spring is located between the mounting base and the negative pressure suction cup, and the second spring is located between the mounting base and the limit plate.

[0008] In order to prevent the negative pressure suction cup from being impacted due to excessive displacement along the Z-axis, in some preferred embodiments, a proximity sensor is installed on the mounting base. The limit plate is located between the proximity sensor and the mounting base. The proximity sensor is used to detect the displacement of the limit and is signal-connected to the control unit. By detecting the limit plate with the proximity sensor and controlling the displacement range of the limit plate, it is prevented that the negative pressure suction cup is displaced excessively in the Z-axis direction, which is also a protection for the negative pressure suction cup.

[0009] In order to prevent the negative pressure suction cup from rotating on the mounting base and affecting the adsorption of the corner ring, in some preferred embodiments, a limiting mechanism for restricting the rotation of the negative pressure suction cup is provided between the limit plate and the fixed plate. By restricting the rotation of the negative pressure suction cup with the limiting mechanism, the stable and reliable adsorption of the negative pressure suction cup to the corner ring is ensured.

[0010] To implement the limiting mechanism, in some preferred embodiments, the limiting mechanism includes a limiting shaft. A limiting hole is formed on the fixing plate, and the limiting hole matches the limiting shaft. The limiting shaft is disposed within the limiting hole. One end of the limiting shaft is fixedly installed on a limiting plate, and the guiding shaft is arranged parallel to the limiting shaft.

[0011] To implement the jaw assembly, in some preferred embodiments, the jaw assembly includes a first cylinder, a fixing plate, and two jaws hinged to the fixing plate. The fixing plate is fixedly installed on the first cylinder. The two jaws are oppositely hinged to the fixing plate, and the extending end of the first cylinder is hinged to the two jaws. The first cylinder is fixedly installed on the mounting seat.

[0012] To implement the displacement mechanism, in some preferred embodiments, the displacement mechanism includes an X-axis displacement mechanism, a Y-axis displacement mechanism, and a Z-axis displacement mechanism. The Y-axis displacement mechanism is disposed on the X-axis displacement mechanism and is used to control the Y-axis displacement mechanism to displace along the X-axis direction. The Z-axis displacement mechanism is disposed on the Y-axis displacement mechanism and is used to control the Z-axis displacement mechanism to displace along the Y-axis direction. The gripping mechanism is disposed on the Z-axis displacement mechanism and is used to control the gripping mechanism to displace along the Z-axis direction.

[0013] In some preferred embodiments, the X-axis displacement mechanism is a first displacement slide, the Y-axis displacement mechanism is a second displacement slide, and the Z-axis displacement mechanism is a third displacement slide. The moving end of the first displacement slide displaces along the X-axis direction. The first displacement slide is fixedly installed on the hanging frame. The moving end of the second displacement slide displaces along the Y-axis direction. The second displacement slide is fixedly installed on the moving end of the first displacement slide. The moving end of the third displacement slide displaces along the Z-axis direction. The third displacement slide is fixedly installed on the moving end of the second displacement slide.

[0014] In some preferred embodiments, both of the lifting hooks are hingedly installed on the hanging frame. Two second cylinders corresponding to the lifting hooks are installed on the hanging frame, and the two second cylinders are respectively used to control the two lifting hooks to open or close.

[0015] A hoisting method using the flexible container bag automatic clamping and hoisting device as described above includes the following steps:

[0016] S1. Initial preparation: Deliver the flexible container bag to the designated position, and use the gantry to move the flexible container bag clamping and hoisting device above the flexible container bag and stop.

[0017] S2. Control the gripping mechanism to be on one side of the corner ring of the flexible container bag through the displacement mechanism.

[0018] S3. The identification camera on the clamping mechanism identifies the color of the angle ring, drives the negative pressure suction cup close to and suck the angle ring through the displacement mechanism, then drives the negative pressure suction cup to displace by the displacement mechanism and lift the angle ring until the angle ring is hung on the corresponding hook. Then, the remaining angle rings are hung on the corresponding hooks in turn;

[0019] S4. Use the gantry to move the flexible container bag clamping and lifting device and the flexible container bag to the bag opening area, and open the bag to unload the powder material;

[0020] S5. Use the gantry to move the flexible container bag clamping and lifting device and the flexible container bag to the waste bag recycling area, rotate and retract the hook, and the waste bag will fall off.

[0021] The beneficial effects of the present invention are as follows: When the automatic clamping and lifting device for flexible container bags and its lifting method of the present invention are in use, the control unit identifies the identification area of the angle ring on the flexible container bag, and the control unit controls the negative pressure suction cup of the grasping mechanism to suck and pull up the angle ring to open it, and then the clamping jaw assembly clamps and sleeves it on the corresponding hook, realizing the automation of hanging the angle ring of the flexible container bag on the corresponding hook. The hanging and taking efficiency is high, and there is no need for manual hanging and taking, ensuring the safety of the working environment of the staff. It avoids the problems existing in the traditional operation mode in the production scenario of dangerous chemical powder materials, such as the coupling misalignment of the lifting tool and the bag body and the difficulty of lifting and positioning due to the randomness of the shape after material filling, and the existing lifting process requires manual intervention for hanging and connecting, resulting in an increase in the single operation time by 40 - 60 seconds, loss of lifting efficiency. At the same time, the operators are exposed to the risk of contact with dangerous chemicals, and there are safety risks. Description of the Drawings

[0022] The present invention will be further described below in conjunction with the drawings and embodiments.

[0023] Figure 1 is the three - dimensional structure schematic diagram of the present invention Figure 1 ;

[0024] Figure 2 is the three - dimensional structure schematic diagram of the present invention Figure 2 ;

[0025] Figure 3 is the front view of the present invention;

[0026] Figure 4 is the left view of the present invention;

[0027] Figure 5 is the top view of the present invention;

[0028] Figure 6 is the bottom view of the present invention;

[0029] Figure 7 is the three - dimensional structure schematic diagram of the clamping jaw assembly in the present invention;

[0030] Figure 8 is the front view of the jaw assembly in the present invention;

[0031] Figure 9 is the left view of the jaw assembly in the present invention;

[0032] Figure 10 is the top view of the jaw assembly in the present invention;

[0033] Figure 11 is the state diagram of the present invention during use.

[0034] In the figure: 1, hanger; 2, lifting hook; 3, control unit; 4, gripping mechanism; 5, displacement mechanism; 6, mounting seat; 7, vision camera; 8, negative pressure suction cup; 9, jaw assembly; 11, first spring; 12, second spring; 13, guide sleeve; 14, guide shaft; 15, limit plate; 16, proximity sensor; 17, limit shaft; 18, first cylinder; 19, fixing plate; 20, jaw; 21, X-axis displacement mechanism; 22, Y-axis displacement mechanism; 23, Z-axis displacement mechanism; 24, second cylinder; 25, flexible container bag; 26, corner ring. Detailed Embodiments

[0035] The present invention will be further described in detail below in conjunction with embodiments:

[0036] The present invention is not limited to the following specific embodiments. Those of ordinary skill in the art can implement the present invention in other various specific embodiments according to the content disclosed in the present invention. Or, any simple changes or modifications made using the design structure and concept of the present invention fall within the protection scope of the present invention. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0038] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Embodiment 1

[0040] As Figures 1-11 shown, a flexible container bag automatic clamping and lifting device includes a hanging frame 1, a control unit 3, and a clamping mechanism 4. The clamping mechanism 4 is arranged on the hanging frame 1. Two relatively arranged hooks 2 are arranged on the hanging frame 1. The clamping is located between the two relatively arranged hooks 2. A displacement mechanism 5 is arranged on the hanging frame 1. The displacement mechanism 5 is used to control the clamping mechanism 4 to approach or move away from the upper corner ring 26 of the flexible container bag 25. In this embodiment, the control unit 3 is a single-chip microcomputer;

[0041] The clamping mechanism 4 includes a mounting seat 6. A vision camera 7, a negative pressure suction cup 8, and a jaw assembly 9 are arranged on the mounting seat 6. The vision camera 7 is used to identify the identification area on the corner ring 26. After identification, the displacement mechanism 5 is controlled through the control unit 3. The displacement mechanism 5 drives the clamping mechanism to approach the corner ring 26 and the negative pressure suction cup 8 sucks and pulls up the corner ring 26 to open the corner ring 26. The negative pressure suction cup 8 is used to adsorb and pull out the identified corner ring 26. The jaw assembly 9 is used to clamp the corner ring 26 pulled out after being adsorbed by the negative pressure suction cup 8 and keep the corner ring 26 in the pulled-out state. The control unit 3 is respectively in signal connection with the displacement mechanism 5, the vision camera 7, the negative pressure suction cup 8, and the jaw assembly 9. The negative pressure suction cup 8 in this embodiment is communicated with an external air source. Corner rings 26 are respectively arranged at the four corners of the flexible container bag 25. The identification areas on the four corner rings 26 have special marks of different colors for visual identification. The flexible container bag 25 is entirely white, and the corner rings 26 are black. The negative pressure suction cup 8 is a needle-type suction cup;

[0042] A guide sleeve 13 is installed on the mounting base 6. The axial direction of the guide sleeve 13 is set along the Z-axis direction. A guide shaft 14 matching the guide sleeve 13 is slidably arranged in the guide sleeve 13. The negative pressure suction cup 8 is installed at the lower end of the guide column. A limit plate 15 is fixed to the upper end of the guide column by screws. The mounting base 6 is located between the negative pressure suction cup 8 and the limit plate 15. The first spring 11 and the second spring 12 are both sleeved on the guide shaft 14. The first spring 11 is located between the mounting base 6 and the negative pressure suction cup 8, and the second spring 12 is located between the mounting base 6 and the limit plate 15, realizing that the negative pressure suction cup 8 is slidably installed on the mounting base 6 along the Z-axis direction. The first spring 11 and the second spring 12 are respectively arranged on the negative pressure suction cup 8, and the first spring 11 and the second spring 12 are arranged oppositely. The first spring 11 is used to buffer and shock-absorb the negative pressure suction cup 8 and prevent the negative pressure suction cup 8 from hitting the flexible container bag 25 hard, and the second spring 12 is used to reset the negative pressure suction cup 8.

[0043] A proximity sensor 16 is installed on the mounting base 6. The limit plate 15 is located between the proximity sensor 16 and the mounting base 6. The proximity sensor 16 is used to detect the displacement of the limit and is signal-connected to the control unit 3.

[0044] A limit mechanism for restricting the rotation of the negative pressure suction cup 8 is arranged between the limit plate 15 and the fixed plate 19. The limit mechanism includes a limit shaft 17. A limit hole is formed in the fixed plate 19, and the limit hole matches the limit shaft 17. The limit shaft 17 is arranged in the limit hole. One end of the limit shaft 17 is fixedly installed on the limit plate 15, and the guide shaft 14 is arranged parallel to the limit shaft 17.

[0045] The jaw assembly 9 includes a first cylinder 18, a fixed plate 19, and two jaws 20 hinged to the fixed plate 19. The fixed plate 19 is fixedly installed on the first cylinder 18. The two jaws 20 are relatively hinged to the fixed plate 19. The extending end of the first cylinder 18 is hinged to the two jaws 20. The first cylinder 18 is fixedly installed on the mounting base 6. In this embodiment, the vision camera 7, the negative pressure suction cup 8, and the jaw assembly 9 are fixedly arranged on the mounting base 6 in the order of left, middle, and right.

[0046] The displacement mechanism 5 includes an X-axis displacement mechanism 21, a Y-axis displacement mechanism 22, and a Z-axis displacement mechanism 23. The Y-axis displacement mechanism 22 is disposed on the X-axis displacement mechanism 21 and is used to control the displacement of the Y-axis displacement mechanism 22 in the X-axis direction. The Z-axis displacement mechanism 23 is disposed on the Y-axis displacement mechanism 22 and is used to control the displacement of the Z-axis displacement mechanism 23 in the Y-axis direction. The clamping mechanism 4 is disposed on the Z-axis displacement mechanism 23 and is used to control the displacement of the clamping mechanism 4 in the Z-axis direction. The X-axis displacement mechanism 21 is a first displacement slide, the Y-axis displacement mechanism 22 is a second displacement slide, and the Z-axis displacement mechanism 23 is a third displacement slide. The moving end of the first displacement slide displaces in the X-axis direction, and the first displacement slide is fixedly installed on the hanger 1. The moving end of the second displacement slide displaces in the Y-axis direction, and the second displacement slide is fixedly installed on the moving end of the first displacement slide. The moving end of the third displacement slide displaces in the Z-axis direction, and the third displacement slide is fixedly installed on the moving end of the second displacement slide.

[0047] Both of the two lifting hooks 2 are hingedly installed on the hanger 1. Two second cylinders 24 corresponding to the lifting hooks 2 are installed on the hanger 1. The two second cylinders 24 are respectively used to control the opening or closing of the two lifting hooks 2. When the lifting hooks 2 are opened, the lifting hooks 2 are disengaged from the angle ring 26. When the lifting hooks 2 are closed, the two opposite lifting hooks 2 are perpendicular to each other downward and parallel, and the lifting hooks 2 can be hooked to the angle ring 26.

[0048] Embodiment 2

[0049] Embodiment 2 is a method of using the device of Embodiment 1. Specifically, it is a hoisting method using the flexible container bag automatic clamping and lifting device as described above, including the following steps:

[0050] S1. Initial preparation: Deliver the flexible container bag 25 to the designated position, and use the gantry to move the flexible container bag 25 clamping and lifting device to the designated position above the flexible container bag 25 and stop.

[0051] S2. Control the displacement mechanism 5 through the control unit 3. The displacement mechanism 5 drives the clamping mechanism 4 to displace in the Z-axis, Y-axis, and Z-axis directions. The displacement mechanism 5 drives the clamping mechanism 4 to displace to one side of the angle ring 26 of the flexible container bag 25, so as to achieve that the clamping mechanism 4 displaces to the designated position above the angle ring 26.

[0052] S3. The displacement mechanism 5 drives the clamping mechanism 4 to displace in the front-back, left-right, up-down directions and roughly adjust the position. The recognition camera on the clamping mechanism 4 recognizes the color on the angle ring 26. After recognition, the vision camera 7 sends a signal to the control unit 3. The control unit 3 sends a signal to the displacement mechanism 5. The Z-axis displacement mechanism 23 of the displacement mechanism 5 drives the negative pressure suction cup 8 to approach and suck the angle ring 26. Then, the Z-axis displacement mechanism 23 of the displacement mechanism 5 drives the negative pressure suction cup 8 to displace and lift the angle ring 26. At this time, the Z-axis displacement mechanism 23 stops. The angle ring 26 is within the clamping range of the jaw assembly 9. Then, the control unit 3 controls the jaw assembly 9 to clamp the angle ring 26, and then controls the displacement mechanism 5 to drive the angle ring 26 to be sleeved on the corresponding hook 2. The control unit 3 controls the jaw assembly 9 to release the angle ring 26, completing hanging the angle ring 26 on the corresponding hook 2. Then, the remaining angle rings 26 are hung on the corresponding hooks 2 in sequence according to the above steps;

[0053] S4. Use the gantry to clamp and lift the flexible container bag 25 clamping device and the flexible container bag 25 to the bag opening area, and open the bag to unload the powder material;

[0054] S5. Use the gantry to clamp and lift the flexible container bag 25 clamping device and the flexible container bag 25 to the waste bag recycling area. The second cylinder 24 on the hanging frame 1 drives the hook 2 to open, enabling the hook 2 to rotate on the hanging frame 1, and making the angle ring 26 of the flexible container bag 25 retracted from the hook 2, and the waste bag will fall.

[0055] When the above flexible container bag automatic clamping and lifting device and its lifting method are in use, when the Z-axis displacement mechanism 23 drives the negative pressure suction cup 8 to displace downward, the first spring 11 and the second spring 12 play a stabilizing role on the negative pressure suction cup 8. When the negative pressure suction cup 8 contacts the flexible container bag 25, the guide post of the negative pressure suction cup 8 slides in the guide sleeve 13 of the mounting seat 6. The first spring 11 is compressed and drives the limit plate 15 to approach the proximity sensor 16, realizing buffering and shock absorption for the negative pressure suction cup 8, preventing hard impacts. Until the proximity sensor 16 receives the signal of the limit plate 15, the proximity sensor 16 sends a signal to the control unit 3. The control unit 3 controls the Z-axis displacement mechanism 23 to stop displacement, and then controls the Z-axis displacement mechanism 23 to rise again. Under the action of the first spring 11, the negative pressure suction cup 8 returns to the initial position, and both the first spring 11 and the second spring 12 are in the uncompressed state.

[0056] Based on the inspiration of the ideal embodiments of the present invention, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An automatic clamping and lifting device for flexible bulk bags, comprising a hanging frame and two oppositely arranged hooks provided on the hanging frame, characterized in that: It further includes a control unit and a clamping mechanism arranged on the hanger, and a displacement mechanism for controlling the clamping mechanism to approach or move away from the upper corner ring of the flexible container bag is arranged on the hanger; The clamping mechanism includes a mounting seat, on which a vision camera, a negative pressure suction cup and a clamping jaw assembly are arranged. The vision camera is used to identify the identification area on the corner ring. The negative pressure suction cup is used to adsorb and pull out the identified corner ring. The clamping jaw assembly is used to clamp the corner ring pulled out after being adsorbed by the negative pressure suction cup and maintain the state where the corner ring is pulled out. The control unit is respectively connected to the displacement mechanism, the vision camera, the negative pressure suction cup and the clamping jaw assembly by signals. The negative pressure suction cup is slidably mounted on the mounting seat along the Z-axis direction. First springs and second springs are respectively arranged on the negative pressure suction cup. The first springs and the second springs are arranged oppositely. The first springs are used to buffer and shock-absorb the negative pressure suction cup and prevent the negative pressure suction cup from hitting the flexible container bag hard. The second springs are used to reset the negative pressure suction cup.

2. The automatic clamping and lifting device for flexible bulk bags according to claim 1, wherein: A guide sleeve is mounted on the mounting seat, and a guide shaft matching with it is slidably arranged in the guide sleeve. The negative pressure suction cup is mounted at the lower end of the guide column, and a limit plate is mounted at the upper end of the guide column. The mounting seat is located between the negative pressure suction cup and the limit plate. The first springs and the second springs are both sleeved on the guide shaft. The first springs are located between the mounting seat and the negative pressure suction cup, and the second springs are located between the mounting seat and the limit plate.

3. The automatic clamping and lifting device for flexible bulk bags according to claim 2, wherein: A proximity sensor is mounted on the mounting seat. The limit plate is located between the proximity sensor and the mounting seat. The proximity sensor is used to detect the displacement of the limit and is connected to the control unit by signals.

4. The flexible bulk bag automatic clamping and lifting device according to claim 2 or 3, characterized in that: A limit mechanism for restricting the rotation of the negative pressure suction cup is arranged between the limit plate and the fixed plate.

5. The automatic clamping and lifting device for flexible bulk bags according to claim 4, wherein: The limit mechanism includes a limit shaft. A limit hole is formed in the fixed plate, and the limit hole matches the limit shaft. The limit shaft is arranged in the limit hole. One end of the limit shaft is fixedly mounted on the limit plate, and the guide shaft is arranged parallel to the limit shaft.

6. The automatic clamping and lifting device for flexible bulk bags according to claim 1, wherein: The clamping jaw assembly includes a first cylinder, a fixed plate and two clamping jaws hinged on the fixed plate. The fixed plate is fixedly mounted on the first cylinder. The two clamping jaws are relatively hinged on the fixed plate. The extending end of the first cylinder is hinged on the two clamping jaws. The first cylinder is fixedly mounted on the mounting seat.

7. The flexible bulk bag automatic clamping and lifting device according to claim 1, wherein: The displacement mechanism includes an X-axis displacement mechanism, a Y-axis displacement mechanism and a Z-axis displacement mechanism. The Y-axis displacement mechanism is arranged on the X-axis displacement mechanism and is used to control the Y-axis displacement mechanism to displace along the X-axis direction. The Z-axis displacement mechanism is arranged on the Y-axis displacement mechanism and is used to control the Z-axis displacement mechanism to displace along the Y-axis direction. The clamping mechanism is arranged on the Z-axis displacement mechanism and is used to control the clamping mechanism to displace along the Z-axis direction.

8. The flexible bulk bag automatic clamping and lifting device according to claim 7, characterized in that: The X-axis displacement mechanism is a first displacement slide, the Y-axis displacement mechanism is a second displacement slide, the Z-axis displacement mechanism is a third displacement slide. The moving end of the first displacement slide displaces along the X-axis direction, and the first displacement slide is fixedly installed on the hanger. The moving end of the second displacement slide displaces along the Y-axis direction, and the second displacement slide is fixedly installed on the moving end of the first displacement slide. The moving end of the third displacement slide displaces along the Z-axis direction, and the third displacement slide is fixedly installed on the moving end of the second displacement slide.

9. The flexible bulk bag automatic clamping and lifting device according to claim 1, characterized in that: Both of the two hooks are hingedly installed on the hanger, and two second cylinders corresponding to the hooks are installed on the hanger. The two second cylinders are respectively used to control the opening or closing of the two hooks.

10. A hoisting method using the flexible bulk bag automatic clamping and hoisting device as described in claims 1-9, characterized in that, It includes the following steps: S1. Initial preparation: Deliver the flexible bulk bag to the designated position, and use the gantry to move the flexible bulk bag clamping and lifting device above the flexible bulk bag and stop. S2. Control the clamping mechanism to be on one side of the corner ring of the flexible bulk bag through the displacement mechanism. S3. The identification camera on the clamping mechanism recognizes the color of the corner ring. Drive the negative pressure suction cup close to and suck the corner ring through the displacement mechanism, and then drive the negative pressure suction cup to displace by the displacement mechanism and lift the corner ring until the corner ring is hung on the corresponding hook. Then, hang the remaining corner rings on the corresponding hooks in sequence. S4. Use the gantry to move the flexible bulk bag clamping and lifting device and the flexible bulk bag to the bag opening area, and open the bag to unload the powder material. S5. Use the gantry to move the flexible bulk bag clamping and lifting device and the flexible bulk bag to the waste bag recycling area, rotate and retract the hooks, and the waste bag will fall off.

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