Bagged particle material flat stacking gripper and stacking method

Abstract

The invention discloses a bagged particle material flat stacking gripper and a stacking method.The gripper comprises an outer frame, a grabbing frame, an outer side large baffle, an outer side air cylinder assembly, an inner side air cylinder assembly, a pressing plate and the like, and the gripper is installed on an industrial robot through a flange plate. In the working process, the outer side air cylinder assembly drives the grabbing frame and the outer side large baffle to form a closed space to grab a bag, the inner side air cylinder assembly drives the pressing plate to be matched with the shaking action to flatten particle materials, and the linear bearing assembly achieves bag releasing. According to the stacking method, by controlling the steps of descending, clamping, rotating, flattening, releasing and the like of the grippers, the stacking type that each layer rotates by 360 degrees and each layer rotates by 180 degrees is achieved, and the sealing positions of the bags are pressed against each other. The automatic stacking device solves the problems that in the prior art, particle materials are not flat, and the stack shape is not stable, has the advantages of being stable in grabbing, flat in particle, firm in stack shape, high in adaptability and the like, and can be widely applied to automatic stacking operation of the bagged particle materials.

Description

Technical Field

[0001] The present invention relates to the field of material stacking technology, and more particularly to a gripper and method for leveling and stacking bagged granular materials. The gripper can be used in conjunction with an industrial robot or robotic arm to ensure the leveling of the granular material inside the bag during the grabbing, flipping, and stacking process, meeting the special requirements of rotary stacking and ensuring a more stable stack. Background Art

[0002] Palletizing bagged granular materials is a crucial process in industrial production. With the advancement of automation technology, robotic palletizing grippers have gained widespread application. These grippers are specialized devices designed for automated palletizing operations, primarily used to grasp and stack goods. They are typically used in conjunction with robotic arms or robots, achieving efficient and stable palletizing operations through precise control and operation.

[0003] There are many types of common palletizing robot grippers, each suitable for different application scenarios, such as vacuum suction cup grippers, clamping grippers, magnetic grippers, elastic claw grippers, etc. For example, the utility model patent CN201253847Y discloses a palletizing robot gripper. This structure sets a guide rail at the bottom of the top frame, and a pair of clamps are vertically and movably connected to the guide rails through clamp connectors. A pair of cylinders are respectively fixed in opposite directions to a pair of positioning slides, and the piston rods of the pair of cylinders are respectively connected to the pair of clamps. The pair of positioning slides are set on the guide rails. During operation, the finger mechanism driven by the cylinders holds the grasped workpiece, performing the grasping and subsequent palletizing functions.

[0004] However, existing domestic palletizing grippers have significant shortcomings when handling bagged granular materials. When grasping soft bags filled with granular material, flipping them around, and stacking them, they cannot ensure the granular material inside is flat. Due to the fluidity of granular materials, the particles inside are easily displaced during the bag grasping and flipping process, resulting in uneven stacking and affecting the subsequent stacking quality and stability. Furthermore, they cannot meet the requirements of rotary stacking, making it difficult for each bag to press against the seal of the previous bag, resulting in an unstable stack.

[0005] As industrial production continues to increase its requirements for automation and intelligence, higher requirements are placed on the accuracy and stability of bagged granular material palletizing. Therefore, a gripper for leveling and stacking bagged granular materials that can solve the above problems is urgently needed to meet the needs of actual production. Summary of the Invention

[0006] In view of the above-mentioned defects of the prior art, the purpose of the present invention is to provide a flat stacking gripper and stacking method for bagged granular materials, so as to solve the problem in the prior art that the internal flatness of the bagged granular materials cannot be ensured and rotary stacking can be satisfied.

[0007] To achieve the above-mentioned object, the present invention provides a gripper for leveling and stacking bagged granular materials, comprising:

[0008] The outer frame (1) serves as the basic supporting structure of the entire gripper and provides a framework for the installation and fixing of other components;

[0009] The grabbing frame (9) is arranged in the outer frame (1) and is one of the key components for realizing the grabbing function;

[0010] The outer large baffle (2) cooperates with the grabbing frame (9) to form a closed grabbing space, and cooperates with the grabbing frame (9) to form a closed grabbing space. When the grabbing frame (9) is close to the outer large baffle (2), the two together form a grabbing space similar to a rectangular box for accommodating the material bag body;

[0011] An outer cylinder assembly (5) for driving the grabbing frame (9) to be close to the outer large baffle (2), and controlling the movement of the grabbing frame (9) through the telescopic action of the outer cylinder assembly (5), thereby achieving the closing and opening of the grabbing space;

[0012] and an inner cylinder assembly (7) and a pressing plate (10) for flattening the material bag in the grabbing frame (9); the inner cylinder assembly (7) is used to push the pressing plate (10) in the grabbing frame (9) toward the material bag to achieve a flattening operation on the granular material in the bag;

[0013] When the grabbing frame (9) and the outer large baffle (2) are closed, the main body of the material bag is located in the grabbing space, and the sealing portion is clamped outside the grabbing space.

[0014] Preferably, a flange plate (3) is provided at the rear of the outer frame (1) for mounting an industrial robot or a robotic arm to achieve mechanical connection and power transmission between the gripper and the robot.

[0015] Preferably, it also includes an outer guide shaft (4) and an inner guide shaft (6), wherein the outer guide shaft (4) is used to guide the movement of the grabbing frame (9) to ensure that it maintains linear motion during movement and avoids deviation; the inner guide shaft (6) is used to guide the movement of the pressing plate (10) so that it can accurately press against the material bag; ultimately, the movement accuracy and stability of the grabbing frame (9) and the pressing plate (10) are guaranteed.

[0016] Preferably, the stacking machine further comprises a linear bearing assembly (11) for driving the outer large baffle (2) to be withdrawn outwards to release the material bags. During the stacking process, when the bags need to be placed at a designated location, the outer large baffle (2) is driven outwards by the action of the linear bearing assembly (11), thereby releasing the grip on the bags and allowing the bags to fall accurately.

[0017] Preferably, the gripping space formed by closing the gripping frame (9) and the outer large baffle (2) is a structure similar to a rectangular box. This structural design can better adapt to the shape of the bagged granular material and improve the stability and reliability of the gripping.

[0018] Preferably, a guide plate (8) is further included to assist in positioning the relative positions of the grabbing frame (9) and the outer large baffle (2). The provision of the guide plate (8) can further improve the accuracy of closing the grabbing space and ensure that the bag can be accurately clamped.

[0019] Preferably, the outer cylinder assembly (5) and the inner cylinder assembly (7) can be replaced with a hydraulic drive assembly or a motor drive assembly to provide different power sources for the movement of the gripper.

[0020] The present invention also provides a method for stacking bagged granular materials, which is characterized by using the above-mentioned bagged granular material flat stacking gripper, comprising the following steps:

[0021] S10, controlling the gripper to descend so that the material bag is located in the gap between the grabbing frame (9) and the outer large baffle (2); in this process, it is necessary to ensure that the gripper descends accurately so that the bag can correctly enter the grabbing gap;

[0022] S20, extending the outer cylinder assembly (5) so that the grabbing frame (9) is pressed against the outer large baffle (2) and the bag seal is clamped; at this time, the grabbing frame (9) and the outer large baffle (2) form a closed grabbing space, the bag body is located in the space, and the seal is clamped on the outside, thereby achieving stable grabbing of the bag;

[0023] S30, controlling the gripper to rotate and adjust the direction, while fixing the bag position by clamping the seal; because the bag seal is clamped and fixed, the bag position remains firmly during the rotation process and does not become loose and shaken;

[0024] S40, extending the inner cylinder assembly (7) to push the pressing plate (10) to flatten the granular material inside the bag, which can be coordinated with shaking the gripper; the movement of the mechanical arm drives the gripper to shake, so that the granular material inside the bag is more flattened under the action of the pressing plate (10);

[0025] S50, move the gripper to the stacking position, pull out the outer large baffle (2) through the linear bearing assembly (11), and release the bag. During the release process, the gripping frame (9) blocks the movement of the bag to prevent the bag from being displaced when the outer large baffle (2) is pulled out, ensuring that the bag falls accurately on the stacking position.

[0026] Preferably, the rotation adjustment direction includes 360° rotation within each layer and 180° rotation between layers, so that the back bag presses the seal of the front bag to achieve rotary stacking.

[0027] Preferably, when flattening the granular material, the inner cylinder assembly (7) pushes the pressing plate (10), and cooperates with the industrial robot or mechanical arm to shake the gripper to make the granular material flat.

[0028] Preferably, when the bag is released, the outer large baffle (2) is pulled out by the linear bearing assembly (11), and the grabbing frame (9) blocks the movement of the bag to prevent the bag from being displaced.

[0029] Preferably, when the grabbing frame (9) and the outer large baffle (2) clamp the bag seal, the clamping position can be adjusted according to the bag structure so that the length of the material-free portion of the seal can be changed.

[0030] The present invention also provides a palletizing system including the aforementioned gripper for leveling and stacking bagged granular materials, further comprising an industrial robot, a control unit, and a visual positioning module. The control unit, through the visual positioning module, synchronizes the movements of the industrial robot with those of the gripper for leveling and stacking bagged granular materials. The visual positioning module is used to detect the position and status of the material bags in real time. The control unit controls the movements of the industrial robot and gripper based on the detection results, achieving precise palletizing operations.

[0031] Compared with the prior art, the present invention has the following significant technical effects:

[0032] (1) The present invention demonstrates significant technical effects in the grabbing and particle flattening of bagged granular materials through its unique mechanical structure design and collaborative working mechanism. The gripper utilizes an outer cylinder assembly to drive the grabbing frame and the outer large baffle to form a closed grabbing space, precisely clamping the bag seal, and cooperating with the inner cylinder assembly to push the pressing plate to flatten the material. At the same time, combined with the shaking action of the industrial robot, the granular material is evenly distributed in the bag. This design solves the problem in the prior art that particles are prone to shaking and stacking when grabbing soft bags. For example, when grabbing granular materials such as flour and fertilizer, the physical pressing of the pressing plate and the synergistic effect of mechanical shaking can control the flatness error of the particles inside the bag, ensuring the stability and appearance regularity of subsequent stacking, and meeting the strict requirements of the food, chemical and other industries for the flatness of material packaging.

[0033] (2) In terms of rotary stacking and stack stability, the present invention achieves a stacking capability that cannot be achieved by traditional technologies. Since the bag seals are precisely clamped and positioned, the gripper can cooperate with the industrial robot to complete the stacking action of 360° rotation per layer and 180° rotation between layers, so that each bag accurately presses the seal of the previous bag. This stacking structure forms an interlocking effect through mechanical engagement at the seal. It is particularly suitable for warehousing and logistics scenarios with high requirements for space utilization and stack anti-overturning properties, such as high-rise stacking operations in stereoscopic warehouses. It can effectively avoid the risk of collapse caused by unstable stacks and improve the safety and efficiency of warehousing management.

[0034] (3) The modular design and system compatibility of the present invention give it a wide range of application adaptability. The shapes of components such as the outer frame and the grabbing frame can be adjusted according to the specifications of the bag, and the drive units such as the outer cylinder assembly support the replacement of various power forms such as hydraulic and motor. For example, in an explosion-proof environment, it can be switched to hydraulic drive to meet safety regulations. At the same time, the palletizing system realizes intelligent identification and positioning of bags of different sizes through the collaboration of the visual positioning module and the control unit. When processing bags with different sealing structures, the length of the material-free part of the seal can be flexibly changed by adjusting the clamping position. This highly flexible design enables the equipment to adapt to the palletizing needs of various bagged granular materials such as fertilizers, grains, and feeds, reducing the company's equipment procurement and maintenance costs and improving the versatility and intelligence level of the automated production line.

[0035] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the overall structure of a gripper for leveling and stacking bagged granular materials according to the present invention;

[0037] Figure 2 This is a schematic diagram of the overall structure of a gripper for leveling and stacking bagged granular materials according to the present invention. Figure 1 The grab frame (9) is hidden on the base, and the internal pressing plate (10) is displayed;

[0038] By hiding the grabbing frame (9), the position and structure of the pressing plate (10) in the grabbing frame, as well as the connection relationship between the inner cylinder assembly (7) and the pressing plate (10) are more clearly displayed;

[0039] Figure 3 It is a schematic diagram of the status of each material bag during palletizing; it shows the placement status of the bags during the palletizing process;

[0040] Figure 4It is a schematic diagram of the palletizing type (rotary type); it shows the overall structure of the rotary stacking, including the 360° rotation within each layer and the 180° rotation between layers, as well as the relationship between the bags pressing against each other at the seals, which reflects the stability of the pallet.

[0041] Figure 5 This diagram shows the outer cylinder assembly extending and the gripping frame pressing against the outer large baffle, forming a closed gripping space similar to a rectangular box. It shows the process and structure of the gripping space, as well as the position of the bag within the gripping space and the state where the seal is clamped on the outside.

[0042] Figure 6 The diagram shows how the linear bearing assembly drives the outer baffle and pulls it outward. It also shows how the outer baffle moves outward when the bag is released, and how the gripping frame blocks the bag's movement, ensuring accurate bag release.

[0043] Figure 7 This is a reference diagram of the work scene layout; it shows the work scene layout when the gripper is used in conjunction with an industrial robot or robotic arm.

[0044] Among them: 1. Outer frame; 2. Outer large baffle; 3. Flange plate; 4. Outer guide shaft; 5. Outer cylinder assembly; 6. Inner guide shaft; 7. Inner cylinder assembly; 8. Guide plate; 9. Grab frame; 10. Pressing plate; 11. Linear bearing assembly. DETAILED DESCRIPTION

[0045] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0046] In the drawings, components with identical structures are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrary and are not limited by the present invention. For clarity, the thickness of components in some places in the drawings is appropriately exaggerated.

[0047] Example 1

[0048] like Figure 1 and Figure 2 As shown, this embodiment provides a gripper for leveling and stacking bagged granular materials, including the following main structures:

[0049] Outer frame 1: Serves as the basic support structure of the entire gripper, providing a framework for installation and fixation of other components.

[0050] The grabbing frame 9 is arranged inside the outer frame 1 and is one of the key components for realizing the grabbing function.

[0051] The outer large baffle 2 cooperates with the grabbing frame 9 to form a closed grabbing space. When the grabbing frame 9 is close to the outer large baffle 2, the two together form a grabbing space similar to a rectangular box for accommodating the material bag body.

[0052] The outer cylinder assembly 5 is used to drive the grabbing frame 9 to be close to the outer large baffle 2. The movement of the grabbing frame 9 is controlled by the telescopic action of the outer cylinder assembly 5, thereby realizing the closing and opening of the grabbing space.

[0053] Inner cylinder assembly 7 and pressing plate 10: The inner cylinder assembly 7 is used to push the pressing plate 10 in the grabbing frame 9 toward the material bag to flatten the granular material inside the bag.

[0054] Furthermore, a flange plate 3 is provided at the rear of the outer frame 1 for mounting the gripper on an industrial robot or a robotic arm to achieve mechanical connection and power transmission between the gripper and the robot.

[0055] To ensure the movement accuracy and stability of the gripping frame 9 and the pressure plate 10, the gripper also includes an outer guide shaft 4 and an inner guide shaft 6. The outer guide shaft 4 is used to guide the movement of the gripping frame 9, ensuring that it maintains linear motion and avoids deviation during movement; the inner guide shaft 6 is used to guide the movement of the pressure plate 10, allowing it to accurately press against the material bag.

[0056] The gripper also includes a linear bearing assembly 11, which drives the outer large baffle 2 outward, thereby releasing the material bag. During the palletizing process, when the bag needs to be placed in the desired location, the action of the linear bearing assembly 11 drives the outer large baffle 2 outward, releasing the grip on the bag and allowing it to fall accurately.

[0057] The gripping space formed by closing the gripping frame 9 and the outer large baffle 2 is a structure similar to a rectangular box. This structural design can better adapt to the shape of the bagged granular material and improve the stability and reliability of gripping.

[0058] In order to assist in positioning the relative position of the grab frame 9 and the outer large baffle 2, the gripper further includes a guide plate 8. The provision of the guide plate 8 can further improve the accuracy of the gripping space when closing, ensuring that the bag can be accurately clamped.

[0059] Taking into account different power requirements and application scenarios, the outer cylinder assembly 5 and the inner cylinder assembly 7 can be replaced with a hydraulic drive assembly or a motor drive assembly to provide different power sources for the movement of the gripper.

[0060] Replace the outer cylinder assembly 5 and inner cylinder assembly 7 with a hydraulic drive assembly. Hydraulic drive offers high driving force and smooth motion, making it suitable for applications requiring high clamping and leveling forces. During this replacement process, the hydraulic system's piping and control circuits must be redesigned to ensure coordinated operation between the hydraulic drive assembly and the other gripper components. Furthermore, the hydraulic system's pressure and flow parameters must be adjusted to meet the requirements for gripping, leveling, and other operations.

[0061] Replace the outer cylinder assembly 5 and inner cylinder assembly 7 with a motor drive assembly. Motor drives offer advantages such as high control accuracy and fast response speed, making them suitable for palletizing applications requiring precise movement. The motor and transmission mechanism work together to achieve precise movement of the grab frame 9 and hold-down plate 10. When replacing these components, it's important to select the appropriate motor type (such as a servo motor) and transmission method (such as a screw drive), and develop the appropriate control program to achieve precise control of the motor drive assembly.

[0062] In actual production, cylinder, hydraulic, or motor drive modes can be flexibly switched to suit different production requirements and working conditions. For example, hydraulic drive is used when handling large bags and high-hardness granular materials; motor drive is used when handling small, delicate bags and materials requiring extremely high flatness; and cylinder drive is used in general production scenarios. This flexible switching of drive modes improves the gripper's adaptability and versatility, meeting the palletizing requirements of diverse production conditions.

[0063] The installation process of the gripper in this embodiment:

[0064] First, check whether the installation interface of the industrial robot or robotic arm meets the requirements and ensure that the flange plate 3 can be firmly installed. At the same time, check whether the various components of the gripper are intact, whether the connection is firm, and whether the moving parts such as the cylinder assembly and linear bearing assembly are flexible.

[0065] The gripper of this invention is mounted on the industrial robot / robotic arm via the rear flange plate 3. Use appropriate bolts and nuts to secure the flange plate 3 to the robot's mounting interface, ensuring a secure connection without looseness. After installation, perform preliminary commissioning to check that the gripper moves smoothly under the robot's control, and that there are no lags or unusual sounds.

[0066] Example 2

[0067] This embodiment provides a method for stacking bagged granular materials, using the bagged granular material flat stacking gripper of Example 1, including the following steps:

[0068] S10, control the gripper to descend: control the gripper to descend from the initial position so that the material bag is located in the gap area between the grabbing frame 9 and the outer large baffle 2. In this process, it is necessary to ensure that the gripper's descending position is accurate so that the bag can correctly enter the grabbing gap.

[0069] S20, extend the outer cylinder assembly: Figure 5 As shown, the outer cylinder assembly 5 is extended, so that the gripping frame 9 is close to the outer large baffle 2, thereby clamping the bag seal. At this time, the gripping frame 9 and the outer large baffle 2 form a closed gripping space, the bag body is located in the space, and the seal is clamped on the outside, achieving stable gripping of the bag.

[0070] S30. Control the gripper's rotation and orientation: After grabbing a bag, the gripper is controlled to rotate and adjust its orientation. Because the bag's seal is clamped securely, the bag remains securely in place during rotation, preventing it from loosening or dangling. Rotational adjustment includes 360° rotation within each layer and 180° rotation between layers, ensuring that the next bag presses against the seal of the previous bag, achieving rotary stacking.

[0071] S40: Flatten the granular material inside the bag: Extend the inner cylinder assembly 7 to push the pressing plate 10 to flatten the granular material inside the bag. During the flattening process, the gripper can be shaken to make the granular material inside the bag more flat under the action of the pressing plate 10.

[0072] S50, release the bag: Figure 6 As shown, the gripper is moved to the stacking position, and the outer large baffle 2 is pulled out through the linear bearing assembly 11 to release the bag. During the release process, the grab frame 9 blocks the movement of the bag to prevent the bag from shifting when the outer large baffle 2 is pulled out, ensuring that the bag falls accurately into the stacking position.

[0073] Furthermore, when the grabbing frame 9 and the outer large baffle 2 clamp the bag seal, the clamping position can be adjusted according to the structure of the bag so that the length of the material-free portion of the seal can be varied to accommodate different types of bags.

[0074] The following describes the process of this embodiment through a specific process:

[0075] 1. Grabbing process of material bags

[0076] 1.1 Positioning and Lowering: When grabbing a soft bag containing granular material, the industrial robot or robotic arm's control system first controls the gripper to move directly above the bag. The gripper then descends vertically. During the descent, the visual positioning module monitors the bag's position in real time, ensuring the gripper accurately descends to the target position and stops when the bag is within the gap between the gripping frame 9 and the outer large baffle 2.

[0077] 1.2 Forming the Grasping Space: At this point, the outer cylinder assembly 5 is activated and extended. This extension of the outer cylinder assembly 5 drives the grasping frame 9 forward until it abuts the outer large baffle 2. At this point, the grasping frame 9 and the outer large baffle 2 form a closed grasping space, similar to a rectangular box. The main body of the material bag is located within this grasping space, while the uppermost seal of the material bag is located outside the grasping space.

[0078] 1.3 Clamping: As the gripping frame 9 and the outer large baffle 2 are in close contact, the pressure between them clamps the bag's seal, securing it and completing the gripping of the bag. The clamping force is adjusted by the air pressure or hydraulic system of the outer cylinder assembly 5, ensuring that the bag is clamped tightly to prevent it from slipping without causing damage.

[0079] 2. Adjustment of bag orientation and fixation of position

[0080] 2.1 Gripper Ascending: After grabbing the bag, control the gripper to ascend and leave the material storage area to avoid collision with other bags or equipment. During the ascending process, maintain steady movement of the gripper.

[0081] 2.2 Rotation to Adjust Orientation: The industrial robot / manipulator controls the gripper's rotation angle to adjust the bag's orientation. Because the bag's seal is clamped and secured by the gripping frame 9 and the outer large baffle 2, the bag remains securely positioned within the gripping space during rotation, preventing it from loosening or dangling. The rotation angle is precisely controlled to meet palletizing requirements, for example, achieving 360° rotation within each layer or 180° rotation between layers.

[0082] 2.3 Position Detection and Calibration: During the rotation and orientation process, the visual positioning module detects the position and orientation of the bag in real time to ensure that the adjusted position and orientation meet the palletizing requirements. If there is any deviation, the control system will automatically calibrate to ensure the accuracy of subsequent stacking.

[0083] 3. Flattening process of granular materials inside the bag

[0084] 3.1 Action of the inner cylinder assembly: After grabbing the material bag and adjusting the direction, extend the inner cylinder assembly 7. The extension of the inner cylinder assembly 7 pushes the pressing plate 10 inside the grab frame 9 to move toward the material bag.

[0085] 3.2 Flattening Operation: After the compression plate 10 contacts the bag, it continues to apply pressure to flatten the granular material inside. During the flattening process, the gripper of the present invention can be shaken in conjunction with an industrial robot / mechanical arm. The gentle shaking of the robotic arm causes the bag inside the gripper to shake along with it, allowing the granular material inside the bag to be more evenly distributed and flattened due to the pressure and shaking of the compression plate 10.

[0086] 3.3 Flatness test: After the flattening operation is completed, the flatness of the granular material inside the bag can be tested by the visual inspection system. If unevenness is detected, the flattening and shaking operations can be repeated until the flatness requirements are met.

[0087] 4. Bag release and palletizing process

[0088] 4.1 Move to the palletizing position: The industrial robot / manipulator moves the gripper of the present invention to the pre-set palletizing position. During the movement, ensure that the path planning is reasonable to avoid collision with other objects.

[0089] 4.2 Preparation for bag release: After reaching the stacking position, check whether the position is correct. After confirming that it is correct, start the linear bearing assembly 11.

[0090] 4.3 Outer Baffle Retraction: The linear bearing assembly 11 operates, driving the outer baffle 2 outward. Because the bag seal is already clamped, and the gripping frame 9 prevents the bag from moving, the bag will not be displaced when the outer baffle 2 is withdrawn, ensuring that the bag remains stable within the gripper.

[0091] 4.4 Bag Release: As the outer large baffle 2 is withdrawn, the material bags originally grasped by the gripping frame 9 and the outer large baffle 2 are released and fall to the designated stacking position under the action of gravity. Because the granular material inside the bag has been flattened before release, and the rotational adjustment ensures that each bag presses against the seal of the previous bag, the resulting stack is stable and meets the requirements of rotary stacking.

[0092] 4.5 Palletizing Inspection: After the bags are released, the palletizing position and shape are inspected to ensure that the bags are placed correctly and the pallet shape is neat and stable. If necessary, appropriate adjustments can be made.

[0093] 5. Specific implementation of rotary stacking

[0094] 5.1 The first layer of stacking: Figure 3 and Figure 4 As shown in the figure, at the starting position of the palletizing process, the first bag is placed in the set direction. The gripper is then controlled to rotate a certain angle (e.g., 90°) to place the second bag, with the bottom of the second bag pressing against the seal of the first. The gripper then rotates the gripper by the same angle to place the third bag, pressing against the seal of the second bag, and so on, completing the first layer of the palletizing process. Within the first layer, a 360° rotation is achieved, with each bag sequentially pressing against the seal of the previous bag.

[0095] 5.2 Second Layer Stacking: After the first layer is stacked, the gripper is raised to a certain height and then rotated 180° to begin stacking the second layer. The stacking method for the second layer is similar to the first layer, but because the layers are rotated 180°, the bags in the second layer can better interlock with the bags in the first layer, further improving the stability of the stack. Similarly, each bag presses against the seal of the previous bag to form a stable stacking structure.

[0096] 5.3 Subsequent layer stacking: Follow the stacking method of the second layer and complete the stacking of subsequent layers in sequence. During the stacking process, the visual positioning module and control system monitor the height, flatness and stability of the stack in real time to ensure the accuracy and reliability of the entire stacking process.

[0097] 6. Adaptable operation of different types of bags

[0098] 6.1 Bag seal structure identification: Before grabbing the bag, the bag seal structure is identified by the visual recognition system to determine whether the seal is flattened and sealed or open.

[0099] 6.2 Clamping Position Adjustment: Adjust the clamping position between the gripping frame 9 and the outer large baffle 2 according to the bag seal structure. If the bag seal is flattened and sealed, move the clamping position closer to the seal to extend the length of the material-free portion of the seal. If the bag seal is open, move the clamping position further away from the seal to shorten the length of the material-free portion of the seal. By adjusting the clamping position, regardless of the bag type, ensure that one end of the seal is free of material, meeting palletizing requirements.

[0100] 6.3 Flattening Parameter Adjustment: For bags of different materials and thicknesses, as well as materials with different particle characteristics, adjust the pressure of the inner cylinder assembly 7 and the amplitude and frequency of the shaking gripper to ensure that the granular material inside the bag is fully flattened. For example, for thicker bags and granular materials with poor fluidity, the pressure and shaking amplitude can be appropriately increased; for thinner bags and granular materials with good fluidity, the pressure and shaking amplitude can be appropriately reduced to avoid damaging the bag or causing material spillage.

[0101] Example 3

[0102] like Figure 7 As shown, the present invention also provides a palletizing system including the gripper for leveling and stacking bagged granular materials of Example 1, comprising an industrial robot, a control unit, a vision positioning module, and the gripper for leveling and stacking bagged granular materials of the present invention. The control unit is connected to the industrial robot, the vision positioning module, and the various drive components of the gripper via cables or wireless communication to enable data transmission and the sending of control commands.

[0103] The visual positioning module collects real-time image information of the material bag, uses image processing algorithms to identify parameters such as the bag's position, orientation, and size, and transmits this data to the control unit. The control unit processes and analyzes the received data to calculate the motion trajectory and action parameters of the industrial robot and gripper.

[0104] When palletizing is required, the control unit, based on data from the visual positioning module, directs the industrial robot's gripper to position itself directly above the bag. The gripper then performs actions such as grabbing, flipping, flattening, and releasing the bag according to a pre-programmed sequence. Throughout the entire process, the control unit monitors the status of the industrial robot and gripper in real time, ensuring that all components work together for precise palletizing.

[0105] The palletizing system also features a fault detection function, enabling real-time monitoring of the operating status of components such as the industrial robot, vision positioning module, and gripper. If a fault is detected, the control unit immediately issues an alarm and takes appropriate troubleshooting measures, such as halting operations and locating and repairing the fault, to ensure safe and reliable system operation.

[0106] The preferred embodiments of the present invention have been described in detail above. It should be understood that numerous modifications and variations based on the concepts of the present invention are possible without inventive effort by those skilled in the art. Therefore, any technical solution that can be derived by one skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A gripper for leveling and stacking bagged granular materials, characterized in that: The invention comprises an outer frame (1), a grabbing frame (9) arranged in the outer frame (1), an outer large baffle (2) cooperating with the grabbing frame (9) to form a closed grabbing space, an outer cylinder assembly (5) for driving the grabbing frame (9) to be close to the outer large baffle (2), and an inner cylinder assembly (7) and a pressing plate (10) for flattening the material bag in the grabbing frame (9); when the grabbing frame (9) and the outer large baffle (2) are closed, the main body of the material bag is located in the grabbing space, and the sealing portion is clamped outside the grabbing space.

2. The flat stacking gripper for bagged granular materials according to claim 1, characterized in that: A flange plate (3) is provided at the rear of the outer frame (1) for mounting an industrial robot or a mechanical arm.

3. The flat stacking gripper for bagged granular materials according to claim 1, characterized in that: It also includes an outer guide shaft (4) and an inner guide shaft (6), wherein the outer guide shaft (4) is used to guide the movement of the grabbing frame (9), and the inner guide shaft (6) is used to guide the movement of the pressing plate (10).

4. The gripper for leveling and stacking bagged granular materials according to claim 1, characterized in that: It also includes a linear bearing assembly (11) for driving the outer large baffle (2) to be drawn outwards to release the material bag.

5. The gripper for leveling and stacking bagged granular materials according to claim 1, characterized in that: The gripping space formed by closing the gripping frame (9) and the outer large baffle (2) is a structure similar to a rectangular box.

6. The gripper for leveling and stacking bagged granular materials according to claim 1, characterized in that: It also includes a guide plate (8) for assisting in positioning the relative positions of the grabbing frame (9) and the outer large baffle (2).

7. The gripper for leveling and stacking bagged granular materials according to claim 1, characterized in that: The outer cylinder assembly (5) and the inner cylinder assembly (7) can be replaced by a hydraulic drive assembly or a motor drive assembly.

8. A method for stacking bagged granular materials, characterized in that: Using the gripper for leveling and stacking bagged granular materials as described in any one of claims 1 to 7 comprises the following steps: S10, controlling the gripper to descend so that the material bag is located in the gap between the gripping frame (9) and the outer large baffle (2); S20, extending the outer cylinder assembly (5) to make the grabbing frame (9) close to the outer large baffle (2) and clamp the bag seal; S30, controlling the gripper to rotate and adjust the direction, while fixing the bag position by clamping the seal; S40, extending the inner cylinder assembly (7) to push the pressing plate (10) to flatten the granular material inside the bag, which can be coordinated with shaking the gripper; S50, moving the gripper to the stacking position, pulling out the outer large baffle (2) through the linear bearing assembly (11), and releasing the bag.

9. The method according to claim 8, characterized in that The rotation adjustment direction includes 360° rotation within each layer and 180° rotation between layers, so that the back bag presses the sealing part of the front bag.

10. The method according to claim 8, characterized in that When the granular material is flattened, the inner cylinder assembly (7) pushes the pressing plate (10), and the industrial robot or mechanical arm is coordinated to shake the gripper to make the granular material flat.

11. The method according to claim 7, characterized in that When the bag is released, the outer large baffle (2) is pulled out by the linear bearing assembly (11), and the grabbing frame (9) blocks the movement of the bag to prevent the bag from being displaced.

12. The method according to claim 7, characterized in that When the grabbing frame (9) and the outer large baffle (2) clamp the bag seal, the clamping position can be adjusted according to the bag structure so that the length of the material-free portion of the seal can be changed.

13. A palletizing system comprising the flat palletizing gripper for bagged granular materials according to any one of claims 1 to 7, characterized in that: It also includes an industrial robot, a control unit and a visual positioning module. The control unit synchronizes the movement of the industrial robot and the movement of the bagged granular material leveling and stacking gripper through the visual positioning module.

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