Material bag clamp and material taking robot

Abstract

The invention discloses a material bag clamp. The material bag clamp comprises a mounting frame and a material bag, the material bag grabbing mechanism is arranged on the mounting frame; the material bag grabbing mechanism comprises a first clamping finger and a second clamping finger which are oppositely arranged, and a clamping space is formed between the first clamping finger and the second clamping finger. The air blowing mechanism and the material bag grabbing mechanism are arranged on the mounting frame in a spaced mode, and the air blowing mechanism is used for conveying air into the material bag so as to break the vacuum state in the material bag and enable the upper portion of the material bag to bulge; the material bag grabbing mechanism is used for controlling the first clamping finger and the second clamping finger to be close to each other so as to clamp the upper portion of the bulged material bag. According to the material bag clamp, the vacuum state of the material bag is broken, the success rate of material belt clamping is increased, and the silicon material feeding efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of semiconductor processing equipment, and in particular to a bag clamp and a picking robot. This application claims priority to the earlier application, application number CN202511295260.0, entitled "A Bag Clamp and Picking Robot," with a priority date of 2025-09-11. Background Technology

[0002] The raw material for silicon rod production is silicon. For ease of transportation, the silicon is sealed in plastic bags, vacuum-sealed, and then stacked in boxes. During silicon processing, the bags containing the silicon need to be removed from the boxes and placed at the next station for bag breaking and material extraction.

[0003] In related technologies, grippers are used to pick up materials by gripping the bag opening. However, due to differences in the actual bags inside the packaging box, the bag opening may stick to the bag surface, causing the grippers to fail to pick up the materials, resulting in low material picking efficiency.

[0004] No effective solution has yet been proposed to address the problem of low silicon material extraction efficiency in related technologies. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a material bag clamp and a material handling robot to improve the material handling efficiency of silicon.

[0006] In a first aspect, a bag clamp is provided, comprising: a mounting frame; a bag gripping mechanism disposed on the mounting frame; the bag gripping mechanism including a first gripping finger and a second gripping finger disposed opposite to each other, forming a gripping space between the first gripping finger and the second gripping finger; and an air blowing mechanism disposed at a distance from the bag gripping mechanism on the mounting frame, the air blowing mechanism being used to deliver gas into the bag to break the vacuum state inside the bag and cause the upper part of the bag to bulge; wherein, the bag gripping mechanism is used to control the first gripping finger and the second gripping finger to move closer to each other to grip the upper part of the bulging bag.

[0007] In one embodiment, the air blowing mechanism includes a first driving member, an air supply pipe, and a solenoid valve. The first driving member is disposed on the mounting bracket. The air supply pipe is connected to the first driving member and the solenoid valve. The solenoid valve is activated after the first driving member drives the air supply pipe to penetrate the material bag, so as to deliver gas into the material bag through the air supply pipe.

[0008] In one embodiment, the bag clamp further includes a guide assembly disposed on the mounting frame, the guide assembly having the same guiding direction as the extension direction of the air supply pipe.

[0009] In one embodiment, the mounting frame includes a first mounting plate, a second mounting plate, and a plurality of elastic elements, wherein the plurality of elastic elements are evenly distributed between the first mounting plate and the second mounting plate, and the bag gripping mechanism and the air blowing mechanism are disposed on the lower side of the second mounting plate.

[0010] In one embodiment, the opposing sides of the first and second grippers are concave-convex, and the material of the first and second grippers is polyurethane.

[0011] In one embodiment, a plurality of metal needles are provided on the opposite sides of the first and second gripping fingers, the metal needles being used to puncture the upper part of the bulging bag.

[0012] In one embodiment, the bag clamp further includes a foam gripping mechanism disposed on the mounting frame. The foam gripping mechanism includes a floating unit, a second driving member, and a needle suction cup. The floating unit is connected to the mounting frame and the second driving member, respectively. The second driving member is connected to the needle suction cup. The second driving member is used to drive the needle suction cup to pierce the foam, and the needle suction cup is used to adsorb the foam.

[0013] Secondly, this application also provides a material handling robot, which includes a material bag clamp as described in any of the above embodiments.

[0014] The material bag clamp of this application can change the vacuum state of the material bag by supplying gas into the material bag, so that the upper part of the material bag, which was originally in a folded state, bulges up, making it easier for the material bag gripping mechanism to grip the upper part of the material bag, thereby reducing the occurrence of material bag gripping failure and improving the material picking efficiency of silicon. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the bag clamp according to an embodiment of this application; Figure 2 This is a left view of the bag clamp according to an embodiment of this application; Figure 3 This is a front view of the bag clamp according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the first or second gripping finger according to an embodiment of this application; Reference numerals: 10, Mounting frame; 20, Bag gripping mechanism; 30, Air blowing mechanism; 40, Bag; 21, First gripper finger; 22, Second gripper finger; 31, First drive component; 32, Air supply pipe; 33, Solenoid valve; 11, First mounting plate; 12, Elastic component; 13, Second mounting plate; 51, Fixing frame; 52, Reinforcing plate; 211, Rod body; 212, Screw hole; 213, Limiting block; 214, Tungsten steel needle; 60, Limiting rod; 70, First sensor; 80, Second sensor; 90, Foam gripping mechanism; 91, Floating unit; 92, Second drive component; 93, Needle suction cup. Detailed Implementation

[0016] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0017] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0018] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0019] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0020] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0021] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0022] Silicon material is stored in plastic bags. For ease of transport, these bags are typically vacuum-sealed before being stacked in boxes. After the silicon material arrives at the manufacturer, traditionally, workers manually remove the bags from the boxes and pour the silicon into a raw material tank. However, this pouring process generates a large amount of silicon powder. If this powder is not promptly removed by the ventilation system and is inhaled by workers, it can lead to silicosis and serious health problems. With the development of industrial automation, robotic arms are increasingly used to handle the bags. However, because the bags are neatly stacked inside the boxes, with bags tightly packed together and between bags and boxes, the working range of a left-right opening gripper is limited. The grippers cannot easily reach into the gaps between the bags or between the bags and boxes. Therefore, in related technologies, robotic arms handle the remaining portion of the bag by gripping it from the top. During transportation, the top of the material bag inevitably tilts due to stacking and vacuum. If the robotic arm cannot accurately grip the top of the material bag, it will lead to material handling failure, which in turn affects the overall silicon material feeding efficiency.

[0023] like Figures 1 to 4 As shown, a bag clamp is provided, comprising a mounting frame 10, a bag gripping mechanism 20, and an air blowing mechanism 30. The mounting frame 10 is connected to an external drive device, such as a slide rail or a multi-axis robot, to allow the mounting frame 10 to move relative to the bags 40 to grip the bags 40 in the packaging box one by one. Preferably, the mounting frame 10 can be connected to the external drive device via a flange to enhance the stability of the connection. The bag gripping mechanism 20 is disposed on the mounting frame 10. The bag gripping mechanism 20 is a component for gripping the bags 40, including a first gripping finger 21 and a second gripping finger 22 disposed opposite to each other, forming a clamping space between the first gripping finger 21 and the second gripping finger 22. The air blowing mechanism 30 is disposed at a distance from the bag gripping mechanism 20 on the mounting frame 10. The air blowing mechanism 30 is used to deliver gas into the bags 40 to break the vacuum state inside the bags 40, causing the upper part of the bags 40 to inflate. The upper part of the material bag 40 refers to the portion of the material bag 40 above the silicon material after vacuum treatment, which does not contain silicon material. This is generally near the seal of the material bag 40. Before gas is supplied, the blowing mechanism 30 can enter the material bag 40 by puncturing or melting the bag opening. After gas is supplied, the blowing mechanism 30 causes the upper part of the material bag 40 to inflate. At this time, the material bag gripping mechanism 20 controls the first gripping finger 21 and the second gripping finger 22 to move closer together, gripping the upper part of the material bag 40, thus completing the gripping of the material bag 40. Further, after the material bag gripping mechanism 20 grips the upper part of the material bag 40, the material bag 40 is lifted by controlling the upward movement of the material bag gripping mechanism 20 or the upward movement of the mounting frame 10, and then the material bag 40 is transferred to the next process. In this embodiment, the bag clamp uses an air blowing mechanism 30 to introduce gas into the bag 40, causing the upper part of the bag 40 to bulge. Then, the bag gripping mechanism 20 grips the bag 40, reducing the chance of bag 40 being gripped and improving the feeding efficiency of silicon material.

[0024] In one embodiment, the air blowing mechanism 30 includes a first driving member 31, an air supply pipe 32, and a solenoid valve 33. The first driving member 31 is disposed on the mounting bracket 10 and is used to drive the air supply pipe 32 to move closer to or away from the material bag 40. The first driving member 31 includes, but is not limited to, a cylinder or a motor. The air supply pipe 32 is a conduit for supplying air into the material bag 40. To facilitate entry into the material bag 40, the air supply pipe 32 can be a rigid pipe, such as a metal pipe like a tungsten carbide pipe. Preferably, the end of the tungsten carbide pipe is designed with a pointed tip to facilitate insertion into the material bag 40. The air supply pipe 32 can also be connected to both the first driving member 31 and the solenoid valve 33. The solenoid valve 33 is an electromagnetically controlled automated component for controlling fluids. In this embodiment, the solenoid valve 33 is activated after the first driving member 31 drives the air supply pipe 32 to penetrate the material bag 40, causing the air supply pipe 32 to deliver gas into the material bag 40. By controlling the gas supply through the solenoid valve 33, precise control of the gas supply can be achieved, ensuring that the bag 40 is inflated while preventing it from bursting. Furthermore, the number of gas supply pipes 32 can be one or more, preferably two, to ensure that if one pipe becomes blocked, the other can still supply gas independently. In this embodiment, the blowing mechanism 30, through the first driving member 31 driving the gas supply pipe 32 to puncture the bag 40, delivering gas through the gas supply pipe 32 to change the vacuum state of the bag 40, and controlling the gas supply through the solenoid valve 33, achieves automated and precise control of the blowing process, ensuring the safe inflation of the bag 40.

[0025] In one embodiment, the bag clamp further includes a guide assembly disposed on the mounting frame 10. The guide assembly's guiding direction is the same as the extending direction of the air supply pipe 32. The guide assembly improves the stability of the air blowing pipe's movement. Specifically, in one embodiment, the guide assembly may include a guide rod and a slider sleeved around the guide rod, the slider being connected to the air blowing structure. In another embodiment, the guide assembly may also be a vertically arranged groove structure, with the air supply pipe 32 passing through and fixed inside the slider, the slider being movably disposed within the groove.

[0026] In one embodiment, the mounting frame 10 includes a first mounting plate 11, a second mounting plate 13, and a plurality of elastic elements 12. The elastic elements 12 are evenly distributed between the first mounting plate 11 and the second mounting plate 13, and the bag gripping mechanism 20 and the air blowing mechanism 30 are disposed on the lower side of the second mounting plate 13. Specifically, the first mounting plate 11 serves as a main connecting plate, and its upper side can be connected to external driving equipment such as a robot arm or a slide rail. The second mounting plate 13 serves as a secondary mounting plate for mounting the bag gripping mechanism 20 and the air blowing mechanism 30, for example, for the drive motor or cylinder in the bag gripping mechanism 20 that drives the first gripper finger 21 and the second gripper finger 22 to move closer together, and for the drive motor or cylinder in the air blowing mechanism 30. Furthermore, the second mounting plate 13 can also be used to mount other components that may be used during the bag gripping process, such as sensors. The elastic elements 12 include springs or rubber pads. The elastic elements 12 can be arranged radially, in a rectangular dot matrix, or in a circular dot matrix between the first mounting plate 11 and the second mounting plate 13. The first mounting plate 11, several elastic elements 12, and the second mounting plate 13 are connected in sequence to form a floating structure. This structure can reduce the impact force on the external drive components or the air blowing mechanism 30 and the material bag gripping mechanism 20 themselves when they come into contact with the silicon material in the material bag 40, thereby improving the safety of the equipment, reducing damage to parts, and extending the service life of the equipment.

[0027] In one embodiment, the opposing sides of the first gripping finger 21 and the second gripping finger 22 are convex-concave, and the first gripping finger 21 and the second gripping finger 22 are made of polyurethane. Specifically, the convex-concave surface can improve the surface friction. Compared with the smooth plastic material of the bag 40, the convex-concave design can effectively improve the friction when gripping the bag 40, reducing the occurrence of gripping failure or the bag 40 falling during the gripping process. Polyurethane is a polymer material formed by the condensation reaction of polyols and polyisocyanates, and has excellent mechanical properties and plasticity. Polyurethane combines the characteristics of light weight and high friction, which can reduce the overall weight of the bag clamp. In this embodiment, the first gripping finger 21 and the second gripping finger 22 are made of polyurethane, and the opposing sides used to grip the bag 40 are designed with convex-concave surfaces, which can significantly improve the friction between the first gripping finger 21, the second gripping finger 22 and the bag 40, and improve the success rate of gripping the bag 40.

[0028] In one embodiment, several metal needles are provided on the opposite sides of the first gripper finger 21 and the second gripper finger 22. These metal needles are used to puncture the upper part of the bulging bag 40. Specifically, by puncturing the bag 40 with needles, the punctured needle remains inside the bag 40, while the rest is outside. With the first gripper finger 21 and the second gripper finger 22 close together, the bag 40 can be lifted and transferred using the needles. Compared to the friction caused by the horizontal convergence of the gripper fingers, this embodiment achieves a higher success rate by placing the needles between the first gripper finger 21 and the second gripper finger 22. Using metal needles increases needle strength, reduces needle deformation during the gripping process, and provides better durability, ensuring the service life of the first gripper finger 21 and the second gripper finger 22.

[0029] This embodiment provides a bag gripping mechanism 20, including a symmetrically arranged fixing frame 51, a reinforcing plate 52, and a first gripping finger 21 and a second gripping finger 22. The fixing frame 51 includes a vertically arranged first part and a hinged "L"-shaped second part. The first part is fixed to a first connecting plate by screws and is used to install the first gripping finger 21 or the second gripping finger 22. The reinforcing plate 52 is connected to the side of the first part to enhance the stability of the fixing frame 51. The first gripping finger 21 or the second gripping finger 22 is installed on the second part of the fixing frame 51 by screws. Under the action of a drive motor or a drive cylinder, the first gripping finger 21 or the second gripping finger 22 moves closer or further apart to grip or release the bag 40.

[0030] This embodiment also provides a quick-change gripper module, including a rod 211, a screw hole 212, a limiting block 213, and tungsten carbide needles 214. The screw hole 212 is located on the first side and is used to mount the rod 211 to the second part of the fixing frame 51 of the bag gripping mechanism 20. Two limiting blocks 213 are respectively located at both ends of the rod 211 and are used to cooperate with the second part of the fixing frame 51 to prevent collision when the first gripper 21 and the second gripper 22 approach each other. Several tungsten carbide needles 214 are located on the second side and are used to puncture the bag 40 and grip the bag 40 after the first gripper 21 and the second gripper 22 approach each other. Through the quick-change gripper module of this embodiment, the modular application of the first gripper 21 and the second gripper 22 is realized, improving the convenience of equipment maintenance and reducing equipment maintenance costs.

[0031] In one embodiment, the bag clamp further includes a limiting rod 60 and a first sensor disposed on the mounting frame 10. After the limiting rod 60 abuts against the bag 40, the first sensor generates a control signal after detecting overpressure to control the bag gripping mechanism 20 to grip the bag 40. Specifically, the first sensor is a slotted photoelectric sensor. During the downward movement of the bag clamp, the limiting rod 60 contacts the bag 40 and the silicon material inside the bag. When the limiting rod 60 forms an overpressure with the silicon material bag 40, it triggers the slotted photoelectric sensor, controlling the bag gripping mechanism 20 to grip the bag 40. Preferably, a slider can also be sleeved on the outside of the limiting rod 60, and the slider is connected to the air supply pipe 32 of the air blowing mechanism 30. In this case, the limiting rod 60 acts as a guide rod to provide guidance for the air blowing mechanism 30.

[0032] In one embodiment, the bag clamp further includes a second sensor 80. The second sensor 80 is disposed on the mounting bracket 10 and is used to detect whether the bag 40 is located within the bag gripping mechanism 20. The second sensor 80 is a vision sensor or other photoelectric sensor, used to detect whether the bag 40 is within the bag gripping mechanism 20, monitoring the entire bag gripping process and ensuring a high success rate for bag gripping.

[0033] In one embodiment, the bag clamp further includes a foam gripping mechanism 90 disposed on the mounting frame 10. The foam gripping mechanism 90 includes a floating unit, a second drive member 92, and a needle suction cup 93. The second drive member 92 and the needle suction cup 93 are connected. The second drive member 92 is used to drive the needle suction cup 93 to pierce the foam, and the needle suction cup 93 is used to adsorb the foam.

[0034] Specifically, foam is typically used as a buffer between the 40 layers of material bags located inside the packaging box. After the material from a single layer of material bags 40 is removed, the foam needs to be removed before the next layer of material bags 40 can be gripped and transferred. Therefore, to achieve automated foam gripping, this embodiment provides a foam gripping mechanism 90. This foam gripping mechanism 90 uses a needle-type suction cup 93 to insert and adsorb the foam. The needle-type suction cup 93 ensures the stability of the adsorption, and the floating unit reduces the impact on the foam gripping mechanism 90 and the mounting plate during the insertion process, improving the safety of the gripping process. The foam gripping mechanism 90 of this embodiment achieves safe and stable gripping of the foam between the layers of material bags 40, improves the fully automated gripping of the material bags 40 during the feeding process, and improves the efficiency of silicon material feeding.

[0035] In another embodiment, the needle-type suction cup may perform only one of the insertion or suction actions. For example, after the needle-type suction cup 93 inserts into the foam, it can also fix the foam in place. In this case, the foam can be removed by moving the foam with the needle-type suction cup 93. As another example, after the needle-type suction cup 93 contacts the foam, it creates a negative pressure by drawing air through a small hole to suction the foam, and then moves the foam to remove it.

[0036] This application also provides a material handling robot, which includes a material bag gripper as described in any of the above embodiments. The material handling robot of this application embodiment can integrate foam picking, air blowing, material bag picking, and material bag clamping and detection, resulting in a highly efficient and successful material handling process. Preferably, the material handling robot can also be equipped with a vision positioning module to achieve high-precision automatic picking of silicon material, improving silicon material feeding efficiency.

[0037] This embodiment also provides a method for gripping a silicon material bag. The method includes: after the material bag gripper of the picking robot moves above the silicon material bag 40, the first gripper finger 21 and the second gripper finger 22 of the material bag gripping mechanism 20 are controlled to move away from each other. An air blowing mechanism 30 is extended via a cylinder, and the material bag gripper slowly descends until it punctures the material bag 40 through the air supply pipe 32 of the air blowing mechanism 30. A solenoid valve 33 is activated, and the air supply pipe 32 continuously blows air into the material bag 40 for a preset time, causing the material bag 40 to inflate. Then, the air blowing mechanism 30 is retracted via a cylinder. The material bag gripper continues to descend until it contacts the silicon material at the limiting rod 60. After the limiting rod 60 and the material bag 40 form an overpressure, a first sensor is triggered, and the cylinders of the first gripper finger 21 and the second gripper finger 22 drive the two grippers to move closer together to grip the material bag 40. Finally, the material bag 40 is raised to a target height, and a second sensor 80 detects whether the material bag 40 is in position. If so, the material bag 40 is transferred to the target position, and the next material bag 40 is retrieved.

[0038] This embodiment also provides a foam gripping method, which includes: acquiring a foam gripping command, which can be generated based on the number of gripping operations of the bag 40, or based on visual detection results. Based on the foam gripping command, the foam gripping mechanism is driven to descend a preset distance. At this time, the floating unit will have a certain amount of compression, which can ensure that the surface of the needle suction cup 93 is tightly attached to the foam. The solenoid valve 33 releases the needle from the needle suction cup 93. After the bag clamp is raised to a preset height, it is detected whether the foam has been successfully gripped. If so, the bag clamp is controlled to move the foam to the recycling position, completing the foam processing.

[0039] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A bag clamp, characterized in that, The bag clamp includes: Mounting bracket (10); A bag gripping mechanism (20) is disposed on the mounting frame (10); the bag gripping mechanism (20) includes a first gripping finger (21) and a second gripping finger (22) disposed opposite to each other, and a gripping space is formed between the first gripping finger (21) and the second gripping finger (22); An air blowing mechanism (30) is disposed at a distance from the bag gripping mechanism (20) on the mounting frame (10). The air blowing mechanism (30) is used to deliver gas into the bag (40) to break the vacuum state inside the bag (40) and cause the upper part of the bag (40) to bulge. The bag gripping mechanism (20) is used to control the first gripper (21) and the second gripper (22) to move closer to each other to grip the upper part of the bulging bag (40).

2. The bag clamp according to claim 1, characterized in that, The air blowing mechanism (30) includes a first driving member (31), an air supply pipe (32), and a solenoid valve (33). The first driving member (31) is disposed on the mounting bracket (10). The air supply pipe (32) is connected to the first driving member (31) and the solenoid valve (33) respectively. The solenoid valve (33) is activated after the first driving member (31) drives the air supply pipe (32) to penetrate the material bag (40), so that the air supply pipe (32) delivers gas into the material bag (40).

3. The bag clamp according to claim 2, characterized in that, The bag clamp also includes a guide assembly, which is disposed on the mounting frame (10) and the guiding direction of the guide assembly is the same as the extension direction of the air supply pipe (32).

4. The bag clamp according to claim 1, characterized in that, The mounting frame (10) includes a first mounting plate (11), a second mounting plate (13), and a plurality of elastic elements (12). The plurality of elastic elements (12) are evenly distributed between the first mounting plate (11) and the second mounting plate (13). The bag gripping mechanism (20) and the air blowing mechanism (30) are disposed on the lower side of the second mounting plate (13).

5. The bag clamp according to claim 1, characterized in that, The opposing sides of the first finger (21) and the second finger (22) are concave and convex; the material of the first finger (21) and the second finger (22) is polyurethane.

6. The bag clamp according to claim 1, characterized in that, The first clamping finger (21) and the second clamping finger (22) are provided with a plurality of metal needles on their opposite sides, the metal needles being used to puncture the upper part of the bulging bag (40).

7. The bag clamp according to claim 1, characterized in that, The bag clamp also includes a limiting rod (60) and a first sensor (70) disposed on the mounting frame (10). After the limiting rod (60) abuts against the bag (40), the first sensor (70) generates a control signal after detecting overpressure to control the bag gripping mechanism (20) to grip the bag (40).

8. The bag clamp according to claim 1, characterized in that, The bag clamp also includes a second sensor (80), which is disposed on the mounting frame (10) and is used to detect whether the bag (40) is located in the bag gripping mechanism (20).

9. The bag (40) clamp according to claim 1, characterized in that, The bag clamp also includes a foam gripping mechanism (90) disposed on the mounting frame (10). The foam gripping mechanism (90) includes a floating unit (91), a second driving member (92), and a needle suction cup (93). The floating unit (91) is connected to the mounting frame and the second driving member (92) respectively. The second driving member (92) is connected to the needle suction cup (93). The second driving member (92) is used to drive the needle suction cup (93) to pierce the foam. The needle suction cup (93) is used to adsorb the foam.

10. A material handling robot, characterized in that, The material handling robot includes the bag clamp as described in any one of claims 1 to 9.

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