A material bag clamp and a material taking robot

Abstract

The application discloses a material bag clamp, which comprises a mounting frame, a material bag grabbing mechanism arranged on the mounting frame, the material bag grabbing mechanism comprising a first clamping finger and a second clamping finger arranged oppositely, and a clamping space being formed between the first clamping finger and the second clamping finger, and a blowing mechanism arranged on the mounting frame and spaced from the material bag grabbing mechanism, the blowing mechanism being used for conveying gas into the material bag to break the vacuum state in the material bag and make the upper part of the material bag bulge, wherein the material bag grabbing mechanism is used for controlling the first clamping finger and the second clamping finger to approach each other to clamp the upper part of the bulged material bag. The material bag clamp breaks the vacuum state of the material bag, improves the material bag clamping success rate, and improves the silicon material feeding efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of semiconductor processing equipment, in particular to a material bag clamp and a material taking robot. The present application claims priority to the prior application with the application number CN202511295260.0 and the name of a material bag clamp and a material taking robot, and the priority date is September 11, 2025. BACKGROUND

[0002] The raw material for producing silicon rods is silicon material. In order to facilitate transportation, the silicon material is plastic-wrapped in a plastic packaging bag, and after vacuum treatment, it is stacked in a packaging box. During the processing of the silicon material, the material bag containing the silicon material needs to be taken out from the packaging box and placed in the next station for the process of bag breaking and material taking.

[0003] In related technologies, the bag opening of the material bag is clamped and taken by a clamping jaw. However, due to the differences of the actual material bag in the packaging box, the bag opening of the material bag may be attached to the surface of the material bag, which may cause the clamping jaw to fail to clamp and take the material bag, thereby causing the problem of low material taking efficiency.

[0004] For the problem of low material taking efficiency of the silicon material in related technologies, an effective solution has not been proposed. SUMMARY

[0005] To solve the above technical problems, the present application provides a material bag clamp and a material taking robot to improve the material taking efficiency of the silicon material.

[0006] In a first aspect, a material bag clamp is provided, comprising: a mounting frame; a material bag grabbing mechanism arranged on the mounting frame; the material bag grabbing mechanism comprises a first clamping finger and a second clamping finger arranged oppositely, and a clamping space is formed between the first clamping finger and the second clamping finger; a gas blowing mechanism is arranged on the mounting frame and spaced apart from the material bag grabbing mechanism, the gas blowing mechanism is used for conveying gas into the material bag to break the vacuum state inside the material bag and make the upper part of the material bag bulge; wherein the material bag grabbing mechanism is used for controlling the first clamping finger and the second clamping finger to approach each other to clamp the upper part of the material bag after bulging.

[0007] In one embodiment, the gas blowing mechanism comprises a first driving member, a gas supply pipe and a solenoid valve, the first driving member is arranged on the mounting frame, the gas supply pipe is connected with the first driving member and the solenoid valve respectively, and the solenoid valve is used for starting after the first driving member drives the gas supply pipe to pierce into the material bag, so that the gas supply pipe conveys gas into the material bag.

[0008] In one embodiment, the material bag clamp further comprises a guide assembly arranged on the mounting frame, and the guide direction of the guide assembly is the same as the extension direction of the gas supply pipe.

[0009] In one of the embodiments, the mounting frame comprises a first mounting plate, a second mounting plate, and a plurality of elastic members, the plurality of elastic members are evenly arranged between the first mounting plate and the second mounting plate, and the bag grabbing mechanism and the blowing mechanism are arranged on the lower side of the second mounting plate.

[0010] In one of the embodiments, the opposite sides of the first and second clamping fingers are concave-convex surfaces, and the material of the first and second clamping fingers is polyurethane.

[0011] In one of the embodiments, the opposite sides of the first and second clamping fingers are provided with a plurality of metal needles, and the metal needles are used to pierce the upper part of the bag after the bag is inflated.

[0012] In one of the embodiments, the bag clamp further comprises a foam grabbing mechanism arranged on the mounting frame, the foam grabbing mechanism comprises a floating unit, a second driving member, and a needle suction cup, the floating unit is connected with the mounting frame and the second driving member respectively, and the second driving member is connected with 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] In a second aspect, the present application further provides a bag taking robot, which comprises the bag clamp according to any one of the above embodiments.

[0014] The bag clamp according to the present application can change the vacuum state of the bag by conveying gas into the bag, so that the upper part of the bag in the prostrate state is inflated, the bag grabbing mechanism is facilitated to clamp the upper part of the bag, the situation that the bag is not clamped is reduced, and the efficiency of taking the silicon material is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 FIG. 1 is a structural schematic diagram of a bag clamp according to an embodiment of the present application;

[0016] Fig. 2 FIG. 2 is a left view of the bag clamp according to the embodiment of the present application;

[0017] Fig. 3 FIG. 3 is a front view of the bag clamp according to the embodiment of the present application;

[0018] Fig. 4 FIG. 4 is a structural schematic diagram of the first clamping finger or the second clamping finger according to the embodiment of the present application;

[0019] Explanation of reference numerals: 10, mounting frame; 20, bag grabbing mechanism; 30, blowing mechanism; 40, bag; 21, first clamping finger; 22, second clamping finger; 31, first driving member; 32, air supply pipe; 33, electromagnetic valve; 11, first mounting plate; 12, elastic member; 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 grabbing mechanism; 91, floating unit; 92, second driving member; 93, needle suction cup. DETAILED DESCRIPTION

[0020] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of ways other than those described herein, and by persons skilled in the art without departing from the scope of the present application, and therefore the present application is not limited to the specific embodiments disclosed below.

[0021] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0022] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0023] In the present application, unless specifically defined otherwise, the terms "mount", "connect", "connection", "fixed", and the like should be construed in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0024] In the present application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0025] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a mediating element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or a mediating element can be present at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only implementation.

[0026] Silicon materials are stored in plastic bags. In order to facilitate transportation, the bags are usually vacuumed and then stacked in packaging boxes. After the silicon materials are delivered to the relevant manufacturers, workers in the traditional technology manually remove the bags from the packaging boxes and then manually remove the bags to pour the silicon materials into the raw material tank. However, a large amount of silicon powder is generated during the pouring process, and if the silicon powder cannot be promptly discharged by the exhaust system and is inhaled by the workers, it will cause the workers to suffer from silicosis, causing serious physical damage. With the development of industrial automation, a mechanical hand is gradually used to clamp the bags to take the materials. Because the bags are neatly stacked in the packaging boxes, the bags are tightly in contact with each other and with the packaging boxes, and the working range of the left and right opening and closing type clamping is limited, and the clamping jaw cannot be deeply inserted into the gap between the bags or the gap between the bags and the packaging boxes for grabbing. Therefore, in the related technology, the mechanical hand takes the materials by clamping the excess part above the bag. During transportation, the upper part of the bag is inevitably tilted due to stacking and vacuum. If the mechanical hand cannot accurately clamp the upper part of the bag, it will cause the material taking to fail, thereby affecting the overall silicon material feeding efficiency.

[0027] As shown in Figs. 1 to 4 Fig. 1, a bag gripper is provided, which comprises a mounting frame 10, a bag grabbing mechanism 20 and a blowing mechanism 30. The mounting frame 10 is connected with an external driving device, such as a slide rail, a multi-axis robot or the like, so that the mounting frame 10 can be moved relative to a bag 40 to grab the bag 40 in a packaging box one by one. Preferably, the mounting frame 10 can be connected with the external driving device through a flange to enhance the stability of the connection. The bag grabbing mechanism 20 is arranged on the mounting frame 10. The bag grabbing mechanism 20 is a component for grabbing the bag 40, which comprises a first clamping finger 21 and a second clamping finger 22 arranged oppositely, and a clamping space is formed between the first clamping finger 21 and the second clamping finger 22. The blowing mechanism 30 is arranged on the mounting frame 10 in a spaced manner relative to the bag grabbing mechanism 20. The blowing mechanism 30 is used to deliver gas into the bag 40 to break the vacuum state inside the bag 40 and make the upper part of the bag 40 bulge. The upper part of the bag 40 refers to the part above the silicon material after the vacuum treatment of the bag 40, which does not contain silicon material. Generally, it is near the sealing of the bag 40. Before delivering the gas, the blowing mechanism 30 can enter the bag 40 by means of piercing or melting the bag opening. After delivering the gas, the blowing mechanism 30 makes the upper part of the bag 40 bulge. At this time, the bag grabbing mechanism 20 controls the first clamping finger 21 and the second clamping finger 22 to approach each other to clamp the upper part of the bag 40, and the grabbing of the bag 40 is completed. Further, after the bag grabbing mechanism 20 clamps the upper part of the bag 40, the bag 40 is lifted by controlling the upward movement of the bag grabbing mechanism 20 or controlling the upward movement of the mounting frame 10, and then the bag 40 is transferred to the next process. The bag gripper of the embodiment inputs gas into the bag 40 through the blowing mechanism 30 to make the upper part of the bag 40 bulge, and then the bag 40 is clamped by the bag grabbing mechanism 20, which reduces the failure of clamping the bag 40 and improves the efficiency of feeding the silicon material.

[0028] In one embodiment, the blowing mechanism 30 includes a first driving member 31, a gas supply pipe 32, and a solenoid valve 33. The first driving member 31 is disposed on the mounting frame 10 and is configured to drive the gas supply pipe 32 to move towards or away from the bag 40. The first driving member 31 can include, but is not limited to, a pneumatic cylinder or an electric motor. The gas supply pipe 32 is a pipe configured to supply gas into the bag 40. In order to smoothly enter the bag 40, the gas supply pipe 32 can be a rigid pipe, such as a pipe made of tungsten steel. Preferably, the end of the tungsten steel pipe is designed as a sharp tip to facilitate penetration into the bag 40. The gas supply pipe 32 can be connected to the first driving member 31 and the solenoid valve 33, respectively. The solenoid valve 33 is an electromagnetic control automatic component for controlling fluid. In this embodiment, the solenoid valve 33 is configured to be activated after the first driving member 31 drives the gas supply pipe 32 to penetrate into the bag 40, so that the gas supply pipe 32 delivers gas into the bag 40. By controlling the on-off of the gas supply pipe 32 through the solenoid valve 33, precise control of the gas supply can be achieved, which ensures that the upper part of the bag 40 is inflated while preventing the bag 40 from being burst. In addition, the number of gas supply pipes 32 can be one or more, and preferably two, to ensure that if any of the gas supply pipes 32 is blocked, the other gas supply pipe 32 can still function to supply gas. The blowing mechanism 30 of this embodiment realizes automatic and precise control of the blowing process by driving the gas supply pipe 32 to penetrate into the bag 40 through the first driving member 31, changing the vacuum state of the bag 40 by delivering gas through the gas supply pipe 32, and controlling the on-off of the gas supply process through the solenoid valve 33, thereby ensuring the safe inflation of the upper part of the bag 40.

[0029] In one embodiment, the bag clamp further includes a guide assembly disposed on the mounting frame 10. The guide direction of the guide assembly is the same as the extension direction of the gas supply pipe 32, and the guide assembly is configured to improve the stability of the movement of the gas supply pipe 32. Specifically, in one embodiment, the guide assembly can include a guide rod and a sliding block sleeved on the outer periphery of the guide rod, and the sliding block is connected to the blowing mechanism. In another embodiment, the guide assembly can also be a vertically disposed sliding groove structure, and the gas supply pipe 32 penetrates and is fixed to the sliding block which is movably disposed in the sliding groove.

[0030] In one embodiment, the mounting frame 10 comprises a first mounting plate 11, a second mounting plate 13 and a plurality of elastic members 12. The plurality of elastic members 12 are evenly arranged between the first mounting plate 11 and the second mounting plate 13, and the bag grabbing mechanism 20 and the blowing mechanism 30 are arranged on the lower side of the second mounting plate 13. Specifically, the first mounting plate 11 serves as a main connecting plate, and the upper side thereof can be connected with an external driving device such as a mechanical hand, a slide rail, etc. The second mounting plate 13 serves as a secondary mounting plate for loading the bag grabbing mechanism 20 and the blowing mechanism 30, for example, a driving motor or a cylinder in the bag grabbing mechanism 20 for driving the first clamping finger 21 and the second clamping finger 22 to approach, and a driving motor or a cylinder in the blowing mechanism 30. In addition, the second mounting plate 13 can also be used to mount other components that can be used in the process of clamping the bag 40, such as sensors, etc. The elastic members 12 include springs or rubber pads, etc. The elastic members 12 can be arranged in a radial, rectangular lattice or circular lattice manner between the first mounting plate 11 and the second mounting plate 13. The first mounting plate 11, the plurality of elastic members 12 and the second mounting plate 13 are sequentially connected to form a floating structure, which can reduce the impact force on the external driving member or the blowing mechanism 30 and the bag grabbing mechanism 20 itself when the blowing mechanism 30 and the bag grabbing mechanism 20 resist the silicon material in the bag 40, improve the safety of the equipment, reduce the damage of the components, and improve the service life of the equipment.

[0031] In one embodiment, the opposite sides of the first clamping finger 21 and the second clamping finger 22 are concave-convex surfaces, and the material of the first clamping finger 21 and the second clamping finger 22 is polyurethane. Specifically, the concave-convex surface can improve the friction of the surface, and compared with the smooth plastic material of the bag 40, the design of the concave-convex surface can effectively improve the friction when clamping the bag 40, and reduce the failure of clamping or the falling of the bag 40. Polyurethane is a high molecular material formed by polyol and polyisocyanate through condensation polymerization, which has excellent mechanical properties and plasticity. Polyurethane has the characteristics of light weight and friction, which can reduce the overall weight of the bag clamp. In the embodiment, the first clamping finger 21 and the second clamping finger 22 are made of polyurethane, and the opposite sides for clamping the bag 40 are designed in a concave-convex surface, which can significantly improve the friction between the first clamping finger 21, the second clamping finger 22 and the bag 40, and improve the success rate of clamping the bag 40.

[0032] In one embodiment, the opposite sides of the first and second clamping fingers 21 and 22 are provided with a plurality of metal needles for piercing the upper part of the inflated bag 40. Specifically, the bag 40 is pierced by the needles, and the pierced needles remain inside the bag 40, while the rest of the needles are outside the bag 40. When the first and second clamping fingers 21 and 22 are close to each other, the bag 40 can be lifted and transferred by the needles. Compared with the friction caused by the horizontal convergence of the clamping fingers, the success rate of clamping is higher in this embodiment. The metal needles can improve the strength of the needles, reduce the deformation of the needles during clamping, and have better durability, which can ensure the service life of the first and second clamping fingers 21 and 22.

[0033] In this embodiment, a bag grabbing mechanism 20 is provided, which includes a fixed frame 51, a reinforcing plate 52, and first and second clamping fingers 21 and 22. The fixed frame 51 includes a first part arranged in the vertical direction and a second part in the shape of "L" connected by a hinge. The first part is fixed to the first connecting plate by screws for mounting the first or second clamping finger 21 or 22. The reinforcing plate 52 is connected to the side of the first part to enhance the stability of the fixed frame 51. The first or second clamping finger 21 or 22 is mounted on the second part of the fixed frame 51 by screws. The first or second clamping finger 21 or 22 is driven by a motor or a cylinder to approach or move away from each other, thereby clamping or releasing the bag 40.

[0034] In this embodiment, a clamping finger quick-change module is also provided, which includes a rod body 211, a screw hole 212, a limiting block 213, and a tungsten steel needle 214. The screw hole 212 is arranged on the first side for mounting the rod body 211 on the second part of the fixed frame 51 of the bag grabbing mechanism 20. Two limiting blocks 213 are arranged at both ends of the rod body 211 for cooperation with the second part of the fixed frame 51 to avoid collision between the first and second clamping fingers 21 and 22 when they approach each other. A plurality of tungsten steel needles 214 are arranged on the second side for piercing the bag 40 and grabbing the bag 40 after the first and second clamping fingers 21 and 22 approach each other. Through the clamping finger quick-change module of this embodiment, the modular application of the first and second clamping fingers 21 and 22 is realized, which improves the convenience of equipment maintenance and reduces the cost of equipment maintenance.

[0035] In one embodiment, the bag clamp further comprises a limiting rod 60 and a first sensor arranged on the mounting frame 10. When the limiting rod 60 abuts against the bag 40, the first sensor generates a control signal to control the bag grabbing mechanism 20 to clamp the bag 40 after detecting overpressure. Specifically, the first sensor is a slot photoelectric sensor. During the process of lowering the bag clamp, the limiting rod 60 contacts the bag 40 and the silicon material in the bag. When the limiting rod 60 forms overpressure with the silicon bag 40, the slot photoelectric sensor is triggered to control the bag grabbing mechanism 20 to clamp the bag 40. Preferably, the limiting rod 60 can be sleeved with a sliding block on the outside, and the sliding block is connected with the air supply pipe 32 of the blowing mechanism 30. At this time, the limiting rod 60 serves as a guide rod to provide a guide function for the blowing mechanism 30.

[0036] In one embodiment, the bag clamp further comprises a second sensor 80 arranged on the mounting frame 10. The second sensor 80 is used to detect whether the bag 40 is located in the bag grabbing mechanism 20. The second sensor 80 is a visual sensor or other photoelectric sensor, which is used to detect whether the bag 40 is in the bag grabbing mechanism 20, and monitors the entire bag grabbing process to ensure the success rate of bag grabbing.

[0037] In one embodiment, the bag clamp further comprises a foam grabbing mechanism 90 arranged on the mounting frame 10. The foam grabbing mechanism 90 comprises a floating unit, a second driving member 92 and a needle suction cup 93. The second driving member 92 is connected with the needle suction cup 93. The second driving 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.

[0038] Specifically, between the layers of the bags 40 in the packaging box, there is generally foam as a buffer. After the single-layer bag 40 is taken, the foam needs to be taken out before the next layer of bag 40 is clamped and transferred. Therefore, in order to realize the automatic grabbing of the foam, the foam grabbing mechanism 90 is provided in the embodiment. The foam grabbing mechanism 90 pierces and adsorbs the foam through the needle suction cup 93. The needle suction cup 93 can ensure the stability of adsorption, and the floating unit can reduce the impact on the mounting plate and the foam grabbing mechanism 90 during the piercing process, thereby improving the safety of the grabbing process. The foam grabbing mechanism 90 of the embodiment realizes the safe and stable grabbing of the foam between the layers of the bags 40, improves the full-automatic clamping of the bag 40 feeding process, and improves the silicon material feeding efficiency.

[0039] In another embodiment, the needle suction cup can only perform one of the piercing action or the adsorption action. For example, the needle suction cup 93 can fix the foam after piercing the foam. At this time, the foam can be taken out by moving the foam through the needle suction cup 93. For another example, the needle suction cup 93 contacts the foam, forms negative pressure by suction through the small hole to adsorb the foam, and then moves the foam to take out the foam.

[0040] The application also provides a material taking robot, which comprises the material bag clamp as described in any of the above embodiments. The material taking robot of the application can integrate the functions of taking foam, blowing, taking material bag and detecting the clamping of the material bag, and the material taking process is efficient and has a high success rate. Preferably, the material taking robot can also be provided with a visual positioning module to realize high-precision automatic taking of silicon material and improve the efficiency of silicon material feeding.

[0041] The embodiment also provides a material bag clamping method, which comprises the following steps: after the material taking robot moves the material bag clamp to above the silicon material bag 40, the first clamping finger 21 and the second clamping finger 22 of the material bag clamping mechanism 20 are controlled to move away from each other, the blowing mechanism 30 is controlled to extend by a pneumatic cylinder, the material bag clamp slowly descends to the air supply pipe 32 of the blowing mechanism 30 to pierce the material bag 40, the electromagnetic valve 33 is started, the air supply pipe 32 continuously blows air to the material bag 40 for a preset time, and then the blowing mechanism 30 is controlled to retract by the pneumatic cylinder. The material bag clamp continues to descend to the limit rod 60 to contact the silicon material. After the limit rod 60 and the material bag 40 form overpressure, the first sensor is triggered, the pneumatic cylinders of the first clamping finger 21 and the second clamping finger 22 drive the two clamping fingers to move close to each other to clamp the material bag 40. Finally, the material bag 40 is lifted to a target height, and the second sensor 80 detects whether the material bag 40 is in place. If yes, the material bag 40 is transferred to a target position, and the next material bag 40 is taken out.

[0042] The embodiment also provides a foam clamping method, which comprises the following steps: a foam clamping instruction is obtained, the instruction can be generated based on the clamping frequency of the material bag 40, and can also be generated based on the visual detection result. The foam clamping mechanism is driven to descend by a preset distance based on the foam clamping instruction, at this time, the floating unit will have a certain compression amount, which can ensure that the surface of the needle suction cup 93 is tightly attached to the foam. The electromagnetic valve 33 drives the needle suction cup 93 to extend the needle. After the material bag clamp is lifted to a preset height, it is detected whether the foam is successfully clamped. If yes, the material bag clamp is controlled to move the foam to a recycling position, and the foam processing is completed.

[0043] Any combination of the technical features of the above-mentioned embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the description.

[0044] The above-mentioned embodiments only express several implementation manners of the application, the description is relatively specific and detailed, but it should not be understood as the limitation of the patent scope of the application. It should be pointed out that, for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the application, and these all belong to the protection scope of the application. Therefore, the protection scope of the patent of the application should be subject to the appended claims.

Claims

1. A bag clamp characterized by, 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); 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 (10) 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.

2. The bag clamp of claim 1, wherein 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. A material handling robot, characterized in that, The material handling robot includes the bag clamp as described in any one of claims 1 to 8.

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